Currently robotic motion control algorithms are tedious at best to implement, are lacking in automatic situational adaptability, and tend to be static in nature. Humanoid (human-like) control is little more than a dream, for all, but the fastest computers. The main idea of the work presented in this paper is to define a radically new, simple, and computationally lightweight approach to humanoid motion control. A new Proportional-Integral-Derivative (PID) controller algorithm called PID++ is proposed in this work that uses minor adjustments with basic arithmetic, based on the real-time encoder position input, to achieve a stable, precise, controlled, dynamic, adaptive control system, for linear motion control, in any direction regardless of load. With no PID coefficients initially specified, the proposed PID++ algorithm dynamically adjusts and updates the PID coefficients $Kp$, $Ki$ and $Kd$ periodically. No database of values is required to be stored as only the current and previous values of the sensed position with an accurate time base are used in the computations and overwritten in each read interval, eliminating the need of deploying much memory for storing and using vectors or matrices. Complete in its implementation, and truly dynamic and adaptive by design, engineers will be able to use this algorithm in commercial, industrial, biomedical, and space applications alike. With characteristics that are unmistakably human, motion control can be feasibly implemented on even the smallest microcontrollers (MCU) using a single command and without the need of reprogramming or reconfiguration.

In the not-too-distant future, humans will return to the Moon and step foot for the first time on Mars. Eventually, humanity will colonize these celestial bodies, where living and working will be commonplace. Energy is fundamental to all life. The energy that people use to sustain themselves on Earth, and in particular on these other worlds, is the integrated, safe production of electrical power, day and night. This paper proposes a radically new solution to this problem: Solar Tracking by day and a Solar Rechargeable Calcium Oxide Chemical Thermoelectric Reactor by night. Called the “Robotic End Effector for Lunar and Martian Geological Exploration of Space” (REEGES) Day/Night Power Generator Station, this form of thermoelectric power generation is mathematically modeled, simulation is performed, and a concept model design is demonstrated in this paper. The results of the presented simulation show the maximum total system output capability is 9.89 V, 6.66 A, and 65.9 W, with an operating time of up to 12 h, through a scalable design. This research provides instructions to the Space Research Community on a complete and novel development methodology for creating fully customized, configurable, safe, and reliable solar/thermoelectric day/night power generators, specifically meant for use on the Moon and Mars, using the Proportional-Integral-Derivative++ (PID++) Humanoid Motion Control Algorithm for its operation on a computationally lightweight microcontroller.