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A design for a Mars Roving Vehicle is presented in a three dimensional model considering three degrees of freedom. In addition, the physical characteristics of the 0.4 scale RPI-MRV are presented along with the basic dynamic responses.
The global modeling of plasmaspheric plasma has remained fairly rudimentary over the last 30-years, owing to our limited ability to validate model results experimentally. The realization that voids and filamentary structures covering a range of scales sizes are formed in the distribution of thermal plasma has only been possible with global imaging and enables entirely new advances in modeling the near Earth space environment. Advances in modeling in the context of these new observations will be presented and discussed.
The plasmasphere is a toroidal region of cold plasma surrounding the Earth that results from ionospheric outflow and accumulation. The physics of refilling and the dynamics of this region have been studied for nearly 50-years. During that time many models have been proposed, but little has been done to test these models due to a lack of observational information. With the launch of the IMAGE Mission in March 2000 the Radio Plasma Imager has provided true field aligned density measurements that uniquely enable the testing of these models and a final determination of the physical processes important for the plasmasphere's recovery from storm-time conditions.
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The Imager for Magnetopause-to-Aurora Global Exploration (IMAGE) is the first mission designed exclusively to remotely measure the magnetosphere. As such, it will reveal the ring current, plasmasphere, polar cusp, and magnetopause as whole extended, interacting systems. For the first time, our impressions of the global magnetosphere, synthesized through many years of whistler and in situ measurement, will be replaced by images. The overall morphology of each system of plasma and the correspondence of changes between them in response to the sun and solar wind will become available. The Extreme Ultraviolet Imager (EUV) and the Radio Plasma Imager (RPI) are the two IMAGE instruments which will remotely measure and image the plasmasphere. What we expect to "see" from these instruments and how it may be interpreted is the subject of this presentation. The EUV instrument includes three optical cameras, with an almost 90 degree field of view, transverse to the spin axis. EUV is designed to see He+ ions in resonantly scatter solar light at 30.4rim. The IMAGE spacecraft will spin with a period of about 2 minutes, with its spin axis parallel to the orbit normal. The IMAGE orbit will be highly inclined, with a high latitude apogee at a geocentric distance of 8RE and perigee of about 1.2RE. The normal observing integration time of 10 minutes will easily see to the outer edge of the plasmasphere. The RPI instrument makes use of three orthoganal dipole antennas: two in the spin plane with a tip-to-tip length of 500m and one along the spin axis with a length of 20 meters. Using coded pulse transmissions, the RPI instrument will broadcast from 3kHz to 3MHz. With one minute resolution, plasma densities from about 0.1 cm(exp -3) to 100,000 cm(exp -3), along with line-of-sight bulk velocities and locations, will be obtained from all returned radio wave signals. When transmitting from the high latitude magnetospheric cavity, RPI will measure density profiles for the major plasma structures in the magnetosphere, including the magnetopause, polar cusp, and plasmasphere. RPI should also see isolated density irregularities and possibly the plasma sheet. Observations The EUV instrument will return line-of-sight integrated images through the optically thin helium medium of the plasmasphere and magnetosphere. A variety of techniques have been suggested for the translation of the images into physically useful data, such as plasmapause location and three dimensional density distribution. The RPI instrument will return quantitative density values and line-of-sight velocity as a function of position along reflecting wave propagation paths. How they may be used individually and together to study plasmaspheric dynamics and global structure will be discussed. Attention will also be given to the data products and how access to IMAGE data will be provided by the IMAGE team and the NSSDC.
The Radio Plasma Imager (RPI) on the Imager for Magnetopause-to-Aurora Global Exploration (IMAGE) mission operates like a radar by transmitting and receiving coherent electromagnetic pulses. Long-range echoes of electromagnetic sounder waves are reflected at remote plasma cutoffs. Thus, analyses of RPI observations will yield the plasma parameters and distances to the remote reflection points. These analyses assume that the reflecting plasma surfaces are cold and are sufficiently smooth that they effectively behave as plane mirrors to the incoming sounder waves, i.e., that geometric optics can be used. The RPI will employ pulse compression and spectral integration techniques, perfected in ground-based ionospheric digital sounders, in order to enhance the signal-to-noise ratio in long-range magnetospheric sounding. When plasma irregularities exist in the remote magnetospheric plasmas that are being probed by the sounder waves, echo signatures may become complicated. Ionospheric sounding experience indicates that while topside sounding echo strengths can actually be enhanced by the presence of irregularities, ground-based sounding indicates that coherent detection techniques can still be employed. In this paper we investigate the plasma conditions that will allow coherent signals to be detected by the RPI and the signatures to be expected, such as scattering and plasma resonances, in the presence of multi-scale irregularities, may possibly have on RPI signals. Sounding of irregular plasma structures in the plasmasphere, plasmapause and magnetopause are also discussed.
