{"id":"https://openalex.org/W4407016647","doi":"https://doi.org/10.52202/078356-0034","title":"Analysis of Intra-Vehicular Manipulation using Robotic Free-Flyers","display_name":"Analysis of Intra-Vehicular Manipulation using Robotic Free-Flyers","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4407016647","doi":"https://doi.org/10.52202/078356-0034"},"language":"en","primary_location":{"id":"doi:10.52202/078356-0034","doi":"https://doi.org/10.52202/078356-0034","is_oa":false,"landing_page_url":"https://doi.org/10.52202/078356-0034","pdf_url":null,"source":{"id":"https://openalex.org/S7407096576","display_name":"IAF Microgravity Sciences and Processes Symposium","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IAF Microgravity Sciences and Processes Symposium","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://elib.dlr.de/208576/1/IVFFS_corrected.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002547901","display_name":"Monica Ekal","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Monica Ekal","raw_affiliation_strings":["German Aerospace Center (DLR)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR)","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116097030","display_name":"Federico Turchetti","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Federico Turchetti","raw_affiliation_strings":["German Aerospace Center (DLR)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR)","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005631229","display_name":"Neal Y. Lii","orcid":"https://orcid.org/0000-0002-0801-0823","observed_orcids":["https://orcid.org/0000-0002-0801-0823"]},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Neal Y. Lii","raw_affiliation_strings":["German Aerospace Center (DLR)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR)","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048087019","display_name":"M\u00e1ximo A. Roa","orcid":"https://orcid.org/0000-0003-1708-4223","observed_orcids":["https://orcid.org/0000-0003-1708-4223"]},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximo A. Roa","raw_affiliation_strings":["DLR (German Aerospace Center)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DLR (German Aerospace Center)","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3945095,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"259","last_page":"273"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9872999787330627,"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":0.9872999787330627,"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/T14214","display_name":"Space Exploration and Technology","score":0.004000000189989805,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.0019000000320374966,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/microgravity","display_name":"microgravity","score":0.5379999876022339},{"id":"https://openalex.org/keywords/international-space-station","display_name":"International Space Station","score":0.6809999942779541},{"id":"https://openalex.org/keywords/sphere","display_name":"sphere","score":0.6769999861717224},{"id":"https://openalex.org/keywords/cimon","display_name":"Cimon","score":0.9549999833106995},{"id":"https://openalex.org/keywords/astrobee","display_name":"Astrobee","score":0.9269999861717224},{"id":"https://openalex.org/keywords/torque-requirements","display_name":"torque requirements","score":0.777999997138977},{"id":"https://openalex.org/keywords/base-stabilization","display_name":"base stabilization","score":0.6470000147819519},{"id":"https://openalex.org/keywords/onboard-autonomy","display_name":"onboard autonomy","score":0.7940000295639038},{"id":"https://openalex.org/keywords/motion-planning","display_name":"motion planning","score":0.6600000262260437}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6600120663642883},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4113856554031372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3618103563785553},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3407154381275177}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.52202/078356-0034","doi":"https://doi.org/10.52202/078356-0034","is_oa":false,"landing_page_url":"https://doi.org/10.52202/078356-0034","pdf_url":null,"source":{"id":"https://openalex.org/S7407096576","display_name":"IAF Microgravity Sciences and Processes Symposium","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IAF Microgravity Sciences and Processes Symposium","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:208576","doi":null,"is_oa":true,"landing_page_url":"https://doi.org/10.52202/078356-0034>.","pdf_url":"https://elib.dlr.de/208576/1/IVFFS_corrected.