Novel reaction control techniques for redundant space manipulators: Theory and simulated microgravity tests

This paper presents two novel redundancy resolution schemes aimed at locally minimizing the reaction torque transferred to the spacecraft during manipulator manoeuvres. The subject is of particular interest in space robotics because reduced reactions result in reduced energy consumption and longer operating life of the attitude control system. The first presented solution is based on a weighted Jacobian pseudoinverse and is derived by using Lagrangian multipliers. The weight matrix is defined by means of the inertia matrix which appears in the spacecraft reaction torque dynamics. The second one is based on a least squares formulation of the minimization problem. In this formulation the linearity of the forward kinematics and of the reaction torque dynamics equations with respect to the joint accelerations is used. A closed-form solution is derived for both the presented methods, and their equivalence is proven analytically. Moreover, the proposed solutions, which are suitable for real-time implementation, are extended in order to take into account the physical limits of the manipulator joints directly inside the solution algorithms. A software simulator has been developed in order to simulate the performance of the presented solutions for the selected test cases. The proposed solutions have then been experimentally tested using a 3D free-flying robot previously tested in an ESA parabolic flight campaign. In the test campaign the 3D robot has been converted in a 2D robot thanks to its modularity in order to perform planar tests, in which the microgravity environment can be simulated without time constraints. Air-bearings are used to sustain the links weight, and a dynamometer is used to measure the reaction torque. The experimental validation of the presented inverse kinematics solutions, with an insight on the effect of joint flexibility on their performance, has been carried out, and the experimental results confirmed the good performance of the proposed methods. In particular, two test cases have been analyzed in order to validate and evaluate the performance of both the unconstrained solution and the solution which takes into account the robot physical limits.     

The cognitive adequacy of Allen's interval calculus for qualitative spatial representation and reasoning

Qualitative spatial reasoning (QSR) is often claimed to be cognitively more plausible than conventional numerical approaches to spatial reasoning, because it copes with the indeterminacy of spatial data and allows inferences based on incomplete spatial knowledge. The paper reports experimental results concerning the cognitive adequacy of an important approach used in QSR, namely the spatial interpretation of the interval calculus introduced by Allen (1983). Knauff, Rauh and Schlieder (1995) distinguished between the conceptual and inferential cognitive adequacy of Allen's interval calculus. The former refers to the thirteen base relations as a representational system and the latter to the compositions of these relations as a tool for reasoning. The results of two memory experiments on conceptual adequacy show that people use ordinal information similar to the interval relations when representing and remembering spatial arrangements. Furthermore, symmetry transformations on the interval relations were found to be responsible for most of the errors, whereas conceptualneighborhood theory did not appear to correspond to cognitively relevant concepts. Inferential adequacy was investigated by two reasoning experiments and the results show that in inference tasks where the number of possible interval relations for the composition is more than one, subjects ignore numerous possibilities and interindividually prefer the same relations. Reorientations and transpositions operating on the relations seem to be important for reasoning performance as well, whereas conceptual neighborhood did not appear to affect the difficulty of reasoning tasks based on the interval relations.     

The german microgravity program: Objectives and present status

Within the space program of the Federal Republic of Germany the microgravity program in connection with the utilization of SPACELAB constitutes a central task which determines the long-term program concepts and also their relation to German participation in future ESA programs.The scientific preparatory programs under way for some years now have made further progress. Extensive flight experience and valuable scientific results were obtained on the basis of successful rocket pre-programs. The present paper describes the process in which scientific and organisational priorities are being defined for the planning and execution of the experimental programs.In order to obtain a sufficient number of flight opportunities, payloads for SPACE SHUTTLE missions, in particular under the NASA GAS Program, as well as experimental equipment such as the materials laboratory (MSDR) for FSLP are being developed. The German program focuses on preparing a German SPACELAB mission D1 planned for 1985, which is intended to verify the applicability and efficiency of manned research laboratories for industry and the scientific community. A second emphasis is on preparing the use of SHUTTLE-supported re-usable space platforms.     

