Position and force control of coordinated multiple arms

A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6×n degrees of freedom of n manipulators each having six joints. Additional constraint equations are considered when one or more degrees of freedom of the object is reduced due to external constraints. Utilizing the operational space dynamic equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Simulation results for the control of a pair of two-link manipulators are presented     

Physical interpretation of interdisciplinary solar/interplanetary observations relevant to the 27–29 June 1980 SMY/STIP event no. 5

A sequence of six well defined interplanetary structures (magnetic clouds) was identified in the solar wind and magnetic field measurements of Helios-1 from 29 June-01 July, 1980. (location 0.64–0.67 AU, C. Long. ～165°, C. Lat. ～5.8°). These structures were characterized by a large northward directed solar wind flow; by well defined directional discontinuities of mainly the ‘tangential-type’ at their beginnings and ends; by some increase in proton and by very pronounced increases in alpha particle number densities - each accompanied by sudden temperature decreases (or in one case by an increase); by some times an increase in magnetic field strength and by values of Nα/Np typical of the inner solar atmosphere. These structures are suggested to have been ejections from a succession (27–29 June, 1980) of Type II producing flares in Hale Region 16923 which coronagraph and X-ray (GOES) data indicate constituted a family of transient producing events. Only two interplanetary shocks were identified in the relevant Helios-1 records. It is suggested on the basis of observations of the directionality of certain of the flare related Type II bursts that some of these shocks could have been missed by the spacecraft. This implies that, in the absence of directional information, correlation of an observed interplanetary shock wave with a solar Type II burst may not always lead to a unique result.     

Radiation stability of organic matter in liquid and frozen H2O, NH3 and water-ammonia mixtures

The redox properties of irradiated liquid and frozen H₂O, NH₃ and H₂O/NH₃ mixtures at 298 K and 77 K, resp., towards some simple organic molecules have been checked by injecting carrierfree ¹¹C atoms and analyzing their chemical state by means of radiochromatography. The reactions and the stability of organic products versus radiation dose (in this study by MeV protons) depend on temperature, phase state, mobility of radicals, their concentration and reactivity. Especially dangerous are the reactive OH and O₂H radicals which oxidize organic material to inorganic CO₂. Highest stability has been found at low temperatures (solid state, reduced mobility of radicals) and for systems containing H-donors (H₂O/NH₃ mixtures), which reduce the concentration of oxidizing radicals. The fact that many bodies in space consist of H₂O-ice with NH₃ and CH₄ additives at temperatures between 10 and 150 K is promising in view of the survival of organic matter under high doses of radiation.     

Evaluating the economic impact of design alternatives on domestic communication satellite ventures

What are the economic consequences of establishing a domestic communication satellite venture? Has the best design alternative been selected? Should investments be made to develop new technology? How much should be invested? These are but some of the questions facing those concerned with providing domestic communication satellite services. Because of the demand, performance and cost uncertainties and the unpredictability of the need for and timing of large capital expenditures (due to less than perfect reliability of transportation systems and satellites) providing answers to these and other related questions is a complex process.This paper describes a methodology for providing answers to the above questions. The methodology, by explicitly considering demand, performance and cost uncertainties and satellite and transportation system reliability, develops probabilistic pro forma financial analyses of domestic communication satellite system ventures. In so doing, the risk dimension is quantified and alternative courses of action can be evaluated and compared taking into account expected values, risk and risk aversion preferences. It is also important to quantify and consider the risk dimension since many R &; D projects are specifically aimed at risk reduction.     

