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Satoko Abiko

Bio: Satoko Abiko is an academic researcher from Shibaura Institute of Technology. The author has contributed to research in topics: Robot & Haptic technology. The author has an hindex of 17, co-authored 80 publications receiving 924 citations. Previous affiliations of Satoko Abiko include Tohoku University & German Aerospace Center.


Papers
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Proceedings ArticleDOI
21 May 2001
TL;DR: The existence of the ZRM is very limited for a 6 DOF manipulator arm mounted on a free-flying base, but it is discussed how more operational freedom is obtained with a kinematically redundant arm.
Abstract: Presents the experimental results and post-flight analysis of reaction null-space based reactionless manipulation, or zero reaction maneuver (ZRM). The concept has been developed with an insight into the motion dynamics of free-flying multibody systems and its practical availability is clearly demonstrated with ETS-VII, a Japanese space robot. The ZRM is proven particularly useful for removing the velocity limit of manipulation due to the reaction constraint and the time loss due to waiting for the attitude recovery. The existence of the ZRM is very limited for a 6 DOF manipulator arm mounted on a free-flying base, but it is discussed how more operational freedom is obtained with a kinematically redundant arm.

154 citations

Proceedings ArticleDOI
26 May 2015
TL;DR: This paper presents the attitude transition flight control system for pitch angles ranging 0 [°] to 90 [°], and states that adequate control system and sufficient experimental validation are necessary for stable flight in a wide range of attitude conditions.
Abstract: Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underacuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, e.g. a UAV flying and hovering with a 90 [°] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the attitude transition flight control system for pitch angles ranging 0 [°] to 90 [°] since flight condition with a 90 [°] pitch angle significantly differs from that in a conventional quadrotor UAV flight, and then adequate control system and sufficient experimental validation are necessary for stable flight in a wide range of attitude conditions.

75 citations

Proceedings ArticleDOI
09 Oct 2006
TL;DR: This paper addresses an impedance control for a free-floating space robot in the grasping of a tumbling target with model uncertainty by considering the grasped target as a disturbance force on the end-effector.
Abstract: This paper addresses an impedance control for a free-floating space robot in the grasping of a tumbling target with model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, considering the grasped target as a disturbance force on the end-effector, the proposed control method is completely independent of the target inertial parameters and the end-effector can follow a given trajectory in the presence of model uncertainty. To verify the effectiveness of the proposed method, a three-dimensional realistic numerical simulation is carried out.

62 citations

Proceedings ArticleDOI
01 Jan 2002

58 citations

Journal ArticleDOI
TL;DR: An optimal transition from hovering to level flight for the quadrotor tail-sitter UAV is discussed because transition flight is most likely to be unstable throughout flight owing to stalling of the fixed-wing.
Abstract: A quadrotor equipped with a fixed-wing (hereinafter referred to as the quadrotor tail-sitter UAV) has been developed by authors. The quadrotor tail-sitter UAV can hover like a quadrotor and can fly like a fixed-wing airplane. The remarkable characteristic of the developed quadrotor tail-sitter UAV is that it does not use any control surfaces during any form of flight; hovering, transition flight or level flight. This paper discusses an optimal transition from hovering to level flight for the quadrotor tail-sitter UAV because transition flight is most likely to be unstable throughout flight owing to stalling of the fixed-wing. The paper proposes three transition strategies: (i) normal transition (PID feedback to a step input), (ii) minimizing the transition time, and (iii) minimizing the transition time with keeping altitude constant. To realize the above optimal transition strategies, the aerodynamic parameters of the developed quadrotor tail-sitter UAV are measured by the wind tunnel test in advance. The three strategies are experimentally verified and the comparison among the three strategies is presented.

56 citations


Cited by
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Journal ArticleDOI
TL;DR: A literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned on-orbit servicing missions is provided in this article.
Abstract: Space robotics is considered one of the most promising approaches for on-orbit servicing (OOS) missions such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbital debris removal. Many enabling techniques have been developed in the past two decades and several technology demonstration missions have been completed. A number of manned on-orbit servicing missions were successfully accomplished but unmanned, fully autonomous, servicing missions have not been done yet. Furthermore, all previous unmanned technology demonstration missions were designed to service cooperative targets only. Robotic servicing of a non-cooperative satellite is still an open research area facing many technical challenges. One of the greatest challenges is to ensure the servicing spacecraft safely and reliably docks with the target spacecraft or capture the target to stabilize it for subsequent servicing. This is especially important if the target has an unknown motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To motivate and facilitate such research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned on-orbit servicing missions.

