Ranger Publications

2004

David L. Akin, "Flight-Ready Robotic Servicing for Hubble Space Telescope: A White Paper," Response to NASA/Goddard Space Flight Center request for information on Hubble Space Telescope servicing, March 22, 2003. [paper: PDF (2.6 Mb)]

David L. Akin, "HERA: Hubble End-of-life Robotic Augmentation—A Robotic Alternative for SM-4" [presentation: PPT (8.6 Mb)]

2003

Akin, David L., Baker, Meghan, and Alexandra Langley, "Human-Robotic Teams: From Hubble to Mars and Beyond," NASA/Goddard Space Flight Center Systems Engineering Seminar, Greenbelt, MD, September 8, 2003. [presentation: PPT (32 Mb) ]

Akin, David L, Roberts, Brian, Pilotte, Kristin, and Meghan Baker, "Robotic Augmentation of EVA for Hubble Telescope Servicing," AIAA Space 2003, Long Beach, CA, September 2003. [paper: PDF (470 Kb)]

Baker, Meghan, "Robot-Assisted Servicing of the Hubble Space Telescope," AIAA Mid-Atlantic Student Conference, College Park, MD, April 2003. [paper: PDF (500 Kb) ]

Frank, Wendy, and Eric Rodriguez, "Determination of Natural Frequency and Deflection of the Ranger Robotic Positioning Leg," AIAA Mid-Atlantic Student Conference, College Park, MD, April 2003. [paper: PDF (150 Kb)]

Carignan, Craig R., and David L. Akin, "Using Robots for Astronaut Training," IEEE Control Systems Magazine, April 2003. [paper: PDF (2.6 Mb) - SSL only]

2002

Howard, Russell D., "Design of a Robotic Wrist and Tool-Exchange Mechanism for Satellite Servicing," 36th Aerospace Mechanisms Symposium, Cleveland, OH, May 2002. [paper: PDF (3.8 M)]

Carignan, Craig, and Russell Howard, "A Skew-Axis Design for a 4-joint Revolute Wrist," IEEE International Conference on Robotics and Automation , Washington, DC, May 2002. [paper: PDF (380 K)]

Lane, J. Corde, Carignan, Craig R., Sullivan, Brook R, Akin, David L., Hunt, Teresa, and Rob Cohen, "Effects of Time Delay on Telerobotic Control of Neutral Buoyancy Vehicles," IEEE International Conference on Robotics and Automation, Washington, DC, May 2002. [paper: PDF (1.2 Mb)]

Akin, David L., Carignan, Craig R., and Anthony W. Foster, "Development of a Four-Fingered Dexterous Robot End Effector For Space Operations," IEEE International Conference on Robotics and Automation, Washington, DC, May 2002. [paper: PDF (290 Kb)]

Carignan, Craig R., Gefke, Gardell G., and Brian J. Roberts, "Introduction to Space Mission Design: Space Robotics," Space Robotics lecture for University of North Dakota’s space.edu’s Introduction to Space Mission Design course (EE 490/ME 490/SpSt470/CSc 491), March 2002. [presentation: PDF (3.6 Mb)]

2001

Roberts, Brian, "Ranger Telerobotics Program," November 2001. [presentation: PDF (2.4 Mb)]

Gefke, Gardell G., Carignan, Craig R., Roberts, Brian J., and Corde Lane, "Ranger Telerobotic Shuttle Experiment: Status Report," SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Newton, MA, October 2001. [paper: PDF (6.3 Mb)]

Carignan, Craig, Lane, J. Corde, and Philip Churchill, "Controlling Robots On-Orbit," IEEE International Symposium on Computational Intelligence in Robotics and Automation Conference, Banff, Alberta, Canada, July 2001. [paper: PDF (700 Kb)]

2000

D. L. Akin, "Dexterous Robots for Future Space Operations: The Ranger Telerobotics Shuttle Experiment and Follow-ons," SAE Robotics in Challenging Environments, 2000.

Carignan, C. R. and D. L. Akin, "The Reaction Stabilization of On-Orbit Robots," IEEE Control Systems Magazine, volume 20, number 6, December 2000. [paper: PDF (740 Kb) - SSL only]

Carignan, C. R. and R. D. Howard, "A Partitioned Redundancy Management Scheme for an Eight-Joint Revolute Manipulator," In Journal of Robotic Systems, volume 17, number 9, pages 453-468, John Wiley & Sons, Inc., September 2000. [paper: PDF (420 Kb) - SSL only; copy from copyright owners]

Roderick, S., Churchill, P. J., Gefke, G. G., and D. L. Akin, "Design and Certification of a Total Computer-Based Hazard Control System for a Space Shuttle Payload," Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, August 2000.

