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* Crassidis, J.L., Markley, F.L., Junkins, J.L., and Howell, K.C., editors, [http://www.buffalo.edu/~johnc/shusym/index.html The Malcolm D. Shuster Astronautics Symposium], Advances in the Astronautical Sciences, published for the American Astronautical Society by Univelt, Inc., San Diego, CA, Vol. 122, 2006.
* Crassidis, J.L., Markley, F.L., Junkins, J.L., and Howell, K.C., editors, [http://www.buffalo.edu/~johnc/shusym/index.html The Malcolm D. Shuster Astronautics Symposium], Advances in the Astronautical Sciences, published for the American Astronautical Society by Univelt, Inc., San Diego, CA, Vol. 122, 2006.


==2023 Papers==
*Swenson, A.T., Nebelecky, C.K., Wilkinson, D., and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2023/PolarizedMMAE_2023breck.pdf Resident Space Object Shape and Material Estimation Using Polarimetric Data]", AAS Guidance, Navigation and Control (GN&C) Conference, Breckenridge, CO, Feb. 2023, AAS Paper #2023-140.
==2022 Papers==
==2021 Papers==
==2020 Papers==
==2019 Papers==
*Wang, H., Chen, L., Jin, Z. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2019/raw_paper%20_revised.pdf Adaptive Momentum Distribution Jitter Control for a Micro-Satellite]", Journal of Guidance, Control and Dynamics [Accepted].
* Cheng, Y. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2019/gnc19_tls_wahba.pdf A Total Least-Squares Estimate for Attitude Determination]", 2019 AIAA Guidance, Navigation and Control Conference, AIAA SciTech Forum, San Diego, CA, Jan. 2019, AIAA Paper #2019-1176.
* Crassidis, J.L. and Cheng, Y., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2019/gps_approx_revised.pdf Generalized Attitude Determination with One Dominant Vector Observation]", Journal of Guidance, Control and Dynamics [Accepted].
* Crassidis, J.L. and Cheng, Y., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2019/gps_approx.pdf Generalized Attitude Determination with One Dominant Vector Observation]", 2019 AIAA Guidance, Navigation and Control Conference, AIAA SciTech Forum, San Diego, CA, Jan. 2019, AIAA Paper #2019-1174.
* Dianetti, A.D. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2019/pBRDF_2c.pdf Space Object Material Determination from Polarized Light Curves]", 2019 AIAA Guidance, Navigation and Control Conference, AIAA SciTech Forum, San Diego, CA, Jan. 2019, AIAA Paper #2019-0377.
* Schmid, M. and Crassidis, J.L. "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2019/scitech19%20-%20Matthias%20Schmid%20-%20Final.pdf A New Stochastic Control Paradigm Employing Large Deviations Theory]," 2019 AIAA Guidance, Navigation and Control Conference, AIAA SciTech Forum, San Diego, CA, Jan. 2019, AIAA Paper #2019-2335.
* Pimienta-Penalver, A. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2019/SNR_Scitech19.pdf Estimating Attitude from Signal-to-Noise Ratio at Multiple Ground-Based Receivers]", 2019 AIAA Guidance, Navigation and Control Conference, AIAA SciTech Forum, San Diego, CA, Jan. 2019, AIAA Paper #2019-0375.
* Crassidis, J.L. and Cheng, Y., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2019/tls_mle.pdf Maximum Likelihood Analysis of the Total Least Squares Problem with Correlated Errors]," 2019 AIAA Guidance, Navigation and Control Conference, AIAA SciTech Forum, San Diego, CA, Jan. 2019, AIAA Paper #2019-1931.


