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...
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...
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...
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...
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...
Robotic Options for Mining of Near-Earth Objects
The mining and processing of a Near-Earth Object (NEO) should be as simple and as robust as possible - the fewer processes and parts the better. Reliability and survivability of the total...
On the Dynamics and Control of Flexible Orbiting Systems: An Approach with Application
A relatively general formulation for studying the dynamics and control of an arbitrary spacecraft, with interconnected flexible, deployable and articulating structural members, is reviewed...
Improving Dynamic Finite Element Models Using Test Data
A structural optimization based method was developed to improve the finite element model to achieve good agreement with the test results. The modal displacements at critical locations...
Dynamic Analysis of a High Speed Transport Model by Using a Piecewise Continuous Timoshenko Beam Model
Conventional treatment of structural dynamic analysis and control is based on the finite element structural model. But such a treatment uses a very large number of elements which is usually...
Using a Small Satellite Bus As a Dedicated Platform for On-Orbit CSI Experiments
Control-Structure Integration (CSI) technology will be needed for the success of many future space missions, however, this technology will not be seriously considered for use by program...
Braced Double Skinned Structure in Lunar Application
A parametric study is designed to evaluate a proposed Braced Double Skinned roof structure utilizing extrapolated theoretical solutions i.e. Navier's solution and Levy's solution. A Finite...
A Conceptual Study of A Solar Power Satellite Using Centrifugal Force
We studied the self deployable Solar Power Satellite (SPS) using centrifugal force in order to explore ways in reducing construction costs. We designed a 340 kW SPS, and studied the unfolding...
Thermoelastic Theory of Cylindrical Sandwich Shells with Piezoelectric Sensors or Actuators
Cylindrical sandwich shells with piezoelectric longitudinal and ring elements bonded to the outer and inner surfaces are considered in this paper. Thermal effects are included in the analysis,...
Modal Interaction in the Response of Laminates
A higher-order shear-deformation theory is used to analyze the interaction of two modes in the response of thick laminated rectangular plates to transverse harmonic loads. The case of...
Comparison of Donnell and Higher Order Nonlinear Models for Dynamically Loaded Composite Plates and Shells
The dynamic buckling behavior of composite cylindrical shells subjected to a transverse point load is considered. The behavior of undamped cylindrical shells of varying radii is analyzed...
Dynamics of Laminated Plates with Layer Waviness
Composite structures usually exhibit a high strength-to-weight ratio as compared to traditional structural materials. This makes them attractive solutions in many aerospace applications....
Postbuckling Response of Doubly-Curved Shallow Panels Under Complex Loading Conditions
The static postbuckling of laminated doubly-curved shallow panels subjected to the complex action of a system of in-plane compressive edge loads and a transverse pressure field is investigated....
Nonlinear Analysis of Stiffened Laminated Cylindrical Shells Using the Layerwise Theory of Reddy
The layerwise shell theory of Reddy is used to develop the buckling and the postbuckling equations of circular cylindrical shells reinforced by means of axial and ring stiffeners and subject...
Analysis of Composite Panels Using Newton's Method
Postbuckling response prediction of composite panels using Newton's method will be discussed. The traditional approach of nonlinear finite element analysis is to use a Newton-Raphson approach...
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