Data catalog series for space science and applications flight missions. Volume 4A: Descriptions of meteorological and terrestrial applications spacecraft and investigations

The National Space Science Data Center (NSSDC) provides data from and information about space science and applications flight investigations in support of additional studies beyond those performed as the principal part of any flight mission. The Earth-orbiting spacecraft for investigations of the earth and its atmosphere is discussed. Geodetic tracking data are included in this category. The principal subject areas presented are meteorology and earth resources survey, and the spacecraft selection is made according to those subjects. All experiments on board the spacecraft are described. No attempt is made to reference investigations that are related to the above disciplines, but that are described in other volumes of this series

The transmission or scattering of elastic waves by an inhomogeneity of simple geometry: A comparison of theories

The extended method of equivalent inclusion developed is applied to study the specific wave problems of the transmission of elastic waves in an infinite medium containing a layer of inhomogeneity, and of the scattering of elastic waves in an infinite medium containing a perfect spherical inhomogeneity. The eigenstrains are expanded as a geometric series and the method of integration for the inhomogeneous Helmholtz operator given by Fu and Mura is adopted. The results obtained by using a limited number of terms in the eigenstrain expansion are compared with exact solutions for the layer problem and for a perfect sphere. Two parameters are singled out for this comparison: the ratio of elastic moduli, and the ratio of the mass densities. General trends for three different situations are shown

Fundamentals of microcrack nucleation mechanics

A foundation for ultrasonic evaluation of microcrack nucleation mechanics is identified in order to establish a basis for correlations between plane strain fracture toughness and ultrasonic factors through the interaction of elastic waves with material microstructures. Since microcracking is the origin of (brittle) fracture, it is appropriate to consider the role of stress waves in the dynamics of microcracking. Therefore, the following topics are discussed: (1) microstress distributions with typical microstructural defects located in the stress field; (2) elastic wave scattering from various idealized defects; and (3) dynamic effective-properties of media with randomly distributed inhomogeneities

Determining the collision-free joint space graph for two cooperating robot manipulators

Includes bibliographical references (page 294).The problem of path planning for two planar robot manipulators that cooperate in carrying a rectangular object from an initial position and orientation to a destination position and orientation in a 2-D environment is investigated. In this approach, the two robot arms, the carried object and the straight line connecting the two robot bases together are modeled as a 6-link closed chain. The problem of path planning for the 6-link closed chain is solved by two major algorithms: the collision-free feasible configuration finding algorithm and the collision-free path finding algorithm. The former maps the free space in the Cartesian world space to the robot's joint space in which all the collision-free feasible configurations (CFFC's) for the 6-link closed chain are found. The latter builds a connection graph of the CFFC's and the transitions between any two groups of CFFC's at adjacent joint intervals. Finally, a graph search method is employed to find a collision-free path for each joint of the robot manipulators. The proposed algorithms can deal with cluttered environments and is guaranteed to find a solution if one exists

Planning of collision-free paths for a reconfigurable dual manipulator equipped mobile robot

Includes bibliographical references (pages 241-242).In this paper, we study the problem of finding a collision-free path for a mobile robot which possesses manipulators. The task of the robot is to carry a polygonal object from a starting point to a destination point in a possibly culttered environment. In most of the existing research on robot path planning, a mobile robot is approximated by a fixed shape, i.e., a circle or a polygon. In our task planner, the robot is allowed to change configurations for avoiding collision. This path planner operates using two algorithms: the collision-free feasible configuration finding algorithm and the collision-free path finding algorithm. The collision-free feasible configuration finding algorithm finds all collision-free feasible configurations for the robot when the position of the carried object is given. The collision-free path finding algorithm generates some candidate paths first and then uses a graph search method to find a collision-free path from all the collision-free feasible configurations along the candidate paths. The proposed algorithms can deal with a cluttered environment and is guaranteed to find a solution if one exists

The PARSE Programming Paradigm. Part I: Software Development Methodology. Part II: Software Development Support Tools

The programming methodology of PARSE (parallel software environment), a software environment being developed for reconfigurable non-shared memory parallel computers, is described. This environment will consist of an integrated collection of language interfaces, automatic and semi-automatic debugging and analysis tools, and operating system —all of which are made more flexible by the use of a knowledge-based implementation for the tools that make up PARSE. The programming paradigm supports the user freely choosing among three basic approaches /abstractions for programming a parallel machine: logic-based descriptive, sequential-control procedural, and parallel-control procedural programming. All of these result in efficient parallel execution. The current work discusses the methodology underlying PARSE, whereas the companion paper, “The PARSE Programming Paradigm — II: Software Development Support Tools,” details each of the component tools