==2018 Papers==
==2018 Papers==
*Szklany, S.A., Crassidis, J.L. and Blackman, S.S., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2018/decentralized_junkins18.pdf Centralized and Decentralized Space Object Estimation and Data Association with Pattern Recognition]", John L. Junkins Symposium, College Station, TX, May 2018.
* Ye, L., Zong, Q., Crassidis, J.L., and Tian, B., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2018/ORDI_FINAL17.pdf Output Redefinition-Based Dynamic Inversion Control for a Nonminimum Phase Hypersonic Vehicle]," IEEE Transactions on Industrial Electronics, vol. 65, no. 4, pp. 3447-3457, April 2018.
* Dianetti, A.D., Weisman, R.M., and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2018/Observability_Analysis_SO_Characterization_R2.pdf Observability Analysis for Improved Space Object Characterization]," Journal of Guidance, Control, and Dynamics, Vol. 41, No. 1, 2018, pp. 137-148.
* Linares, R. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2018/shape_jgcd16.pdf Space Object Shape Inversion via Adaptive Hamiltonian Markov Chain Monte Carlo],"  Journal of Guidance, Control, and Dynamics, Vol. 41, No. 1, 2018, pp. 47-58.


* Whittaker, M.P. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2018/ins_com_frame_final_18.pdf Linearized Analysis of Inertial Navigation Employing Common Frame Error Representations]," 2018 AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Kissimmee, FL, Jan. 2018, AIAA Paper #2018-1600.
* Whittaker, M.P. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2018/ins_com_frame_final_18.pdf Linearized Analysis of Inertial Navigation Employing Common Frame Error Representations]," 2018 AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Kissimmee, FL, Jan. 2018, AIAA Paper #2018-1600.
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* Dianetti, A.D. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2018/FarrenkopfAngularRate_Revised4.pdf Extension of Farrenkopf Steady-State Solutions with Estimated Angular Rate]," 2018 AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Kissimmee, FL, Jan. 2018, AIAA Paper #2018-2095.
* Dianetti, A.D. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2018/FarrenkopfAngularRate_Revised4.pdf Extension of Farrenkopf Steady-State Solutions with Estimated Angular Rate]," 2018 AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Kissimmee, FL, Jan. 2018, AIAA Paper #2018-2095.
* Pimienta-Peñalver, A., Tsai, L., Juang, J., and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2018/VVAS%20Paper.pdf System Modeling and Control of a Heliogyro Solar Sail]," 2018 AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Kissimmee, FL, Jan. 2018, AIAA Paper #2018-1311.
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==2017 Papers==
==2017 Papers==
*Ye, L., Zong, Q., Crassidis, J.L., and Tian, B., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2017/ORDI_FINAL17.pdf Output-Redefinition-Based Dynamic Inversion Control for a Nonminimum Phase Hypersonic Vehicle]", IEEE Transactions on Industrial Electronics, Vol. 65, No. 4, October 2017.
* Yu, Z., Cui, P., and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2017/Design%20and%20Optimization%20of%20Navigation%20and%20Guidance%20Techniques%20for%20Mars%20Pinpoint%20Landing%20Final.pdf Design and Optimization of Navigation and Guidance Techniques for Mars Pinpoint Landing: Review and Prospect]," Progress in Aerospace Sciences, Elsevier, Vol. 94, Oct. 2017, pp. 82-94.


* Dianetti, A.D. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2017/AAS_17-085_Choosing_Filter_States_V2.pdf Choosing Filter States and Models for Small Satellite Attitude Determination]," 40th AAS Guidance and Control Conference, Breckenridge, CO, Feb. 2017, AAS Paper #17-085.
* Dianetti, A.D. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2017/AAS_17-085_Choosing_Filter_States_V2.pdf Choosing Filter States and Models for Small Satellite Attitude Determination]," 40th AAS Guidance and Control Conference, Breckenridge, CO, Feb. 2017, AAS Paper #17-085.
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* Szklany, S.A. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2017/MMAE_TwoStarID_Final.pdf Mutliple-Model Adaptive Estimation for Star Identification with Two Stars]," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Grapevine, TX, Jan. 2017, AIAA Paper #2017-1519.
* Szklany, S.A. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2017/MMAE_TwoStarID_Final.pdf Mutliple-Model Adaptive Estimation for Star Identification with Two Stars]," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Grapevine, TX, Jan. 2017, AIAA Paper #2017-1519.
* Crassidis, J.L. and Markley, F.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2017/rigR2.pdf Three-Axis Attitude Estimation Using Rate-Integrating Gyroscopes]," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Grapevine, TX, Jan. 2017, AIAA Paper #2017-1904.
* Dianetti, A.D. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2017/SciTech17Paper5_FINAL.pdf Application of Observability Analysis to Space Object Tracking]," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Grapevine, TX, Jan. 2017, AIAA Paper #2017-1258.


