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/Parent 2 0 R >> endobj 23 0 obj << /S /Span /Type /StructElem /ActualText (Abstract:) /K [0] /P 24 0 R /Pg 5 0 R >> endobj 26 0 obj << /S /Span /Type /StructElem /ActualText ( ) /K [1] /P 24 0 R /Pg 5 0 R >> endobj 24 0 obj << /S /P /Type /StructElem /K [23 0 R 26 0 R] /P 25 0 R >> endobj 27 0 obj << /S /Span /Type /StructElem /ActualText (In this seminar, we present a simulation testbed and geometric control strategy for space manipulators to capture ) /K [2] /P 28 0 R /Pg 5 0 R >> endobj 29 0 obj << /S /Span /Type /StructElem /ActualText (non) /K [3] /P 28 0 R /Pg 5 0 R >> endobj 30 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [4] /P 28 0 R /Pg 5 0 R >> endobj 31 0 obj << /S /Span /Type /StructElem /ActualText (cooperative space debris, based on rigorous modeling of ) /K [5] /P 28 0 R /Pg 5 0 R >> endobj 32 0 obj << /S /Span /Type /StructElem /ActualText (their dynamics on Lie groups. We survey dynamics ) /K [6] /P 28 0 R /Pg 5 0 R >> endobj 33 0 obj << /S /Span /Type /StructElem /ActualText (and kinematics formulations of rigid multi) /K [7] /P 28 0 R /Pg 5 0 R >> endobj 34 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [8] /P 28 0 R /Pg 5 0 R >> endobj 35 0 obj << /S /Span /Type /StructElem /ActualText (body systems using geometric tools, and their dynamic reduction, path) /K [9] /P 28 0 R /Pg 5 0 R >> endobj 36 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [10] /P 28 0 R /Pg 5 0 R >> endobj 37 0 obj << /S /Span /Type /StructElem /ActualText (planning, and control applicable to space manipulator systems. We provide a rigorous framework) /K [11] /P 28 0 R /Pg 5 0 R >> endobj 38 0 obj << /S /Span /Type /StructElem /ActualText ( ) /K [12] /P 28 0 R /Pg 5 0 R >> endobj 39 0 obj << /S /Span /Type /StructElem /ActualText (based on Lie ) /K [13] /P 28 0 R /Pg 5 0 R >> endobj 40 0 obj << /S /Span /Type /StructElem /ActualText (group theory to describe the kinematics of space manipulators modeled as moving) /K [14] /P 28 0 R /Pg 5 0 R >> endobj 41 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [15] /P 28 0 R /Pg 5 0 R >> endobj 42 0 obj << /S /Span /Type /StructElem /ActualText (base multi) /K [16] /P 28 0 R /Pg 5 0 R >> endobj 43 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [17] /P 28 0 R /Pg 5 0 R >> endobj 44 0 obj << /S /Span /Type /StructElem /ActualText (body systems ) /K [18] /P 28 0 R /Pg 5 0 R >> endobj 45 0 obj << /S /Span /Type /StructElem /ActualText (interacting with a moving target in an orbital environment. We develop a singularity) /K [19] /P 28 0 R /Pg 5 0 R >> endobj 46 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [20] /P 28 0 R /Pg 5 0 R >> endobj 47 0 obj << /S /Span /Type /StructElem /ActualText (free dynamic model of a free) /K [21] /P 28 0 R /Pg 5 0 R >> endobj 48 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [22] /P 28 0 R /Pg 5 0 R >> endobj 49 0 obj << /S /Span /Type /StructElem /ActualText (floating multi) /K [23] /P 28 0 R /Pg 5 0 R >> endobj 50 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [24] /P 28 0 R /Pg 5 0 R >> endobj 51 0 obj << /S /Span /Type /StructElem /ActualText (body syst) /K [25] /P 28 0 R /Pg 5 0 R >> endobj 52 0 obj << /S /Span /Type /StructElem /ActualText (em \(a robotic manipulator mounted on a spacecraft\) moving with respect to either an ) /K [26] /P 28 0 R /Pg 5 0 R >> endobj 53 0 obj << /S /Span /Type /StructElem /ActualText (inertial or a non) /K [27] /P 28 0 R /Pg 5 0 R >> endobj 54 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [28] /P 28 0 R /Pg 5 0 R >> endobj 55 0 obj << /S /Span /Type /StructElem /ActualText (inertial rotating orbital frame on the Cartesian product of Lie groups, using a Lagrange) /K [29] /P 28 0 R /Pg 5 0 R >> endobj 56 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [30] /P 28 0 R /Pg 5 0 R >> endobj 57 0 obj << /S /Span /Type /StructElem /ActualText /K [31] /P 28 0 R /Pg 5 0 R >> endobj 58 0 obj << /S /Span /Type /StructElem /ActualText (formulation. This allows us to effectively decouple the ) /K [32] /P 28 0 R /Pg 5 0 R >> endobj 59 0 obj << /S /Span /Type /StructElem /ActualText (internal and locked overall dynamics of the system and ) /K [33] /P 28 0 R /Pg 5 0 R >> endobj 60 0 obj << /S /Span /Type /StructElem /ActualText (efficiently describe and track the action of forces and disturbances on each part of the system. We present a ) /K [34] /P 28 0 R /Pg 5 0 R >> endobj 61 0 obj << /S /Span /Type /StructElem /ActualText (reduction procedure of the space manipulator system's dynamics based on the assumption of t) /K [35] /P 28 0 R /Pg 5 0 R >> endobj 62 0 obj << /S /Span /Type /StructElem /ActualText (he conservation of ) /K [36] /P 28 0 R /Pg 5 0 R >> endobj 63 0 obj << /S /Span /Type /StructElem /ActualText (momentum and perform an extended feedback) /K [37] /P 28 0 R /Pg 5 0 R >> endobj 64 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [38] /P 28 0 R /Pg 5 0 R >> endobj 65 0 obj << /S /Span /Type /StructElem /ActualText (linearization on the end) /K [39] /P 28 0 R /Pg 5 0 R >> endobj 66 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [40] /P 28 0 R /Pg 5 0 R >> endobj 67 0 obj << /S /Span /Type /StructElem /ActualText (effector motion. We also provide a ) /K [41] /P 28 0 R /Pg 5 0 R >> endobj 68 0 obj << /S /Span /Type /StructElem /ActualText (numerical case study and simulation platform for free) /K [42] /P 28 0 R /Pg 5 0 R >> endobj 69 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [43] /P 28 0 R /Pg 5 0 R >> endobj 70 0 obj << /S /Span /Type /StructElem /ActualText (floating space manipulators using the developed ) /K [44] /P 28 0 R /Pg 5 0 R >> endobj 71 0 obj << /S /Span /Type /StructElem /ActualText (mathematical models.) /K [45] /P 28 0 R /Pg 5 0 R >> endobj 72 0 obj << /S /Span /Type /StructElem /ActualText ( ) /K [46] /P 28 0 R /Pg 5 0 R >> endobj 28 0 obj << /S /P /Type /StructElem /K [27 0 R 29 0 R 30 0 R 31 0 R 32 0 R 33 0 R 34 0 R 35 0 R 36 0 R 37 0 R 38 0 R 39 0 R 40 0 R 41 0 R 42 0 R 43 0 R 44 0 R 45 0 R 46 0 R 47 0 R 48 0 R 49 0 R 50 0 R 51 0 R 52 0 R 53 0 R 54 0 R 55 0 R 56 0 R 57 0 R 58 0 R 59 0 R 60 0 R 61 0 R 62 0 R 63 0 R 64 0 R 65 0 R 66 0 R 67 0 R 68 0 R 69 0 R 70 0 R 71 0 R 72 0 R] /P 25 0 R >> endobj 73 0 obj << /S /Span /Type /StructElem /ActualText (We introduce) /K [47] /P 74 0 R /Pg 5 0 R >> endobj 75 0 obj << /S /Span /Type /StructElem /ActualText ( ) /K [48] /P 74 0 R /Pg 5 0 R >> endobj 76 0 obj << /S /Span /Type /StructElem /ActualText (an innovative control framework designed to tackle the challenges of maintaining singularity) /K [49] /P 74 0 R /Pg 5 0 R >> endobj 77 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [50] /P 74 0 R /Pg 5 0 R >> endobj 78 0 obj << /S /Span /Type /StructElem /ActualText (avoiding full) /K [51] /P 74 0 R /Pg 5 0 R >> endobj 79 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [52] /P 74 0 R /Pg 5 0 R >> endobj 80 0 obj << /S /Span /Type /StructElem /ActualText (pose workspace control for space manipulators relative to orbital tumbling objects, operating in ) /K [53] /P 74 0 R /Pg 5 0 R >> endobj 81 0 obj << /S /Span /Type /StructElem /ActualText (orbital environments with non) /K [54] /P 74 0 R /Pg 5 0 R >> endobj 82 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [55] /P 74 0 R /Pg 5 0 R >> endobj 83 0 obj << /S /Span /Type /StructElem /ActualText (zero momentum. We the) /K [56] /P 74 0 R /Pg 5 0 R >> endobj 84 0 obj << /S /Span /Type /StructElem /ActualText (n propose a feedback/feedforward