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     

Geometric aspects of long-term noncoherent integration

Long-term integration is defined as integration, perhaps interrupted, over time periods long enough for targets to move through volumes in space resolvable by the radar. Because the motion of the target is unknown prior to detection, long-term integration must be performed along multiple paths representing plausible target paths. The geometry of such a set of integration paths affects detection performance in several ways. The simplest implementation of long-term integration, using constant radial velocity paths, is investigated. The effects of path geometry on detection is quantified and optimized for a target whose motion is nearly radial but otherwise unknown     

International trends in Stirling engine technology development:ISEC 1982-8

A brief survey is presented of trends in work reported at four International Stirling Engine Conferences held during the 1980s. The discussion covers international participation, publication sources and types, engine types, specialized engines, sponsoring institutions and observed trends     

Clutter Map CFAR Analysis

An analysis of the probability of target detection for a clutter map CFAR using digital exponential filtering has been performed. General performance equations are derived. The probability of detection versus signal-to-noise ratio is plotted for a false alarm probability of 1.E-06 for several weight values. The CFAR loss is plotted for a detection probability of 0.9 and false alarm probabilities of 1.E-06 and 1.E-08.     

Frame Synchronization in the Presence of Errors and Erasures

An approach to the problem of achieving frame synchronization in the presence of jamming or other large disturbances is presented. It is assumed that the disturbance can be detected at the receiver, which then erases the corresponding bits and passes this information to the synchronizer. A synchronization algorithm designed to operate in the presence of both erasures and background errors is described and evaluated for a representative set of system parameters. This algorithm is shown to have a significant advantage over an algorithm which does not use the location information inherent in the erasure model.     

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.     

Interplanetary acceleration of low-energy protons as observed during the 25 september 1978 shock event

ISEE-3 observations of a long-lasting low-energy proton intensity increase during the 25 September 1978 shock event are presented as an example for interplanetary particle acceleration in association with shock waves. The observations are discussed in the light of current models for particle acceleration. The particular shape of the time intensity behaviour of the particle intensity increase, the existence of a shock spike and the observed particle distributions indicate that the particles are accelerated at the shock by the induced electric field $\text{E}\text{= ?}\text{1}\text{c}\text{V}\text{×}\text{B}$.     

Detection Loss of the Sample Matrix Inversion Technique

The sample matrix inversion (SMI) technique is used for Doppler and/or array processing. Previous analysis of the technique has been in terms of signal-to-interference plus noise ratio (SINR). For Gaussian statistics, this performance measure gives the same loss values as does a probability of detection analysis for linear-time invariant systems. It is often somewhat less valid for nonlinear or time variant systems. As SMI is a nonlinear technique, a probability of detection analysis has been performed. It is shown that the detection loss is larger than that computed by the SINR measure. It is also shown that though the loss predicted by the SINR measure only depends upon the number of measurements used to estimate the covariance matrix, the detection loss depends upon the false alarm probability and the number of adaptable elements in addition to the number of measurements.     

CCRS C/X-airborne synthetic aperture radar: An Rand D tool for the ERS-1 time frame

The airborne synthetic-aperture radar (SAR) system developed for the Canada Centre for Remote Sensing (CCRS) is described. It consists of two radars, at C-band and X-band. Each radar incorporates the following features: dual-channel receivers and dual-polarized antennas; a high quality, 7-look, real-time processor; a sensitivity time control for range-dependent gain control; a motion-compensation system for antenna steering in azimuth and elevation; and baseband I and Q signal phase rotation. The system also uses a high-power transmitter with a low-power back-up. The SAR maps to either side of the aircraft, at high or low resolution, at incidence angles which in high resolution span 0° to 80°. Radar operating parameters, data products, key specifications and the motion compensation scheme used are presented. Properties of the real-time imagery are discussed and examples of C-band SAR data in the three operating modes are given     

Identification of specific gravity sensitive signal transduction pathways in human A431 carcinoma cells.

Epidermal growth factor (EGF) activates a well characterized signal transduction cascade in human A431 epidermoid carcinoma cells. The influence of gravity on EGF-induced EGF-receptor clustering and early gene expression as well as on actin polymerization and actin organization have been investigated. Different signalling pathways induced by the agents TPA, forskolin and A23187 that activate gene expression were tested for sensitivity to gravity. EGF-induced c-fos and c-jun expression were decreased in microgravity. However, constitutive beta-2 microglobulin expression remained unaltered. Under simulated weightlessness conditions EGF- and TPA-induced c-fos expression was decreased, while forskolin- and A23187-induced c-fos expression was independent of the gravity conditions. These results suggest that gravity affects specific signalling pathways. Preliminary results indicate the EGF-induced EGF-receptor clustering remained unaltered irrespective of the gravity conditions. Furthermore, the relative filamentous actin content of steady state A431 cells was enhanced under microgravity conditions and actin filament organization was altered. Under simulated weightlessness actin filament organization in steady state cells as well as in EGF-treated cells was altered as compared to the 1 G reference experiment. Interestingly the microtubule and keratin organization in untreated cells showed no difference with the normal gravity samples. This indicates that gravity may affect specific components of the signal transduction circuitry.