Telerobotics: problems and research needs

With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of `telepresence' that may be useful for prolonged tasks. Using top-down 3-D model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview model to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and, in this university environment, to basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics. Speculation as to future industrial drives for this telerobotic field suggests efficient roles for government agencies such as NASA     

Non-linear resonant excitation of whistler mode waves in the Earth's ionosphere

We examine the resonant non-linear interaction in the Earth's ionosphere of two powerful high frequency radio beams with frequencies f ₁ and f ₂ (both larger than the plasma frequency at F2_max) and wave numbers k ₁ and k ₂ such that a whistler mode wave can be excited with a frequency f ₃ = f ₁ — f ₂ and a wave number k ₃ = k ₁ – k ₂. The feasibility of an effective ground based installation, sited at low latitudes, is discussed and the field strength of the wave emerging from a 10 km wide ionospheric region illuminated by the beams is evaluated for a range of transmitted frequencies, beam orientations and plasma frequencies in the interaction region. It is suggested that the longitude dependence of the enhancement of VLF noise bands detected by the Ariel 3 satellite may be due to a non-linear interaction of this type between any two or more medium wavelength signals from areas where there is a high concentration of commercial broadcasting stations, such as the NE region of the U.S.A.     

Vegetation and the atmospheric cycling of mercury

Beyond their role in the cycling of the major elements, carbon, nitrogen, oxygen, etc., little is known about geobiological interactions involving plants with the elements of lower abundance. Plants influence the distribution of volcanic mercury by uptake from the atmosphere and soil fluids, transport to the shoot and re-release as Hg° into the atmosphere. Release rates as high as 2.5 × 10^?4 g.h^?1 per kg are known but even at more typical rates, fluxes far greater than the Environmental Protection Agency calculated U.S. average annual degassing rate of 130 × 10^?6 g.m^?2 should exist. On a global basis, the presence or absence of vegetative cover may be a significant regulator of Hg° transport between land surfaces and the atmosphere.     

Geometric aspects of long-term noncoherent integration

Long-term integration is defined as integration, perhaps interrupted, over time periods long enough for targets to move through volumes in space resolvable by the radar. Because the motion of the target is unknown prior to detection, long-term integration must be performed along multiple paths representing plausible target paths. The geometry of such a set of integration paths affects detection performance in several ways. The simplest implementation of long-term integration, using constant radial velocity paths, is investigated. The effects of path geometry on detection is quantified and optimized for a target whose motion is nearly radial but otherwise unknown     

Spectra of fresh photo-electrons in the Martian atmosphere

In this paper the latest neutral and ionospheric models of the upper Martian atmosphere, created on the Viking data are used. For the calculations of the photoelectron spectra the Hinteregger's measurements of the solar flux together with the theoretical photoelectron distribution are also used.     

Spectroscopic study of plasma parameters for solar active regions and flares

Results are given of the study of active regions and flares by a high resolution Mg XI ion spectra obtained aboard rockets and a satellite. It is shown that there is a noticable similarity in the physical conditions in the plasma of active regions and flares. Plasma of both sources consists okf a thermal component with the temperature T ～ 2.?3.10⁶K for active regions and T ～ 1.5?2.5.10⁷K for flares and in both cases of a relatively small number (～ 1–5%) of suprathermal electrons with an energy E ～ 3–6 kT.     

MTI Processing and Weibull-Distributed Ground Clutter

It is shown that the Weibull-distributed ground clutter obeys a Weibull distribution after processing by the double canceler moving target indicator (MTI).