The telerobot testbed: An architecture for remote servicing

The NASA/OAST Telerobot Testbed will reach its next increment in development by the end of FY-89. The testbed will have the capability for: force reflection in teleoperation, shared control, traded control, operator designate and relative update. These five capabilities will be shown in a module release and exchange operation using mockups of Orbital Replacement Units (ORU). This development of the testbed shows examples of the technologies needed for remote servicing, particularly under conditions of delay in transmissions to the servicing site. Here, the following topics are presented: the system architecture of the testbed which incorporates these telerobotic technologies for servicing, the implementation of the five capabilities and the operation of the ORU mockups

System engineering techniques for establishing balanced design and performance guidelines for the advanced telerobotic testbed

Novel system engineering techniques have been developed and applied to establishing structured design and performance objectives for the Telerobotics Testbed that reduce technical risk while still allowing the testbed to demonstrate an advancement in state-of-the-art robotic technologies. To estblish the appropriate tradeoff structure and balance of technology performance against technical risk, an analytical data base was developed which drew on: (1) automation/robot-technology availability projections, (2) typical or potential application mission task sets, (3) performance simulations, (4) project schedule constraints, and (5) project funding constraints. Design tradeoffs and configuration/performance iterations were conducted by comparing feasible technology/task set configurations against schedule/budget constraints as well as original program target technology objectives. The final system configuration, task set, and technology set reflected a balanced advancement in state-of-the-art robotic technologies, while meeting programmatic objectives and schedule/cost constraints

A system architecture for a planetary rover

Each planetary mission requires a complex space vehicle which integrates several functions to accomplish the mission and science objectives. A Mars Rover is one of these vehicles, and extends the normal spacecraft functionality with two additional functions: surface mobility and sample acquisition. All functions are assembled into a hierarchical and structured format to understand the complexities of interactions between functions during different mission times. It can graphically show data flow between functions, and most importantly, the necessary control flow to avoid unambiguous results. Diagrams are presented organizing the functions into a structured, block format where each block represents a major function at the system level. As such, there are six blocks representing telecomm, power, thermal, science, mobility and sampling under a supervisory block called Data Management/Executive. Each block is a simple collection of state machines arranged into a hierarchical order very close to the NASREM model for Telerobotics. Each layer within a block represents a level of control for a set of state machines that do the three primary interface functions: command, telemetry, and fault protection. This latter function is expanded to include automatic reactions to the environment as well as internal faults. Lastly, diagrams are presented that trace the system operations involved in moving from site to site after site selection. The diagrams clearly illustrate both the data and control flows. They also illustrate inter-block data transfers and a hierarchical approach to fault protection. This systems architecture can be used to determine functional requirements, interface specifications and be used as a mechanism for grouping subsystems (i.e., collecting groups of machines, or blocks consistent with good and testable implementations)

The NASA/OAST telerobot testbed architecture

Through a phased development such as a laboratory-based research testbed, the NASA/OAST Telerobot Testbed provides an environment for system test and demonstration of the technology which will usefully complement, significantly enhance, or even replace manned space activities. By integrating advanced sensing, robotic manipulation and intelligent control under human-interactive supervision, the Testbed will ultimately demonstrate execution of a variety of generic tasks suggestive of space assembly, maintenance, repair, and telescience. The Testbed system features a hierarchical layered control structure compatible with the incorporation of evolving technologies as they become available. The Testbed system is physically implemented in a computing architecture which allows for ease of integration of these technologies while preserving the flexibility for test of a variety of man-machine modes. The development currently in progress on the functional and implementation architectures of the NASA/OAST Testbed and capabilities planned for the coming years are presented

GG-prime and GG-primary GG-ideals on GG-schemes

Let $G$ be a flat finite-type group scheme over a scheme $S$, and $X$ a noetherian $S$-scheme on which $G$-acts. We define and study $G$-prime and $G$-primary $G$-ideals on $X$ and study their basic properties. In particular, we prove the existence of minimal $G$-primary decomposition and the well-definedness of $G$-associated $G$-primes. We also prove a generalization of Matijevic-Roberts type theorem. In particular, we prove Matijevic-Roberts type theorem on graded rings for $F$-regular and $F$-rational properties.Comment: 54pages, added Example 6.16 and the reference [8]. The final versio

Single-lined Spectroscopic Binary Star Candidates in the RAVE Survey

Repeated spectroscopic observations of stars in the Radial Velocity Experiment (RAVE) database are used to identify and examine single-lined binary (SB1) candidates. The RAVE latest internal database (VDR3) includes radial velocities, atmospheric and other parameters for approximately quarter million of different stars with little less than 300,000 observations. In the sample of ~20,000 stars observed more than once, 1333 stars with variable radial velocities were identified. Most of them are believed to be SB1 candidates. The fraction of SB1 candidates among stars with several observations is between 10% and 15% which is the lower limit for binarity among RAVE stars. Due to the distribution of time spans between the re-observation that is biased towards relatively short timescales (days to weeks), the periods of the identified SB1 candidates are most likely in the same range. Because of the RAVE's narrow magnitude range most of the dwarf candidates belong to the thin Galactic disk while the giants are part of the thick disk with distances extending to up to a few kpc. The comparison of the list of SB1 candidates to the VSX catalog of variable stars yielded several pulsating variables among the giant population with the radial velocity variations of up to few tens of km/s. There are 26 matches between the catalog of spectroscopic binary orbits (SB9) and the whole RAVE sample for which the given periastron time and the time of RAVE observation were close enough to yield a reliable comparison. RAVE measurements of radial velocities of known spectroscopic binaries are consistent with their published radial velocity curves.Comment: 10 pages, 7 figures, accepted for publication in A

