Intelligent Space System Research Articles

Fully Modular Robotic Arm Architecture Utilizing Novel Multifunctional Space Interface

The current paradigm in space robotics is the design of specialized robotic manipulators to meet the requirements for a specific mission profile. This research aims to develop a novel concept of a modular robotic arm for multi-purpose and multi-mission use. The overall approach is based on a manipulator formed by serial connection of identical modules. Each module contains one rotational joint. The joints, rotation axis is tilted under an angle of 45° to the normal axis, which requires less stowage space compared to a traditional joint configuration. A manipulator can be reconfigured in orbit by adding or removing modules and end effectors, therefore modifying the degrees of freedom (DoF) as well as the workspace. Redundancies are introduced, since defect modules may be removed or replaced. This paper outlines the overall concept of modularization of a robotic arm. The development and mechanical design of a terrestrial demonstrator based on the multifunctional interface iSSI (intelligent Space System Interface) is presented, which is intended for OOS and OOA activities. Furthermore, a variant of the modular robotic system with 24 DoF is presented, which can be stowed in a Cubesat-sized environment. It can operate in spaces with limited accessibility and is dedicated for tasks like inspection and delicate repairs. Finally, an outlook to further research potential and future use cases for the modular robotic system is given.

Using multi-agent technology for the distributed management of a cluster of remote sensing satellites

In recent years, the interest for space missions involving multiple satellites has been rapidly growing. This trend is responsible for an increasing need for management strategies able to coordinate the different satellites and to allocate tasks among them. In most existing systems, the management of a cluster of satellites is organized centrally and statically, which significantly reduces the responsiveness to changes in the target environment. Our research aims at designing a distributed dynamic management system where tasks are assigned to a whole constellation of satellites and their performers can adaptively change depending on emerging events. In this paper, we explore the potentiality of multi-agent technology and ontology to develop an intelligent space system. We describe our software prototype and how it can be applied to the planning problem of remote sensing satellites. In this solution, each satellite has been represented as an agent enabling communication, coordination, and negotiation among the other agents to achieve intended business goals. Moreover, we present the results of experiments showing the advantages of the proposed approach.

省エネルギーを考慮した空間知能化システムとその通信方式

A Smart House is watched in order to improve environmental issue and accelerate energy conservation by reducing energy consumption. Smart House technology provides its home owners comfort, security, energy efficiency and convenience at all times. On the other hand, intelligent environment system is advanced with the rapid progress of M2M/IoT and sensing technologies. It is necessary to utilize low energy consumption technology for the implementation of Smart House. Intelligent space system has an ability of monitoring the behavior of a person in house and checking normal behavior or abnormal behavior. This paper proposes an effective communication method in an intelligent space by using energy conservation technology and low energy communication method. We applied the proposed method to a prototype of a watching system for a person living in a remote house, and evaluated the effectiveness of the communication method.

Three-layer intelligence of planetary exploration wheeled mobile robots: Robint, virtint, and humint

The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots (WMRs), or rovers. Planetary WMRs are among the most intelligent space systems that combine robotic intelligence (robint), virtual intelligence (virtint), and human intelligence (humint) synergetically. This article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic systems. Double-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory (Mars rovers) or three-dimensional (3D) predictive direct tele-operation (lunar rovers). The concept of multilevel autonomy to realize robint, in particular, the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers, is introduced. The challenging issues of intelligent perception (proprioception and exteroception), navigation, and motion control of rovers are discussed, where the terrains’ mechanical properties and wheel-terrain interaction mechanics are considered to be key. Double-level virtual simulation architecture to realize virtint is proposed. Key technologies of virtint are summarized: virtual planetary terrain modeling, virtual intelligent rover, and wheel-terrain interaction mechanics. This generalized three-layer intelligence framework is also applicable to other systems that require human intervention, such as space robotic arms, robonauts, unmanned deep-sea vehicles, and rescue robots, particularly when there is considerable time delay.

An approach to multi-agent interactive control in an intelligent space

A new type of multi-agent interactive control is proposed in an intelligent space system, which is based on heterogeneous multiple vision sensors. The vision sensors consist of two groups: static (fixed) cameras and dynamic (pan-tilt) cameras. The proposed system operates in two different modes according to the sensor groups. The system in each mode can detect and track the agents interactively. The first mode using static cameras concentrates on the localization accuracy of agent information. The second mode using dynamic cameras focuses on the robust tracking for the agent-of-interest. We also propose the interactive camera handoff methods for cooperative tracking for multiagents. The system performance is evaluated by practical experiments.

Sensor systems for vehicle environment perception in a Highway Intelligent Space System.