Body orientation and center of mass control in microgravity

The control of the body orientation and the center of mass position with respect to the feet was investigated under normo- and microgravity (space flight Altair), during erect posture and at the end of a forward or backward upper trunk movement.

It was observed that during erect posture, the trunk orientation with respect to the vertical was inclined some 6 ° forward in both subjects under microgravity, whereas it was vertical or slightly backward oriented under normogravity. Under microgravity, on the contrary, the initial position CM changed either backwards or forwards. This result suggests that the inclined trunk posture might be due to misevaluating the vertically under microgravity and that different control mechanisms are involved in orienting the trunk and placing the CM.

It was also noted that the final position of the CM at the end of the movement did not differ markedly between microgravity and normogravity. This result suggests that the kinematic synergies which stabilize the CM during uppertrunk movements may result from an automatic central control which is independent from the gravity constraints.     

Biochemical and morphological stress-reactions in humans and animals in microgravity

This article is a literary review focused on the problem of the stress-effect of microgravity. Based on the all-round analysis of data from manned missions and space experiments with rats it is concluded that microgravity as a permanent factor of space flight does not produce an intense chronic stress in either humans or animals. On the other hand, microgravity is responsible for deconditioning of a number of vital systems and of the organism as a whole. On return to Earth, the deconditioned bodies of humans and animals exaggerate the usual terrestrial loads due to gravity forces and respond by acute gravitational stress.     

Water and salt disturbances under condition of microgravity

Under conditions of microgravity severe alterations in body fluid composition and volume take place largely as a result of "cardiothoracic pooling" or headward shift of blood. Inappropriate endocrine, renal and cardiovascular responses result from the "misreading" of homeostatic signals by physiological receptors to produce an as yet incompletely defined syndrome under microgravitational conditions.     

Some aspects of continuous flow electrophoresis in microgravity

Zone electrophoresis is a highly efficient method of separating biological products. It is based on the differences of mobilities of ionized particles in an electric field. During the separation complications arise due to electro-osmosis or thermal convection generated by Joule heating.This paper analyses the hydrodynamical running of a continuous flow zone electrophoresis cell and shows the influence of specific parameters on the separation.The modelling of the flow structure of the buffer solution is developed. The equations and the corresponding boundary conditions are solved by finite difference method. The model established provides knowledge of the hydrodynamical perturbations generated by electro-osmosis and thermal free convection. The case of microgravity is considered.     

Muscle atrophy associated with microgravity in rat: basic data for countermeasures

Morphological, contractile properties and myosin heavy chain (MHC) composition of rat soleus muscles were studied after 2 weeks of unloading (HS) and after 2 weeks of HS associated with selective deafferentation (HS + DEAF) at the level L4 and L5. The same significant reductions in muscle mass and tetanic tension were found after HS and HS + DEAF. However, the transformation of the slow-twitch soleus muscle towards a faster type characterized by a decrease in twitch time parameters and an increase in fast-twitch type MHC isoforms in HS did not appear in HS + DEAF conditions. Our results also showed that a pattern similar to firing rate of motoneurones innervating slow-twitch muscles inhibited the slow to fast fiber changes observed during HS. Nevertheless, neither the loss of mass or force output in the HS muscles were prevented by electrostimulation. Immobilization in a stretched position during HS maintained the muscle wet weight, mechanical and electrophoretical characteristics close to control values. We concluded that the decrease in mechanical strains imposed on the muscle during unloading was the main factor for the development of atrophy, while the kinetic changes might be predominantly modulated by the nervous command. These basic data suggested that some experimental conditions such as electrostimulation or stretching, could participate in countermeasure programmes.     

