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....
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...
Automated Sensor Tester
The Automated Sensor Tester (AST) is being developed by Sandia National Laboratories for the Department of Energy (DOE) to be a tool to aid in testing exterior intrusion detection sensors...
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...
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 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...
Generic Data Acquisition System for Robotic Waste Characterization
This paper describes a generic data acquisition system for robotic characterization of DOE production facilities and waste sites. While the specific suite of characterization sensors on...
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...
Sensing and Control for Robotic Masonry
Due to kiln firing in the brick fabrication process, bricks vary in color, texture, and size. In an effort to automate masonry, sensing and control modules are required to ensure a normal...
Bubba, A Teleoperated Countermine Vehicle
A recent countermine test program required the development of Bubba, a 5 ton, 6 wheel drive, M-923 military truck converted to teleoperation. The Mine Detection by Energetic Photons (MIDEP)...
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...
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,...
Thermal Stresses in Piezoelectric Materials: A Boundary Integral Formulation
With the increasing use of piezoelectric materials in electromechanical devices which are often required to function in thermally hostile environment, thermal stresses and their influence...
The Potential for the Department of Defense to Use Space-Based Remote Sensing to Support DOD and Other Government Agencies' Environmental Programs
This paper describes the potential for the Department of Defense (DOD) to support other government agencies in the management of national and worldwide environmental programs. The DOD...
Fiber Optic Chemical Sensors on Mars
A fiber optic chemical sensing instrument is described that will measure the reactivity of the martian soil and atmosphere. The self-contained instrument monitors reflectivity changes...
Low Frequency Radio Astronomy from Earth or Lunar Orbit
Acquiring data at low frequencies is complicated by the fact that the ionosphere strongly disturbs the data, especially for high-resolution ground-based telescopes. The most viable observational...
Development of a High Resolution Spectrometer for Measuring the Near-Earth RFI Environment: The First Auto-Correlator in Space
A detailed description of the near-Earth RFI (radio frequency interference environment in the 0.5 - 16.5 MHz range is required before low frequency arrays can be designed and implemented...
Gravitational Wave Astronomy and the Lunar Ligo Concept
The preliminary proposal (LaFave and Wilson, 1993, 1992) for emplacing a modest LIGO [ Laser interferometer Gravitational Wave Observatory ] system on the Moon using unmanned robotic landers...
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