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The purpose of this paper is to present kinetic equations for tether-net system during deorbiting using a novel method differing from the traditional method.

The work presents kinetic equations for tether-net system in which the tether exhibits tensional and tensionless states alternately during deorbiting. Orbital position coordinates of net-capture and abandoned spacecrafts are adopted as generalized coordinates above-mentioned instead of librations and the length of the tether. Geostationary orbit (GEO) and the orbit whose apogee is 300 km above GEO are chosen as the initial and target orbit, respectively. Simulations are conducted to study the deorbiting results considering a variety of parameters and initial conditions.

The distinctive dynamic characteristics of tether-net system can be seen by kinetic equations based on the proposed dynamic modeling strategies. Moreover, the deorbiting results are deeply affected by the initial tension force and librations showed by simulations. The initial tension force and librations should be controlled within a reasonable range.

This is expected to provide dynamic modeling strategies for space tether-net system during deorbiting. Moreover, the preliminary principle of choosing initial conditions and parameters to meet the requirements for deorbiting can be achieved.

The research proposes a novel dynamic modeling method for space tether-net system that differs from traditional tethered system, and also proposes a superior librations expression based on orbital position coordinates of net-capture and abandoned spacecrafts.

This paper aims to present the impact analysis of payload rendezvous with tethered satellite system and the design of an adaptive sliding mode controller which can deal with mass parameter uncertainty of targeted payload, so that the proposed cislunar transportation scheme with spinning tether system could be extended to a wider and more practical range.

In this work, dynamical model is first derived based on Langrangian equations to describe the motion of a spinning tether system in an arbitrary Keplerian orbit, which takes the mass of spacecraft, tether and payload into account. Orbital design and optimal open-loop control for the payload tossed by the spinning tether system are then presented. The real payload rendezvous impact around docking point is also analyzed. Based on reference acceleration trajectory given by optimal theories, a sliding mode controller with saturation functions is designed in the close-loop control of payload tossing stage under initial disturbance caused by actual rendezvous error. To alleviate the influence of inaccurate/unknown payload mass parameters, the adaptive law is designed and integrated into sliding mode controller. Finally, the performance of the proposed controller is evaluated using simulations. Simulation results validate that proposed controller is found effective in driving the spinning tether system to carry payload into desired cislunar transfer orbit and in dealing with payload mass parameter uncertainty in a relatively large range.

The results show that unideal rendezvous manoeuvres have significant impact on in-plane motion of spinning tether system, and the proposed adaptive sliding mode controller with saturation functions not only guarantees the stability but also provides good performance and robustness against the parameter and unstructured uncertainties.

This work addresses the analysis of actual impact on spinning tether system motion when payload is docking with system within tolerated docking window, rather than at the particular ideal docking point, and the robust tracking control of deep-space payload tossing missions with the spinning tether system using the adaptive sliding mode controller dealing with parameter uncertainties. This combination has not been proposed before for tracking control of multivariable spinning tether systems.

The purpose of this paper is to optimize the design of a hybrid tether using probabilistic approach considering inherent random variation in the stress developed and the strength it has. The variation in strength is mostly because of variation in diameter of the tether and the properties of the material along the length of the tether. As a result, classical design approach for the tether may not serve the purpose. For this purpose, a reliability-based design of hybrid tether is discussed in this paper.

A literature review was carried out on the design of tether and its operational reliability. It has been shown that the classical design approach does not serve the purpose, as the strategic operation has to be reliable enough, often requiring a measure of reliability required. A reliability-based approach has been presented to achieve the optimum design of a hybrid tether.

The optimization problem was carried out for different values of the safety factor to investigate the effect on the optimal design of tether. An analysis is carried out to show that one should not target a very high value of reliability or factor of safety, as it causes the self-weight of the tether to increase tremendously and its cost significantly.

The present work has been carried out considering the limited data and can further be extended to determine more accurate reliability measures by considering more number of sample test data. The measured data is collected from limited required trials for demo; do not represent the exact population data.

Lab strength test and flight trials were conducted to acquire data for the present analysis. In field use, it was noticed that the tether degraded from top portion attached toward the balloon end because of maximum exposure and repeated usage.

The purpose of this paper is to analyze mobile tethering from technological and social perspectives. Mobile tethering allows us to share cellular data connection with others over WiFi, Bluetooth or USB. Although the technology is ready and has promising outcomes, service providers and the users still keep their distance. Therefore, the incentives for the users and service providers should be identified.

Technical challenges in terms of energy and bandwidth consumption are explored using an application specifically developed for mobile tethering. Usage issues are studied through conjoint analysis, in which we analyze the importance of technical aspects as well as social conditions for sharing data connection with others.

The research shows that although energy, bandwidth and security are important technical challenges, users are mainly concerned about social aspects, such as with whom the connection will be shared, rather than monetary issues. Mobile tethering is a viable cooperative service, only when users are familiar with the person with whom the data connection is being shared.

In the technical evaluation of the mobile tethering application, only Android operating systems are being used. Other operating systems (e.g. iOS) may perform differently. Moreover, only a small fraction of smartphones and tablets has been tested.

Service providers tend to block mobile tethering technology, as they do not have control and do not expect to gain revenues. However, service providers have the abilities to satisfy the security and privacy concerns of the users and can create secure femtocells for their customers.

Mobile tethering performance results indicate that more people can access the Internet while they are mobile even if they do not have cellular data subscription. More Internet-based services can be offered to people while they roam in other countries.

