We present the expected performance for a ground-based terahertz (THz) radiometer, a plan to be launched on the TERahertz EXplore-1 (TEREX-1) Mars exploration microspacecraft. The small THz passive radiometer has been developed for the TEREX series of future microspacecrafts. This spacecraft is an opportunity for organizations with limited resources and technology to conduct frequent missions to Mars well suited for resource exploration in contrast to all of the current and past Mars missions of large/giant class missions with fully government lead. The observation frequencies of the TEREX-1 radiometer are 474.64–475.64 and 486.64–487.64 GHz with a 100-kHz resolution, and the double-sideband noise temperature less than 3000 K. A theoretical error analysis is performed with the instrument characteristics to assess for the first time up-looking observations of atmospheric oxygen molecules (O2) and water vapor (H2O). Measurement errors for O2and H2O are 7%–22% and 14%–25% with 8–17- and 5–10-km vertical resolution in the vertical ranges 0–55 and 0–25 km, respectively. TEREX-1 is also capable to measure minor species, O3and H2O2, with a precision better than 30% within two independent layers. We used the integration time of 1 h for all simulations. Our theoretical simulation showed the instrument characteristics of the TEREX-1 sensor are able to observe vertical profiles of O2and H2O abundances with the same level of the large class missions.

Kikuuwe and Fujimoto have introduced proxy-based sliding mode control. It combines responsive and accurate tracking during normal operation with smooth, slow recovery from large position errors that can sometimes occur after abnormal events. The method can be seen as an extension to both conventional PID control and sliding mode control. In this paper, proxy-based sliding mode control is used to control a 2-DOF planar manipulator actuated by pleated pneumatic artificial muscles (PPAMs). The principal advantage of this control method is increased safety for people interacting with the manipulator. Two different forms of proxy-based sliding mode control were implemented on the system, and their performance was experimentally evaluated. Both forms performed very well with respect to safety. Good tracking was also obtained, especially with the second form.

Repetitive manual handling of heavy loads is common in assembly and is a frequent cause of lower back disorders. This can have a significant impact on the quality of life and has a serious economic cost. This paper presents the concept of a lightweight manipulator that can interact directly with an operator in order to assist him in handling heavy loads. The advantages of the system, ergonomics, low weight, low cost, ease of operation and operator safety are a consequence of the use of Pleated Pneumatic Artificial Muscles as actuators. The design of a small-scale model of such a manipulator using these actuators is presented in detail. A simple position controller for the system is also presented.

Pleated pneumatic artificial muscles (PPAMs), developed at the Vrije Universiteit Brussel, Department of Mechanical Engineering, are used as robotic actuators. Their distinguishing feature is their pleated design, as a result of which their contraction forces and maximum displacement are very high compared to other pneumatic artificial muscles. The PPAM design, operation and characteristics are presented. A rotative joint actuator, made of two antagonistically coupled PPAMs, is discussed to demonstrate their suitability for robotics. It has several properties that are similar to those of skeletal joint actuators. Positioning tasks are seen to be performed very accurately using a simple PI control. Furthermore, the antagonistic actuator can easily be made to have a soft or careful touch, contributing greatly to a safe robot operation. In view of all the characteristics PPAMs are very well suited for automation and robotic applications.