Quaternions and Special Relativity

We reformulate Special Relativity by a quaternionic algebra on reals. Using {\em real linear quaternions}, we show that previous difficulties, concerning the appropriate transformations on the $3+1$ space-time, may be overcome. This implies that a complexified quaternionic version of Special Relativity is a choice and not a necessity.Comment: 17 pages, latex, no figure

Payload retention device

A payload retention device for grappling and retaining a payload in docked position on a supporting structure in the cargo bay of a space vehicle is presented. The device comprises a two-fault tolerant electromagnetic grappling system comprising electromagnets for attracting and grappling a grapple strike plate affixed to the payload when in proximity thereto and an electromechanical latching assembly comprising a pair of independent latching subassemblies. Each subassembly comprises a set of latching pawls which are driven into latching and unlatching positions relative to a grappled payload by a pair of gearmotors, each equipped with a ratchet clutch drive mechanism which is two-fault tolerant with respect to latching such that only one gearmotor of the four needs to be operational to effect a latch of the payload but is single fault tolerant with respect to release of a latched payload. Sensors are included for automatically sensing the magnetic grappling of a payload and for automatically de-energizing the gearmotors of the latching subassemblies when a latch condition is achieved

Method and apparatus for releasably connecting first and second objects

The apparatus and method are disclosed for releasably connecting first and second objects, where a magnetic end effector may include at least one elongated pin number, a proximal end of which is connected to the first object and the distal end of which may be inserted into a receiving portion in the second object. Latch members are carried by the pin member for radial movement between retracted and expanded positions for releasing and locking, respectively, first and second objects. A plunger member carried by the pin member is axially moveable between first and second positions. In the first plunger position, the latch members are located in the expanded (locked) position and in the second plunger position the latch members are released for movement to retracted or unlocked position. The magnetic end effector is provided for releasable attachment to the first object and for moving the plunger member to the second position, releasing the first object

Electromagnetic attachment mechanism

An electromagnetic attachment mechanism is disclosed for use as an end effector of a remote manipulator system. A pair of electromagnets, each with a U-shaped magnetic core with a pull-in coil and two holding coils, are mounted by a spring suspension system on a base plate of the mechanism housing with end pole pieces adapted to move through openings in the base plate when the attractive force of the electromagnets is exerted on a strike plate of a grapple fixture affixed to a target object. The pole pieces are spaced by an air gap from the strike plate when the mechanism first contacts the grapple fixture. An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electromagnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils. When energized, the pull-in coils overcome the suspension system and air gap and are automatically de-energized when the pole pieces move to grapple and impose a preload force across the grapple interface. A battery backup is a redundant power source for each electromagnet in each individual control circuit and is automatically connected upon failure of the primary source. A centerline mounted camera and video monitor are used in cooperation with a target pattern on the reflective surface of the strike plate to effect targeting and alignment

End effector with astronaut foot restraint

The combination of a foot restraint platform designed primarily for use by an astronaut being rigidly and permanently attached to an end effector which is suitable for attachment to the manipulator arm of a remote manipulating system is described. The foot restraint platform is attached by a brace to the end effector at a location away from the grappling interface of the end effector. The platform comprises a support plate provided with a pair of stirrups for receiving the toe portion of an astronaut's boots when standing on the platform and a pair of heel retainers in the form of raised members which are fixed to the surface of the platform and located to provide abutment surfaces for abutting engagement with the heels of the astronaut's boots when his toes are in the stirrups. The heel retainers preclude a backward sliding movement of the feet on the platform and instead require a lifting of the heels in order to extract the feet. The brace for attaching the foot restraint platform to the end effector may include a pivot or swivel joint to permit various orientations of the platform with respect to the end effector

Improved docking alignment system

Improved techniques are provided for the alignment of two objects. The present invention is particularly suited for 3-D translation and 3-D rotational alignment of objects in outer space. A camera is affixed to one object, such as a remote manipulator arm of the spacecraft, while the planar reflective surface is affixed to the other object, such as a grapple fixture. A monitor displays in real-time images from the camera such that the monitor displays both the reflected image of the camera and visible marking on the planar reflective surface when the objects are in proper alignment. The monitor may thus be viewed by the operator and the arm manipulated so that the reflective surface is perpendicular to the optical axis of the camera, the roll of the reflective surface is at a selected angle with respect to the camera, and the camera is spaced a pre-selected distance from the reflective surface