Creep stability of the proposed AIDA mission target 65803 Didymos: I. Discrete cohesionless granular physics model

As the target of the proposed Asteroid Impact & Deflection Assessment (AIDA) mission, the near-Earth binary asteroid 65803 Didymos represents a special class of binary asteroids, those whose primaries are at risk of rotational disruption. To gain a better understanding of these binary systems and to support the AIDA mission, this paper investigates the creep stability of the Didymos primary by representing it as a cohesionless self-gravitating granular aggregate subject to rotational acceleration. To achieve this goal, a soft-sphere discrete element model (SSDEM) capable of simulating granular systems in quasi-static states is implemented and a quasi-static spin-up procedure is carried out. We devise three critical spin limits for the simulated aggregates to indicate their critical states triggered by reshaping and surface shedding, internal structural deformation, and shear failure, respectively. The failure condition and mode, and shear strength of an aggregate can all be inferred from the three critical spin limits. The effects of arrangement and size distribution of constituent particles, bulk density, spin-up path, and interparticle friction are numerically explored. The results show that the shear strength of a spinning self-gravitating aggregate depends strongly on both its internal configuration and material parameters, while its failure mode and mechanism are mainly affected by its internal configuration. Additionally, this study provides some constraints on the possible physical properties of the Didymos primary based on observational data and proposes a plausible formation mechanism for this binary system. With a bulk density consistent with observational uncertainty and close to the maximum density allowed for the asteroid, the Didymos primary in certain configurations can remain geo-statically stable without including cohesion.Comment: 66 pages, 24 figures, submitted to Icarus on 25/Aug/201

Achieving reliability using behavioural modules in a robotic assembly system

The research in this thesis looks at improving the reliability of robotic as¬ sembly while still retaining the flexibility to change the system to cope with dif¬ ferent assemblies. The lack of a truly flexible robotic assembly system presents a problem which current systems have yet to overcome. An experimental sys¬ tem has been designed and implemented to demonstrate the ideas presented in this work. Runs of this system have also been performed to test and assess the scheme which has been developed.The Behaviour-based SOMASS system looks at decomposing the task into modular units, called Behavioural Modules, which reliably perform the as¬ sembly task by using variation reducing strategies. The thesis work looks at expanding this framework to produce a system which relaxes the constraints of complete reliability within a Behavioural Module by embedding these in a re¬ liable system architecture. This means that Behavioural Modules do not have to guarantee to successfully perform their given task but instead can perform it adequately, with occasional failures dealt with by the appropriate introduction of alternative actionsTo do this, the concepts of Exit States, the Ideal Execution Path, and Alter¬ native Execution Paths have been described. The Exit State of a Behavioural Module gives an indication of the control path which has actually been taken during its execution. This information, along with appropriate information available to the execution system (such as sensor and planner data), allows the Ideal Execution Path and Alternative Execution Paths to be defined. These show, respectively, the best control path through the system (as determined by the system designer) and alternative control routes which can be taken when necessary

Design and implementation of a compliant robot with force feedback and strategy planning software

Force-feedback robotics techniques are being developed for automated precision assembly and servicing of NASA space flight equipment. Design and implementation of a prototype robot which provides compliance and monitors forces is in progress. Computer software to specify assembly steps and makes force feedback adjustments during assembly are coded and tested for three generically different precision mating problems. A model program demonstrates that a suitably autonomous robot can plan its own strategy

Exploring the NRO Opportunity for a Hubble-sized Wide-field Near-IR Space Telescope -- NEW WFIRST

We discuss scientific, technical and programmatic issues related to the use of an NRO 2.4m telescope for the WFIRST initiative of the 2010 Decadal Survey. We show that this implementation of WFIRST, which we call "NEW WFIRST," would achieve the goals of the NWNH Decadal Survey for the WFIRST core programs of Dark Energy and Microlensing Planet Finding, with the crucial benefit of deeper and/or wider near-IR surveys for GO science and a potentially Hubble-like Guest Observer program. NEW WFIRST could also include a coronagraphic imager for direct detection of dust disks and planets around neighboring stars, a high-priority science and technology precursor for future ambitious programs to image Earth-like planets around neighboring stars.Comment: 76 pages, 26 figures -- associated with the Princeton "New Telescope Meeting

LDRD final report: Automated planning and programming of assembly of fully 3D mechanisms

This report describes the results of assembly planning research under the LDRD. The assembly planning problem is that of finding a sequence of assembly operations, starting from individual parts, that will result in complete assembly of a device specified as a CAD model. The automated assembly programming problem is that of automatically producing a robot program that will carry out a given assembly sequence. Given solutions to both of these problems, it is possible to automatically program a robot to assemble a mechanical device given as a CAD data file. This report describes the current state of our solutions to both of these problems, and a software system called Archimedes 2 we have constructed to automate these solutions. Because Archimedes 2 can input CAD data in several standard formats, we have been able to test it on a number of industrial assembly models more complex than any before attempted by automated assembly planning systems, some having over 100 parts. A complete path from a CAD model to an automatically generated robot program for assembling the device represented by the CAD model has also been demonstrated

Introduction to topological defects: from liquid crystals to particle physics

Liquid crystals are assemblies of rod-like molecules which self-organize to form mesophases, in-between ordinary liquids and anisotropic crystals. At each point, the molecules collectively orient themselves along a privileged direction, which locally defines an orientational order. Sometimes, this order is broken and singularities appear in the form of topological defects. This tutorial article is dedicated to the geometry, topology and physics of these defects. We introduce the main models used to describe the nematic phase and discuss the isotropic-nematic phase transition. Then, we present the different families of defects in nematics and examine some of their physical outcomes. Finally, we show that topological defects are universal patterns of nature, appearing not only in soft matter, but also in biology, cosmology, geology and even particle physics.Comment: 40 pages, 9 figures, review pape

The design and implementation of vision-based behavioural modules for a robotic assembly system

The work drsrrihrd in this thesis ia about, how to program robots to work re liably in the presence of uncertainty. Some architectural principle!: are proposed which address the problem of decomposing robotic assembly tasks into modular units such that a robot program can be implemented efficiently, tested easily, and can be maintained or modified without undue complexity. This architecture also provides a framework to integrate sensors into a robotic, assembly system.These modular units arc called behavioural modules. They perforin their tasks reliably. The problem of uncertainty is dealt with by encapsulating sensing and variation reducing strategies inside these modules. Experiments are performed with a working robotic assembly system using vision based behavioural modules. Analy sis of this system validates the principles presented in this thesis

Solar High-energy Astrophysical Plasmas Explorer (SHAPE). Volume 1: Proposed concept, statement of work and cost plan

The concept of the Solar High-Energy Astrophysical Plasmas Explorer (SHAPE) is studied. The primary goal is to understand the impulsive release of energy, efficient acceleration of particles to high energies, and rapid transport of energy. Solar flare studies are the centerpieces of the investigation because in flares these high energy processes can be studied in unmatched detail at most wavelenth regions of the electromagnetic spectrum as well as in energetic charged particles and neutrons