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.     

Evaluation of early Archean volcaniclastic and volcanic flow rocks as possible sites for carbonaceous fossil microbes

Sedimentary rocks have traditionally been the focus of the search for Archean microfossils; the Earth's oldest fossil bacteria are associated with carbonaceous matter in sedimentary cherts in greenstone belts in the eastern Pilbara block of Western Australia and Barberton greenstone belt of South Africa. Reports of possible fossils in a martian meteorite composed of igneous rock and the discovery of modern bacteria associated with basalts have stimulated a new look at Archean volcanic rocks as possible sites for fossil microbes. This study examines silicified volcaniclastic rocks, near-surface altered volcanic flow rocks, and associated stromatolite- like structures from the Archean Barberton greenstone belt to evaluate their potential for the preservation of carbonaceous fossils. Detrital carbonaceous particles are widely admixed with current-deposited debris. Carbonaceous matter is also present in altered volcanic flow rocks as sparse particles in silica veins that appear to be fed by overlying carbonaceous chert layers. Neither microfossils nor mat-like material was identified in the altered volcanic rocks or adjacent stromatolite-like structures. Ancient volcanic flow and volcaniclastic rocks are not promising sites for carbonaceous fossil preservation.     

Thrust modulation of solid propellant rockets by a fluidic vortex valve with secondary combustion

An analytical model for calculation of the thrust and pressure modulation of a solid propellant rocket by means of a fluidic vortex valve with secondary combustion has been developed. Thrust control by the vortex valve method was found superior to the axial injection of control flow. Addition of oxygen in the injected flow improves the energetic performance of the system as well as the thrust modulation capability. Experiments have been conducted using a mixture of nitrogen and oxygen as the injection gas. The two main parameters investigated in a series of experiments were the oxygen percentage in the injection gas and the ratio between the mass flow rates of the control gas and the solid propellant combustion products. The results show an increase of thrust by a factor of 2 for a 25% addition in mass flow rate by secondary injection at optimal conditions.     

Individual differences in susceptibility to motion sickness among six Skylab astronauts

One of the Skylab experiments dealt with motion sickness, comparing susceptibility in the workshop aloft with susceptibility preflight and postflight. Tests were conducted on and after mission-day 8 (MD 8) by which time the astronauts were adapted to working conditions. Stressful accelerations were generated by requiring the astronauts, with eyes covered, to execute standardized head movements (front, back, left, and right) while in a chair that could be rotated at angular velocities up to 30 rpm. The selected endpoint was either 150 discrete head movements or a very mild level of motion sickness. In all rotation experiments aloft, the five astronauts tested (astronaut 1 did not participate) were virtually symptom free, thus demonstrating lower susceptibility aloft than in preflight and postflight tests on the ground when symptoms were always elicited. Inasmuch as the eyes were covered and the canalicular stimuli were the same aloft as on the ground, it would appear that lifting the stimulus to the otolith organs due to gravity was an important factor in reducing susceptibility to motion sickness even though the transient stimuli generated under the test conditions were substantial and abnormal in pattern. Some of the astronauts experienced motion sickness under operational conditions aloft or after splashdown, but attention is centered chiefly on symptoms manifested in zero gravity. None of the Skylab-II crew (astronauts 1 to 3) was motion sick aloft. Astronaut 6 of the Skylab-III crew (astronauts 4 to 6) experienced motion sickness within an hour after transition into orbit; this constitutes the earliest such diagnosis on record under orbital flight conditions. The eliciting stimuli were associated with head and body movements, and astronaut 6 obtained relief by avoiding such movements and by one dose of the drug combination 1-scopolamine 0.35 mg + d-amphetamine 5.0 mg. All three astronauts of Skylab-III experienced motion sickness in the workshop where astronaut 6 was most susceptible and astronaut 4, least susceptible. The higher susceptibility of SL-III crewmen in the workshop, as compared with SL-II crewmen, may be attributable to the fact that they were based in the command module less than one-third as long as SL-II crewmen. The unnatural movements, often resembling acrobatics, permitted in the open spaces of the workshop revealed the great potentialities in weightlessness for generating complex interactions of abnormal or unusual vestibular and visual stimuli. Symptoms were controlled by body restraint and by drugs, but high susceptibility to motion sickness persisted for 3 days and probably much longer; restoration was complete on MD 7. From the foregoing statements it is clear that on and after MD 8 the susceptibility of SL-II and SL-III crewmen to motion sickness under experimental conditions was indistinguishable. The role played by the acquisition of adaptation effects prior to MD 8 is less clear and is a subject to be discussed.     

