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     

Energy coupling between the solar wind and the magnetosphere

This paper describes in detail how we are led to the first approximation expression for the solar wind-magnetosphere energy coupling function , which correlates well with the total energy consumption rate U _T of the magnetosphere. It is shown that is the primary factor which controls the time development of magnetospheric substorms and storms. The finding of this particular expression indicates how the solar wind couples its energy to the magnetosphere; the solar wind and the magnetosphere constitute a dynamo. In fact, the power P generated by the dynamo can be identified as by using a dimensional analysis. Furthermore, the finding of indicates that the magnetosphere is closer to a directly driven system than to an unloading system which stores the generated energy before converting it to substorm and storm energies. Therefore, the finding of and its implications have considerably advanced and improved our understanding of magnetospheric processes. The finding of has also led us to a few specific future problems in understanding relationships between solar activity and magnetospheric disturbances, such as a study of distortion of the solar current disk and the accompanying changes of . It is also pointed out that one of the first tasks in the energy coupling study is an improvement of the total energy consumption rate U _T of the magnetosphere. Specific steps to be taken in this study are suggested.     

Vegetation and the atmospheric cycling of mercury

Beyond their role in the cycling of the major elements, carbon, nitrogen, oxygen, etc., little is known about geobiological interactions involving plants with the elements of lower abundance. Plants influence the distribution of volcanic mercury by uptake from the atmosphere and soil fluids, transport to the shoot and re-release as Hg° into the atmosphere. Release rates as high as 2.5 × 10^?4 g.h^?1 per kg are known but even at more typical rates, fluxes far greater than the Environmental Protection Agency calculated U.S. average annual degassing rate of 130 × 10^?6 g.m^?2 should exist. On a global basis, the presence or absence of vegetative cover may be a significant regulator of Hg° transport between land surfaces and the atmosphere.     

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     

A noise insensitive solution to an ambiguity problem in spectralestimation

The instantaneous frequency measurement (IFM) receiver is capable of measuring the center frequency of single frequency pulses over a wide range (bandwidth) of center frequencies. Because of various constraints, the frequency resolution requirement results in long correlator delay times that reduce the single correlator bandwidth. A large bandwidth can be achieved only if two or more correlators are used. The problem of estimating frequency is then reduced to the simultaneous congruence problem of number theory. A design procedure is presented for solving the congruence problem for a given amount of noise protection, a stated frequency resolution, a minimum bandwidth, and a fixed level of precision (bits) in the IFM receiver     

Autonomous fault-tolerant attitude reference system using DTGs insymmetrically skewed configuration

A novel symmetrically skewed configuration for an attitude reference system (ARS) using three dynamically tuned gyros (DTGs) is developed. Simple schemes for autonomous detection and identification of a faulty DTG in real time and subsequent reconfiguration of the attitude estimation algorithm are proposed. The performance of the present configuration is shown to be better than that of configurations proposed earlier, and it is shown to have better features. It tolerates all types of failures of DTG failures, requires very simple computations, and gives less error in attitude estimate than the other configurations     

The extra-galactic background light: A modern version of Olbers' paradox

A non-technical discussion is given of the energy density E of the extra-galactic background light. The fact that E is small means that the space between galaxies is dark, which is a modern version of a classical problem in astronomy known as Olbers' paradox. It is seen that the order of magnitude of E is fixed by the order of magnitude of the lifetime of the galaxies, as pointed out by Harrison; but that the expansion of the Universe can affect E by a smaller factor, typically about 2. These comments should help to end persistent confusion about the effects of the lifetime of the galaxies and the expansion of the Universe on the darkness of the night sky. It is hoped that Olbers' so-called paradox can now rest in peace.     

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).