Author name cluster

Berok Khoshnevis

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

2 papers

1 author row

IROS Conference 2004 Conference Paper

A system for in-space assembly

Jacob Everist
Kasra Mogharei
Harshit Suri
Nadeesha Oliver Ranasinghe
Berok Khoshnevis
Peter M. Will
Wei-Min Shen

This paper presents an experimental system for assembly in space. A weightless and frictionless environment is approximated using an air-hockey table where robots and structural components can float on the surface. The robots use fan propulsion to dock with components and assemble them together to make 2D structures. This system is designed to implement three key technologies for space self-assembly: 1) intelligent components with universal connectors, 2) a set of self-reconfigurable robots that fetch and assemble components, and 3) a distributed method for controlling the robotic-assembly process. An overview of the system's design and experimental results is presented.

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ICRA Conference 2003 Conference Paper

Self-assembly in space via self-reconfigurable robots

Wei-Min Shen
Peter M. Will
Berok Khoshnevis

Self-assembly systems in space are arguably within the reach of today's technology based on the research and development of self-reconfigurable robots on earth. This paper presents an approach to self-assembly in space by developing: (1) a novel design for intelligent and reconfigurable components; (2) the free-flying "intelligent fiber/rope" "match-maker" robots with self-reconfigurable and self-adjustable tethering for autonomous docking; and (3) a totally distributed control method for planning, executing, and monitoring the assembly process. These approaches are partially evaluated by a set of experimental and simulation results to simulate the dynamics and control of free-flying objects in zero-gravity environment.

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