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Conceptual Design and Characteristics of A Dual-Arm Cam-Lock Manipulator
Recent developments in the area of smart structures indicate that variable geometry/stiffness truss network is of fundamental importance in designing smart transformable structures and...

Generalized Object Control and Assembly for Space Robots
This paper presents a Generalized Object Control framework which subsumes Unified Motion/Force Control and Object Impedance Control. Under this framework new forms of assembly primitives...

An Intelligent Robotic Vehicle for Lunar/Martian Applications
This paper describes the research effort being undertaken at UA/NASA Space Engineering Research Center (SERC) towards a general-purpose intelligent robotic vehicle system (IRVS) for Lunar...

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...

A Novel Gravity Compensation System for Space Robots
Realistic experimental investigation of the behavior of space robots requires simulation on earth of the micro-gravity environment existing in space. This is particularly true due to the...

URSULA: Design of an Underwater Robot for Nuclear Reactor Vessel Inspection
This paper describes the development of an underwater robotic system that will be used to perform ultrasonic inspections of nuclear reactor vessel weldments. The development effort consists...

Advancement of Material Handling Technologies for In-Place Asphalt Pavement Recycling
New technologies for asphalt pavement resurfacing are improving dramatically with the advancements being made to related equipment technologies. This paper focuses on the recent developments...

Real-Time Control for a Robotic Rebar Bender
Job conditions and variability in the properties of the stock material combine in a rebar bending operation to create a challenging environment for a robotic bender. This paper reports...

Sensing and Control for Robotic Masonry
Due to kiln firing in the brick fabrication process, bricks vary in color, texture, and size. In an effort to automate masonry, sensing and control modules are required to ensure a normal...

Computer-Assisted Coal Mining ? An Overview
The U.S. Bureau of Mines was created to conduct research to improve the health, safety, and efficiency of the coal and metal mining industries. In 1986, the Bureau embarked on a new, major...

A Real-Time Control Network for Robotic Mining
The application of computers and computer networks to coal mining machines is one approach the U.S. Bureau of mines is pursuing to enhance safety for the coal miner while at the same time...

The Engineer Vehicle Tele-operation Capability
The Tank-Automotive Robotics Office develops remote and autonomous ground vehicle systems for the U.S. Army. We specialize in command and control of mobility platforms and overall system...

On the Dynamics and Control of Flexible Orbiting Systems: An Approach with Application
A relatively general formulation for studying the dynamics and control of an arbitrary spacecraft, with interconnected flexible, deployable and articulating structural members, is reviewed...

Using a Small Satellite Bus As a Dedicated Platform for On-Orbit CSI Experiments
Control-Structure Integration (CSI) technology will be needed for the success of many future space missions, however, this technology will not be seriously considered for use by program...

Use of GPS for Tethered Satellite Position Determination
This paper provides a description of the potential application of GPS to determine the position of a tethered satellite with respect to the Space Shuttle. Relative positioning is performed...

Interactions Between the Space Station Freedom Attitude Control System and Space Shuttle Remote Manipulator Controller During On-Orbit Assembly Operations
This paper presents the results of dynamics and control interaction analyses involving the Space Shuttle Orbiter, the Shuttle Remote Manipulator System (SRMS), and the Space Station Freedom...

The Effect of Mobile Transporter Motion on the Space Station Attitude Control System
The effect of Mobile Transport (MT) motion on Space Station stability and the performance of the Attitude Control System (ACS) using Control Momentum Gyros (CMGs) is assessed. Analysis...

Energy Analysis of High Temperature Lunar Manufacturing Processes
This paper presents an energy analysis methodology to optimize the power system requirements for high temperature manufacturing processes on the moon. Power requirement and power system's...

SemiActive Structural Control: A Low Cost Fix for An Infrastructure at Risk
There is increasing societal pressure on the engineering profession to develop cost effective methods to extend the service life of the civil infrastructure. While the degradation of the...

Discontinuous Control of Seismic-Excited Nonlinear and Hysteretic Structures
Based on the theory of variable structure system (VSS) or sliding mode control (SMC), discontinuous control methods are presented for application to seismic-excited nonlinear civil engineering...

 

 

 

 

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