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In this paper, we systematically introduce a novel geostationary orbit (GEO) space debris removal system called dexterous tethered space robot (DTSR). The DTSR has three notable characteristics: dexterity, lightweight, and cost effectiveness. We first describe the system's design and a typical mission scenario, and then present its two core technologies (vision-based pose measurement and coordinated...
Concentrating on the measurement of triangular span, we present a novel detection method of arbitrary triangles for Tethered Space Robot in this paper, which is based on line extraction. Line segments are extracted firstly from the ROI containing triangular span. The distance of lines' endpoints and the proportion of gap areas to the whole area are used to acquire triangle candidates. Then we adopt...
Concentrating on recognition of circular modules fixed on non-cooperative target for Tethered Space Robot (TSR), this paper presents a fast circle detector. The pixels' gradient magnitude and direction are computed in the first step and region-growing method is implemented to generate arc support regions (ASRs). And the corresponding square fitting areas (SFAs) are obtained. Afterward, the Euclidean...
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