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*Kalur, A., Shivakumar, K., Schmid, M., and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2016/ACSFF%20-%20Aniketh%20(Update-final)_ver2.pdf Adaptive Control for Spacecraft Formation Flying with Solar Radiation Pressure and Reduction of Secular Drift]", American Control Conference (ACC), Boston, MA, July 2016, doi: 10.1109/ACC.2016.7526583.
*Kalur, A., Shivakumar, K., Schmid, M., and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2016/ACSFF%20-%20Aniketh%20(Update-final)_ver2.pdf Adaptive Control for Spacecraft Formation Flying with Solar Radiation Pressure and Reduction of Secular Drift]", American Control Conference (ACC), Boston, MA, July 2016, doi: 10.1109/ACC.2016.7526583.
* Linares, R. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2016/shape16_preprint.pdf Resident Space Object Shape Inversion Via Adaptive Hamiltonian Markov Chain Monte Carlo]," 26th AAS/AIAA Space Flight Mechanics Meeting, Napa, CA, Feb. 2016, AAS Paper #16-514.


* Linares, R. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2016/obs16_preprint.pdf Dynamic Observability Analysis for Attitude, Angular Velocity, Shape, and Surface Parameters],"  26th AAS/AIAA Space Flight Mechanics Meeting, Napa, CA, Feb. 2016, AAS Paper #16-515.
* Linares, R. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2016/obs16_preprint.pdf Dynamic Observability Analysis for Attitude, Angular Velocity, Shape, and Surface Parameters],"  26th AAS/AIAA Space Flight Mechanics Meeting, Napa, CA, Feb. 2016, AAS Paper #16-515.
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*Andrle, M.S. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2016/gekf_gnc.pdf Attitude Estimation Employing Common Frame Error Representations]," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, San Diego, CA, Jan. 2016, AIAA Paper #2016-0625.
*Andrle, M.S. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2016/gekf_gnc.pdf Attitude Estimation Employing Common Frame Error Representations]," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, San Diego, CA, Jan. 2016, AIAA Paper #2016-0625.
* Yu, Z. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2016/AccelerometerCalibration_R2.pdf Accelerometer Bias Calibration Using Attitude and Angular Velocity Information]," AIAA Journal of Guidance, Control, and Dynamics, Vol. 39, No. 4, 2016, pp. 741-753.


* Yu, Z. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2016/AccelerometerCalibration.pdf Accelerometer Bias Calibration Using Attitude and Angular Velocity Information]," AIAA Guidance, Navigation, and Control Conference, San Diego, CA, Jan. 2016, AIAA Paper #2016-1140.
* Yu, Z. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2016/AccelerometerCalibration.pdf Accelerometer Bias Calibration Using Attitude and Angular Velocity Information]," AIAA Guidance, Navigation, and Control Conference, San Diego, CA, Jan. 2016, AIAA Paper #2016-1140.
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== 2015 Papers==
== 2015 Papers==


* Andrle, M.S. and Crassidis, J.L., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2015/gekf_jgcd2014_v11.pdf Attitude Estimation Employing Common Frame Error Representations],"  Journal of Guidance, Control, and Dynamics, Vol. 38, No. 9, 2015, pp. 1614-1624.
* Semper, S.R., Crassidis, J.L., George, J., Mukherjee, S., and Singla, P., "[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2015/ Rao-Blackwellization for Adaptive Gaussian Sum Nonlinear Model Propagation]," Journal of Guidance, Control, and Dynamics, Vol. 38, No. 7, 2015, pp. 1290-1295.


* Linares, R., and Crassidis, J.L., “[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2015/AAS_2015-423.pdf Generalized Gaussian Cubature for Nonlinear Filtering]” 25th AAS/AIAA Space Flight Mechanics Meeting, Williamsburg, VA, Jan. 2015, AAS Paper#2015-423.
* Linares, R., and Crassidis, J.L., “[http://ancs.eng.buffalo.edu/pdf/ancs_papers/2015/AAS_2015-423.pdf Generalized Gaussian Cubature for Nonlinear Filtering]” 25th AAS/AIAA Space Flight Mechanics Meeting, Williamsburg, VA, Jan. 2015, AAS Paper#2015-423.

