A Reconfigurable Robot with Telescopic Links for In-Space Servicing
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Compacting the arms of a space manipulator in its designated launch volume has been a difficult design problem in several robotic missions not only for in-orbit servicing but also for planetary exploration. This paper presents a conceptual design for space manipulators with lockable telescopic links that allows the arms to change their length as well as the twist angles. Each cylindrical telescopic link is equipped with a built-in brake mechanism which is normally locked, but the lock can be released whenever the kinematic parameters are to be changed. Since the telescopic links do not have any actuator, the robot reduces its number of degrees of freedom by constraining the motion of its end-effector in order to be able to control the values of the length and the twist angles. The control system which autonomously realizes the configuration change in addition to autonomous calibration of the manipulator after every configuration change are fully developed in this work. Several space mission examples which can benefit from such a reconfigurable robot are discussed.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it