Martian jumping rover equipped with electroactive polymer actuators: A preliminary study

This paper presents results of a preliminary study of feasibility for the application of electroactive polymer (EAP) based actuators to a robotic locomotion system, intended by the European Space Agency (ESA) to operate on the surface of Mars. The system is conceived as an elastic spherical rover, exploiting wind propulsion for surface motion, while adopting an active mechanism for vertical jumping over obstacles. The use of polymeric electromechanical devices is envisaged in order to provide actuation to such a jumping mechanism. Among the available EAP technologies, new contractile linear actuators based on dielectric elastomers arc proposed in this study as suitable devices and two potential solutions concerning their use are designed, modeled, and evaluated via numerical simulations. The best solution reveals interesting simulated performances, enabling jumping of obstacle heights corresponding to more than 7% of the diameter of the rover     

Nonlinear Adaptive Control of a Synchronous Machine

A nonlinear adaptive controller for a load-commutated brushless dc machine that allows the machine to develop high torque over a wide range of operating conditions, while satisfying voltage and current constraints on both stator and field circuits, is presented. The approach taken is fundamentally different from past work in that a nonlinear control is formulated from the steady-state model of the synchronous machine. Adaptive algorithms are presented for both the unknown load and motor cases.     

An empirical model of electron density for low and middle latitudes below 200 km

Our empirical model of electron density (n_e) for quiet and weakly disturbed geomagnetic conditions (Kp not greater 4) takes account of comparative analysis of existing models and of experimental data obtained by rockets and incoherent scatter radar. The model describes the n_e distribution in the 80 to 200 km height range at low and middle latitudes, and to some extent, in the subauroral region. It is presented in analytical form thus allowing one to calculate electron density profiles for any time. The electron density distribution at 140 km depends on the season (day of the year) and on the solar zenith angle. Profile variations during the day are for one season shown. Different from other models, ours specifies the variations during sunrise and sunset and reflects the particular profile shape at night admitting the occurrence of an intermediate layer.     

Soft X-ray characteristics of white dwarfs observed by EXOSAT

EXOSAT has observed 19 hot white dwarfs with alleged strong soft X-ray emission. Positive detection of a large fraction of this sample was obtained, among these practically all hot DA dwarfs. High-resolution spectral data, acquired with the 500 1/mm grating spectrometer, indicates no traces of He in the atmosphere of HZ43, i.e. n(He)/n(H) ? 10^?5 at a photospheric temperature of 60000 K (log g = 8). In contrast, the hot DA1 dwarf Feige 24 shows the presence of an appreciable He-abundance (n(He)/n(H) ? 10^?3); however no simple homogeneously mixed H/He atmosphere can explain the observed spectral shape.     

Dynamics of a spacecraft and normalization around Lagrangian points in the Neptune–Triton system

The problem of a spacecraft orbiting the Neptune–Triton system is presented. The new ingredients in this restricted three body problem are the Neptune oblateness and the high inclined and retrograde motion of Triton. First we present some interesting simulations showing the role played by the oblateness on a Neptune’s satellite, disturbed by Triton. We also give an extensive numerical exploration in the case when the spacecraft orbits Triton, considering Sun, Neptune and its planetary oblateness as disturbers. In the plane a × I (a = semi-major axis, I = inclination), we give a plot of the stable regions where the massless body can survive for thousand of years. Retrograde and direct orbits were considered and as usual, the region of stability is much more significant for the case of direct orbit of the spacecraft (Triton’s orbit is retrograde). Next we explore the dynamics in a vicinity of the Lagrangian points. The Birkhoff normalization is constructed around L₂, followed by its reduction to the center manifold. In this reduced dynamics, a convenient Poincaré section shows the interplay of the Lyapunov and halo periodic orbits, Lissajous and quasi-halo tori as well as the stable and unstable manifolds of the planar Lyapunov orbit. To show the effect of the oblateness, the planar Lyapunov family emanating from the Lagrangian points and three-dimensional halo orbits are obtained by the numerical continuation method.     