The RAVE survey: the Galactic escape speed and the mass of the Milky Way

We construct new estimates on the Galactic escape speed at various Galactocentric radii using the latest data release of the Radial Velocity Experiment (RAVE DR4). Compared to previous studies we have a database larger by a factor of 10 as well as reliable distance estimates for almost all stars. Our analysis is based on the statistical analysis of a rigorously selected sample of 90 high-velocity halo stars from RAVE and a previously published data set. We calibrate and extensively test our method using a suite of cosmological simulations of the formation of Milky Way-sized galaxies. Our best estimate of the local Galactic escape speed, which we define as the minimum speed required to reach three virial radii $R_{340}$, is $533^{+54}_{-41}$ km/s (90% confidence) with an additional 5% systematic uncertainty, where $R_{340}$ is the Galactocentric radius encompassing a mean over-density of 340 times the critical density for closure in the Universe. From the escape speed we further derive estimates of the mass of the Galaxy using a simple mass model with two options for the mass profile of the dark matter halo: an unaltered and an adiabatically contracted Navarro, Frenk & White (NFW) sphere. If we fix the local circular velocity the latter profile yields a significantly higher mass than the un-contracted halo, but if we instead use the statistics on halo concentration parameters in large cosmological simulations as a constraint we find very similar masses for both models. Our best estimate for $M_{340}$, the mass interior to $R_{340}$ (dark matter and baryons), is $1.3^{+0.4}_{-0.3} \times 10^{12}$ M$_\odot$ (corresponding to $M_{200} = 1.6^{+0.5}_{-0.4} \times 10^{12}$ M$_\odot$). This estimate is in good agreement with recently published independent mass estimates based on the kinematics of more distant halo stars and the satellite galaxy Leo I.Comment: 16 pages, 15 figures; accepted for publication in Astronomy & Astrophysic

Exploring the Morphology of RAVE Stellar Spectra

The RAdial Velocity Experiment (RAVE) is a medium resolution R~7500 spectroscopic survey of the Milky Way which already obtained over half a million stellar spectra. They present a randomly selected magnitude-limited sample, so it is important to use a reliable and automated classification scheme which identifies normal single stars and discovers different types of peculiar stars. To this end we present a morphological classification of 350,000 RAVE survey stellar spectra using locally linear embedding, a dimensionality reduction method which enables representing the complex spectral morphology in a low dimensional projected space while still preserving the properties of the local neighborhoods of spectra. We find that the majority of all spectra in the database ~90-95% belong to normal single stars, but there is also a significant population of several types of peculiars. Among them the most populated groups are those of various types of spectroscopic binary and chromospherically active stars. Both of them include several thousands of spectra. Particularly the latter group offers significant further investigation opportunities since activity of stars is a known proxy of stellar ages. Applying the same classification procedure to the sample of normal single stars alone shows that the shape of the projected manifold in two dimensional space correlates with stellar temperature, surface gravity and metallicity.Comment: 28 pages, 11 figures, accepted for publication in ApJ

4MOST Consortium Survey 3: Milky Way Disc and Bulge Low-Resolution Survey (4MIDABLE-LR)

The mechanisms of the formation and evolution of the Milky Way are encoded in the orbits, chemistry and ages of its stars. With the 4MOST MIlky way Disk And BuLgE Low-Resolution Survey (4MIDABLE-LR) we aim to study kinematic and chemical substructures in the Milky Way disc and bulge region with samples of unprecedented size out to larger distances and greater precision than conceivable with Gaia alone or any other ongoing or planned survey. Gaia gives us the unique opportunity for target selection based almost entirely on parallax and magnitude range, hence increasing the efficiency in sampling larger Milky Way volumes with well-defined and effective selection functions. Our main goal is to provide a detailed chrono-chemo-kinematical extended map of our Galaxy and the largest Gaia follow-up down to $G = 19$ magnitudes (Vega). The complex nature of the disc components (for example, large target densities and highly structured extinction distribution in the Milky Way bulge and disc area), prompted us to develop a survey strategy with five main sub-surveys that are tailored to answer the still open questions about the assembly and evolution of our Galaxy, while taking full advantage of the Gaia data.Comment: Part of the 4MOST issue of The Messenger, published in preparation of 4MOST Community Workshop, see http://www.eso.org/sci/meetings/2019/4MOST.htm

Synthesis of CdS and CdSe nanocrystallites using a novel single-molecule precursors approach

The synthesis of CdS and CdSe nanocrystallites using the thermolysis of several dithioor diselenocarbamato complexes of cadmium in trioctylphosphine oxide (TOPO) is reported. The nanodispersed materials obtained show quantum size effects in their optical spectra and exhibit near band-edge luminescence. The influence of experimental parameters on the properties of the nanocrystallites is discussed. HRTEM images of these materials show well-defined, crystalline nanosized particles. Standard size fractionation procedures can be performed in order to narrow the size dispersion of the samples. The TOPO-capped CdS and CdSe nanocrystallites and simple organic bridging ligands, such as 2,2¢-bipyrimidine, are used as the starting materials for the preparation of novel nanocomposites. The optical properties shown by these new nanocomposites are compared with those of the starting nanodispersed materials