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     

Ferri project: technologies to support advanced transportationsystems

The authors present the plan under discussion in Italy between the government entities and Aeritalia, the leading Italian aerospace company, for the technology development needed to support advanced transportation systems. The plan centers around the following areas: thermal protection and control; advanced structures and materials; guidance, navigation, and control; and tests and computation methods. Experimental activities needed to support the development of such systems and the difficulties involved are examined     

Microwave Landing System

The National Microwave Landing Systems (MLS) program is a joint DOT/DOD/NASA effort to implement a common civil/military precision landing system to replace the current Instrument Landing System (ILS). The MLS will be capable of providing precision landing guidance down to Category III minimum while allowing for complex approach paths in both the horizontal and vertical planes. The system is based on the Time Reference Scanning Beam (TRSB) technique which was selected by the International Civil Aviation Organization (ICAO) in April 1978 as the new international landing system standard. MLS is less susceptible to interference from the surrounding area and provides a greater signal coverage area than ILS.     

Cockpits for 2010 and Beyond

Truly optimal weapon system performance is highly dependent on the level of man-machine cockpit integration resulting from the intelligent application of crew station technologies. Future cockpits will incorporate a wide range of enhancements. Heavy application of artificial intelligence techniques can be expected to encompass the entire spectrum of crew station technologies; from data fusion, to optimized display resource management, to real-time onboard maintenance and fault reporting, and even to the optimization of pilot physiological needs. Emphasis on exploiting applications of the ultimate human resource, the mind, can be expected through the use of biocybernetics; initially to control previously manual and/or automated cockpit functions, and eventually to allow bidirectional communications. Future enhancements can also be expected to improve aircrew performance by allowing the pilot to take full advantage of aircraft maneuvering capability, and to operate effectively in hostile chemical, biological and radiological environments. New high resolution, full color, three dimensional crew station display devices will complement enlarged sensor suites and enhance aircrew situational awareness. Does the pilot really need to see the outside world to fly and fight effectively? Or, can panoramic display techniques, in an encapsulated environment, coupled with 4? steradian sensor coverage, increase performance? This paper strives to illustrate some ``no holds barred' approaches to making future fighter cockpits an ``in-tune' extension of the operator, based on current and projected tactical needs.     

Confirmation of gravisensitivity in the slime mold physarum polycephalum under near weightlessness

We have investigated Physarum polycephalum, a unicellular organism with no special gravity receptors, on its ability to react to gravity. The first experiments were 0 g-simulation experiments on the fast-rotating clinostat conducted with plasmodial strands of this acellular slime mold. In these earth-bound experiments the observed parameters were periodicity of the contractions and dilatations of the strand's ectoplasm as well as the periodicity and velocity of the striking cytoplasmic (endoplasmic) shuttle streaming. During 0 g-simulation these parameters showed significant changes indicating the existence of a gravisensitivity of the slime mold.

The Space-Shuttle experiment (ESA-Biorack in D 1-Mission) should demonstrate the validity of the 0 g-simulation on the fast-rotating clinostat. The experiment was designed in a way enabling the registration of the same parameters as on the clinostat (using the light microscope in combination with a photo diode and a cinecamera). Only one of the two planned measurement sessions was fully successful and provided us with data confirming the results gained on the fast-rotating clinostat: The slime mold showed under real near weightlessness in the D 1-Space Shuttle Mission a transient frequency increase in its contraction rhythmicity and a (steady) increase in the streaming velocity of its endoplasm.     

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).     

Effects of prolonged exposure to space flight factors for 175 days on lettuce seeds

We have studied the effects of prolonged (up to 175 days) exposure of $\text{Lactuca sativa}$ seeds to space flight factors, including primary cosmic radiation heavy ions. The data obtained evidence a significant fourfold increase ofs pontaneous mutagenesis in seeds both with regard to the total number of aberrant cells as well as the formation of single cells with multiple aberrations. Comparison of the present experiment with earlier works shows that the frequency of such aberrations increases with the duration of the flight.     

The organic aerosols of Titan

A dark reddish organic solid, called tholin, is synthesized from simulated Titanian atmospheres by irradiation with high energy electrons in a plasma discharge. The visible reflection spectrum of this tholin is found to be similar to that of high altitude aerosols responsible for the albedo and reddish color of Titan. The real (n) and imaginary (k) parts of the complex refractive index of thin films of Titan tholin prepared by continuous D.C. discharge through a 0.9 N₂/0.1 CH₄ gas mixture at 0.2 mb is determined from x-ray to microwave frequencies. Values of n (1.65) and k (0.004 to 0.08) in the visible are consistent with deductions made by ground-based and spaceborne observations of Titan. Many infrared absorption features are present in k(λ), including the 4.6 μm nitrile band. Molecular analysis of the volatile component of this tholin was performed by sequential and non-sequential pyrolytic gas chromatography/mass spectrometry. More than one hundred organic compounds are released; tentative identifications include saturated and unsaturated aliphatic hydrocarbons, substituted polycyclic aromatics, nitriles, amines, pyrroles, pyrazines, pyridines, pyrimidines, and the purine, adenine. In addition, acid hydrolysis produces a racemic mixture of biological and non-biological amino acids. Many of these molecules are implicated in the origin of life on Earth, suggesting Titan as a contemporary laboratory environment for prebiological organic chemistry on a planetary scale.     

Particle and Joule heating of the neutral polar thermosphere in cusp region using Atmosphere Explorer-C satellite measurements

Simultaneous measurements taken by instruments on the Atmosphere Explorer - C satellite were used to compare electron and proton particle energy deposition, Joule heating, and neutral density perturbations in the region of the cusp.Altitude profiles of Joule heating, electron energy deposition, and electron density are derived using measurements taken by the satellite as input to a computer model. Electric fields are calculated using ion drift measurements. Figures are presented for a representative orbital pass.A peak Joule heating rate of 0.059 Wm^?2 occurred in the cusp region with a peak of 0.025 Wm^?2 in the evening auroral electrojet. Peak volume heating rates corresponding to these regions were 1.4 × 10^?6Wm^?3 and 7.10^?7 Wm^?3, both occurring at an altitude of 115 km. Particle energy deposition was about an order of magnitude less than Joule heating. Large neutral density perturbations are related to regions of heating.