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The need for combined task and motion planning in robotics is well understood. Solutions to this problem have typically relied on special purpose, integrated implementations of task planning and motion planning algorithms. We propose a new approach that uses off-the-shelf task planners and motion planners and makes no assumptions about their implementation.(More)
Today’s planetary robotic exploration is carried out by large, lumbering rovers. Due to the expense of such rovers, the resulting missions are risk averse. Small, high-cadence, minimalist rovers are poised to break new ground by expanding space exploration capabilities. Whether by decreasing overall mission costs or enabling symbiotic exploration among(More)
A discrete multi-mode damage initiation, propagation, and interaction tool is implemented within Abaqus’ implicit solver for residual strength and life prediction of bolted joints with a given initial damage resulting from the fabrication and installation process. A discrete crack network model (DCN) for damage progression prediction has been developed by(More)
This paper presents an overview of our recent enhanced 3D extended finite element toolkit for Abaqus (XFA3D) for fatigue damage assessment of welded aluminum structures under block loading. To alleviate the computational burden associated with the insertion and propagation of arbitrary cracks in the presence of a welding induced residual stress field, a(More)
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