System integration of a Telerobotic Demonstration System (TDS) testbed

The concept for and status of a telerobotic demonstration system testbed that integrates teleoperation and robotics is described. The components of the telerobotic system are described and the ongoing projects are discussed. The system can be divided into two sections: the autonomous subsystems, and the additional interface and support subsystems including teleoperations. The workings of each subsystem by itself and how the subsystems integrate into a complete system is discussed

The evolutionary development of high specific impulse electric thruster technology

Electric propulsion flight and technology demonstrations conducted primarily by Europe, Japan, China, the U.S., and the USSR are reviewed. Evolutionary mission applications for high specific impulse electric thruster systems are discussed, and the status of arcjet, ion, and magnetoplasmadynamic thrusters and associated power processor technologies are summarized

Behavior of EB FRP Masonry Bond under Service Temperature

The interest in advanced composites in repairing and strengthening infrastructure systems has considerably increased, especially as the application externally bonded (EB) fiber reinforced polymer (FRP) has become more well established. Previous research on bond behavior has focused on impact of durability by considering exposure to harsh environmental conditions and testing the specimens after exposure, rather than testing bond performance during exposure. The influence of directly applying temperature on bond behavior represents an open topic that needs to be investigated in more detail. This study is one of the first studies to investigate the bond behavior when the composite is subjected to tension force simultaneously with applying temperature. The temperatures considered in this study were at freezing, ambient, and high temperature, which are more representative of structural elements under field conditions. A total of 16 specimens were strengthened and tested under single-lap direct shear. The key parameters investigated include (a) the type of fiber [laminate carbon vs. wet layup glass] (b) the level of temperature applied on specimen, including ambient condition 21°C (70 °F), freeze condition -18 °C (0 °F) and hot weather 49 °C (120 °F), and (c) the exposure regime (direct exposure during loading process vs. loading after exposure). Most of the specimens were subjected to tension force simultaneously with applying temperature, and the other specimens were later tested after exposure to the heating and cooling cycles. These cycles are proposed to simulate 20 years of the typical in-situ weather conditions in the Central United States. The results showed that overall the EB strengthening systems exhibited good performance when subjected to cycles of heating and cooling prior to testing. High reduction of FRP-epoxy bond properties was up to 59% when exposed to high service temperatures. Different modes of failure were observed such as debonding at fiber-matrix interface and debonding due to shearing in laminate

Security of Tenure and Land Registration in Africa: Literature Review and Synthesis

In 1984, the Land Tenure Center embarked on a project to evaluate the experiences with land registration and tenure reform in Africa. The goal was to determine is African states been able to use tenure reform and land registration to provide greater security of tenure than was available through customary tenure systems. Donor agencies focused attention on the creation of individual freehold title, emphasizing the heightened security of holding, marketability, and access to credit under such tenure. National governments, on the other hand, were more concerned to see that land was used productively rather than merely accumulated for purposes of prestige or inheritance or as a hedge against inflation, and for this reason have tended to favor granting more circumscribed rights, such as leaseholds or rights of occupancy. This literature review and synthesis was prepared as part of an effort to increase very substantially our knowledge, especially on a quantitative level, of tenure and development relationships in Africa. The literature review is an attempt to gather in one place data about the diverse efforts at land registration and to describe briefly for each country the various registration programs that have taken place (if any), why they were undertaken, and what subsequent studies of these programs have found. Among other things, it will be seen that the intended benefits, and beneficiaries, of land registration have changed over the century or so since the first systems were put in place. In addition to these variations over time, there are also differences among Anglophone, Francophone, and Lusophone countries, differences that not only influenced the structure of registration systems established during the colonial era, but also continue to inform the kinds of registration systems adopted today.Land Economics/Use,

Improvement of Soil and Rock Properties for Foundation Support for Missouri Interchange Project

Expansion and growth in the southwestern region of Missouri necessitated the expansion of State Route 249 and the construction of a new interchange to provide service to the Joplin, Missouri area. The project is located above a former lead and zinc mine in Jasper County, Missouri and includes a five bridge interchange connecting State Route 249 and US Route 171. The variable subsurface conditions, both natural and manmade prompted the design team to use ground improvement via grouting and small diameter micropiles to provide support for several of the bridge foundations on the project. The scope of work included mine shaft closures, 17,070 m (56,000 ft) of overburden and rock drilling, 3,400 m (11,155 ft) of micropiles, 400 m³ (524 cy) of balanced/stabilized high mobility grouts, and over 6,800 m³ (8,900 cy) of low mobility grout. The selection of the grout used was based on the actual subsurface conditions. Low mobility grout (LMG) was used in voided conditions and for closure of the mine shafts encountered during the excavation. High mobility grout (HMG) was used in fractured rock with the goal of improving the mechanical properties of the rock underneath the future bridge footings and controlling grout volumes during micropile installation. The split spacing method was utilized for both LMG and HMG holes. Geology of the project consisted of extremely variable bedrock with strong to very strong limestone, chert, breccia, extremely weak shale, and weak to strong sandstone in conjunction with the activities associated with the mining disturbance (such as partial filled vertical mine shafts, shallow and deep mine horizons, modified hydrology including artesian conditions). Real time monitoring and recording of all drilling and grouting parameters was conducted to assist in the evaluation of in-situ geological properties of the site in order to modify the ground improvement and micropile program as necessary. This paper will discuss the design and execution of the ground improvement and micropile program. The project is an excellent example of the use of multiple ground improvement and foundation support techniques combined with real time data analysis to provide a foundation support solution for a complex geological environment

