The Flight Telerobotic Servicer (FTS) NASA's first operational robotic system

NASA has completed the preliminary definition phase of the Flight Telerobotic Servicer (FTS) and is now preparing to begin the detailed design and fabrication phase. The FTS will be designed and built by Martin Marietta Astronautics Group in Denver, CO, for the Goddard Space Flight Center, in support of the Space Station Freedom Program. The design concepts for the FTS are discussed, as well as operational scenarios for the assembly, maintenance, servicing and inspection tasks which are being considered for the FTS. The upcoming Development Test Flight (DTF-1) is the first of two shuttle test flights to test FTS operations in the environment of space and to demonstrate the FTS capabilities in performing tasks for Space Station Freedom. Operational planning for DTF-1 is discussed as well as development plans for the operational support of the FTS on the space station

Hydrological Investigations at Biafo Glacier, Karakoram Range, Himalaya; an Important Source of Water For the Indus River

Over 80% of the flow of the Upper Indus River is derived from less than 20% of its area: essentially from zones of heavy snowfall and glacierized basins above 3500 m elevation. The trans-Himalaya n contribution comes largely from an area of some 20000 km2 of glacierized basins, mostly along the axis of the Greater Karakoram range and especially from 20-30 of the largest glacier basins. Very few glaciological investigations have so far been undertaken in this the major glacierized region of Central Asia. Biafo Glacier, one of the largest of the Karakoram glaciers, drains south-eastwards from the central Karakoram crest. Its basin covers a total area of 853 km2 , 628 km2 of which are permanent snow and ice, with 68% of the glacier area forming the accumulation zone. This paper describes investigations of snow accumulation, ablation , glacier movement, and glacier depth undertaken in the period 1985-87 , set against a background of investigations carried out over the last 130 yea rs. Biafo Glacier differs from most of the other Karakoram glaciers in being nourished mainly by direct snowfall rather than by avalanching; this has the advantage of allowing extensive investigation of accumulation over a broad range of altitude. Snow-accumulation studies in the Biafo Glacier basin have indicated that annual accumulation varies from 0.9 to 1.9 m of water equivalent between 4650 and 5450 m a .. s.l. This suggests an annual moisture input above the equilibrium line of approximately 0.6 km3. Monopulse radar measurements indicate the presence of ice thickness as great as 1400 m at the equilibrium line, although these results may not be completely reliable . Mean surface velocity during the summer of 0.8 m d -I has been measured near to the equilibrium line. Calculations of annual ice flux through the vertical cross-profile at the equilibrium line indicate a throughput of 0.7 km3 a-I Estimates from stake ablation measurements also suggest that ice loss on Biafo Glacier is about 0.7 km3 a-I. The close agreement between these three sets of measurements is reassuring, indicating that the ablation zone of Biafo Glacier, whose area covers 0.09% of the whole Upper Indus basin, produces approximately 0.9% of the total run-off. However. it should be mentioned that this estimate does not include water originating from seasonal snow melt, e either above or below the equilibrium line, or from rainfall. Net annual ice losses due to wastage of the glacier since 1910 are probably of the order of 0.4-{).5 m a-I; this would represent between 12 and 15% of annual water yield from melting ice

The Incremental Garbage Collection of Processes

Key Words and Phrases: garbage collection, multiprocessing systems, processor scheduling. "lazy evaluation, "eager" evaluation. CR Categories: 3.60, 3.80, 4.13, 4.22, 4.32. This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research contract N00014-75-C-0522. This paper was presented at the AI*PL Conference at Rochester, N.Y. in August, 1977.This paper investigates some problems associated with an argument evaluation order that we call "future" order, which is different from both call-by-name and call-by-value. In call-by-future, each formal parameter of a function is bound to a separate process (called a "future") dedicated to the evaluation of the corresponding argument. This mechanism allows the fully parallel evaluation of arguments to a function, and has been shown to augment the expressive power of a language. We discuss an approach to a problem that arises in this context: futures which were thought to be relevant when they were created become irrelevant through being ignored in the body of the expression where they were bound. The problem of irrelevant processes also appears in multiprocessing problem-solving systems which start several processors working on the same problem but with different methods, and return with the solution which finishes first. This parallel method strategy has the drawback that the processes which are investigating the losing methods must be identified, stopped, and re-assigned to more useful tasks. The solution we propose is that of garbage collection. We propose that the goal structure of the solution plan be explicitly represented in memory as part of the graph memory (like Lisp's heap) so that a garbage collection algorithm can discover which processes are performing useful work, and which can be recycled for a new task. An incremental algorithm for the unified garbage collection of storage and processes is described.MIT Artificial Intelligence Laboratory Department of Defense Advanced Research Projects Agenc

