• video_typing_cover

    SpaceTREx

    University of Arizona

    Adventure Awaits.

    Univ. of Arizona SpaceTREx Lab
    Planets ballrobots ballrobots aosat inflatables europa
  • video_typing_cover

    SpaceTREx

    University of Arizona

    Adventure Awaits.
    ASU SpaceTREx Lab
    Planets ballrobots ballrobots aosat inflatables europa
  • video_typing_cover

    SpaceTREx

    University of Arizona

    Adventure Awaits.
    ASU SpaceTREx Lab
    Planets ballrobots ballrobots aosat inflatables europa

Our Mission

The Space and Terrestrial Robotic Exploration (SpaceTREx) Laboratory at University of Arizona's Aerospace and Mechanical Engineering Department develop systems engineering design and control solutions for space, planetary and asteroid exploration, using small spacecraft, robots and sensor network devices. Research is focused on developing enabling technologies for extreme environment exploration, interplanetary CubeSat explorers and on-orbit servicing spanning spacecraft constellations, propulsion, power and communications.

The laboratory and key personnel have a diverse range of expertise including CubeSat design, development, launch expertise, smart system design and control using bio-inspired and neural network control paradigms, space weather and extreme-environment robotics. The laboratory is rapidly expanding and diversifying its research portfolio by exploiting new developments in terrestrial technology, particularly nanotechnology and applying it to space exploration, while taking technology developed for space and applying it towards important challenges facing humanity in the fields of climate change, security, water and energy.

Our Team with Big Ideas

Interdisciplinary Expertise in Engineering, Science and Exploration

Dr. Jekan Thanga
Assistant Professor, Head of SpaceTREx Laboratory

Expertise HTML icon
  • Space Systems Design
  • Neural Networks Dynamics and Control
  • Network Robotics and Control
  • PEM Fuel Cells
  • Hydrogen Storage
Research Interests HTML icon
  • CubeSat Constellations
  • Machine Learning for Robot Design and Control
  • Extreme Environment Mobility Systems
  • Interplanetary CubeSat Propulsion
  • Inflatable Structures for Space
  • Mobile Power Supplies
  • Interplanetary CubeSat Missions
Bio HTML icon
Professor Jekan Thanga has a background in aerospace engineering from the University of Toronto. He worked on Canadarm, Canadarm 2 and the DARPA Orbital Express missions at MDA Space Missions. Jekan obtained his Ph.D. in space robotics at the University of Toronto Institute for Aerospace Studies (UTIAS) and did a postdoc at MIT's Field and Space Robotics Laboratory (FSRL). Jekan is broadly interested in the exploration of space and extreme environments, using networks of robots, interplanetary CubeSats and smart sensors. His research focuses on developing enabling technologies, that spans system design, propulsion, networking and power to permit smart, fully autonomous operation for long durations. This is achieved through multidisciplinary optimization using a combination of conventional, adaptive and bio-inspired neuro-evolutionary methods resulting in high performance, unconventional design and control solutions that would otherwise not be envisioned by a human designer. His research covers the investigation of fundamental theoretical concepts with simulation using computational tools, culminating with field trials and deployment.

Dr. Erik Asphaug
Professor, Ronald Greeley Chair of Planetary Science

Expertise HTML icon
  • Planetary Science
  • Asteroid and Comet Dynamics
  • Planetary Formation
  • Planetary Collisions
  • Icy Bodies
  • Small Spacecraft Missions
Bio HTML icon
Professor Erik Asphaug graduated in Mathematics and English from Rice University, taught high school for three years in Tucson, and obtained his PhD in Planetary Sciences from the University of Arizona in 1993. After a postdoc at NASA Ames he was hired and helped found the Planetary Sciences program at UC Santa Cruz. His signature research has been the geology of comets and asteroids, the physics of collisions, and planet formation. Since coming to ASU in 2012 he has been able to combine his deep interests in theory, laboratory work, and space exploration, for example as the Science PI of AOSAT, a microgravity research centrifuge selected by NASA for launch, whose goal is to answer primary questions about accretion physics and asteroid regolith environments. Asphaug's early mission experience (Galileo) showed him how wide open the questions are. His later experience on LCROSS (predicting the impact on the Moon) showed him how space itself can be a laboratory. Leading the 2008 international Small Spacecraft Summer Study Program at NASA Ames taught him how capable students are at conceiving the missions of the future. His latest mission concept is Comet Radar Explorer, an ASU/JPL proposal under evaluation by the NASA Discovery program to perform a megahertz "CAT scan" of a ~10 km diameter comet nucleus. His endeavor to explore is closely tied to his theoretical work to explain the baffling diversity of planets and satellites (variety being the 'spice of life'), and the origin of small bodies and meteorites.


