Road profile recognition for autonomous car navigation and Navstar GPS support

We discuss autonomous car navigation based on updating dead reckoning (DR) by road profile recognition (RPR). The navigation system requires sensors to detect changes in altitude and driving direction which are installed in modern cars for different purposes (e.g. ABS sensors). The layout of the navigation system is discussed and simulations are carried out over driving distances of approximately 150 km on the basis of realistic road data and ordinary sensor accuracies. Positioning errors of lower than 10 m (standard deviation) are observed. To achieve this accuracy the synchronization error between measured and mapped data must be continually estimated. The introduced navigation method is ideal to complete present commercial car navigation systems using Navstar GPS.     

The conceptual design of a hybrid life support system based on the evaluation and comparison of terrestrial testbeds.

This report summarizes a trade study of different options of a bioregenerative Life Support System (LSS) and a subsequent conceptual design of a hybrid LSS. The evaluation was based mainly on the terrestrial testbed projects MELISSA (ESA) and BIOS (Russia). In addition, some methods suggested by the Advanced Life Support Project (NASA) were considered. Computer models, including mass flows were established for each of the systems with the goal of closing system loops to the extent possible. In order to cope with the differences in the supported crew size and provided nutrition, all systems were scaled for supporting a crew of six for a 780 day Mars mission (180 days transport to Mars; 600 days surface period) as given in the NASA Design Reference Mission Scenario [Hoffman, S.J., Kaplan, D.L. Human exploration of Mars: the Reference Mission of the NASA Mars Exploratory Study, 1997]. All models were scaled to provide the same daily allowances, as of calories, to the crew. Equivalent System Mass (ESM) analysis was used to compare the investigated system models against each other. Following the comparison of the terrestrial systems, the system specific subsystem options for Food Supply, Solid Waste Processing, Water Management and Atmosphere Revitalization were evaluated in a separate trade study. The best subsystem technologies from the trade study were integrated into an overall design solution based on mass flow relationships. The optimized LSS is mainly a bioregenerative system, complemented by a few physico-chemical elements, with a total ESM of 18,088 kg, which is about 4 times higher than that of a pure physico-chemical LSS, as designed in an earlier study.     

Biogeochemical evidence of microbial activity on Mars.

We suggest a new interpretation of the data on so-called SNC meteorites and delta 13C values of the calcium carbonate minerals and organic matter discovered in them. The delta 13C value of calcite (up to 15 ppt) is accounted for by the microbial reaction CO2 + H2 ---> CH4 + H2O. Methane-forming bacteria also synthesize organic carbon (in the form of biomass) from CO2, and this process is accompanied by 12C fractionation. Therefore, the organic carbon of SNC meteorites is enriched with 12C (delta 13C as low as -35 ppt). The environmental conditions under which the calcite of SNC meteorites was formed were favorable for the activity of methanogens.     

Automorphogenesis and gravitropism of plant seedlings grown under microgravity conditions.

Plant seedlings exhibit automorphogenesis on clinostats. The occurrence of automorphogenesis was confirmed under microgravity in Space Shuttle STS-95 flight. Rice coleoptiles showed an inclination toward the caryopsis in the basal region and a spontaneous curvature in the same adaxial direction in the elongating region both on a three-dimensional (3-D) clinostat and in space. Both rice roots and Arabidopsis hypocotyls also showed a similar morphology in space and on the 3-D clinostat. In rice coleoptiles, the mechanisms inducing such an automorphic curvature were studied. The faster-expanding convex side of rice coleoptiles showed a higher extensibility of the cell wall than the opposite side. Also, in the convex side, the cell wall thickness was smaller, the turnover of the matrix polysaccharides was more active, and the microtubules oriented more transversely than the concave side, and these differences appear to be causes of the curvature. When rice coleoptiles grown on the 3-D clinostat were placed horizontally, the gravitropic curvature was delayed as compared with control coleoptiles. In clinostatted coleoptiles, the corresponding suppression of the amyloplast development was also observed. Similar results were obtained in Arabidopsis hypocotyls. Thus, the induction of automorphogenesis and a concomitant decrease in graviresponsiveness occurred in plant shoots grown under microgravity conditions.     

Biochemical constraints for survival under Martian conditions.

A wide variety of terrestrial organisms, the so-called "anhydrobiotes," has learned to survive in a state of extreme dehydration in dry environments. Strategies for survival include the accumulation of certain polyols and nonreducing saccharides, which help to prevent damage to membranes and proteins, but at low water partial pressure DNA is also progressively damaged by various lesions, including strand breaks and cross-linking to proteins. These lesions, if they are not too numerous, can be repaired before the first replication step after rehydration, but long-term exposure to dry conditions finally diminishes the chances of survival as these lesions accumulate. If an organism has no chance to repair the accumulated DNA damage during intermittent periods of active life, survival will not exceed a few decades. The restriction of survival by dryness-induced DNA lesions is corroborated by new data on conidia of Aspergillus and the free plasmid pBR 322. Our results will be discussed with respect to the chance of finding dormant life or biochemical fossils on the surface of Mars.     

Receiver operating characteristics for the coherent UWB randomnoise radar

An ultrawideband (UWB) random-noise radar operating in the 1-2 GHz frequency band has been developed and held-tested at a 200 m range at the University of Nebraska. A unique heterodyne correlation technique based on a delayed transmitted waveform using a photonic delay line has been used to inject coherence within this system. The performance of this radar, assuming a point target, has been investigated from a statistical point of view by developing the theoretical basis for the system's receiver operating characteristics (ROC). Explicit analytical expressions for the joint probability density function (pdf) of the in-phase (I) and quadrature (Q) components of the receiver output have been derived under the assumption that the input signals are partially correlated Gaussian processes. The pdf and the complementary cumulative distribution function (cdf) for the envelope of the receiver output are also derived. These expressions are used to relate the probability of detection (P_d) to the probability of false alarm (P_f ) for different numbers of integrated samples, and the results are analyzed     

On Optimal Control of Linear Systems in the Presence of Multiplicative Noise

This correspondence considers the problem of optimal regulator design for discrete time linear systems subjected to white state-dependent and control-dependent noise in addition to additive white noise in the input and the observations. A pseudo-deterministic problem is first defined in which multiplicative and additive input disturbances are present, but noise-free measurements of the complete state vector are available. This problem is solved via discrete dynamic programing. Next is formulated the problem in which the number of measurements is less than that of the state variables and the measurements are contaminated with state-dependent noise. The inseparability of control and estimation is brought into focus, and an "enforced separation" solution is obtained via heuristic reasoning in which the control gains are shown to be the same as those in the pseudo-deterministic problem. An optimal linear state estimator is given in order to implement the controller.