ALBERT

Description: Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

Description: This paper concerns the suppression of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale model. The controller does not need to calculate the quasi-steady variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.

Description: The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, we calculated the torque and the trajectories of all state variables for a given end point trajectory. The interpretation of this method in the frequency domain was explained in detail using the two-sided Laplace transform and the convolution integral. The open loop control of the inverse dynamic method shows an excellent result in simulation. For real applications, a practical control strategy is proposed by adding a feedback tracking control loop to the inverse dynamic feedforward control, and its good experimental performance is presented.

Description: This research seeks to provide an advanced force control strategy for a flexible manipulator. Two main issues with force control of flexible arms are discussed: non-collocation and robustness.

Description: Many applications of robotic and teleoperated manipulator arms require operation in contact and non-contact regimes. This paper deals with both regimes and the transition between them with special attention given to problems of flexibility in the links and drives. This is referred to as contact control. Inverse dynamics is used to plan the tip motion of the flexible link so that the free motion can stop very near the contact surface without collision due to overshoot. Contact must occur at a very low speed since the high frequency impact forces are too sudden to be affected by any feedback generated torques applied to a joint at the other end of the link. The effect of approach velocity and surface properties are discussed. Force tracking is implemented by commands to the deflection states of the link and the contact force. This enables a natural transition between tip position and tip force control that is not possible when the arm is treated as rigid. The effect of feedback gain, force trajectory, and desired final force are of particular interest and are studied. Experimental results are presented on a one link arm and the system performance in the overall contact task is analyzed. Extension to multi-link cases with potential applications are discussed.

Description: Many applications of robotic manipulator arms require operation in contact and noncontact regimes. Control of impact between the arm's tip and the environment has been largely ignored in prior research. The impact phenomena was investigated through simulation and experiment for the realization of the bracing strategy, and the key factors of the behavior were understood well. The approaching velocity is dominant parameter for the magnitude of the impact force. The impact is also affected by the compliance of the environmental surface.

Description: The short term objective of this research is the completion of experimental configuration of the Small Articulated Robot (SAM) and the derivations of the actuator dynamics of the Robotic Arm, Large and Flexible (RALF). In order to control vibrations SAM should have larger bandwidth than that of the vibrations. The bandwidth of SAM consist of 3 parts; structural rigidity, processing speed of controller, and motor speed. The structural rigidity was increased to a reasonably high value by attaching aluminum angles at weak points and replacing thin side plates by thicker ones. The high processing speed of the controller was achieved by using parallel processors (three 68000 process, three interface board, and one main processor (IBM-XT)). Maximum joint speed and acceleration of SAM is known as about 4 rad/s and 15 rad/sq s. Hence SAM can move only .04 rad at 3 Hz which is the natural frequency of RALF. This will be checked by experiment.

Description: The approach employed by NASA Lewis for the long-term durability assessment of the Stirling engine hot-section components is summarized. The approach consists of: preliminary structural assessment; development of a viscoplastic constitutive model to accurately determine material behavior under high-temperature thermomechanical loads; an experimental program to characterize material constants for the viscoplastic constitutive model; finite-element thermal analysis and structural analysis using a viscoplastic constitutive model to obtain stress/strain/temperature at the critical location of the hot-section components for life assessment; and development of a life prediction model applicable for long-term durability assessment at high temperatures. The approach should aid in the provision of long-term structural durability and reliability of Stirling engines.

Description: The 3.0-micrometers water of hydration absorption feature observed in the IR photometry of many low-albedo and some medium-albedo asteroids strongly correlates with the 0.7-micrometers Fe(+2) to Fe(+3) oxidized iron absorption feature observed in narrowband spectrophotometry of these asteroids. Using this relationship, an empirical algorithm for predicting the presence of water of hydration in the surface material of a Solar System body using photometry obtained through the Eight-Color Asteroid Survey nu (0.550 micrometers), w (0.701 micrometers), and x (0.853 micrometers) filters was developed and applied to the ECAS photometry of asteroids and outer planet satellites. The percentage of objects in low-albedo, outer main-belt asteroid classes that test positively for water of hydration increases from P to B to C to G class and correlates linearly with the increasing mean albedos of those objects testing positively. The medium-albedo M-class asteroids do not test positively in large number using this algorithm. Aqueously altered asteroids dominate the Solar System population between heliocentric distances of 2.6 to 3.5 AU, bracketing the Solar System region where the aqueous alteration mechanism operated most strongly. One jovian satellite, J VI Himalia, and one saturnian satellite. Phoebe, tested positively for water of hydration, supporting the hypothesis that these may be captured C-class asteroids from a postaccretional dispersion. The proposed testing technique could be applied to an Earth-based survey of asteroids or a space-probe study of an asteroid's surface characteristic in order to identify a potential water source.

Description: The infrared transmission spectra and photochemical behavior of various organic compounds isolated in solid N2 ices, appropriate for applications to Triton ad Pluto, are presented. It is shown that excess absorption in the surface spectra of Triton and Pluto, i.e., absorption not explained by present models incorporating molecules already identified on these bodies (N2, CH4, CO, and CO2), that starts near 4450/cm (2.25 microns) and extends to lower frequencies, may be due to alkanes (C(n)H(2n+2)) and related molecules frozen in the nitrogen. Branched and linear alkanes may be responsible. Experiments in which the photochemstry of N2: CH4 and N2: CH4: CO ices was explored demonsrtrate that the surface ices of Triton and Pluto may contain a wide variety of additional species containing H, C, O, and N. Of these, the reactive molecule diazomethane, CH2N2, is particularly important since it may be largely responsible for the synthesis of larger alkanes from CH4 and other small alkanes. Diazomethane would also be expected to drive chemical reactions involving organics in the surface ices of Triton and Pluto toward saturation, i.e., to reduce multiple CC bonds. The positions and intrinsic strengths (A values) of many of the infrared absorption bands of N2 matrix-isolated molecules of relevance to Triton and Pluto have also been determined. These can be used to aid in their search and to place constraints on their abundances.

Description: This report presents the most recent spherical harmonic topography model of Venus developed at Jet Propulsion Laboratory. It was produced by a spherical harmonic analysis of the most complete set of Magellan altimetry data, augmented by Pioneer Venus and Venera data. The harmonic coefficients of the topography were computed to degree and order 360. Compared to previous topography models, this one has the highest correlation with the gravity field of Venus.

Description: The 500-Myr average crater retention age for Venus has raised questions about the present-day level of tectonic activity. In this study we examine the relationship between the gravity and topography of four large volcanic swells, Beta, Atla, Bell, and Western Eistla Regiones, for clues about their stage evolution. The Magellan line-of-sight gravity data are inverted using a point mass model of the anomalous mass to solve for the local vertical gravity field. Spectral admittance calculated from both the local gravity inversions and a spherical harmonic model is compared to three models of compensation: local compensation, a 'flexural' model with local and regional compensation of surface and subsurface loads, and a 'hotspot' model of compensation that includes top loading by volcanoes and subsurface loading due to a deep, low density mass anomaly. The coherence is also calculated in each region, but yields an elastic thickness estimate only at Bell Regio. In all models, the long wavelengths are compensated locally. Our results may indicate a relatively old, possibly inactive plume.

Description: Recent mapping studies west of Elysium Mons, Mars, have pinpointed subice features that suggest the existence of a frozen paleolake in Utopia Planitia as recently as 1.8 billion years ago. The subice features are interpreted to be hyaloclastic ridges and hills, table moutains, associated joekulhalaup deposits, and fluvial channels. Photoclinometric studies of these features and of a basal scarp around the northwest flank of Elysium Mons interpreted to have been an ice-sheet boundary indicate that the maximum thickness of ice within the basin may have been about 180 m. This thickness of ice during a relatively late stage of Martian geologic history would have important implications concerning the atmospheric, the climatic, and possibly the exobiologic history of the planet.

Description: During the final, low solar activity phase of the Pioneer Venus (PV) mission, the Orbiter Ion Mass Spectrometer (OIMS) measurements found all ion species, in the midnight-dusk sector, reduced in concentration relative to that observed at solar maximum. Molecular ion species comprised a greater part of the total ion concentration as O(+) and H(+) had the greatest depletions. The nightside ionospheric states were strikingly similar to the isolated solar maximum 'disappearing' ionospheres. Both are very dynamic states characterized by a rapidly drifting plasma and 30-100 eV superthermal O(+) ions.

Description: In October, 1992 the Pioneer Venus Orbiter entered the atmosphere of Venus, ending nearly 14 years of observations at Venus. Prior to the entry into the atmosphere and subsequent loss of the spacecraft careful management of spacecraft resources had allowed the acquisition of much low altitude data over the nightside of the planet. The long duration of the Pioneer Venus mission has enabled us to study the ionosphere and atmosphere of Venus under different levels of solar activity.