A Highway Intelligent Space System (HISS) is proposed to study vehicle environment perception in this paper. The nature of HISS is that a space sensors system using laser, ultrasonic or radar sensors are installed in a highway environment and communication technology is used to realize the information exchange between the HISS server and vehicles, which provides vehicles with the surrounding road information. Considering the high-speed feature of vehicles on highways, when vehicles will be passing a road ahead that is prone to accidents, the vehicle driving state should be predicted to ensure drivers have road environment perception information in advance, thereby ensuring vehicle driving safety and stability. In order to verify the accuracy and feasibility of the HISS, a traditional vehicle-mounted sensor system for environment perception is used to obtain the relative driving state. Furthermore, an inter-vehicle dynamics model is built and model predictive control approach is used to predict the driving state in the following period. Finally, the simulation results shows that using the HISS for environment perception can arrive at the same results detected by a traditional vehicle-mounted sensors system. Meanwhile, we can further draw the conclusion that using HISS to realize vehicle environment perception can ensure system stability, thereby demonstrating the method's feasibility.

Object Recognition Using Image Warping in an Intelligent Space

We propose a method to improve object recognition performance of a robot with an intelligent space system (iSpace). Existing SIFT-based object recognition is powerful, but it has still some limitations. Among limitations, we focus on degraded performance according to the viewpoint change. In order to improve the performance, we use appearance estimation of the object in the point of robot's view using image warping based on the robot pose and object pose. The proposed method is evaluated by experiments. 

Building an Intelligent Home Space for Service Robot Based on Multi-Pattern Information Model and Wireless Sensor Networks

This paper is concerned with constructing a prototype intelligent home environment for home service robot. In this environment, multi-pattern information can be represented by some intelligent artificial marks. Light-packs service robots can provide reliable and intelligent service by interacting with the environment through the wireless sensor networks. The intelligent space consists the following main components: smart devices with intelligent artificial mark; home server that connects the smart device and maintains the information through wireless sensor network; and the service robot that perform tasks in collaboration with the environment. In this paper, the multi-pattern information model is built, the construction of wireless sensor networks is presented, the smart and agilely home service is introduced. Fi- nally, the future direction of intelligent space system is discussed.

Satellite Design Methodology To Suppress Time-varying Residual Magnet Effects on Attitude For Nano-Satellites

AbstractAn astrometry satellite for Infrared Exploration “Nano-JASMINE” is being developed by intelligent Space System Laboratory (ISSL) University of Tokyo in cooperation with National Astronomical Observatory of Japan (NAOJ). The main objective of this mission is to measure 3-D positions of stars in our galaxy. In order to get the astrometry data accurately, the attitude should be stabilized to less than 740mas/8.8s (4×10−7 rad/s) during observations. In nano-satellites, magnetic disturbances are dominant attitude disturbances unlike large satellites. Magnetic disturbances are caused by the interaction between the Residual Magnetic Moment (RMM) of the satellite and the geo-magnetic field. To decrease magnetic disturbances accurately, we must cope with not only constant components of the RMM but also time-varying components of the RMM, and this problem is not needed to consider in large-satellites. Therefore, there are few established design methods, evaluating methods and measuring techniques about magnetism. In this paper, we introduce the new approach to the magnetic management for nano-satellites which require high-accuracy attitude stability.

About Nano-JASMINE Satellite System and Project Status

Intelligent Space Systems Laboratory, The University of Tokyo (ISSL) and National Astronomical Observatory of Japan (NAO) have been developing a small infrared astrometry satellite named “Nano-JASMINE”. The satellite size is about 50cm cubic and 20kg, which plays a pre-cursor role of JASMINE Project which is programmed by NAO and JAXA. In addition, since there has been only one astrometry satellite HIPPARCOS by ESA in the past, Nano-JASMINE is also expected to achieve certain scientific results in the field of astrometry. In this project, ISSL aims to develop new advanced small satellite bus system whose performance is comparable to that of 100-500kg sized satellites, including attitude stability of 1 arc-second and thermal stability of the mission subsystem of 1 mK. This paper overviews the Nano-JASMINE bus system with emphasis on attitude and thermal control systems.

Evolution from education to practical use in University of Tokyo's nano-satellite activities

The paper overviews recent nano-satellite development activities of University of Tokyo, Intelligent Space Systems Laboratory (ISSL). Development of real satellites and actually launching them provides excellent materials for space engineering education as well as project management, which is rather difficult to teach in usual class lectures. In addition, it may lead to a new way of space development with its cheap and quick access to space. Two educational CubeSats were launched successfully in 2003 and 2005, and they have been surviving in space more than 5 years, which showed that the COTS (commercial off the shelf) can be reliably used in space if the system is designed appropriately. Based on the experiences and technologies obtained in CubeSat projects, ISSL initiated practical applications of nano-satellite, starting with PRISM, 8 kg remote sensing satellite aiming for 30 m ground resolution and Nano-JASMINE, 20 kg astrometry satellite, which will be launched in 2009 and 2010, respectively. In order to support these kinds of student-oriented activities in Japan, University Space Engineering Consortium (UNISEC) was founded in 2002 by the author's group, which has had large effect of further facilitating students’ space-related activities in Japan. Significance and history of such activities are reviewed briefly, followed by the objectives and future vision of such nano-satellite activities.