Changes in organ perfusion and weight ratios in post-simulated microgravity recovery

Head-down tilt models have been used as ground-based simulations of microgravity. Our previous animal research has demonstrated that there are significant changes in fluid distribution within 2 h after placement in a 45 degrees head-down tilt (45HDT) position and these changes in fluid distribution were still present after 14 days of 45HDT. Consequently, we investigated changes in fluid distribution during recovery from 16 days of 45HDT. Changes in radioactive tracer distribution and organ/body weight ratio were examined in rats randomly assigned to a 45HDT or prone control group. The 45HDT rats were suspended for 16 days and then allowed to recover at the prone position 0, 77, 101, or 125 h post-suspension. Animals were injected with technetium-labeled diethylenetriamine pentaacetate (99mTcDTPA, MW=492 amu, physical half-life of 6.02 h) and then killed 30 min post-injection. Lungs, heart, liver, spleen, kidneys, and brain were harvested, weighed, and measured for radioactive counts. Statistical analyses included two-way analysis of variance (ANOVA) that compared 45HDT versus controls at the four experimental time points. The organ weight divided by the body weight ratio for the brain, heart, kidneys and liver in the 45HDT rats was significantly different than the control rats, regardless of time (treatment). There was no difference between the different time points (time). The average 99mTcDTPA count divided by the organ weight ratio values for the heart, liver, and spleen were significantly higher in the 45HDT group than the control group. The average counts for the heart and spleen were significantly higher at 77, 101, and 125 h than at time zero. We conclude that the major organs have different recovery patterns after 45HDT for 16 days in the rat.     

Response and adaptation of bone cells to simulated microgravity

Bone loss induced by microgravity during space flight is one of the most deleterious factors on astronaut’s health and is mainly attributed to an unbalance in the process of bone remodeling. Studies from the space microgravity have demonstrated that the disruption of bone remodeling is associated with the changes of four main functional bone cells, including osteoblast, osteoclast, osteocyte, and mesenchymal stem cells. For the limited availability, expensive costs and confined experiment conditions for conducting space microgravity studies, the mechanism of bone cells response and adaptation to microgravity is still unclear. Therefore, some ground-based simulated microgravity methods have been developed to investigate the bioeffects of microgravity and the mechanisms. Here, based on our studies and others, we review how bone cells (osteoblasts, osteoclasts, osteocytes and mesenchymal stem cells) respond and adapt to simulated microgravity.     

Children's control of reference systems in spatial tasks: Foundations of spatial cognitive skill?

Two experiments are presented, one that focused on the abilities of 3- through 8-year-old children to use frames of reference as means for solving a search task in a small-scale perceived space and one that focused on the abilities of 8- through 11-year-old children to use different frames of reference to answer questions about the locations of objects in an environment they had read about. Experiment 1 revealed developmental improvement in the consistent application of object-, place-, and viewer-based frames of reference, with scale of space impacting the pattern of age-related improvement. Experiment 2 showed that young readers' first successes with switching from one reference system to another in representational space involved a vantage point perspective, a viewer-based ``gaze tour' of a small-scale area. Although disparate in focus and method, the studies point to the need for a new theoretical framework for examining developmental issues in the application of spatial frames of reference.     

Effect of enclosure shape on natural convection velocities in microgravity

A numerical analysis was performed to compare natural convection velocities in two-dimensional enclosures of various shape. The following shapes were investigated: circle, square, horizontal and upright 2 × 1 aspect ratio rectangles, horizontal and upright half-circles, diamond (square oriented with diagonal vertical) and triangle (equilateral and horizontal base). In all cases, the length scale in the various dimensionless parameters, such as Rayleigh number, is defined as the diameter of the equal area circle. Natural convection velocities were calculated for Rayleigh numbers of 100 and 500 with the temperature difference taken to be across (a) the maximum horizontal dimension, (b) the median horizontal line (line through centroid) and (c) the horizontal distance such that the temperature gradient is the same for shapes of equal area. A Rayleigh number of 1000 is within the “low Rayleigh number” range for agreement with first order theory for circular enclosures. A Rayleigh number of 5000 is slightly out of this range. For the class of shapes including the square, upright half-circle and upright rectangle, the computed velocities were found to agree very closely with that of the equal area circle when the temperature difference is taken to be across the maximum horizontal dimension [condition (a)]. The velocities for the horizontal rectangle and half circle were found to be approximately one-half that of the equal area circle for the same condition. Better overall agreement among all shapes was obtained by setting the temperature difference across a distance such that the temperature gradients were equal for shapes of equal area.     