Circulation of energetic ions of terrestrial origin in the magnetosphere

Energetic ion composition measurements have now been performed from earth orbiting satellites for more than a decade. As early as 1972 we knew that energetic (keV) ions of terrestrial origin represented a non-negligible component of the storm time ring current. We have now assembled a significant body of knowledge concerning energetic ion composition throughout much of the earth's magnetosphere. We know that terrestrial ions are a common component of the hot equatorial magnetospheric plasma in the ring current and the plasma sheet out to ? 23 R_E. During periods of enhanced geomagnetic activity this component may become dominant. There is also clear evidence that the terrestrial component (specifically O⁺) is strongly dependent on solar cycle. Terrestrial ion source, transport, and acceleration regions have been identified in the polar auroral region, over the polar caps, in the magnetospheric boundary layers, and within the magnetotail lobes and plasma sheet boundary layer. Combining our present knowledge of these various magnetospheric ion populations, it is concluded that the primary terrestrial ion circulation pattern associated with enhanced geomagnetic activity involves direct injection from the auroral ion acceleration region into the plasma sheet boundary layer and central plasma sheet. The observed terrestrial component of the magnetospheric boundary layer and magnetotail lobes are inadequate to provide the required influx. They may, however, contribute significantly to the maintenence of the plasma sheet terrestrial ion population, particularly during periods of reduced geomagnetic activity. It is further concluded, on the basis of the relative energy distributions of H⁺ and O⁺ in the plasma sheet, that O⁺ probably contributes significantly to the ring current population at energies inaccessible to present ion composition instrumentation (? 30 keV).     

Interaction of Titan's atmosphere with Saturn's magnetosphere

The Voyager 1 measurements made during the Titan flyby reveal that Saturn's rotating magnetospheric plasma interacts directly with Titan's neutral atmosphere and ionosphere. This results from the lack of an intrinsic magnetic field at Titan. The interaction induces a magnetosphere which deflects the flowing plasma around Titan and forms a plasma wake downstream. Within the tail of the induced magnetosphere, ions of ionospheric origin flow away from Titan. Just outside Titan's magnetosphere, a substantial ion-exosphere forms from an extensive hydrogen-nitrogen exosphere. The exospheric ions are picked up and carried downstream into the wake by the plasma flowing around Titan. Mass loading produced by the addition of exospheric ions slows the wake plasma down considerably in the vicinity of the magnetopause.     

On the planetary ionospheric vortex electric fields

The paper presents a physical mechanism of large-scale vortex electric field generation in the ionospheric E- and F-layers. It shows that the planetary-scale, synoptic short-period (from several second to several hours) and fast processes (with propagation velocity higher than 1 km/s) produce a planetary-scale internal vortex electric field. Its value may far exceed that of the dynamo-field generated in the same ionospheric layer by local wind motion. We found, that an ionospheric source of the vortex electric field is spatial inhomogeneity of the geomagnetic field.     

Investigation of resonant modes and frequencies of plate vibrations as applied to turbomachine blades

The results of experimental and numerical investigations of resonant vibration frequencies and modes for rectangular cantilever plates of constant thickness are presented. The investigations are carried out using the methods of interference holography and finite elements, and the results may serve as basic references in determining resonant frequencies and modes of compressor and turbine blade vibrations.     

Small-Scale Solar Magnetic Fields

As we resolve ever smaller structures in the solar atmosphere, it has become clear that magnetism is an important component of those small structures. Small-scale magnetism holds the key to many poorly understood facets of solar magnetism on all scales, such as the existence of a local dynamo, chromospheric heating, and flux emergence, to name a few. Here, we review our knowledge of small-scale photospheric fields, with particular emphasis on quiet-sun field, and discuss the implications of several results obtained recently using new instruments, as well as future prospects in this field of research.