Investigation of optimization of attitude control systems Quarterly progress report, 1 Jan. - 31 Mar. 1966

Space vehicle, stochastic process, and bounded phase-coordinate process optimal control problems in attitude control system optimization stud

Motion coordination and programmable teleoperation between two industrial robots

Tasks for two coordinated industrial robots always bring the robots in contact with a same object. The motion coordination among the robots and the object must be maintained all the time. To plan the coordinated tasks, only one robot's motion is planned according to the required motion of the object. The motion of the second robot is to follow the first one as specified by a set of holonomic equality constraints at every time instant. If any modification of the object's motion is needed in real-time, only the first robot's motion has to be modified accordingly in real-time. The modification for the second robot is done implicitly through the constraint conditions. Thus the operation is simplified. If the object is physically removed, the second robot still continually follows the first one through the constraint conditions. If the first robot is maneuvered through either the teach pendant or the keyboard, the second one moves accordingly to form the teleoperation which is linked through the software programming. Obviously, the second robot does not need to duplicate the first robot's motion. The programming of the constraints specifies their relative motions

Investigation of optimization of attitude control systems Second annual report, 15 Sep. 1965 - 30 Jun. 1966

Linear autonomous system theory and optimal control analysis for launch vehicle stability and antenna pointing directio

Bounded phase coordinate control Final report, 15 Jun. 1964 - 14 Jun. 1965

Methods for solving bounded phase-coordinate time- optimal control problems - Pontryagin principl

Minimal time control of linear systems with control amplitude and rate saturations

Time optimal control of linear systems with constraints on control amplitude and rat

Advanced Industrial Robot Control Systems

The objective of this research is to extend the flexibility a,hd . \u27usefulness. of current industrial robots by the integration of robot motion control directly into a. general purpose programming language, the development of force feedback and its integration into the language, the formulation of a high-level task description language RTM, and by the investigation of both off-line collision-free path planning and on-line collision avoidance

Optimization of stochastic control processes with respect to probability on entering a target manifold

Optimization of stochastic control processes with respect to probability of entering target manifold in specific time interva

Atomic Hydrogen Cleaning of Polarized GaAs Photocathodes

Atomic hydrogen cleaning followed by heat cleaning at 450$^\circ$C was used to prepare negative-electron-affinity GaAs photocathodes. When hydrogen ions were eliminated, quantum efficiencies of 15% were obtained for bulk GaAs cathodes, higher than the results obtained using conventional 600$^\circ$C heat cleaning. The low-temperature cleaning technique was successfully applied to thin, strained GaAs cathodes used for producing highly polarized electrons. No depolarization was observed even when the optimum cleaning time of about 30 seconds was extended by a factor of 100

Differential Photoelectron Holography: A New Approach for Three-Dimensional Atomic Imaging

We propose differential holography as a method to overcome the long-standing forward-scattering problem in photoelectron holography and related techniques for the three-dimensional imaging of atoms. Atomic images reconstructed from experimental and theoretical Cu 3p holograms from Cu(001) demonstrate that this method suppresses strong forward-scattering effects so as to yield more accurate three-dimensional images of side- and back-scattering atoms.Comment: revtex, 4 pages, 2 figure