An Adaptive Model Following Control of Industrial Manipulators

Using the adaptive model following control (AMFC) technique, a control system is developed to obtain high performance of an industrial manipulator that has wide variations in its payload and spatial configuration. The main advantage of this technique over other methods is simplicity in computation, which provides the capability of real-time control calculation with today's microprocessors. Moreover, it guarantees automatically the stability of the overall system without requiring any additional stability analysis. In order to demonstrate the capability of this technique, we have conducted a computer simulation for the Unimation PUMA 600 series manipulator. The simulation results agree well with the expected high performance of the control system: (1) computational requirements are much less than other existing ones, and (2) it provides the capability of adapting to large variations in payload and spatial configuration. Also presented is a comparison of the amount of its required computation with that of other methods.     

一种喷气推进系统的进气压力畸变测控系统

介绍了一种基于VXI总线的航空发动机进气压力畸变测控系统。在高速采集的同时，实现了数据的不间断存储，多种实时显示，综合畸变指数W的实时计算。并通过实验验证了系统的功能。     

The X-Ray Spectrometer on the MESSENGER Spacecraft

NASA’s MESSENGER (MErcury Surface, Space ENvironment, GEochemistry, and Ranging) mission will further the understanding of the formation of the planets by examining the least studied of the terrestrial planets, Mercury. During the one-year orbital phase (beginning in 2011) and three earlier flybys (2008 and 2009), the X-Ray Spectrometer (XRS) onboard the MESSENGER spacecraft will measure the surface elemental composition. XRS will measure the characteristic X-ray emissions induced on the surface of Mercury by the incident solar flux. The Kα lines for the elements Mg, Al, Si, S, Ca, Ti, and Fe will be detected. The 12° field-of-view of the instrument will allow a spatial resolution that ranges from 42 km at periapsis to 3200 km at apoapsis due to the spacecraft’s highly elliptical orbit. XRS will provide elemental composition measurements covering the majority of Mercury’s surface, as well as potential high-spatial-resolution measurements of features of interest. This paper summarizes XRS’s science objectives, technical design, calibration, and mission observation strategy.     

Mutual and conditional mutual informations for optimizingdistributed Bayes detectors

This paper considers optimization of distributed detectors under the Bayes criterion. A distributed detector consists of multiple local detectors and a fusion center that combines the local decision results to obtain a final decision. Introduced first are distributional distance measures, the mutual information (MI) and the conditional mutual information (CMI), that are obtained by applying information theoretic concepts to detection problems. Error bound analyses show that these distance measures approximate the Bayesian probability of error better than the conventional ones regardless of the operational environments. Then, a new optimization technique is proposed for distributed Bayes detectors. The method uses the distributional distances instead of the original Bayes criterion to avoid the complexity barrier of the optimization problem. Numerical examples show that the proposed distance measures yield solutions far better than the existing ones     

Early renal changes in 45 degrees HDT rats

Background: Both microgravity and simulated microgravity models, such as the 45HDT (45 degrees head-down tilt), cause a redistribution of body fluids indicating a possible adaptive process to the microgravity stressor. Understanding the physiological processes that occur in microgravity is a first step to developing countermeasures to stop its harmful effects, i.e., (edema, motion sickness) during long-term space flights. Hypothesis: Because of the kidneys' functional role in the regulation of fluid volume in the body, it plays a key role in the body's adaptation to microgravity. Methods: Rats were injected intramuscularly with a radioactive tracer and then lightly anesthetized in order to facilitate their placement in the 45HDT position. They were then placed in the 45HDT position using a specially designed ramp (45HDT group) or prone position (control group) for an experimental time period of 1 h. During this period, the 99mTc-DTPA (technetium-labeled diethylenepentaacetate, MW=492 amu, physical half-life of 6.02 h) radioactive tracer clearance rate was determined by measuring gamma counts per minute. The kidneys were then fixed and sectioned for electron microscopy. A point counting method was used to quantitate intracellular spaces of the kidney proximal tubules. Results: 45HDT animals show a significantly (p=0.0001) increased area in the interstitial space of the proximal tubules. Conclusions: There are significant changes in the kidneys during a 1 h exposure to a simulated microgravity environment that consist primarily of anatomical alterations in the kidney proximal tubules. The kidneys also appear to respond differently to the initial periods of head-down tilt.     