Mineralogical biosignatures and the search for life on Mars

If life ever existed, or still exists, on Mars, its record is likely to be found in minerals formed by, or in association with, microorganisms. An important concept regarding interpretation of the mineralogical record for evidence of life is that, broadly defined, life perturbs disequilibria that arise due to kinetic barriers and can impart unexpected structure to an abiotic system. Many features of minerals and mineral assemblages may serve as biosignatures even if life does not have a familiar terrestrial chemical basis. Biological impacts on minerals and mineral assemblages may be direct or indirect. Crystalline or amorphous biominerals, an important category of mineralogical biosignatures, precipitate under direct cellular control as part of the life cycle of the organism (shells, tests, phytoliths) or indirectly when cell surface layers provide sites for heterogeneous nucleation. Biominerals also form indirectly as by-products of metabolism due to changing mineral solubility. Mineralogical biosignatures include distinctive mineral surface structures or chemistry that arise when dissolution and/or crystal growth kinetics are influenced by metabolic by-products. Mineral assemblages themselves may be diagnostic of the prior activity of organisms where barriers to precipitation or dissolution of specific phases have been overcome. Critical to resolving the question of whether life exists, or existed, on Mars is knowing how to distinguish biologically induced structure and organization patterns from inorganic phenomena and inorganic self-organization. This task assumes special significance when it is acknowledged that the majority of, and perhaps the only, material to be returned from Mars will be mineralogical.     

Economy of modular low-technology launch vehicles

The paper comprises an assessment of the design and the economics of so-called “low-cost” simple modular launch vehicles. It is shown that the performance is very marginal and that the cost per launch cannot compete with technically more advanced fully reusable vehicles. Especially a private-funded development cannot be amortized economically in case of an expendable launch vehicle.     

A sulfur-based survival strategy for putative phototrophic life in the venusian atmosphere

Several observations indicate that the cloud deck of the venusian atmosphere may provide a plausible refuge for microbial life. Having originated in a hot proto-ocean or been brought in by meteorites from Earth (or Mars), early life on Venus could have adapted to a dry, acidic atmospheric niche as the warming planet lost its oceans. The greatest obstacle for the survival of any organism in this niche may be high doses of ultraviolet (UV) radiation. Here we make the argument that such an organism may utilize sulfur allotropes present in the venusian atmosphere, particularly S(8), as a UV sunscreen, as an energy-converting pigment, or as a means for converting UV light to lower frequencies that can be used for photosynthesis. Thus, life could exist today in the clouds of Venus.     

Gravitational Interaction of Celestial Bodies and neutron flux bursts from Their Surfaces

The gravitational interaction between the Sun and the planetary solar system gives rise to the well-known tidal waves at the planets. The tidal wave originating in the Earth's crust perpetually transforms the microstructure of the Earth's crust leading to a variation of the concentration of natural radioactive gases in the terrestrial air and to changed conditions of their leakage to the Earth's atmosphere. These variations give rise to bursts of thermal and slow neutrons in the vicinity of the Earth's crust, because the radioactive gases are sources of energetic alpha particles that induce neutron production upon the interaction with the nuclei of elements of the Earth's crust and atmosphere. In this work, the idea of neutron production in the ground coat is extended to the other celestial bodies interacting with one another.     

Single-Axis Solar Orientation of a Satellite of the Earth

The possibility of using the mode of single-axis solar orientation is considered for a satellite placed into a nearly circular orbit with an altitude of 900 km and bearing a solar sail. The satellite (together with the sail) has an axisymmetric structure, its symmetry axis being the principal central axis of the maximum moment of inertia. The center of the sail pressure lies on this axis and is displaced with respect to the satellite's center of mass. The symmetry axis of the satellite is set to the Sun so that its center of mass would be located between the Sun and the pressure center and would rotate around this axis with an angular velocity of a few degrees per second. The satellite's axis of symmetry makes a slow precession under the action of the gravitational moment and the moment of light pressure forces. Though the maximum magnitudes of these moments are comparable, the moment of the light pressure forces dominates and controls the precession in such a way that the symmetry axis orientation to the Sun remains unchanged.     

Dynamics and control of variable-geometry truss structures

Variable-geometry truss structures are likely to be used extensively in the future for in-orbit space construction. This paper considers dynamics formulation and vibration control of such structures. The truss system is modelled as a collection of sub-structures consisting of truss booms, prismatic actuator elements, and in some cases a manipulator at the end. Each truss boom is treated as a separate ‘link’ and its flexibility is modelled using the finite element method. Equations of motion for individual sub-structures are obtained which are then assembled. The non-working constraint forces are eliminated to obtain the equations governing the constrained dynamics of the entire system. For vibration control, the singular perturbation method is employed to construct two reduced-order models, for quasi-static motion and for modal co-ordinates, respectively. Computed torque with PD control is applied to maintain the quasi-static motion, while an optimal LQR method is used for vibration control. Typical simulation results are presented for the planar case.