The Radio Plasma Imager (RPI) will be the first-of-its kind instrument designed to use radio wave sounding techniques to perform repetitive remote sensing measurements of electron number density (N(sub e)) structures and the dynamics of the magnetosphere and plasmasphere. RPI will fly on the Imager for Magnetopause-to-Aurora Global Exploration (IMAGE) mission to be launched early in the year 2000. The design of the RPI is based on recent advances in radio transmitter and receiver design and modern digital processing techniques perfected for ground-based ionospheric sounding over the last two decades. Free-space electromagnetic waves transmitted by the RPI located in the low density magnetospheric cavity will be reflected at distant plasma cutoffs. The location and characteristics of the plasma at those remote reflection points can then be derived from measurements of the echo amplitude, phase, delay time, frequency, polarization, Doppler shift, and echo direction. The 500 m tip-to-tip X and Y (spin plane) antennas and 20 m boom Z axis antenna on RPI will be used to measures echoes coming from distances of several R(sub E).
In addition to the spectacular remote measurements from the Imager for Magnetopause-to-Aurora Global Exploration (IMAGE) satellite [Burch, Space Sci. Rev., 2003], the Radio Plasma Imager (RPI) on IMAGE had the capability of making accurate magnetospheric local electron-density and magnetic-field determinations in addition to obtaining remote electron-density profiles [Reinisch et al., GRL, 2001; Benson et al., JGR, 2003]. These determinations were made using interleaved passive and active modes of operation of the RPI; the former were used to produce dynamic spectra and the latter to produce plasmagrams during active sounding. The plasmagrams of particular interest in this investigation were produced during the apogee (8 RE) portion of the IMAGE orbit when the RPI often operated in a high-resolution mode (300 Hz frequency steps) designed for accurate frequency measurements of sounder-stimulated plasma resonances. Here we present examples from 2001 and 2002, when the IMAGE apogee was at high latitudes, of large increase the electron density and magnetic-field intensity (relative to quiet control conditions) during magnetic storms. During the 17 April 2002 storm, the electron density increased by about a factor of 4 and the magnetic-field intensity increased by nearly a factor of 2. During the much larger storm of 31 March 2001, the RPI data presented in Osherovich et al. [2007] indicates that the electron density increased by about a factor of 10.
NASA's program for the civilian exploration of space is a challenge to scientists and engineers to help maintain and further develop the United States' position of leadership in a focused sphere of space activity. Such an ambitious plan requires the contribution and further development of many scientific and technological fields. One research area essential for the success of these space exploration programs is Intelligent Robotic Systems. These systems represent a class of autonomous and semi-autonomous machines that can perform human-like functions with or without human interaction. They are fundamental for activities too hazardous for humans or too distant or complex for remote telemanipulation. To meet this challenge, Rensselaer Polytechnic Institute (RPI) has established an Engineering Research Center for Intelligent Robotic Systems for Space Exploration (CIRSSE). The Center was created with a five year $5.5 million grant from NASA submitted by a team of the Robotics and Automation Laboratories. The Robotics and Automation Laboratories of RPI are the result of the merger of the Robotics and Automation Laboratory of the Department of Electrical, Computer, and Systems Engineering (ECSE) and the Research Laboratory for Kinematics and Robotic Mechanisms of the Department of Mechanical Engineering, Aeronautical Engineering, and Mechanics (ME,AE,&M), in 1987. This report is an examination of the activities that are centered at CIRSSE.
The conditions under which high frequency (f>>f(sub uh)) long-range extraordinary-mode discrete field-aligned echoes observed by the Radio Plasma Imager (RPI) on board the Imager for Magnetopause-to-Aurora Global Exploration (IMAGE) satellite in the plasmasphere are investigated by ray tracing modeling. Field-aligned discrete echoes are most commonly observed by RPI in the plasmasphere although they are also observed over the polar cap region. The plasmasphere field-aligned echoes appearing as multiple echo traces at different virtual ranges are attributed to signals reflected successively between conjugate hemispheres that propagate along or nearly along closed geomagnetic field lines. The ray tracing simulations show that field-aligned ducts with as little as 1% density perturbations (depletions) and less than 10 wavelengths wide can guide nearly field-aligned propagating high frequency X mode waves. Effective guidance of wave at a given frequency and wave normal angle (Psi) depends on the cross-field density scale of the duct, such that ducts with stronger density depletions need to be wider in order to maintain the same gradient of refractive index across the magnetic field. While signal guidance by field aligned density gradient without ducting is possible only over the polar region, conjugate field-aligned echoes that have traversed through the equatorial region are most likely guided by ducting.
