Dynamics and control of an orbiting flexible mobile manipulator

This paper presents a Lagrangian formulation for studying the dynamics and control of the proposed Space Station based Mobile Servicing System (MSS) for a particular case of inplane libration and maneuvers. The simplified case is purposely considered to help focus on the effects of structural and joint flexibility parameters of the MSS on the complex interactions between the station and manipulator dynamics during slewing and translational maneuvers. The response results suggest that under critical combinations of parameters, the system can become unstable. During maneuvers, the deflection of the MSS can become excessive, leading to positioning error of the payload. At the same time the libration error can also be significant. A linear quadratic regulator is designed to control the deflection of the manipulator and maintain the station at its operating configuration.     

The role of repair in the survival of mammalian cells from heavy ion irradiation: approximation to the ideal case of target theory.

Theories of cellular radiation sensitivity that preclude a significant role for cellular repair processes in the final biological expression of cellular damage induced by ionizing radiation are unsound. Experiments are discussed here in which the cell-cycle dependency of the repair deficiency of the S/S variant, of the L5178Y murine leukemic lymphoblast was examined by treatment with the heavy ions, 20Ne, 28Si, 40Ar, 56Fe and 93Nb. Evidence from those studies, which will be described in detail elsewhere, provide support for the notion that as the linear energy transfer (LET infinity) of the incident radiation increases the ability of the S/S cell to repair radiation damage decreases until effectively it is eliminated around 500 keV/micrometer. In the region of the latter LET infinity value, the behavior of the S/S cell approximates the ideal case of target theory where post-irradiation metabolism (repair) does not influence cell survival. The expression of this phenomenon among different cell types and tissues will depend upon the actual repair systems involved and other considerations.     

Space experiments aboard the Lomonosov MSU satellite

At present, the Institute of Nuclear Physics of Moscow State University, in cooperation with other organizations, is preparing space experiments onboard the Lomonosov satellite. The main goal of this mission is to study extreme astrophysical phenomena such as cosmic gamma-ray bursts and ultra-high-energy cosmic rays. These phenomena are associated with the processes occurring in the early universe in very distant astrophysical objects, therefore, they can provide information on the first stages of the evolution of the universe. This paper considers the main characteristics of the scientific equipment aboard the Lomonosov satellite.     

Mercury’s Weather-Beaten Surface: Understanding Mercury in the Context of Lunar and Asteroidal Space Weathering Studies

Mercury’s regolith, derived from the crustal bedrock, has been altered by a set of space weathering processes. Before we can interpret crustal composition, it is necessary to understand the nature of these surface alterations. The processes that space weather the surface are the same as those that form Mercury’s exosphere (micrometeoroid flux and solar wind interactions) and are moderated by the local space environment and the presence of a global magnetic field. To comprehend how space weathering acts on Mercury’s regolith, an understanding is needed of how contributing processes act as an interactive system. As no direct information (e.g., from returned samples) is available about how the system of space weathering affects Mercury’s regolith, we use as a basis for comparison the current understanding of these same processes on lunar and asteroidal regoliths as well as laboratory simulations. These comparisons suggest that Mercury’s regolith is overturned more frequently (though the characteristic surface time for a grain is unknown even relative to the lunar case), more than an order of magnitude more melt and vapor per unit time and unit area is produced by impact processes than on the Moon (creating a higher glass content via grain coatings and agglutinates), the degree of surface irradiation is comparable to or greater than that on the Moon, and photon irradiation is up to an order of magnitude greater (creating amorphous grain rims, chemically reducing the upper layers of grains to produce nanometer-scale particles of metallic iron, and depleting surface grains in volatile elements and alkali metals). The processes that chemically reduce the surface and produce nanometer-scale particles on Mercury are suggested to be more effective than similar processes on the Moon. Estimated abundances of nanometer-scale particles can account for Mercury’s dark surface relative to that of the Moon without requiring macroscopic grains of opaque minerals. The presence of nanometer-scale particles may also account for Mercury’s relatively featureless visible–near-infrared reflectance spectra. Characteristics of material returned from asteroid 25143 Itokawa demonstrate that this nanometer-scale material need not be pure iron, raising the possibility that the nanometer-scale material on Mercury may have a composition different from iron metal [such as (Fe,Mg)S]. The expected depletion of volatiles and particularly alkali metals from solar-wind interaction processes are inconsistent with the detection of sodium, potassium, and sulfur within the regolith. One plausible explanation invokes a larger fine fraction (grain size <45 μm) and more radiation-damaged grains than in the lunar surface material to create a regolith that is a more efficient reservoir for these volatiles. By this view the volatile elements detected are present not only within the grain structures, but also as adsorbates within the regolith and deposits on the surfaces of the regolith grains. The comparisons with findings from the Moon and asteroids provide a basis for predicting how compositional modifications induced by space weathering have affected Mercury’s surface composition.     

