Laboratory testing of candidate robotic applications for space

Robots have potential for increasing the value of man's presence in space. Some categories with potential benefit are: (1) performing extravehicular tasks like satellite and station servicing, (2) supporting the science mission of the station by manipulating experiment tasks, and (3) performing intravehicular activities which would be boring, tedious, exacting, or otherwise unpleasant for astronauts. An important issue in space robotics is selection of an appropriate level of autonomy. In broad terms three levels of autonomy can be defined: (1) teleoperated - an operator explicitly controls robot movement; (2) telerobotic - an operator controls the robot directly, but by high-level commands, without, for example, detailed control of trajectories; and (3) autonomous - an operator supplies a single high-level command, the robot does all necessary task sequencing and planning to satisfy the command. Researchers chose three projects for their exploration of technology and implementation issues in space robots, one each of the three application areas, each with a different level of autonomy. The projects were: (1) satellite servicing - teleoperated; (2) laboratory assistant - telerobotic; and (3) on-orbit inventory manager - autonomous. These projects are described and some results of testing are summarized

The RR-parity Violating Decays of Charginos and Neutralinos in the B-L MSSM

The $B-L$ MSSM is the MSSM with three right-handed neutrino chiral multiplets and gauged $B-L$ symmetry. The $B-L$ symmetry is broken by the third family right-handed sneutrino acquiring a VEV, thus spontaneously breaking $R$-parity. Within a natural range of soft supersymmetry breaking parameters, it is shown that a large and uncorrelated number of initial values satisfy all present phenomenological constraints; including the correct masses for the $W^{\pm}$, $Z^0$ bosons, having all sparticles exceeding their present lower bounds and giving the experimentally measured value for the Higgs boson. For this "valid" set of initial values, there are a number of different LSPs, each occurring a calculable number of times. We plot this statistically and determine that among the most prevalent LSPs are chargino and neutralino mass eigenstates. In this paper, the $R$-parity violating decay channels of charginos and neutralinos to standard model particles are determined, and the interaction vertices and decay rates computed analytically. These results are valid for any chargino and neutralino, regardless of whether or not they are the LSP. For chargino and neutralino LSPs, we will-- in a subsequent series of papers --present a numerical study of their RPV decays evaluated statistically over the range of associated valid initial points.Comment: 62 pages, 12 figures, added references in section 1, corrected some calculation error

The Minimal SUSY B−LB-L Model: From the Unification Scale to the LHC

This paper introduces a random statistical scan over the high-energy initial parameter space of the minimal SUSY $B-L$ model--denoted as the $B-L$ MSSM. Each initial set of points is renormalization group evolved to the electroweak scale--being subjected, sequentially, to the requirement of radiative $B-L$ and electroweak symmetry breaking, the present experimental lower bounds on the $B-L$ vector boson and sparticle masses, as well as the lightest neutral Higgs mass of $\sim$125 GeV. The subspace of initial parameters that satisfies all such constraints is presented, shown to be robust and to contain a wide range of different configurations of soft supersymmetry breaking masses. The low-energy predictions of each such "valid" point - such as the sparticle mass spectrum and, in particular, the LSP - are computed and then statistically analyzed over the full subspace of valid points. Finally, the amount of fine-tuning required is quantified and compared to the MSSM computed using an identical random scan. The $B-L$ MSSM is shown to generically require less fine-tuning.Comment: 65 pages, 18 figure