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 process is provided for the production of a cellular thermoplastic body, wherein solid thermoplastic material is melted under pressure in an extruder, a gaseous blowing agent is injected into the molten thermoplastic material under pressure and said molten thermoplastic material and gaseous blowing agent is passed to a zone of reduced pressure to effect the cellular expansion of said thermoplastic material by said gaseous blowing agent, and wherein said gaseous blowing agent is metered at sonic velocity at a point upstream of the injection of said gaseous blowing agent into said molten thermoplastic material.