Accomplishment of multi-utility spacecraft charging analysis tool (MUSCAT) and its future evolution

(MUSCAT) is a high value computation tool for analyzing spacecraft–plasma interaction, whose typical example is charging–arcing issue, corresponding to spacecrafts in LEO, GEO and PEO. JAXA and Kyushu Institute of Technology (KIT) started the development as a joint project in November 2004 and the final version of MUSCAT was released in March 2007. The final version includes many important features to simulate spacecraft–plasma interaction and the features can be separated into four parts. The first part is its GUI named “Vineyard”. By using Vineyard, MUSCAT users can build a satellite model including not only its geometry but also material properties of the surface. As for the second part, MUSCAT includes many kinds of effects derived from space plasma environment as well as electrical functions of spacecraft. For the third part, MUSCAT can work on parallel workstation with multi-CPU. The last feature is that the computation result by MUSCAT was thoroughly validated by experiments in plasma chamber. The numerical result shows very good agreement with the code validation experiment. We also conducted trial computation of charging analysis on Greenhouse gases Observing Satellite (GOSAT) with MUSCAT. One purpose of the computation was prediction of charging status of GOSAT for the real satellite design in combination with the ground test. The other is performance assessment of MUSCAT. After the joint project, expansion and maintenance of MUSCAT will be carried out by “MUSCAT Space Engineering Ltd” which is a new enterprise made of the development team. In future we will try to conduct MUSCAT computation for various spacecrafts and also try to add useful function such as 3D CAD compatibility.     

SolidWorks软件在机械加工工艺中的应用

用实例介绍了SolidWorks软件的三维草图、焊件切割清单、钣金等模块、相应功能以及它们在机械加工工艺中的广泛运用;研究了SolidWorks软件在机械设计中的实用性和先进性。详细介绍了该软件的使用方法和具体特点,对推广SolidWorks在机械设计中的应用具有重要的指导作用。     

Observations in the thermal IR and visible of a retired satellite in the graveyard orbit,and comparisons to active satellites in GEO

There exists a population of defunct satellites in the geo-stationary arc that potentially pose a hazard to current and future operational satellites. These drifting, non-station-kept objects have a variety of ages and sizes, and many are trapped in libration orbits around the Earth?s two gravitational potential wells (the non-spherical nature of the Earth gives rise to two geo-potential wells or “stable points” that affect objects in geostationary and geosynchronous orbits), whereas others were boosted to higher altitudes into so-called “graveyard” orbits.     

Instrument Boom Mechanisms on the THEMIS Satellites; Magnetometer, Radial Wire, and Axial Booms

The five “Time History of Events and Macroscale Interactions during Substorms” (THEMIS) micro-satellites launched on a common carrier by a Delta II, 7925 heavy, on February 17, 2007. This is the fifth launch in the NASA MeDIum class EXplorer (MIDEX) program. In the mission proposal the decision was made to have the University of California Berkeley Space Sciences Laboratory (UCB-SSL) mechanical engineering staff provide all of the spacecraft appendages, in order to meet the short development schedule, and to insure compatibility. This paper describes the systems engineering, design, development, testing, and on-orbit deployment of these boom systems that include: the 1 and 2 meter carbon fiber composite magnetometer booms, the 40 and 50 m tip to tip orthogonal spin-plane wire boom pairs, and the 6.3 m dipole stiff axial booms.     

Silicifying biofilm exopolymers on a hot-spring microstromatolite: templating nanometer-thick laminae

Exopolymeric substances (EPS) are an integral component of microbial biofilms; however, few studies have addressed their silicification and preservation in hot-spring deposits. Through comparative analyses with the use of a range of microscopy techniques, we identified abundant EPS significant to the textural development of spicular, microstromatolitic, siliceous sinter at Champagne Pool, Waiotapu, New Zealand. Examination of biofilms coating sinter surfaces by confocal laser scanning microscopy (CLSM), environmental scanning electron microscopy (ESEM), cryo-scanning electron microscopy (cryo-SEM), and transmission electron microscopy (TEM) revealed contraction of the gelatinous EPS matrix into films (approximately 10 nm thick) or fibrillar structures, which is common in conventional SEM analyses and analogous to products of naturally occurring desiccation. Silicification of fibrillar EPS contributed to the formation of filamentous sinter. Matrix surfaces or dehydrated films templated sinter laminae (nanometers to microns thick) that, in places, preserved fenestral voids beneath. Laminae of similar thickness are, in general, common to spicular geyserites. This is the first report to demonstrate EPS templation of siliceous stromatolite laminae. Considering the ubiquity of biofilms on surfaces in hot-spring environments, EPS silicification studies are likely to be important to a better understanding of the origins of laminae in other modern and ancient stromatolitic sinters, and EPS potentially may serve as biosignatures in extraterrestrial rocks.