The first empirical model of the equatorial mass density of the plasmasphere is constructed using ground-based ULF wave diagnostics. Plasmaspheric mass density between L=l.7 and L=3.2 has been determined using over 5200 hours of data from pairs of stations in the MEASURE array of ground magnetometers. The least-squares fit to the data as a function of L shows that mass density falls logarithmically with L. Average ion mass as a function of L is also estimated by combining the mass density model with plasmaspheric electron density profiles determined from the IMAGE Radio Plasma Imager (RPI). Additionally, we use the RPI electron density database to examine how the average ion mass changes under different levels of geomagnetic activity. We find that average ion mass is greatest under the most disturbed conditions. This result indicates that heavy ion concentrations are enhanced during large geomagnetic disturbances, and therefore play an important role in storm-time plasmaspheric dynamics. The average ion mass is also used to constrain the concentrations of He(+) and O(+). Estimates of the He(+) concentration determined this way can be useful for interpreting IMAGE Extreme Ultraviolet Imager (EUV) images.
NASA Langley Research Center (LaRC), in partnership with the Rensselaer Polytechnic Institute (RPI), developed photovoltaic infrared (IR) detectors suitable at two different wavelengths using Sb-based material systems. Using lattice-matched InGaAsSb grown on GaSb substrates, dual wavelength detectors operating at 1.7 and 2.5 micron wavelengths can be realized. P-N junction diodes are fabricated on both GaSb and InGaAsSb materials. The photodiode on GaSb detects wavelengths at 1.7 micron and the InGaAsSb detector detects wavelengths at 2.2 micron or longer depending on the composition. The films for these devices are grown by metal-organic vapor phase epitaxy (MOVPE). The cross section of the independently accessed back-to-back photodiode dual band detector consists of a p-type substrate on which n-on-p GaInAsSb junction is grown, followed by a p-on-n GaSb junction. There are three ohmic contacts in this structure, one to the p-GaSb top layer, one to the n-GaSb/n-GaInAsSb layer and one to the p-type GaSb substrate. The common terminal is the contact to the n-GaSb/n-GaInAsSb layer. The contact to the n-GaSb/p-GaInAsSb region of the photodiode in the dual band is electrically connected and is accessed at the edge of the photodiode. NASA LaRC acquired the fabricated dual band detector from RPI and characterized the detector at its Detector Characterization Laboratory. Characterization results, such as responsivity, noise, quantum efficiency, and detectivity will be presented.
The use of continuous trailing-edge flaps (CTEFs) for primary flight control of a helicopter main rotor is studied. A practical, optimized bimorph design with Macro-Fiber Composite actuators is developed for CTEF control, and a coupled structures and computational fluid dynamics methodology is used to study the fundamental behavior of an airfoil with CTEFs. These results are used within a comprehensive rotorcraft analysis model to study the control authority requirements of the CTEFs when utilized for primary flight control of a utility class helicopter. A study of the effect of blade root pitch index (RPI) on CTEF control authority is conducted, and the impact of structural and aerodynamic model complexity on the comprehensive analysis results is presented. The results show that primary flight control using CTEFs is promising; however, a more viable option may include the control of blade RPI, as well.
Neutron transmission and self-indication ratio measurements have been carried out at the RPI LINAC on depleted U up to 100 KeV in order to investigate the temperature dependence of resonance self-shielding. These measurements were performed at three sample temperatures (77 deg k, 295 deg k, and 973 deg k) and with sample thicknesses ranging from 0.0076 to 0.0621 atom/barn. Both stochastic sampling and analytical methods have been used to interpret these data. Average resonance parameters have been obtained and temperature dependence as well as sample thickness dependence of the data have been extensively studied.
Vertical wheel loads, wheel speeds, and torque relationships are considered in the design of a propulsion system capable of responding to steering, slope climbing, and irregular local terrains. The system developed is applied to the RPI Mars roving vehicle. The mechanical system required to implement the elevation laser scanning/multidetector principle was the design and construction of a mechanical system for implementing the elevation scanning/multidetector principle is also discussed.
The purpose of the RPI composites program is to develop advanced technology in the areas of physical properties, structural concepts and analysis, manufacturing, reliability and life prediction. Concommitant goals are to educate engineers to design and use composite materials as normal or conventional materials. A multifaceted program was instituted to achieve these objectives.
The concept and design of a dynamic test platform for development and evluation of a robot vision system is discussed. The platform is to serve as a diagnostic and developmental tool for future work with the RPI Mars Rover's multi laser/multi detector vision system. The platform allows testing of the vision system while its attitude is varied, statically or periodically. The vision system is mounted on the test platform. It can then be subjected to a wide variety of simulated can thus be examined in a controlled, quantitative fashion. Defining and modeling Rover motions and designing the platform to emulate these motions are also discussed. Individual aspects of the design process are treated separately, as structural, driving linkages, and motors and transmissions.
The deblocking process in a circuit breaker nozzle is similar to the flow starting process in a shock tunnel, and the computer uses this analogy to solve for the deblocking process by utilizing a diaphragm at the throat of a nozzle. At time equal to zero the diaphragm is broken and the throat area increases with time. It is a rarity to have the area as a function of both time and distance. Experimental data obtained from the RPI calibration shock tunnel are utilized to verify some of the calculated results with the area being a function of distance and the agreement is found to be good. The circuit breaker designer can utilize the computer simulation to estimate the deblocking time, an important parameter in the design of circuit breakers.