On the dynamics of a novel manipulator with slewing and deployable links

Using a novel space platform-based manipulator with slewing and deployable links, the paper addresses two issues of considerable importance: (a) How important is it to model flexibility of the system? (b) How many modes are needed to adequately represent the elastic character? Results suggest that the fundamental mode is able to capture physics of the response quite accurately. Due to its massive character, the platform dynamics is virtually unaffected, even by severe maneuvers of the manipulator. Hence, treating the platform as rigid would save the computational cost without affecting the accuracy. Although the link flexibility does affect the manipulator's tip vibration, the joint and platform vibrations remain negligible. The revolute joint flexibility appears to be an important parameter affecting both the joint as well as tip responses. The information should prove useful in the design of this new class of manipulators.     

Mineralogical biosignatures and the search for life on Mars

If life ever existed, or still exists, on Mars, its record is likely to be found in minerals formed by, or in association with, microorganisms. An important concept regarding interpretation of the mineralogical record for evidence of life is that, broadly defined, life perturbs disequilibria that arise due to kinetic barriers and can impart unexpected structure to an abiotic system. Many features of minerals and mineral assemblages may serve as biosignatures even if life does not have a familiar terrestrial chemical basis. Biological impacts on minerals and mineral assemblages may be direct or indirect. Crystalline or amorphous biominerals, an important category of mineralogical biosignatures, precipitate under direct cellular control as part of the life cycle of the organism (shells, tests, phytoliths) or indirectly when cell surface layers provide sites for heterogeneous nucleation. Biominerals also form indirectly as by-products of metabolism due to changing mineral solubility. Mineralogical biosignatures include distinctive mineral surface structures or chemistry that arise when dissolution and/or crystal growth kinetics are influenced by metabolic by-products. Mineral assemblages themselves may be diagnostic of the prior activity of organisms where barriers to precipitation or dissolution of specific phases have been overcome. Critical to resolving the question of whether life exists, or existed, on Mars is knowing how to distinguish biologically induced structure and organization patterns from inorganic phenomena and inorganic self-organization. This task assumes special significance when it is acknowledged that the majority of, and perhaps the only, material to be returned from Mars will be mineralogical.     

Production of neutrons from interactions of GCR-like particles

In order to help assess the risk to astronauts due to the long-term exposure to the natural radiation environment in space, an understanding of how the primary radiation field is changed when passing through shielding and tissue materials must be obtained. One important aspect of the change in the primary radiation field after passing through shielding materials is the production of secondary particles from the breakup of the primary. Neutrons are an important component of the secondary particle field due to their relatively high biological weighting factors, and due to their relative abundance, especially behind thick shielding scenarios. Because of the complexity of the problem, the estimation of the risk from exposure to the secondary neutron field must be handled using calculational techniques. However, those calculations will need an extensive set of neutron cross section and thicktarget neutron yield data in order to make an accurate assessment of the risk. In this paper we briefly survey the existing neutron-production data sets that are applicable to the space radiation transport problem, and we point out how neutron production from protons is different than neutron production from heavy ions. We also make comparisons of one the heavy-ion data sets with Boltzmann-Uehling-Uhlenbeck (BUU) calculations.     

One hundred US EVAs: a perspective on spacewalks

In the 36 years between June 1965 and February 2001, the US human space flight program has conducted 100 spacewalks, or extravehicular activities (EVAs), as NASA officially calls them. EVA occurs when astronauts wearing spacesuits travel outside their protective spacecraft to perform tasks in the space vacuum environment. US EVA started with pioneering feasibility tests during the Gemini Program. The Apollo Program required sending astronauts to the moon and performing EVA to explore the lunar surface. EVA supported scientific mission objectives of the Skylab program, but may be best remembered for repairing launch damage to the vehicle and thus saving the program. EVA capability on Shuttle was initially planned to be a kit that could be flown at will, and was primarily intended for coping with vehicle return emergencies. The Skylab emergency and the pivotal role of EVA in salvaging that program quickly promoted Shuttle EVA to an essential element for achieving mission objectives, including retrieving satellites and developing techniques to assemble and maintain the International Space Station (ISS). Now, EVA is supporting assembly of ISS. This paper highlights development of US EVA capability within the context of the overarching mission objectives of the US human space flight program.     

LISA — a study of the ESA cornerstone mission for observing gravitational waves

The primary objective of the Laser Interferometer Space Antenna (LISA) mission is to detect and observe gravitational waves from massive black holes and galactic binaries in the frequency range 10⁻⁴ to 10⁻¹ Hz. This low-frequency range is inaccessible to ground-based interferometers because of the unshieldable background of local gravitational noise and because ground-based interferometers are limited in length to a few km. LISA is an ESA cornerstone mission and recently had a system study (Ref. 1) carried out by a consortium led by Astrium, which confirmed the basic configuration for the payload with only minor changes, and provided detailed concepts for the spacecraft and mission design. The study confirmed the need for a drag-free technology demonstration mission to develop the inertial sensors for LISA, before embarking on the build of the flight sensors. With a technology demonstration flight in 2005, it would be possible to carry out LISA as a joint ESA-NASA mission with a launch by 2010 subject to the funding programmatics. The baseline for LISA is three disc-like spacecraft each of which consist of a science module which carries the laser interferometer payload (two in each science module) and a propulsion module containing an ion drive and the hydrazine thrusters of the AOCS. The propulsion module is used for the transfer from earth escape trajectory provided by the Delta II launch to the operational orbit. Once there the propulsion module is jettisoned to reduce disturbances on the payload. Detailed analysis of thermal and gravitational disturbances, a model of the drag-free control and of the interferometer operation confirm that the strain sensitivity of the interferometer will be achieved.     

