A practical implementation of a hierarchical control system fortelerobotic land vehicles

A hierarchical control architecture for telerobotic vehicles intended to yield a modular, flexible, and easily expanded control system is presented. This architecture is proposed for applications where simple teleoperation is required, but where additional capabilities might be quickly added without major changes to the control system. Similarities to the NASREM architecture are noted. Results for the hardware implementation of the control system on a telerobotic vehicle, RAYBOT, are given     

Interaction of artificially injected plasma flows with ionospheric plasma

Results of rocket experiments on study of plasma flows (PF) artificially injected by sources separated from vehicles and their effect on medium parameters in ionosphere at altitudes 160:230 km are presented.PF were injected comprising lithium ions with velocities 1,2 x 10⁴ m/sec. and cesium-potassium ions with velocities (1,4–1,5)x10³ m/sec. Mass flow rate in case of lithium PS is 2 mg/sec, and in case of cesium-potassium PS is 0,2 g/sec. During experiments mass-spectrometer measurements of ion medium content in ranges of different ion masses were held, disturbancies of electric fields with frequencies up to 20 kHz and electron flows with energies 0,7keV, 4,6keV and over 40 keV were controlled at distancies from 150m to (500–600)m between plasma source and scientific equipment.     

Convective motions in liquid metals for material processings. Numerical simulation of oscillation regimes and effect of rotation

The paper is concerned with the numerical simulation and the analysis of some kinds of flow regimes which can develop in Bridgman and Czochralski systems for material processings. The flows in the liquid phase are investigated considering two-dimensional and axisymmetric models. The time-dependent regimes were studied for a zero-Prandtl-number fluid layer confined inside a two-dimensional cavity of aspect ratio (length-to-height) A=4, involving a stress-free upper surface and submitted to a horizontal temperature gradient. The range of Grashof number was varied up to the conditions at which the flow goes from oscillatory to chaotic type behaviours. The combined influence of the temperature gradients and of the rotations of the crucible and of the seed/crystal was investigated for a Czochralski model. The axisymmetric regimes were studied for a Pr_m=0.015 liquid melt confined inside a cylindrical crucible of aspect ratio (height-to-radius) A_m=2, and coupled to a viscous encapsulant liquid layer (10<Pr_e<1200) of aspect ratio A_e=0.5. A number of steady and (transient) time-dependent flow patterns are identified.     

Responses of the upper middle atmosphere (60–110 km), to the first two stratwarms of map (1982/3, 1983/4)

The global developments of the stratospheric events (～20–50 km) are briefly described using balloon and satellite data. Winds data from L.F. drift (52°N, 15°E, Europe) for heights of 90–100 km, and from M.F. radar (52°N, 107°W, Canada) for heights of 60–110 km are then compared with the stratospheric morphology.Data for 1982/3 and 1983/4 show that the planetary wave activity and warmings produced strong westward and southward perturbations in the radar winds. Satellite data from 0.1, 0.01 hPa are consistent with these winds; and also show smaller scale structures in the mesosphere than the stratosphere. The semi-diurnal tide responded strongly to the atmospheric disturbances in Europe and Canada: for the latter vertical wavelength changes occurred for heights of 70–100 km. However the correlation between these tidal fluctuations was not high indicating that the tidal adjustments were continental rather than hemispheric.     

Designing space vehicle shields for meteoroid protection: A new analysis

Dual-layer meteroid shields consisting of sacrificial bumper plates spaced some distance outboard from the vehicle hull are the most effective structures yet conceived for protecting space vehicles from supervelocity meteroid impacts. This paper presents a new analysis for designing dual-layer shields. The analysis is based upon energy and momentum conservation, fundamental electromagnetic radiation physics, and observation of results from extensive experimental impact investigations conducted at relatively low velocities (near 7 km/s). One important conclusion is that most of the kinetic energy of a meteoroid striking a dual-layer shield is expended as radiation at the stagnation zone on the face plate of the underlying structure. The analysis includes systematic procedures to evaluate the response of shield designs for a given impact threat. Similar applications of the analysis can be used to support a mathematically rigorous procedure for optimum shield design. The research described here supported the Halley Intercept Mission Project at the Jet Propulsion Laboratory, C.I.T., under Contract No. NAS 7–100, sponsored by the National Aeronautics and Space Administration.     

Synoptic observations of coronal transients and their interplanetary consequences

A small coronagraph has been placed in orbit to monitor the sun's outer corona from 2.5 to 10.0 solar radii, and five years of nearly continuous synoptic observations have now been completed. Rapid and sensitive image processing techniques have been developed to screen the data for transient phenomena, particularly coronal mass ejections (CMEs). About 50,000 coronal images have been examined, out of a five-year total of 68,000, and a standardized listing of more than 1,200 coronal transients for the period 1979–1982 has been prepared. These data have been analysed in the light of other available information, particularly on conditions in the interplanetary plasma. The dynamical characteristics of the active corona, as they are beginning to emerge from the data, are presented. We find that coronal mass ejections exercise significant influence on the interplanetary solar wind. They are the source of disturbances that are frequent and energetic, that tend to be somewhat focussed, that often reach shock intensity, and that propagate to large heliocentric distances, sometimes causing major geomagnetic storms.     

Potential defense applications of expert systems

The authors provide an overview of expert systems and how they may effect the development of future defense applications. Military uses of computers are outlined, and expert-systems fundamentals are described. Artificial research and development efforts by the military are examined, and potential military applications are discussed. Expert systems efforts at NASA, by the US Air Force, and for the Strategic Defence Initiative are considered     

Conopulse Radar Angle Tracking Accuracy

An analysis is given of the tracking accuracy of a conopulse radar that angle-tracks on target echo pulses. The analysis includes effects of noises in both sum and difference channels, the effect of the tracking range gate's duration, and applies to any shape of radio frequency (RF) pulse envelope. For large single-pulse signalto-noise ratio and any shape of RF pulse envelope, accuracy approaches the theoretical accuracy of a conopulse system when a short-duration range gate is used. The inportant case of rectangular RF pulses is solved in detail.     

ESA microgravity payloads for the 1990s

Analysis of flight opportunities of existing and new microgravity multi-user facilities on Eureca and Spacelab and design studies of new experimental facilities for Columbus are presently in progress.

The materials and fluid sciences research community is likely to be a major user of the permanently manned Space Station/Columbus elements such as the European Attached Pressurised Module (APM) and the Man-Tended Free Flyer (MTFF).

In metallurgy, crystal growth and bioengineering initial research will be performed in the manned laboratory, whereas later on the processing will be automated and executed on unmanned platforms.

At present ESA prepares - in close cooperation with the scientific community - the hardware development of microgravity experimental facilities/laboratories for all Columbus elements through design studies. Preliminary studies which have been carried out to date are the following : Crystallisation Laboratory, Fluid Sciences Laboratory, Containerless Processing Laboratory, Thermophysical Properties Measurement Facility, Metallurgy Laboratory.

In 1998 it is planned to deepen these studies covering laboratories for the APM and for the MTFF. Details on flight opportunities in the pre-Columbus period will also be provided.