Orbital maneuvering end effectors

This invention relates to an end effector device for grasping and maneuvering objects such as berthing handles of a space telescope. The device includes a V-shaped capture window defined as inclined surfaces in parallel face plates which converge toward a retainer recess in which the handle is retained. A pivotal finger (30) meshes with a pair of pivoted fingers which rotate in counterrotation. The fingers rotate to pull a handle within the capture window into recess where latches lock handle in the recess. To align the capture window, plates may be cocked plus or minus five degrees on base. Drive means is included in the form of a motor coupled with a harmonic drive speed reducer, which provides for slow movement of the fingers at a high torque so that large articles may be handled. Novelty of the invention is believed to reside in the combined intermeshing finger structure, drive means and the harmonic drive speed reducer, which features provide the required maneuverability and strength

Orbital maneuvering vehicle end effectors

An end effector device (A) for grasping and holding an article such as a handle (18) of a space telescope is disclosed. The device includes a V-shaped capture window (74) defined as inclined surfaces (76, 78) in parallel face plates (22, 24) which converge toward a retainer recess (54) in which the handle is retained. A pivotal finger (30) meshes with a pair of pivoted fingers (26, 28) which rotate in counterrotation. The fingers rotate to pull a handle within the capture window into recess (54) where latches (50) lock handle (18) in the recess. To align the capture window, plates (22, 24) may be cocked plus or minus five degrees on base (64)

SeaWiFS technical report series. Volume 10: Modeling of the SeaWiFS solar and lunar observations

Post-launch stability monitoring of the Sea-viewing Wide Field-of-view Sensor (SeaWifs) will include periodic sweeps of both an onboard solar diffuser plate and the moon. The diffuser views will provide short-term checks and the lunar views will monitor long-term trends in the instrument's radiometric stability. Models of the expected sensor response to these observations were created on the SeaWiFS computer at the National Aeronautics and Space Administration's (NASA) Goddard Space Flight Center (GSFC) using the Interactive Data Language (IDL) utility with a graphical user interface (GUI). The solar model uses the area of intersecting circles to simulate the ramping of sensor response while viewing the diffuser. This model is compared with preflight laboratory scans of the solar diffuser. The lunar model reads a high-resolution lunar image as input. The observations of the moon are simulated with a bright target recovery algorithm that includes ramping and ringing functions. Tests using the lunar model indicate that the integrated radiance of the entire lunar surface provides a more stable quantity than the mean of radiances from centralized pixels. The lunar model is compared to ground-based scans by the SeaWiFS instrument of a full moon in December 1992. Quality assurance and trend analyses routines for calibration and for telemetry data are also discussed

Orbital Maneuvering Vehicle (OMV) three-point docking latch

The primary purpose of the OMV is to dock with orbiting payloads and then either transfer them to a different orbit or return them to the Space Shuttle for servicing. Some such missions will involve docking with payloads equipped with a Flight Support System (FSS) type of interface; an example is the Hubble Space Telescope (HST). The design and development of a mechanism to be used for testing this docking concept on the NASA-Marshall test beds is described. The test results to date are also presented

SeaWiFS technical report series. Volume 22: Prelaunch acceptance report for the SeaWFS radiometer

The final acceptance, or rejection, of the Sea-viewing Wide field-of-view Sensor (SeaWiFS) will be determined by the instrument's on-orbit operation. There is, however, an extensive set of laboratory measurements describing the operating characteristics of the radiometer. Many of the requirements in the Ocean Color Data Mission (OCDM) specifications can be checked only by laboratory measurements. Here, the calibration review panel (composed of the authors of this technical memorandum) examines the laboratory characterization and calibration of SeaWiFS in the light of the OCDM performance specification. Overall, the performance of the SeaWiFS instrument meets or exceeds the requirements of the OCDM contract in all but a few unimportant details. The detailed results of this examination are presented here by following the outline of the specifications, as found in the Contract. The results are presented in the form of requirements and compliance pairs. These results give conclusions on many, but not all, of the performance specifications. The acceptance of this panel of the performance of SeaWiFS must only be considered as an intermediate conclusion. The ultimate acceptance (or rejection) of the SeaWiFS data set will rely on the measurements made by the instrument on orbit

SeaWiFS Technical Report Series. Volume 22: Prelaunch Acceptance Report for the SeaWiFS Radiometer

The final acceptance, or rejection, of the Sea-viewing Wide Field-of-view Sensor (SeaWiFS) will be determined by the instrument's on-orbit operation. There is, however, an extensive set of laboratory measurements describing the operating characteristics of the radiometer. Many of the requirements in the Ocean Color Data Mission (OCDM) specifications can be checked only by laboratory measurements. Here, the calibration review panel examines the laboratory characterization and calibration of SeaWiFS in the light of the OCDM performance specification. Overall, the performance of the SeaWiFS instrument meets or exceeds the requirements of the OCDM contract in all but a few unimportant details. The detailed results of this examination are presented here by following the outline of the specifications, as found in the Contract. The results are presented in the form of requirements and compliance pairs. These results give conclusions on many, but not all, of the performance specifications. The acceptance by this panel of the performance of SeaWiFS must only be considered as an intermediate conclusion. The ultimate acceptance (or rejection) of the SeaWiFS data set will rely on the measurements made by the instrument on orbit