The physics,biology, and environmental ethics of making mars habitable

The considerable evidence that Mars once had a wetter, more clement, environment motivates the search for past or present life on that planet. This evidence also suggests the possibility of restoring habitable conditions on Mars. While the total amounts of the key molecules--carbon dioxide, water, and nitrogen--needed for creating a biosphere on Mars are unknown, estimates suggest that there may be enough in the subsurface. Super greenhouse gases, in particular, perfluorocarbons, are currently the most effective and practical way to warm Mars and thicken its atmosphere so that liquid water is stable on the surface. This process could take approximately 100 years. If enough carbon dioxide is frozen in the South Polar Cap and absorbed in the regolith, the resulting thick and warm carbon dioxide atmosphere could support many types of microorganisms, plants, and invertebrates. If a planet-wide martian biosphere converted carbon dioxide into oxygen with an average efficiency equal to that for Earth's biosphere, it would take > 100,000 years to create Earth-like oxygen levels. Ethical issues associated with bringing life to Mars center on the possibility of indigenous martian life and the relative value of a planet with or without a global biosphere.     

Cave biosignature suites: microbes,minerals, and Mars

Earth's subsurface offers one of the best possible sites to search for microbial life and the characteristic lithologies that life leaves behind. The subterrain may be equally valuable for astrobiology. Where surface conditions are particularly hostile, like on Mars, the subsurface may offer the only habitat for extant lifeforms and access to recognizable biosignatures. We have identified numerous unequivocally biogenic macroscopic, microscopic, and chemical/geochemical cave biosignatures. However, to be especially useful for astrobiology, we are looking for suites of characteristics. Ideally, "biosignature suites" should be both macroscopically and microscopically detectable, independently verifiable by nonmorphological means, and as independent as possible of specific details of life chemistries--demanding (and sometimes conflicting) criteria. Working in fragile, legally protected environments, we developed noninvasive and minimal impact techniques for life and biosignature detection/characterization analogous to Planetary Protection Protocols. Our difficult field conditions have shared limitations common to extraterrestrial robotic and human missions. Thus, the cave/subsurface astrobiology model addresses the most important goals from both scientific and operational points of view. We present details of cave biosignature suites involving manganese and iron oxides, calcite, and sulfur minerals. Suites include morphological fossils, mineral-coated filaments, living microbial mats and preserved biofabrics, 13C and 34S values consistent with microbial metabolism, genetic data, unusual elemental abundances and ratios, and crystallographic mineral forms.     

Effect of weightlessness on posture and movement control during a whole body reaching task

Here are reported preliminary results of the “Synergy” experiment performed aboard the Russian orbital station “MIR” in July 1993 (Altaïr Mission). The experiment was carried out before, during, and after the space flight of two astronauts (S1 and S2). The duration of the flight was 21 days for S1 and 6 month for S2. The subjects were tested during preflight, inflight and postflight. The astronaut subjects were fixed on the ground by the feet. They were asked to pick up a box in front of them on the ground. Two velocities of movement and two distances of the target to be reached were tested. The movement of several small markers placed on the body was recorded on video tape.

Results show that the shape of head and hand trajectories in the sagittal plane remains roughly the same during the flight in spite of the modification of mechanical constraints. Trajectory invariance does not result in joint angular displacement invariance. These data indicate that the planning of the movement takes place in terms of head and hand trajectories rather than joint rotations as it was previously suggested for simple arm reaching movement.     

Orbital and relative motion of a tethered satellite system

A simplified model for the orbital and relative motion of a tethered satellite system is presented. The tether acts as a light elastic string with small structural damping but without bending stiffness. Its mass is taken into account in the calculation of the total kinetic and potential energies of the tethered system. This formulation allows the inclusion of the complete gravity gradient influence on the dynamics of the system. The resulting three-dimensional motion is separated in the centre of mass orbital motion on the one hand and the relative motion of the end-bodies on the other. No restrictions on length of the tether or on mass ratio of the end-masses are imposed. It is found that the frequencies and amplitudes of the longitudinal tether oscillations are realistic as long as the tether mass is less than that of the subsatellite.     

n-Body problem: Selective effects of triple close approaches

In Celestial Mechanics the triple close approach is a highly unstable phenomenon that leads very often to the formation of a very small binary escaping with a large velocity in the direction opposite to the escape of the third body.That third escaping body is generally either the smallest mass or the second smallest and it implies a very selective effect in star clusters: the lightest stars are statistically the first to be ejected.