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501.
502.
    
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  相似文献   
503.
Summary The general features of the solar particle composition now seem to be clear. The two most abundant components, protons and helium nuclei, have different velocity spectra, similar, but not exactly identical rigidity spectra, and varying relative abundances. The multiply charged nuclei, on the other hand, appear to have the same spectral shape and relative abundances each time measurements are made, at least in the region from 42 to 135 MeV/nucleon. Further, these relative abundances seem to reflect those of the solar atmosphere insofar as comparison can be made. Electrons are rare, but high energy electrons are not expected to be plentiful due to the probable high rate of energy loss caused by synchrotron radiation at the sun. Energetic neutrons were also not expected in large quantity and have not been observed. Finally, there is positive evidence that very small quantities of deuterons exist, probably in an amount which is about 10-3 or less of the proton abundance.The experimental data indicate that the propagation phenomenon is not purely rigidity dependent. Although the propagation of solar particles is still not well understood, the development of theories which take into account both the general magnetic field and the inhomogeneities in the field seem to hold some promise of explaining the experimental results. The composition data have also established important restraints which any acceleration theory must satisfy, and thereby contributed greatly to the very difficult problem of determining the acceleration mechanism.The similarity of the relative abundance of the energetic solar particles and the nuclei in the sun's photosphere suggested the possibility of having a new means of estimating the solar neon and helium abundances. This very interesting possibility will have to be explored by further testing of the composition of future solar particle events. Finally, it was seen that the composition was a very strong argument against most stars being the principal source of high energy non-solar cosmic rays, and, therefore, special sources, such as supernovae or possibly quasistellar objects, should be considered as much more likely prospects for the origin of cosmic rays.The results which have been obtained thus far on the composition of solar cosmic rays have indicated that further research in this area of study should be very rewarding and of value to many fields of physics. Further data on the composition and relative, as well as absolute, energy spectra of the various components are needed throughout many events. More experiments also should be performed to determine the properties of the rare components, deuterons, tritons, He3 nuclei, electrons, neutrons, and the heavier nuclei. When these experiments are complete, the knowledge which is needed to aid in answering the solar and astrophysical problems discussed in this review should be at hand.  相似文献   
504.
    
A two-way, noncoherent spacecraft navigation technique has been developed to provide velocity accuracy comparable to that available from a deep space coherent transponder (0.1 mm/s). The technique is compatible with the normal tracking procedures of the Deep Space Network (DSN) ground stations and does not require the use of a highly stable oscillator on-board the spacecraft. The measurement technique, potential error sources, and test results obtained with prototype hardware are described  相似文献   
505.
    
Shear flow instabilities are an important aspect of hydrodynamic studies. The present review article discusses the role of an ambient magnetic field which both modifies the Kelvin-Helmholtz instability and may introduce new types of magnetohydrodynamic waves and instabilities. A brief overview of magnetospheric pulsations is presented with an emphasis on the long-period resonant Alfv??n waves associated with the high speed solar wind. The spatio-temporal evolution of magnetically modified shear flow instabilities in various space plasma structures is addressed. A distinction between convective and absolute instabilities is necessary for proper understanding of theory and correct interpretation of the observations. Finally, it is shown how incompressible Alfv??nic disturbances may become unstable in a compressible flow in the absence of any shear. An application to coronal loops is presented.  相似文献   
506.
    
For large military R&D Projects, Contract Definition type contracts are meeting the cost-effectiveness challenge by an intensive study of the total value considerations in a project before it starts. This has extended the application of total value concepts throughout all project activities and broadened their scope. Total value concepts are discussed and applied to various aspects of system effectiveness. The effects of configuration, reliability, and system availability upon overall costs are considered, and cost vs. performance optimization curves are shown. Practical measures of service life are calculated. Break-even curves relating acquisition and operational costs are shown. A decision matrix method for assessing system value is included. A case study graphically showing the effects of value considerations on a typical radar antenna tower is contained in the paper.  相似文献   
507.
SN 1006 is one of the supernova remnants (SNRs) with relatively low-temperature electrons, considering the young age of just 1000 years. We carried out SN 1006 mapping observations with the X-ray Imaging Spectrometers (XIS) and the Hard X-ray Detector (HXD) onboard Suzaku, the fifth Japanese X-ray satellite. Thanks to the excellent spectral resolution of XIS in the soft X-ray band, H-like and He-like oxygen emission lines were clearly detected, and we could make a map of the line intensity, and as well as a flux and the photon index of nonthermal component. We found that these parameters have spatial dependences from region to region in the SNR; the north region is bright in nonthermal, while dim in thermal; the east region is bright in both nonthermal and thermal; the inner region shows dim nonthermal and bright thermal emission. The photon index is the smallest in the north region.  相似文献   
508.
Shalimov  S. L.  Lapshin  V. M. 《Cosmic Research》2003,41(3):216-220
The GPS satellite data are used to study the dynamics of the ionospheric total electron content (TEC) over Central Europe in the summer season from June 23 to September 30, 1996. The TEC variations within the range of periods typical of the planetary waves were found to be nearly synchronous with the neutral wind variations in the mesosphere and with the variations in the occurrence of ionospheric sporadic layers. The observed TEC variations were interpreted as the result of penetration of energy carried by nonstationary Rossby waves to the upper atmospheric altitudes.  相似文献   
509.
Red-cell mass determinations were performed before and after the first two Skylab missions. The data showed a 14% mean decrease in red-cell mass after the 28-day mission and a 12% mean decrease after the 59-day mission. The red-cell mass returned to premission levels more slowly after the shorter (28-day) than after the longer mission. Plasma volume decreases were found after each mission. with the crew from the longer mission showing the greater change (13% vs. 8.4%). Postmission decreases in red-cell mass and plasma volume have been a general finding in crewmen who return from short or long spaceflight.  相似文献   
510.
    
The aim of this work was to analyze the possible alteration of thyrotropin (TSH) receptors in microgravity, which could explain the absence of thyroid cell proliferation in the space environment. Several forms of the TSH receptor are localized on the plasma membrane associated with caveolae and lipid rafts. The TSH regulates the fluidity of the cell membrane and the presence of its receptors in microdomains that are rich in sphingomyelin and cholesterol. TSH also stimulates cyclic adenosine monophosphate (cAMP) accumulation and cell proliferation. Reported here are the results of an experiment in which the FRTL-5 thyroid cell line was exposed to microgravity during the Texus-44 mission (launched February 7, 2008, from Kiruna, Sweden). When the parabolic flight brought the sounding rocket to an altitude of 264?km, the culture media were injected with or without TSH in the different samples, and weightlessness prevailed on board for 6 minutes and 19 seconds. Control experiments were performed, in parallel, in an onboard 1g centrifuge and on the ground in Kiruna laboratory. Cell morphology and function were analyzed. Results show that in microgravity conditions the cells do not respond to TSH treatment and present an irregular shape with condensed chromatin, a modification of the cell membrane with shedding of the TSH receptor in the culture medium, and an increase of sphingomyelin-synthase and Bax proteins. It is possible that real microgravity induces a rearrangement of specific sections of the cell membrane, which act as platforms for molecular receptors, thus influencing thyroid cell function in astronauts during space missions.  相似文献   
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