{"id":"https://openalex.org/W7110636971","doi":null,"title":"Analysis of Intra-vehicular Free-flying Robots and Their Manipulation Capabilities","display_name":"Analysis of Intra-vehicular Free-flying Robots and Their Manipulation Capabilities","publication_year":2025,"publication_date":"2025-04-01","ids":{"openalex":"https://openalex.org/W7110636971"},"language":"en","primary_location":{"id":"pmh:oai:elib.dlr.de:213789","doi":null,"is_oa":false,"landing_page_url":"https://elib.dlr.de/213789/1/2025_04_Turchetti_Thesis_final.pdf","pdf_url":"https://elib.dlr.de/213789/1/2025_04_Turchetti_Thesis_final.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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Berichtsreihe"},"volume":null,"type":"dissertation","indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Turchetti, Federico","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Turchetti, Federico","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"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":0.7041000127792358,"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":0.7041000127792358,"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":0.23520000278949738,"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/T14214","display_name":"Space Exploration and Technology","score":0.03629999980330467,"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/cargo-handling","display_name":"cargo handling","score":0.5120000243186951},{"id":"https://openalex.org/keywords/freight-transport","display_name":"freight transport","score":0.6940000057220459},{"id":"https://openalex.org/keywords/force-transmission","display_name":"force transmission","score":0.800000011920929},{"id":"https://openalex.org/keywords/space-station-operations","display_name":"space station operations","score":0.40700000524520874},{"id":"https://openalex.org/keywords/lunar-gateway","display_name":"Lunar Gateway","score":0.8700000047683716},{"id":"https://openalex.org/keywords/autonomous-robotics","display_name":"autonomous robotics","score":0.5569999814033508},{"id":"https://openalex.org/keywords/deep-space-missions","display_name":"deep space missions","score":0.597000002861023}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6829000115394592},{"id":"https://openalex.org/C2780179797","wikidata":"https://www.wikidata.org/wiki/Q345844","display_name":"Crew","level":2,"score":0.6827999949455261},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.5842999815940857},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.5306000113487244},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.5091000199317932},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5084999799728394},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.4537000060081482},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.44859999418258667},{"id":"https://openalex.org/C124219066","wikidata":"https://www.wikidata.org/wiki/Q223571","display_name":"Space suit","level":2,"score":0.4458000063896179},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.42080000042915344},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4108999967575073},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4106000065803528},{"id":"https://openalex.org/C68702407","wikidata":"https://www.wikidata.org/wiki/Q716774","display_name":"Exploration of Mars","level":3,"score":0.3968999981880188},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.38769999146461487},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3659999966621399},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.36419999599456787},{"id":"https://openalex.org/C30322324","wikidata":"https://www.wikidata.org/wiki/Q194156","display_name":"Cockpit","level":2,"score":0.3580999970436096},{"id":"https://openalex.org/C26355699","wikidata":"https://www.wikidata.org/wiki/Q1378139","display_name":"Robotic spacecraft","level":3,"score":0.3449000120162964},{"id":"https://openalex.org/C534819032","wikidata":"https://www.wikidata.org/wiki/Q752783","display_name":"Human spaceflight","level":3,"score":0.32350000739097595},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.32170000672340393},{"id":"https://openalex.org/C25761169","wikidata":"https://www.wikidata.org/wiki/Q1757070","display_name":"Mission control center","level":2,"score":0.3206999897956848},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.3095000088214874},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.2874000072479248},{"id":"https://openalex.org/C106125477","wikidata":"https://www.wikidata.org/wiki/Q48806","display_name":"Space Shuttle","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.25839999318122864},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2563000023365021}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:elib.dlr.de:213789","doi":null,"is_oa":false,"landing_page_url":"https://elib.dlr.de/213789/1/2025_04_Turchetti_Thesis_final.pdf","pdf_url":"https://elib.dlr.de/213789/1/2025_04_Turchetti_Thesis_final.