Telerobotics: problems and research needs

With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of `telepresence' that may be useful for prolonged tasks. Using top-down 3-D model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview model to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and, in this university environment, to basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics. Speculation as to future industrial drives for this telerobotic field suggests efficient roles for government agencies such as NASA     

A noise insensitive solution to an ambiguity problem in spectralestimation

The instantaneous frequency measurement (IFM) receiver is capable of measuring the center frequency of single frequency pulses over a wide range (bandwidth) of center frequencies. Because of various constraints, the frequency resolution requirement results in long correlator delay times that reduce the single correlator bandwidth. A large bandwidth can be achieved only if two or more correlators are used. The problem of estimating frequency is then reduced to the simultaneous congruence problem of number theory. A design procedure is presented for solving the congruence problem for a given amount of noise protection, a stated frequency resolution, a minimum bandwidth, and a fixed level of precision (bits) in the IFM receiver     

Who is who in Algol-land ? - Part II -

In part I (De Greve and Packet) we have investigated the occurrence of reversed phases of mass-transfer during Case A evolution in close binaries. If the initial period of a system is shorter than 1–2 days (Early Case A) the reversed phase starts before core hydrogen exhaustion of the gainer (part I). This type of evolution is characterized by at least two phases of slow mass-transfer.We have computed the evolution of four Early Case A systems with initial masses of the loser equal to 3 Mo and 5 Mo. These four systems start mass-exchange when Xc of the primary has decreased to 0.525 (75% of its initial value). They all experience two phases of slow mass-transfer.We find that both phases have about the same duration for all systems. The mass ratios are clearly distinct, being closer to unity during the first phase. In the Hertzsprung-Russell, mass-radius and mass-luminosity diagrams both components remain close to the main-sequence band during slow mass-transfer. Evolution as an Algol is ended when both components overflow their outer critical surface after a second reversal of the mass-transfer.Observed Algol systems evolving in Early Case A are scarce. A search thruogh the catalogue by Giuricin et al. gives us the following candidates: X Tri, SX Aur and V Pup. Based on their mass ratios, SX Aur can tentatively be assigned to the first phase of slow mass transfer and X Tri to the second phase. For V Pup (which is more massive) this choice can not be made with certainty.     

Effect of wall suction on leading edge contamination

This paper is devoted to an experimental study of swept wing leading edge contamination by the turbulence emanating from the wing-wall junction. The main objective is to delay the contamination onset by applying surface suction along the attachment line. Two series of experiments are described; the first one was performed in a small wind tunnel at CERT ONERA, the second one was carried out in the F2 wind tunnel at Le Fauga Mauzac centre. Hot film measurements showed that leading edge contamination could be delayed up to very large Reynolds numbers. We also studied the behaviour of the relaminarized boundary layer downstream of the sucked region, along the span as well as in the chordwise direction.     

A Major Step in Series Regulators

Power hybrid microelectronic design techniques have been developed to satisfy the requirements of 10-ampere 100-watt series voltage regulators. Application of these new techniques has resulted in a package occupying roughly the same volume as a TO-63 power transistor, yet containing two 30-ampere power transistors, selectable external components, and associated control circuitry.     

Problems related to non-linear variations of surface tension

Generally, the tension at a liquid/gas interface is decreasing with temperature. For aqueous solution of alcohol, alkylammonium chloride in water, some binary metallic alloys and nematic liquid crystals the surface tension presents an extremum as a function of temperature. The influence of this property on the hydrodynamic stability and on the surface tension induced flows is studied as well theoretically as experimentally.     

Frame Synchronization in the Presence of Errors and Erasures

An approach to the problem of achieving frame synchronization in the presence of jamming or other large disturbances is presented. It is assumed that the disturbance can be detected at the receiver, which then erases the corresponding bits and passes this information to the synchronizer. A synchronization algorithm designed to operate in the presence of both erasures and background errors is described and evaluated for a representative set of system parameters. This algorithm is shown to have a significant advantage over an algorithm which does not use the location information inherent in the erasure model.