Parrish, J. C., Akin, D. L., and G. G. Gefke, "The Ranger Telerobotic Shuttle Experiment: Implications for Operational EVA/Robotic Cooperation," Proceedings of the 2000 SAE International Conference of Environmental Systems, Toulouse, France, July 2000. [paper: PDF (3.3 Mb)]

Lane, J. Corde, Carignan, Craig, and David Akin, "Time Delay and Communication Bandwidth Limitation on Telerobotic Control," Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Boston, MA, May 2000. [paper: PDF (1.2 Mb)]

Lane, J. Corde, "Human Factors Optimization of Virtual Environment Attributes for a Space Telerobotic Control Station," PhD Thesis, University of Maryland, College Park, MD, April 2000. [thesis: PDF (3.3 Mb)]

Roderick, Stephen N., "Validation of a Computer-based Hazard Control System for a Robotic Payload on the Space Shuttle," Master of Science Thesis, University of Maryland, College Park, MD, April 2000. [thesis: PDF (720 Kb)]

Carignan, C. R, Akin, D. L., and J. C. Lane "Dynamic Tool Vectors for Robo-Centric Control," Proceedings of the 2000 IEEE International Conference on Robotics and Automation, April 2000. [paper: PDF (900 Kb)]

Parrish, J. C., Sullivan, B. R., and B. J. Roberts, "Planning for the Ranger Telerobotic Shuttle Experiment On-Orbit Operations," Proceedings of the AIAA Space 2000 Conference, Los Angeles, CA, 2000. [paper: PDF (830 Kb)]

1999

Sarau, Alexander G., "Verification Tools for Embedded Robotic Electronics," 18th IEEE Digital Avionics Systems Conference (DASC), St. Louis. MO, October 1999. [paper: PDF (660 Kb) - SSL only]

Roderick, Stephen, Churchill, Phil, Gefke, Gardell, and Dave Akin, "Design and Certification of a Total Computer-Based Hazard Control System for a Space Shuttle Payload," October 1999. [paper: PDF (120 Kb) - SSL only]

Carignan, C. R., Lane, J. C., and D. L. Akin, "Real-Time Simulation of a Free-Flying Robotic Vehicle," Proceedings of the 1999 AIAA Modeling and Simulation Technologies Conference, AIAA Paper 99-4345, Portland, OR, August 1999. [paper: PDF (390 Kb) - SSL only]

Parrish, J. C., "The Ranger Telerobotic Shuttle Experiment: An On-orbit Satellite Servicer," Proceedings of the 5th International Symposium on Artificial Inelligence, Robotics, and Automation in Space, Noordwijk, The Netherlands, June 1999. [paper: PDF (720 Kb)]

Parrish, J. C. and D. L. Akin, "Ranger Telerobotic Shuttle Experiment: Overview and Outlook," Proceedings of the SSI/Princeton Conference on Space Manufacturing, Space Studies Institute, Princeton, NJ, May 1999. [paper: PDF (780 Kb) - SSL only]

Roderick, S., "Computer Control of a Hazardous Payload," Proceedings of the AIAA Student Conference, Charlottesville, VA, April 1999. [paper: PDF (9.8 Kb)]

1998

Malone, M. S., "What Computers Can Do For You," In Modern Maturity pages 67, AARP, November-December 1998.

Parrish, J. C., "The Ranger Telerobotic Shuttle Experiment: Status Report," Telemanipulator and Telepresence Technologies V, In Proceedings of the SPIE, Stein, M. R. ed., volume 3524, pages 1-12, November 1998. [paper: PDF (1.4 Mb)]

McCord, V., "NASA's Little Helper: UMCP Designing a Robot to Assist Shuttle Astronauts," In The Washington Times, Washington, DC, March 1998.

Breeden, J., "NASA Hooked on Commercial Shuttle Robots," In Government Computer News, volume 17, number 3, pages 1, February 1998.

Vance, E. E., "Adaptive Control of Free-Flying and Free-Floating Robotic Manipulators," Ph.D. Thesis, University of Maryland, College Park, MD, 1998.

