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This paper presents the architecture, functionality, and performance of the SpW Interface Node IP which constitutes a configurable IP Core from which non-SpW experts can tailor a customized SpW interface for integration into their developments. The IP core offers numerous configurability options and is also expandable to include additional blocks as the SpW protocol family evolves.
The Lightweight Advanced Robotic Arm Demonstrator (LARAD) is a state-of-the-art, two-meter long robotic arm for planetary surface exploration currently being developed by a UK consortium led by Airbus Defence and Space Limited under contract to the UK Space Agency (CREST-2 programme). LARAD has a modular design, which allows for experimentation with different electronics and control software. As ESA...
A number of evolutions of the SpaceWire standard [1] and usage recommendations have been developed over the past decade. As a result, the original standard is slowly evolving towards a so-called SpaceWire-2 (SpW-2) standard family, covering legacy SpaceWire, SpW-Rev1 and SpaceFibre [2],[3]. Besides other use cases that are mainly covered through on-going actions structured through the SAVOIR-UNION...
This paper presents the main outcomes of the ESA funded project entitled: “SPACEMAN — A SpaceWire Network Management Tool” that was jointly carried out by ITTI Sp. z o.o. and TELETEL SA., and dealt with SpaceWire Network Discovery and Configuration Protocol (SpW-NDCP). We give a brief overview of the SpW-NDCP, present the main features of the SPACEMAN tool for discovering and configuring SpaceWire...
A systematic solution to precision control of modular robot manipulators without using joint torque sensing is presented in this paper for the first time. Using the virtual decomposition control (VDC) approach with embedded field programmable gate array (FPGA) logic devices, the proposed solution solves a long-standing problem of lacking control precision fundamentally associated with the modular...
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