The astronaut and the banana peel: An EVA retriever scenario

To prepare for the problem of accidents in Space Station activities, the Extravehicular Activity Retriever (EVAR) robot is being constructed, whose purpose is to retrieve astronauts and tools that float free of the Space Station. Advanced Decision Systems is at the beginning of a project to develop research software capable of guiding EVAR through the retrieval process. This involves addressing problems in machine vision, dexterous manipulation, real time construction of programs via speech input, and reactive execution of plans despite the mishaps and unexpected conditions that arise in uncontrolled domains. The problem analysis phase of this work is presented. An EVAR scenario is used to elucidate major domain and technical problems. An overview of the technical approach to prototyping an EVAR system is also presented

CAD-model-based vision for space applications

A pose acquisition system operating in space must be able to perform well in a variety of different applications including automated guidance and inspections tasks with many different, but known objects. Since the space station is being designed with automation in mind, there will be CAD models of all the objects, including the station itself. The construction of vision models and procedures directly from the CAD models is the goal of this project. The system that is being designed and implementing must convert CAD models to vision models, predict visible features from a given view point from the vision models, construct view classes representing views of the objects, and use the view class model thus derived to rapidly determine the pose of the object from single images and/or stereo pairs

Nonlinear r-modes in a spherical shell: issues of principle

We use a simple physical model to study the nonlinear behaviour of the r-mode instability. We assume that r-modes (Rossby waves) are excited in a thin spherical shell of rotating incompressible fluid. For this case, exact Rossby wave solutions of arbitrary amplitude are known. We find that: (a) These nonlinear Rossby waves carry ZERO physical angular momentum and positive physical energy, which is contrary to the folklore belief that the r-mode angular momentum and energy are negative. (b) Within our model, we confirm the differential drift reported by Rezzolla, Lamb and Shapiro (1999). Radiation reaction is introduced into the model by assuming that the fluid is electrically charged; r-modes are coupled to electromagnetic radiation through current (magnetic) multipole moments. We find that: (c) To linear order in the mode amplitude, r-modes are subject to the CFS instability, as expected. (d) Radiation reaction decreases the angular velocity of the shell and causes differential rotation (which is distinct from but similar in magnitude to the differential drift reported by Rezzolla et al.) prior to saturation of the r-mode growth. This is contrary to the phenomenological treatments to date, which assume that the loss of stellar angular momentum is accounted for by the r-mode growth. We demonstrate, for the first time, that r-mode radiation reaction leads to differential rotation. (e) We show that for l=2 r-mode electromagnetic radiation reaction is equivalent to gravitational radiation reaction in the lowest post-Newtonian order.Comment: 8 pages, no figures, uses MNRAS style, abstract abridged to fit into 24 line

Critical phenomena at the threshold of black hole formation for collisionless matter in spherical symmetry

We perform a numerical study of the critical regime at the threshold of black hole formation in the spherically symmetric, general relativistic collapse of collisionless matter. The coupled Einstein-Vlasov equations are solved using a particle-mesh method in which the evolution of the phase-space distribution function is approximated by a set of particles (or, more precisely, infinitesimally thin shells) moving along geodesics of the spacetime. Individual particles may have non-zero angular momenta, but spherical symmetry dictates that the total angular momentum of the matter distribution vanish. In accord with previous work by Rein et al, our results indicate that the critical behavior in this model is Type I; that is, the smallest black hole in each parametrized family has a finite mass. We present evidence that the critical solutions are characterized by unstable, static spacetimes, with non-trivial distributions of radial momenta for the particles. As expected for Type I solutions, we also find power-law scaling relations for the lifetimes of near-critical configurations as a function of parameter-space distance from criticality.Comment: 32 pages, 10 figure

Introduction to the physics of weightlessness

Equations of motion for describing weightlessness phenomena during space fligh

An Intuitive Graphical Query Interface for Protégé Knowledge Bases

Emily is a graphical query engine for Protégé knowledge bases that was developed by the Structural Informatics Group (SIG) at the University of Washington. Currently this application is adapted for a specific knowledge model, the Foundational Model of Anatomy (FMA) [1], but it could readily be generalized for use with other Protégé knowledge bases. In developing the Emily query interface, our intent was to provide a tool that was simple and intuitive to use, like the Queries tab provided with Protégé, but with improved information retrieval capabilities. Although some more advanced query mechanisms exist, currently they are too complicated for non-expert end users. The Algernon tab [2], for example, provides extensive Protégé query capabilities but requires users to learn a query scripting language. We sought to develop a query interface that was intuitive enough for end users to operate, with only minor instruction, yet was powerful enough to gather interesting information from a knowledge base that was not easily attained by browsing alone

Two-mode heterodyne phase detection

We present an experimental scheme that achieves ideal phase detection on a two-mode field. The two modes $a$ and $b$ are the signal and image band modes of an heterodyne detector, with the field approaching an eigenstate of the photocurrent $\hat{Z}=a+b^{\dag}$. The field is obtained by means of a high-gain phase-insensitive amplifier followed by a high-transmissivity beam-splitter with a strong local oscillator at the frequency of one of the two modes.Comment: 3 pages, 1 figur

The place of the Sun among the Sun-like stars

Context. Monitoring of the photometric and chromospheric HK emission data series of stars similar to the Sun in age and average activity level showed that there is an empirical correlation between the average stellar chromospheric activity level and the photometric variability. In general, more active stars show larger photometric variability. Interestingly, the measurements and reconstructions of the solar irradiance show that the Sun is significantly less variable than indicated by the empirical relationship. Aims. We aim to identify possible reasons for the Sun to be currently outside of this relationship. Methods. We employed different scenarios of solar HK emission and irradiance variability and compared them with available time series of Sun-like stars. Results. We show that the position of the Sun on the diagram of photometric variability versus chromospheric activity changes with time. The present solar position is different from its temporal mean position as the satellite era of continuous solar irradiance measurements has accidentally coincided with a period of unusually high and stable solar activity. Our analysis suggests that although present solar variability is significantly smaller than indicated by the stellar data, the temporal mean solar variability might be in agreement with the stellar data. We propose that the continuation of the photometric program and its expansion to a larger stellar sample will ultimately allow us to constrain the historical solar variability.Comment: 10 pages, 5 figures, accepted for publication in Astronomy&Astrophysic