The Kinematic Design of a Robotic Large Space Structure Construction Service
Researchers at the University of Maryland's Robotics Research Lab are applying a kinematic rapid proto-typing methodology to the development of a commercial robotics service for the construction...
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...
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...
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...
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...
Bechtel Automated Lift Planning System
This paper describes the Automated Lift Planning System (ALPS) software developed by Bechtel Corporation. The software was developed to assist the construction engineer with planning and...
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...
Design Techniques for Rectangular Lunar Modules
This paper discusses relevant issues concerning the design and performance of cubical lunar modules. Previously, these modules have shown to be a possible solution for living and working...
A Membrane Structure for a Lunar Assembly Building
This paper describes potential design options and construction approaches for the development of an inflatable membrane structure of non-circular cross section. This structure could be...
Allowable Design Loads for Marman Clamp Systems
Marman clamp separation systems have many aerospace applications. One of their most important applications is in the attachment of spacecraft to expendable launch vehicles. Because their...
Development of a Partial Gravity Lunar Airlock
The Planetary Projects Office (PPO) at the Johnson Space Center is developing design reference missions for human exploration of the Moon and Mars. Missions for both planets require a...
Damage Tolerance of Thin Composite Reinforced Membrane Structures
Structural performance of fiber reinforced flexible composite membranes, designed as pressurized shelters for space exploration, is investigated via computational simulation. An integrated...
Optical Scatter From a Space Craft Mirror Due to Microscopic Impacts
This article addresses the issue of how micrometeoroid and man made debris in the space environment can adversely change the optical resolution of a mirror. The study used an algorithm...
Spacecraft Wall Design for Orbital Debris Impact
This paper describes a method for obtaining the optimal rise angle of corrugated bumpers for the design of space structures in the event of an on-orbit impact. The procedure determines...
Distributional Information for Ejection Fragments
Due to lack of experience of building structures on the lunar surface and the variability that will exist in the loading as well as the structural resistance, it is suggested that initial...
Erectable Truss Hardware for Large Space Structures
The KATLOK connector is a truss structure connector that was designed to be compatible with manual assembly by an astronaut in an extra-vehicular activity (EVA) suit, telerobotic assembly...
Methods to Mitigate Thermally Induced Distortion
The purpose of this paper is to show the magnitude of bending on the Space Station Freedom Navigation Base as induced by thermal expansion and contraction over the operating range -45...
Wheel Space Station for 2025
The advantages and disadvantages of three basic space station designs are discussed. These designs are a zero-gravity can like Skylab, a tethered system, and the wheel. A design of a wheel...
Surface Payload Unloading and Deployment Options for a Lunar Return Mission
While planetary exploration studies have focuses on many areas that are critical to mission success, such as landing space transportation vehicles on other planets, a preferred method...
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