1997

Boyle, Michael, "Structural Design and Analysis of a Telerobotic Manipulator using the Finite Elelment Method," Master of Science Thesis, University of Maryland, College Park, MD, December 1997. [thesis: PDF (860 Kb)]

Lane, J. Corde, Kuester, Steven P. and Ben Shneiderman, "User Interfaces for a Complex Robotic Task: A Comparison of Tiled vs. Overlapped Windows," December 1997.

Lane, J. Corde, "Effects of Stereopsis and Head Tracking on Virtual Reality Control of a Robotic Video Arm," Scholarly Paper, University of Maryland, College Park, MD, December 1997. [paper: PDF ()]

Carignan, C. and D. L. Akin, "Actively Controlled Mockups for EVA Training in Neutral Buoyancy," Proceedings of the 1997 IEEE International Conference on Systems, Man and Cybernetics, Orlando, FL, October 1997. [paper: PDF (230 Kb)]

Lane, J. C., Carignan, C., and D. L. Akin, "Reconfigurable Control Station Design for Robotic Operations," Proceedings of the 1997 IEEE International Conference on Systems, Man and Cybernetics, Orlando, FL, October 1997. [paper: PDF (480 Kb)]

Parrish, J. C., "The Ranger Telerobotic Shuttle Experiment: Status Report," Telemanipulator and Telepresence Technologies IV, In Proceedings of the SPIE, Stein, M. R. ed., volume 3206, number , pages 189-197, October 1997. [paper: PDF (740 Kb)]

David, L., "Mars Pathfinder Opens Virtual Exploration Era," In Space News, page 10, July 1997.

Bon, B. and H. Seraji, "Real-Time Model-Based Obstacle Detection for the NASA Ranger Telerobot," Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 1997.

Carignan, C. and D. L. Akin, "Achieving Impedance Objectives in Robot Teleoperation," Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 1997. [paper: PDF (190 Kb)]

Graves, J. D., "Design and Control of a Vehicle for Neutral Buoyancy Simulation of Space Operations," Master of Science Thesis, University of Maryland, College Park, MD, 1997. [thesis: PDF (1.5 Mb)]

Lane, J. C. and D. L. Akin, "Stereopsis and Motion Parallax Cues in Virtual Reality Control Applications," Proceedings of the 1997 Conference on the Human-Computer Interface, 1997.

Sell, S. W. and D. L. Akin, "Design of a Low-Cost Attitude Determination and Control System for a Free-Flying Telerobotic Satellite Servicer," paper number AAS 97-003, Proceedings of the 1997 AAS Guidance & Control Conference, Keystone, CO, 1997. [paper: PDF (860 Kb)]

1996

Sell, Steve, "Design of a Low-Cost Attitude Determination and Control System for a Free-Flying TeleroboticSatellite Servicer," Master of Science Thesis, University of Maryland, College Park, MD, December 1996. [thesis: PDF (1.5 Mb)]

Kuester, Steve, "A Study of Operator Interfaces for Complex Telerobotic Tasks," Master of Science Thesis, University of Maryland, College Park, MD, December 1996.

Parrish, J. C., "The Ranger Telerobotic Flight Experiment: A Teleservicing system for On-orbit Spacecraft," Telemanipulator and Telepresence Technologies III, In Proceedings of the SPIE, Stein, M. R. ed., volume 2901, pages 177-185, November 1996. [paper: PDF (4.6 Mb)]

Burkey, M., "Ranger Gets a Workout," In The Huntsville Times, pages B1, Huntsville, AL, September 1996.

Sugarman, J., "The Late Show with Dave Akin and the Space Systems Lab," In College Park, pages 35-41, UMCP, College Park, MD, Summer 1996.

Parrish, J. C. and D. L. Akin, "The Ranger Telerobotic Flight Experiment," Proceedings of the AIAA Robotics Technology Forum, pages 13-1—13-10, Madison, WI, August 1996. [paper: PDF (670 Kb)]

Vana, A., "Ranger Space Probe Will Be Run From UMD. Lab," In The Washington Times, pages D7, Washington, DC, July 1996.