Description: Atmospheric drag measurements from the orbital decay of the Pioneer Venus Orbiter and Magellan spacecraft have recently been obtained of the Venus dayside and nightside atmosphere between 130 and 210 km during a period of low solar activity. These new measurements, combined with the earlier Pioneer Venus drag measurements (1978-80) obtained near the maximum of the 11-year solar cycle, have allowed the detection of the detailed response of temperature, atomic oxygen and carbon dioxide to solar variations. We have found a weak but detectable temperature response on the dayside which is in accord with the response predicted by Keating and Bougher when they assumed very strong CO2 radiative cooling resulting from atomic oxygen exciting CO2 into 15 micron emission. This same radiative process may cause strong cooling in the Earth's upper atmosphere with the doubling of CO2 in the future. With decreasing solar activity, the O/CO2 ratio in the lower thermosphere is found to decrease, apparently due to decreased photodissociation of CO2 and lower temperatures. The percent decrease in atomic oxygen with decreasing solar activity on the dayside is found to be approximately the same as the percent decreases of atomic oxygen transported to the nightside. A very weak response of nightside temperatures to solar activity variations has also been detected.

Description: The ion and electron momentum equations, along with Ampere's law, are solved for the ion and electron drift velocities and the electric field in the subsolar Venus ionosphere, assuming a partially ionized gas and a single ion species having the ion mean mass. All collision terms among the ions, electrons and neutral particles are retained in the equations. A general expression for the evolution of the magnetic field is derived and compared with earlier expressions. Subsolar region data in the altitude range 150-300 km from the Pioneer Venus Orbiter are used to calculate altitude profiles of the components of the current due to the electric field, gradients of pressure, and gravity. Altitude profiles of the ion and electron velocities as well as the electric field, electrodynamic heating, and the energy density are determined. Only orbits having a complete set of measured plasma temperatures and densities, neutral densities, and magnetic field were considered for analysis; the results are shown only for orbit 202. The vertical velocity at altitudes above 220 km is upgoing for orbit 202. This result is consistent with observations of molecular ions at high altitudes and of plasma flow to the nightside, both of which require upward velocity of ions from the dayside ionosphere. Above about 230 km the momentum equations are extremely sensitive to the altitude profiles of density, temperature, and magnetic field.

Description: We report here analyses of olivines and pyroxenes, and petrofabrics of 27 chondritic interplanetary dust particles (IDPs), comparing those from anhydrous and hydrous types. Approximately 40% of the hydrous particles contain diopside, a probable indicator of parent body thermal metamorphism, while this mineral is rarely present in the anhydrous particles. Based on this evidence, we find that hydrous and anhydrous IDPs are, in general, not directly related, and we conclude that olivine and pyroxene major-element compositions can be used to help discriminate between IDPs that are (1) predominantly nebular condensates, and lately resided in anhydrous or icy (no liquids) primitive parent bodies, and (2) those originating from more geochemically active parent bodies (probably hydrous and anhydrous asteroids).

Description: This paper reports on a magnetic field phenomenon, hereafter referred to as null fields, which were discovered during the inbound pass of the recent flyby of Jupiter by the Ulysses spacecraft. These null fields which were observed in the outer dayside magnetosphere are characterised by brief but sharp decreases of the field magnitude to values less than 1 nT. The nulls are distinguished from the current sheet signatures characteristic of the middle magnetosphere by the fact that the field does not reverse across the event. A field configuration is suggested that accounts for the observed features of the events.

Description: Geochemical profiles of surface units, impact, and volcanic features are studied in detail to determine the underlying structure in an area of extensive mare/highland interface, Sinus Amoris. This study region includes and surrounds the northeastern embayment of Mare Tranquillitatis. The concentrations of two major rock-forming elements (Mg and Al), which were derived from the Apollo 15 orbital geochemical measurements, were used in this study. Mapped units and deposits associated with craters in the northwestern part of the region tend to have correlated low Mg and Al concentrations, indicating the presence of Potassium (K)-Rare Earth Elements (REE)-Phosphorus (P) (KREEP)-enriched basalt. Found along the northeastern rim of Tranquillitatis were areas with correlated high Mg and Al concentration, indicating the presence of troctolite. Distinctive west/east and north/south trends were observed in the concentrations of Mg and Al, and, by implication, in the distribution of major rock components on the surface. Evidence for a systematic geochemical transition in highland or basin-forming units may be observed here in the form of distinctive differences in chemistry in otherwise similar units in the western and eastern portions of the study region.

Description: The aerobraking orbital activities of Magelland during the gravity mapping of Venus are discussed. The goal of aerobraking was to circularize Magellan's orbit. By aerobraking the spacecraft into a nearly circula orbit, the Magellan team was able to provide scientists with a different data set to deepen their understanding of what is going on beneath Venus' surface. Before undertaking its gravity-mapping mission, Magellan completed three cycles of radar mapping. This repeated coverage allowed the spacecraft to see some of Venus' geologic features from different viewing angles. Various aspects of the mission are discussed, and maps of Venus are presented.

Description: We have combined the most recent Pioneer Venus Orbiter (PVO) and Magellan (MGN) data with the earlier 1978-1982 PVO data set to obtain a new 60th degree and order spherical harmonic gravity model and a 120th degree and order spherical harmonic topography model. Free-air gravity maps are shown over regions where the most marked improvement has been obtained (Ishtar-Terra, Alpha, Bell and Artemis). Gravity versus topography relationships are presented as correlations per degree and axes orientation.

Description: We report infrared heterodyne spectroscopy (lambda/delta lambda is approximately 10(exp 6)) of C2H6 emission at 11.9 microns from the northern Jovian auroral region, in observations conducted over December 2-7, 1989. Accurately measured line shapes provide information on C2H6 abundance as well as temperature and permit retrieval of the source pressure region. Enhanced emission was observed in the longitude range approximately 150-180 deg at approximately 60 deg north latitude, approximately corresponding to the CH4 7.8 micron hot spot and the region of brightest UV aurora. Significant brightness variations were observed in the hot spot emissions on a time scale of approximately 20 hours. Analysis of the brightest hot spot spectra indicates C2H6 mole fractions of approximately (6.3-6.8) x 10(exp -6) at temperatures of approximately 182-184 K at 1 mbar, compared to mole fractions of (3.8 +/- 1.4) x 10(exp -6) averaged over spectra outside the hot spot at a temperature of approximately 172 K at the same pressure. Fixing the mole fraction to the lower limit retrieved in the quiescent (non-hot spot) region allows the temperature at 1 mbar to be as high as approximately 200 K within the hot spot. These results provide upper limits to the temperature increase near the source of the C2H6 thermal infrared emission. Combined with results from similar measurements of ethylene emission probing the approximately 10-microbar region (Kostiuk et al., this issue), altitude information on the thermal structure of the Jovian auroral stratosphere can be obtained for the first time.

Description: Doppler tracking data of three orbiting spacecraft have been reanalyzed to develop a new gravitational field model for the planet Mars, Goddard Mars Model 1 (GMM-1). This model employs nearly all available data, consisting of approximately 1100 days of S band tracking data collected by NASA's Deep Space Network from the Mariner 9 and Viking 1 and Viking 2 spacecraft, in seven different orbits, between 1971 and 1979. GMM-1 is complete to spherical harmonic degree and order 50, which corresponds to a half-wavelength spatial resolution of 200-300 km where the data permit. GMM-1 represents satellite orbits with considerably better accuracy than previous Mars gravity models and shows greater resolution of identifiable geological structures. The notable improvement in GMM-1 over previous models is a consequence of several factors: improved computational capabilities, the use of otpimum weighting and least squares collocation solution techniques which stabilized the behavior of the solution at high degree and order, and the use of longer satellite arcs than employed in previous solutions that were made possible by improved force and measurement models. The inclusion of X band tracking data from the 379-km altitude, nnear-polar orbiting Mars Observer spacecraft should provide a significant improvement over GMM-1, particularly at high latitudes where current data poorly resolve the gravitational signature of the planet.

