Motion Control/​Automation

Repetitive manual operations can degrade the work efficiency of a human operator over time, with the cumulative stresses of repetitive motion potentially affecting the resultant product quality and/or process efficiency. Accordingly, a lightweight, motorized device has been created that a user/operator may wear on a hand and...

The goal of this work was to develop algorithms and software to generate a path that takes into account the direction of waves and wind as much as possible in order to mitigate potential damage to an autonomous underwater vehicle. A risk-based path planning algorithm to analyze real-world...

The dynamics in the vicinity of small bodies are highly nonlinear. Trajectory design in small-body environments requires accurate gravity and solar radiation pressure models to guarantee the satisfaction of spacecraft operational constraints such as...

It is necessary to track system state during robotic manipulation. System state is defined to be manipulator and environment configuration. Without tracking, the robot is ignorant of the outcomes of its actions. State tracking enables the robot to...

A method was developed for transfer of lunar soil into and out of process equipment. The Lunar Materials Handling System (LMHS) conveys solids to a process vessel, provides a gas-tight seal, prevents seal contamination, and minimizes wear from abrasive particles. The LMHS increases equipment life and minimizes...

MIT researchers have developed a printable origami-inspired robot that, when heated, folds itself up from a flat sheet of plastic. The robot weighs a third of a gram and measures about a centimeter from front to back.