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     

The Magnetic Field of Mercury

The magnetic field strength of Mercury at the planet’s surface is approximately 1% that of Earth’s surface field. This comparatively low field strength presents a number of challenges, both theoretically to understand how it is generated and observationally to distinguish the internal field from that due to the solar wind interaction. Conversely, the small field also means that Mercury offers an important opportunity to advance our understanding both of planetary magnetic field generation and magnetosphere-solar wind interactions. The observations from the Mariner 10 magnetometer in 1974 and 1975, and the MESSENGER Magnetometer and plasma instruments during the probe’s first two flybys of Mercury on 14 January and 6 October 2008, provide the basis for our current knowledge of the internal field. The external field arising from the interaction of the magnetosphere with the solar wind is more prominent near Mercury than for any other magnetized planet in the Solar System, and particular attention is therefore paid to indications in the observations of deficiencies in our understanding of the external field. The second MESSENGER flyby occurred over the opposite hemisphere from the other flybys, and these newest data constrain the tilt of the planetary moment from the planet’s spin axis to be less than 5°. Considered as a dipole field, the moment is in the range 240 to 270 nT-R _M ³ , where R _M is Mercury’s radius. Multipole solutions for the planetary field yield a smaller dipole term, 180 to 220 nT-R _M ³ , and higher-order terms that together yield an equatorial surface field from 250 to 290 nT. From the spatial distribution of the fit residuals, the equatorial data are seen to reflect a weaker northward field and a strongly radial field, neither of which can be explained by a centered-dipole matched to the field measured near the pole by Mariner 10. This disparity is a major factor controlling the higher-order terms in the multipole solutions. The residuals are not largest close to the planet, and when considered in magnetospheric coordinates the residuals indicate the presence of a cross-tail current extending to within 0.5R _M altitude on the nightside. A near-tail current with a density of 0.1 μA/m² could account for the low field intensities recorded near the equator. In addition, the MESSENGER flybys include the first plasma observations from Mercury and demonstrate that solar wind plasma is present at low altitudes, below 500 km. Although we can be confident in the dipole-only moment estimates, the data in hand remain subject to ambiguities for distinguishing internal from external contributions. The anticipated observations from orbit at Mercury, first from MESSENGER beginning in March 2011 and later from the dual-spacecraft BepiColombo mission, will be essential to elucidate the higher-order structure in the magnetic field of Mercury that will reveal the telltale signatures of the physics responsible for its generation.     

MESSENGER: Exploring Mercury’s Magnetosphere

The MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) mission to Mercury offers our first opportunity to explore this planet’s miniature magnetosphere since the brief flybys of Mariner 10. Mercury’s magnetosphere is unique in many respects. The magnetosphere of Mercury is among the smallest in the solar system; its magnetic field typically stands off the solar wind only ∼1000 to 2000 km above the surface. For this reason there are no closed drift paths for energetic particles and, hence, no radiation belts. Magnetic reconnection at the dayside magnetopause may erode the subsolar magnetosphere, allowing solar wind ions to impact directly the regolith. Inductive currents in Mercury’s interior may act to modify the solar wind interaction by resisting changes due to solar wind pressure variations. Indeed, observations of these induction effects may be an important source of information on the state of Mercury’s interior. In addition, Mercury’s magnetosphere is the only one with its defining magnetic flux tubes rooted beneath the solid surface as opposed to an atmosphere with a conductive ionospheric layer. This lack of an ionosphere is probably the underlying reason for the brevity of the very intense, but short-lived, ∼1–2 min, substorm-like energetic particle events observed by Mariner 10 during its first traversal of Mercury’s magnetic tail. Because of Mercury’s proximity to the sun, 0.3–0.5 AU, this magnetosphere experiences the most extreme driving forces in the solar system. All of these factors are expected to produce complicated interactions involving the exchange and recycling of neutrals and ions among the solar wind, magnetosphere, and regolith. The electrodynamics of Mercury’s magnetosphere are expected to be equally complex, with strong forcing by the solar wind, magnetic reconnection, and pick-up of planetary ions all playing roles in the generation of field-aligned electric currents. However, these field-aligned currents do not close in an ionosphere, but in some other manner. In addition to the insights into magnetospheric physics offered by study of the solar wind–Mercury system, quantitative specification of the “external” magnetic field generated by magnetospheric currents is necessary for accurate determination of the strength and multi-polar decomposition of Mercury’s intrinsic magnetic field. MESSENGER’s highly capable instrumentation and broad orbital coverage will greatly advance our understanding of both the origin of Mercury’s magnetic field and the acceleration of charged particles in small magnetospheres. In this article, we review what is known about Mercury’s magnetosphere and describe the MESSENGER science team’s strategy for obtaining answers to the outstanding science questions surrounding the interaction of the solar wind with Mercury and its small, but dynamic, magnetosphere.     