Description: A series of surface-modified clays containing nanophase (np) iron/oxyhydroxides of extremely small particle sizes, with total iron contents as high as found in Mars soil, were prepared by iron deposition on the clay surface from ferrous chloride solution. Comprehensive studies of the iron mineralogy in these 'Mars-soil analogs' were conducted using chemical extractions, solubility analyses, pH and redox, x ray and electron diffractometry, electron microscopic imaging specific surface area and particle size determinations, differential thermal analyses, magnetic properties characterization, spectral reflectance, and Viking biology simulation experiments. The clay matrix and the procedure used for synthesis produced nanophase iron oxides containing a certain proportion of divalent iron, which slowly converts to more stable, fully oxidized iron minerals. The noncrystalline nature of the iron compounds precipitated on the surface of the clay was verified by their complete extractability in oxalate. Lepidocrocite (gamma-FeOOH) was detected by selected area electron diffraction. It is formed from a double iron Fe(II)/Fe(III) hydroxyl mineral such as 'green rust', or ferrosic hydroxide. Magnetic measurements suggested that lepidocrocite converted to the more stable meaghemite (gamma-Fe203) by mild heat treatment and then to nanophase hematite (aplha-Fe203) by extensive heat treatment. Their chemical reactivity offers a plausible mechanism for the somewhat puzzling observations of the Viking biology experiments. Their unique chemical reactivities are attributed to the combined catalytic effects of the iron oxide/oxyhydroxide and silicate phase surfaces. The mode of formation of these (nanophase) iron oxides on Mars is still unknown.

Description: Spatial correlation among densely packed particles can substantially change their single-scattering properties, thus making questionable the applicability of the independent scattering approximation in calculations of light scattering by planetary regoliths. The same problem arises in geophysics in light scattering computations for snow, frosts, and bare soil. In this paper, we use a dense-medium light-scattering theory based on the introduction of the static structure factor to calculate asymmetry parameters of the phase function for densely packed particles with real refractive indices 1.31 and 1.66, approximating water ice and soil particles, respectively, and imaginary refractive indices 0, 0.01, and 0.3. For sparsely distributed, independently scattering grains, the calculated asymmetry parameters are always positive and always larger than those for densely packed particles. For densely packed grains, the asymmetry parameters may be negative but only for radius-to-wavelength ratios from about 0.1 to about 0.4. With decreasing particle size, the calculated asymmetry parameters tend to zero independently of the compaction state. In the geometrical optics regime, the asymmetry parameters for densely packed scatterers are positive and very close to those for independently scattering grains. These results may have important implications for remote sensing of the Earth and solid planetary surfaces. In particular, it is demonstrated that negative asymmetry parameters derived with some approximate multiple-scattering theories may be physically irrelevant and can be the result of using an inaccurate bidirectional reflection function combined with the ill-conditionally of the inverse scattering problem.

Description: The 3-5 micrometer thermal emission of the nightside of Venus, recorded by the Near-Infrared Mapping Spectrometer (NIMS) instrument at the time of the Galileo flyby of Venus, is analysed to infer the properties of the upper cloud boundary. From the global maps of Venus at fixed wavelengths, the limb darkening of the flux is measured at several latitudes, within each infrared channel. By using the nominal Pioneer Venus thermal profile, these data give access to two parameters: the cloud deck temperature and the cloud scale height. It is verified independently, from the NIMS spectra, that this thermal profile is consistent with all the NIMS observations, and that the thermal structure does not vary significantly in the latitude range (25 deg S, 30 deg N). Within this range, the cloud scale height is found to be constant with latitude, and is H = 5.2 km, with an accuracy of about 15%, taking into account the various sources of theoretical and observational uncertainties. At higher latitudes, the temperature profile becomes more isothermal and the presented method to retrieve H is no longer valid.

Description: A large number of i.r. spectra of Venus was obtained using the Near-Infrared Mapping Spectrometer (NIMS) on the Galileo spacecraft, during the February 1990 encounter. Preliminary results show an apparent increase in the tropospheric CO volume mixing ratio (vmr) in the northern polar region. Other possible explanations of the observations are examined and rejected and an increase of the CO abundance north of 47 deg N of (35 +/- 15)% is inferred. Some possible causes of this enhancement are suggested.

Description: The spectroscopic data of the Near-Infrared Mapping Spectrometer (NIMS), recorded during the Galileo flyby of Venus, are analysed to retrieve the water vapor abundance variations in the lower atmosphere of Venus at night. The 1.18 micrometer spectral window, which probes altitude levels below 20 km, is used for this purpose. Constraints on the CO2 continuum and far-wing opacity from existing ground-based high-resolution observations are included in the modelling of the NIMS spectra. The NIMS measurements can be fitted with a water vapor mixing ratio of 30 +/- 15 ppm, in agreement with analyses of ground-based nightside observations. The water vapor abundance shows no horizontal variations exceeding 20% over a wide latitude range (40 deg S, 50 deg N) on the nightside of Venus. Within the same selection of NIMS spectra, a large enhancement in the O2 fluorescence emission at 1.27 micrometer is observed at a latitude of 40 deg S, over a spatial area about 100 km wide.

Description: Using Venus nightside data obtained by the Galileo Near-Infrared Mapping Spectrometer (NIMS), we have studied the correlation of 1.74 and 2.30 micrometer radiation which is transmitted through the clouds. Since the scattering and absorption properties of the cloud particles are different at these two wavelengths, one can distinguish between abundance variations and variations in the properties of the cloud particles themselves. The correlation of intensities shows a clustering of data into five distinct branches. Using radiative transfer calculations, we interpret these branches as regions of distinct but different mixes of Mode 2' and 3 particles. The data and calculations indicate large differences in these modal ratios, the active cloud regions varying in content from nearly pure Mode 2' particles to almost wholly Mode 3. The spatial distribution of these branches shows large scale sizes and both hemispheric symmetries and asymmetries. High-latitude concentrations of large particles are seen in both hemispheres and there is banded structure of small particles seen in both the North and South which may be related. The mean particle size in the Northern Hemisphere is greater than found in the South. If these different branch regions are due to mixing of vertically stratified source regions (e.g. photochemical and condensation source mechanisms), then the mixing must be coherent over very large spatial scales.

Description: The Radio and Plasma Wave Science (RPWS) experiment being built for the Cassini spacecraft will study a wide range of plasma and radio wave phenomena in the magnetosphere of Saturn and will also make valuable measurements during the cruise phase and at other encounters. A feature of data from wave receivers is the capability of producing vastly more data than the spacecraft telemetry link is capable of transmitting back to the Earth. Thus, techniques of on-board data compression and data reduction are important. The RPWS instrument has one processor dedicated to data compression tasks.

Description: The first comprehensive discussion of the south seasonal polar cap spectra obtained by the Mariner 7 infrared spectrometer in the short-wavelength region (2-4 microns) is presented. The infrared spectra is correlated with images acquired by the wide-angle camera. Significant spectral variation is noted in the cap interior and regions of varying water frost abundance, CO2 ice/frost cover, and CO2-ice path length can be distinguished. Many of these spectral variations correlate with heterogeneity noted in the camera images, but certain significant infrared spectral variations are not discernible in the visible. Simple reflectance models are used to classify the observed spectral variations into four regions. Region I is at the cap edge, where there is enhanced absorption beyond 3 microns inferred to be caused by an increased abundance of water frost. The increase in water abundance over that in the interior is on the level of a few parts per thousand or less. Region II is the typical cap interior characterized by spectral features of CO2 ice at grain sizes of several millimeters to centimeters. These spectra also indicate the presence of water frost at the parts per thousand level. A third, unusual region (III), is defined by three spectra in which weak CO2 absorption features are as much as twice as strong as in the average cap spectra and are assumed to be caused by an increased path length in the CO2. Such large paths are inconsistent with the high reflectance in the visible and at 2.2 microns and suggest layered structures or deposition conditions that are not accounted for in current reflectance models. The final region (IV) is an area of thinning frost coverage or transparent ice well in the interior of the seasonal cap. These spectra are a combination of CO2 and ground signatures.

Description: We report new measurements of the sodium emission intensity seen in a line of sight just above the surface of the Moon. These data show a strong dependence on lunar phase. The emission intensity decreases from a maximum around first quarter (phase angle 90 deg) to very small values near full Moon (phase angle 0 deg). This suggests that the rate of sodium vapor production from the lunar surface is largest at the subsolar point and becomes small near the terminator. However, the sodium emission near full Moon falls below that which would be expected for solar photon-driven processes. Since the solar wind flux decreases substantially when the Moon enters the Earth's magnetotail near full Moon, while the global solar photon flux is undiminished, we suggest that solar wind sputtering is the dominant process for sodium production.

Description: Infrared diffuse reflectance spectra (2.53-25 microns) of some carbonaceous (C) chondrites were measured. The integrated intensity of the absorption bands near 3 microns caused by hydrous minerals were compared with the modal content of hydrous minerals for the meteorites. The CM and CI chondrites show larger values of the intergated intensity than those of the unique C chondrites Y82162, Y86720 and B7904, suggesting that the amount of hydrous minerals in the CM and CI chondrites is larger, which supports the contention that hydrous minerals were dehydrated by thermal metamorphism in the unique chondrites. Orgueil (CI) has the largest value of the integrated intensity among the C chondrites we measured and shows a sharp absorption band at 3685/cm (2.71 microns) that is not seen in the spectra of the CM chondrites. There is an excellent correlation between the observed hydrogen content in C chondrites and the integrated intensity. The CM chondrites show a wide variation in the strength of absorption bands at 1470/cm (6.8 microns), despite the similarity in absorption features near 3 micron for all CM chondites. The 1470/cm band could be due to the presence of some hydrocarbons but may also be a result of terrestrial alteration processes.