Probing the first stars and black holes in the early Universe with the Dark Ages Radio Explorer (DARE)

A concept for a new space-based cosmology mission called the Dark Ages Radio Explorer (DARE) is presented in this paper. DARE’s science objectives include: (1) When did the first stars form? (2) When did the first accreting black holes form? (3) When did Reionization begin? (4) What surprises does the end of the Dark Ages hold (e.g., Dark Matter decay)? DARE will use the highly-redshifted hyperfine 21-cm transition from neutral hydrogen to track the formation of the first luminous objects by their impact on the intergalactic medium during the end of the Dark Ages and during Cosmic Dawn (redshifts z = 11–35). It will measure the sky-averaged spin temperature of neutral hydrogen at the unexplored epoch 80–420 million years after the Big Bang, providing the first evidence of the earliest stars and galaxies to illuminate the cosmos and testing our models of galaxy formation. DARE’s approach is to measure the expected spectral features in the sky-averaged, redshifted 21-cm signal over a radio bandpass of 40–120 MHz. DARE orbits the Moon for a mission lifetime of 3 years and takes data above the lunar farside, the only location in the inner solar system proven to be free of human-generated radio frequency interference and any significant ionosphere. The science instrument is composed of a low frequency radiometer, including electrically-short, tapered, bi-conical dipole antennas, a receiver, and a digital spectrometer. The smooth frequency response of the antennas and the differential spectral calibration approach using a Markov Chain Monte Carlo technique will be applied to detect the weak cosmic 21-cm signal in the presence of the intense solar system and Galactic foreground emissions.     

Structural health management technologies for inflatable/deployable structures: Integrating sensing and self-healing

Inflatable/deployable structures are under consideration as habitats for future Lunar surface science operations. The use of non-traditional structural materials combined with the need to maintain a safe working environment for extended periods in a harsh environment has led to the consideration of an integrated structural health management system for future habitats, to ensure their integrity. This article describes recent efforts to develop prototype sensing technologies and new self-healing materials that address the unique requirements of habitats comprised mainly of soft goods. A new approach to detecting impact damage is discussed, using addressable flexible capacitive sensing elements and thin film electronics in a matrixed array. Also, the use of passive wireless sensor tags for distributed sensing is discussed, wherein the need for on-board power through batteries or hardwired interconnects is eliminated. Finally, the development of a novel, microencapuslated self-healing elastomer with applications for inflatable/deployable habitats is reviewed.     

