Optimal Fiber Optics
Fiber optics, which played a crucial role in reinventing the telecommunications industry, have historically been noted for their potential in other facets of science and technology. Yet,...
Intelligent Civil Engineering Materials and Structures
This report surveys the interdisciplinary research activities focused on the applying new technologies to infrastructure systems. Traditional civil engineering tools are not sufficient...
Grouting Pains (Available in Geoenvironmental Engineering Special Issue)
The article focuses on a new grouting technique for filling holes drilled during site investigation. The holes are grouted as the drill is withdrawn from the hole, instead of filled later....
Photogrammetric Mapping
Technical Engineering and Design Guides, as adapted from the U.S. Army Corps of Engineers, No. 14. This manual provides procedures, minimum accuracy...
Dormant Season Alfalfa Water Balance on the NIIP
Non-growing season water balance parameters were measured for alfalfa under high-elevation desert conditions of the Navajo Indian Irrigation Project in northwest New Mexico. The lysimeters...
Instrumentation for Field Measurement of Abutment Scour
Prototype scour monitoring instruments were installed on a sloping abutment as part of a research project to develop scour instrumentation. Abutment installations create new and sometimes...
Laboratory Evaluation of a Conductivity Probe for Scour Monitoring
Laboratory tests were used to evaluate the ability of conductivity sensors to measure streambed elevation. Tests were completed on a 2.1-m probe with a resolution of about 8 cm that was...
Pollution Transport in Karst
A new model of pollution transport in natural streams was developed and tested. Dead zone storage is modeled as a two time constant process. This approach better matches the observed persistence...
Guarding Against Scour
An overview of the magnitude of the bridge scour problem in the United States is presented, using recent bridge failures to illustrate the problem. Procedures and results from the ongoing...
Engineering Mechanics
This proceedings,
Engineering a Landslide
A slope failure in northwest Alabama has been stabilized using a system of grouted INSERT piles to provide load transfer across the failure surface of the slide. This system, referred...
Strong-Motion Data Processing
Processing of strong-motion earthquake accelerograms is now carried out routinely on a world-wide basis. Two international workshops have given participants the opportunity to assess their...
Navigation of an Autonomous Robot Vehicle
The U.S. Air Force has developed an autonomous excavator capable of performing a variety of tasks at various Department of Defense facilities. Common to all the tasks is the need for autonomous...
Autonomous Navigation for Structured Exterior Environments
The Telemanaged Mobile Security Station (TMSS) was developed at Sandia National Laboratories to investigate the role of mobile robotics in exterior perimeter security systems. A major...
Control Model for Robotic Backhoe Excavation and Obstacle Handling
Excavation of soil and rock is a high volume and repetitive construction operation. Robots, which are suitable for incessant and repeated manipulations, can find many potential applications....
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...
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...
Goals and Requirements for Scientific Lunar Rovers
The detailed science requirements for future lunar rovers should, of course, be based on achievable science goals and objectives. It is clear that lunar geoscience will benefit by robotic...
The Optimal Selection of Robot Modules for Space Manipulators
Monolithic robot systems are poorly suited to the broad requirements and uncertainties of space automation applications. Designers have considered building many robots, each of which can...
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...
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