Cosmic Ray Energetics And Mass for the International Space Station (ISS-CREAM)

The Cosmic Ray Energetics And Mass (CREAM) instrument is configured with a suite of particle detectors to measure TeV cosmic-ray elemental spectra from protons to iron nuclei over a wide energy range. The goal is to extend direct measurements of cosmic-ray composition to the highest energies practical, and thereby have enough overlap with ground based indirect measurements to answer questions on cosmic-ray origin, acceleration and propagation. The balloon-borne CREAM was flown successfully for about 161 days in six flights over Antarctica to measure elemental spectra of Z = 1–26 nuclei over the energy range 10¹⁰ to >10¹⁴ eV. Transforming the balloon instrument into ISS-CREAM involves identification and replacement of components that would be at risk in the International Space Station (ISS) environment, in addition to assessing safety and mission assurance concerns. The transformation process includes rigorous testing of components to reduce risks and increase survivability on the launch vehicle and operations on the ISS without negatively impacting the heritage of the successful CREAM design. The project status, including results from the ongoing analysis of existing data and, particularly, plans to increase the exposure factor by another order of magnitude utilizing the International Space Station are presented.     

Characterization and Calibration of the CheMin Mineralogical Instrument on Mars Science Laboratory

A principal goal of the Mars Science Laboratory (MSL) rover Curiosity is to identify and characterize past habitable environments on Mars. Determination of the mineralogical and chemical composition of Martian rocks and soils constrains their formation and alteration pathways, providing information on climate and habitability through time. The CheMin X-ray diffraction (XRD) and X-ray fluorescence (XRF) instrument on MSL will return accurate mineralogical identifications and quantitative phase abundances for scooped soil samples and drilled rock powders collected at Gale Crater during Curiosity’s 1-Mars-year nominal mission. The instrument has a Co X-ray source and a cooled charge-coupled device (CCD) detector arranged in transmission geometry with the sample. CheMin’s angular range of 5^° to 50^° 2θ with <0.35^° 2θ resolution is sufficient to identify and quantify virtually all minerals. CheMin’s XRF requirement was descoped for technical and budgetary reasons. However, X-ray energy discrimination is still required to separate Co?Kα from Co?Kβ and Fe?Kα photons. The X-ray energy-dispersive histograms (EDH) returned along with XRD for instrument evaluation should be useful in identifying elements Z>13 that are contained in the sample. The CheMin XRD is equipped with internal chemical and mineralogical standards and 27 reusable sample cells with either Mylar^? or Kapton^? windows to accommodate acidic-to-basic environmental conditions. The CheMin flight model (FM) instrument will be calibrated utilizing analyses of common samples against a demonstration-model (DM) instrument and CheMin-like laboratory instruments. The samples include phyllosilicate and sulfate minerals that are expected at Gale crater on the basis of remote sensing observations.     

The pioneer venus orbiter ultraviolet spectrometer experiment: Analysis of hydrogen lyman alpha data

Pioneer Venus Orbiter Ultraviolet Spectrometer (PVOUVS) HI 1216Å data from six (6) orbits are analyzed. Analysis of subsolar region periapsis data show that for an exobase temperature of 305K, the exobase density is $\text{5 ± 2(4)}{}^{\mathrm{@}}\text{cm}{}^{\mathrm{?3}}$ and the column abundance of atomic hydrogen between 110 and 200 km is 2.4 ± 0.8(13) cm^?2. The upward flux through the exobase is determined to be 7.5 ± 2.5(7)/cm²s. Apoapsis data were analyzed for both evening and morning geometries. We conclude: (1) the observed limb profiles show a diurnal variation consistent with Brinton et al.; (2) the model temperature field provides a good fit to the morning data, but the morning temperature field must be used to match the evening data; and (3) the theoretical Ly α limb intensity profiles are sensitive to small changes in the shape and magnitude of the variation of exobase hydrogen with solar zenith angle. The solar Ly α flux at line center required to fit the magnitude of the data is 8(11) photons/cm²s Å at Venus.     

