Developing Plans for Robotic Excavators
We would like a robot excavator that is able to excavate a volume of soil according to specification. To this end we have developed a general method that can be used to provide prescriptions...
An Experiment in Mobile Robotic Cooperation
This paper describes the results of an experiment in real mobile robot cooperation which utilizes a fully distributed, cooperative software mechanism we have previously developed in simulation....
Automated Sensor Tester
The Automated Sensor Tester (AST) is being developed by Sandia National Laboratories for the Department of Energy (DOE) to be a tool to aid in testing exterior intrusion detection sensors...
Inertially Favorable Trajectories for Robot Motion in Space
Robot manipulators generally display non-linear coupled dynamic forces which increase with speed. Efficiencies can be achieved by finding trajectories which take advantage of those inertial...
Environmental Hardening of a Mobile-Manipulator System for Nuclear Environments
The research report involves the radiation hardening of a commercially-available, mobile robot, the REMOTEC ANDROS. This hardening effort will culminate in the availability of a mega-rad...
An Overview of the Accident Response Mobile Manipulation System (ARMMS)
The development of a high mobility platform integrated with high strength manipulation is under development at Sandia National Laboratories. The mobility platform used is a High Mobility...
Generic Data Acquisition System for Robotic Waste Characterization
This paper describes a generic data acquisition system for robotic characterization of DOE production facilities and waste sites. While the specific suite of characterization sensors on...
Robotic Workcell for Waste Handling
During the sorting and repackaging of recovered waste, robotic systems for grasping and manipulating odd-shaped objects of varying sizes will be needed. Also, during the removal of buried...
A New Robotic System Concept for Automating Highway Maintenance Operations
The purpose of this paper is to present the Tethered Mobile Robot (TMR) concept, a new robotic system for automating highway maintenance operations. The operational requirements of this...
Demands and Satisfiers for Automation and Robotics in Construction: Differences Between Japan and the United States
The construction industries in Japan and the United States face problems of productivity, quality, safety, and skilled labor shortages. Automation and robotics are often proposed as solutions...
Robotic Options for Mining of Near-Earth Objects
The mining and processing of a Near-Earth Object (NEO) should be as simple and as robust as possible - the fewer processes and parts the better. Reliability and survivability of the total...
Bubba, A Teleoperated Countermine Vehicle
A recent countermine test program required the development of Bubba, a 5 ton, 6 wheel drive, M-923 military truck converted to teleoperation. The Mine Detection by Energetic Photons (MIDEP)...
Improving Dynamic Finite Element Models Using Test Data
A structural optimization based method was developed to improve the finite element model to achieve good agreement with the test results. The modal displacements at critical locations...
Dynamic Analysis of a High Speed Transport Model by Using a Piecewise Continuous Timoshenko Beam Model
Conventional treatment of structural dynamic analysis and control is based on the finite element structural model. But such a treatment uses a very large number of elements which is usually...
Braced Double Skinned Structure in Lunar Application
A parametric study is designed to evaluate a proposed Braced Double Skinned roof structure utilizing extrapolated theoretical solutions i.e. Navier's solution and Levy's solution. A Finite...
A Conceptual Study of A Solar Power Satellite Using Centrifugal Force
We studied the self deployable Solar Power Satellite (SPS) using centrifugal force in order to explore ways in reducing construction costs. We designed a 340 kW SPS, and studied the unfolding...
Comparison of Donnell and Higher Order Nonlinear Models for Dynamically Loaded Composite Plates and Shells
The dynamic buckling behavior of composite cylindrical shells subjected to a transverse point load is considered. The behavior of undamped cylindrical shells of varying radii is analyzed...
Large Deformation Theory Using Truncated Rotations
Today's aerospace industry has advanced to the point of using optimum design techniques in virtually all applications. In structural elements, orthotropic fiber composite materials have...
Analysis of Composite Panels Using Newton's Method
Postbuckling response prediction of composite panels using Newton's method will be discussed. The traditional approach of nonlinear finite element analysis is to use a Newton-Raphson approach...
Reliability of Structures for the Moon
The subject of risk and reliability for lunar structures is introduced and critical issues deliberated. A tensile structure is considered as an example in order to become more specific...
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