@booklet {NASAsemiannual:1990,
	title = {{NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems}},
	number = {9},
	year = {1990},
	month = {August},
	publisher = {Stanford University Aerospace Robotics Lab},
	address = {Stanford, CA 94305},
	author = {Robert H. Cannon Jr. and Marc Ullman and Ross Koningstein and William Dickson and Warren Jasper and Lawrence Alder}
}