DORIS geodesy: A dynamic determination of geocentre location

Geoscience Australia contributed a multi-satellite, multi-year weekly time series to the International DORIS Service combined submission for the construction of International Terrestrial Reference Frame 2008 (ITRF2008). This contributing solution was extended to a study of the capability of DORIS to dynamically estimate the variation in the geocentre location. Two solutions, comprising different constraint configurations of the tracking network, were undertaken. The respective DORIS satellite orbit solutions (SPOT-2, SPOT-4, SPOT-5 and Envisat) were verified and validated by comparison with those produced at the Goddard Space Flight Center (GSFC), DORIS Analysis Centre, for computational consistency and standards. In addition, in the case of Envisat, the trajectories from the GA determined SLR and DORIS orbits were compared. The results for weekly dynamic geocentre estimates from the two constraint configurations were benchmarked against the geometric geocentre estimates from the IDS-2 combined solution. This established that DORIS is capable of determining the dynamic geocentre variation by estimating the degree one spherical harmonic coefficients of the Earth’s gravity potential. It was established that constrained configurations produced similar results for the geocentre location and consequently similar annual amplitudes. For the minimally constrained configuration Greenbelt–Kitab, the mean of the uncertainties of the geocentre location were 2.3, 2.3 and 7.6 mm and RMS of the mean uncertainties were 1.9, 1.2 and 3.5 mm for the X, Y and Z components, respectively. For GA_IDS-2_Datum constrained configuration, the mean of the uncertainties of the geocentre location were 1.7, 1.7 and 6.2 mm and RMS of the mean uncertainties were 0.9, 0.7 and 2.9 mm for the X, Y and Z components, respectively. The mean of the differences of the two DORIS dynamic geocentre solutions with respect to the IDS-2 combination were 1.6, 4.0 and 5.1 mm with an RMS of the mean 21.2, 14.0 and 31.5 mm for the Greenbelt–Kitab configuration and 4.1, 3.9 and 4.3 mm with an RMS 8.1, 9.0 and 28.6 mm for the GA_IDS-2_Datum constraint configuration. The annual amplitudes for each component were estimated to be 5.3, 10.8 and 11.0 mm for the Greenbelt–Kitab configuration and 5.3, 9.3 and 9.4 mm for the GA_IDS-2_Datum constraint configuration. The two DORIS determined dynamic geocentre solutions were compared to the SLR determined dynamic solution (which was determined from the same process of the GA contribution to the ITRF2008 ILRS combination) gave mean differences of 3.3, −4.7 and 2.5 mm with an RMS of 20.7, 17.5 and 28.0 mm for the X, Y and Z components, respectively for the Greenbelt–Kitab configuration and 1.1, −5.4 and 4.4 mm with an RMS of 9.7, 13.3 and 24.9 mm for the GA_IDS-2_Datum configuration. The larger variability is reflected in the respective amplitudes. As a comparison, the annual amplitudes of the SLR determined dynamic geocentre are 0.9, 1.0 and 6.8 mm in the X, Y and Z components. The results from this study indicate that there is potential to achieve precise dynamically determined geocentre from DORIS.     

Antideuterons as an indirect dark matter signature: Si(Li) detector development and a GAPS balloon mission

The General AntiParticle Spectrometer (GAPS) is a novel approach for indirect dark matter searches that exploits cosmic antideuterons. GAPS complements existing and planned direct dark matter searches as well as other indirect techniques, probing a different and unique region of parameter space in a variety of proposed dark matter models. The GAPS method involves capturing antiparticles into a target material with the subsequent formation of an excited exotic atom. The exotic atom decays with the emission of atomic X-rays and pions from the nuclear annihilation, which uniquely identifies the captured antiparticle. This technique has been verified through the accelerator testing at KEK in 2004 and 2005. The prototype flight is scheduled from Hokkaido, Japan in 2011, preparatory for a long duration balloon flight from the Antarctic in 2014.     

A DORIS determination of the absolute velocities of the Sorsdal and Mellor glaciers in Antarctica

The Lambert–Amery System is the largest glacier–ice shelf system in East Antarctica, draining a significant portion of the ice sheet. Variation in ice sheet discharge from Antarctica or Greenland has an impact on the rate of change in global mean sea level; which is a manifestation of climate change. In conjunction with a measure of ice thickness change, ice sheet discharge can be monitored by determining the absolute velocities of these glaciers.     

Solar activity dependence of total electron content derived from GPS observations over Mbarara

Vertical total electron content (VTEC) observed at Mbarara (geographic co-ordinates: 0.60°S, 30.74°E; geomagnetic coordinates: 10.22°S, 102.36°E), Uganda, for the period 2001–2009 have been used to study the diurnal, seasonal and solar activity variations. The daily values of the 10.7 cm radio flux (F_10.7) and sunspot number (R) were used to represent Solar Extreme Ultraviolet Variability (EUV). VTEC is generally higher during high solar activity period for all the seasons and increases from 0600 h LT and reaches its maximum value within 1400 h–1500 h LT. All analysed linear and quadratic fits demonstrate positive VTEC-F_10.7 and positive VTEC-R correlation, with all fits at 0000 h and 1400 h LT being significant with a confidence level of 95% when both linear and quadratic models are used. All the fits at 0600 h LT are insignificant with a confidence level of 95%. Generally, over Mbarara, quadratic fit shows that VTEC saturates during all seasons for F_10.7 more than 200 units and R more than 150 units. The result of this study can be used to improve the International Reference Ionosphere (IRI) prediction of TEC around the equatorial region of the African sector.