Dr. Eric Adamson
Post Doctoral Fellow

Andrew Thoesen
PhD Student

Victor Hernandez
PhD Student

Ravi Teja Nallapu
PhD Student

Himangshu Kalita
PhD Student

Salil Rabade
Masters Candidate Researcher

Laksh Raura
Masters Candidate Researcher

Mercedes Herreras-Martinez
Masters Candidate Researcher

Aman Chandra
Masters Candidate Researcher

Daniel Livingston
Masters Candidate Researcher

Pranay Gankidi
Masters Candidate Researcher

Micah Mangione
Undergraduate Researcher

Andrew Warren
Undergraduate Researcher

Eden Shuster
Undergraduate Researcher

Brody Willard
Undergraduate Researcher

Shota Ichikawa
Undergraduate Researcher

Nathan Barba
Undergraduate Researcher

Sarah Smallwood
Undergraduate Researcher

Eddie Vinciguerra
Undergraduate Researcher

73

Publications

4

Faculty

24

Researchers

12

Space Missions

It is difficult to say what is impossible, for the dream of yesterday is the hope of today and the reality of tomorrow.

Robert Goddard

The probability of success is difficult to estimate; but if we never search the chance of success is zero.

Giuseppe Cocconi and Philip Morrison

Facilities

Top-notch instruments and devices for the design, development, integration and testing for extreme environments.

Small Space Systems
Future of Exploration

SpaceTREx develops enabling technologies for Interplanetary CubeSats and sensor probes spanning power, propulsion, communications and constellations.

Planetary Robotics
Access Into the Unknown

We develop next generation mobility technologies for accessing caves, canyons and cliffs. Research has also started into on-orbit manipulation and satellite servicing technology.

Terrestrial Applications
Building a Better World

We apply space technology towards important challenges facing humanity in the fields of climate change, security, water and energy.

All
Clean Room
Vacuum Chamber
3D Printing
Air Table
Machining
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Publications


Book Chapters

  • Thangavelautham, J., Grouchy, P., D’Eleuterio, G.M.T., Application of Coarse-Coding Techniques for Evolvable Multirobot Controllers, To Appear in Chapter 16, Computational Intelligence in Optimization-Applications and Implementations, Tenne, Y., C-K., Goh,  Editors, Vol. 7, Springer-Verlag, Berlin, Germany, 2010, pp. 381–412. (PDF)
  • Thangavelautham, J., Barfoot, T., D’Eleuterio, G.M.T., Evolutionary-Based Control Approaches for Multirobot Systems, Chapter 3, Frontiers in Evolutionary Robotics, Iba, H, Editor, Advanced Robotics Systems International, Vienna, Austria, 2008.  (PDF)

