Multi-limbed locomotion systems for space construction and maintenance

A well developed technology of coordination of multi-limbed locomotory systems is now available. Results from a NASA sponsored study of several years ago are presented. This was a simulation study of a three-limbed locomotion/manipulation system. Each limb had six degrees of freedom and could be used either as a locomotory grasping hand-holds, or as a manipulator. The focus of the study was kinematic coordination algorithms. The presentation will also include very recent results from the Adaptive Suspension Vehicle Project. The Adaptive Suspension Vehicle (ASV) is a legged locomotion system designed for terrestrial use which is capable of operating in completely unstructured terrain in either a teleoperated or operator-on-board mode. Future development may include autonomous operation. The ASV features a very advanced coordination and control system which could readily be adapted to operation in space. An inertial package with a vertical gyro, and rate gyros and accelerometers on three orthogonal axes provides body position information at high bandwidth. This is compared to the operator's commands, injected via a joystick to provide a commanded force system on the vehicle's body. This system is, in turn, decomposed by a coordination algorithm into force commands to those legs which are in contact with the ground

Superluminal Propagation and Acausality of Nonlinear Massive Gravity

Massive gravity is an old idea: trading geometry for mass. Much effort has been expended on establishing a healthy model, culminating in the current ghost-free version. We summarize here our recent findings -- that it is still untenable -- because it is locally acausal: CTC solutions can be constructed in a small neighborhood of any event.Comment: Contribution to Conference in Honour of the 90th Birthday of Freeman Dyson -- To Appear in Proceeding. v2: Explicit CTC example, and other improvements, adde

Development of biaxial test fixture includes cryogenic application

Test fixture has the capability of producing biaxial stress fields in test specimens to the point of failure. It determines biaxial stress by dividing the applied load by the net cross section. With modification it can evaluate materials, design concepts, and production hardware at cryogenic temperatures

Effect of Engine Operating Conditions on the Vaporization of Safety Fuels

Tests were conducted with the N.A.C.A. combustion apparatus to determine the effect of compression ratio and engine temperature on the vaporization of a hydrogenated "safety fuel" during the compression stroke under conditions similar to those in a spark-ignition engine. The effects of fuel boiling temperature on vaporization using gasoline, safety fuel, and Diesel fuel oil was also investigated. The results show that increasing the compression ratio has little effect on the rate of fuel vaporization, but that increasing the air temperature by increasing the engine temperature increases the rate of fuel vaporization. The results also show that the vaporized fuel forms a homogeneous mixture with the air more rapidly that does the atomized fuel spray

X-ray Emission from Magnetically Torqued Disks of Oe/Be Stars

We focus attention on the Oe/Be stars to test the concept that the disks of these stars form by magnetic channeling of wind material toward the equator. Calculations are made of the X-rays expected from the Magnetically Torqued Disk (MTD) model for Be stars discussed by Cassinelli et al. (2002), by Maheswaran (2003), and by Brown et al. (2004). The dominant parameters in the model are the $\beta$ value of the velocity law, the rotation rate of the star, $S_o$, and the ratio of the magnetic field energy density to the disk gravitational energy density, $\gamma$. The model predictions are compared with the $ROSAT$ observations obtained for an O9.5 star $\zeta$ Oph from \Berghofer et al. (1996) and for 7 Be stars from Cohen et al. (1997). Extra considerations are also given here to the well studied Oe star $\zeta$ Oph for which we have $Chandra$ observations of the X-ray line profiles of the triad of He-like lines from the ion Mg XI.Comment: 28 pages with 6 figures. Accepted for publication in Ap

Ab-initio GMR and current-induced torques in Au/Cr multilayers

We report on an {\em ab-initio} study of giant magnetoresistance (GMR) and current-induced-torques (CITs) in Cr/Au multilayers that is based on non-equilibrium Green's functions and spin density functional theory. We find substantial GMR due primarily to a spin-dependent resonance centered at the Cr/Au interface and predict that the CITs are strong enough to switch the antiferromagnetic order parameter at current-densities $\sim 100$ times smaller than typical ferromagnetic metal circuit switching densities.Comment: 8 pages, 6 figure

R4R^4 couplings, the fundamental membrane and exceptional theta correspondences

This letter is an attempt to carry out a first-principle computation in M-theory using the point of view that the eleven-dimensional membrane gives the fundamental degrees of freedom of M-theory. Our aim is to derive the exact BPS $R^4$ couplings in M-theory compactified on a torus $T^{d+1}$ from the toroidal BPS membrane, by pursuing the analogy with the one-loop string theory computation. We exhibit an Sl(3,\Zint) modular invariance hidden in the light-cone gauge (but obvious in the Polyakov approach), and recover the correct classical spectrum and membrane instantons; the summation measure however is incorrect. It is argued that the correct membrane amplitude should be given by an exceptional theta correspondence lifting Sl(3,\Zint) modular forms to \exc(\Zint) automorphic forms, generalizing the usual theta lift between Sl(2,\Zint) and SO(d,d,\Zint) in string theory. The exceptional correspondence $Sl(3)\times E_{6(6)}\subset E_{8(8)}$ offers the interesting prospect of solving the membrane small volume divergence and unifying membranes with five-branes