The influence of microgravity on invasive growth in Saccharomyces cerevisiae

This study investigates the effects of microgravity on colony growth and the morphological transition from single cells to short invasive filaments in the model eukaryotic organism Saccharomyces cerevisiae. Two-dimensional spreading of the yeast colonies grown on semi-solid agar medium was reduced under microgravity in the Σ1278b laboratory strain but not in the CMBSESA1 industrial strain. This was supported by the Σ1278b proteome map under microgravity conditions, which revealed upregulation of proteins linked to anaerobic conditions. The Σ1278b strain showed a reduced invasive growth in the center of the yeast colony. Bud scar distribution was slightly affected, with a switch toward more random budding. Together, microgravity conditions disturb spatially programmed budding patterns and generate strain-dependent growth differences in yeast colonies on semi-solid medium.     

Human thermohomeostasis onboard "Mir" and in simulated microgravity studies.

Significant changes of thermogomeostatic parameters was obtained by thermotopometric method using the techniques simulate of microgravity effects: bed rest, pressurized isolation, suit immersion (SI). However, each of ground models made rectal temperature (T) trend downward. The autothermometric study (24 and 12 sessions, 2-13th and 6-174th flight days) was carried out onboard "Mir" by two flight engineers who had preliminary tested at SI (1-2 days). Studies of German investigators onboard "Mir" confirmed: rectal T must be higher in space flight as compared to the normal environment (n=4). Comparative studies suggest that microgravity is a key factor for the human body surface T raise and abolishment of the external/internal T-gradient. T-homeostasis was not really changing during missions and could be regarded as acute effect of microgravity. After delineation of changes in body surface T--by Carnot's thermodynamic law--rectal T raise should have been anticipated. Facts pointing to the excess entropy of human body must not be passed over.     

Analogy between training for dancers and problems of adjustment to microgravity: an evaluation of the subjective vertical in dancers

"Moderne dance" (as opposed to a more academic or classical dance form) uses techniques from kinesiology, anatomy and improvization which are adapted to a cultural, technological and political environment. The function of a choreographic system is to take and give a measure of the world. This includes, with the present tendency of the evolution of culture, a new "naturalism" which seeks the secrets of the body. Dance movements express in terms of space the dimension fo the infinite. It gives somehow the measure of a world within which everything is relative. Except for the speed of light, time and space are bound together by the same principle. The qualities of body awareness and specific motricity in dancers imply--besides a strict discipline--balance, coordination, muscular performance and perfect orientation, problems that astronauts also encounter in microgravity. Could chosen exercises used in modern dance technique be applied to the training of astronauts? Dancer-choreographer Kitsou Dubois has been working in this direction since 1988. She was granted a "Villa Medicis Hors Les Murs" by the French Ministry of Foreign Affairs, to carry on with her research at NASA, Houston, Tex. in April 1989. It allowed her to investigate the reality of this analogy. She intends to evaluate the dancers' subjective vertical refering to Mittelstaedt's observations on the proportional relationship between "space sickness" and some astronauts poor evaluation of the subjective vertical. This study should create a relationship between a choreographer's empirical intuition and a scientific reality.     

Eddy currents induced migration of droplets in electrically conducting fluid in microgravity environments

Electrical eddy currents induced migration of droplets, whose conductivity differs from that of surrounding fluid, is analysed. Eddy currents in a dilute suspension under consideration, which fills the dielectric tube, are induced by alternating magnetic field parallel to the tube axis. In the case where the droplet radius is small as compared to the skin depth, the distributions of magnetic fields, currents and electromagnetic forces inside and outside the droplet have been calculated. For small Reynolds numbers, with neglecting inertial and thermocapillary effects and the gravity, the flow of fluids around the droplet and inside it, caused by electromagnetic forces, has been studied. The formula is obtained, which relates the droplet migration velocity to the electro-magnetic field, the droplet size and physical properties of fluids.     