Conference Papers

  • Nallapu, R., Tallapragada, A., Thangavelautham, J.,“Radiometric Actuators for Spacecraft Attitude Control,” To Appear in Proceedings of the IEEE Aerospace Conference, IEEE, Bozeman, Montana, 2017. (PDF)
  • Guo X., Thangavelautham, J.,“Novel Use of Photovoltaics for Backup Spacecraft Laser Communication,” To Appear in Proceedings of the IEEE Aerospace Conference, IEEE, Bozeman, Montana, 2017. (PDF)
  • Babuscia, A., Sauder, J., Chandra, A., Thangavelautham, J.,“Inflatable Antenna for CubeSats: A New Spherical Design for Increased X-band Gain,” To Appear in Proceedings of the IEEE Aerospace Conference, IEEE, Bozeman, Montana, 2017.
  • Raura, L., Warren, A., Thangavelautham, J., “Spherical Planetary Robot for Rugged Terrain Traversal,” To Appear in Proceedings of the IEEE Aerospace Conference, IEEE, Bozeman, Montana, 2017.(PDF)
  • Gankidi, P., Thangavelautham, J., “FPGA Architecture for Deep Learning and its application to Planetary Robotics,” To Appear in Proceedings of the IEEE Aerospace Conference, IEEE, Bozeman, Montana, 2017. (PDF)
  • Nallapu, R., Shah, S., Asphaug, E., Thangavelautham, J.,“Attitude Control of the Asteroid Origins Satellite I (AOSAT 1),” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017. (PDF)
  • Thangavelautham, J., Rhoden, A., Drew, J.,“The Opportunities and Challenges of GNC on a Europa CubeSat Mission Concept,” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017. (PDF)
  • Nallapu, R., Asphaug, E., Thangavelautham, J.,“Guidance, Navigation and Control of a Bucket Wheel for Surface Mining of Asteroids and Small-Bodies,” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017. (PDF)
  • Schwartz, S., Ichikawa, S., Gankidi, P., Kenia, N., Dektor, G., Thangavelautham, J.,“Optical Navigation for Interplanetary CubeSats,” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017.(PDF)
  • Kalita, H., Nallapu, R., Thangavelautham, J., “GNC of the SphereX Robot for Extreme Environment Exploration on Mars,” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017. (PDF)
  • Sonawane, N., Thangavelautham, J.,“Precision Pointing of Antennas in Space using Arrays of Shape Memory Alloy based Linear Actuators,” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017. (PDF)
  • Kalita, H., Nallapu, R., Warren, A., Thangavelautham, J,“Guidance, Navigation and Control of Multirobot Systems in Cooperative Cliff Climbing,” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017. (PDF), Best Student Paper Award (2nd Place)
  • Rabade, S., Thangavelautham, J., “Combined Thermal Control and GNC: An Enabling Technology for CubeSat Surface Probes and Small Robots,” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017. (PDF)
  • Hernendas-Martinez, M., Uglietta, J., Lozes, K., Thangavelautham J.,“Entry, Descent and Landing System for CubeSat Missions to the Moon and Small-bodies,” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017. (PDF)
  • Nallapu, R., Thangavelautham, J., “Attitude Control of FemtoSats in LEO Using 3-axis Magneto-Torquers,” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017.
  • Nallapu, R., Thangavelautham, J.,“Precise Pointing of CubeSat Telescopes,” 40th AAS Guidance, Navigation and Control Conference, AAS, Breckenridge, Colorado, 2017. (PDF)
  • Nallapu, R., Thoesen, A., Garvie, L., Asphaug, E., Thangavelautham, J.“Optimized Bucket Wheel Design for Asteroid Excavation,” Proceedings of the 67th International Astronautical Congress, IAF, Guadalajara, Mexico, pp. 1-10, 2016. (PDF)
  • Kalita, H., Thangavelautham, J.,“Automated Design of CubeSats and Small Spacecrafts,” Proceedings of the 67th International Astronautical Congress, IAF, Guadalajara, Mexico, pp. 1-8, 2016. (PDF)
  • Rabade, S., Barba, N., Garvie, L., Thangavelautham, J.,“The Case for Solar Thermal Steam Propulsion System for Interplanetary Travel: Enabling Simplified ISRU Utilizing NEOs and Small Bodies,” Proceedings of the 67th International Astronautical Congress, IAF, Guadalajara, Mexico, pp. 1-12, 2016. (PDF)
  • Hernandez, V., Gankidi, P., Chandra, A., Miller, A., Scowen, P., Barnaby, H., Adamson, E., Asphaug, E., Thangavelautham, J.,8220;SWIMSat: Space Weather and Meteor Impact Monitoring using a Low-Cost 6U CubeSat,” Proceedings of the 30th Annual AIAA/USU Conference on Small Satellites, AIAA, Logan, Utah, 2016. (PDF)
  • Pothamsetti, R., Thangavelautham, J.“Photovoltaic Electrolysis Propulsion System for Interplanetary CubeSats,” Proceedings of the IEEE Aerospace Conference, IEEE, Bozeman, Montana, 2016. (PDF)
  • Babuscia, A., Sauder, J., Thangavelautham, J., Choi, E., Chandra, A.“Inflatable Antenna for CubeSats: Development of the X-band Prototype,” Proceedings of the IEEE Aerospace Conference, IEEE, Bozeman, Montana, 2016.
