We present the first detection of neutral atomic oxygen (P1P2 fine structure line at∼63μm) toward the Horsehead photodissociation region (PDR). The cloud has been mapped with the Spitzer Space Telescope at far-IR (FIR) wavelengths using MIPS in the Spectral Energy Distribution (SED) mode. The [O i]63μm line peaks at the illuminated edge of the cloud at AV≃0.1-0.5 (inwards the gas becomes too co...

Future Mars rovers, such as the planned 2009 MSL rover, require sufficient autonomy to robustly approach rock targets and place an instrument in contact with them. It took the 1997 Sojourner Mars rover between 3 and 5 communications cycles to accomplish this on rocks. This paper describes the NASA Ames approach to robustly accomplishing single cycle instrument deployment, using the K9 prototype...

Described by Jean Chevaillier in 1967, autogenic drainage is an airway clearance technique that is widely used throughout Europe. The echnique is characterised by breathing control, where the individual adjusts the rate, depth and location of respiration in order to clear the hest of secretions independently. This paper describes the technique, based on the work of Chevaillier, offering a physi...

Errors in navigational instruments can significantly affect flight safety. Airspeed is a key piece of navigational data that depends on accurately measured air pressure, which in turn depends on accurately measured air temperature. Instead of measuring the outside air temperature in real time, cockpit instruments are preprogramed with standard air temperature values for different flight altitud...

This paper looks at the challenges confronting plate tectonics— the ruling paradigm in the earth sciences. The classical model of thin lithospheric plates moving over a global asthenosphere is shown to be implausible. Evidence is presented that appears to contradict continental drift, seafloor spreading, and subduction, as well as the claim that the oceanic crust is relatively young. The proble...

The dynamic relationship between hypernorms and microsocial contracts can explain novel, evolutionary changes in economic life. The conceptual machinery of Integrative Social Contracts Theory (ISCT) can be expanded in order to understand dynamic moments in the evolution in economic life such as the economic crisis of 2008–2009. When a transition in the ethical interpretation of economic events ...

We consider the excitation of water in the Photon Dominated Region (PDR) S140. With the use of a three-dimensional escape probability method we compute the level populations of ortho-and para-H 2 O up to ∼ 350 K (i.e., 8 levels), as well as line intensities for various transitions. Homogeneous and inhomogeneous models are presented with densities of 10 4 – 10 5 cm −3 and the differences between...

This paper presents an innovative method for accurate mobile robot dead-reckoning, called Internal Posi tion Error Correction (IPEC). In previous work, the IPEC method was successfully implemented on a specially designed mobile robot with two differential drive axles, called the Multi-Degree-of-Freedom (MDOF) mobile robot. Experimental results with the MDOF robot showed consistently one to two ...

Several position identification methods have been used for mobile robots. Dead reckoning is a popular method, but is not reliable for long distances or uneven surfaces because of variations in wheel diameter and slippage. The landmark method, which estimates current position relative to landmarks, cannot be used in an uncharted environment. We have proposed a new method called ”Cooperative Posi...