Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations

Magnetic field tuning of coplanar waveguide resonators

We describe measurements on microwave coplanar resonators designed for quantum bit experiments. Resonators have been patterned onto sapphire and silicon substrates, and quality factors in excess of a million have been observed. The resonant frequency shows a high sensitivity to magnetic field applied perpendicular to the plane of the film, with a quadratic dependence for the fundamental, second and third harmonics. Frequency shift of hundreds of linewidths can be obtained.Comment: Accepted for publication in AP

On the properties of superconducting planar resonators at mK temperatures

Planar superconducting resonators are now being increasingly used at mK temperatures in a number of novel applications. They are also interesting devices in their own right since they allow us to probe the properties of both the superconductor and its environment. We have experimentally investigated three types of niobium resonators - including a lumped element design - fabricated on sapphire and SiO_2/Si substrates. They all exhibit a non-trivial temperature dependence of their centre frequency and quality factor. Our results shed new light on the interaction between the electromagnetic waves in the resonator and two-level fluctuators in the substrate.Comment: V2 includes some minor corrections/changes. Submitted to PR

An intelligent, free-flying robot

The ground based demonstration of the extensive extravehicular activity (EVA) Retriever, a voice-supervised, intelligent, free flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out; (2) searches for and acquires the target; (3) plans and executes a rendezvous while continuously tracking the target; (4) avoids stationary and moving obstacles; (5) reaches for and grapples the target; (6) returns to transfer the object; and (7) returns to base

Circuit QED with a Flux Qubit Strongly Coupled to a Coplanar Transmission Line Resonator

We propose a scheme for circuit quantum electrodynamics with a superconducting flux-qubit coupled to a high-Q coplanar resonator. Assuming realistic circuit parameters we predict that it is possible to reach the strong coupling regime. Routes to metrological applications, such as single photon generation and quantum non-demolition measurements are discussed.Comment: 8 pages, 5 figure

J16021+3326: New Multi-Frequency Observations of a Complex Source

We present multifrequency Very Long Baseline Array (VLBA) observations of J16021+3326. These observations, along with variability data obtained from the Owens Valley Radio Observatory (OVRO) candidate gamma-ray blazar monitoring program, clearly indicate this source is a blazar. The peculiar characteristic of this blazar, which daunted previous classification attempts, is that we appear to be observing down a precessing jet, the mean orientation of which is aligned with us almost exactly.Comment: 16 pages, 7 Figures, 2 Tables, accepted to Ap

Characteristics of Gamma-Ray Loud Blazars in the VLBA Imaging and Polarimetry Survey

The radio properties of blazars detected by the Large Area Telescope (LAT) on board the Fermi Gamma-ray Space Telescope have been observed as part of the VLBA Imaging and Polarimetry Survey (VIPS). This large, flux-limited sample of active galactic nuclei (AGN) provides insights into the mechanism that produces strong gamma-ray emission. At lower flux levels, radio flux density does not directly correlate with gamma-ray flux. We find that the LAT-detected BL Lacs tend to be similar to the non-LAT BL Lacs, but that the LAT-detected FSRQs are often significantly different from the non-LAT FSRQs. The differences between the gamma-ray loud and quiet FSRQs can be explained by Doppler boosting; these objects appear to require larger Doppler factors than those of the BL Lacs. It is possible that the gamma-ray loud FSRQs are fundamentally different from the gamma-ray quiet FSRQs. Strong polarization at the base of the jet appears to be a signature for gamma-ray loud AGN.Comment: 32 pages, 9 figures, accepted by Ap

The Effect of Differing Fluid Replacement Strategies on Running Performance

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15 GHz Monitoring of Gamma-ray Blazars with the OVRO 40 Meter Telescope in Support of Fermi

We present results from the first two years of our fast-cadence 15 GHz gamma-ray blazar monitoring program, part of the F-GAMMA radio monitoring project. Our sample includes the 1158 blazars north of -20 degrees declination from the Candidate Gamma-Ray Blazar Survey (CGRaBS), which encompasses a significant fraction of the extragalactic sources detected by the Fermi Gamma-ray Space Telescope. We introduce a novel likelihood analysis for computing a time series variability amplitude statistic that separates intrinsic variability from measurement noise and produces a quantitative error estimate. We use this method to characterize our radio light curves. We also present results indicating a statistically significant correlation between simultaneous average 15 GHz radio flux density and gamma-ray photon flux.Comment: 5 pages, 7 figures; 2009 Fermi Symposium; eConf Proceedings C09112