Description: Oxygen production from a lunar rock has been experimentally demonstrated for the first time. A 10 g sample of high-Ti basalt 70035 was reduced with hydrogen in seven experiments at temperatures of 900-1050 C and pressures of 14.7-150 psia. In all experiments, water evolution began almost immediately and was essentially complete in tens of minutes. Oxygen yields ranged from 2.93 to 4.61% of the starting sample weight, and showed weak dependence on temperature and pressure. Analysis of the solid samples demonstrated total reduction of Fe(2+) in ilmenite and small degrees of reduction in olivine and pyroxene. Ti O2 was also partially reduced to one or more suboxides. Data from these experiments provide a basis for predicting the yield of oxygen from lunar basalt as well as new constraints on natural reduction in the lunar regolith.

Description: OPMILL is a computer operating system for a Kearney and Trecker milling machine that provides a fast and easy way to program machine part manufacture with an IBM compatible PC. The program gives the machinist an "equation plotter" feature which plots any set of equations that define axis moves (up to three axes simultaneously) and converts those equations to a machine milling program that will move a cutter along a defined path. Other supported functions include: drill with peck, bolt circle, tap, mill arc, quarter circle, circle, circle 2 pass, frame, frame 2 pass, rotary frame, pocket, loop and repeat, and copy blocks. The system includes a tool manager that can handle up to 25 tools and automatically adjusts tool length for each tool. It will display all tool information and stop the milling machine at the appropriate time. Information for the program is entered via a series of menus and compiled to the Kearney and Trecker format. The program can then be loaded into the milling machine, the tool path graphically displayed, and tool change information or the program in Kearney and Trecker format viewed. The program has a complete file handling utility that allows the user to load the program into memory from the hard disk, save the program to the disk with comments, view directories, merge a program on the disk with one in memory, save a portion of a program in memory, and change directories. OPMILL was developed on an IBM PS/2 running DOS 3.3 with 1 MB of RAM. OPMILL was written for an IBM PC or compatible 8088 or 80286 machine connected via an RS-232 port to a Kearney and Trecker Data Mill 700/C Control milling machine. It requires a "D:" drive (fixed-disk or virtual), a browse or text display utility, and an EGA or better display. Users wishing to modify and recompile the source code will also need Turbo BASIC, Turbo C, and Crescent Software's QuickPak for Turbo BASIC. IBM PC and IBM PS/2 are registered trademarks of International Business Machines. Turbo BASIC and Turbo C are trademarks of Borland International.

Description: AutoCAD to Mass Properties was developed to facilitate quick mass properties calculations of structures having many simple elements in a complex configuration such as trusses or metal sheet containers. Calculating the mass properties of structures of this type can be a tedious and repetitive process, but ACTOMP helps automate the calculations. The structure can be modelled in AutoCAD or a compatible CAD system in a matter of minutes using the 3-Dimensional elements. This model provides all the geometric data necessary to make a mass properties calculation of the structure. ACTOMP reads the geometric data of a drawing from the Drawing Interchange File (DXF) used in AutoCAD. The geometric entities recognized by ACTOMP include POINTs, 3DLINEs, and 3DFACEs. ACTOMP requests mass, linear density, or area density of the elements for each layer, sums all the elements and calculates the total mass, center of mass (CM) and the mass moments of inertia (MOI). AutoCAD utilizes layers to define separate drawing planes. ACTOMP uses layers to differentiate between multiple types of similar elements. For example if a structure is made of various types of beams, modeled as 3DLINEs, each with a different linear density, the beams can be grouped by linear density and each group placed on a separate layer. The program will request the linear density of 3DLINEs for each new layer it finds as it processes the drawing information. The same is true with POINTs and 3DFACEs. By using layers this way a very complex model can be created. POINTs are used for point masses such as bolts, small machine parts, or small electronic boxes. 3DLINEs are used for beams, bars, rods, cables, and other similarly slender elements. 3DFACEs are used for planar elements. 3DFACEs may be created as 3 or 4 Point faces. Some examples of elements that might be modelled using 3DFACEs are plates, sheet metal, fabric, boxes, large diameter hollow cylinders and evenly distributed masses. ACTOMP was written in Microsoft QuickBasic (Version 2.0). It was developed for the IBM PC microcomputer and has been implemented on an IBM PC compatible under DOS 3.21. ACTOMP was developed in 1988 and requires approximately 5K bytes to operate.

Description: The ORBSIM program was developed for the accurate extraction of geophysical model parameters from Doppler radio tracking data acquired from orbiting planetary spacecraft. The model of the proposed planetary structure is used in a numerical integration of the spacecraft along simulated trajectories around the primary body. Using line of sight (LOS) Doppler residuals, ORBSIM applies fast and efficient modelling and optimization procedures which avoid the traditional complex dynamic reduction of data. ORBSIM produces quantitative geophysical results such as size, depth, and mass. ORBSIM has been used extensively to investigate topographic features on the Moon, Mars, and Venus. The program has proven particulary suitable for modelling gravitational anomalies and mascons. The basic observable for spacecraft-based gravity data is the Doppler frequency shift of a transponded radio signal. The time derivative of this signal carries information regarding the gravity field acting on the spacecraft in the LOS direction (the LOS direction being the path between the spacecraft and the receiving station, either Earth or another satellite). There are many dynamic factors taken into account: earth rotation, solar radiation, acceleration from planetary bodies, tracking station time and location adjustments, etc. The actual trajectories of the spacecraft are simulated using least squares fitted to conic motion. The theoretical Doppler readings from the simulated orbits are compared to actual Doppler observations and another least squares adjustment is made. ORBSIM has three modes of operation: trajectory simulation, optimization, and gravity modelling. In all cases, an initial gravity model of curved and/or flat disks, harmonics, and/or a force table are required input. ORBSIM is written in FORTRAN 77 for batch execution and has been implemented on a DEC VAX 11/780 computer operating under VMS. This program was released in 1985.

Description: The APT code is one of the most widely used software tools for complex numerically controlled (N/C) machining. APT is an acronym for Automatically Programmed Tools and is used to denote both a language and the computer software that processes that language. Development of the APT language and software system was begun over twenty years ago as a U. S. government sponsored industry and university research effort. APT is a "problem oriented" language that was developed for the explicit purpose of aiding the N/C machine tools. Machine-tool instructions and geometry definitions are written in the APT language to constitute a "part program." The APT part program is processed by the APT software to produce a cutter location (CL) file. This CL file may then be processed by user supplied post processors to convert the CL data into a form suitable for a particular N/C machine tool. This June, 1989 offering of the APT system represents an adaptation, with enhancements, of the public domain version of APT IV/SSX8 to the DEC VAX-11/780 for use by the Engineering Services Division of the NASA Goddard Space Flight Center. Enhancements include the super pocket feature which allows concave and convex polygon shapes of up to 40 points including shapes that overlap, that leave islands of material within the pocket, and that have one or more arcs as part of the pocket boundary. Recent modifications to APT include a rework of the POCKET subroutine and correction of an error that prevented the use within a macro of a macro variable cutter move statement combined with macro variable double check surfaces. Former modifications included the expansion of array and buffer sizes to accommodate larger part programs, and the insertion of a few user friendly error messages. The APT system software on the DEC VAX-11/780 is organized into two separate programs: the load complex and the APT processor. The load complex handles the table initiation phase and is usually only run when changes to the APT processor capabilities are made. This phase initializes character recognition and syntax tables for the APT processor by creating FORTRAN block data programs. The APT processor consists of four components: the translator, the execution complex, the subroutine library, and the CL editor. The translator examines each APT statement in the part program for recognizable structure and generates a new statement, or series of statements, in an intermediate language. The execution complex processes all of the definition, motion, and related statements to generate cutter location coordinates. The subroutine library contains routines defining the algorithms required to process the sequenced list of intermediate language commands generated by the translator. The CL editor re-processes the cutter location coordinates according to user supplied commands to generate a final CL file. A sample post processor is also included which translates a CL file into a form for use with a Wales Strippit Fabramatic Model 30/30 sheet metal punch. The user should be able to readily develop post processors for other N/C machine tools. The APT language is a statement oriented, sequence dependent language. With the exception of such programming techniques as looping and macros, statements in an APT program are executed in a strict first-to-last sequence. In order to provide programming capability for the broadest possible range of parts and of machine tools, APT input (and output) is generalized, as represented by 3-dimensional geometry and tools, and arbitrarily uniform, as represented by the moving tool concept and output data in absolute coordinates. A command procedure allows the user to select the desired part program, ask for a graphics file of cutter motions in IGES format, and submit the procedure as a batch job, if desired. The APT system software is written in FORTRAN 77 for batch and interactive execution and has been implemented on a DEC VAX series computer under VMS 4.4. The enhancements for this version of APT were last updated in June, 1989. The NASA adaptation, with enhancements, of the public domain version of the APT IV/SSX8 software to the DEC VAX-11/780 is available by license for a period of ten (10) years to approved licensees. The licensed program product delivered includes the APT IV/SSX8 system source code, object code, executable images, and command procedures and one set of supporting documentation. Additional copies of the supporting documentation may be purchased at any time at the price indicated below.

