Six Degrees of Freedom Control with Each Hand?

For some time man has made six degree of freedom inputs to a pair of dextrous manipulators using both hands simultaneously by the use of the master/slave concept. The advent of the microprocessor has the potential to make the master/slave concept redundant by replacing the master with a mathematical model. All spacecraft to date, including the space shuttle, that were flown in six degrees of freedom were controlled by using both hands, the left hand controlling translation and the right rotation. Almost inevitably the same principle was applied to the CANADARM. At the instigation of NASA the development of a device whereby both translation and rotation could be combined allowing full control with one hand was developed. The development and testing of the device, and the extension of its application into spaceflight control are described. Also the concept of an adaptable workstation for multi-maniipulator and spacecraft flight control is discussed

Multi-axis manual controllers: A state-of-the-art report

A literature search was carried out to examine the feasibility of a six degree of freedom hand controller. Factors addressed included related areas, approaches to manual control, applications of manual controllers, and selected studies of the human neuromuscular system. Results are presented

Design and development of a six degree of freedom hand controller

The design objectives of a six degree of freedom manual controller are discussed with emphasis on a space environment. Details covered include problems associated with a zero-g environment, the need to accommodate both 'shirt sleeve' and space suited astronauts, the combination of both manipulator operation and spacecraft flight control in a single device, and to accommodate restraints in space. A variable configuration device designed as a development tool in which rotational axes can be moved relative to one another, is described and its limitations discussed. Two additional devices were developed for concept testing. Each device combines the need for good quality with its ability achieve a wide range of adjustments

A Firm Upper Limit to the Radius of the Neutron Star in SAX J1808.4-3658

We show that observations of X-ray pulsing from SAX J1808.4-3658 place a firm upper limit of 13.8 m^{1/3} km on the radius of the neutron star, where m is its mass in solar units. The limit is independent of distance or assumptions about the magnetospheric geometry, and could be significantly tightened by observations of the pulsations in the near future. We discuss the implications for the equation of state and the possible neutron star mass.Comment: (7 pages, 1 figure, accepted for publication in ApJ Letters

High Redshift Standard Candles: Predicted Cosmological Constraints

We investigate whether future measurements of high redshift standard candles (HzSCs) will be a powerful probe of dark energy, when compared to other types of planned dark energy measurements. Active galactic nuclei and gamma ray bursts have both been proposed as potential HzSC candidates. Due to their high luminosity, they can be used to probe unexplored regions in the expansion history of the universe. Information from these regions can help constrain the properties of dark energy, and in particular, whether it varies over time. We consider both linear and piecewise parameterizations of the dark energy equation of state, $w(z)$, and assess the optimal redshift distribution a high-redshift standard-candle survey could take to constrain these models. The more general the form of the dark energy equation of state $w(z)$ being tested, the more useful high-redshift standard candles become. For a linear parameterization of $w(z)$, HzSCs give only small improvements over planned supernova and baryon acoustic oscillation measurements; a wide redshift range with many low redshift points is optimal to constrain this linear model. However to constrain a general, and thus potentially more informative, form of $w(z)$, having many HzSCs can significantly improve limits on the nature of dark energy.Comment: Accepted MNRAS, 27 Pages, 15 figures, matches published versio

Cost-effectiveness of counselling, graded-exercise and usual care for chronic fatigue: evidence from a randomised trial in primary care

Fatigue is common and has been shown to result in high economic costs to society. The aim of this study is to compare the cost-effectiveness of two active therapies, graded-exercise (GET) and counselling (COUN) with usual care plus a self-help booklet (BUC) for people presenting with chronic fatigue