Impedance hand controllers for increasing efficiency in teleoperations

An impedance hand controller with direct force feedback is examined as an alternative to bilateral force reflection in teleoperations involving force contact. Experimentation revealed an operator preference for direct force feedback which provided a better feel of contact with the environment. The advantages of variable arm impedance were also made clear in tracking tests where subjects preferred the larger hand controller inertias made possible by the acceleration feedback loop in the master arm. The ability to decouple the hand controller impedance from the slave arm dynamics is expected to be even more significant when the inertial properties of various payloads in the slave arm are considered

HI and Hot Gas in the Outskirts of the M81 Group

Results are presented from a wide area, high resolution HI synthesis survey of the outer regions of the nearby M81 group, where internal (galactic) and external (group-related) evolution processes can be studied simultaneously in great detail. The survey encompasses the star forming dwarf galaxies M81dwA, UGC4483, and HoII, where evidence of ram pressure stripping was recently discovered. The data do not reveal any intergalactic HI, but the outer parts of HoII are reminiscent of tidal tails. We argue however that those structures are equally consistent with the latest ram pressure models including cooling. The case for a hot intergalactic medium in this poor, spiral-only group is thus still open. The survey also puts tight constraints on possible counterparts to the local high velocity cloud population in an external group, reaching a 3 sigma column density of 10^19 atom/cm^2 and a 6 sigma limiting mass of 1.5x10^5 M_sun.Comment: 6 pages, 3 figures, to be published in "Recycling Intergalactic and Interstellar Matter," eds. P.-A. Duc, J. Braine, & E. Brinks (ASP: San Francisco

Space shuttle molecular and wake vacuum measurements

The wake environment of the space shuttle is analyzed to determine whether it is feasible to perform ultrahigh vacuum experiments in or near the payload bay with the shuttle oriented such that the payload bay faces the antivelocity direction. Several mechanisms were considered by which molecules could approach the payload bay from this direction and their relative contributions to the wake environment are estimated. These mechanisms include ambient atmospheric molecules that have velocities in excess of the orbital velocity which can overtake the shuttle, ambient atmospheric molecules that are backscattered by collisions with the shuttle induced atmosphere, and self scattering from the induced atmosphere. These estimates are compared with the measurements made with the collimated mass spectrometer which was part of the Induced Environment Contamination Monitor flown on several of the early shuttle flights. Although the collimated mass spectrometer was not designed for this purpose and the instrument background for the species for which the collimator is effective is above the expected levels, upper limits can be established for these species in the wake environment which are consistent with the analysis. There was considerably more helium and argon observed in the wake direction than was predicted, however. Possible origins of these gases are discussed

HI studies of the Sculptor group galaxies. VIII. The background galaxies: NGC 24 and NGC 45

In order to complete our HI survey of galaxies in the Sculptor group area, VLA observations of NGC 24 and NGC 45 are presented. These two galaxies of similar magnitude M_B ~ -17.4 lie in the background of the Sculptor group and are low surface brightness galaxies, especially NGC 45. The HI distribution and kinematics are regular for NGC 24 while NGC 45 exhibits a kinematical twist of its major axis. A tilted-ring model shows that the position angle of the major axis changes by ~25 degrees. A best-fit model of their mass distribution gives mass-to-light ratios for the stellar disk of 2.5 and 5.2 for NGC 24 and NGC 45 respectively. These values are higher than the ones expected from stellar population synthesis models. Despite the large dark matter contribution, the galaxy mass is still dominated by the stellar component in their very inner regions. These high mass-to-light ratios are typical of what is seen in low surface brightness galaxies and may indicate that, in those galaxies, disks are far from the maximum disk case. The halo parameters derived from the best-fit models are thus lower limits.Comment: 23 pages, 10 figures, accepted for publication in The Astronomical Journa

A Search for Ionized Gas in the Draco and Ursa Minor Dwarf Spheroidal Galaxies

The Wisconsin H Alpha Mapper has been used to set the first deep upper limits on the intensity of diffuse H alpha emission from warm ionized gas in the Local Group dwarf spheroidal galaxies (dSphs) Draco and Ursa Minor. Assuming a velocity dispersion of 15 km/s for the ionized gas, we set limits for the H alpha intensity of less or equal to 0.024 Rayleighs and less or equal to 0.021 Rayleighs for the Draco and Ursa Minor dSphs, respectively, averaged over our 1 degree circular beam. Adopting a simple model for the ionized interstellar medium, these limits translate to upper bounds on the mass of ionized gas of approximately less than 10% of the stellar mass, or approximately 10 times the upper limits for the mass of neutral hydrogen. Note that the Draco and Ursa Minor dSphs could contain substantial amounts of interstellar gas, equivalent to all of the gas injected by dying stars since the end of their main star forming episodes more than 8 Gyr in the past, without violating these limits on the mass of ionized gas.Comment: 10 pages, 2 figures, AASTeX two-column format. Accepted for publication in The Astrophysical Journa