Multi-axis control of telemanipulators

The development of multi-axis hand controllers for use in telemanipulator systems is described. Experience in the control of the SRMS (shuttle remote manipulator system) arm is reviewed together with subsequent tests involving a number of simulators and configurations, including use as a side-arm flight control for helicopters. The factors affecting operator acceptability are reviewed

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

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

Six degree of freedom manual controls study report

The feasibility of using degree of freedom manual controls in space in an on orbit environment was determined. Several six degree of freedom controls were tested in a laboratory environment, and replica controls were used to control robot arms. The selection of six degrees of freedom as a design goal was based on the fact that six degrees are sufficient to define the location and orientation of a rigid body in space

On the Excess Dispersion in the Polarization Position Angle of Pulsar Radio Emission

The polarization position angles (PA) of pulsar radio emission occupy a distribution that can be much wider than what is expected from the average linear polarization and the off-pulse instrumental noise. Contrary to our limited understanding of the emission mechanism, the excess dispersion in PA implies that pulsar PAs vary in a random fashion. An eigenvalue analysis of the measured Stokes parameters is developed to determine the origin of the excess PA dispersion. The analysis is applied to sensitive, well-calibrated polarization observations of PSR B1929+10 and PSR B2020+28. The analysis clarifies the origin of polarization fluctuations in the emission and reveals that the excess PA dispersion is caused by the isotropic inflation of the data point cluster formed by the measured Stokes parameters. The inflation of the cluster is not consistent with random fluctuations in PA, as might be expected from random changes in the orientation of the magnetic field lines in the emission region or from stochastic Faraday rotation in either the pulsar magnetosphere or the interstellar medium. The inflation of the cluster, and thus the excess PA dispersion, is attributed to randomly polarized radiation in the received pulsar signal. The analysis also indicates that orthogonal polarization modes (OPM) occur where the radio emission is heavily modulated. In fact, OPM may only occur where the modulation index exceeds a critical value of about 0.3.Comment: Accepted for publication in Ap

Key environmental criteria associated with the invasion of Anguilla australis glass eels into estuaries of south-eastern Australia

Sampling for glass eels of the shortfinned eel, Anguilla australis, was conducted in a number of estuaries in south-eastern Australia using glass eel and stow nets during the winter and spring months of 1994 and 1995. Preliminary modelling of the invasion of A. australis glass eels was undertaken by determining correlations between Catch Per Unit Effort (CPUE) of glass eels and water temperature, electrical conductivity, lunar phase and height of high tide. Low (< 10000 µS/cm) electrical conductivity, medium (10-14°C) water temperature and high (>0m AHD) tide height showed significant correlation with high CPUE, but lunar phase (as moon age in days) did not. There appears to be some scope for predicting the invasion of A. australis glass eels into south-eastern Australian estuaries using temperature and electrical conductivity as key criteria for determining when glass eel fishing should commence. Such information is expected to contribute to the development of a commercial glass eel fishery in south-eastern Australia

Simultaneous single-pulse observations of radio pulsars: II. Orthogonal polarization modes in PSR B1133+16

In this paper, we present a study of orthogonal polarization modes in the radio emission of PSR B1133+16, conducted within the frame of simultaneous, multi-frequency, single-pulse observations. Simultaneously observing at two frequencies (1.41 GHz and 4.85 GHz) provides the means to study the bandwidth of polarization features such as the polarization position angle. We find two main results. First, that there is a high degree of correlation between the polarization modes at the two frequencies. Secondly, the modes occur more equally and the fractional linear polarization decreases towards higher frequencies. We discuss this frequency evolution and propose propagation effects in the pulsar magnetosphere as its origin.Comment: Accepted for publication in A&A. 5 pages, 4 figure