I.P.L. Space Trusses: Structural Performance and Analysis
The utilization of the fast working massively parallel computers in solving intense numerical problems, in the field of structural engineering left disappointed many of practical engineers....
Study of Interaction Between Pneumatic Spherical and Cylindrical Form Shells Subjected to Wind Pressure
In the design of pneumatic membrane structures, analysis of stress and deformations of structures subjected to wind is among the most important requirements. For the purpose of studying...
Checking Concrete Growth
When the Tennessee Valley Authority built its dams in the 1930s, instrumentation installed in the massive concrete detected a defect that would later cause major problems: concrete growth...
Depressing Traffic Top-Down
Top down construction will permit the City and County of Denver to maintain traffic at two congested intersections while a tunnel is driven below them. The project, which will carry Speer...
Real-time Motion Vision for Robot Control in Unstructured Environments
The control of robots in unstructured environments demands real-time, general purpose vision. We have designed a visual tracking system which makes use of motion to pick out and track...
Application of Virtual Reality to Space Robotics Operations
This paper discusses a Virtual Reality (VR) simulation under development by the Automation and Robotics (A&R) Division at the Johnson Space Center (JSC). Over the past twelve years,...
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...
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...
Intelligent Excavator Control for a Lunar Mining System
The benefits of utilizing local planetary resources are a large reduction in the cost of lifting materials from the earth's surface into earth orbit. Since the moon is one of the closest...
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...
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...
A Stewart Platform Lunar Rover
A lunar version of the Robocrane is being developed at the Robot Systems Division of the National Institute of Standards and Technology (NIST) to address the needs of NASA researchers....
Drivetrain Design, Incorporating Redundancy, for an Autonomous Walking Robot
An often overlooked, though critical, component of a mobile robot is the drivetrain. To achieve the ambitious programmatic goals of an extra-terrestrial, planetary robotic explorer, a...
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...
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...
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...
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...
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