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.     

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.     

Solar EUV and UV Emission Line Observations Above a Polar Coronal Hole

The roll manoeuvre of SOHO on September 3, 1997 provided the opportunity to study the northern coronal hole with SUMER slits in east-west orientation, so that polar plumes and inter-plume lanes could be observed simultaneously. A preliminary analysis of the observations shows that lines emitted by ions with the lowest formation temperatures (with the exceptions of Ne⁷⁺ and Ar⁷⁺) have the largest ratios of plume to lane radiances at heights between 35 000 km and 70 000 km above the photosphere. All lines have narrower widths inside plumes than outside. Electron densities have been deduced in plumes and lanes from Si VIII and Mg VIII line radiance ratios. The Mg IX pair was used to determine the corresponding electron temperatures. Neon (with a high first-ionization potential) is found to be less abundant relative to magnesium (with low FIP) in a plume compared to an inter-plume lane, but the variation is smaller than previously determined Ne/Mg abundance ratios in a plume relative to the photosphere. This revised version was published online in June 2006 with corrections to the Cover Date.     

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.     

Electrical Effects on Atmospheric Chemistry

Electrical discharges in planetary atmospheres, and lightning in particular, can cause otherwise unexpected—but highly important—chemical species to be present. The synthesis of oxidants on Mars, nitrates on Earth and Early Mars, and of organic matter elsewhere can be driven by lightning and related electrical phenomena.     

A method of airfoil shape completing

An iteration method for airfoil shape completing using the pressure coefficient distribution specified on its sought part is proposed. The incompressible flow viscosity is taken into account by the boundary layer model, the iteration process is constructed with the use of G.Yu. Stepanov’s idea. The solution algorithm is compiled and a set of numerical calculations is carried out. It is shown that the method proposed offers advantages over the well-known numerical-analytical scheme of solving mixed inverse boundary-value problems of aerohydrodynamics in the case of viscous incompressible fluid.