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     

Error Covariance Analysis of a Karhunen-Loeve Random Field Estimator

An error covariance analysis of a two-dimensional Karhunen-Loeve random field estimator (KLE) for gridded gravity data is presented without actually using the data. Attention is focused particularly on the north-south deflection component of the disturbance vector so that the rms value of its residual error may not exceed 3 percent of the signal rms for grid spacing of not less than 5 nm, when signal-to-noise ratio in the data is varied within reasonable limits. To achieve this rather stringent goal, a discrete KLE derived entirely from a two-dimensional grid configuration is needed. The KLE for geodesy applications was developed initially by Bose. Using continuous measurements and the orthogonality relations of the Karhunen-Loeve (KL) eigenvectors in a continuous domain, continuous KL gain coefficients ?mnj and consequently the continuous KL gain vector Kmn were obtained; thus a satisfactory continuous KLE was achieved. However the discrete version of the KLE was then given by keeping the old (continuous) ?mnj, and simply computing the KL eigenvectors on the grid coordinates to evaluate the discrete KL gain vector Kmn. Clearly this is not a satisfactory discrete KLE since , ?mnj are not constants but rather depend on the measurement noise variances. So if the measurements are now going to be discrete, one must rederive ?mnj for this situation.     

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.     

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.     

Mathematical description of the NaK model for MASTER-2005

The release of NaK droplets has been modeled for the new version of the European Meteoroid and Space Debris Terrestrial Environment Reference model MASTER-2005. Previously published versions of the model have been revised. The parameters of the model are introduced and discussed. NaK droplets consist of eutectic sodium–potassium alloy and have been released during RORSAT reactor core ejections. They contributed to the space debris environment in the centimeter and millimeter size regime. Sixteen nuclear powered RORSATs launched between 1980 and 1988 activated a reactor core ejection system in Sufficiently High Orbits (SHO), mostly between 900 and 950 km altitude. The core ejection caused an opening of the primary coolant circuit. The liquid coolant has been released into space during these core ejections. The outflow is considered as a discrete event for each of the sixteen core ejections in total. The NaK coolant has been forming droplets up to a diameter of 5.5 cm. NaK releases are restricted to a very narrow region near 65° inclination. This paper gives the parameters of the NaK release model as it is implemented in MASTER-2005. The quantitative values of all model parameters including characteristic diameter and uniformity parameter are presented. The ratio of the characteristic droplet size to the orifice diameter is discussed. It is estimated that altogether 128 kg of NaK-78 (8 kg per RORSAT) was released on orbit. Simulation runs show that there are still 45,000 droplets with a total mass of 97 kg in orbit at the reference epoch 1 May 2005, whereas the smallest droplet has a diameter of 5 mm. Results of orbit propagation simulation runs are presented in terms of spatial density.     

Antiparticle content in the magnetosphere

In the present work we assess the stable and transient antiparticle content of planetary magnetospheres, and subsequently we consider their capture and application to high delta-v space propulsion. We estimate the total antiparticle mass contained within the Earth’s magnetosphere to assess the expediency of such usage. Using Earth’s magnetic field region as an example, we have considered the various source mechanisms that are applicable to a planetary magnetosphere, the confinement duration versus transport processes, and the antiparticle loss mechanisms. We have estimated the content of the trapped population of antiparticles magnetically confined following production in the exosphere due to nuclear interactions between high energy cosmic rays (CR) and constituents of the residual planetary upper atmosphere.The galactic antiprotons that directly penetrate into the Earth’s magnetosphere are themselves secondary by its nature, i.e. produced in nuclear reactions of the cosmic rays passing through the interstellar matter. These antiproton fluxes are modified, dependent on energy, when penetrating into the heliosphere and subsequently into planetary magnetospheres. During its lifetime in the Galaxy, CR pass through the small grammage of the interstellar matter where they produce secondary antiprotons. In contrast to this, antiprotons generated by the same CR in magnetosphere are locally produced at a path length of several tens g/cm² of matter in the ambient planetary upper atmosphere. Due to the latter process, the resulting magnetically confined fluxes significantly exceed the fluxes of the galactic antiprotons in the Earth’s vicinity by up to two orders of magnitude at some energies.The radiation belt antiparticles can possibly be extracted with an electromagnetic-based “scoop” device. The antiparticles could be concentrated by and then stored within the superimposed magnetic field structure of such a device. In future developments, it is anticipated that the energy of the captured antiparticles (both rest energy and kinetic energy) can be adapted for use as a fuel for propelling spacecraft to high velocities for remote solar system missions.