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     

Effects due to an artificial earth satellite in rapid motion through the ionosphere or the interplanetary medium

Conclusion In this paper we have been concerned with the results of theoretical calculations of the interaction between a fast moving body and a tenuous plasma. Particular attention was paid to the case where the velocity of the body is much smaller than the velocity of neutral particles and ions, while the dimensions of the body are sufficiently large in comparison with the Debye radius. Such conditions are realized during the motion of artificial satellites or space rockets through the ionosphere, or through the interplanetary medium in the immediate neighborhood of the earth. Although this case has, on the whole, been investigated quite extensively, there are still a number of problems which require further analysis. Firstly, it is necessary to take into account the effect of the electric field on the motion of ions in the near zone at the rear of the body. Another important problem is that of magnetic disturbances. In the case of scattering of radio waves by the trail of the body, it would be interesting indeed to know the increase in the effective cross-section in the resonance region in which 0. A number of other research problems which arise in the analysis of phenomena in the neighborhood of a moving body have been noted in the Introduction.In the lower layers of the ionosphere it is important to allow for the fact that the dimensions of the body are comparable with the mean free path. Under these conditions there is the further interesting problem of the heating and additional ionization of the plasma, the disintegration of the surface, and the emission of waves. At large distances from the surface of the earth, the dimensions of the body may become comparable with the Debye radius, and the velocity of the body in the given region may become smaller than the thermal velocity of the particles. The character of the various disturbances introduced by the body under these conditions will also require a special investigation.Thus, the interaction of a moving body with plasma leads to special and exceptionally varied effects. Disturbances due to the body are very considerable, so that the physical state of the region surrounding the body is very different from the state of the undisturbed medium.The above results indicate that the phenomena in the neighborhood of satellites and space rockets in the ionosphere, or the interplanetary medium, must be taken into account, in the processing of experimental data when it is required to deduce information about the state of the undisturbed medium. This is particularly important in the analysis of the results of measurements obtained with various types of probes. Considerable errors may be introduced if these effects are not allowed for.Further extensive experimental and theoretical studies of the structure of the disturbed region in the neighborhood of moving bodies in plasma are clearly necessary. Such investigations will, in particular, lead to the development of the most effective methods of studying the properties of the media through which satellites and space rockets travel.Translated from the Russian: Ob effektah vyzyvaemyh iskusstvennym sputnikom bystro dviimsja v ionosfere ili meplanetnoj srede (Uspehi fizieskih nauk 79, 23–80) by Express Translation Service.     

Cross Sections and Radar Equation for Nonlinear Scatterers

The nonlinear system concepts of nonlinear transfer functions are extended to nonlinear cross sections which may be used to quantitatively describe the characteristics of a nonlinear scatter. The concept of nonlinear cross sections is used to generalize the radar equation for nonlinear scattering objects.     

On ionospheric investigations by coherent radiowaves emitted from artificial Earth satellites

Results of radio-investigations of the ionosphere with the help of coherent radiowaves emitted by beacons placed on artificial Earth satellites are given. The data discussed cover the period from 1958, after the launch of Sputniks 1 and 3, until the last years, when the geostationary satellites ATS were launched. It is shown that up to the present justice has not be done in these experiments to investigations of the local properties of the near Earth plasma. This is a great deficiency in this field of investigation. Data are given which illustrate results of investigations of local ionospheric characteristics. Such data may help to solve some problems in the present stage of the near Earth plasma study. A new possibility of radio-investigation of the near Earth plasma with the help of a chain of satellites connected together is pointed out.     

Comprehensive data reduction package for the Immersion GRating INfrared Spectrograph: IGRINS

We present a Python-based data reduction pipeline package (PLP) for the Immersion GRating INfrared Spectrograph (IGRINS), an instrument that covers the complete H- and K-bands in one exposure with a spectral resolving power of 40,000. The reduction steps carried out by the PLP include flat-fielding, background removal, order extraction, distortion correction, wavelength calibration, and telluric correction using spectra of A type standard stars. As the spectrograph has no moving parts, the PLP automatically reduces the data using predefined functions for the processes of order extraction, distortion correction, and wavelength calibration. Before the telluric correction of the target spectra, the intrinsic hydrogen absorption features of the standard A star are removed with a Gaussian fitting algorithm. The final result is the flux of the target as a function of wavelength. Users can customize the predefined functions for the extraction of the spectrum from the echellogram and adjust the parameters for the fitting functions for the spectra of celestial objects, using “fine-tuning” options, as necessary. Presently, the PLP produces the best results for point-source targets.     