Comment on "Superconducting gap anisotropy vs. doping level in high-T_c cuprates" by C. Kendziora et al, PRL 77, 727 (1996)

In a recent paper Kendziora et al concluded that the superconducting gap in overdoped Bi-2212 is isotropic. From data obtained from electronic Raman scattering measurements, their conclusion was based on the observation that pair breaking peaks occured at approximately the same frequency in different scattering geometries and that the normalized scattering intensity at low energies was strongly depleted. We discuss a different interpretation of the raw data and present new data which is consistent with a strongly anisotropic gap with nodes. The spectra can be successfully described by a model for Raman scattering in a d_{x^{2}-y^{2}} superconductor with spin fluctuations and impurity scattering included.Comment: 1 page revtex plus 1 postscript figur

Lithiation of InSb and Cu2_2Sb : A Theoretical Investigation

In this work the mechanism of Li insertion/intercalation in the anode materials InSb and Cu$_2$Sb is investigated by means of the first principles total energy calculations. The total charge densities for the lithiated products of the two compounds are presented. Based on these results the change in the bonding character on lithiation is discussed. Further, the isomer shift for InSb and Cu$_2$Sb and there various lithiated products is reported. The average insertion/intercalation voltage and volume expansion for transitions from InSb to Li$_2$InSb and Cu$_2$Sb to Li$_2$CuSb are calculated and found to be in good agreement with the experimental values. These findings help to resolve the controversy regarding the lithiation mechanism in InSb.Comment: 5 pages 3 figure

The Etiology of Observed Negative Emotionality from 14 to 24 Months

We examined the magnitude of genetic and environmental influences on observed negative emotionality at age 14, 20, and 24 months. Participants were 403 same-sex twin pairs recruited from the Longitudinal Twin Study whose emotional responses to four different situations were coded by independent raters. Negative emotionality showed significant consistency across settings, and there was evidence of a latent underlying negative emotionality construct. Heritability decreased, and the magnitude of shared environmental influences increased, for the latent negative emotionality construct from age 14 to 24 months. There were significant correlations between negative emotionality assessed at age 14, 20, and 24 months, and results suggested common genetic and shared environmental influences affecting negative emotionality across age, and that age-specific influences are limited to non-shared environmental influences, which include measurement error

The Role of Attention-Deficit/hyperactivity Disorder in the Association between Verbal Ability and Conduct Disorder

Although there is clear evidence that low verbal ability is a risk factor for conduct disorder (CD), some researchers have questioned whether this association is due to the common comorbidity between attention-deficit/hyperactivity disorder (ADHD) and CD. The present study examined the association among verbal ability, ADHD, and CD in a genetically informative sample in order to examine the role of genes and/or environmental influences shared in common with ADHD on the covariation between verbal ability and CD. Participants were 2744 adolescents from the Center for Antisocial Drug Dependence (CADD), and included 360 monozygotic (MZ) female twin pairs, 221 dizygotic (DZ) female twin pairs, 297 MZ male twin pairs, 220 DZ male twin pairs, and 274 opposite-sex DZ twin pairs. The Diagnostic Interview Schedule for Children (DISC-IV) was used to assess lifetime symptoms of ADHD and CD. Verbal ability was assessed via the Vocabulary subtest of the Wechsler Adult Intelligence Scale III (WAIS-III) for individuals over the age of 16 and the Vocabulary subtest of the Wechsler Intelligence Scale for Children III (WISC-III) for individuals under the age of 16. There was a small but significant negative covariance between verbal ability and CD and between verbal ability and ADHD. Results also suggest that the covariation between verbal ability and CD is due to influences shared in common with ADHD

Schwarzschild black hole lensing

We study strong gravitational lensing due to a Schwarzschild black hole. Apart from the primary and the secondary images we find a sequence of images on both sides of the optic axis; we call them {\em relativistic images}. These images are formed due to large bending of light near r = 3M (the closest distance of approach r_o is greater than 3M). The sources of the entire universe are mapped in the vicinity of the black hole by these images. For the case of the Galactic supermassive ``black hole'' they are formed at about 17 microarcseconds from the optic axis. The relativistic images are not resolved among themselves, but they are resolved from the primary and secondary images. However the relativistic images are very much demagnified unless the observer, lens and source are very highly aligned. Due to this and some other difficulties the observation of these images does not seem to be feasible in near future. However, it would be a great success of the general theory of relativity in a strong gravitational field if they ever were observed and it would also give an upper bound, r_o = 3.21 M, to the compactness of the lens, which would support the black hole interpretation of the lensing object.Comment: RevTex, 5 eps files are included, observational difficulties are discussed and there are some changes in presentatio