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.     

Optimum low-thrust limited power transfers between neighbouring elliptic non-equatorial orbits in a non-central gravity field

A complete first-order analytical solution is developed for the problem of optimum low-thrust limited power transfers between neighbouring elliptic non-equatorial orbits in a non-central gravity field. The optimization problem is formulated as a Mayer problem of optimal control with Cartesian elements as state variables. After applying the Pontryagin maximum principle and determining the optimal thrust acceleration, an intrinsic canonical transformation is performed: the Cartesian elements are changed by suitable orbital elements. Hori's method is applied in determining a first-order analytical solution. Simple analytical solutions are obtained explicitly for long-time transfers.     

Brazilian participation in the International Space Station (ISS) program: commitment or bargain struck?

The invitation to Brazil to join the International Space Station (ISS) program illustrates the way that foreign-policy makers in the USA favor short-term decisions over long-term commitments, while, in accepting the invitation, Brazil was also promoting other objectives. In taking the initiative to invite Brazil, President Clinton provided a unique opportunity to a middle-to-low-ranking spacefaring developing country to join the program as part of NASA's quota for the ISS. However, this action was the result of exchanges and bargains between the two countries, involving domestic and international interests on both sides—not all directly related to ISS activities—targeted at security and industrialization issues. These included the international non-proliferation regime, the commercialization of space systems and facilities (particularly Brazil's Alcantara Launch Center) and intellectual property.     

The Brazilian scientific microsatellite SACI-1

The National Space Research Institute (INPE) is developing the first Brazilian Scientific Microsatellite (SACI-1) based on the vanguard technology and on the experience acquired through projects developed by Brazilian Space Program. The SACI-1 is a 750km polar orbit satellite. The spacecraft will combine spin stabilization with geomagnetic control and has a total mass of 60 kg. The overall dimensions are 640×470×470 mm. The SACI-1 satellite shall be launched together with CBERS (China-Brazil Earth Resource Satellite). Its platform is being designed for multiple mission applications. The Brazilian Academy of Sciences has selected four scientific payloads that characterize the mission. The scientific experiments are: ORCAS (Solar and Anomalous Cosmic Rays Observation in the Magnetosphere), PLASMEX (Study of Plasma Bubbles), FOTSAT (Airglow Photometer), and MAGNEX (Geomagnetic Experiment).     

Life sciences flight hardware development for the International Space Station.

During the construction phase of the International Space Station (ISS), early flight opportunities have been identified (including designated Utilization Flights, UF) on which early science experiments may be performed. The focus of NASA's and other agencies' biological studies on the early flight opportunities is cell and molecular biology; with UF-1 scheduled to fly in fall 2001, followed by flights 8A and UF-3. Specific hardware is being developed to verify design concepts, e.g., the Avian Development Facility for incubation of small eggs and the Biomass Production System for plant cultivation. Other hardware concepts will utilize those early research opportunities onboard the ISS, e.g., an Incubator for sample cultivation, the European Modular Cultivation System for research with small plant systems, an Insect Habitat for support of insect species. Following the first Utilization Flights, additional equipment will be transported to the ISS to expand research opportunities and capabilities, e.g., a Cell Culture Unit, the Advanced Animal Habitat for rodents, an Aquatic Facility to support small fish and aquatic specimens, a Plant Research Unit for plant cultivation, and a specialized Egg Incubator for developmental biology studies. Host systems (Figure 1A, B: see text), e.g., a 2.5 m Centrifuge Rotor (g-levels from 0.01-g to 2-g) for direct comparisons between g and selectable g levels, the Life Sciences Glovebox for contained manipulations, and Habitat Holding Racks (Figure 1B: see text) will provide electrical power, communication links, and cooling to the habitats. Habitats will provide food, water, light, air and waste management as well as humidity and temperature control for a variety of research organisms. Operators on Earth and the crew on the ISS will be able to send commands to the laboratory equipment to monitor and control the environmental and experimental parameters inside specific habitats. Common laboratory equipment such as microscopes, cryo freezers, radiation dosimeters, and mass measurement devices are also currently in design stages by NASA and the ISS international partners.     

