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     

Matter streams in Algol-like systems

Simulations of the Algol-like binary CX Draconis, combined with IUE observations of the stream of material escaping the system can place limits on the inclination of the system and give estimates, via line profile synthesis, of the mass-loss rate at the L1 point.     

Matter streams in Algol-like systems

Simulations of the Algol-like binary CX Draconis, combined with IUE observations of the stream of material escaping the system can place limits on the inclination of the system and give estimates, via line profile synthesis, of the mass-loss rate at the L1 point.     

The crab-like supernova remnants

About twenty galactic supernova remnants contain, or are suspected to contain, internal neutron stars. These are observed as pulsing sources or through radiation from surrounding synchrotron nebulae. The Crab Nebula is the most famous example. Similar, but less luminous, nebulae have been identified through radio and X-ray morphology and spectra. This review emphasizes the X-ray observations and is based on images obtained with the Einstein Observatory. These images are illustrated for most remnants and some have not been published previously.There is a great variety of observed characteristics. A typical SNR in this class appears as a patchy shell of hot gas with a contribution from an energetic pulsar at the center. Both the luminosity of the shell and the luminosity powered by the pulsar can vary over a wide range. Remnants reviewed range from the Crab, in which the pulsar-powered component is overwhelming, to RCW 103, in which a central object is marginally observed through a bright shell.     

A noise insensitive solution to an ambiguity problem in spectralestimation

The instantaneous frequency measurement (IFM) receiver is capable of measuring the center frequency of single frequency pulses over a wide range (bandwidth) of center frequencies. Because of various constraints, the frequency resolution requirement results in long correlator delay times that reduce the single correlator bandwidth. A large bandwidth can be achieved only if two or more correlators are used. The problem of estimating frequency is then reduced to the simultaneous congruence problem of number theory. A design procedure is presented for solving the congruence problem for a given amount of noise protection, a stated frequency resolution, a minimum bandwidth, and a fixed level of precision (bits) in the IFM receiver     

Effect of wall suction on leading edge contamination

This paper is devoted to an experimental study of swept wing leading edge contamination by the turbulence emanating from the wing-wall junction. The main objective is to delay the contamination onset by applying surface suction along the attachment line. Two series of experiments are described; the first one was performed in a small wind tunnel at CERT ONERA, the second one was carried out in the F2 wind tunnel at Le Fauga Mauzac centre. Hot film measurements showed that leading edge contamination could be delayed up to very large Reynolds numbers. We also studied the behaviour of the relaminarized boundary layer downstream of the sucked region, along the span as well as in the chordwise direction.     

Confirmation of gravisensitivity in the slime mold physarum polycephalum under near weightlessness

We have investigated Physarum polycephalum, a unicellular organism with no special gravity receptors, on its ability to react to gravity. The first experiments were 0 g-simulation experiments on the fast-rotating clinostat conducted with plasmodial strands of this acellular slime mold. In these earth-bound experiments the observed parameters were periodicity of the contractions and dilatations of the strand's ectoplasm as well as the periodicity and velocity of the striking cytoplasmic (endoplasmic) shuttle streaming. During 0 g-simulation these parameters showed significant changes indicating the existence of a gravisensitivity of the slime mold.

The Space-Shuttle experiment (ESA-Biorack in D 1-Mission) should demonstrate the validity of the 0 g-simulation on the fast-rotating clinostat. The experiment was designed in a way enabling the registration of the same parameters as on the clinostat (using the light microscope in combination with a photo diode and a cinecamera). Only one of the two planned measurement sessions was fully successful and provided us with data confirming the results gained on the fast-rotating clinostat: The slime mold showed under real near weightlessness in the D 1-Space Shuttle Mission a transient frequency increase in its contraction rhythmicity and a (steady) increase in the streaming velocity of its endoplasm.     

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.     

Microorganisms and biomolecules in space environment experiment ES 029 on Spacelab-1.

Bacterial spores are proper test organisms for studying problems of space biology and exobiology. During the Spacelab 1 mission, studies on the limiting factors for survival of Bacillus subtilis spores in free space have been performed. An exposure tray on the pallet of Spacelab 1 accomodated 316 samples of dry spores for treatment with space vacuum and/or the following selected wavelengths of solar UV: > 170 nm, 220 nm, 240nm, 260nm and 280 nm. After recovery, inactivation, mutation induction, reparability, and photochemical damages in DNA and protein have been studied. The results contribute to the understanding of the mechanisms of increased UV sensitivity of bacterial spores in vacuo and to a better assessment of the chance of survival of resistant forms in space and of interplanetary transfer of life.