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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...

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....

The Role of Computer Graphics in Teleoperation
Computer graphics techniques developed by the Advanced Teleoperation (ATOP) Project at the Jet Propulsion Laboratory (JPL) for the control of remote manipulators, primarily for space applications,...

Human Extender: A Material Handling System
A human's ability to perform physical tasks is limited by physical strength, not by intelligence. `Extenders' are a class of robot manipulators worn by humans to augment human mechanical...

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...

GPS-Based Control for Space Vehicle Rendezvous
The recent advent of Differential Carrier Phase Global Position System (GPS) sensing has made it possible to determine relative positions of GPS receiver-equipped systems to less than...

Navigation of Autonomous Mobile Robots
An integrated navigational system for autonomous mobile robots features a primary navigator, such as an inertial navigation or a dead-reckoning system, and a secondary navigator. The secondary...

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...

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...

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....

An Experiment in Mobile Robotic Cooperation
This paper describes the results of an experiment in real mobile robot cooperation which utilizes a fully distributed, cooperative software mechanism we have previously developed in simulation....

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....

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...

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...

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...

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...

Feasibility Analysis of Automated Material Handling for Hazardous Waste Remediation
The application of automation and robotics to material handling activities in conventional construction has been extensively researched in terms of technical feasibility, needs identification,...

 

 

 

 

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