The Space within Fisherman's Folly: Playing with a Puzzle in Mereotopology

Abstract

In this paper we propose a spatial ontology for reasoning about holes, rigid objects and a string, taking a classical puzzle as a motivating example. In this ontology the domain is composed of spatial regions whereby a theory about holes is defined over a mereotopological basis. Within this theory we define a data structure, named chain, that facilitates a clear and efficient representation of the puzzle states and its solution.     

Longitudinal variation of the equatorial ionosphere: Modeling and experimental results

We describe a new version of the Parameterized Regional Ionospheric Model (PARIM) which has been modified to include the longitudinal dependences. This model has been reconstructed using multidimensional Fourier series. To validate PARIM results, the South America maps of critical frequencies for the E (foE) and F (foF2) regions were compared with the values calculated by Sheffield Plasmasphere-Ionosphere Model (SUPIM) and IRI representations. PARIM presents very good results, the general characteristics of both regions, mainly the presence of the equatorial ionization anomaly, were well reproduced for equinoctial conditions of solar minimum and maximum. The values of foF2 and hmF2 recorded over Jicamarca (12°S; 77°W; dip lat. 1°N; mag. declination 0.3°) and sites of the conjugate point equatorial experiment (COPEX) campaign Boa Vista (2.8°N; 60.7°W; dip lat. 11.4°; mag. declination −13.1°), Cachimbo (9.5°S; 54.8°W; dip lat. −1.8°; mag. declination −15.5°), and Campo Grande (20.4°S; 54.6°W; dip lat. −11.1°; mag. declination −14.0°) have been used in this work. foF2 calculated by PARIM show good agreement with the observations, except during morning over Boa Vista and midnight-morning over Campo Grande. Some discrepancies were also found for the F-region peak height (hmF2) near the geomagnetic equator during times of F₃ layer occurrences. IRI has underestimated both foF2 and hmF2 over equatorial and low latitude sectors during evening-nighttimes, except for Jicamarca where foF2 values were overestimated.     

Rio de la Plata estuarine system: Relationship between river flow and frontal variability

This paper deals with the application of SeaWIFS images to characterize spatial and temporal variability of fronts in the Rio de la Plata estuarine system over the period 2000–2003. We aim to depict the relationship between river outflow and variability of fronts’ loci on monthly to ENSO-related timescales and the influence of the winds along Rio de la Plata (axial winds) on the abrupt changes in frontal dynamics over synoptic timescales. During the studied period both La Niña (July 1999–June 2000) and El Niño (April 2002–May 2003) events induced significant displacements of fronts. Three distinct fronts were analyzed between river, estuarine, coastal and marine waters of the Rio de la Plata: Main Turbidity Front, Main Marine Front, and Secondary Marine Front. Their number, location and separation seem to be mainly related to river outflow and second, to fresh (>8 m/s) axial winds. During low discharge periods (i.e. summer time and/or La Niña events) these winds induce abrupt changes in the location of fronts (100–200 km) and greater separation between them over synoptic timescale, whereas during high river discharge or ENSO years some of the variability of fronts location is explained by the river’s outflow fluctuations, especially by the high variability of the River Uruguay discharge.     

Stochastic modelling considering ionospheric scintillation effects on GNSS relative and point positioning

Global Navigation Satellite Systems (GNSS), in particular the Global Positioning System (GPS), have been widely used for high accuracy geodetic positioning. The Least Squares functional models related to the GNSS observables have been more extensively studied than the corresponding stochastic models, given that the development of the latter is significantly more complex. As a result, a simplified stochastic model is often used in GNSS positioning, which assumes that all the GNSS observables are statistically independent and of the same quality, i.e. a similar variance is assigned indiscriminately to all of the measurements. However, the definition of the stochastic model may be approached from a more detailed perspective, considering specific effects affecting each observable individually, as for example the effects of ionospheric scintillation. These effects relate to phase and amplitude fluctuations in the satellites signals that occur due to diffraction on electron density irregularities in the ionosphere and are particularly relevant at equatorial and high latitude regions, especially during periods of high solar activity. As a consequence, degraded measurement quality and poorer positioning accuracy may result.