Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

A number of problems related to unmanned exploration of planets or other extraterrestrial bodies with Mars as a case in point were investigated. The design and evaluation of a prototype rover concept with emphasis on mobility, maneuverability, stability, control and propulsion is described along with the development of terrain sensor concepts and associated software for the autonomous control of any planetary rover. Results are applicable not only to the design of a mission rover but the vehicle is used as a test bed for the rigorous evaluation of alternative autonomous control systems

Data acquisition and path selection decision making for an autonomous roving vehicle

Problems related to the guidance of an autonomous rover for unmanned planetary exploration were investigated. Topics included in these studies were: simulation on an interactive graphics computer system of the Rapid Estimation Technique for detection of discrete obstacles; incorporation of a simultaneous Bayesian estimate of states and inputs in the Rapid Estimation Scheme; development of methods for estimating actual laser rangefinder errors and their application to date provided by Jet Propulsion Laboratory; and modification of a path selection system simulation computer code for evaluation of a hazard detection system based on laser rangefinder data

Investigations into the potential effects of pedoturbation on luminescence dating

Much effort has been focussed on understanding the luminescence properties of natural minerals to achieve a reliable, accurate and precise dating technique. However, some field related aspects, such as the influence or effect of post-depositional disturbance on luminescence dates, are as yet underexplored. In the case of pedoturbation, depending on its intensity, the rate of sedimentation and unit thicknesses, potentially the whole sedimentary record at a site can be affected. This may lead to distorted OSL chronologies and erroneous sediment burial ages. Pedoturbation can result in sediment mixing and/or exhumation that affect luminescence both at the bulk and single grain level. Effects of these two principle processes on luminescence ages are examined using standard multigrain and single grain protocols. High resolution sampling of surface gopher mounds was used to determine the efficiency of bio-exhumation in resetting luminescence signal. Results show this is an inefficient mechanism for onsite sediment bleaching. The effects on luminescence signal of bio-mixing were explored by comparing a sample collected from within a krotovina (infilled burrow) to an adjacent undisturbed sample. Results show the difficulties in identifying pedoturbated samples at the single aliquot level and the possible inaccuracies in using the lowest palaeodose values to calculate OSL ages. Where pedoturbation of samples is suspected, use of probability plots of palaeodoses data is recommended. From these plots it is proposed that only data falling within a normal distribution centred on the peak probability be used to calculated OSL ages and to mitigate problems arising from pedoturbation

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to an unmanned exploration of the planet Mars by means of an autonomous roving planetary vehicle are investigated. These problems include: design, construction and evaluation of the vehicle itself and its control and operating systems. More specifically, vehicle configuration, dynamics, control, propulsion, hazard detection systems, terrain sensing and modelling, obstacle detection concepts, path selection, decision-making systems, and chemical analyses of samples are studied. Emphasis is placed on development of a vehicle capable of gathering specimens and data for an Augmented Viking Mission or to provide the basis for a Sample Return Mission

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to the design and control of an autonomous rover for the purpose of unmanned exploration of the planets were considered. Building on the basis of prior studies, a four wheeled rover of unusual mobility and maneuverability was further refined and tested under both laboratory and field conditions. A second major effort was made to develop autonomous guidance. Path selection systems capable of dealing with relatively formidable hazard and terrains involving various short range (1.0-3.0 meters), hazard detection systems using a triangulation detection concept were simulated and evaluated. The mechanical/electronic systems required to implement such a scheme were constructed and tested. These systems include: laser transmitter, photodetectors, the necessary data handling/controlling systems and a scanning mast. In addition, a telemetry system to interface the vehicle, the off-board computer and a remote control module for operator intervention were developed. Software for the autonomous control concept was written. All of the systems required for complete autonomous control were shown to be satisfactory except for that portion of the software relating to the handling of interrupt commands

R-Mode Oscillations in Rotating Magnetic Neutron Stars

We show that r-mode oscillations distort the magnetic fields of neutron stars and that their occurrence is likely to be limited by this interaction. If the field is gtrsim 10^{16} (Omega/Omega_B) G, where Omega and Omega_B are the angular velocities of the star and at which mass shedding occurs, r-mode oscillations cannot occur. Much weaker fields will prevent gravitational radiation from exciting r-mode oscillations or damp them on a relatively short timescale by extracting energy from the modes faster than gravitational wave emission can pump energy into them. For example, a 10^{10} G poloidal magnetic field that threads the star's superconducting core is likely to prevent the ell=2 mode from being excited unless Omega exceeds 0.35 Omega_B. If Omega is larger than 0.35 Omega_B initially, the ell=2 mode may be excited but is likely to decay rapidly once Omega falls below 0.35 Omega_B, which happens in lesssim 15^d if the saturation amplitude is gtrsim 0.1. The r-mode oscillations may play an important role in determining the structure of neutron star magnetic fields.Comment: 4 pages, 1 postscript figure, uses emulateapj; submitted to ApJ Letters 1999 Nov 8; accepted 2000 Jan 25; this version is essentially identical to the original version except that Figure 2 was deleted in order to fit within the ApJ Letters page limi

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars are reported. Problem areas include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis, terrain modeling and path selection; and chemical analysis of specimens. These tasks are summarized: vehicle model design, mathematical model of vehicle dynamics, experimental vehicle dynamics, obstacle negotiation, electrochemical controls, remote control, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer subsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, and chromatograph model evaluation and improvement

Occurrence of the eelgrass pathogen, Labyrinthula zosterae, in Japan

The marine slime mold Labyrinthula zosterae, the causative agent of wasting disease of eelgrass Zostera marina, has been isolated from both 2. marina and 2. caulescens on the south coast of Japan. In addition, wasting-disease symptoms were produced in disease tests on leaves of Z. japonica and 2. marina using axenic cultures of L. zosterae isolated from Z. caulescens and Z. marina. Thus, the known host species of L. zosterae are expanded to include 3 species of Zostera. Although symptomatic necrotic lesions were observed in field-collected seagrass leaves, widespread die-off from wasting disease was not evident on the south coast of Japan

Superconductivity and the high field ordered phase in the heavy fermion compound PrOs4_4Sb12_{12}

Superconductivity is observed in the filled skutterudite compound \PrOsSb{} below a critical temperature temperature $T_\mathrm{c} = 1.85$ K and appears to develop out of a nonmagnetic heavy Fermi liquid with an effective mass $m^{*} \approx 50 m_\mathrm{e}$, where $m_\mathrm{e}$ is the free electron mass. Features associated with a cubic crystalline electric field are present in magnetic susceptibility, specific heat, electrical resistivity, and inelastic neutron scattering measurements, yielding a Pr$^{3+}$ energy level scheme consisting of a $\Gamma_{3}$ nonmagnetic doublet ground state, a low lying $\Gamma_{5}$ triplet excitied state at $\sim 10$ K, and much higher temperature $\Gamma_{4}$ triplet and $\Gamma_{1}$ singlet excited states. Measurements also indicate that the superconducting state is unconventional and consists of two distinct superconducting phases. At high fields and low temperatures, an ordered phase of magnetic or quadrupolar origin is observed, suggesting that the superconductivity may occur in the vicinity of a magnetic or quadrupolar quantum critical point.Comment: 11 pages, 4 figures, presented at the 3rd international symposium on Advance Science Research (ASR 2002), JAERI Tokai, Ibaraki, Japa