Table Of ContentGeoPlanet: Earth and Planetary Sciences
Jerzy Sąsiadek Editor
Aerospace
Robotics II
GeoPlanet: Earth and Planetary Sciences
Editor-in-chief
Paweł Rowiński
Series editors
Marek Banaszkiewicz, Warsaw, Poland
Janusz Pempkowiak, Sopot, Poland
Marek Lewandowski, Warsaw, Poland
Marek Sarna, Warsaw, Poland
More information about this series at http://www.springer.com/series/8821
ą
Jerzy S siadek
Editor
Aerospace Robotics II
123
Editor
Jerzy Sąsiadek
Mechanical and Aerospace Engineering
Carleton University
Ottawa, ON
Canada
The GeoPlanet: Earth and Planetary Sciences Book Series is in part a continuation of
Monographic Volumes of Publications of the Institute of Geophysics, Polish Academy of
Sciences, thejournal published since1962(http://pub.igf.edu.pl/index.php).
ISSN 2190-5193 ISSN 2190-5207 (electronic)
GeoPlanet: Earth andPlanetary Sciences
ISBN 978-3-319-13852-7 ISBN 978-3-319-13853-4 (eBook)
DOI 10.1007/978-3-319-13853-4
LibraryofCongressControlNumber:2013932857
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Series Editors
Geophysics Paweł Rowiński
Editor-in-Chief
Institute of Geophysics
Polish Academy of Sciences
ul. Ks. Janusza 64
01-452 Warsaw, Poland
[email protected]
Space Sciences Marek Banaszkiewicz
Space Research Centre
Polish Academy of Sciences
ul. Bartycka 18A
00-716 Warsaw, Poland
Oceanology Janusz Pempkowiak
Institute of Oceanology
Polish Academy of Sciences
Powstańców Warszawy 55
81-712 Sopot, Poland
Geology Marek Lewandowski
Institute of Geological Sciences
Polish Academy of Sciences
ul. Twarda 51/55
00-818 Warsaw, Poland
Astronomy Marek Sarna
Nicolaus Copernicus Astronomical Centre
Polish Academy of Sciences
ul. Bartycka 18
00-716 Warsaw, Poland
[email protected]
Managing Editor
Anna Dziembowska
Institute of Geophysics, Polish Academy of Sciences
Advisory Board
Robert Anczkiewicz Bertrand Fritz
Research Centre in Kraków Ecole et Observatoire des
Institute of Geological Sciences Sciences de la Terre,
Kraków, Poland Laboratoire d’Hydrologie
et de Géochimie de Strasbourg
Aleksander Brzeziński Université de Strasbourg et CNRS
Space Research Centre Strasbourg, France
Polish Academy of Sciences
Warsaw, Poland Truls Johannessen
Geophysical Institute
Javier Cuadros University of Bergen
Department of Mineralogy Bergen, Norway
Natural History Museum
London, UK Michael A. Kaminski
Department of Earth Sciences
Jerzy Dera University College London
Institute of Oceanology London, UK
Polish Academy of Sciences
Sopot, Poland Andrzej Kijko
Aon Benfield
Evgeni Fedorovich Natural Hazards Research Centre
School of Meteorology University of Pretoria
University of Oklahoma Pretoria, South Africa
Norman, USA
Francois Leblanc
Wolfgang Franke Laboratoire Atmospheres, Milieux
Geologisch-Paläntologisches Institut Observations Spatiales, CNRS/IPSL
Johann Wolfgang Goethe-Universität Paris, France
Frankfurt/Main, Germany
Kon-Kee Liu Tilman Spohn
Institute of Hydrological Deutsches Zentrum für Luftund
and Oceanic Sciences Raumfahrt in der Helmholtz
National Central University Jhongli Gemeinschaft
Jhongli, Taiwan Institut für Planetenforschung
Berlin, Germany
Teresa Madeyska
Research Centre in Warsaw Krzysztof Stasiewicz
Institute of Geological Sciences Swedish Institute of Space Physics
Warsaw, Poland Uppsala, Sweden
Stanisław Massel Roman Teisseyre
Institute of Oceanology Earth’s Interior Dynamics Lab
Polish Academy of Sciences Institute of Geophysics
Sopot, Polska Polish Academy of Sciences
Warsaw, Poland
Antonio Meloni
Instituto Nazionale di Geofisica Jacek Tronczynski
Rome, Italy Laboratory of Biogeochemistry
of Organic Contaminants
Evangelos Papathanassiou IFREMER DCN_BE
Hellenic Centre for Marine Research Nantes, France
Anavissos, Greece
Steve Wallis
Kaja Pietsch School of the Built Environment
AGH University of Science Heriot-Watt University
and Technology Riccarton, Edinburgh
Kraków, Poland Scotland, UK
Dušan Plašienka Wacław M. Zuberek
Prírodovedecká fakulta, UK Department of Applied Geology
Univerzita Komenského University of Silesia
Bratislava, Slovakia Sosnowiec, Poland
Barbara Popielawska
Space Research Centre
Polish Academy of Sciences
Warsaw, Poland
Preface I
Dear Colleagues and Friends,
Space robotics is a fascinating field that was developed for space exploration and
space missions. Space is a hostile environment for humans and could not be
exploredearlier because oftechnologicalfactors.Simply speaking,ourtechnology
inthepastwasnotadvancedenoughtoallowustoventuresafelyintospace.Also,
in many cases, traveling in space takes more than a human’s life span. This is
exactlythereasonwhywehavetouserobotsofavarietyofsortsandtypes.Robots
allowhumanstoextendtheirabilitiestoperformmissionsthatotherwisewouldbe
dangerous or simply impossible. Robots make long-duration missions not only
possiblebutalsopresentopportunityforexplorationofthesolarsystemsafelyand
efficiently. The space automation and autonomous missions are also a viable
solution to deep space travel and exploration problems.
One of the issues that needs urgent solution is the problem of space debris
removalfromEarthhighorbits.Oneoftheviablepossibilities istheapplicationof
robotics including spacecraft base with two-arm manipulator.
It is with great pleasure that we would like to show once more to the interna-
tionalspaceroboticscommunity,selectedpaperspresentedattheIIConferenceon
Aerospace Robotics held in Warsaw, Poland during 1–2 July 2013.
We have selected 18 papers from the conference that reflect the interests and
topicsofallpaperspresentedatthisconference.Thisbookincludespapersranging
from space manipulators control and applications to mobile robots and sample
taking instrumentation.
We hope that our readers will find these papers not only interesting but also
helpful and inspiring in their professional activities.
Warsaw, June 2014 Marek Banaszkiewicz
Jerzy Sąsiadek
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