Mobile Robot as Physical Agent of Intelligent Space

The Intelligent Space is an area (room, public space, etc.) that has networked distributed sensors, which can be used for observing and gathering information from the space. The main objective for the introduction of Intelligent Space is to provide services to humans inside the space. These services can be either informational, such as the ones provided by displays, or physical. In order to be able to provide physical services mobile robots are introduced in the Intelligent Space as actuators. The network of distributed sensors in the space can therefore be utilized to provide data from the space needed for the control of the robot. Here we present our implementation of an Intelligent Space system that uses spatially distributed laser range finders for tracking the mobile robot and humans inside the space and building the map of the space. Based on these measurements the control of mobile robot acting as physical agent of the Intelligent Space is developed.

S1901-2-1 超小型赤外線位置天文観測衛星Nano-JASMINEシステムと開発状況について(小型宇宙システム(2))

Intelligent Space Systems Laboratory, The University of Tokyo (ISSL) and National Astronomical Observatory of Japan (NAOJ) have been developing a small infrared astrometry satellite Nano-JASMINE (Nano-Japan Astrometry satellite Mission for INfrared Exploration). In order to acquire accurate star position data, Nano-JASMINE should be stabilized to less than 740 mas/8.8s accuracy during observation. Since this level of accuracy is much higher than that required to small satellite developed in the past, Nano-JASMINE needs high-performance bus system and brand-new control system. This research describes about the bus system of Nano-JASMINE and its current development status.

The Development of a Satellite Ejection System of PRISM

Intelligent Space Systems Laboratory (ISSL) developed two CubeSats and develops the nano-scale remote-sensing satellite, “PRISM.” Two CubeSats are now in orbit and PRISM is now preparing for a launch. PRISM is so small that it has no rocket interface with it and another structure, “PHS,” which stands for PRISM Housyutu Souchi, plays a role of it. At the time of launches of two CubeSats ISSL developed an ejection system, T-POD and it succeeded separating four CubeSats. The authors consider that T-POD has high reliability enough and the authors develop PHS as an improved version of T-POD. In addition PHS has some original mechanism and structure, the reliability keeping mechanism, the flexible boom-defending mechanism and the putting in turnstile antenna structure.

Development of COTS-based Pico-Satellite Bus and Its Application to Quick and Low Cost On-orbit Demonstration of Novel Space Technology

Small satellites, especially pico or nano-class satellites, which can be developed in a very short period and at very low cost, are considered to provide good opportunities for technology demonstration in a space environment. Based on the success of the first pico-satellite XI-IV, which was intended to establish the basic technologies required for this class of satellites, Intelligent Space Systems Laboratory (ISSL) at the University of Tokyo developed its second pico-satellite XI-V with the mission to demonstrate new space technologies such as the verification of copper indium gallium di-selenide (CIGS) thin-film solar cells in space. The pico-satellite bus verified by XI-IV was used for this mission, so that the satellite was completed within as short a development period as one year. XI-V was launched on October 2005 and has been successfully conducting its missions. In this paper, following the introduction of the pico-satellite bus system and its demonstrated results on XI-IV, the details of the missions and on-orbit experimental results of XI-V are described.

4046 超小型赤外線位置天文観測衛星Nano-JASMINEシステムと開発状況について(S60-3 小型宇宙システム(3),21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

Intelligent Space Systems Laboratory, The University of Tokyo (ISSL) and National Astronomical Observatory of Japan (NAOJ) have been developing a small infrared astrometry satellite named "Nano-JASMINE". This is about 50cm cubic and 20kg size and a precedent technical demonstration satellite of JASMINE Project which is programmed by NAOJ and JAXA. Since there has been only one astrometry satellite HIPPARCOS by ESA in the past, Nano-JASMINE is also expected to achieve certain scientific results. In this project, ISSL aims to develop new advanced small satellite bus system which is comparable to large satellite. The performance is from 1 arcsecond attitude control accuracy to 1 mK thermal control. This paper describes about this satellite bus system and current development status.

2A2-K02 RTミドルウェアによる情報提示システムの構成 : 空間知能化システムの統合への試み(空間知)

2A2-K02 RTミドルウェアによる情報提示システムの構成 : 空間知能化システムの統合への試み(空間知)

University of Tokyo's Student Nano-Satellite Project CubeSat-XI and Its On-Orbit Experiment Results

Students of University of Tokyo, ISSL (Intelligent Space Systems Laboratory), developed a nano satellite named “CubeSat-XI,” which was successfully launched by Russian Rocket “ROCKOT” on June 30, 2003. The satellite has been working well and the students have been performing various experiments using this satellite. This paper reviews the concept, significance, systems' descriptions of CubeSat-XI, and reports the post-launch flight experiment results. Especially, orbit determination and estimation of the satellite attitude will be highlighted. Earth imaging mission will also be described.

B2 東京大学超小型衛星 CubeSat プロジェクトの成果について

CubeSat project has started primarily for an education purpose to improve student's skill of space engineering and project management. The CubeSat program at University of Tokyo, ISSL (Intelligent Space Systems Laboratory), has been started since 1999 and it's first nano satellite named "CubeSat-XI", developed by students, was successfully launched by a Russian rocket "ROCKOT" on June 30,2003. Since then, the satellite becomes operational and the students have been performing various experiments and demonstrations of its bus technologies and the onboard camera. This paper briefly reviews the systems description, the operation and the results achieved until present moment.