  • Thangavelautham, J., Robinson, M., *Taits A., *McKinney, T, *Amidan, S, *Polak, A “Flying, Hopping, Pit-Bots for Cave and Lava Tube Exploration on the Moon and Mars,” Proceedings of the 2nd International Workshop on Instrumentation for Planetary Missions, NASA Goddard, Greenbelt, Maryland, 2014. (PDF)
  • Thangavelautham, J., Thoesen, A., Gadau, F., Hutchins, G., Asphaug, E., Alizadeh, I., “Low-Cost Science Laboratory in Microgravity Using a CubeSat Centrifuge Framework,” Proceedings of the 65th International Astronautical Congress, Toronto, Canada, 2014. (PDF)
  • Perera, V., Movshovitz, N., Asphaug, E., and Thangavelautham, J. “Material Studies of Asteroid Regolith and Accretion Using a Low-Cost CubeSat Laboratory.” Proceedings of the 65th International Astronautical Congress, Toronto, Canada, 2014.
  • Thangavelautham, J., Strawser, D., Cheung, M. and Dubowsky, S., “Lithium Hydride Powered PEM Fuel Cells for Long-Duration  Small Mobile Robotic Missions,” Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, 2012. (PDF)
  • Iora, P. and Thangavelautham, J. “Development of a Dynamic Model and Control of a PEM Fuel Cell,” Proceedings of the European Fuel Cell Forum 2011, Lucene, Switzerland, A1410 1-13, 2011.
  • Thangavelautham, J., Gallardo, D., Strawser, D. and Dubowsky, S., “Hybrid Fuel Cells Power for Long Duration Robotic Missions in Field Environments,” Proceedings of the Conference on Climbing and Walking Robots (CLAWAR), Paris, France, September, 2011.
  • Thangavelautham, J., Abu El Samid, N., Grouchy, P., Earon E., Fu, T., Nagrani, N., D'Eleuterio, G.M.T., Evolving Multirobot Excavation Controllers and Choice of Platforms Using Artificial Neural Tissue Controllers. Proceedings of the IEEE Symposium on Computational Intelligence for Robotics and Automation, 2009. (PDF)
  • Earon, E., Thangavelautham, J., Liu, T., Armstrong, H., D'Eleuterio, G.M.T., Boucher, D., Viel, M., Richard, J., "A Multiagent Methodology for Lunar Robotic Mission Risk Mitigation," Proceedings of the AIAA Space Conference, 2009
  • Grouchy, G., Thangavelautham, J., D'Eleuterio, G.M.T., "An Island Model for High-Dimensional Genomes using Phylogenetic Speciation and Species Barcoding, "Proceedings of Genetic and Evolutionary Computation Conference, ACM, Montreal, Canada, 2009
  • Thangavelautham, J., Smith, A., Abu El Samid, N., Ho, A., Boucher, D., Richard, J.,  D'Eleuterio, G.M.T., "Multirobot Lunar Excavation and ISRU Using Artificial-Neural-Tissue Controllers, " Proceedings of the Space Technology and Applications International Forum 2008, New Mexico (PDF)
  • Abu El Samid, N., Thangavelautham, J., D'Eleuterio, G. M. T., "Infrastructure Robotics: A Technology Enabler for Lunar In-Situ Resource Utilization, Habitat Construction and Maintenance," Proceedings of the International Astronautic Conference 2008, Scotland (PDF)
  • Thangavelautham, J.,  D'Eleuterio, G. M. T., "Developmental Neural Heterogeneity through Coarse-Coding Regulation,"  Proceedings of the 9th European Conference on Artificial Life, Lisbon, Portugal, Sept., 2007 (PDF)
  • Thangavelautham, J., Smith, A., Boucher, D., Richard, J., D'Eleuterio, G. M. T., " Evolving a Scalable Multirobot Controller Using an Artificial Neural Tissue Paradigm ,"  Proceedings of IEEE International Conference on Robotics and Automation, April 2007. (PDF)
  • Thangavelautham, J., Smith, A., Boucher, D., Richard, J., D'Eleuterio, G. M. T., "Application of an Artificial Neural Tissue Controller to Multirobot Lunar ISRU Operations,"  Proceedings of Space Technology and Applications International Forum, Jan. 2007, vol. 880, 389–399. (DOI)(PDF)
  • Thangavelautham, J., D’Eleuterio, G. M. T.,  “A Coarse-Coding Framework for a Gene-Regulatory-Based Artificial Neural Tissue, ”  Advances In Artificial Life: Proceedings of the 8th European Conference on Artificial Life, Kent, UK, September, 2005 (PDF)
  • Thangavelautham, J., D’Eleuterio, G. M. T.,  “A Neuroevolutionary Approach to Emergent Task Decomposition,”  Proceedings of the 8th Parallel Problem Solving from Nature Conference, Birmingham, UK, September, 2004 1:  991-1000 (PDF)
  • Thangavelautham, J., D'Eleuterio, G.M.T., "Learning From Insects: Development of An Emergent Task Decomposition Network for Collective Robotics," Proceedings. of the 6th Dynamics and Control of Systems and Structures in Space Conference, Riomaggiore, Italy, July, 2004
  • Thangavelautham, J., D'Eleuterio, G.M.T., "Application of a Neuroevolutionary Approach to Emergent Task Decomposition in Collective Robotics," Late Breaking Proceedings. of Genetic and Evolutionary Computation Conference 2004, Seattle, WA, June, 2004 (PDF)
  • Thangavelautham, J., Barfoot, T.D., D'Eleuterio, G.M.T., "Coevolving Communication and Cooperation for Lattice Formation Tasks (Updated)," Advances In Artificial Life: Proceedings of the 7th European Conference on Artificial Life (ECAL), Dortmund, Germany, September 14-17th, 2003 (PDF)

