Quantifying Operational Constraints of Low-Latency Telerobotics for Planetary Surface Operations

NASA's SLS and Orion crew vehicle will launch humans to cislunar space to begin the new era of space exploration. NASA plans to use the Orion crew vehicle to transport humans between Earth and cislunar space where there will be a stationed habitat known as the Deep Space Gateway (DSG). The proximity to the lunar surface allows for direct communication between the DSG and surface assets, which enables low-latency telerobotic exploration. The operational constraints for telerobotics must be fully explored on Earth before being utilized on space exploration missions. We identified two constraints on space exploration using low-latency surface telerobotics and attempts to quantify these constraints. A constraint associated with low-latency surface telerobotics is the bandwidth available between the orbiting command station and the ground assets. The bandwidth available will vary during operation. As a result, it is critical to quantify the operational video conditions required for effective exploration. We designed an experiment to quantify the threshold frame rate required for effective exploration. The experiment simulated geological exploration via low-latency surface telerobotics using a COTS rover in a lunar analog environment. The results from this experiment indicate that humans should operate above a threshold frame rate of 5 frames per second. In a separate, but similar experiment, we introduced a 2.6 second delay in the video system. This delay recreated the latency conditions present when operating rovers on the lunar farside from an Earth-based command station. This time delay was compared to low-latency conditions for teleoperation at the DSG ($\leq$0.4 seconds). The results from this experiment show a 150% increase in exploration time when the latency is increased to 2.6 seconds. This indicates that such a delay significantly complicates real-time exploration strategies.Comment: 10 pages, 8 figures, Proceedings of the IEEE Aerospace Conference, Big Sky, MT. arXiv admin note: text overlap with arXiv:1706.0375

Substructure in clusters containing wide-angle tailed radio galaxies. I. New redshifts

We present new redshifts and positions for 635 galaxies in nine rich clusters containing Wide-Angle Tailed (WAT) radio galaxies. Combined with existing data, we now have a sample of 18 WAT-containing clusters with more than 10 redshifts. This sample contains a substantial portion of the WAT clusters in the VLA 20 cm survey of Abell clusters, including 75% of WAT clusters in the complete survey (z0.09. It is a representative sample which should not contain biases other than selection by radio morphology. We graphically present the new data using histograms and sky maps. A semi-automated procedure is used to search for emission lines in the spectra in order to add and verify galaxy redshifts. We find that the average apparent fraction of emission line galaxies is about 9% in both the clusters and the field. We investigate the magnitude completeness of our redshift surveys with CCD data for a test case, Abell 690. This case indicates that our galaxy target lists are deeper than the detection limit of a typical MX exposure, and they are 82% complete down to R=19.0. The importance of the uniformity of the placement of fibers on targets is posited, and we evaluate this in our datasets. We find some cases of non-uniformities which may influence dynamical analyses. A second paper will use this database to look for correlations between the WAT radio morphology and the cluster's dynamical state.Comment: 15 pages, 5 figures, 7 tables. To appear in the Astronomical Journa

Cluster Winds Blow along Supercluster Axes

Within Abell galaxy clusters containing wide-angle tailed radio sources, there is evidence of a ``prevailing wind'' which directs the WAT jets. We study the alignment of WAT jets and nearby clusters to test the idea that this wind may be a fossil of drainage along large-scale supercluster axes. We also test this idea with a study of the alignment of WAT jets and supercluster axes. Statistical test neighbours indicate no alignment of WAT jets towards nearest clusters, but do indicate approximately 98% confidence in alignment with the long axis of the supercluster in which the cluster lies. We find a preferred scale for such superclusters of order 25 Mpc $h^{-1}$.Comment: Latex, 5 pages, with 5 postscript figures. To be published in MNRAS. Slight revisions to coincide with journal text. Linked to color image at http://kusmos.phsx.ukans.edu/~melott/images/A2634SUW.jp

Far infrared properties of the rare-earth scandate DyScO3

We present reflectance measurements in the infrared region on a single crystal the rare earth scandate DyScO3. Measurements performed between room temperature and 10 K allow to determine the frequency of the infrared-active phonons, never investigated experimentally, and to get information on their temperature dependence. A comparison with the phonon peak frequency resulting from ab-initio computations is also provided. We finally report detailed data on the frequency dependence of the complex refractive index of DyScO3 in the terahertz region, which is important in the analysis of terahertz measurements on thin films deposited on DyScO3

Cluster Structure in Cosmological Simulations I: Correlation to Observables, Mass Estimates, and Evolution

We use Enzo, a hybrid Eulerian AMR/N-body code including non-gravitational heating and cooling, to explore the morphology of the X-ray gas in clusters of galaxies and its evolution in current generation cosmological simulations. We employ and compare two observationally motivated structure measures: power ratios and centroid shift. Overall, the structure of our simulated clusters compares remarkably well to low-redshift observations, although some differences remain that may point to incomplete gas physics. We find no dependence on cluster structure in the mass-observable scaling relations, T_X-M and Y_X-M, when using the true cluster masses. However, estimates of the total mass based on the assumption of hydrostatic equilibrium, as assumed in observational studies, are systematically low. We show that the hydrostatic mass bias strongly correlates with cluster structure and, more weakly, with cluster mass. When the hydrostatic masses are used, the mass-observable scaling relations and gas mass fractions depend significantly on cluster morphology, and the true relations are not recovered even if the most relaxed clusters are used. We show that cluster structure, via the power ratios, can be used to effectively correct the hydrostatic mass estimates and mass-scaling relations, suggesting that we can calibrate for this systematic effect in cosmological studies. Similar to observational studies, we find that cluster structure, particularly centroid shift, evolves with redshift. This evolution is mild but will lead to additional errors at high redshift. Projection along the line of sight leads to significant uncertainty in the structure of individual clusters: less than 50% of clusters which appear relaxed in projection based on our structure measures are truly relaxed.Comment: 57 pages, 18 figures, accepted to ApJ, updated definition of T_X and M_gas but results unchanged, for version with full resolution figures, see http://www.ociw.edu/~tesla/sims.ps.g