Satellite-aided land mobile radio experiments,applications and problems

Radio communications between vehicles or individuals and base stations are essential to many public safety, law enforcement and commercial users in urban areas. Present day communications are limited to nearly line-of-sight distances from the vehicle or hand portable units to a base station or repeater. It is probable that many potential users in rural, remote and offshore areas would benefit if the communications were available everywhere on land and territorial waters. Geosynchronous satellites can serve as repeaters for mobile and personal radios, and they appear to be a cost effective means of providing the service.Voice bandwidth communication and automatic position monitoring of an automobile were tested using the VHF transponders of NASAs ATS-3 and ATS-1 satellites. Voice communications were reliable and position fixes were accurate to one fourth mile, with 0.3 mile precision of individual fixes.Demonstrations for potential users have included emergency medical voice and telemetry communications between ambulances and hospitals.While technical feasibility of satellite-aided mobile and personal communications has been demonstrated, and its potential value is appreciated by a small segment of the user community, many problems remain before an operational system could be implemented. Solutions to the problems require an experimental satellite with a multibeam antenna. The satellite or its associated ground terminals should incorporate computer controlled network switching to test demand assignment of channels. Prolonged experience by many users of the experimental satellite in their routine operations would aggregate user needs and define the capital investment that would be justified to implement a commercial operating system.     

The Balloon Array for RBSP Relativistic Electron Losses (BARREL)

BARREL is a multiple-balloon investigation designed to study electron losses from Earth’s Radiation Belts. Selected as a NASA Living with a Star Mission of Opportunity, BARREL augments the Radiation Belt Storm Probes mission by providing measurements of relativistic electron precipitation with a pair of Antarctic balloon campaigns that will be conducted during the Austral summers (January-February) of 2013 and 2014. During each campaign, a total of 20 small (～20 kg) stratospheric balloons will be successively launched to maintain an array of ～5 payloads spread across ～6 hours of magnetic local time in the region that magnetically maps to the radiation belts. Each balloon carries an X-ray spectrometer to measure the bremsstrahlung X-rays produced by precipitating relativistic electrons as they collide with neutrals in the atmosphere, and a DC magnetometer to measure ULF-timescale variations of the magnetic field. BARREL will provide the first balloon measurements of relativistic electron precipitation while comprehensive in situ measurements of both plasma waves and energetic particles are available, and will characterize the spatial scale of precipitation at relativistic energies. All data and analysis software will be made freely available to the scientific community.     

Insight into an Integration Algorithm

This paper develops, in a unique manner, a numeric algorithm for an integration and extrapolation scheme. The purpose of presenting it in this manner is to develop in the reader a complete understanding of how the algorithm is derived. It is also intended to give an insight into the limitations of the algorithm and to serve as a tool to derive additional integration schemes.     

The Magnetospheric Multiscale Magnetometers

The success of the Magnetospheric Multiscale mission depends on the accurate measurement of the magnetic field on all four spacecraft. To ensure this success, two independently designed and built fluxgate magnetometers were developed, avoiding single-point failures. The magnetometers were dubbed the digital fluxgate (DFG), which uses an ASIC implementation and was supplied by the Space Research Institute of the Austrian Academy of Sciences and the analogue magnetometer (AFG) with a more traditional circuit board design supplied by the University of California, Los Angeles. A stringent magnetic cleanliness program was executed under the supervision of the Johns Hopkins University’s Applied Physics Laboratory. To achieve mission objectives, the calibration determined on the ground will be refined in space to ensure all eight magnetometers are precisely inter-calibrated. Near real-time data plays a key role in the transmission of high-resolution observations stored on board so rapid processing of the low-resolution data is required. This article describes these instruments, the magnetic cleanliness program, and the instrument pre-launch calibrations, the planned in-flight calibration program, and the information flow that provides the data on the rapid time scale needed for mission success.