Description: The SHABERTH computer program was developed to predict operating characteristics of bearings in a multibearing load support system. Lubricated and non-lubricated bearings can be modeled. SHABERTH calculates the loads, torques, temperatures, and fatigue life for ball and/or roller bearings on a single shaft. The program also allows for an analysis of the system reaction to the termination of lubricant supply to the bearings and other lubricated mechanical elements. SHABERTH has proven to be a valuable tool in the design and analysis of shaft bearing systems. The SHABERTH program is structured with four nested calculation schemes. The thermal scheme performs steady state and transient temperature calculations which predict system temperatures for a given operating state. The bearing dimensional equilibrium scheme uses the bearing temperatures, predicted by the temperature mapping subprograms, and the rolling element raceway load distribution, predicted by the bearing subprogram, to calculate bearing diametral clearance for a given operating state. The shaft-bearing system load equilibrium scheme calculates bearing inner ring positions relative to the respective outer rings such that the external loading applied to the shaft is brought into equilibrium by the rolling element loads which develop at each bearing inner ring for a given operating state. The bearing rolling element and cage load equilibrium scheme calculates the rolling element and cage equilibrium positions and rotational speeds based on the relative inner-outer ring positions, inertia effects, and friction conditions. The ball bearing subprograms in the current SHABERTH program have several model enhancements over similar programs. These enhancements include an elastohydrodynamic (EHD) film thickness model that accounts for thermal heating in the contact area and lubricant film starvation; a new model for traction combined with an asperity load sharing model; a model for the hydrodynamic rolling and shear forces in the inlet zone of lubricated contacts, which accounts for the degree of lubricant film starvation; modeling normal and friction forces between a ball and a cage pocket, which account for the transition between the hydrodynamic and elastohydrodynamic regimes of lubrication; and a model of the effect on fatigue life of the ratio of the EHD plateau film thickness to the composite surface roughness. SHABERTH is intended to be as general as possible. The models in SHABERTH allow for the complete mathematical simulation of real physical systems. Systems are limited to a maximum of five bearings supporting the shaft, a maximum of thirty rolling elements per bearing, and a maximum of one hundred temperature nodes. The SHABERTH program structure is modular and has been designed to permit refinement and replacement of various component models as the need and opportunities develop. A preprocessor is included in the IBM PC version of SHABERTH to provide a user friendly means of developing SHABERTH models and executing the resulting code. The preprocessor allows the user to create and modify data files with minimal effort and a reduced chance for errors. Data is utilized as it is entered; the preprocessor then decides what additional data is required to complete the model. Only this required information is requested. The preprocessor can accommodate data input for any SHABERTH compatible shaft bearing system model. The system may include ball bearings, roller bearings, and/or tapered roller bearings. SHABERTH is written in FORTRAN 77, and two machine versions are available from COSMIC. The CRAY version (LEW-14860) has a RAM requirement of 176K of 64 bit words. The IBM PC version (MFS-28818) is written for IBM PC series and compatible computers running MS-DOS, and includes a sample MS-DOS executable. For execution, the PC version requires at least 1Mb of RAM and an 80386 or 486 processor machine with an 80x87 math co-processor. The standard distribution medium for the IBM PC version is a set of two 5.25 inch 360K MS-DOS format diskettes. The contents of the diskettes are compressed using the PKWARE archiving tools. The utility to unarchive the files, PKUNZIP.EXE, is included. The standard distribution medium for the CRAY version is also a 5.25 inch 360K MS-DOS format diskette, but alternate distribution media and formats are available upon request. The original version of SHABERTH was developed in FORTRAN IV at Lewis Research Center for use on a UNIVAC 1100 series computer. The Cray version was released in 1988, and was updated in 1990 to incorporate fluid rheological data for Rocket Propellant 1 (RP-1), thereby allowing the analysis of bearings lubricated with RP-1. The PC version is a port of the 1990 CRAY version and was developed in 1992 by SRS Technologies under contract to NASA Marshall Space Flight Center.

Description: The analysis of the dynamic characteristics of a complex system, such as a spacecraft or a robot, is usually best accomplished through the study of a simulation model. The simulation model must have the same dynamic characteristics as the complex system, while lending itself to mathematical quantification. The NBOD2 computer program was developed to aid in the analysis of spacecraft attitude dynamics. NBOD2 is a very general program that may be applied to a large class of problems involving coupled N-body systems. NBOD2 provides the dynamics analyst with the capability to automatically derive and numerically solve the equations of motion for any system that can be modeled as a topological tree of coupled rigid bodies, flexible bodies, point masses, and symmetrical momentum wheels. NBOD2 uses a topological tree model of the dynamic system to derive the vector-dyadic equations of motion for the system. The user builds this topological tree model by using rigid and flexible bodies, point masses, and symmetrical momentum wheels with appropriate connections. To insure that the relative motion between contiguous bodies is kinematically constrained, NBOD2 assumes that contiguous rigid and flexible bodies are connected by physically reliable 0, 1, 2, and 3-degrees-of-freedom gimbals. These gimbals prohibit relative translational motion, while permitting up to 3 degrees of relative rotational freedom at hinge points. Point masses may have 0, 1, 2, or 3-degrees of relative translational freedom, and symmetric momentum wheels may have a single degree of rotational freedom relative to the body in which they are imbedded. Flexible bodies may possess several degrees of vibrational freedom in addition to the degrees of freedom associated with the connection gimbals. Data concerning the natural modes and vibrations of the flexible bodies must be supplied by the user. NBOD2 combines the best features of the discrete-body approach and the nested body approach to reduce the topological tree to a complete set of nonlinear equations of motion in vector-dyadic form for the system being analyzed. NBOD2 can then numerically solve the equations of motion. Input to NBOD2 consists of a user-supplied description of the system to be modeled. The NBOD2 system includes an interactive, tutorial, input support program to aid the NBOD2 user in preparing input data. Output from NBOD2 consists of a listing of the complete set of nonlinear equations of motion in vector-dyadic form and any userspecified set of system state variables. The NBOD2 program is written in FORTRAN 77 for batch execution and has been implemented on a DEC VAX-11/780 computer. The NBOD2 program was developed in 1978 and last updated in 1982.

Description: Part fabrication from composite materials usually costs less when larger fiber tow bundles are used. On the other hand, mechanical properties generally are lower for composites made using larger size tows. This situation gives rise to a choice between costs and properties in determining the best fiber tow bundle size to employ in preparing prepreg materials for part fabrication. To address this issue, unidirectional and eight harness satin fabric composite specimens were fabricated from 3k, 6k, and 12k carbon fiber reinforced LARC-TPI powder coated towpreg. Short beam shear strengths and longitudinal and transverse flexure properties were obtained for the unidirectional specimens. Tension properties were obtained for the eight harness satin woven towpreg specimens. Knowledge of the variation of properties with tow size may serve as a guide in material selection for part fabrication.

Description: An intelligent sensor model system has been built and used for automated control of the PMR-15 cure process in the autoclave. The system uses frequency-dependent FM sensing (FDEMS), the Loos processing model, and the Air Force QPAL intelligent software shell. The Loos model is used to predict and optimize the cure process including the time-temperature dependence of the extent of reaction, flow, and part consolidation. The FDEMS sensing system in turn monitors, in situ, the removal of solvent, changes in the viscosity, reaction advancement and cure completion in the mold continuously throughout the processing cycle. The sensor information is compared with the optimum processing conditions from the model. The QPAL composite cure control system allows comparison of the sensor monitoring with the model predictions to be broken down into a series of discrete steps and provides a language for making decisions on what to do next regarding time-temperature and pressure.

Description: A novel modeling technique is developed and applied to the long-wavelength gravity, topography, and internal density structure of Venus. The focus of this study is to employ data on the gravity and topography of Venus, which are obtained from the Pioneer Venus Orbiter mission, to enhance understanding some key aspects of the internal structure of the planet. A modeling strategy utilizing 'stokeslets' or basic units of slow viscous flow (governed by the Stokes equations) to duplicate the observed gravity and topography is implemented.