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"}],"best_oa_location":{"id":"pmh:oai:elib.dlr.de:208576","doi":null,"is_oa":true,"landing_page_url":"https://doi.org/10.52202/078356-0034>.","pdf_url":"https://elib.dlr.de/208576/1/IVFFS_corrected.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.4943999946117401,"display_name":"Industry, innovation and infrastructure"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407016647.pdf","grobid_xml":"https://content.openalex.org/works/W4407016647.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2636944749","https://openalex.org/W2077367818","https://openalex.org/W7110636971","https://openalex.org/W2169190961","https://openalex.org/W7097218660","https://openalex.org/W2324956363","https://openalex.org/W4407404865","https://openalex.org/W4391189949","https://openalex.org/W7111808725","https://openalex.org/W2080641008"],"abstract_inverted_index":{"Intra-vehicular":[0],"free-flyer":[1],"systems":[2],"(IVFFS),":[3],"in":[4,44,186],"addition":[5],"to":[6,17,73,98,113,140,203,212,221],"being":[7,54],"micro-gravity":[8],"test":[9],"beds":[10],"for":[11,23,81,153,158,209],"autonomy":[12,215],"algorithms,":[13],"are":[14,79,134,151],"also":[15],"used":[16],"develop":[18],"caretaking":[19],"and":[20,51,144,148,167,188,207],"crew-assistance":[21],"capabilities":[22,78],"future":[24,210],"space":[25],"stations.":[26],"The":[27],"International":[28],"Space":[29],"Station":[30],"(ISS)":[31],"has":[32,70],"hosted":[33],"an":[34,126],"assortment":[35],"of":[36,41,63,90,106,125,162,174],"IVFFS":[37,69,84,108,211],"since":[38],"the":[39,55,60,88,91,159,175,205,219],"deployment":[40],"NASA's":[42,52],"SPHERES":[43],"2006,":[45],"with":[46,68],"JAXA's":[47],"IntBall,":[48],"DLR-Airbus'":[49],"CIMON":[50],"Astrobee":[53],"current":[56],"resident":[57],"IVFFS.":[58],"Despite":[59],"long":[61],"history":[62],"onboard":[64,82],"free-flyers,":[65],"in-space":[66],"manipulation":[67,225],"been":[71],"demonstrated":[72],"a":[74,104,122,168,171,181],"limited":[75],"extent.":[76],"Manipulation":[77],"crucial":[80],"autonomy;":[83],"could":[85],"help":[86],"alleviate":[87],"duties":[89],"crew":[92],"by":[93,121,136,217],"performing":[94,180],"maintenance":[95],"or":[96],"tending":[97],"scientific":[99],"experiments.":[100],"This":[101,117],"paper":[102,201],"presents":[103],"review":[105],"existing":[107],"while":[109,179],"examining":[110],"their":[111,141,214],"potential":[112],"perform":[114,222],"intra-vehicular":[115,127,224],"manipulation.":[116],"discussion":[118],"is":[119,191],"supported":[120],"simulation":[123,172],"study":[124,173],"floating-base":[128],"robotic":[129],"manipulator.":[130],"Free-flying":[131],"robot":[132],"manipulators":[133],"governed":[135],"distinct":[137],"dynamics":[138],"owing":[139],"mobile":[142],"base,":[143],"advanced":[145],"motion":[146],"planning":[147],"control":[149],"algorithms":[150],"essential":[152],"precise":[154],"task":[155,185],"execution.":[156],"Accounting":[157],"specific":[160],"considerations":[161],"IVFFs,":[163],"including":[164],"mass,":[165],"size,":[166],"constrained":[169],"environment,":[170],"robot's":[176],"torque":[177],"requirements":[178,206],"sample":[182],"cargo":[183],"grappling":[184],"free-floating":[187],"base-stabilization":[189],"mode":[190],"presented.":[192],"In":[193],"drawing":[194],"platform-independent":[195],"conclusions":[196],"from":[197],"this":[198,200],"analysis,":[199],"aims":[202],"highlight":[204],"challenges":[208],"raise":[213],"levels":[216],"gaining":[218],"capability":[220],"common":[223],"tasks.":[226]},"counts_by_year":[],"updated_date":"2026-10-27T15:51:10.671819","created_date":"2025-02-01T00:00:00"}