Optimal target grasping of a flexible space manipulator for a class of objectives

Space graspers are complex systems, composed by robotic arms placed on an orbiting platform. In order to fulfil the manoeuvres’ requirements, it is necessary to properly model all the forces acting on the space robot. A fully nonlinear model is used to describe the dynamics, based on a multibody approach. The model includes the orbital motion, the gravity gradient, the aerodynamic effects, as well as the flexibility of the links. The present paper aims to design, thanks to nonlinear optimization algorithms, a class of manoeuvres that, given the same target to be grasped, are characterized by different mission objectives. The grasping mission can be performed with the objective to minimize the power consumption. Collision avoidance constraints can be also added when the target is equipped with solar panels or other appendices. In some cases, large elastic displacements should be expected, possibly leading to an inaccurate positioning of the end-effector. Therefore, different design strategies can require that the manoeuvre is accomplished with minimum vibrations’ amplitude at the end-effector. Performance of the different strategies is analyzed in terms of control effort, trajectory errors, and flexible response of the manipulator.     

Evaluation of Cyanothece sp. ATCC 51142 as a candidate for inclusion in a CELSS.

Controlled ecological life support systems (CELSS) have been proposed to make long-duration manned space flights more cost-effective. Higher plants will presumably provide food and a breathable atmosphere for the crew. It has been suggested that imbalances between the CO2/O2 gas exchange ratios of the heterotrophic and autotrophic components of the system will inevitably lead to an unstable system, and the loss of O2 from the atmosphere. Ratio imbalances may be corrected by including a second autotroph with an appropriate CO2/O2 gas exchange ratio. Cyanothece sp. ATCC 51142 is a large unicellular N2-fixing cyanobacterium, exhibiting high growth rates under diverse physiological conditions. A rat-feeding study showed the biomass to be edible. Furthermore, it may have a CO2/O2 gas exchange ratio that theoretically can compensate for ratio imbalances. It is suggested that Cyanothece spp. could fulfill several roles in a CELSS: supplementing atmosphere recycling, generating fixed N from the air, providing a balanced protein supplement, and protecting a CELSS in case of catastrophic crop failure.     

Additional Measurements on Pit Shielding for Communications Satellite Earth Stations

This correspondence reports measurements taken in both the 4- and 6-GHz frequency bands of the protection afforded a pit-shielded Earth-station antenna. The measurement program described is an expansion of a previous one and was designed to determine the effects of artificial site shielding for a range of satellite locations rather than a single position.     

Two magnetars: SGR 1627–41 and 1E 1547–5408

We describe the results obtained with Target of Opportunity observations of the galactic sources SGR 1627–41 and 1E 1547–5408. These two transients show several similarities supporting the interpretation of Anomalous X-ray Pulsars and Soft Gamma-ray Repeaters as a single class of strongly magnetized neutron stars.     

Using gamma-ray burst prompt emission to probe relativistic shock acceleration

It is widely accepted that the prompt transient signal in the 10 keV–10 GeV band from gamma-ray bursts (GRBs) arises from multiple shocks internal to the ultra-relativistic expansion. The detailed understanding of the dissipation and accompanying acceleration at these shocks is a currently topical subject. This paper explores the relationship between GRB prompt emission spectra and the electron (or ion) acceleration properties at the relativistic shocks that pertain to GRB models. The focus is on the array of possible high-energy power-law indices in accelerated populations, highlighting how spectra above 1 MeV can probe the field obliquity in GRB internal shocks, and the character of hydromagnetic turbulence in their environs. It is emphasized that diffusive shock acceleration theory generates no canonical spectrum at relativistic MHD discontinuities. This diversity is commensurate with the significant range of spectral indices discerned in prompt burst emission. Such system diagnostics are now being enhanced by the broad-band spectral coverage of bursts by the Fermi Gamma-Ray Space Telescope; while the Gamma-Ray Burst Monitor (GBM) provides key diagnostics on the lower energy portions of the particle population, the focus here is on constraints in the non-thermal, power-law regime of the particle distribution that are provided by the Large Area Telescope (LAT).     

Coronal mass ejection detection using wavelets,curvelets and ridgelets: Applications for space weather monitoring

Coronal mass ejections (CMEs) are large-scale eruptions of plasma and magnetic field that can produce adverse space weather at Earth and other locations in the Heliosphere. Due to the intrinsic multiscale nature of features in coronagraph images, wavelet and multiscale image processing techniques are well suited to enhancing the visibility of CMEs and suppressing noise. However, wavelets are better suited to identifying point-like features, such as noise or background stars, than to enhancing the visibility of the curved form of a typical CME front. Higher order multiscale techniques, such as ridgelets and curvelets, were therefore explored to characterise the morphology (width, curvature) and kinematics (position, velocity, acceleration) of CMEs. Curvelets in particular were found to be well suited to characterising CME properties in a self-consistent manner. Curvelets are thus likely to be of benefit to autonomous monitoring of CME properties for space weather applications.     

