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.     

Modeling the Modification of the Nighttime High-Latitude F-Region by Powerful HF Radiowaves

A mathematical model of the high-latitude F-region, taking the ionospheric plasma convection into account, is used for modeling a response of the auroral F-region to irradiation by powerful high-frequency (HF) radiowaves. The model enables us to calculate the time variations in the profiles of the electron concentration, the velocity of positive ions, and the ion and electron temperatures in the part of a magnetic-flux tube moving over an artificial ionospheric heater under the action of a convective electric field. The modeling was carried out for a part of the magnetic flux tube intersecting the F-layer irradiated by the Norwegian heater at Tromsö when it is located near the midnight magnetic meridian. The calculations were made for the equinox conditions under the high solar and low geomagnetic activity. The results of our modeling show that substantial variations in the profiles of the electron temperature, the velocity of positive ions, and the electron concentration can be produced in the nighttime high-latitude F-layer due to HF heating. The perturbation caused by a 20 s rectangular pulse should exist for about 20 min at the level of the F-layer maximum. The disturbed plasma volume can leave the region irradiated by the heater and move away for over 500 km within the above-mentioned time period.     

Statistical Relationships between Solar, Interplanetary, and Geomagnetospheric Disturbances, 1976–2000

Within the framework of the Space Weather program, 25-year data sets for solar X-ray observations, measurements of plasma and magnetic field parameters in the solar wind, and D _st index variations are analyzed to reveal the factors that have had the greatest influence on the development of magnetospheric storms. The correlation between solar flares and magnetic storms practically does not exceed a level of correlation for random processes. In particular, no relation was found between the importance of solar flares and the minimum of the D _st index for storms that could be connected with considered flares by their time delay. The coronal mass ejections (CME; data on these phenomena cover a small part of the interval) result in storms with D _st < –60 nT only in half of the cases. The most geoeffective interplanetary phenomena are the magnetic clouds (MC), which many believe to be interplanetary manifestations of CMEs, and compressions in the region of interaction of slow and fast streams in the solar wind (the so-called Corotating Interaction Region, CIR). They correspond to about two-thirds of all observed magnetic storms. For storms with –100 < D _st < –60 nT, the frequencies of storms from MC and CIR being approximately equal. For strong storms with D _st < – 100 nT, the fraction of storms from MC is considerably higher. The problems of reliable prediction of geomagnetic disturbances from observations of the Sun and conditions in interplanetary space are discussed.     

Planetary Missions of the 20th Century*

Among of the highlights of the 20^th century were flights of spacecraft to other bodies of the Solar System. This paper describes briefly the missions attempted, their goals, and fate. Information is presented in five tables on the missions launched, their goals, mission designations, dates, discoveries when successful, and what happened if they failed. More detailed explanations are given in the accompanying text. It is shown how this enterprise developed and evolved step by step from a politically driven competition to intense scientific investigations and international cooperation. Initially, only the USA and USSR sent missions to the Moon and planets. Europe and Japan joined later. The USSR carried out significant research in Solar System exploration until the end of the 1980s. The Russian Federation no longer supports robotic planetary exploration for economic reasons, and it remains to be seen whether the invaluable Russian experience in planetary space flight will be lost. Collaboration between Russian and other national space agencies may be a solution.     

Nonlinear Localized Electrostatic Structures and Their Experimental Diagnostics in the Magnetosphere Plasma

The theoretical models of the formation of the three-dimensional quasi-stationary structures of variations of density and electrostatic potential in a multicomponent magnetosphere plasma are considered. On the basis of the perturbation method, we have studied the domains of the parametric space, where the occurrence of nonlinear quasi-stationary ion-acoustic and electron-acoustic structures are possible. For these structures, the velocities of motion along the direction of the magnetic field are estimated, together with the longitudinal and transverse scales with respect to the direction of the Earth's magnetic field. The calculated dependences of the scales l and l _|| of the structures on the plasma parameters in the three-component plasma allow one to compare the results of the considered theoretical models with new experimental data of measuring the form of soliton structures onboard the FAST, POLAR, and GEOTAIL satellites.     

Modeling of Plasma Density in the Earth's Dayside Inner Magnetosphere

The results of comparison of the model profiles of density, obtained by means of the CDPDM model, with the experimental data of the ISEE-1 satellite for the years 1977–1983 are presented. The hypothesis on the validity of the mirror mapping of the convection boundary relative to the dawn–dusk direction is verified. An attempt to improve the CDPDM model for the dayside is made.     

Using the PROGRESS transport spacecraft in structure of the International Space Station for realization of scientific experiments under microgravity conditions

The problem is considered of using the PROGRESS transport spacecraft, which will deliver the payload on the ISS, as a free flying platform for realization of space experiments. For maintenance of the ISS 5-6 PROGRESS flights per year are planned. Usually after delivery of the payload the PROGRESS undocks from the ISS and burns down in the Earth atmosphere. However, the operating conditions of its onboard systems allow to prolong operation and to make free flight near to the station and repeatedly to be docked to it. It is offered to use this possibility for performing experiments on Material Science.     

Remote sensing of planetary properties and biosignatures on extrasolar terrestrial planets

The major goals of NASA's Terrestrial Planet Finder (TPF) and the European Space Agency's Darwin missions are to detect terrestrial-sized extrasolar planets directly and to seek spectroscopic evidence of habitable conditions and life. Here we recommend wavelength ranges and spectral features for these missions. We assess known spectroscopic molecular band features of Earth, Venus, and Mars in the context of putative extrasolar analogs. The preferred wavelength ranges are 7-25 microns in the mid-IR and 0.5 to approximately 1.1 microns in the visible to near-IR. Detection of O2 or its photolytic product O3 merits highest priority. Liquid H2O is not a bioindicator, but it is considered essential to life. Substantial CO2 indicates an atmosphere and oxidation state typical of a terrestrial planet. Abundant CH4 might require a biological source, yet abundant CH4 also can arise from a crust and upper mantle more reduced than that of Earth. The range of characteristics of extrasolar rocky planets might far exceed that of the Solar System. Planetary size and mass are very important indicators of habitability and can be estimated in the mid-IR and potentially also in the visible to near-IR. Additional spectroscopic features merit study, for example, features created by other biosignature compounds in the atmosphere or on the surface and features due to Rayleigh scattering. In summary, we find that both the mid-IR and the visible to near-IR wavelength ranges offer valuable information regarding biosignatures and planetary properties; therefore both merit serious scientific consideration for TPF and Darwin.     

Aspartic acid racemization and age-depth relationships for organic carbon in Siberian permafrost

We have analyzed the degree of racemization of aspartic acid in permafrost samples from Northern Siberia, an area from which microorganisms of apparent ages up to a few million years have previously been isolated and cultured. We find that the extent of aspartic acid racemization in permafrost cores increases very slowly up to an age of approximately 25,000 years (around 5 m in depth). The apparent temperature of racemization over the age range of 0-25,000 years, determined using measured aspartic acid racemization rate constants, is -19 degrees C. This apparent racemization temperature is significantly lower than the measured environmental temperature (-11 to -13 degrees C) and suggests active recycling of D-aspartic acid in Siberian permafrost up to an age of around 25,000 years. This indicates that permafrost organisms are capable of repairing some molecular damage incurred while in a "dormant" state over geologic time.     

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.