Abstract: Methods and systems to control stacked hexapod platforms for use as tools, which function with both high accuracy and high precision are provided. In some embodiments, the methods and systems include a convergence of modern control theory, and machine learning. Furthermore, some embodiments provide control algorithms to carry out autonomous in-space assembly operations using assemblers. Some embodiments provide methods and systems which combine long-reach low precision manipulators and smaller, high-precision assembler with interchangeable tools.

Abstract: A bone-in ham steak is made by separating the muscle, fat, and femur bones from green hams and curing the muscle in a conventional manner. The femur bones are cut into linear segments and aligned lengthwise on a skewer and then placed in a casing. The aggregated and cured ham muscle and fat are tumbled and massaged to extract protein and placed into said casing so as to concentrically surround the bone segments. The product is then cooked and sliced into ham steaks of uniform size and weight with a central bone piece.

Abstract: A bone-in ham steak is made by separating the muscle, fat, and femur bones from green hams and curing the muscle in a conventional manner. The femur bones are cut into linear segments and aligned lengthwise on a skewer. The aggregated and cured ham muscle and fat are placed into a casing so as to concentrically surround the skewered bone. The product is then cooked and, after removing the skewer, sliced into ham steaks of uniform size and weight with a central bone piece.