The role of antiprotons in cosmic-ray physics

Though success eluded experimentalists from detecting cosmic-ray antiprotons over a long period of time, the study of cosmic-ray antiprotons has now become a fascinating field of research. In this review, we have attempted to elucidate the excitement in this area of research since the discovery of antiprotons in the laboratory. We have described the experiments carried out so far to measure the energy spectrum of antiprotons, from about 200 MeV to about 15 GeV, and summarised the results. The observed spectrum, with the limited data, appears to be very hard and is different from other components of cosmic radiation. Upper limits to the fraction of antiprotons in cosmic-rays have also been derived at higher energies, using the observed spectra of cosmic-ray primary and secondary particles at different depths in the atmosphere. We have described various physical processes by which antiprotons could be produced, such as high-energy interactions, neutron oscillations, evaporation of Mini Black Holes, decay of super symmetric particles, etc. The energy spectrum of antiprotons, which are produced through the above processes, undergoes modifications during propagation in the Galaxy. We have examined in detail the propagation models which have been employed to explain the observed data. It is shown that no single model could predict correctly the observed energy spectrum of antiprotons over the entire energy region. However, many models are able to explain the data at relativistic energies. It is difficult at this stage to make a choice among these models. The implications of these models for other components of cosmic-rays, such as positrons, deuterium, and He, have been discussed. We have examined the production of gamma rays in the Galaxy from sources, which produce the observed antiprotons through high-energy interactions. We have also briefly indicated the effect of possible re-acceleration during their confinement in the Galaxy. We finally emphasized the need for more detailed measurements of the spectral shape of cosmic-ray antiprotons to further refine speculations of their origin. Similarly, we have shown that detailed observation of the energy spectra of positrons, deuterium, and He at relativistic energies are crucial to test various propagation models.     

Radiation environments and absorbed dose estimations on manned space missions.

In order to make an assessment of radiation risk during manned missions in space, it is necessary first to have as accurate an estimation as possible of the radiation environment within the spacecraft to which the astronauts will be exposed. Then, with this knowledge and the inclusion of body self-shielding, estimations can be made of absorbed doses for various body organs (skin, eye, blood-forming organs, etc.). A review is presented of our present knowledge of the radiation environments and absorbed doses expected for several space mission scenarios selected for our development of the new radiation protection guidelines. The scenarios selected are a 90-day mission at an altitude (450 km) and orbital inclinations (28.5 degrees, 57 degrees and 90 degrees) appropriate for NASA's Space Station, a 15-day sortie to geosynchronous orbit and a 90-day lunar mission. All scenarios chosen yielded dose equivalents between five and ten rem to the blood forming organs if no large solar particle event were encountered. Such particle events could add considerable exposure particularly to the skin and eye for all scenarios except the one at 28.5 degrees orbital inclination.     

Signal-to-Noise Ratio of Arbitrary Power-Series Nonlinear Amplifier

A general analysis of the effect of an arbitrary power-series nonlinear amplifier followed by a coherent mixing device on signal-to-noise ratio (SNR) is performed. An expression is derived for the improvement factor which is defined as the logarithm of the ratio of the output SNR to the input SNR. This expression is applicable to the coherent amplitude detector and phase locked loop as well as noncoherent amplifier by appropriate selections of the detection angle. Moreover, the improvement factor can be obtained for noise with an arbitrary amplitude distribution. To demonstrate the applicability of this analysis, the improvement factors of the nonlinear amplifiers such as a power-law amplifier and a power-series amplifier with positive and negative discriminations are numerically calculated for the cases where the input noise amplitude distributions are Rician and triangular.     

Dependence of ESP intensity on collisionless shock wave characteristics

Flux variations of 1 – 5 MeV protons are studied in energetic storm particle events with respect to the preshock solar wind plasma parameters and to the thickness of the collisionless interplanetary shock wave. It is found that the peak intensity in ESP events depends on pre-shock plasma density and on the thickness of the transition region. These relations predict, in agreement with recent observations, the increase of ESP events at larger heliocentric distances.     

Cometary habitats for primitive life.

Comet Halley studies indicate most of the nucleus is covered by an insulating crust, presumed of pyrolysed organic material. The subcrust is warmed and percolated by gases within 2AU, so provides one habitat for primitive replicating organisms. Cracks and crevices within contaminated ice in the craters provides a habitat for photosynthesising organisms. Subsurface lakes on the Europa model, though insulated by some metres of ice, would require a trigger (perhaps meteorite impact and energy source (chemical or metabolic energy) to initiate and maintain a suitable-habitat on short period comets. Constraints on transfer between comets and other planetary bodies implies that radiation-resistant species with lengthy hibernation potential would be expected.