Real-time graphic simulation for space telerobotics applications

Designing space-based telerobotic systems presents many problems unique to telerobotics and the space environment, but it also shares many common hardware and software design problems with Earth-based industrial robot applications. Such problems include manipulator design and placement, grapple-fixture design, and of course the development of effective and reliable control algorithms. Since first being applied to industrial robotics just a few years ago, interactive graphic simulation has proven to be a powerful tool for anticipating and solving problems in the design of Earth-based robotic systems and processes. Where similar problems are encountered in the design of space-based robotic mechanisms, the same graphic simulation tools may also be of assistance. The capabilities of PLACE, a commercially available interactive graphic system for the design and simulation of robotic systems and processes is described. A space-telerobotics application of the system is presented and discussed. Potential future enhancements are described

Power conditioning techniques

The technological developments required to reduce the electrical power system component weights from the state-of-the-art 2.0 kg/kW to the range of 0.1 to 0.2 kg/kW are discussed. Power level requirements and their trends in aerospace applications are identified and presented. The projected weight and launch costs for a 1MW power converter built using state-of-the-art technology are established to illustrate the need for reliable, ultralightweight advanced power components. The key factors affecting converter weight are given and some of the tradeoffs between component ratings and circuit topology are identified. The weight and launch costs for a 1MW converter using 0.1 kg/kW technology are presented. Finally, the objectives and goals of the Multi-Megawatt Program at the NASA Lewis Research Center, which is funded by the SDIO through the Air Force, are given

Experimental assessment of the speed of light perturbation in free-fall absolute gravimeters

Precision absolute gravity measurements are growing in importance, especially in the context of the new definition of the kilogram. For the case of free-fall absolute gravimeters with a Michelson-type interferometer tracking the position of a free falling body, one of the effects that needs to be taken into account is the speed of light perturbation due to the finite speed of propagation of light. This effect has been extensively discussed in the past, and there is at present a disagreement between different studies. In this work, we present the analysis of new data and confirm the result expected from the theoretical analysis applied nowadays in free-fall gravimeters. We also review the standard derivations of this effect (by using phase shift or Doppler effect arguments) and show their equivalence

An Investigation of the performance of six small septic tanks

A report of an investigation conducted by the Engineering Experiment Station, University of Illinois, in cooperation with the Armco Steel Corporation.Bibliography: p. 74-75

On the predictive power of Local Scale Invariance

Local Scale Invariance (LSI) is a theory for anisotropic critical phenomena designed in the spirit of conformal invariance. For a given representation of its generators it makes non-trivial predictions about the form of universal scaling functions. In the past decade several representations have been identified and the corresponding predictions were confirmed for various anisotropic critical systems. Such tests are usually based on a comparison of two-point quantities such as autocorrelation and response functions. The present work highlights a potential problem of the theory in the sense that it may predict any type of two-point function. More specifically, it is argued that for a given two-point correlator it is possible to construct a representation of the generators which exactly reproduces this particular correlator. This observation calls for a critical examination of the predictive content of the theory.Comment: 17 pages, 2 eps figure

Study of shell supported ring frames with out- of-plane loading Final report, 24 Jun. - 28 Dec. 1965

Deflections and internal loading distribution of circular cylindrical shell supported ring frames with out-of-plane loading

Desensitizing Inflation from the Planck Scale

A new mechanism to control Planck-scale corrections to the inflationary eta parameter is proposed. A common approach to the eta problem is to impose a shift symmetry on the inflaton field. However, this symmetry has to remain unbroken by Planck-scale effects, which is a rather strong requirement on possible ultraviolet completions of the theory. In this paper, we show that the breaking of the shift symmetry by Planck-scale corrections can be systematically suppressed if the inflaton field interacts with a conformal sector. The inflaton then receives an anomalous dimension in the conformal field theory, which leads to sequestering of all dangerous high-energy corrections. We analyze a number of models where the mechanism can be seen in action. In our most detailed example we compute the exact anomalous dimensions via a-maximization and show that the eta problem can be solved using only weakly-coupled physics.Comment: 34 pages, 3 figures

Ageing without detailed balance: local scale invariance applied to two exactly solvable models

I consider ageing behaviour in two exactly solvable reaction-diffusion systems. Ageing exponents and scaling functions are determined. I discuss in particular a case in which the equality of two critical exponents, known from systems with detailed balance, does not hold any more. Secondly it is shown that the form of the scaling functions can be understood by symmetry considerations.Comment: 6 pages, contribution to the summer school "Ageing and the Glass Transition" held in Luxemburg in September 05. Published versio

Residual entropy in a model for the unfolding of single polymer chains

We study the unfolding of a single polymer chain due to an external force. We use a simplified model which allows to perform all calculations in closed form without assuming a Boltzmann-Gibbs form for the equilibrium distribution. Temperature is then defined by calculating the Legendre transform of the entropy under certain constraints. The application of the model is limited to flexible polymers. It exhibits a gradual transition from compact globule to rod. The boundary line between these two phases shows reentrant behavior. This behavior is explained by the presence of residual entropy.Comment: 5 pages, 4 figures, extended version of arXiv:cond-mat/061225