Mistuned bladed disk forced vibration analysis based on standing wave formulation

Forced vibration analysis including a vortex lattice prediction given an external aerodynamic force is conducted in this paper based on a standing wave formulation. The starting point of the standing wave formulation is a set of blade disk normal modes that incorporate all forms of the blade, disk, and shroud elastic coupling. The Küssner gust function was used in a few previous investigations of forced vibration based on the standing wave formulation. However, it was found to be valid only for low engine-order excitation. Therefore, a two-dimensional unsteady vortex lattice method is employed in this paper to predict the gust excitation up to higher engine-order excitation. Thus, the present unsteady vortex lattice analytical model is capable of capturing compressibility and higher engine-order excitation. It features advantages in terms of its computational time and level of accuracy. The effects of mistuning a cascaded blade are also examined in the present aeroelastic analysis to determine the possible advantages obtained by doing this. Numerical results for the mistuned bladed disk are presented regarding its forced response characteristics. In a low engine-order excitation condition, it is shown that similar predictions are obtained between the present and earlier analyses. The maximum discrepancy in the blade amplitude is 70% for a single-blade mistuned rotor and 62.6% for an alternately mistuned rotor, in the worst case, compared to a completely tuned rotor. Single-peak frequencies are presented and analyzed in the higher engine-order excitation levels.     

A model of the effects of heavy ion radiation on human tissue

In heavy ion radiotherapy and space travel humans are exposed to energetic heavy ions (C, Si, Fe and others). This type of irradiation often produces more severe biological effects per unit dose than more common X-rays. A new Monte Carlo model generates a physical space with the complex geometry of human tissue or a cell culture based model of tissue, which is affected by the passage of ionizing radiation. For irradiation, the model relies on a physical code for the ion track structure; for tissues, cellular maps are derived from two- or three-dimensional confocal microscopy images using image segmentation algorithm, which defines cells as pixilated volumes. The model is used to study tissue-specific statistics of direct ion hits and the remote ion action on cells. As an application of the technique, we considered the spatial pattern of apoptotic cells after heavy ion irradiation. The pattern of apoptosis is modeled as a stochastic process, which is defined by the action cross section taken from available experimental data. To characterize the degree of apoptosis, an autocorrelation function that describes the spatial correlation of apoptotic cells is introduced. The values of the autocorrelation function demonstrate the effect of the directionality of the radiation track on the spatial arrangements of inactivated cells in tissue. This effect is intrinsic only to high linear-energy-transfer radiation.     

Using high-energy proton fluence to improve risk prediction for consequences of solar particle events

The potential for exposure to large solar particle events (SPEs) with high energy levels is a major concern during interplanetary transfer and extra-vehicular activities (EVAs) on the lunar and Mars surface. Previously, we have used data from the last 5 solar cycles to estimate percentiles of dose to a typical blood-forming organ (BFO) for a hypothetical astronaut in a nominally shielded spacecraft during a 120-d lunar mission. As part of this process, we made use of complete energy spectra for 34 large historical SPEs to calculate what the BFO mGy-Eq dose would have been in the above lunar scenario for each SPE. From these calculated doses, we then developed a prediction model for BFO dose based solely on an assumed value of integrated fluence above 30 MeV (Φ₃₀) for an otherwise unspecified future SPE. In this study, we reasoned that since BFO dose is determined more by protons with higher energies than by those with lower energies, more accurate BFO dose prediction models could be developed using integrated fluence above 60 (Φ₆₀) and above 100 MeV (Φ₁₀₀) as predictors instead of Φ₃₀. However to calculate the unconditional probability of a BFO dose exceeding a pre-specified limit (“BFO dose risk”), one must also take into account the distribution of the predictor (Φ_30,Φ₆₀, or Φ₁₀₀), as estimated from historical SPEs. But Φ₆₀ and Φ₁₀₀ have more variability, and less available historical information on which to estimate their distributions over many SPE occurrences, than does Φ₃₀. Therefore, when estimating BFO dose risk there is a tradeoff between increased BFO dose prediction at a given energy threshold and decreased accuracy of models for describing the distribution of that threshold over future SPEs as the threshold increases. Even when taking the second of these two factors into account, we still arrived at the conclusion that overall prediction improves as the energy level threshold increases from 30 to 60 to 100 MeV. These results can be applied to the development of approaches to improve radiation protection of astronauts and the optimization of mission planning for future space missions.     

The South Pole-Aitken basin region,Moon: GIS-based geologic investigation using Kaguya elemental information

Using Geographic Information Systems (GIS), we performed comparative analysis among stratigraphic information and the Kaguya (SELENE) GRS data of the ∼2500-km-diameter South Pole-Aitken (SPA) basin and its surroundings. Results indicate that the surface rock materials (including ancient crater materials, mare basalts, and possible SPA impact melt) are average to slightly elevated in K and Th with respect to the rest of the Moon. Also, this study demonstrates that K and Th have not significantly changed since the formation of SPA. The elemental signatures of the impact basin of Fe, Ti, Si, O through time include evidence for resurfacing by ejecta materials and late-stage volcanism. The oldest surfaces of SPA are found to be oxygen-depleted during the heavy bombardment period relative to later stages of geologic development, followed by both an increase in silicon and oxygen, possibly due to ejecta sourced from outside of SPA, and subsequent modification due to mare basaltic volcanism, which increased iron and titanium within SPA. The influence of the distinct geologic history of SPA and surroundings on the mineralogic and elemental abundances is evident as shown in our investigation.