{"id":"https://openalex.org/W4221046410","doi":"https://doi.org/10.3389/frspt.2022.702614","title":"Comparing Multi-Arm Robotics for In-Space Assembly","display_name":"Comparing Multi-Arm Robotics for In-Space Assembly","publication_year":2022,"publication_date":"2022-04-01","ids":{"openalex":"https://openalex.org/W4221046410","doi":"https://doi.org/10.3389/frspt.2022.702614"},"language":"en","primary_location":{"id":"doi:10.3389/frspt.2022.702614","doi":"https://doi.org/10.3389/frspt.2022.702614","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frspt.2022.702614","pdf_url":"https://www.frontiersin.org/articles/10.3389/frspt.2022.702614/pdf","source":{"id":"https://openalex.org/S4210237944","display_name":"Frontiers in Space Technologies","issn_l":"2673-5075","issn":["2673-5075"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1"],"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Space Technologies","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frspt.2022.702614/pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003518316","display_name":"Katherine McBryan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1288214837","display_name":"United States Naval Research Laboratory","ror":"https://ror.org/04d23a975","country_code":"US","type":"facility","lineage":["https://openalex.org/I1288214837","https://openalex.org/I1330347796","https://openalex.org/I175003984","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Katherine McBryan","raw_affiliation_strings":["Naval Center for Space Technology, U.S. Naval Research Laboratory, Washington, DC, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval Center for Space Technology, U.S. Naval Research Laboratory, Washington, DC, United States","institution_ids":["https://openalex.org/I1288214837"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5003518316"],"corresponding_institution_ids":["https://openalex.org/I1288214837"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":0.2225,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.40721446,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9229000210762024,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9229000210762024,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.061000000685453415,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.00430000014603138,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/in-space-assembly","display_name":"in-space assembly","score":0.9610000252723694},{"id":"https://openalex.org/keywords/space-trusses","display_name":"space trusses","score":0.6399999856948853},{"id":"https://openalex.org/keywords/crawling-robot","display_name":"crawler robot","score":0.5830000042915344},{"id":"https://openalex.org/keywords/stationary-robots","display_name":"stationary robots","score":0.8299999833106995},{"id":"https://openalex.org/keywords/assembly-time","display_name":"assembly time","score":0.9869999885559082},{"id":"https://openalex.org/keywords/design-trade-offs","display_name":"design trade-offs","score":0.8029999732971191},{"id":"https://openalex.org/keywords/space-structures","display_name":"space structures","score":0.3449999988079071}],"concepts":[{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.9083083271980286},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.8517119288444519},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6428842544555664},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6359829306602478},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5090653300285339},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49286866188049316},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4392239451408386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4318796992301941},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4070976674556732},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34857606887817383},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17983192205429077},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3389/frspt.2022.702614","doi":"https://doi.org/10.3389/frspt.2022.702614","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frspt.2022.702614","pdf_url":"https://www.frontiersin.org/articles/10.3389/frspt.2022.702614/pdf","source":{"id":"https://openalex.org/S4210237944","display_name":"Frontiers in Space Technologies","issn_l":"2673-5075","issn":["2673-5075"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1"],"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Space Technologies","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3389/frspt.2022.702614","doi":"https://doi.org/10.3389/frspt.2022.702614","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frspt.2022.702614","pdf_url":"https://www.frontiersin.org/articles/10.3389/frspt.2022.702614/pdf","source":{"id":"https://openalex.org/S4210237944","display_name":"Frontiers in Space Technologies","issn_l":"2673-5075","issn":["2673-5075"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1"],"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Space Technologies","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.7207000255584717}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332378","display_name":"Langley Research Center","ror":"https://ror.org/0399mhs52"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320337628","display_name":"U.S. Naval Research Laboratory","ror":"https://ror.org/04d23a975"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4221046410.pdf","grobid_xml":"https://content.openalex.org/works/W4221046410.grobid-xml"},"referenced_works_count":10,"referenced_works":["https://openalex.org/W1641937755","https://openalex.org/W1964550805","https://openalex.org/W1988882685","https://openalex.org/W2329138404","https://openalex.org/W2469668036","https://openalex.org/W2479675523","https://openalex.org/W2735266358","https://openalex.org/W2755132363","https://openalex.org/W2890449661","https://openalex.org/W3133320087"],"related_works":["https://openalex.org/W3133320087","https://openalex.org/W4200220032","https://openalex.org/W4321497647","https://openalex.org/W7204793658","https://openalex.org/W3081080648","https://openalex.org/W4413896194","https://openalex.org/W2570117980","https://openalex.org/W3022450476","https://openalex.org/W2110898932","https://openalex.org/W1900917445"],"abstract_inverted_index":{"Robotic":[0],"In-space":[1],"assembly":[2,230],"(ISA)":[3],"is":[4,23,40,136,163,245,252],"the":[5,18,32,62,100,103,124,127,140,157,168,171,175,178,183,186,190,193,209,214,222,226,229],"next":[6],"step":[7],"to":[8,74,114,138,154,237,247],"building":[9,248],"larger":[10],"and":[11,77,93,105,180,213,225,228,241],"more":[12],"permanent":[13],"structures":[14],"in":[15,87],"orbit.":[16],"Determining":[17],"best":[19],"robot":[20,92,96,239],"for":[21,56],"ISA":[22],"difficult":[24],"as":[25],"it":[26,39],"will":[27],"not":[28,253],"only":[29,254],"depend":[30],"on":[31,37,61],"structure":[33,70],"being":[34],"assembled":[35],"but":[36,71,256],"how":[38,45,167,182,199],"assembled.":[41],"This":[42,58,196],"analysis":[43,162,197],"shows":[44,198],"changing":[46,200],"some":[47,201],"key":[48,202],"design":[49,203,216,240],"parameters":[50,204],"can":[51,205],"influence":[52,206],"different":[53,210],"robotic":[54,107,129,148,172,194,211,223],"systems":[55,108,160,173,212,224],"ISA.":[57],"study":[59],"focuses":[60],"construction":[63],"of":[64,83,126,177,185,192,208,221],"a":[65,75,90,94,120,131,249],"20":[66],"m":[67,79],"linear":[68,121],"truss":[69,117,179,187,215,227],"also":[72,181,257],"expands":[73],"10":[76],"50":[78],"truss.":[80,122,158],"Two":[81],"categories":[82],"robots":[84],"are":[85,232,235],"included":[86],"this":[88],"study:":[89],"stationary":[91,104,128],"mobile":[95],"which":[97,165],"crawls":[98],"along":[99,156],"structure.":[101],"Both":[102],"crawling":[106,147],"utilize":[109],"two":[110,141,151],"planar":[111,152],"dexterous":[112,142],"manipulators":[113,153],"assemble":[115],"individual":[116],"pieces":[118],"into":[119,144],"In":[123],"case":[125],"system":[130,149,250],"single":[132],"long":[133],"positioning":[134],"leg":[135],"used":[137],"move":[139],"arms":[143],"position.":[145],"The":[146,218],"uses":[150],"crawl":[155],"A":[159],"level":[161],"presented":[164],"details":[166],"forces":[169],"from":[170],"drive":[174,189],"mass":[176],"size":[184],"segments":[188],"requirements":[191],"system.":[195],"each":[207],"itself.":[217],"estimated":[219],"masses":[220],"time":[231],"presented.":[233],"There":[234],"trade-offs":[236,244],"every":[238],"understanding":[242],"those":[243],"essential":[246],"that":[251],"efficient":[255],"cost-effective.":[258]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2022-04-03T00:00:00"}