Study of GNSS-measured ionospheric total electron content variations generated by powerful HF-heating

The purpose of this work is to report the experimental evidences for the influence of perturbations in the electron density in the dayside mid-latitude ionosphere, that are caused by high-frequency heating of the F2 layer, on the GNSS signals. The experiments were carried out at the Sura heater (Radio Physical Research Institute, N. Novgorod). During the sessions of ionospheric heating with different time modulations of the radiated power the rays linking the navigational satellites with the ground receiver intersected the heated region. Variations in the total electron content (TEC) were studied; these variations are proportional to the reduced phases of navigational signals. It is shown that with the square-wave modulation of the radiated power (with periods of 1, 6, 10 and 15 min), perturbations with periods of the main modulation of heating and its harmonics appear in the spectrum of TEC variations. Examples are presented of identification of the heating-induced variations in TEC, including determination of the amplitudes and time characteristics of these variations.     

Modeling of ionospheric scintillation at low-latitude

The presence and movement of plasma density fluctuations in the F-region of the ionosphere are studied by monitoring phase and amplitude of radio waves propagating through the region. In this paper, we have used weak scattering theory and assumed the plasma density fluctuations to behave like phase changing diffraction screen. Appropriate relations for scintillation index S₄, and phase variance δ? are derived and computed for different parameters of the plasma density irregularities of the ionosphere. SROSS-C2 satellite in situ measurements of plasma density fluctuations, which provide direct information about the structure and morphology of irregularities that are responsible for scintillation of radio waves, were used first time to develop a scintillation model for low latitude. It is observed that the scintillation index S₄ and phase variance δ? depends on the strength of the plasma turbulence. Finally, the results obtained from modeling are compared and discussed with the available recent results.     

Determination of station positions and velocities from laser ranging observations to Ajisai,Starlette and Stella satellites

The positions and velocities of the four Satellite Laser Ranging (SLR) stations: Yarragadee (7090), Greenbelt (7105), Graz (7839) and Herstmonceux (7840) from 5-year (2001–2005) SLR data of low orbiting satellites (LEO): Ajisai, Starlette and Stella were determined. The orbits of these satellites were computed from the data provided by 20 SLR stations. All orbital computations were performed by means of NASA Goddard’s GEODYN-II program. The geocentric coordinates were transformed to the topocentric North–South, East–West and Vertical components in reference to ITRF2005. The influence of the number of normal points per orbital arc and the empirical acceleration coefficients on the quality of station coordinates was studied. To get standard deviation of the coordinates determination lower than 1 cm, the number of the normal points per site had to be greater than 50. The computed positions and velocities were compared to those derived from LAGEOS-1/LAGEOS-2 data. Three parameters were used for this comparison: station coordinates stability, differences from ITRF2005 positions and velocities. The stability of coordinates of LEO satellites is significantly worse (17.8 mm) than those of LAGEOS (7.6 mm), the better results are for Ajisai (15.4 mm) than for Starlette/Stella (20.4 mm). The difference in positions between the computed values and ITRF2005 were little bit worse for Starlette/Stella (6.6 mm) than for LAGEOS (4.6 mm), the results for Ajisai were five times worse (29.7 mm) probably due to center of mass correction of this satellite. The station velocities with some exceptions were on the same level (≈1 mm/year) for all satellites. The results presented in this work show that results from Starlette/Stella are better than those from Ajisai for station coordinates determination. We can applied the data from LEO satellites, especially Starlette and Stella for determination of the SLR station coordinates but with two times lower accuracy than when using LAGEOS data.     

An Artificial Neural Network based approach for estimation of rain intensity from spectral moments of a Doppler Weather Radar

By using a Doppler Weather Radar (DWR) at Shriharikota (13.66°N & 80.23°E), an Artificial Neural Network (ANN) based technique is proposed to improve the accuracy of rain intensity estimation. Three spectral moments of a Doppler spectra are utilized as an input data to an ANN. Rain intensity, as measured by the tipping bucket rain gauges around the DWR station, are considered as a target values for the given inputs. Rain intensity as estimated by the developed ANN model is validated by the rain gauges measurements. With the help of a developed technique, reasonable improvement in the estimation of rain intensity is observed. By using the developed technique, root mean square error and bias are reduced in the range of 34–18% and 17–3% respectively, compared to Z–R approach.