Planetary Radio Interferometry and Doppler Experiment (PRIDE) Technique: a Test Case of the Mars Express Phobos Fly-by. 2. Doppler tracking: Formulation of observed and computed values, and noise budget

Context. Closed-loop Doppler data obtained by deep space tracking networks (e.g., NASA's DSN and ESA's Estrack) are routinely used for navigation and science applications. By "shadow tracking" the spacecraft signal, Earth-based radio telescopes involved in Planetary Radio Interferometry and Doppler Experiment (PRIDE) can provide open-loop Doppler tracking data when the dedicated deep space tracking facilities are operating in closed-loop mode only. Aims. We explain in detail the data processing pipeline, discuss the capabilities of the technique and its potential applications in planetary science. Methods. We provide the formulation of the observed and computed values of the Doppler data in PRIDE tracking of spacecraft, and demonstrate the quality of the results using as a test case an experiment with ESA's Mars Express spacecraft. Results. We find that the Doppler residuals and the corresponding noise budget of the open-loop Doppler detections obtained with the PRIDE stations are comparable to the closed-loop Doppler detections obtained with the dedicated deep space tracking facilities

Venus Express radio occultation observed by PRIDE

Context. Radio occultation is a technique used to study planetary atmospheres by means of the refraction and absorption of a spacecraft carrier signal through the atmosphere of the celestial body of interest, as detected from a ground station on Earth. This technique is usually employed by the deep space tracking and communication facilities (e.g., NASA's Deep Space Network (DSN), ESA's Estrack). Aims. We want to characterize the capabilities of the Planetary Radio Interferometry and Doppler Experiment (PRIDE) technique for radio occultation experiments, using radio telescopes equipped with Very Long Baseline Interferometry (VLBI) instrumentation. Methods. We conducted a test with ESA's Venus Express (VEX), to evaluate the performance of the PRIDE technique for this particular application. We explain in detail the data processing pipeline of radio occultation experiments with PRIDE, based on the collection of so-called open-loop Doppler data with VLBI stations, and perform an error propagation analysis of the technique. Results. With the VEX test case and the corresponding error analysis, we have demonstrated that the PRIDE setup and processing pipeline is suited for radio occultation experiments of planetary bodies. The noise budget of the open-loop Doppler data collected with PRIDE indicated that the uncertainties in the derived density and temperature profiles remain within the range of uncertainties reported in previous Venus' studies. Open-loop Doppler data can probe deeper layers of thick atmospheres, such as that of Venus, when compared to closed-loop Doppler data. Furthermore, PRIDE through the VLBI networks around the world, provides a wide coverage and range of large antenna dishes, that can be used for this type of experiments

Applied fault detection and diagnosis for industrial gas turbine systems

The paper presents readily implementable approaches for fault detection and diagnosis (FDD) based on measurements from multiple sensor groups, for industrial systems. Specifically, the use of hierarchical clustering (HC) and self-organizing map neural networks (SOMNNs) are shown to provide robust and user-friendly tools for application to industrial gas turbine (IGT) systems. HC fingerprints are found for normal operation, and FDD is achieved by monitoring cluster changes occurring in the resulting dendrograms. Similarly, fingerprints of operational behaviour are also obtained using SOMNN based classification maps (CMs) that are initially determined during normal operation, and FDD is performed by detecting changes in their CMs. The proposed methods are shown to be capable of FDD from a large group of sensors that measure a variety of physical quantities. A key feature of the paper is the development of techniques to accommodate transient system operation, which can often lead to false-alarms being triggered when using traditional techniques if the monitoring algorithms are not first desensitized. Case studies showing the efficacy of the techniques for detecting sensor faults, bearing tilt pad wear and early stage pre-chamber burnout, are included. The presented techniques are now being applied operationally and monitoring IGTs in various regions of the world

Permanent Genetic Resources added to Molecular Ecology Resources Database 1 October 2010-30 November 2010

This article documents the addition of 277 microsatellite marker loci to the Molecular Ecology Resources Database. Loci were developed for the following species: Ascochyta rabiei, Cambarellus chapalanus, Chionodraco hamatus, Coptis omeiensis, Cynoscion nebulosus, Daphnia magna, Gerbillus nigeriae, Isurus oxyrinchus, Lates calcarifer, Metacarcinus magister, Oplegnathus fasciatus, Pachycondyla verenae, Phaethon lepturus, Pimelodus grosskopfii, Rotylenchulus reniformis, Scomberomorus niphonius, Sepia esculenta, Terapon jarbua, Teratosphaeria cryptica and Thunnus obesus. These loci were cross-tested on the following species: Austropotamobius italicus, Cambarellus montezumae, Cambarellus puer, Cambarellus shufeldtii, Cambarellus texanus, Chionodraco myersi, Chionodraco rastrospinosus, Coptis chinensis, Coptis chinensis var. brevisepala, Coptis deltoidea, Coptis teeta, Orconectes virilis, Pacifastacus leniusculus, Pimelodus bochii, Procambarus clarkii, Pseudopimelodus bufonius, Rhamdia quelen, Sepia andreana, Sepiella maindroni, Thunnus alalunga, Thunnus albacares, Thunnus maccoyii, Thunnus orientalis, Thunnus thynnus and Thunnus tonggol

