TRICCS: A proposed teleoperator/robot integrated command and control system for space applications

Robotic systems will play an increasingly important role in space operations. An integrated command and control system based on the requirements of space-related applications and incorporating features necessary for the evolution of advanced goal-directed robotic systems is described. These features include: interaction with a world model or domain knowledge base, sensor feedback, multiple-arm capability and concurrent operations. The system makes maximum use of manual interaction at all levels for debug, monitoring, and operational reliability. It is shown that the robotic command and control system may most advantageously be implemented as packages and tasks in Ada

Attitude control and damping system for spacecraft Patent

Utilization of momentum devices for forming attitude control and damping system for spacecraf

A flexible telerobotic system for space operations

The objective and design of a proposed goal-oriented knowledge-based telerobotic system for space operations is described. This design effort encompasses the elements of the system executive and user interface and the distribution and general structure of the knowledge base, the displays, and the task sequencing. The objective of the design effort is to provide an expandable structure for a telerobotic system that provides cooperative interaction between the human operator and computer control. The initial phase of the implementation provides a rule-based, goal-oriented script generator to interface to the existing control modes of a telerobotic research system, in the Intelligent Systems Research Lab at NASA Research Center

Description and simulation of an integrated power and attitude control system concept for space-vehicle application

An Integrated Power and Attitude Control System (IPACS) concept with potential application to a broad class of space missions is discussed. A description is given of the basic concept of combining the onboard energy storage and attitude control functions by storing energy in spinning flywheels which are used to provide control torques. A shuttle-launched Research and Applications Module (RAM) A303B solar-observatory mission having stringent pointing requirements (1.0 arc second) is selected to investigate possible interactions between energy storage and attitude control. A simulation of this spacecraft involving actual laboratory-model control-system hardware is presented. Simulation results are discussed which indicate that the IPACS concept, even in a failure-mode configuration, can readily meet the RAM A303B pointing requirements

An operating system for future aerospace vehicle computer systems

The requirements for future aerospace vehicle computer operating systems are examined in this paper. The computer architecture is assumed to be distributed with a local area network connecting the nodes. Each node is assumed to provide a specific functionality. The network provides for communication so that the overall tasks of the vehicle are accomplished. The O/S structure is based upon the concept of objects. The mechanisms for integrating node unique objects with node common objects in order to implement both the autonomy and the cooperation between nodes is developed. The requirements for time critical performance and reliability and recovery are discussed. Time critical performance impacts all parts of the distributed operating system; e.g., its structure, the functional design of its objects, the language structure, etc. Throughout the paper the tradeoffs - concurrency, language structure, object recovery, binding, file structure, communication protocol, programmer freedom, etc. - are considered to arrive at a feasible, maximum performance design. Reliability of the network system is considered. A parallel multipath bus structure is proposed for the control of delivery time for time critical messages. The architecture also supports immediate recovery for the time critical message system after a communication failure

Multimetric extension of the PPN formalism: experimental consistency of repulsive gravity

Recently we discussed a multimetric gravity theory containing several copies of standard model matter each of which couples to its own metric tensor. This construction contained dark matter sectors interacting repulsively with the visible matter sector, and was shown to lead to cosmological late-time acceleration. In order to test the theory with high-precision experiments within the solar system we here construct a simple extension of the parametrized post-Newtonian (PPN) formalism for multimetric gravitational backgrounds. We show that a simplified version of this extended formalism allows the computation of a subset of the PPN parameters from the linearized field equations. Applying the simplified formalism we find that the PPN parameters of our theory do not agree with the observed values, but we are able to improve the theory so that it becomes consistent with experiments of post-Newtonian gravity and still features its promising cosmological properties.Comment: 19 pages, no figures, journal versio

Self-Consistent Cosmological Simulations of DGP Braneworld Gravity

We perform cosmological N-body simulations of the Dvali-Gabadadze-Porrati braneworld model, by solving the full non-linear equations of motion for the scalar degree of freedom in this model, the brane bending mode. While coupling universally to matter, the brane-bending mode has self-interactions that become important as soon as the density field becomes non-linear. These self-interactions lead to a suppression of the field in high-density environments, and restore gravity to General Relativity. The code uses a multi-grid relaxation scheme to solve the non-linear field equation in the quasi-static approximation. We perform simulations of a flat self-accelerating DGP model without cosmological constant. The results of the DGP simulations are compared with standard gravity simulations assuming the same expansion history, and with DGP simulations using the linearized equation for the brane bending mode. This allows us to isolate the effects of the non-linear self-couplings of the field which are noticeable already on quasi-linear scales. We present results on the matter power spectrum and the halo mass function, and discuss the behavior of the brane bending mode within cosmological structure formation. We find that, independently of CMB constraints, the self-accelerating DGP model is strongly constrained by current weak lensing and cluster abundance measurements.Comment: 21 pages; 10 figures. Revised version matching published versio

Cosmological Simulations of Normal-Branch Braneworld Gravity

We introduce a cosmological model based on the normal branch of DGP braneworld gravity with a smooth dark energy component on the brane. The expansion history in this model is identical to LambdaCDM, thus evading all geometric constraints on the DGP cross-over scale r_c. This model can serve as a first approximation to more general braneworld models whose cosmological solutions have not been obtained yet. We study the formation of large scale structure in this model in the linear and non-linear regime using N-body simulations for different values of r_c. The simulations use the code presented in (F.S., arXiv:0905.0858) and solve the full non-linear equation for the brane-bending mode in conjunction with the usual gravitational dynamics. The brane-bending mode is attractive rather than repulsive in the DGP normal branch, hence the sign of the modified gravity effects is reversed compared to those presented in arXiv:0905.0858. We compare the simulation results with those of ordinary LambdaCDM simulations run using the same code and initial conditions. We find that the matter power spectrum in this model shows a characteristic enhancement peaking at k ~ 0.7 h/Mpc. We also find that the abundance of massive halos is significantly enhanced. Other results presented here include the density profiles of dark matter halos, and signatures of the brane-bending mode self-interactions (Vainshtein mechanism) in the simulations. Independently of the expansion history, these results can be used to place constraints on the DGP model and future generalizations through their effects on the growth of cosmological structure.Comment: 17 pages, 10 figures; v2: minor changes; v3: references added; v4: added appendix on comparison with previous results; matches published version; v5: corrected Eqs. (2.4-2.5) and Fig. 1 following Ref. [28]; all following results unchange

No-go theorem for bimetric gravity with positive and negative mass

We argue that the most conservative geometric extension of Einstein gravity describing both positive and negative mass sources and observers is bimetric gravity and contains two copies of standard model matter which interact only gravitationally. Matter fields related to one of the metrics then appear dark from the point of view of an observer defined by the other metric, and so may provide a potential explanation for the dark universe. In this framework we consider the most general form of linearized field equations compatible with physically and mathematically well-motivated assumptions. Using gauge-invariant linear perturbation theory, we prove a no-go theorem ruling out all bimetric gravity theories that, in the Newtonian limit, lead to precisely opposite forces on positive and negative test masses.Comment: 19 pages, no figures, journal versio