TRICCS: A proposed teleoperator/robot integrated command and control system for space applications

Robotic systems will play an increasingly important role in space operations. An integrated command and control system based on the requirements of space-related applications and incorporating features necessary for the evolution of advanced goal-directed robotic systems is described. These features include: interaction with a world model or domain knowledge base, sensor feedback, multiple-arm capability and concurrent operations. The system makes maximum use of manual interaction at all levels for debug, monitoring, and operational reliability. It is shown that the robotic command and control system may most advantageously be implemented as packages and tasks in Ada

Attitude control and damping system for spacecraft Patent

Utilization of momentum devices for forming attitude control and damping system for spacecraf

Post-Newtonian constraints on f(R) cosmologies in metric formalism

We compute the complete post-Newtonian limit of the metric form of f(R) gravities using a scalar-tensor representation. By comparing the predictions of these theories with laboratory and solar system experiments, we find a set of inequalities that any lagrangian f(R) must satisfy. The constraints imposed by those inequalities allow us to find explicit bounds to the possible nonlinear terms of the lagrangian. We conclude that the lagrangian f(R) must be almost linear in R and that corrections that grow at low curvatures are incompatible with observations. This result shows that modifications of gravity at very low cosmic densities cannot be responsible for the observed cosmic speed-up.Comment: 10 pages, no figures, revtex

A flexible telerobotic system for space operations

The objective and design of a proposed goal-oriented knowledge-based telerobotic system for space operations is described. This design effort encompasses the elements of the system executive and user interface and the distribution and general structure of the knowledge base, the displays, and the task sequencing. The objective of the design effort is to provide an expandable structure for a telerobotic system that provides cooperative interaction between the human operator and computer control. The initial phase of the implementation provides a rule-based, goal-oriented script generator to interface to the existing control modes of a telerobotic research system, in the Intelligent Systems Research Lab at NASA Research Center

Generic features of Einstein-Aether black holes

We reconsider spherically symmetric black hole solutions in Einstein-Aether theory with the condition that this theory has identical PPN parameters as those for general relativity, which is the main difference from the previous research. In contrast with previous study, we allow superluminal propagation of a spin-0 Aether-gravity wave mode. As a result, we obtain black holes having a spin-0 "horizon" inside an event horizon. We allow a singularity at a spin-0 "horizon" since it is concealed by the event horizon. If we allow such a configuration, the kinetic term of the Aether field can be large enough for black holes to be significantly different from Schwarzschild black holes with respect to ADM mass, innermost stable circular orbit, Hawking temperature, and so on. We also discuss whether or not the above features can be seen in more generic vector-tensor theories.Comment: 9 pages, 9 figures, basic equations and their analytic arguments are adde

Scalar radiation from Chameleon-shielded regions

I study the profile of the Chameleon field around a radially pulsating mass. Focusing on the case in which the background (static) Chameleon profile exhibits a thin-shell, I add small perturbations to the source in the form of time-dependent radial pulsations. It is found that the Chameleon field inherits a time-dependence, there is a resultant scalar radiation from the region of the source and the metric outside the spherically symmetric mass is not static. This has several interesting and potentially testable consequences.Comment: 4 pages, 4 figures, slightly edited version matching the journal versio

Ground Beetles of Islands in the Western Basin of Lake Erie and the Adjacent Mainland (Coleoptera: Carabidae, Including Cicindelini)

We report 241 species representing 63 genera of ground beetles from the islands of the western basin of Lake Erie and selected mainland sites from a 1991-93 survey, plus specimens examined in public and private collections, and previously published sources. Most species are generally distributed; however, a restricted population of Sphaeroderus schaumii schaumii we rediscovered is no doubt imperiled. Comparison of wing morphotype frequencies of the Lake Erie island species with mainland populations from studies in Ohio and Michigan support a hypothesis that vagility is of increased import in the islands. Regression and correlation analysis show a positive relationship between species number and island area, no correlation between species number and distance from the mainland and an improved fit for a multiple regression which includes collecting effort

Two-Photon Pathway to Ultracold Ground State Molecules of 23^{23}Na40^{40}K

We report on high-resolution spectroscopy of ultracold fermionic \nak~Feshbach molecules, and identify a two-photon pathway to the rovibrational singlet ground state via a resonantly mixed \Bcres intermediate state. Photoassociation in a $^{23}$Na-$^{40}$K atomic mixture and one-photon spectroscopy on \nak~Feshbach molecules reveal about 20 vibrational levels of the electronically excited \ctrip state. Two of these levels are found to be strongly perturbed by nearby \Bsing states via spin-orbit coupling, resulting in additional lines of dominant singlet character in the perturbed complex {${\rm B}^1\Pi |v{=}4\rangle {\sim} {\rm c}^3\Sigma^+ | v{=}25\rangle$}, or of resonantly mixed character in {${\rm B}^1\Pi | v{=}12 \rangle {\sim}{\rm c}^3\Sigma^+ | v{=}35 \rangle$}. The dominantly singlet level is used to locate the absolute rovibrational singlet ground state ${\rm X}^1\Sigma^+ | v{=}0, J{=}0 \rangle$ via Autler-Townes spectroscopy. We demonstrate coherent two-photon coupling via dark state spectroscopy between the predominantly triplet Feshbach molecular state and the singlet ground state. Its binding energy is measured to be 5212.0447(1) \cm, a thousand-fold improvement in accuracy compared to previous determinations. In their absolute singlet ground state, \nak~molecules are chemically stable under binary collisions and possess a large electric dipole moment of $2.72$ Debye. Our work thus paves the way towards the creation of strongly dipolar Fermi gases of NaK molecules.Comment: 23 pages, 8 figure