Characterization of Shewanella oneidensis MtrC: a cell-surface decaheme cytochrome involved in respiratory electron transport to extracellular electron acceptors

MtrC is a decaheme c-type cytochrome associated with the outer cell membrane of Fe(III)-respiring species of the Shewanella genus. It is proposed to play a role in anaerobic respiration by mediating electron transfer to extracellular mineral oxides that can serve as terminal electron acceptors. The present work presents the first spectropotentiometric and voltammetric characterization of MtrC, using protein purified from Shewanella oneidensis MR-1. Potentiometric titrations, monitored by UV–vis absorption and electron paramagnetic resonance (EPR) spectroscopy, reveal that the hemes within MtrC titrate over a broad potential range spanning between approximately +100 and approximately -500 mV (vs. the standard hydrogen electrode). Across this potential window the UV–vis absorption spectra are characteristic of low-spin c-type hemes and the EPR spectra reveal broad, complex features that suggest the presence of magnetically spin-coupled low-spin c-hemes. Non-catalytic protein film voltammetry of MtrC demonstrates reversible electrochemistry over a potential window similar to that disclosed spectroscopically. The voltammetry also allows definition of kinetic properties of MtrC in direct electron exchange with a solid electrode surface and during reduction of a model Fe(III) substrate. Taken together, the data provide quantitative information on the potential domain in which MtrC can operate

Facilities for the Energy Frontier of Nuclear Physics

The Relativistic Heavy Ion Collider at BNL has been exploring the energy frontier of nuclear physics since 2001. Its performance, flexibility and continued innovative upgrading can sustain its physics output for years to come. Now, the Large Hadron Collider at CERN is about to extend the frontier energy of laboratory nuclear collisions by more than an order of magnitude. In the coming years, its physics reach will evolve towards still higher energy, luminosity and varying collision species, within performance bounds set by accelerator technology and by nuclear physics itself. Complementary high-energy facilities will include fixed-target collisions at the CERN SPS, the FAIR complex at GSI and possible electron-ion colliders based on CEBAF at JLAB, RHIC at BNL or the LHC at CERN.Comment: Invited talk at the International Nuclear Physics Conference, Vancouver, Canada, 4-9 July 2010, to be published in Journal of Physics: Conference Series. http://inpc2010.triumf.ca

Brane/Flux Annihilation and the String Dual of a Non-Supersymmetric Field Theory

We consider the dynamics of p anti-D3 branes inside the Klebanov-Strassler geometry, the deformed conifold with M units of RR 3-form flux around the S^3. We find that for p<<M the system relaxes to a nonsupersymmetric NS 5-brane ``giant graviton'' configuration, which is classically stable, but quantum mechanically can tunnel to a nearby supersymmetric vacuum with M-p D3 branes. This decay mode is exponentially suppressed and proceeds via the nucleation of an NS 5-brane bubble wall. We propose a dual field theory interpretation of the decay as the transition between a nonsupersymmetric ``baryonic'' branch and a supersymmetric ``mesonic'' branch of the corresponding SU(2M-p)x SU(M-p) low energy gauge theory. The NS 5-brane tunneling process also provides a simple explanation of the geometric transition by which D3-branes can dissolve into 3-form flux.Comment: 27 pages, 4 figures, typo correcte

NSTAR Ion Thruster and Breadboard Power Processor Functional Integration Test Results

A 2.3 kW Breadboard Power Processing Unit (BBPPU) was developed as part of the NASA Solar Electric Propulsion Technology Application Readiness (NSTAR) Program. The NSTAR program will deliver an electric propulsion system based on a 30 cm xenon ion thruster to the New Millennium (NM) program for use as the primary propulsion system for the initial NM flight. The final development test for the BBPPU, the Functional Integration Test, was carried out to demonstrate all aspects of BBPPU operation with an Engineering Model Thruster. Test objectives included: (1) demonstration and validation of automated thruster start procedures, (2) demonstration of stable closed loop control of the thruster beam current, (3) successful response and recovery to thruster faults, and (4) successful safing of the system during simulated spacecraft faults. These objectives were met over the specified 80-120 VDC input voltage range and 0.5-2.3 output power capability of the BBPPU. Two minor anomalies were noted in discharge and neutralizer keeper current. These anomalies did not affect the stability of the system and were successfully corrected