Description: The ZMOTTO program was developed to model mathematically a spark-ignited internal combustion engine. ZMOTTO is a large, general purpose program whose calculations can be established at five levels of sophistication. These five models range from an ideal cycle requiring only thermodynamic properties, to a very complex representation demanding full combustion kinetics, transport properties, and poppet valve flow characteristics. ZMOTTO is a flexible and computationally economical program based on a system of ordinary differential equations for cylinder-averaged properties. The calculations assume that heat transfer is expressed in terms of a heat transfer coefficient and that the cylinder average of kinetic plus potential energies remains constant. During combustion, the pressures of burned and unburned gases are assumed equal and their heat transfer areas are assumed proportional to their respective mass fractions. Even the simplest ZMOTTO model provides for residual gas effects, spark advance, exhaust gas recirculation, supercharging, and throttling. In the more complex models, 1) finite rate chemistry replaces equilibrium chemistry in descriptions of both the flame and the burned gases, 2) poppet valve formulas represent fluid flow instead of a zero pressure drop flow, and 3) flame propagation is modeled by mass burning equations instead of as an instantaneous process. Input to ZMOTTO is determined by the model chosen. Thermodynamic data is required for all models. Transport properties and chemical kinetics data are required only as the model complexity grows. Other input includes engine geometry, working fluid composition, operating characteristics, and intake/exhaust data. ZMOTTO accommodates a broad spectrum of reactants. The program will calculate many Otto cycle performance parameters for a number of consecutive cycles (a cycle being an interval of 720 crankangle degrees). A typical case will have a number of initial ideal cycles and progress through levels of nonideal cycles. ZMOTTO has restart capabilities and permits multicycle calculations with parameters varying from cycle to cycle. ZMOTTO is written in FORTRAN IV (IBM Level H) but has also been compiled with IBM VSFORTRAN (1977 standard). It was developed on an IBM 3033 under the TSS operating system and has also been implemented under MVS. Approximately 412K of 8 bit bytes of central memory are required in a nonpaging environment. ZMOTTO was developed in 1985.

Description: Viewgraphs from a presentation on multiple robot systems in space are included. Topics covered include categories of robots in space; scenarios of robot applications in space; some characteristics of robots in space; and some interesting problems and issues.

Description: The APT code is one of the most widely used software tools for complex numerically controlled (N/C) machining. APT is an acronym for Automatically Programmed Tool and is used to denote the programming language. Development of the APT language and software system was begun in the late 1950's as a U. S. government sponsored industry and university research effort. APT is a "problem oriented" language that was developed for the explicit purpose of aiding the N/C machine tools. The original APT program contained undocumented nonstandard FORTRAN, thus making porting of the processor to different operating systems difficult. P-APT (Portable APT) is a revised version of APT that was written to conform to the FORTRAN 77 standard. All machine-dependent code has either been replaced or isolated and documented. Machine-tool instructions and geometry definitions are written in the APT language to constitute a "part program". The APT part program is processed by the P-APT software to produce a cutter location (CL) file. This CL file may then be processed by user supplied post processors to convert the CL data into a form suitable for a particular N/C machine tool. This current offering of the P-APT system represents an adaptation, with enhancements, of the public domain version of APT IV/SSX8. Enhancements include the super pocket feature that allows concave pockets with curved sides and islands. The P-APT system software is organized into two separate programs: the load complex and the APT processor. The load complex handles the table initiation phase and is usually only run when changes to the P-APT processor capabilities are made. This phase initializes character recognition and syntax tables for the P-APT processor by creating FORTRAN block data programs. The P-APT processor consists of four components: the translator, the execution complex, the subroutine library, and the CL editor. The translator examines each APT statement in the part program for recognizable structure and generates a new statement, or series of statements, in an intermediate language. The execution complex processes all of the definition, motion, and related statements to generate cutter location coordinates. The subroutine library contains routines defining the algorithms required to process the sequenced list of intermediate language commands generated by the translator. The CL editor re-processes the cutter location coordinates according to user supplied commands to generate a final CL file. The APT language is a statement oriented, sequence dependent language. With the exception of such programming techniques as looping and macros, statements in an APT program are executed in a strict first-to-last sequence. In order to provide programming capability for the broadest possible range of parts and machine tools, APT input (and output) is generalized, as represented by 3-dimensional geometry and tools, and is arbitrarily uniform, as represented by the moving tool concept and output data in absolute coordinates. P-APT is written in FORTRAN 77 for execution on Sun4 series computers running SunOS. Although P-APT is written in standard FORTRAN 77 and was designed to be readily portable code, it has only been fully tested on a Sun4 series computer running SunOs. By making documented modifications to the source code, it may also be ported to a DEC VAX series computer running VMS. P-APT required 3.1Mb of RAM for execution. A minimum of 16Mb of RAM and 32Mb of disk space used for swap space is recommended. The standard distribution medium for this program is a .25 inch streaming magnetic tape cartridge in UNIX tar format. P-APT is available by license for a period of ten (10) years to approved licensees. The licensed program product includes the P-APT source code, makefiles, examples, and one set of supporting documentation. Additional copies of the documentation may be purchased at the price indicated below. P-APT was developed in 1992.

Description: The interaction of the thermosphere and ionosphere is largely governed by collisions between ions and neutral particles. On Venus and the Earth, O(+) is a dominant ion, and atomic O dominates throughout much of the thermosphere; therefore an accurate O(+)-O cross section is an important prerequisite for understanding the dynamics of planetary upper atmospheres. The cross section and momentum transfer collision frequency are calculated with a quantum mechanical code which includes resonance charge exchange, polarization, and charge-quadrupole effects. Our results agree well with earlier calculations of Stubbe (1968) and Stallcop et al. (1991).

Description: Synthetic aperture radar (SAR) focusing can be achieved either based on accurate ephemeris data or on an autofocusing process. For the Magellan project, such a decision must be made in the early phase of Magellan SAR system design. The analysis of the emphemeris requirement is complicated. The analysis given by the author leads to the conclusion that empheris data obtained from the Magellan navigation system provide sufficient accuracy to meet the Magellan image resolution requirement.

Description: An overview of the history and current status of research on planetary noble gases is presented. The discovery that neon and argon are vastly more abundant on Venus than on earth points to the solar wind rather than condensation as the fundamental process for placing noble gases in the atmospheres of the terrestrial planets; however, solar wind implantation may not be able to fully reproduce the observed gradient, nor does it obviously account for similar planetary Ne/Ar ratios and dissimilar planetary Ar/Kr ratios. More recent studies have emphasized escape rather than accretion. Hydrodynamic escape, which is fractionating, readily accounts for the difference between atmospheric neon and isotopically light mantle neon. Atmospheric cratering, which is nearly nonfractionating, can account for the extreme scarcity of nonradiogenic noble gases (and other volatiles) on Mars.

Description: The study points out three difficulties with the hypothesis of Hartung (1993) that the Corvid meteor system, observed only once in 1937, may be the return of the clump of ejecta from the formation of a lunar crater, specifically, an event recorded in the chronicles of Gervase of Canterbury on June 25, 1178, which Hartung (1976) previously suggested may be an eyewitness account of the formation of the lunar crater Giordano Bruno. On the basis of this, he predicts that another Corvid shower may be observed in 2003 or 2006. This hypothesis is rejected on the contention that it is implausible that a clump of ejecta could be launched into heliocentric orbit with a low enough dispersion in velocity among separate pieces that it would produce a meteor shower in just one year and not others. Subsequent perturbations by the earth on parts of the clump passing near the earth but not impacting would destroy the coherence of the clump on a time scale much shorter than the 759-yr interval proposed. There are so many orbits that could yield a shower after 759 yr that it is unlikely that a prediction of a return in a specific year would be correct.

Description: A new gravity field determination that has been produced combines both the Pioneer Venus Orbiter (PVO) and the Magellan Doppler radio data. Comparisonsbetween this estimate, a spherical harmonic model of degree and order 21, and previous models show that significant improvements have been made. Results are displayed as gravity contours overlaying a topographic map. We also calculate a new spherical harmonic model of topography based on Magellan altimetry, with PVO altimetry included where gaps exist in the Magellan data. This model is also of degree and order 21, so in conjunction with the gravity model, Bouguer and isostatic anomaly maps can be produced. These results are very consistent with previous results, but reveal more spatial resolution in the higher latitudes.

Description: Results of a comprehensive morphological analysis of the dayside superthermal ion presence in the dayside ionopause region of Venus made using the Orbiter Ion Mass Spectrometer measurements are presented. There is a strong inbound-outbound difference in both the number and intensity of the superthermal ions with most events detected on the inbound crossing of the ionopause. The ambient energy of the detected ions is comparable to the ram energy of cold ions relative to the moving spacecraft. A comparison of the locations of the superthermal O(+) ion occurrences with respect to other parameters shows that the superthermals are a characteristic of the ionopause transition separating the essentially stationary ionosphere plasma from the flowing ionosheath plasma as deduced by Taylor et al. (1980) from individual examples.