An endogenous growth pattern of roots is revealed in seedlings grown in microgravity

In plants, sensitive and selective mechanisms have evolved to perceive and respond to light and gravity. We investigated the effects of microgravity on the growth and development of Arabidopsis thaliana (ecotype Landsberg) in a spaceflight experiment. These studies were performed with the Biological Research in Canisters (BRIC) hardware system in the middeck region of the space shuttle during mission STS-131 in April 2010. Seedlings were grown on nutrient agar in Petri dishes in BRIC hardware under dark conditions and then fixed in flight with paraformaldehyde, glutaraldehyde, or RNAlater. Although the long-term objective was to study the role of the actin cytoskeleton in gravity perception, in this article we focus on the analysis of morphology of seedlings that developed in microgravity. While previous spaceflight studies noted deleterious morphological effects due to the accumulation of ethylene gas, no such effects were observed in seedlings grown with the BRIC system. Seed germination was 89% in the spaceflight experiment and 91% in the ground control, and seedlings grew equally well in both conditions. However, roots of space-grown seedlings exhibited a significant difference (compared to the ground controls) in overall growth patterns in that they skewed to one direction. In addition, a greater number of adventitious roots formed from the axis of the hypocotyls in the flight-grown plants. Our hypothesis is that an endogenous response in plants causes the roots to skew and that this default growth response is largely masked by the normal 1?g conditions on Earth.     

Language cues in the formation of hierarchical representations of space

We study the role of place and region names in the formation of spatial hierarchies. Representations were probed behaviorally, i.e., by choices between two equidistant routes differing only in the number of regions they touched. Routes crossing fewer region boundaries are preferred over routes crossing more region boundaries. Visual landmark objects from a common semantic category placed in spatial vicinity induce region representations. Here we show that region dependent route preference is reduced if the landmark objects are replaced by signs displaying object names. The effects of explicit region names and linguistic properties of different naming schemes are discussed.     

Initial characterization of the microgravity environment of the international space station: increments 2 through 4

The primary objective of the International Space Station (ISS) is to provide a long-term quiescent environment for the conduct of scientific research for a variety of microgravity science disciplines. This paper reports to the microgravity scientific community the results of an initial characterization of the microgravity environment on the International Space Station for increments 2 through 4. During that period almost 70,000 hours of station operations and scientific experiments were conducted. 720 hours of crew research time were logged aboard the orbiting laboratory and over half a terabyte of acceleration data were recorded and much of that was analyzed. The results discussed in this paper cover both the quasi-steady and vibratory acceleration environment of the station during its first year of scientific operation. For the quasi-steady environment, results are presented and discussed for the following: the space station attitudes Torque Equilibrium Attitude and the X-Axis Perpendicular to the Orbital Plane; station docking attitude maneuvers; Space Shuttle joint operation with the station; cabin de-pressurizations and the station water dumps. For the vibratory environment, results are presented for the following: crew exercise, docking events, and the activation/de-activation of both station life support system hardware and experiment hardware. Finally, a grand summary of all the data collected aboard the station during the 1-year period is presented showing where the overall quasi-steady and vibratory acceleration magnitude levels fall over that period of time using a 95th percentile benchmark.     

Function,geometry and spatial prepositions: Three experiments

In this paper the results of three experiments are reported whichaddress the issue of the relative extent to which functionalrelations versus geometric relations affect spatial language. Theexperiments examine the role of a discourse context on the useand rating of the preposition in to describe a visual scenewhere the constraint of spatial containment between figure(object located) and ground (reference object) does not hold. Allthree experiments demonstrate that in is used more andrated to be significantly more appropriate in a functionalcontext than in a no context condition. The implications of thesestudies for spatial language and spatial representation arediscussed.