Interplanetary energetic particle diffusion coefficient determination using random walk from shock waves
Interplanetary energetic particle diffusion coefficient determination using random walk from shock waves
Arens, J. F.↗
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Walking in Simulated Lunar Gravity
Energy requirements for walking in simulated lunar gravity
William Letko↗
Nonducted mode of VLF propagation between conjugate hemispheres - Observations on OGO's 2 and 4 of the ''walking-trace'' whistler and of Doppler shifts in fixed frequency transmissions
Nonducted VLF walking trace whistlers and Doppler shifts in fixed frequency transmissions identified on OGO midlatitude spectrographic records
Angerami, J. J.↗
Random walk techniques in the solution of first order digital phase-locked loops
First order digital phase locked loops analysis for single channel command system, using random walk techniques
Holmes, J. K.↗
Random walk theory of elastic and inelastic time dependent collisional processes in an electric field
Random walk theory applied to electron motion in early stage of He breakdown in electric field, based on integral and differential cross section data
Englert, G. W.↗
Physical interrelation between Fokker-Planck and random walk models with application to Coulomb interactions.
A model of the random walk is formulated to allow a simple computing procedure to replace the difficult problem of solution of the Fokker-Planck equation. The step sizes and probabilities of taking steps in the various directions are expressed in terms of Fokker-Planck coefficients. Application is made to many particle systems with Coulomb interactions. The relaxation of a highly peaked velocity distribution of particles to equilibrium conditions is illustrated.
Englert, G. W.↗
Electron avalanche structure determined by random walk theory
A self-consistent avalanche solution which accounts for collective long range Coulomb interactions as well as short range elastic and inelastic collisions between electrons and background atoms is made possible by a random walk technique. Results show that the electric field patterns in the early formation stages of avalanches in helium are close to those obtained from theory based on constant transport coefficients. Regions of maximum and minimum induced electrostatic potential phi are located on the axis of symmetry and within the volume covered by the electron swarm. As formation time continues, however, the region of minimum phi moves to slightly higher radii and the electric field between the extrema becomes somewhat erratic. In the intermediate formation periods the avalanche growth is slightly retarded by the high concentration of ions in the tail which oppose the external electric field. Eventually the formation of ions and electrons in the localized regions of high field strength more than offset this effect causing a very abrupt increase in avalanche growth.
Englert, G. W.↗
Hip-joint simulator accurately duplicates human walking pattern
Device simulates all three motions of walking and provides realistic variable loading during each step. Simulator will enable laboratory evaluation of all known types of total hip prostheses.
Johnson, B. L.↗
Walking in a rotating space station, an electromyographic and kinematic study
Biomechanics were studied of locomotion in a rotating environment like that of a space station at various gravity levels. Comparisons were made of the walking gait patterns and the amplitudes of various leg muscle electrical outputs at different gravity levels. The results of these tests are applicable to planning future space missions by providing a part of the information that will be needed to determine the type of vehicle and the gravity level to be provided for the astronauts if it is decided that artificial gravity is to be utilized.
Harris, R. L.↗
Computer coordination of limb motion for a three-legged walking robot
Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.
Klein, C. A.↗
Neutral cometary atmospheres. I - An average random walk model for photodissociation in comets
A method for constructing physically realistic photochemical models, taking into account the isotropic ejection of dissociated molecular fragments as well as radiation pressure acceleration, has been developed using Monte Carlo techniques. The effect of the isotropic ejection, as opposed to the radial motion arbitrarily assumed in Haser's model, is adequately described by a simple average random walk model. It is shown that measured radial (Haser) scale lengths are in fact only lower limits to a range of possible true scale lengths for a given brightness profile, which explains the current discrepancies between observed scale lengths and those predicted by photochemistry.
Combi, M. R.↗
Walking-Beam Solar-Cell Conveyor
Microprocessor-controlled walking-beam conveyor moves cells between work stations in automated assembly line. Conveyor has arm at each work station. In unison arms pick up all solar cells and advance them one station; then beam retracks to be in position for next step. Microprocessor sets beam stroke, speed, and position.
Feder, H.↗
Fifteenth anniversary of first space walk
The history of space walks is recounted. Their importance for the development of the space program is discussed.
Khrunov, Y. V.↗
Grid-free simulation of diffusion using random walk methods
The simulation of the diffusion of a continuum field by the random walk (RW) displacement of a set of particles is considered. Elements of the gradients of the diffusive concentration are transported by computational particles. It is demonstrated that, by the use of concentration gradients in the RW process, statistical errors are reduced and each realization of the numerical solution is a representation of the exact solution. The algorithm is grid-free, and the computational elements move to follow the gradients; hence, the algorithm is self-adaptive, and uniform resolution is achieved for all times.
Ghoniem, A. F.↗
Analytic method for calculating properties of random walks on networks
A method for calculating the properties of discrete random walks on networks is presented. The method divides complex networks into simpler units whose contribution to the mean first-passage time is calculated. The simplified network is then further iterated. The method is demonstrated by calculating mean first-passage times on a segment, a segment with a single dangling bond, a segment with many dangling bonds, and a looplike structure. The results are analyzed and related to the applicability of the Einstein relation between conductance and diffusion.
Goldhirsch, I.↗
Agile Walking Robot
Proposed agile walking robot operates over rocky, sandy, and sloping terrain. Offers stability and climbing ability superior to other conceptual mobile robots. Equipped with six articulated legs like those of insect, continually feels ground under leg before applying weight to it. If leg sensed unexpected object or failed to make contact with ground at expected point, seeks alternative position within radius of 20 cm. Failing that, robot halts, examines area around foot in detail with laser ranging imager, and replans entire cycle of steps for all legs before proceeding.
Larimer, Stanley J.↗
Rugged Walking Robot
Proposed walking-beam robot simpler and more rugged than articulated-leg walkers. Requires less data processing, and uses power more efficiently. Includes pair of tripods, one nested in other. Inner tripod holds power supplies, communication equipment, computers, instrumentation, sampling arms, and articulated sensor turrets. Outer tripod holds mast on which antennas for communication with remote control site and video cameras for viewing local and distant terrain mounted. Propels itself by raising, translating, and lowering tripods in alternation. Steers itself by rotating raised tripod on turntable.
Larimer, Stanley J.↗
A simple 5-DOF walking robot for space station application
Robots on the NASA space station have a potential range of applications from assisting astronauts during EVA (extravehicular activity), to replacing astronauts in the performance of simple, dangerous, and tedious tasks; and to performing routine tasks such as inspections of structures and utilities. To provide a vehicle for demonstrating the pertinent technologies, a simple robot is being developed for locomotion and basic manipulation on the proposed space station. In addition to the robot, an experimental testbed was developed, including a 1/3 scale (1.67 meter modules) truss and a gravity compensation system to simulate a zero-gravity environment. The robot comprises two flexible links connected by a rotary joint, with a 2 degree of freedom wrist joints and grippers at each end. The grippers screw into threaded holes in the nodes of the space station truss, and enable it to walk by alternately shifting the base of support from one foot (gripper) to the other. Present efforts are focused on mechanical design, application of sensors, and development of control algorithms for lightweight, flexible structures. Long-range research will emphasize development of human interfaces to permit a range of control modes from teleoperated to semiautonomous, and coordination of robot/astronaut and multiple-robot teams.
Brown, H. Benjamin, Jr.↗