Description: Compared to most other Yamato polymict eucrites, Yamato Y792769 eucrite includes fewer and smaller eucritic clasts with homogenized pyroxenes, and its fine-grained matrix is shock-compacted and sintered. In this work, the relationships between the Antarctic eucrite Y792769, monomict eucrites, polymict eucrites, and isotopic ages are investigated, using results of Ar-39/Ar-40 method to date the time of the major thermal event on the Y792769 body and the Rb-Sr and Sm-Nd methods to determine whether relict older ages might have been preserved in some of the breccia materials. The Ar-39/Ar-40 time of the last thermal event which produced the Y792769 texture is 3.99 +/- 0.04 Ga. The complete resetting of the Ar-39/Ar-40 age is consistent with the texture of Y792769 observed in TEM, suggesting that shock compaction converted part of the matrix plagioclase to maskelynite. The Sm-Nd data give an age of 4.23 +/- 0.12 Ga, reflecting partial resetting of the Sm-Nd system during breccia formation. The 3.9 Ga Ar-39/Ar-40 age probably reflects a period of intense meteoroid bompardment which affected the entire inner solar system.

Description: In three-dimensional numerical simulations of a rapidly rotating Boussinesq fluid shell, thermally driven convection in the form of columns parallel to the rotation axis generates an alternately directed mean zonal flow with a cylindrical structure. The mean structure at the outer spherical surface consists of a broad eastward flow at the equator and alternating bands of westward and eastward flows at higher latitudes in both hemispheres. The banded structure persists even though the underlying convective motions are time-dependent. These results, although still far from the actual motions seen on Jupiter and Saturn, provide support for theoretical suggestions that thermal convection can account for the remarkable banded flow structures on these planets.

Description: Cavitation of the oil film in a dynamically loaded journal bearing was studied using high-speed photography and pressure measurement simultaneously. Comparison of the visual and pressure data provided considerable insight into the occurence and non-occurrence of cavitation. It was found that (1), cavitation typically occurred in the form of one bubble with the pressure in the cavitation bubble close to the absolute zero; and (2), for cavitation-producing operating conditions, cavitation did not always occur; with the oil film then supporting a tensile stress.

Description: A review of the planetary system is presented from a uniform perspective, taking advantage of the data obtained during the planetary space missions. A comparative approach is used, which makes it possible to consider each planet or a satellite in context, focusing both on their common origin and on the processes that have influenced their evolution. The discussion focuses on the Jovian planets, the moon and the Mercury, Venus and Earth, and small bodies in the outer solar system. Attention is also given to comets, asteroids, and cosmic impacts.

Description: The primary objective of this paper is to evaluate the optical pointing performance of the PSR Moderate Focus-Mission Structure when subjected to both mechanical and thermal disturbances. The mechanical disturbances are based on secondary mirror chopping. Results indicate that dynamic responses of the primary reflector and the secondary reflector subjected to chopping disturbances of the secondary reflector about its center of mass are within the figure maintenance control capabilities. The effects of modal damping, truss-type secondary support, interface boundary constraints, and alternate configurations, are also evaluated in the analysis. Thermal distortions of the structure were also evaluated based on the on-orbit temperature profiles derived from the submillimeter telescope missions. Results from thermal deformation analysis indicate that figure initialization control is needed for the PSR Moderate Focus-Mission. However, a figure maintenance system may not be required if adequate thermal isolation is incorporated into the support truss design for the PSR Moderate Focus-Mission Structure.

Description: This paper describes experimental research being performed at the Jet Propulsion Laboratory to develop and validate control concepts arising out of NASA's Control Structure Interaction program. The facility is meant to be a ground testbed with relevance to a broad class of future precision optical space systems. The objective of the experimental program is to investigate a multi-layer control approach to the maintenance of nanometer level optical pathlength control in the presence of external disturbances and multiple structural resonances. A brief overview of the experimental facility is presented. The control design methodology is discussed, and several experimental results are presented.

Description: Segmented reflectors have been proposed for space-based applications such as optical communication and large-diameter telescopes. An actuation system for mirrors in a space-based segmented mirror array has been developed as part of the National Aeronautics and Space Administration-sponsored Precision Segmented Reflector program. The actuation system, called the Articulated Panel Module (APM), articulates a mirror panel in 3 degrees of freedom in the submicron regime, isolates the panel from structural motion, and simplifies space assembly of the mirrors to the reflector backup truss. A breadboard of the APM has been built and is described. Three-axis modeling, analysis, and testing of the breadboard is discussed.

Description: An electron probe microanalyzer is used to measure the Mn, Fe, and oxygen zoning profiles of olivines in the ALHA 77257 ureilite. This is done to study the effects of reduction on the Mn-Fe value, as ureilite olivines exhibit thin reduced rims. Since the Mn content gradually increases toward the rim of ureilite olivines, while the Fa (= 100 x Fe/(Mg + Fe), mol percent) component decreases, the Mn-Fe content of olivine is likely related to redox conditions. The results of melting experiments suggest that the Mn-Fe positive correlation is related to temperature and that the negative correlation of Mn-Fe in olivine and low-Ca pyroxene is related to reduction.

Description: Voyager IRIS observations of the NEB reveal longitudinal variability of 5-micron brightness temperatures of order 100 C. An anisotropic multiple scattering radiative transfer model is used to calculate synthetic spectra for comparison with the IRIS observations. Mie theory is used to model the spectral dependence of cloud extinction from 180 to 2300/cm. Cloud base locations within the model vary with assumed gas abundances according to thermochemical equilibrium. It is found that spatial variations in the abundance profiles of the condensible species, parahydrogen profiles and cloud optical depths can be used as tracers of the local and large-scale dynamics. The variation of cloud opacity is strongly correlated with the variation of relative humidity, which suggests that dynamic depletion of water vapor above the cloud forming level is the most plausible model to explain the spatial variation in the water profile within the NEB.

Description: Io's brightness was monitored following emergence from eclipse by Jupiter on 14 occasions during the Jupiter apparitions from 1981 to 1989 and no instance is found of what has been called posteclipse brightening. If all the observations are averaged, a 2 percent effect cannot be ruled out; however, this effect is also the size of the rms errors of the summed data set. If condensation followed by sublimation of SO2 frost is hypothesized to be the mechanism which causes posteclipse brightening, then solar insolation alone may not be sufficient to remove an optically thick layer of SO2 frost in the time required to conform with the positive reports of posteclipse brightening in the literature. An additional source of energy is required, such as warming caused by the impact of magnetospheric particles as they dissipate the energy of their motion into Io's surface.

Description: For a fixed heat flow, the surface flow velocity of a convecting layer is not strongly sensitive to the variation of viscosity as a function of depth. Thus, the inferred absence of a low viscosity asthenosphere on Venus can not account for the limited surface motions there. The surface velocity is dependent on the convective geometry. Cartesian geometry convection can produce large surface velocities if the high viscosity surface layer is broken in places by weak zones. On the other hand, a high viscosity surface layer may inhibit the development of large surface velocities in axisymmetric convection.

Description: The paper characterizes the mineralogy and spectral properties of three slightly palagonitized basaltic tephra samples collected near the summit of Mauna Kea in order to contribute to the basis for inferring mineralogy and processes for Martian surface materials. The mineralogy of size fractions of these samples is examined by diffuse reflectance and FIR spectroscopy, optical microscopy, X-ray diffraction, Moessbauer spectroscopy, magnetic analysis, EMPA, TEM, and SEM. For the 20-1000 micron size fraction, sample HWMK11 (red) is essentially completely oxidized and has a hematite (Ti-hematite) pigment dispersed throughout the silicate matrix. Sample HWMK12 (black) has the lowest proportion of ferric-bearing phases and is thus least weathered. For HWMK11, the amount of hematite is essentially constant, and mica is present only in the coarse clay-sized fraction; smectites are low in structural Fe.

Description: Recent laboratory polarimetric measurements of light scattering by layers of alumina grains of different size are used to examine the relevance of the Wolff & Dollfus (1990) theory of negative polarization, which has been developed to describe light scattering by regolithic grains of arbitrary size. It is demonstrated that, while reproducing satisfactorily the main polarization characteristics of light scattering by grains much greater than the wavelength, this theory does not describe the negative polarization of light measured by Geake & Geake (1990) for subwavelength-sized grains. The smallest grains exhibit a polarization feature that may be called the 'polarization opposition effect'. This feature requires an alternative explanation and may be due to the so-called weak localization of photons in discrete random media.