825 citations

Journal ArticleDOI
TL;DR: The rapid development of this new area of chemistry has promoted the understanding of the concepts of design and strategies of self-assembly of structures based on intermolecular interactions to result in natural and synthetic supramolecular complexes of metalloporphyrins.
Abstract: Supramolecular chemistry, defined as “chemistry outside a molecule”, is at the heart of the development of chemistry of complex systems, molecular devices, ensembles, and nanochemistry.1 This is the chemistry where molecules are able to self-organize, self-assemble, and self-control into systems and the components are often analogues to biological molecules. Metalloporphyrins and metallophthalocyanines are remarkable precursors in supramolecular chemistry, and the rapid development of this chemistry led to assemblies possessing various architectures and properties (photo-, electro-, and catalytic properties and others). Metalloporphyrins are one of the cornerstones on which the existence of life is based, and major biochemical, enzymatic, and photochemical functions depend on the special properties of a tetrapyrrolic macrocycle. However, metalloporphyrins are the only molecules as key elements that require assembly with other elements to form the supramolecular structure, that is, the working device. In natural systems, polypeptides define a given structural organization and hold all the moieties together. Such complex natural devices are not accessible by direct chemical synthesis so far, but their modeling, using simplified designs, has been actively exploited during the last decades. The rapid development of this new area of chemistry has promoted the understanding of the concepts of design and strategies of self-assembly of structures based on intermolecular interactions to result in natural and synthetic supramolecular complexes of metalloporphyrins. Synthetic metalloporphyrin complexes are often used as analogues of natural systems found in photosynthesis, oxygen carriers, and catalysts.2,3 Such research also led to the discovery of new applications of these systems, for example in photodynamic therapy, information storage devices or photoelectrical devices that transform energy in both directions (photocells and lightemitting diodes).4-6 An application of increasing importance is the use of metalloporphyrins as receptors, exploiting their ability to selectively form complexes which can sharply change the spectral properties.7,8 Using molecules that combine different receptor units such as porphyrins and † A.N. Frumkin Institute of Physical Chemistry and Electrochemistry. ‡ Université de Bourgogne. Irina Beletskaya was born in 1933 in Leningrad (USSR). She received her Diploma in 1955, her Ph.D. in 1958, and her Doctor of Chemistry degree in 1963, all at M.V. Lomonosov Moscow State University. The subject for the latter was “Electrophilic Substitution at Saturated Carbon”. She became a Full Professor in 1970. She is currently a head of the Laboratory of Organoelement Compounds at M.V. Lomonosov Moscow State University and a full member (Academician) of Russian Academy of Sciences. She was a recipient of the Lomonosov Prize (1979), the Mendeleev Prize (1982), and the Nesmeyanov Prize (1991). Irina Beletskaya is a chief editor of the Russian Journal of Organic Chemistry. She is the author of more than 1000 articles and a number of monographs. Her current scientific interests are focused on organoelement compounds, transition metal catalysis, and organocatalysis. Chem. Rev. 2009, 109, 1659–1713 1659

588 citations

Journal ArticleDOI
TL;DR: In this article, the authors tried to read modelling and control of robot manipulators as one of the reading material to finish quickly, and they found that reading book can be a great choice when having no friends and activities.
Abstract: Feel lonely? What about reading books? Book is one of the greatest friends to accompany while in your lonely time. When you have no friends and activities somewhere and sometimes, reading book can be a great choice. This is not only for spending the time, it will increase the knowledge. Of course the b=benefits to take will relate to what kind of book that you are reading. And now, we will concern you to try reading modelling and control of robot manipulators as one of the reading material to finish quickly.

517 citations

Journal ArticleDOI
Kazuya Yoshida1
TL;DR: This paper highlights manipulator control utilizing the concepts of the generalized Jacobian matrix and the reaction null-space as a solid basis for future satellite servicing missions.
Abstract: The Engineering Test Satellite VII (ETS-VII), an unmanned spacecraft equipped with a 2-m long, six-degree-of-freedom manipulator arm, was developed and launched by the National Space Development Agency of Japan (NASDA). ETS-VII has successfully carried out a variety of on-board experiments with its manipulator arm, and these key technologies are essential for an orbital free-flying robot. These results will provide a solid basis for future satellite servicing missions. This paper highlights manipulator control utilizing the concepts of the generalized Jacobian matrix and the reaction null-space. These concepts have been proposed and discussed for the past ten years using laboratory test beds, and their practical application has now been demonstrated in orbit.

240 citations

Book
01 Aug 1967
TL;DR: Aerodynamics of V/STOL flight as discussed by the authors, Aerodynamic of V and STOL flight, aircraft propulsion, propulsion, and propulsion, V2V flight, and V2StOL flight.
Abstract: Aerodynamics of V/STOL flight , Aerodynamics of V/STOL flight , مرکز فناوری اطلاعات و اطلاع رسانی کشاورزی

220 citations