Incremental planning to control time-constrained blackboard-basedproblem solver [vehicle monitoring]

A planner that improves the control decisions made by a blackboard-based problem solver is described. This planner interleaves planning and execution. It sketches out major plan steps but incrementally details actions for only the next step since earlier actions influence how (and whether) to pursue a plan. The planner also reasons about time constraints, revising plans to meet problem-solving deadlines and deciding when it has done enough work on a problem. Implementation of these mechanisms is outlined, and experiments are discussed showing how they reduce overall computation and improve problem solving     

Position and force control of coordinated multiple arms

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     

On a non-primordial origin of the cosmic background radiation and pregalactic density fluctuations

Dusty pregalactic Population III objects may provide a mechanism for an effective thermalization of the star radiation. They may generate the observed microwave background and so the high cosmic photon entropy. Assuming a tepid universe a smaller primordial entropy contribution results in reasonable mass scales and amplification factors of pregalactic density fluctuations.     

Physical interpretation of interdisciplinary solar/interplanetary observations relevant to the 27–29 June 1980 SMY/STIP event no. 5

A sequence of six well defined interplanetary structures (magnetic clouds) was identified in the solar wind and magnetic field measurements of Helios-1 from 29 June-01 July, 1980. (location 0.64–0.67 AU, C. Long. ～165°, C. Lat. ～5.8°). These structures were characterized by a large northward directed solar wind flow; by well defined directional discontinuities of mainly the ‘tangential-type’ at their beginnings and ends; by some increase in proton and by very pronounced increases in alpha particle number densities - each accompanied by sudden temperature decreases (or in one case by an increase); by some times an increase in magnetic field strength and by values of Nα/Np typical of the inner solar atmosphere. These structures are suggested to have been ejections from a succession (27–29 June, 1980) of Type II producing flares in Hale Region 16923 which coronagraph and X-ray (GOES) data indicate constituted a family of transient producing events. Only two interplanetary shocks were identified in the relevant Helios-1 records. It is suggested on the basis of observations of the directionality of certain of the flare related Type II bursts that some of these shocks could have been missed by the spacecraft. This implies that, in the absence of directional information, correlation of an observed interplanetary shock wave with a solar Type II burst may not always lead to a unique result.     

Evaluating the economic impact of design alternatives on domestic communication satellite ventures

What are the economic consequences of establishing a domestic communication satellite venture? Has the best design alternative been selected? Should investments be made to develop new technology? How much should be invested? These are but some of the questions facing those concerned with providing domestic communication satellite services. Because of the demand, performance and cost uncertainties and the unpredictability of the need for and timing of large capital expenditures (due to less than perfect reliability of transportation systems and satellites) providing answers to these and other related questions is a complex process.This paper describes a methodology for providing answers to the above questions. The methodology, by explicitly considering demand, performance and cost uncertainties and satellite and transportation system reliability, develops probabilistic pro forma financial analyses of domestic communication satellite system ventures. In so doing, the risk dimension is quantified and alternative courses of action can be evaluated and compared taking into account expected values, risk and risk aversion preferences. It is also important to quantify and consider the risk dimension since many R &; D projects are specifically aimed at risk reduction.     

The role of antiprotons in cosmic-ray physics

Though success eluded experimentalists from detecting cosmic-ray antiprotons over a long period of time, the study of cosmic-ray antiprotons has now become a fascinating field of research. In this review, we have attempted to elucidate the excitement in this area of research since the discovery of antiprotons in the laboratory. We have described the experiments carried out so far to measure the energy spectrum of antiprotons, from about 200 MeV to about 15 GeV, and summarised the results. The observed spectrum, with the limited data, appears to be very hard and is different from other components of cosmic radiation. Upper limits to the fraction of antiprotons in cosmic-rays have also been derived at higher energies, using the observed spectra of cosmic-ray primary and secondary particles at different depths in the atmosphere. We have described various physical processes by which antiprotons could be produced, such as high-energy interactions, neutron oscillations, evaporation of Mini Black Holes, decay of super symmetric particles, etc. The energy spectrum of antiprotons, which are produced through the above processes, undergoes modifications during propagation in the Galaxy. We have examined in detail the propagation models which have been employed to explain the observed data. It is shown that no single model could predict correctly the observed energy spectrum of antiprotons over the entire energy region. However, many models are able to explain the data at relativistic energies. It is difficult at this stage to make a choice among these models. The implications of these models for other components of cosmic-rays, such as positrons, deuterium, and He, have been discussed. We have examined the production of gamma rays in the Galaxy from sources, which produce the observed antiprotons through high-energy interactions. We have also briefly indicated the effect of possible re-acceleration during their confinement in the Galaxy. We finally emphasized the need for more detailed measurements of the spectral shape of cosmic-ray antiprotons to further refine speculations of their origin. Similarly, we have shown that detailed observation of the energy spectra of positrons, deuterium, and He at relativistic energies are crucial to test various propagation models.     

Dependence of ESP intensity on collisionless shock wave characteristics

Flux variations of 1 – 5 MeV protons are studied in energetic storm particle events with respect to the preshock solar wind plasma parameters and to the thickness of the collisionless interplanetary shock wave. It is found that the peak intensity in ESP events depends on pre-shock plasma density and on the thickness of the transition region. These relations predict, in agreement with recent observations, the increase of ESP events at larger heliocentric distances.     

Discrete-time state estimation of analog double integrators

The problem of minimum variance discrete-time state estimation of a continuous-time double integrator via noisy continuous-time measurements is considered. The error covariance matrices of this estimation are calculated and analyzed. The relations between these covariance matrices and the error covariance matrix of the optimal continuous-time filter are obtained, and a way for determining the required sampling period is proposed. A commonly used approximated model is investigated; it is shown to be inappropriate unless a specific improvement is introduced in the model     

The X-ray properties of normal galaxies

An extensive program to study nearby normal galaxies was carried out by various observers using the imaging instruments on the $\text{Einstein}$ Observatory; more than 50 such galaxies were detected with 0.5 – 3.0 keV luminosities ranging from 2 × 10³⁸ ergs s^?1 to 3 × 10⁴¹ergs s^?1. The X-ray luminosity of normal galaxies is ~2 × 10^?4 of the optical luminosity and shows no strong correlation with morphological type. For the nearest galaxies, (the Large and Small Magellanic Clouds, M31 and M33,) studies, performed with the Observatory, were comparable to the $\text{Uhuru}$ survey of the Galaxy. Approximately 30 new SNR were recognized in the Magellanic Clouds as a result. Over 90 sources were detected in M31 of which at least 20 are identified with globular cluster. The numbers of luminous (>10³⁷ ergs s^?1) sources detected in the nearest galaxies per unit mass are similar to that found in our own galaxy. Individual X-ray sources in the arms of nearby spirals can be very luminous; seven with luminosities in excess of 10³⁹ergs s^?1 have been discovered. The nuclei of some, but not all, normal galaxies are luminous X-ray sources; X-ray activity is not presently predictable from the radio or optical properties of the nucleus.     

Synoptic studies of the middle atmosphere using balloons

During the Middle Atmosphere Program, 1982–1985, balloons will play a central role in gathering stratospheric, chemical, and dynamical data. This paper discusses some of the unique aspects of balloons as tools for probing the middle atmosphere, and suggests some directions for future projects and enhanced capabilities that would improve their utility in future investigations.