Data acquisition and path selection decision making for an autonomous roving vehicle

Problems related to the guidance of an autonomous rover for unmanned planetary exploration were investigated. Topics included in these studies were: simulation on an interactive graphics computer system of the Rapid Estimation Technique for detection of discrete obstacles; incorporation of a simultaneous Bayesian estimate of states and inputs in the Rapid Estimation Scheme; development of methods for estimating actual laser rangefinder errors and their application to date provided by Jet Propulsion Laboratory; and modification of a path selection system simulation computer code for evaluation of a hazard detection system based on laser rangefinder data

Possible ΔΔ\Delta\Delta dibaryons in the quark cluster model

In the framework of RGM, the binding energy of one channel $\Delta\Delta_{(3,0)}$($d^*$) and $\Delta\Delta_{(0,3)}$ are studied in the chiral SU(3) quark cluster model. It is shown that the binding energies of the systems are a few tens of MeV. The behavior of the chiral field is also investigated by comparing the results with those in the SU(2) and the extended SU(2) chiral quark models. It is found that the symmetry property of the $\Delta\Delta$ system makes the contribution of the relative kinetic energy operator between two clusters attractive. This is very beneficial for forming the bound dibaryon. Meanwhile the chiral-quark field coupling also plays a very important role on binding. The S-wave phase shifts and the corresponding scattering lengths of the systems are also given.Comment: LeTex with 2 ps figure

Effect of stoichiometry on oxygen incorporation in MgB2 thin films

The amount of oxygen incorporated into MgB2 thin films upon exposure to atmospheric gasses is found to depend strongly on the material's stoichiometry. Rutherford backscattering spectroscopy was used to monitor changes in oxygen incorporation resulting from exposure to: (a) ambient atmosphere, (b) humid atmospheres, (c) anneals in air and (d) anneals in oxygen. The study investigated thin-film samples with compositions that were systematically varied from Mg0.9B2 to Mg1.1B2. A significant surface oxygen contamination was observed in all of these films. The oxygen content in the bulk of the film, on the other hand, increased significantly only in Mg rich films and in films exposed to humid atmospheres.Comment: 10 pages, 6 figures, 1 tabl

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to an unmanned exploration of the planet Mars by means of an autonomous roving planetary vehicle are investigated. These problems include: design, construction and evaluation of the vehicle itself and its control and operating systems. More specifically, vehicle configuration, dynamics, control, propulsion, hazard detection systems, terrain sensing and modelling, obstacle detection concepts, path selection, decision-making systems, and chemical analyses of samples are studied. Emphasis is placed on development of a vehicle capable of gathering specimens and data for an Augmented Viking Mission or to provide the basis for a Sample Return Mission

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars are reported. Problem areas include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis, terrain modeling and path selection; and chemical analysis of specimens. These tasks are summarized: vehicle model design, mathematical model of vehicle dynamics, experimental vehicle dynamics, obstacle negotiation, electrochemical controls, remote control, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer subsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, and chromatograph model evaluation and improvement

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to the design and control of an autonomous rover for the purpose of unmanned exploration of the planets were considered. Building on the basis of prior studies, a four wheeled rover of unusual mobility and maneuverability was further refined and tested under both laboratory and field conditions. A second major effort was made to develop autonomous guidance. Path selection systems capable of dealing with relatively formidable hazard and terrains involving various short range (1.0-3.0 meters), hazard detection systems using a triangulation detection concept were simulated and evaluated. The mechanical/electronic systems required to implement such a scheme were constructed and tested. These systems include: laser transmitter, photodetectors, the necessary data handling/controlling systems and a scanning mast. In addition, a telemetry system to interface the vehicle, the off-board computer and a remote control module for operator intervention were developed. Software for the autonomous control concept was written. All of the systems required for complete autonomous control were shown to be satisfactory except for that portion of the software relating to the handling of interrupt commands

Anomalous high energy dispersion in photoemission spectra from insulating cuprates

Angle resolved photoelectron spectroscopic measurements have been performed on an insulating cuprate Ca_2CuO_2Cl_2. High resolution data taken along the \Gamma to (pi,pi) cut show an additional dispersive feature that merges with the known dispersion of the lowest binding energy feature, which follows the usual strongly renormalized dispersion of ~0.35 eV. This higher energy part reveals a dispersion that is very close to the unrenormalized band predicted by band theory. A transfer of spectral weight from the low energy feature to the high energy feature is observed as the \Gamma point is approached. By comparing with theoretical calculations the high energy feature observed here demonstrates that the incoherent portion of the spectral function has significant structure in momentum space due to the presence of various energy scales.Comment: 5 pages, 3 figure

Complete relativistic equation of state for neutron stars

We construct the equation of state (EOS) in a wide density range for neutron stars using the relativistic mean field theory. The properties of neutron star matter with both uniform and non-uniform distributions are studied consistently. The inclusion of hyperons considerably softens the EOS at high densities. The Thomas-Fermi approximation is used to describe the non-uniform matter, which is composed of a lattice of heavy nuclei. The phase transition from uniform matter to non-uniform matter occurs around $0.06 \rm{fm^{-3}}$, and the free neutrons drip out of nuclei at about $2.4 \times 10^{-4}\ \rm{fm^{-3}}$. We apply the resulting EOS to investigate the neutron star properties such as maximum mass and composition of neutron stars.Comment: 23 pages, REVTeX, 9 ps figures, to appear in Phys. Rev.