Latest revision as of 18:46, 1 March 2023

Books and Chapters

  • Crassidis, J.L., Junkins, J.L., Howell, K.C., Oshman, Y., and Thienel, J.K., editors, The F. Landis Markley Astronautics Symposium, Advances in the Astronautical Sciences, published for the American Astronautical Society by Univelt, Inc., San Diego, CA, Vol. 132, 2008.
  • Crassidis, J.L., Markley, F.L., Junkins, J.L., and Howell, K.C., editors, The Malcolm D. Shuster Astronautics Symposium, Advances in the Astronautical Sciences, published for the American Astronautical Society by Univelt, Inc., San Diego, CA, Vol. 122, 2006.

2023 Papers

2022 Papers

2021 Papers

2020 Papers

2019 Papers

2018 Papers

  • Dianetti, A.D. and Crassidis, J.L., "Light Curve Analysis Using Wavelets," 2018 AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Kissimmee, FL, Jan. 2018, AIAA Paper #2018-1605.

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2017 Papers

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2016 Papers

  • Cox, A.P., Nebelecky, C.K., Rudnicki, R., Tagliaferri, W.A., Crassidis, J.L, Smith, B., "The Space Object Ontology," 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany, July 2016.

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2015 Papers

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2014 Papers

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2013 Papers

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2012 Papers

  • Cheng, Y., Banas, W.D., and Crassidis, J.L., “Quaternion Data Fusion,” Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control, Haifa, Israel, Oct. 2012, Paper MoA1 .3.

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2011 Papers

  • Crassidis, J.L., Singla, P., McConky, K., Sudit, M., “Space Collision Avoidance,” National Symposium on Sensor and Data Fusion (NSSDF), Washington, DC, Oct. 2011, Paper #NF09.

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2010 Papers

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2009 Papers

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2008 Papers

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2007 Papers

  • Markley, F.L., Cheng, Y., Crassidis, J.L., and Oshman, Y., “Averaging Quaternions,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 30, No. 4, July-Aug. 2007, pp. 1193-1196.
  • Cheng, Y., Markley, F.L., Crassidis, J.L., and Oshman, Y., “Averaging Quaternions,” AAS/AIAA Space Flight Mechanics Meeting, Sedona, AZ, Jan. 2007, AAS Paper #07-213.

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2006 Papers

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2005 Papers

  • Markley, F.L., Crassidis, J.L., and Cheng, Y., “Nonlinear Attitude Filtering Methods,” AIAA Guidance, Navigation, and Control Conference, San Francisco, CA, Aug. 2005, AIAA Paper #2005-5927.

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2004 Papers

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2003 Papers

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2002 Papers

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2001 Papers

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2000 Papers

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1999 Papers

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1998 Papers

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1997 Papers

  • Crassidis, J.L., and Markley, F.L., “A Predictive Attitude Determination Algorithm,” Proceedings of the Flight Mechanics/Estimation Theory Symposium, NASA-Goddard Space Flight Center, Greenbelt, MD, May 1997, pp. 249-263.

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1996 Papers

  • Crassidis, J.L., Markley, F.L., Kyle, A.M., and Blackman, K., “Attitude Determination Designs for the GOES Spacecraft,” Proceedings of the SPIE International Symposium on Optical Science, Engineering, and Instrumentation, Denver, CO, Vol. 2812, Aug. 1996, Paper #74.
  • Crassidis, J.L., Markley, F.L., Kyle, A.M., and Kull, K., “Attitude Determination Improvements for GOES,” Proceedings of the Flight Mechanics/Estimation Theory Symposium, NASA-Goddard Space Flight Center, Greenbelt, MD, May 1996, pp. 151-165.

