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...
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...
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...
Thermoelastic Theory of Cylindrical Sandwich Shells with Piezoelectric Sensors or Actuators
Cylindrical sandwich shells with piezoelectric longitudinal and ring elements bonded to the outer and inner surfaces are considered in this paper. Thermal effects are included in the analysis,...
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...
Space Commercialization: Problems of Law and Policy
This paper focuses on executive and legislative efforts to promote the growth of commercial space industries in the United States. After a discussion of the current, situation and efforts...
Design of Mat Foundation for Egg Shape Digesters
Two levels of ground motion, the Maximum Probable Earthquake and the Maximum Credible Earthquake, were considered in designing the 2.5 million gallon egg shape digesters and their combined...
Behavior of Foundations Subjected to Large Ground Movements
The behavior of twelve linear test foundations above an advancing longwall coal mine panel was observed. Three phases of deformation were observed in the centerline foundations: tension,...
Dynamics of Nuclear Power Plant Structures with Foundation Interaction
This paper presents analyses and conclusions pertaining to a recorded earthquake motion felt at a nuclear power plant. The objective is to obtain frequency composition, assess damage potential,...
Effects of Site Conditions of Earthquake-Resistant Design of Structures
After a brief discussion of the importance of reliable establishment of design Earthquake Ground Motions (EQGMs) for efficient Earthquake-Resistant Design (EQ-RD) of structures, this paper...
The Use of Coda Waves for Characterizing the Site Effect on Strong Ground Motion
The well established separability of source, path and site effects on coda waves of local seismic events offers the most effective means for determining the site amplification factor empirically....
Criteria for Acceptable Wind-Induced Motions
This paper discusses criteria for evaluating acceptable wind-induced building motions. The paper draws on the results of moving room experiments and the performance of actual buildings...
Damping Systems for Controlling Wind Induced Motions of Structures
This paper presents the state-of-the-art in damping systems for controlling wind induced motion of structures and their applications in the U.S. and Japan. Both passive and active systems...
Seismic Response and Retrofitting of Non-Ductile Reinforced Concrete Bridges
The Interstate I5/I605 Separator in Los Angeles County was severely damaged during the October, 1 1987 Whittier Narrows Earthquake. This damage included non-ductile shear failure in the...
Prediction of Structural Response to Large Earthquakes by Using Recordings From Smaller Earthquakes
The feasibility of predicting structural response to large earthquakes by using recorded responses from collocated smaller earthquakes is investigated. Records from large earthquakes can...
Analyzing Larval Fish Distributions Using Hydrodynamic and Transport Modelling
Port Moller is a major spawning ground for Pacific herring. Coincident with extensive larval sampling in the estuary, data required for simulating three-dimensional hydrodynamics and transport...
Second Order Irregular?Wave Generation in Flumes - Computation of Transfer Functions by an Asymptotic Summation Method
Recently the theory for second order irregular-wave generation (including superharmonics as well as subharmonics) has been rederived for a variety of different types of wave board motion....
Design and Implementation of a Database for Seismic Evaluation of Structures
The seismic evaluation of large structures, such as bridges, requires a comprehensive framework for managing the data. An evaluation typically involves the dynamic analysis of a number...
Numerical Modeling of Initial Ground Movement in an Instrumented Superconducting Super Collider Shaft
A 5.5 m diameter shaft was sunk into a rock formation of Taylor Marl to a depth of 61 m at the Superconducting Super collider (SSC) site. Numerical modeling using finite difference analysis...
Horizontal and Vertical Movements of Bridge Piers Subjected to Ship Impact
Results of a detailed analysis to evaluate the potential horizontal and vertical movements of the piers of George P. Coleman Bridge, Virginia, in the event of ship impact are presented...
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