The Space Station neutral gas environment and the concomitant requirements for monitoring

At 340 km, for typical conditions, the neutral atmospheric density is several times 10E8/cc and is thus more abundant than the ionized component by several factors of 10. At that altitude, the principal series is atomic oxygen with 10 percent N2, and 1 percent He, and trace amounts of O2, H, N, NO, and Ar. The constituent densities are highly variable with local time, latitude, and geophysical indices. The physical interaction with surfaces at orbital velocity leads to large buildup of density on forward faces and great depletions in the wakes of objects. Chemical reactions lead to major modifications in constituent densities as in the case of the conversion of most colliding oxygen atoms to oxygen bearing molecules. The neutral environment about an orbiting body is thus a complex product of many variables even without a source of neutral contaminants. The addition of fluxes of gases emanating from the orbiting vehicle, as will be the case for the Space Station, with the associated physical and chemical interactions adds another level of complexity to the character of the environment and mandates a sophisticated measurement capability if the neutral environment is to be quantitatively characterized

Adaptive tracking for complex systems using reduced-order models

Reduced-order models are considered in the context of parameter adaptive controllers for tracking workspace trajectories. A dual-arm manipulation task is used to illustrate the methodology and provide simulation results. A parameter adaptive controller is designed to track the desired position trajectory of a payload using a four-parameter model instead of a full-order, nine-parameter model. Several simulations with different payload-to-arm mass ratios are used to illustrate the capabilities of the reduced-order model in tracking the desired trajectory

Deep wide field HI imaging of Messier 31

We report on preliminary results from a new deep 21-cm survey of the Andromeda galaxy, based on observations performed with the Synthesis Telescope and the 26-m antenna at DRAO. The HI distribution and kinematics of the disc are analyzed and basic dynamical properties are derived. New HI structures are discovered, like thin HI spur-like structures and an external arm in the disc outskirts. The HI spurs are related to perturbed stellar clumps outside the main disc of M31. The external arm lies on the far, receding side of the galaxy and has no obvious counterpart in the opposite side. These HI perturbations probably result from tidal interactions with companions. It is found a dynamical mass of 4.7 +/- 0.5 x10^11 Msol enclosed within a radius R = 38 kpc and a total mass of ~1 x10^12 Msol inside the virial radius.Comment: 4 pages, 1 figure, proceeding of the conference "Panoramic Radio Astronomy: Wide-field 1-2 GHz research on galaxy evolution", June 02 - 05 2009, Groninge

H I and mass distribution of GR8

The dwarf irregular galaxy GR8, which is at the extreme faint end of the luminosity and mass functions, is studied using optical photometry and 21 cm H I line observations. It is shown that rotation is only important to the gravitational support of the system in the inner parts (r less than 250 pc). GR8 is one of the very few non-elliptical systems known (with M81dwA) where the random motions provide essentially all the support in the outer parts (4 greater than or equal to 500 pc). The Gaussian nature of the H I distribution and the isothermal distribution of the H I velocity dispersion implies M is directly proportional to R(exp 3) in the outer regions of GR8 (i.e., the stellar disk and the H I lie in the approximately uniform density core of the dark halo)

Impedance hand controllers for increasing efficiency in teleoperations

An impedance hand controller with direct force feedback is examined as an alternative to bilateral force reflection in teleoperations involving force contact. Experimentation revealed an operator preference for direct force feedback which provided a better feel of contact with the environment. The advantages of variable arm impedance were also made clear in tracking tests where subjects preferred the larger hand controller inertias made possible by the acceleration feedback loop in the master arm. The ability to decouple the hand controller impedance from the slave arm dynamics is expected to be even more significant when the inertial properties of various payloads in the slave arm are considered

Neutral mass spectrometer measurements in the shuttle bay environment

A neutral mass spectrometer, flown as part of the Induced Environment Contamination Monitor (IECM), is briefly described. Results from STS-2, -3, -4, and Spacelab 1 are qualitatively summarized. The gases observed were, for the most part, those with molecular weights below 45 amu with sources attributable to instrument background, shuttle-induced environment, and the ambient atmosphere. The most abundant gases were H2O, N2, and He. Heavier gases consisted primarily of fluorocarbons