This tool interface consists of a socket drive square peg that rotates with the wheel, a clamp that can hold a tool onto the socket drive, and a pair of fold-out cameras that provide close-up stereo imagery of the tool worksite when the clamp is holding a tool. The precise dimensions of the tool adapter (foot that is held in the clamp) determine how far the stereo cameras fold out, so that the camera field-of-view is appropriate for both small and large tools.

A computationally efficient method is described for optimizing trajectories of spacecraft that generate low thurst and must be operated for long times.

This algorithm optimally allocates the required control forces and torques by the control logic to the actuators.