@booklet {NASAsemiannual:1991a,
	title = {{NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems}},
	number = {10},
	year = {1991},
	month = {February},
	publisher = {Stanford University Aerospace Robotics Lab},
	address = {Stanford, CA 94305},
	author = {Robert H. Cannon Jr. and Marc Ullman and William Dickson and Lawrence Alder and Edward Wilson and Kurt R. Zimmerman}
}