proportional) /K [57] /P 74 0 R /Pg 5 0 R >> endobj 85 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [58] /P 74 0 R /Pg 5 0 R >> endobj 86 0 obj << /S /Span /Type /StructElem /ActualText (integral) /K [59] /P 74 0 R /Pg 5 0 R >> endobj 87 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [60] /P 74 0 R /Pg 5 0 R >> endobj 88 0 obj << /S /Span /Type /StructElem /ActualText (derivative workspace controller, based on coordinate) /K [61] /P 74 0 R /Pg 5 0 R >> endobj 89 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [62] /P 74 0 R /Pg 5 0 R >> endobj 90 0 obj << /S /Span /Type /StructElem /ActualText (free pose and velocity error functions defined on the matrix ) /K [63] /P 74 0 R /Pg 5 0 R >> endobj 91 0 obj << /S /Span /Type /StructElem /ActualText /K [64] /P 74 0 R /Pg 5 0 R >> endobj 92 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [65] /P 74 0 R /Pg 5 0 R >> endobj 93 0 obj << /S /Span /Type /StructElem /ActualText (space/interna) /K [66] /P 74 0 R /Pg 5 0 R >> endobj 94 0 obj << /S /Span /Type /StructElem /ActualText (l stability of the proposed ) /K [67] /P 74 0 R /Pg 5 0 R >> endobj 95 0 obj << /S /Span /Type /StructElem /ActualText (control method from various aspects. Building upon this, the developed controller accommodates uncertainties, ) /K [68] /P 74 0 R /Pg 5 0 R >> endobj 96 0 obj << /S /Span /Type /StructElem /ActualText (circumvents singularities, and ensures stable, precise manipulation in the presence of environmental disturbances. ) /K [69] /P 74 0 R /Pg 5 0 R >> endobj 97 0 obj << /S /Span /Type /StructElem /ActualText (Thr) /K [70] /P 74 0 R /Pg 5 0 R >> endobj 98 0 obj << /S /Span /Type /StructElem /ActualText (ough extensive simulations in representative space environments, our framework outperforms conventional ) /K [71] /P 74 0 R /Pg 5 0 R >> endobj 99 0 obj << /S /Span /Type /StructElem /ActualText (methods, demonstrating superior singularity resilience and robust full) /K [72] /P 74 0 R /Pg 5 0 R >> endobj 100 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [73] /P 74 0 R /Pg 5 0 R >> endobj 101 0 obj << /S /Span /Type /StructElem /ActualText (pose workspace control. In the future, we ) /K [74] /P 74 0 R /Pg 5 0 R >> endobj 102 0 obj << /S /Span /Type /StructElem /ActualText (will extend the simulation analysis by ) /K [75] /P 74 0 R /Pg 5 0 R >> endobj 103 0 obj << /S /Span /Type /StructElem /ActualText (adding an experimental setup \(including two KUKA LBR iiwa robot arms\) ) /K [76] /P 74 0 R /Pg 5 0 R >> endobj 104 0 obj << /S /Span /Type /StructElem /ActualText (in a hardware) /K [77] /P 74 0 R /Pg 5 0 R >> endobj 105 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [78] /P 74 0 R /Pg 5 0 R >> endobj 106 0 obj << /S /Span /Type /StructElem /ActualText (in) /K [79] /P 74 0 R /Pg 5 0 R >> endobj 107 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [80] /P 74 0 R /Pg 5 0 R >> endobj 108 0 obj << /S /Span /Type /StructElem /ActualText (the) /K [81] /P 74 0 R /Pg 5 0 R >> endobj 109 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [82] /P 74 0 R /Pg 5 0 R >> endobj 110 0 obj << /S /Span /Type /StructElem /ActualText (loop platform to further investigate the advantages of the developed rigorous dynamical ) /K [83] /P 74 0 R /Pg 5 0 R >> endobj 111 0 obj << /S /Span /Type /StructElem /ActualText (models and the proposed control strategies. This research has the potential t) /K [84] /P 74 0 R /Pg 5 0 R >> endobj 112 0 obj << /S /Span /Type /StructElem /ActualText (o significantly enhance the capabilities ) /K [85] /P 74 0 R /Pg 5 0 R >> endobj 113 0 obj << /S /Span /Type /StructElem /ActualText (of space manipulators for various space missions, from construction and maintenance tasks to planetary ) /K [86] /P 74 0 R /Pg 5 0 R >> endobj 