Parrish, J. C. and D. L. Akin, "The Ranger Telerobotic Flight Experiment: Mission, Technologies, and Programmatics," Robotics for Challenging Environments: Proceedings of RCE II, the Second Conference, Demsetz, L. A., ed., pages 136-142, Albuquerque, NM, June 1996. [paper: PDF (290 Kb)]

Bon, B. and H. Seraji, "On-line Collision Avoidance for the Ranger Telerobotic Flight Experiment," Proceedings of the 1996 IEEE International Conference on Robotics and Automation, volume 3, pages 2041-2048, Minneapolis, MN, April 1996.

1995

David, L., "Robots For All Reasons," In Aerospace America, pages 30-35, September 1995.

Morring, F., "Space Robots Find New Roles on Earth," In Aviation Week & Space Technology, pages 60-61, June 1995.

Sanner, R. M. and E. E. Vance, "Adaptive Control of Free-Floating Space Robots Using 'Neural' Networks," Proceedings of the American Control Conference, Seattle, WA, June 1995. [paper: PDF (480 K)]

Graves, J. D., "Ranger Telerobotic Flight Experiment Program Update," Proceedings of the SSI/Princeton Conference on Space Manufacturing, Space Studies Institute, Princeton, NJ, May 1995. [paper: PDF (476 K)]

Windle, D., "Repair Service Out of This World," In The London Telegraph, London, England, April 1995

Kuester, S. P. and J. C. Lane, "Interface Design Issues of the Ranger Telerobotic Flight Experiment," Proceedings of the 1995 International Conference of Environmental Systems, 1995.

1994

Gefke, G. G., "Mission Operations Analysis of a Telerobotic Satellite Servicer in Low Earth Orbit," Master of Science Thesis, University of Maryland, College Park, MD, December 1994. [thesis: PDF (384 Kb)]

Smith, Jennifer, "Position-Based Impedance Control Tracking In Space Manipulator Applications," Master of Science Thesis, University of Maryland, College Park, MD, December 1994. [thesis: PDF (640 Kb)]

Reichhardt, T., "Satellite Servicer," In Popular Science, December 1994.

Sherrod, L., "Dry Run Underwater for Space Prototype," In The Prince George's Journal, page A1, November 1994.

"Satellite Repairbot," In Popular Mechanics, page 20, October 1994.

Akin, D. L., and J. C. Parrish, "Development Status of the Ranger Telerobotic Flight Experiment," paper number AIAA 94-4562, AIAA Space Programs and Technologies Conference, Huntsville, AL, September 1994.

Lavery, D., "Perspectives on Future Space Robotics," In Aerospace America ed. edition, pages 32-37, AIAA, May 1994.

Carignan, C. and J. Smith, "Manipulator Impedence Accuracy in Position-Based Impedance Control Implementation," Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, April 1994. [paper: PDF (420 Kb)]

D. L. Akin, "Ranger and the Future of Satellite Servicing," AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space, Houston, TX, March 1994.

1993

Hall, Sarah, "Development of an Innovative Reaction Control System for Small Spacecraft," Master of Science Thesis, University of Maryland, College Park, MD, December 1993.

Akin, D. and R. Howard, "The Role of Free-Flight in Space Telerobotic Operations, Proceedings of the 1993 International Conference on Advanced Robotics, Tokyo, Japan, November 1993.

D. L. Akin, "The Ranger Telerobotic Flight Experiment," NASA Workshop on Small Expendable Launch Vehicle-based In-Space Operations, Hampton, VA, October 1993.

Hall, Sarah E., Lewis, Mark J., and David L. Akin"Design of a High Density Cold Gas Attitude Control System," AIAA/SAE/ASME/ASEE 29th Joint Propulsion Conference, Monterey, CA, June 1993. [paper: PDF (16.3 Mb) - SSL only]

1992

Akin, David, Howard, Russell, Smith, Jennifer, Graves, Joe, and Gardell Gefke, "Development of a Low-Cost Free-Flying Telerobotic Space Flight Vehicle," paper number IAF-92-0810, 43rd IAF Congress, Washington, DC, December 1992. [paper: PDF (420 Kb)]

Howard, R. D. and D. L. Akin, "Manipulator Design and Development for the Ranger Satellite Servicing Vehicle," 26th Aerospace Mechanisms Symposium, Greenbelt, MD, May 1992.

Akin, D. L., Howard, R. D., Smith, J. A., and J. Graves, "Design Evolution of a Telerobotic Servicer Through Neutral Buoyancy Simulation," paper number AIAA 92-1016, AIAA 1992 Aerospace Design Conference, Irvine, CA, February 1992.