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 of prolonged exposure to space flight factors for 175 days on lettuce seeds

We have studied the effects of prolonged (up to 175 days) exposure of $\text{Lactuca sativa}$ seeds to space flight factors, including primary cosmic radiation heavy ions. The data obtained evidence a significant fourfold increase ofs pontaneous mutagenesis in seeds both with regard to the total number of aberrant cells as well as the formation of single cells with multiple aberrations. Comparison of the present experiment with earlier works shows that the frequency of such aberrations increases with the duration of the flight.     

Asymptotic Reproducibility in Nonlinear Systems and Attitude Control of Gyrostat

A control law is presented for asymptotic function reproducibility in a class of nonlinear-systems such that the output of the system asympotically tends to a given function. The controller consists of a prefilter and a servocompensator. Based on this result, a nonlinear feedback control law for the attitude control of a satellite containing symmetric rotors, in a circular orbit, is derived. In the closed-loop system, given trajectories of pitch, yaw, and roll angles are asymptotically followed, and set point control of attitude is accomplished. Digital simulation results are presented to show the capability of the nonlinear controller.     

The organic aerosols of Titan

A dark reddish organic solid, called tholin, is synthesized from simulated Titanian atmospheres by irradiation with high energy electrons in a plasma discharge. The visible reflection spectrum of this tholin is found to be similar to that of high altitude aerosols responsible for the albedo and reddish color of Titan. The real (n) and imaginary (k) parts of the complex refractive index of thin films of Titan tholin prepared by continuous D.C. discharge through a 0.9 N₂/0.1 CH₄ gas mixture at 0.2 mb is determined from x-ray to microwave frequencies. Values of n (1.65) and k (0.004 to 0.08) in the visible are consistent with deductions made by ground-based and spaceborne observations of Titan. Many infrared absorption features are present in k(λ), including the 4.6 μm nitrile band. Molecular analysis of the volatile component of this tholin was performed by sequential and non-sequential pyrolytic gas chromatography/mass spectrometry. More than one hundred organic compounds are released; tentative identifications include saturated and unsaturated aliphatic hydrocarbons, substituted polycyclic aromatics, nitriles, amines, pyrroles, pyrazines, pyridines, pyrimidines, and the purine, adenine. In addition, acid hydrolysis produces a racemic mixture of biological and non-biological amino acids. Many of these molecules are implicated in the origin of life on Earth, suggesting Titan as a contemporary laboratory environment for prebiological organic chemistry on a planetary scale.     

Signal to Noise Ratio Improvement by Frequency Division in the Presence of Bandpass Noise

The performance of a wide band frequency divider in the presence of additive Gaussian noise is presented. It is shown that the same theoretical signal to noise ratio improvement is attainable in this case as in the case where the spurious signal is a sine wave.     

A review of long drop tubes as a supplement/alternative to space experiments

The 100 meter high drop tube at the Marshall Space Flight Center has proven to be a viable facility for studies of containerless solidification. Advantages are that experiments are inexpensive and large numbers of specimens can be processed rapidly. It would not be unusual to run ten specimens in a day. Another significant advantage is that the undercooling behavior can be followed with sufficient sensitivity to easily detect the onset of recalescence and subsequent events.Disadvantages are the restrictions on specimen sizes and types of alloys that can be run in a microgravity environment. Practical specimen sizes range between 50 mg and 500 mg depending on the type of furnace being used. Refractory alloys can be processed in a vacuum (about 10^?5 torr) and therefore at microgravity. Non-refractory alloys demand an atmosphere (about 200 torr) to obtain appreciable undercooling before impact at the bottom of the tube. Under these conditions significant g forces result.Because of the present limitations of the 100 meter drop tube, the most definitive work has been done on niobium based alloys. Large amounts of undercooling have been observed routinely and the effects of undercooling on microstructure have been characterized in detail. X-ray diffraction, scanning electron microscopy, and transmission electron microscopy have been used to determine types of phases, amounts of phases, and compositions of phases. It is clear, as would be expected, that the results bear some resemblance to rapid solidification processing by quenching. However, there are dissimilarities due to the uniqueness of solidification by deep undercooling without quenching in long drop tubes and accompanying recalescence effects.     

IR-spectroscopy of ionosphere from stratospheric balloons

The radiation spectra of the ionosphere in the 4–5 μm region have been determined from stratospheric balloons by means of the specially elaborated method of the registration of angular and spectral distribution of the radiation. The radiation bands of 4.4 μm and 4.8 μm which have 0.1–0.2 erg cm^?2 sr^?1s^?1. brightness obtained in two flights, are identified with the vibration-rotation transitions of the ion NO⁺ (0 - 1) and the molecules N¹⁴N¹⁵ (0 - 1) and CO (0 - 1) and (3 - 2) from altitudes between 120 and 500 km.     

Coding for Ambiguity Reduction in Pulsed Scanning Systems

A technique for suppressing the ambiguities arising in pulsed scanning systems is described. A system of multiple antennas is employed, and a coded sequence of pulses is radiated.     

Electromagnetic containerless undercooling facility and experiments for the shuttle

An electromagnetic furnace is being prepared for flights aboard the space shuttle. This apparatus is capable of melting metals and alloys up to 1400°C melting point by induction heating with subsequent solidification of the freely levitated melt without contact with any container. The solidification can be carried out with greatly reduced fields resulting in minimal heating and stirring of the free melt. Sequential specimens can be processed during flight. Several experiments are planned for a series of flights, beginning in 1985 with an undercooling experiment on NiSn alloys. These will be interspersed with detailed studies of fluid flow caused by low and high field levels in order to quantify the corresponding effect upon the solidification process.