Mr Manu Harikrishnan Nair

John Smith
Working on: In-orbit robotic assembly of a Large-Aperture Space Telescope

November 2019 - present

M.Sc. in Mechatronics @ University of Glasgow

Robotics, Space Systems, System Dynamics, Control Theory, Mission Planning





Publications

A curated list of my publications.

                @ARTICLE{10.3389/frobt.2021.725333,
                    AUTHOR={Seddaoui, Asma and Saaj, Chakravarthini Mini and Nair, Manu Harikrishnan},   
                    TITLE={Modeling a Controlled-Floating Space Robot for In-Space Services: A Beginner’s Tutorial},      
                    JOURNAL={Frontiers in Robotics and AI},      
                    VOLUME={8},      
                    YEAR={2021},      
                    URL={https://www.frontiersin.org/article/10.3389/frobt.2021.725333},       
                    DOI={10.3389/frobt.2021.725333},      
                    ISSN={2296-9144},   
                    ABSTRACT={Ground-based applications of robotics and autonomous systems (RASs) are fast advancing, and there is a growing appetite for developing cost-effective RAS solutions for in situ servicing, debris removal, manufacturing, and assembly missions. An orbital space robot, that is, a spacecraft mounted with one or more robotic manipulators, is an inevitable system for a range of future in-orbit services. However, various practical challenges make controlling a space robot extremely difficult compared with its terrestrial counterpart. The state of the art of modeling the kinematics and dynamics of a space robot, operating in the free-flying and free-floating modes, has been well studied by researchers. However, these two modes of operation have various shortcomings, which can be overcome by operating the space robot in the controlled-floating mode. This tutorial article aims to address the knowledge gap in modeling complex space robots operating in the controlled-floating mode and under perturbed conditions. The novel research contribution of this article is the refined dynamic model of a chaser space robot, derived with respect to the moving target while accounting for the internal perturbations due to constantly changing the center of mass, the inertial matrix, Coriolis, and centrifugal terms of the coupled system; it also accounts for the external environmental disturbances. The nonlinear model presented accurately represents the multibody coupled dynamics of a space robot, which is pivotal for precise pose control. Simulation results presented demonstrate the accuracy of the model for closed-loop control. In addition to the theoretical contributions in mathematical modeling, this article also offers a commercially viable solution for a wide range of in-orbit missions.}
                }

                @INPROCEEDINGS {Gregory2021,
                    author    = "Joe Gregory and Manu H. Nair and Gianmaria Bullegas and Chakravarthini M. Saaj",
                    title     = "Using Semantic Systems Engineering Techniques to Verify the Large Aperture Space Telescope Mission - Current Status",
                    booktitle = "Model Based Space Systems and Software Engineering (MBSE2021)",
                    year      = "2021",
                    address   = "Amsterdam, Netherlands",
                    month     = "sep",
                    url       = "https://indico.esa.int/event/386/contributions/6243/attachments/4281/6391/1435%20-%20using%20semantic%20systems%20engineering%20techniques%20to%20verify%20the%20large%20aperture%20space%20telescope%20mission%20%E2%80%93%20current%20status.pdf"
                }
                @article{Mohamed2020,
                    doi = {10.15406/aaoaj.2020.04.00112},
                    url = {https://doi.org/10.15406/aaoaj.2020.04.00112},
                    year = {2020},
                    month = jul,
                    publisher = {{MedCrave} Group,  {LLC}},
                    volume = {4},
                    number = {3},
                    pages = {97--114},
                    author = {Amr Mohamed and Chakravarthini Saaj and Asma Seddaoui and Manu H. Nair},
                    title = {Linear controllers for free-flying and controlledfloating space robots: a new perspective},
                    journal = {Aeronautics and Aerospace Open Access Journal}
                }
                @INPROCEEDINGS {,
                    author    = "Manu H. Nair and Chakravarthini M. Saaj and Amir Ghalamzan E.",
                    title     = "On Robotic in-Orbit Assembly of Large Aperture Space Telescopes",
                    booktitle = "Workshop on Robotic In-Situ Servicing, Assembly and Manufacturing, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)",
                    year      = "2020",
                    address   = "Las Vegas, US",
                    month     = "oct"
                }
                @INPROCEEDINGS {,
                    author    = "Manu H. Nair and Chakravarthini M. Saaj and Sam Adlen and Amir Ghalamzan E. and Steve Eckersley",
                    title     = "Advances in Robotic in-Orbit Assembly of Large Aperture Space Telescopes",
                    booktitle = "Proc. 15th International Symposium in Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2020)",
                    year      = "2020",
                    address   = "Pasadena, US",
                    month     = "oct",
                    url       = "https://www.hou.usra.edu/meetings/isairas2020fullpapers/pdf/5012.pdf"
                }
                @INPROCEEDINGS {,
                    author    = "Manu H. Nair and Chakravarthini M. Saaj and Amir Ghalamzan E and, Angadh Nanjangud and Steve Eckersley and Paolo Bianco",
                    title     = "In-Space Robotic Assembly and Servicing of High-Value Infrastructure",
                    booktitle = "71st International Astronautical Congress",
                    year      = "2020",
                    month     = "oct",
                    url       = "https://iafastro.directory/iac/paper/id/59387/summary/"
                }
                @inproceedings{Nair2020,
                    doi = {10.1007/978-3-030-63486-5_15},
                    url = {https://doi.org/10.1007/978-3-030-63486-5_15},
                    year = {2020},
                    publisher = {Springer International Publishing},
                    pages = {128--133},
                    author = {Manu H. Nair and Chakravarthini M. Saaj and Amir G. Esfahani},
                    title = {Modelling and Control of an End-Over-End Walking Robot},
                    booktitle = {Towards Autonomous Robotic Systems}
                }
                @inproceedings{HarikrishnanNair2018,
                    doi = {10.1109/iros.2018.8594129},
                    url = {https://doi.org/10.1109/iros.2018.8594129},
                    year = {2018},
                    month = oct,
                    publisher = {{IEEE}},
                    author = {Manu Harikrishnan Nair and Tarush Ghanshsyam Singh and Gunjan Chourasia and Amrit Das and Akarsh Shrivastava and Zeel Shaileshkumar Bhatt},
                    title = {Flamen - 7 {DOF} Robotic Arm to Manipulate a Spanish Fan},
                    booktitle = {2018 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
                }
                @inproceedings{,
                    url = {https://indico.esa.int/event/329/contributions/5540/attachments/3896/5504/1530_-_Abstract_-_CIPHRE.pdf},
                    year = {2020},
                    month = sep,
                    author = {Gianmaria Bullegas and Anurag Kapur and Mini C. Saaj and Manu H. Nair and Adrian Pop and Peter Fritzson},
                    title = {CLOUDSF - A Continuous Integration Framework for the Design and Validation of Cyber-Physical Systems},
                    booktitle = {Model Based Space Systems and Software Engineering ({MBSE 2020 - Virtual workshop})}
                }
            
Oxford University
University of Bristol
University of Birmingham
London Imperial College
Queen Mary University
Polytechnic University of Milan