114 0 obj << /S /Span /Type /StructElem /ActualText (exploration, ensuring reliable and adaptable manipulation in challenging scenarios.) /K [87] /P 74 0 R /Pg 5 0 R >> endobj 115 0 obj << /S /Span /Type /StructElem /ActualText ( ) /K [88] /P 74 0 R /Pg 5 0 R >> endobj 74 0 obj << /S /P /Type /StructElem /K [73 0 R 75 0 R 76 0 R 77 0 R 78 0 R 79 0 R 80 0 R 81 0 R 82 0 R 83 0 R 84 0 R 85 0 R 86 0 R 87 0 R 88 0 R 89 0 R 90 0 R 91 0 R 92 0 R 93 0 R 94 0 R 95 0 R 96 0 R 97 0 R 98 0 R 99 0 R 100 0 R 101 0 R 102 0 R 103 0 R 104 0 R 105 0 R 106 0 R 107 0 R 108 0 R 109 0 R 110 0 R 111 0 R 112 0 R 113 0 R 114 0 R 115 0 R] /P 25 0 R >> endobj 116 0 obj << /S /Span /Type /StructElem /ActualText (Bio:) /K [89] /P 117 0 R /Pg 5 0 R >> endobj 118 0 obj << /S /Span /Type /StructElem /ActualText ( ) /K [90] /P 117 0 R /Pg 5 0 R >> endobj 117 0 obj << /S /P /Type /StructElem /K [116 0 R 118 0 R] /P 25 0 R >> endobj 119 0 obj << /S /Span /Type /StructElem /ActualText (Borna Monazzah Moghadda) /K [91] /P 120 0 R /Pg 5 0 R >> endobj 121 0 obj << /S /Span /Type /StructElem /ActualText (m is a PhD candidate \(2019) /K [92] /P 120 0 R /Pg 5 0 R >> endobj 122 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [93] /P 120 0 R /Pg 5 0 R >> endobj 123 0 obj << /S /Span /Type /StructElem /ActualText (2024\) at the ASRoM laboratories at Ӱԭ University. ) /K [94] /P 120 0 R /Pg 5 0 R >> endobj 124 0 obj << /S /Span /Type /StructElem /ActualText (He has an undergraduate degree \(2016\) from Sharif University of Technology, focusing on the orbital and attitude ) /K [95] /P 120 0 R /Pg 5 0 R >> endobj 125 0 obj << /S /Span /Type /StructElem /ActualText (dynamics of spacecraft and asteroids. Borna is an avid techn) /K [96] /P 120 0 R /Pg 5 0 R >> endobj 126 0 obj << /S /Span /Type /StructElem /ActualText (ology enthusiast, specifically intrigued by all the ways ) /K [97] /P 120 0 R /Pg 5 0 R >> endobj 127 0 obj << /S /Span /Type /StructElem /ActualText (in which space technology can affect us and help better our lives on Earth. His primary research focus is on the ) /K [98] /P 120 0 R /Pg 5 0 R >> endobj 128 0 obj << /S /Span /Type /StructElem /ActualText (incorporation of advanced geometric tools in the modeling and Guidance, Navigation & C) /K [99] /P 120 0 R /Pg 5 0 R >> endobj 129 0 obj << /S /Span /Type /StructElem /ActualText (ontrol of space ) /K [100] /P 120 0 R /Pg 5 0 R >> endobj 130 0 obj << /S /Span /Type /StructElem /ActualText (manipulators for proximity operations on non) /K [101] /P 120 0 R /Pg 5 0 R >> endobj 131 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [102] /P 120 0 R /Pg 5 0 R >> endobj 132 0 obj << /S /Span /Type /StructElem /ActualText (cooperative orbital debris. His interests include multi) /K [103] /P 120 0 R /Pg 5 0 R >> endobj 133 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [104] /P 120 0 R /Pg 5 0 R >> endobj 134 0 obj << /S /Span /Type /StructElem /ActualText (body ) /K [105] /P 120 0 R /Pg 5 0 R >> endobj 135 0 obj << /S /Span /Type /StructElem /ActualText (dynamics, geometric non) /K [106] /P 120 0 R /Pg 5 0 R >> endobj 136 0 obj << /S /Span /Type /StructElem /ActualText (-) /K [107] /P 120 0 R /Pg 5 0 R >> endobj 137 0 obj << /S /Span /Type /StructElem /ActualText (linear control, computer vision, and orbital mechanics.) /K [108] /P 120 0 R /Pg 5 0 R >> endobj 138 0 obj << /S /Span /Type /StructElem /ActualText ( ) /K [109] /P 120 0 R /Pg 5 0 R >> endobj 120 0 obj << /S /P /Type /StructElem /K [119 0 R 121 0 R 122 0 R 123 0 R 124 0 R 125 0 R 126 0 R 127 0 R 128 0 R 129 0 R 130 0 R 131 0 R 132 0 R 133 0 R 134 0 R 135 0 R 136 0 R 137 0 R 138 0 R] /P 25 0 R >> endobj 25 0 obj << /S /Part /Type /StructElem /K [24 0 R 28 0 R 74 0 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