A DAQ System for Linear Collider TPC Prototypes based on the ALEPH TPC Electronics

Within the international studies of a high energy linear electron positron collider, several groups are developing and testing prototypes for a Linear Collider TPC. This detector is planned to be used as a central part in the tracking system of a detector at such a machine. In this note we describe a DAQ system, which has been developed for the use in tests of TPC prototypes. It is based on electronics used at the ALEPH experiment at CERN.Comment: 15 pages, 4 figure

A Parallel Autonomy Research Platform

We present the development of a full-scale “parallel autonomy” research platform including software and hardware. In the parallel autonomy paradigm, the control of the vehicle is shared; the human is still in control of the vehicle, but the autonomy system is always running in the background to prevent accidents. Our holistic approach includes: (1) a driveby-wire conversion method only based on reverse engineering, (2) mounting of relatively inexpensive sensors onto the vehicle, (3) implementation of a localization and mapping system, (4) obstacle detection and (5) a shared controller as well as (6) integration with an advanced autonomy simulation system (Drake) for rapid development and testing. The system can operate in three modes: (a) manual driving, (b) full autonomy, where the system is in complete control of the vehicle and (c) parallel autonomy, where the shared controller is implemented. We present results from extensive testing of a full-scale vehicle on closed tracks that demonstrate these capabilities

Apparatus for a Search for T-violating Muon Polarization in Stopped-Kaon Decays

The detector built at KEK to search for T-violating transverse muon polarization in K+ --> pi0 mu+ nu (Kmu3) decay of stopped kaons is described. Sensitivity to the transverse polarization component is obtained from reconstruction of the decay plane by tracking the mu+ through a toroidal spectrometer and detecting the pi0 in a segmented CsI(Tl) photon calorimeter. The muon polarization was obtained from the decay positron asymmetry of muons stopped in a polarimeter. The detector included features which minimized systematic errors while maintaining high acceptance.Comment: 56 pages, 30 figures, submitted to NI

Impact of end effector technology on telemanipulation performance

Generic requirements for end effector design are briefly summarized as derived from generic functional and operational requirements. Included is a brief summary of terms and definitions related to end effector technology. The second part contains a brief overview of end effector technology work as JPL during the past ten years, with emphasis on the evolution of new mechanical, sensing and control capabilities of end effectors. The third and major part is devoted to the description of current end effector technology. The ongoing work addresses mechanical, sensing and control details with emphasis on mechanical ruggedness, increased resolution in sensing, and close electronic and control integration with overall telemanipulator control system

Impact of marine power system architectures on IFEP vessel availability and survivability

In recent years integrated full electric propulsion (IFEP) has become a popular power system concept within the marine community, both for the naval and the commercial community. In this paper the authors discuss the need for a detailed investigation into the impact of different IFEP power system architectures on the availability of power and hence on the survivability of the vessel. The power system architectures considered here could relate to either a commercial or a naval vessel and include radial, ring and hybrid AC/DC arrangements. Comparative fault studies of the architectures were carried out in an attempt to make valuable observations on the survivability of a vessel. Simulation results demonstrate that the ring and hybrid AC/DC architectural contribute to a higher survivability than the radial architecture. However, there are still challenges that need to be addressed and therefore potential solutions such as fault current limiters will be considered

Lightweight infrared sensing for relative navigation of quadrotors

A lightweight solution for estimating position and velocity relative to a known marker is presented. The marker consists of three infrared (IR) LEDs in a fixed pattern. Using an IR camera with a 100 Hz update rate, the range and bearing to the marker are calculated. This information is then fused with inertial sensor information to produce state estimates at 1 kHz using a sigma point Kalman filter. The computation takes place on a 14 gram custom autopilot, yielding a lightweight system for generating high-rate relative state information. The estimation scheme is compared to data recorded with a motion capture system.National Science Foundation (U.S.) (Graduate Research Fellowship under Grant No. 0645960