Selected Academic Publications
Journal Papers

  • Thangavelautham, J. and D'Eleuterio, G.M.T., “Tackling Learning Intractability Through Topological Organization and Regulation of Cortical Networks,” IEEE Transactions on Neural Networks and Learning Systems, Vol. 23, No. 4, pp. 552-564, DOI: 10.1109/TNN.2011.2178311, 2012.  (PDF)
  • Iora, P. and Thangavelautham, J. “Design of a Mobile PEM Power Backup System through detailed dynamics and control analysis,” International Journal of Hydrogen Energy, pp. 1-12, Sept. 2012 (PDF).
  • Thangavelautham, J. and Dubowsky, S., “ On the Catalytic Degradation in Fuel Cell Power Supplies for Long-Life Mobile Field Sensors. ”  Journal of Fuel Cells: Fundamental to Systems, pp. 1-15, DOI: 10.1002/fuce.201200065,  Online, 2012. (PDF)
  • Strawser, D.,Thangavelautham, J. and Dubowsky, S., “A Passive Lithium Hydride Based Hydrogen Generator for Low-Power Fuel Cells for Long-Duration Applications,” International Journal of Hydrogen Energy, pp. 1-36, 2014. (PDF)
  • Thangavelautham, J.,Abu El Samid, N., Smith, A.D.S. and D’Eleuterio, G.M.T., “Autonomous Multirobot Excavation for Lunar Applications,” Robotica, pp. 1-24, 2017, DOI:10.1017/S0263574717000017 (Preprint) (PDF)
  • Lightholder, J., Thoesen, A., Adamson, E., Jakubowski, J., Nallapu, R., Smallwood, S., Raura, L., Klesh, A., Asphaug, E., Thangavelautham, J. “ Asteroid Origins Satellite 1: An On-orbit Centrifuge Science Laboratory,”  Acta Astronautica, vol. 133, pp. 81-94, 2017. (Preprint) (PDF)
  • Thangavelautham, J., Strawser, D., Manyapu, K., Gallardo, D. and Dubowsky, S., “Long-Life Micro Fuel Cell Power Supply for Mobile Field Sensor Network Modules,,” To Appear in   International Journal of Hydrogen Energy, pp. 1-22, 2016.
  • Asphaug, E., Thangavelautham, J., Klesh, A., Chandra, A., Nallapu, R., Raura, L., Herreras-Martinez, M., “ A CubeSat Centrifuge for Long Duration Milligravity Research, ” To Appear in  Nature Microgravity , pp. 1-12, 2016.
  • Rabade, S., Barba, N., Garvie, L., Thangavelautham, J., “ Solar Thermal Steam Propulsion System for Interplanetary Travel: Enabling Simplified ISRU Utilizing NEOs,” Invited Submission to Acta Astronautica, pp. 1-12, 2016.
  • Robinson, M., Thangavelautham, J., Anderson, B., Deran, A., Lawrence, S., Wagner, R., Ridenource, R., Williams, B., Dunham, D., Williams, B., Dunham, D., Babuscia, A., Cheung, K., Genova, A. “Swirl: Unravelling an Enigma, ” To Appear in  Planetary and Space Sciences Special Issue , pp. 1-25, 2017.
  • Dektor, G., Kenia, N., Uglietta, J., Ichikawa, S., Choudhary, A., Martinez, M., Asphaug, E., Thangavelautham, J., “Logic: A CubeSat Mission to Phobos,” To Appear in   Advances in Space Research on Small Body Sciencce and Exploration, pp. 1-32, 2016.
  • Thangavelautham, J., Smith, A.D.S. and D’Eleuterio, G.M.T., “Evolving Scalable Multirobot Controllers Using Cortical Networks,” In Revision   Autonomous Robots, pp. 1-12, 2016.
  • Thangavelautham, J. and D’Eleuterio, G.M.T., “Accelerating Evolution of Neural Network Controllers Using Coarse-Coding,” Under review in Evolutionary Computation, pp. 1-26, 2015.