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1995 Papers

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1994 Papers

  • Crassidis, J.L., Leo, D.J., Mook, D.J., and Inman, D.J., “Robust Identification and Vibration Suppression of a Flexible Structure,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 17, No. 5, Sept.-Oct. 1994, pp. 921-928.
  • Crassidis, J.L., Markley, F.L., and Mook, D.J., “A Real-Time Model Error Filter and State Estimator,” Proceedings of the AIAA Guidance, Navigation, and Control Conference, Scottsdale, AZ, Aug. 1994, AIAA Paper #94-3550, pp. 92-102.
  • De Pena, J., Crassidis, J.L., McPartland, M.D., Meyer, T.J., and Mook, D.J., “MME-Based Attitude Dynamics Identification and Estimation for SAMPEX,” Proceedings of the Flight Mechanics/Estimation Theory Symposium, NASA-Goddard Space Flight Center, Greenbelt, MD, May 1994, pp. 497-511.
  • Crassidis, J.L., De Pena, J., Meyer, T.J., and Mook, D.J., “Robust Attitude and Attitude Rate Estimation for SAMPEX,” Proceedings of the AAS/AIAA Space Flight Mechanics Meeting, Cocoa Beach, FL, Feb. 1994, AAS Paper #94-153.

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1993 Papers

  • Crassidis, J.L., Mason, P.A.C., and Mook, D.J., “Riccati Solution for the Minimum Model Error Algorithm,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 16, No. 6, Nov.-Dec. 1993, pp. 1181-1183.
  • Crassidis, J.L., Mook, D.J., and McGrath, J., “Automatic Carrier Landing System Utilizing Aircraft Sensors,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 16, No. 5, Sept.-Oct. 1993, pp. 914-921.
  • Crassidis, J.L., “Robust Control Techniques for a Commercial Autoland System,” Transportation Research Record 1379, TRB, National Research Council, 1992-1993, pp. 1-8.
  • Crassidis, J.L., Leo, D.J., Mook, D.J., and Inman, D.J., “Robust Identification and Vibration Suppression of a Flexible Structure,” Proceedings of the AIAA Guidance, Navigation, and Control Conference, Monterey, CA, Aug. 1993, AIAA Paper #93-3874.
  • Mook, D.J., De Pena, J., Crassidis, J.L., and Meyer, T.J., “Dynamics-Based Robust Attitude Estimation,” Proceedings of the AAS/AIAA Astrodynamics Specialist Conference, Victoria, B.C., Canada, Aug. 1993.
  • Leo, D.J., Crassidis, J.L., Mook, D.J., and Inman, D.J., “Experimental Study of Structural Uncertainties in an H¥ Design,” Proceedings of the 9th Symposium on Dynamics and Control of Large Structures, Blacksburg, VA, May 1993, pp. 469-480.
  • Crassidis, J.L., and Mook, D.J., “A Robust Algorithm for Multivariable Model Identification,” Proceedings of the 9th Symposium on Dynamics and Control of Large Structures, Blacksburg, VA, May 1993, pp. 559-569.
  • Crassidis, J.L., Mason, P.A.C., and Mook, D.J., “A Sweep Method Solution for the Minimum Model Error Algorithm,” Proceedings of the 14th Canadian Congress of Applied Mechanics CANCAM, Kingston, Canada, May 1993, pp. 721-722.

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1992 Papers

  • Crassidis, J.L., and Mook, D.J., “Robust Control Design of an Automatic Carrier Landing System,” Proceedings of the AIAA Guidance, Navigation, and Control Conference, Hilton Head, SC, Aug. 1992, AIAA Paper #92-4619, pp. 1471-1482.
  • Crassidis, J.L., Leo, D.J., and Mook, D.J., “Experimental Verification of H¥ Control on a Flexible Frame,” Proceedings of the AIAA Guidance, Navigation, and Control Conference, Hilton Head, SC, Aug. 1992, AIAA Paper #92-4371, pp. 106-116.

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1991 Papers

  • Crassidis, J.L., and Mook, D.J., “An Automatic Carrier Landing System Utilizing Aircraft Sensor Information,” Proceedings of the AIAA Guidance, Navigation, and Control Conference, New Orleans, LA, Aug. 1991, AIAA Paper #91-2666, pp. 595-606.
  • Crassidis, J.L., and Mook, D.J., “Modeling an Autopilot and Thrust Compensator in an Automatic Carrier Landing System,” Proceedings of the AIAA Flight Simulation Technologies Conference, New Orleans, LA, Aug. 1991, AIAA Paper #91-2956, pp. 368-377.