For technology developers, both the key technical issues and the concerns of the consumers are highlighted. Future applications must contain reliable security and privacy protocols in their design. Moreover, the significance of the social networks is shown in the decision-making of the use of mobile tethering, especially with respect to the credit exchange.

The purpose of this paper is to investigate the time optimal trajectory of the multi-tethered robot (MTR) on a large spinning net structures in microgravity environment.

The MTR is a small space robot that uses several tethers attached to the corner-fixed satellites of a spinning net platform. The transition of the MTR from a start point to any arbitrary designated points on the platform surface can be achieved by controlling the tethers’ length and tension simultaneously. Numerical analysis of trajectory optimization problem for the MTR is implemented using the pseudospectral (PS) method.

The globally time optimal trajectory for MTR on a free-end spinning net platform can be obtained through the PS method.

The analysis in this paper is limited to a planar trajectory and the effects caused by attitude of the MTR will be neglected. To make the problem simple and to see the feasibility in the general case, in this paper, it is assumed there are no any limitations of mechanical hardware constraints such as the velocity limitation of the robot and tether length changing constraint, while only geometrical constraints are considered.

The optimal solution derived from numerical analysis can be used for a path planning, guidance and navigation control. This method can be used for more efficient on-orbit autonomous self-assembly system or extravehicular activities supports which using a tether-controlled robot.

This approach for a locomotion mechanism has the capability to solve problems of conventional crawling type robots on a loose net in microgravity.

This paper aims to tackle the problem for a fully actuated unmanned aerial vehicle (FUAV) to perform physical interaction tasks in the Global Positioning System-denied environments without expensive motion capture system (like VICON) under disturbances.

A tether-based positioning system consisting of a universal joint, a tether-actuated absolute position encoder and an attitude sensor is designed to provide reliable position feedback for the FUAV. To handle the disturbances, including the tension force caused by the taut tether, model uncertainties and other external disturbances such as aerodynamic disturbance, a hybrid disturbance observer (HDO) combining the position-based method and momentum-based technology with force sensor feedback is designed for the system. In addition, an HDO-based impedance controller is built to allow the FUAV interacting with the environment and meanwhile rejecting the disturbances.

Experimental validations of the proposed control algorithm are implemented on a real FUAV with the result of nice disturbance rejection capability and physical interaction performance.

A cheap alternative to indoor positioning system is proposed, with which the FUAV is able to interact with external environment and meanwhile reject the disturbances under the help of proposed hybrid disturbance observer and the impedance controller.

The purpose of this paper is to study the dynamic vibrations of the tethered satellite system (TSS).

The energy principle and the variational approach are used to establish the dynamic equations of the TSS. By introducing new generalized coordinates, the equations are transformed into the Hamiltonian system. Then, the symplectic Runge-Kutta (SRK) method is used to solve the canonical equations.

The influence of the tether length on the dynamic behavior of the TSS is very important.

The dynamic responses of the TSS are obtained by using the SRK method.

This paper aims to present the control laws to be used in the control of pendular motion on tethered satellite systems in space during orbiting by using a nonlinear design technique.

This work presents both physical and mathematical models represented in a circular orbit. Euler equation of the rigid body is applied under reasonable assumption so as to form the equations of pendular motion. These equations are then used to develop the control laws using a nonlinear design technique. The control laws are required to drive the in-plane angles and out-of-plane angles of the pendular motion to the required trajectories. Simulations are then conducted to study the control results.

Simulation results show that the control laws in both plane angles of motions considered are able to move the pendular motion to the required trajectory. It was also eminent that a lot of effort is required in the case of the reference trajectory that corresponds to the constant inside-plane. To control the pendular motion of the plane, one requires an extended period of time and it should be controlled within a reasonable range. In the outside-of-plane pendular motion, minimal or no effort is required for the control. The reason is that the trajectory is natural planar.

This research is expected to provide a dynamic control strategy for all tethered satellite space systems.

The research proposes a combined dynamic method for the purpose of improving the control of all types of tether satellites.

The purpose of this paper is to develop analytic solutions for a tethered satellite system (TSS) subjected to internal tether tension moment and external aerodynamic torque for spin-up and spin-down manoeuvres.

Analytic solutions for TSS based on the approximation of Euler’s equations of motion via Fresnel integrals and sine and cosine integrals. Test simulation was performed for two cases (spin-up and spin-down manoeuvres). The conclusion is based on graphical interpretation.

The effects of angular velocities on X, Y and Z axes of the TSS under the influence of combined torques from internal tether tension and external aerodynamic drag influenced during spinning manoeuvres are shown graphically.

This research focuses only on a circular orbit, which is one of the simplest orbits without many variables taken into account such as flight path angle and true anomaly. It could get quite complex for other orbit types like elliptic and parabolic orbits.

Practical implications include observing the stability rotational motion of TSS so as to perform a two-way payload exchange via momentum transfer.

In this paper, analytic solutions for a torque motion of a TSS comprising non-linear Euler’s equations of motion are established for spin-up and spin-down manoeuvres.

This chapter introduces the concept of stablecoins such as Tether, DAI, or Ampleforth. It also provides a taxonomy of the different types of stablecoins consisting of (1) traditional asset-backed stablecoins, (2) crypto-collateralized stablecoins, and (3) algorithmic stablecoins and seigniorage shares. The chapter continues with a brief history of stablecoins, starting from BitShares as the first stablecoin implementation over tether and market-wide stablecoin adoption to Facebook-initiated Diem. Next, the chapter explains the impact of stablecoins on cryptocurrencies and other markets and discusses trends and challenges facing stablecoins. The chapter provides a basic understanding of stablecoins, their defining characteristics, challenges, and markets.