Theses

  • Thangavelautham, J. “A Regulatory Theory of Cortical Organization and Its Applications to Robotics,” Ph.D. Thesis, Institute for Aerospace Studies, University of Toronto, 2008. (PDF)
  • Thangavelautham, J. “Evolving Solutions for Lattice Formation Tasks Using Cellular Automata-based Multiagent Systems,” B.A.Sc. Thesis, University of Toronto, 2002.

Scholarly Reports Prepared in Academia

  • Thangavelautham, J. “A Regulatory Theory of Cortical Organization and Its Applications to Robotics,” Ph.D. Thesis, Institute for Aerospace Studies, University of Toronto, 2008. (PDF)
  • Thangavelautham, J. “Evolving Solutions for Lattice Formation Tasks Using Cellular Automata-based Multiagent Systems,” B.A.Sc. Thesis, University of Toronto, 2002.
  • Thangavelautham, J., "Hydrodynamic Propulsion of Multibody Systems in Microbiology," p 1-8, 2005 (AER1512, Multibody Dynamics, Prof. G. M. T. D’Eleuterio)
  • Thangavelautham, J., "Natural Image Statistics of Optical Flow," p 1-11, 2005 (CSC2541, Topics in Machine Learning and Neural Networks: Natural Image Statistics,  Prof. R. Zemel)
  • Thangavelautham, J., "Northern Light Rover Final Report: Power, Thermal and Mechanical Systems," Prepared for UTIAS Space Flight Lab, June, 2004
  • Thangavelautham, J., "Application of Clustering Techniques in a Multiagent Stochastic Cellular Automata Network," p 1-8, 2003 (CSC2515, Machine Learning,  Prof. S. Roweis)

Scholarly Reports Prepared for Industry/Government

  • Thangavelautham, J., Fu, T., D'Eleuterio, G.M.T., "Artificial Neural Tissue Technical Notes for In-situ Resource Utilization Activities," prepared for NORCAT (under Canadian Space Agency Contract), March, 2009
  • Thangavelautham, J., "MSelect: Aerospace Materials Selection, Processing and Analysis Software," Preparedfor MDA Space Missions, August, 2001
  • Ou, M., Thangavelautham, J., "Contact Dynamics Toolkit Validation Studies," Prepared for MDA Space Missions (under Canadian Space Agency Contract, Space Technology Development Program), September, 2001
  • Thangavelautham, J., Keough, T., "Life Cycle Cost Analysis of the Special Purpose Dexterous Manipulator," Prepared for MDA Space Missions (under Canadian Space Agency  International Space Station contract), August, 2000