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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Berichtsreihe"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5378999710083008,"id":"https://metadata.un.org/sdg/9"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4407016647","https://openalex.org/W7111808725","https://openalex.org/W4402904297","https://openalex.org/W1482974818","https://openalex.org/W3190750797","https://openalex.org/W1530611233","https://openalex.org/W2324956363","https://openalex.org/W4407404865","https://openalex.org/W4313016989","https://openalex.org/W2636944749"],"abstract_inverted_index":{"Space":[0],"exploration":[1],"has":[2],"led":[3],"to":[4,13,49,62,107,162,167,207,238,290],"groundbreaking":[5],"scientific":[6],"and":[7,38,51,53,76,111,119,156,165,196,203,259,267,283,301,311],"technological":[8],"advancements,":[9],"driving":[10],"humanity":[11],"closer":[12],"long-duration":[14],"missions":[15,48],"beyond":[16],"Earth's":[17],"orbit.":[18],"Upcoming":[19],"projects":[20],"such":[21,68,187],"as":[22,42,188],"the":[23,63,101,134,205,213,219,232,240,271,288,291,299],"Lunar":[24],"Gateway,":[25],"a":[26,43,55,85,177,253,256,263,275],"planned":[27],"space":[28,185,308],"station":[29,309],"in":[30,58,67,127,132,147,180,216,231,307,315],"lunar":[31],"orbit":[32],"developed":[33],"by":[34,80],"NASA,":[35],"ESA,":[36],"JAXA,":[37],"CSA,":[39],"will":[40,122],"serve":[41],"staging":[44],"point":[45],"for":[46,103,225,274],"deep-space":[47,318],"Mars":[50],"beyond,":[52],"play":[54,176],"crucial":[56],"role":[57,179],"supporting":[59],"humanity\u2019s":[60],"return":[61],"Moon.":[64],"However,":[65],"operating":[66],"environments":[69,164,310],"presents":[70],"significant":[71],"challenges,":[72],"including":[73],"crew":[74,109,206],"workload":[75,202],"limited":[77],"resources.":[78],"Studies":[79],"JAXA":[81],"have":[82,143,250],"highlighted":[83],"that":[84,96],"considerable":[86],"portion":[87],"of":[88,136,194,222,243,255,270,303],"astronauts'":[89],"time":[90],"is":[91],"spent":[92],"on":[93,209,280],"routine":[94],"tasks":[95,183],"could":[97],"be":[98,123],"automated,":[99],"emphasizing":[100],"need":[102],"autonomous":[104,217],"free-flying":[105,141,245,265,277,305],"robots":[106,142,174,306],"enhance":[108],"productivity":[110],"operational":[112],"efficiency.":[113],"These":[114],"robots,":[115],"both":[116],"extravehicular":[117],"(EV)":[118],"intravehicular":[120],"(IV),":[121],"critical":[124],"not":[125],"only":[126],"assisting":[128],"astronauts":[129],"but":[130],"also":[131],"ensuring":[133],"success":[135],"future":[137,316],"uncrewed":[138,317],"missions.":[139,319],"EV":[140],"demonstrated":[144],"their":[145,312],"potential":[146,313],"performing":[148],"inspection,":[149],"maintenance,":[150],"docking":[151],"support":[152],"tasks,":[153],"debris":[154],"removal":[155],"assembly.":[157],"They":[158],"reduce":[159],"astronaut":[160,201],"exposure":[161],"hazardous":[163],"contribute":[166],"mission":[168],"safety.":[169],"Similarly,":[170],"IV":[171,304],"free":[172],"flying":[173],"can":[175],"key":[178],"automating":[181],"repetitive":[182],"within":[184],"habitats,":[186],"cargo":[189,257],"handling,":[190],"inventory":[191],"management,":[192],"monitoring":[193],"experiments":[195],"tool":[197],"transport,":[198],"thereby":[199],"reducing":[200],"allowing":[204],"focus":[208],"mission-critical":[210],"activities.":[211],"Despite":[212],"growing":[214],"interest":[215],"robotics,":[218],"specific":[220],"application":[221],"these":[223],"technologies":[224],"intra-vehicular":[226,244],"manipulation":[227,241],"operations":[228],"remains":[229],"underexplored":[230],"existing":[233],"literature.":[234],"This":[235],"thesis":[236],"aims":[237],"analyze":[239],"performance":[242],"robots.":[246],"Two":[247],"main":[248],"studies":[249],"been":[251],"conducted:":[252],"simulation":[254],"handling":[258],"transport":[260],"task":[261],"using":[262],"single-arm":[264],"robot,":[266,278],"an":[268],"analysis":[269],"optimal":[272],"configuration":[273],"dual-arm":[276],"focusing":[279],"workspace":[281],"efficiency":[282],"force":[284],"transmission":[285],"effects":[286],"from":[287],"manipulators":[289],"base.":[292],"The":[293],"findings":[294],"provide":[295],"valuable":[296],"insights":[297],"into":[298],"feasibility":[300],"effectiveness":[302],"applications":[314]},"counts_by_year":[],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-12-08T00:00:00"}