Neural Representations for Sensory-Motor Control I: Head-Centered 3-D Target Positions from Opponent Eye Commands

This article describes how corollary discharges from outflow eye movement commands can be transformed by two stages of opponent neural processing into a head-centered representation of 3-D target position. This representation implicitly defines a cyclopean coordinate system whose variables approximate the binocular vergence and spherical horizontal and vertical angles with respect to the observer's head. Various psychophysical data concerning binocular distance perception and reaching behavior are clarified by this representation. The representation provides a foundation for learning head-centered and body-centered invariant representations of both foveated and non-foveated 3-D target positions. It also enables a solution to be developed of the classical motor equivalence problem, whereby many different joint configurations of a redundant manipulator can all be used to realize a desired trajectory in 3-D space.Air Force Office of Scientific Research (URI 90-0175); Defense Advanced Research Projects Agency (AFOSR-90-0083); National Science Foundation (IRI-87-16960, IRI-90-24877

The design and application of an antenna positioner mechanism for Intelsat-5 series communication satellite

In opertion, the East/West spot beam reflectors on the Intelsat-5 series communication satellite are required to satisfy initial precise-pointing to particular Earth locations; and repositioning and pointing to different Earth locations as traffic changes dictate during the seven year mission. Two 2 axis antenna positioner mechanisms (APM) are utilized in fulfilling these requirements. Each APM is comprised of three components which consist of one center pivot and two linear actuators rather than an integral two axis gimbal design. The step resolution of the APM can be adjusted as required with the present design, at a step resolution of 0.002865 degrees. The design philosophy and considerations, test program, and test results are discussed as well as some major problems encountered during the course of testing and their resolution

Drag-compensated, precision-powered hinge system

The design of a high precision powered hinge is complicated by the unavoidable presence of parasitic drag torque resulting mainly from friction and transfer of power, signals, and fluids across the hinge. Regardless of the type of drive system selected, it is impossible to completely eliminate all parasitic drag. However, the mechanism described here comes very close to providing a drag free system. All sources of parasitic drag torque are collected on a shaft which is powered by an electric motor independent of the main hinge drive. Under control of a sensor, the electric motor applies a compensating torque equal to that of the parasitic drag torque, allowing the main hinge drive to operate in a practically drag free environment with very high positioning precision

Pointing/roll mechanism for the ultraviolet coronagraph spectrometer

A pointing/roll mechanism for the Ultraviolet Coronagraph Spectrometer (UVCS) is presented along with a description of the mechanism control algorithm. The mechanism, operating in space, will position the 2.1 meter long, 0.7 meter diameter UVCS instrument in pitch and yaw, within a 54 arc-minute half angle cone, and will also allow it to rotate + or - 179.75 deg. After considerable design effort, an optimum mechanical solution was achieved, which meets all scientific requirements as well as weight, volume, and power budgets. Evolution of the mechanism is presented along with the design status

Accurate Telescope Mount Positioning with MEMS Accelerometers

This paper describes the advantages and challenges of applying microelectromechanical accelerometer systems (MEMS accelerometers) in order to attain precise, accurate and stateless positioning of telescope mounts. This provides a completely independent method from other forms of electronic, optical, mechanical or magnetic feedback or real-time astrometry. Our goal is to reach the sub-arcminute range which is well smaller than the field-of-view of conventional imaging telescope systems. Here we present how this sub-arcminute accuracy can be achieved with very cheap MEMS sensors and we also detail how our procedures can be extended in order to attain even finer measurements. In addition, our paper discusses how can a complete system design be implemented in order to be a part of a telescope control system.Comment: Accepted for publication in PASP, 12 page

An air-bearing weight offload system for ground test of heavy LSS structures

The capability and use of the Gravity Offload Facility (GOF) are discussed. Briefly explained are the: truss and base casting; carriage assembly; carriage weldment; vertical lift axis control; lifting cylinder; payload gimbal; motion base layout; and control processor

MAXIMA: an experiment to measure temperature anisotropy in the cosmic microwave background

We describe the MAXIMA experiment, a balloon-borne measurement designed to map temperature anisotropy in the Cosmic Microwave Background (CMB) over a wide range of angular scales (multipole range 80 < l < 800). The experiment consists of a 1.3 m diameter off-axis Gregorian telescope and a receiver with a 16 element array of bolometers cooled to 100 mK. The frequency bands are centered at 150, 240, and 410 GHz. The 10' FWHM beam sizes are well matched to the scale of acoustic peaks expected in the angular power spectrum of the CMB. The first flight of the experiment in its full configuration was launched in August 1998. A 122 sq-deg map of the sky was made near the Draco constellation during the 7 hour flight in a region of extremely low galactic dust contamination. This map covers 0.3% of the sky and has 3200 independent beamsize pixels. We describe the MAXIMA instrument and its performance during the recent flight.Comment: To appear in proceedings of `3K Cosmology', ed. F Melchiorri, Conference held Oct 5-10 1998, Rome, 13 pages LaTeX (using aipproc2.sty & aipproc2.cls), Postscript with higher resolution graphics available at http://cfpa.berkeley.edu/group/cmb/gen.htm

A novel spherical actuator: Design and control

The paper describes the design and control of a novel spherical permanent magnet actuator which is capable of two-degrees-freedom and a high specific torque. Based on an analytical actuator model, an optimal design procedure is developed to yield maximum output torque or maximum system acceleration for a given payload. The control of the actuator, whose dynamics are similar to those of robotic manipulators, is facilitated by the establishment of a complete actuation system model. A robust control law is applied, and its effectiveness is demonstrated by computer simulatio