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...
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...
Logistics Carriers for the First Lunar Outpost
This paper describes that aspect of logistics concerned with the design parameters and operation of hardware that may be used to deliver and protect spares and resupply items for NASA's...
Oxygen Generation from Synthetic Moon Soil Using a Plasma Reactor
A series of experiments were performed to evaluate the potential for generating oxygen from silica powder, alumina powder and a synthetic moon soil powder. A non-transferred arc plasma...
Efficient Path Planning Strategies for Unmanned Rover Vehicles
Path planning strategies are studied using an optimization model. Four main sub-models are discussed that contribute to the computing of minimum energy vehicle path planning. These are:...
A Minimum Mars Mission Approach
The purpose of this paper is to identify the mission architecture required to perform a human exploration mission to Mars using a minimum amount of resources. This mission will send three...
A Surface Exploration Vehicle Testbed for Real-Time Control Exerimentation
Current mission scenarios for return to the moon as well as Mars include some robotic systems; for the precursor unmanned mission, these systems will be required to operate under autonomous...
Transfer Vehicle Sizing for Missions to Mars
The purpose of this study is to analyze the interactions between mission and vehicle design parameters, and determine how the selection of a particular trajectory and transit time affects...
Marta North Line Midtown Station
This paper presents a case study of a cast-in-place concrete rapid transit station structure. Attention is focused on the performance of the monolithically connected, three-dimensional...
Seismic Performance of Railway Bridges
Historically, the seismic performance of railway bridges in the U.S.A. has been very satisfactory during earthquakes of this century. There are many possible factors contributing to this...
Instrumentation and Testing of a Three Hinge Arch for Service Loads Increase
A three hinge arch railroad bridge was instrumented and tested to evaluate its condition and the required modification for increasing the service loads. Initially the structure was designed...
Field Tests of Railway Bridges
A research program focused on the evaluation of railway bridges has been underway for the past five years. The objectives of a research are as follows: (1) determine the loading spectra...
Three Dimensional Modelling of Estuarine Sediment Transport
This paper describes the sediment transport module in the three-dimensional finite element model TELEMAC-3D which uses the operator splitting technique to solve the shallow water and transport...
A New LAX-WENDROFF Algorithm to Solve the Bed Continuity Equation With Slope Effect
The numerical simulation of mobile bed evolutions of seas, estuaries and rivers requires a morphological model, including the effects of waves, currents and sediment transport, as well...
Effects of Flocculation on Particle Transport
On the basis of previous experimental and theoretical work on flocculation rates and the settling speeds of flocs, an accurate and computationally efficient model of the aggregation and...
The Formation of a Turbidity Maximum in an Estuary
In the present study, a numerical model is used to investigate the transport of sediments in a stratified estuary. The model includes sediment resuspension and deposition as well as three-dimensional,...
Coastal Circulation and Sedimentation During Severe Storms
Numerical hindcasts of storm flows and sedimentation during tropical cyclones in the western Gulf of Mexico, and a northeaster in the Middle Atlantic Bight, are summarized and compared....
A Multi-Dimensional Transport Model Utilizing a Characteristic-Galerkin Approach
A multi-dimensional transport model based on the RMA series of finite element models has been developed utilizing a characteristic-Galerkin approach. This paper examines the application...
Numerical Modeling of Advective and Diffusive Transport in the Rappahannock Estuary, Virginia
A laterally integrated, two-dimensional real-time model, consisting of linked hydrodynamic and water quality models, was developed to study hypoxia in the tidal Rappahannock River, a western...
Environmental Modeling of Coastal Wetlands
Several useful modeling techniques have been developed for the numerical solution of the vertically integrated Reynolds equations on unstructured grids in wetland environments. The objectives...
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