SeaWiFS technical report series. Volume 23: SeaWiFS prelaunch radiometric calibration and spectral characterization

Based on the operating characteristics of the Sea-viewing Wide Field-of-view Sensor (SeaWiFS), calibration equations have been developed that allow conversion of the counts from the radiometer into Earth-existing radiances. These radiances are the geophysical properties the instrument has been designed to measure. SeaWiFS uses bilinear gains to allow high sensitivity measurements of ocean-leaving radiances and low sensitivity measurements of radiances from clouds, which are much brighter than the ocean. The calculation of these bilinear gains is central to the calibration equations. Several other factors within these equations are also included. Among these are the spectral responses of the eight SeaWiFS bands. A band's spectral response includes the ability of the band to isolate a portion of the electromagnetic spectrum and the amount of light that lies outside of that region. The latter is termed out-of-band response. In the calibration procedure, some of the counts from the instrument are produced by radiance in the out-of-band region. The number of those counts for each band is a function of the spectral shape of the source. For the SeaWiFS calibration equations, the out-of-band responses are converted from those for the laboratory source into those for a source with the spectral shape of solar flux. The solar flux, unlike the laboratory calibration, approximates the spectral shape of the Earth-existing radiance from the oceans. This conversion modifies the results from the laboratory radiometric calibration by 1-4 percent, depending on the band. These and other factors in the SeaWiFS calibration equations are presented here, both for users of the SeaWiFS data set and for researchers making ground-based radiance measurements in support of Sea WiFS

Physiological Profile of Male Competitive and Recreational Surfers

Surfing consists of both high- and low-intensity paddling of varying durations, using both the aerobic and anaerobic systems. Surf-specific physiological studies lack adequate group sample sizes, and V[Combining Dot Above]O2peak values are yet to determine the differences between competitive and recreational surfers. The purpose of this study was therefore to provide a comprehensive physiological profile of both recreational and competitive surfers. This multisite study involved 62 male surfers, recreational (n = 47) and competitive (n = 15). Anthropometric measurements were conducted followed by dual-energy x-ray absorptiometry, anaerobic testing and finally aerobic testing. V[Combining Dot Above]O2peak was significantly greater in competitive surfers than in recreational surfers (M = 40.71 ± 3.28 vs. 31.25 ± 6.31 ml·kg·min, p \u3c 0.001). This was also paralleled for anaerobic power (M = 303.93 vs. 264.58 W) for competitive surfers. Arm span and lean total muscle mass was significantly (p ≤ 0.01) correlated with key performance variables (V[Combining Dot Above]O2peak and anaerobic power). No significant (p ≥ 0.05) correlations were revealed between season rank and each of the variables of interest (V[Combining Dot Above]O2peak and anaerobic power). Key performance variables (V[Combining Dot Above]O2peak and anaerobic power) are significantly higher in competitive surfers, indicating that this is both an adaptation and requirement in this cohort. This battery of physiological tests could be used as a screening tool to identify an athlete\u27s weaknesses or strengths. Coaches and clinicians could then select appropriate training regimes to address weaknesses

An EvoDevo Study of Salmonid Visual Opsin Dynamics and Photopigment Spectral Sensitivity

Salmonids are ideal models as many species follow a distinct developmental program from demersal eggs and a large yolk sac to hatching at an advanced developmental stage. Further, these economically important teleosts inhabit both marine- and freshwaters and experience diverse light environments during their life histories. At a genome level, salmonids have undergone a salmonid-specific fourth whole genome duplication event (Ss4R) compared to other teleosts that are already more genetically diverse compared to many non-teleost vertebrates. Thus, salmonids display phenotypically plastic visual systems that appear to be closely related to their anadromous migration patterns. This is most likely due to a complex interplay between their larger, more gene-rich genomes and broad spectrally enriched habitats; however, the molecular basis and functional consequences for such diversity is not fully understood. This study used advances in genome sequencing to identify the repertoire and genome organization of visual opsin genes (those primarily expressed in retinal photoreceptors) from six different salmonids [Atlantic salmon (Salmo salar), brown trout (Salmo trutta), Chinook salmon (Oncorhynchus tshawytcha), coho salmon (Oncorhynchus kisutch), rainbow trout (Oncorhynchus mykiss), and sockeye salmon (Oncorhynchus nerka)] compared to the northern pike (Esox lucius), a closely related non-salmonid species. Results identified multiple orthologues for all five visual opsin classes, except for presence of a single short-wavelength-sensitive-2 opsin gene. Several visual opsin genes were not retained after the Ss4R duplication event, which is consistent with the concept of salmonid rediploidization. Developmentally, transcriptomic analyzes of Atlantic salmon revealed differential expression within each opsin class, with two of the long-wavelength-sensitive opsins not being expressed before first feeding. Also, early opsin expression in the retina was located centrally, expanding dorsally and ventrally as eye development progressed, with rod opsin being the dominant visual opsin post-hatching. Modeling by spectral tuning analysis and atomistic molecular simulation, predicted the greatest variation in the spectral peak of absorbance to be within the Rh2 class, with a ∼40 nm difference in λmax values between the four medium-wavelength-sensitive photopigments. Overall, it appears that opsin duplication and expression, and their respective spectral tuning profiles, evolved to maximize specialist color vision throughout an anadromous lifecycle, with some visual opsin genes being lost to tailor marine-based vision.publishedVersio