@booklet {NASAsemiannual:1986a,
	title = {{NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems}},
	number = {3},
	year = {1986},
	month = {August},
	publisher = {Stanford University Aerospace Robotics Lab},
	address = {Stanford, CA 94305},
	author = {Robert H. Cannon Jr. and Harold Alexander and Marc Ullman and Ross Koningstein}
}
