Chaotic zero dynamics in kinematically redundant robots

The authors attempt to integrate two areas in robotics that are maturing rapidly: the control of kinematically redundant rigid robots and feedback linearization. Kinematically redundant robots have several advantages over nonredundant robot arms. The extra degrees of freedom are used to reach around or between obstacles. Unlike nonredundant rigid link robots that do not exhibit zero dynamics, the self motions of kinematically redundant robots can be used for torque optimization or avoiding obstacles. It is shown that induced self motions can be chaotic. The main contribution is to demonstrate chaos in cases of feedback linearization when the decoupling matrix is nonsquare and there are less outputs than inputs     

Direct integration methods in dynamic problems of structural mechanics

A method of direct integration with respect to time is proposed to solve dynamic problems of structural mechanics and comparison with the well-known methods is presented.     

Network-Enabled Missile Deflection: Games and Correlation Equilibrium

The problem of deploying countermeasures (CM) against antiship missiles is investigated from a network centric perspective in which multiple ships coordinate to defend against a known missile threat. Using the paradigm of network enabled operations (NEOPS), the problem is formulated as a transient stochastic game with communication where the appropriate strategy takes the form of an optimal stationary correlated equilibrium. Under this strategy, ships cooperate through real-time communication to satisfy both local and collective interests. The use of communication results in a performance improvement over the noncommunicating, Nash equilibrium scenario. This framework allows us to develop a theoretical foundation for NEOPS and captures the trade-off between information exchange and performance, while generalizing the standard Nash equilibrium solution for the missile deflection game given in [1], The NEOPS equilibrium strategy is characterized as the solution to an optimization problem with linear objective and bilinear constraints, which can be solved calculating successive improvements starting from an initial noncooperative (Nash) solution. The communication overhead required to implement this strategy is associated with the mutual information between individual action probability distributions at equilibrium. Numerical results illustrate the trade-off between communication and performance.     

Performance characteristics of lithium ion cells at low temperatures

The low temperature charge and discharge characteristics of experimental MCMB-Li/sub x/Ni/sub y/Co/sub 1-y/O/sub 2/ cells containing different electrolytes were investigated. The use of low ethylene carbonate (EC)-content electrolyte formulations has resulted in good discharge performance to temperatures as low as -40/spl deg/C. The effect of charge voltage and charge current upon the individual electrode potentials at low temperature was investigated using the three electrode cells (containing lithium reference electrodes). In some cases, lithium plating was observed to occur upon low temperature charge, and found to be facilitated by high charge voltages, high charge currents, and poor anode kinetics. Electrochemical characterization of the cells has helped to establish the conditions under which lithium plating can occur by providing information regarding the polarization effects present at each electrode.     

Compressive failure of composites,part I: Testing and micromechanical theories

When structures made of composite materials are designed to be used in load bearing applications, a primary consideration is the evaluation of their load carrying capacity in compression. To this end, a vast number of research investigations, whose main objective is linked to ascertaining the compressive strength of a composite structure has been carried out and/or is currently being performed. Apart from its practical significance, the complexity associated with the task of predicting compression strength is the main reason for the overt attention this problem is receiving. One such difficulty has been associated with testing. When laboratory tests are carried out to determine compression strength, structural instabilities dictated by the geometry of the structure may interfere with material strength dictated by the mechanical properties of the constituents and their alignment and geometry (needed to describe the microstructure of the material). In addition stress concentrations may occur at undesirable locations. In Part I, issues pertaining to compression testing and micromechanical failure theories are reviewed.     

Role of endogenous thiols in protection.

Aminothiols represent the most important group of radioprotective compounds. The most effective compounds administered at an optimal dose and time before irradiation are able to provide a protection in mice with a dose reduction factor (DRF) of about 2-2.5. The working mechanism can partly be explained as a scavenging process of radicals induced in water and partly as a chemical repair process of injured DNA. The endogenous aminothiol which has far-out the highest intracellular concentration is glutathione (GSH). The importance of intracellular GSH in determining cellular radiosensitivity has been shown by irradiating cells that had very low GSH levels. Such cells appear to have a high radiosensitivity, especially in hypoxic conditions. On the other hand, it has been demonstrated that induction of a high GSH level (100-200% above the normal level) provides only a small protection. In vitro experiments with DNA indicate that thiols with a high positive charge condense in the vicinity of DNA and are effective protectors, whereas thiols with a negative charge are kept away from it and are poor protectors. In comparison with the most effective exogenous aminothiols like cysteamine and WR1065, GSH is not an effective radioprotector. Putative explanations for this relatively poor protective ability of GSH are presented.     

Performance analysis of a radar target discrimination technique

The performance of a radar target discrimination technique using multiple-frequency scattering amplitude without phase data is investigated. Based on the concept of natural resonance frequencies, the technique is aspect independent so that a priori information of the aspect angle is not necessary. The radar cross sections (RCSs) of spheroids are calculated numerically to simulate the received radar returns for distinguishing different spheroids and wires in the resonance frequency range by the proposed technique. By Monte Carlo simulation, the discrimination error rate is estimated as a function of the standard deviation of added noise. The numerical results show that the discrimination algorithm works well under moderately noisy situations and can be applied even in a high-resonance frequency range     

Intersatellite communications optoelectronics research at theGoddard Space Flight Center

A review is presented of current optoelectronics research and development at the NASA Goddard Space Flight Center for high-power, high-bandwidth laser transmitters; high-bandwidth, high-sensitivity optical receivers; pointing, acquisition, and tracking components; and experimental and theoretical system modeling at the NASA Goddard Space Flight Center. Program hardware and space flight opportunities are presented     

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.     

Temporal decorrelation of X-band backscatter from wind-influencedvegetation

The temporal decorrelation characteristics of X-band radar backscatter from wind-influenced vegetation were investigated using a short-range CW radar. Radar reflectance data were gathered on various types of individual trees from a distance of approximately 30 m. The windspeed was monitored during each measurement, which lasted 5 s. The crown cover and the mean leaf area of the trees were also recorded. Autocovariance plots were generated for each measurement, from which the decorrelation time was estimated. As expected, the return signals decorrelated faster at higher wind speeds. However, the decorrelation time was also found to depend on the tree type, tree structure, and leaf cover characteristics. Measured decorrelation times for moderate winds (7-9 m/s) were often between 40-60 ms, although the lowest decorrelation time measured under these conditions was 14 ms for the Eastern Cottonwood. In lighter winds (1-4 m/s), decorrelation times were much longer, and there was substantial spread in the data