Measurement of the 244^{244}Cm and 246^{246}Cm Neutron-Induced Cross Sections at the n_TOF Facility

The neutron capture reactions of the $^{244}$Cm and $^{246}$Cm isotopes open the path for the formation of heavier Cm isotopes and of heavier elements such as Bk and Cf in a nuclear reactor. In addition, both isotopes belong to the minor actinides with a large contribution to the decay heat and to the neutron emission in irradiated fuels proposed for the transmutation of nuclear waste and fast critical reactors. The available experimental data for both isotopes are very scarce. We measured the neutron capture cross section with isotopically enriched samples of $^{244}$Cm and $^{246}$Cm provided by JAEA. The measurement covers the range from 1 eV to 250 eV in the n_TOF Experimental Area 2 (EAR-2). In addition, a normalization measurement with the $^{244}$Cm sample was performed at Experimental Area 1 (EAR-1) with the Total Absorption Calorimeter (TAC)

A Control System for Multi-modal Stereognosis

This work describes the architecture of an integrated multi-modal sensory (vision and touch) computational system. We propose to use an approach based on robotics and control theory that is motivated by biology and developmental psychology, in order to integrate the haptic and visual information processing. A robotic agent has to deal with its dynamic environment learning how to construct a map and how to keep this map consistent with a current perception of the world. We consider two policies for the system control. The first is developed using a feedforward strategy and the second we have derived using Q-learning. We show the results carried out in the simulation environment. Basically, as a practical result, the system is able to foveate on regions of interest of its environment, and to change its focus of attention from one region to another. Also, an efficient feature extraction takes place allowing object categorization. This work developed in simulation is the basis for the impl..

Cooperation Among Multiple Robotic Mechanisms

. This paper proposes an architecture to achieve cooperative behaviour among a set of robotic devices. The architecture, with a pure reactive nature privileges the use of local decision mechanisms instead of centralized ones. The performance assessment for the execution of a class of tasks common in the operation of mobile manipulators is made via a particular mission composed by a number of tasks. 1 Introduction The use of robots in the execution of human-like tasks is highly dependent on the locomotion and manipulation /grasping capabilities of the robotic devices. Surveillance, maintenance and material handling are examples for which systems with multiple robotic devices can be used with advantage. Other applications of multiple robotic systems can be found in the production lines of highly automated plants. Although exhibiting a high degree of flexibility, multiple robotic devices do not often operate in non structured environments, because it is difficult to achieve the required ..

Embedding Learning in Behaviour-Based Architectures: A Conceptual Approach

: This paper addresses the identification of the key elements to be present in a generic, behaviour -based architecture for robot control. These elements include the definition of behaviours aiming at rough task execution and the use of learning to improve the performance of the primitive behaviour set. Experimental results, with real and simulated systems, to demonstrate cooperative behaviour between a mobile platform and a manipulator are presented. Keywords: Behaviour, Learning, Cooperation. 1 Introduction Although there are several successful application examples of behaviour-based architectures, [2], [3], [4], [7], [9], there still is a lack of methodologies for representation, synthesis and analysis of this approach. This paper proposes a representation with properties suitable to formal analysis, namely, in what concerns controllability. The paper is organized as follows. Section 2 defines the concepts used in the remaining of the paper. Section 3 proposes an architecture supp..

Analysis of an Interplanetary Coronal Mass Ejection by a Spacecraft Radio Signal: A Case Study

Tracking radio communication signals from planetary spacecraft with ground-based telescopes offers the possibility to study the electron density and the interplanetary scintillation of the solar wind. Observations of the telemetry link of planetary spacecraft have been conducted regularly with ground antennae from the European Very Long Baseline Interferometry Network, aiming to study the propagation of radio signals in the solar wind at different solar elongations and distances from the Sun. We have analyzed the Mars Express spacecraft radio signal phase fluctuations while, based on a 3-D heliosphere plasma simulation, an interplanetary coronal mass ejection (ICME) crossed the radio path during one of our observations on 6 April 2015. Our measurements showed that the phase scintillation indices increased by a factor of 4 during the passage of the ICME. The method presented here confirms that the phase scintillation technique based on spacecraft signals provides information of the properties and propagation of the ICMEs in the heliosphere