Description: It is shown that N2 may be present in the troposphere of Neptune in an amount difficult to evaluate but which could easily be as high as 0.003, while there is no evidence that it is present in the atmosphere of Uranus. The estimate of the helium abundance depends on the assumed value for N2. If there is no N2 in the observed region of the atmosphere of Uranus and an N2 mole fraction of 0.003 on Neptune, the central value of the estimates of the helium abundance are equal to 0.26 by mass in both planets, which is close to the protosolar value of 0.28. This would imply that the He/H2 ratios measured in the outer atmospheres of Uranus and Neptune are representative of the ratio in the primitive solar nebula and thus were not modified during planetary formation.

Description: The GISS GCM is used here to examine the hypothesis that equatorial superrotation on slowly rotating planets is sensitive to the nature of the vertical radiative heating profile and can exist in the absence of diurnally varying forcing. The general circulation, diabatic heating, and thermal structure produced in the experiments are described and the heat and angular momentum budgets and energy cycles are analyzed to understand the factors conducive to equatorial superrotation. The implications of the results for future planetary missions are addressed.

Description: The spins of the terrestrial planets likely arose as the planets formed by the accretion of planetesimals. Depending on the masses of the impactors, the planet's final spin can either be imparted by many small bodies (ordered accretion), in which case the spin is determined by the mean angular momentum of the impactors, or by a few large bodies (stochastic accretion), in which case the spin is a random variable whose distribution is determined by the rms angular momentum of the impactors. In the case of ordered accretion, the planet's obliquity is expected to be near 0 or 180 deg, whereas, if accretion is stochastic, there should be a wide range of obliquities. Analytic arguments and extensive orbital integrations are used to calculate the expected distributions of spin rate and obliquity as a function of the planetesinal mass and velocity distributions. The results imply that the spins of the terrestrial planets are determined by stochastic accretion.

Description: The history and construction of Martian place names are examined. The 24 specific descriptor terms in use for Mars are defined. Informal names of individual rocks are discussed: the human fondness for informality is evident in the names attached to individual rocks at the Viking Lander sites.

Description: ESDAPT is a graphical programming environment for developing APT (Automatically Programmed Tool) programs for controlling numerically controlled machine tools. ESDAPT has a graphical user interface that provides the user with an APT syntax sensitive text editor and windows for displaying geometry and tool paths. APT geometry statement can also be created using menus and screen picks. ESDAPT interprets APT geometry statements and displays the results in its view windows. Tool paths are generated by batching the APT source to an APT processor (COSMIC P-APT recommended). The tool paths are then displayed in the view windows. Hardcopy output of the view windows is in color PostScript format. ESDAPT is written in C-language, yacc, lex, and XView for use on Sun4 series computers running SunOS. ESDAPT requires 4Mb of disk space, 7Mb of RAM, and MIT's X Window System, Version 11 Release 4, or OpenWindows version 3 for execution. Program documentation in PostScript format and an executable for OpenWindows version 3 are provided on the distribution media. The standard distribution medium for ESDAPT is a .25 inch streaming magnetic tape cartridge (Sun QIC-24) in UNIX tar format. This program was developed in 1992.

Description: The initial results of a NIR spectral imaging study conducted from Mauna Kea Observatory during the 1990 opposition are presented. The study's main goals were to determine whether it is possible to map and monitor subtle variations in surface and atmospheric components on Mars from ground-based observations and to constrain Mars surface and airborne dust composition. Small variations near 2.3 microns include both atmospheric (CO) and surface/dust mineral absorption, although the data cannot yet accurately discriminate these components or assess their relative contributions. The present data set, even after preliminary calibration steps, demonstrates the potential of the Mars imaging spectroscopic observations in the near-IR. Focused ground-based telescopic studies in selected wavelength regions accompanied by detailed high spectral resolution atmospheric modeling will allow the mapping and monitoring of surface minerals, atmospheric aerosols, and atmospheric trace gases.

Description: The Magellan prime mission involves mapping the planet of Venus once around its rotational axis. The Magellan synthetic aperture radar (SAR) data processing facility processes all SAR data collected by the Magellan spacecraft into image data on an orbit-by-orbit basis. About 1700 million bits of radar data were collected. A complete description of the Magellan SAR Data Processing Facility is provided with emphasis on key design features of the data processors that satisfied the project data processing requirements. A summary of the attained data processing performance is included, as well as a brief discussion of some of the constraints and considerations regarding the applicability of the processors to meeting the data processing goals anticipated for the follow-on mission phases (i.e., cycles II, III, and beyond).

Description: The evolution of solid particles in the solar nebula (or other circumstellar disk) is described. Motions of bodies less than about 1 km in size were dominated by gas drag rather than gravity. An original population of microscopic grains had to produce greater than km-sized planetesimals before gravitational accretion of planets could begin. Planetesimals probably formed by coagulation of grain aggregates that collided due to differential settling, turbulence, and drag-induced orbital decay. Growth of such aggregates depended on sticking mechanisms and their mechanical properties, which are poorly understood. Their growth was aided by concentration of larger bodies toward the central plane of the disk. The nebula could remain optically thick during this process. It is unlikely that a particle layer formed by settling would undergo gravitational instability, as a small amount of turbulence would keep the particle layer from reaching the critical density. This conclusion is independent of the particle size, as even large bodies do not effectively decouple from the gas. Even in a laminar disk, shear in the particle layer would generate enough turbulence to keep it stirred up.

Description: This chapter presents a review of the structure and composition of the giant planets and the theory of their formation and growth. All of the giant planets have heavy-element cores, and have envelopes which contain large amounts of high-Z material in addition to hydrogen and helium. The planets most probably formed through the core instability mechanism. This is a much more complex mechanism than was previously thought, depending, as it does, on several time-dependent parameters. We present the results of new, more detailed, simulations. Towards the end of accretion, the transfer of angular momentum to the outer layers of the contracting protoplanet should lead to the formation of a disk. This disk may be the site of satellite formation. Some recent simulation results are shown.

Description: The nature of the unusually narrow photometric and polarization opposition effects exhibited by Saturn's A and B rings is examined using a theory and results of laboratory measurements. It is pointed out that the small angular width of both phenomena makes it difficult to explain them on the basis of the commonly used shadowing models. On the other hand, it is known from laboratory experiments and theoretical studies, that a strong and very narrow opposition peak in the reflected intensity can be produced by coherent backscattering of light from powderlike layers of small regolithic grains. Using Ozrin's (1992) rigorous vector theory of coherent backscattering, it is shown that, for subwavelength-sized regolithic particles, the photometric opposition effect is accompanied by a polarization opposition effect of the same angular width. This suggests that the polarization opposition effect of the Saturn's ring has the same origin as the photometric opposition effect and is due to coherent backscattering of light from the regolithic layer composed of the submicrometer-sized ice grains.

Description: Polar projections of 50 images of Saturn at 889 nanometers and 25 images at 718 nanometers taken by the HST in November 1990, as well as three images at each wavelength taken in June 1991, have been examined. Among them, 31 show the north polar spot, which is associated with Saturn's polar hexagon, in locations suitable for measurement. The movement of the spot with respect to Saturn's system III rotation rate was studied. During the period of observation, the polar spot had first a short-term westward movement and then a long-term eastward drift. The rate of the long-term drift was -0.060 +/- 0.008 deg/day with respect to system III, approximately 50 percent greater than previously determined from Voyager. The original 1980 and 1981 Voyager data were combined with the new Hubble images to form an 11-yr baseline. The eastward drift over the longer period was -0.0569 degrees per day. The long-term drift could be due to uncertainty in the standard value of the internal rotation period. The short-term movement in November 1990 has a rate that is greater in magnitude but opposite in sign and probably represents a real, transient motion of the spot relative to the internal rotation system.

Description: Recently, Harris et al. (1989) have observed a strong and unusually narrow (HWHM approximately 0.8 deg in the yellow) opposition effect for high-albedo asteroids 44 Nysa and 64 Angelina. In this paper, we apply the theory of coherent backscattering of light from discrete random media to interpret this remarkable opposition brightening. It is shown that coherent backscattering of sunlight from a regolithic layer composed of submicrometer-sized grains with an index of refraction close to that of the mineral enstatite can be a reasonable explanation of the observed opposition effect.

Description: A spherical harmonic model of the gravitational field of Venus complete to degree and order 50 has been developed using the S-band Doppler tracking data of the Pioneer Venus Orbiter (PVO) collected between 1979 and 1982. The short wavelengths of this model could only be resolved near the PVO periapse location (about 14 deg N latitude), therefore a priori constraints were applied to the model to bias poorly observed coefficients towards zero. The resulting model has a half-wavelength resolution of 400 km near the PVO periapse location, but the resolution degrades to greater than 1000 km near the poles. This gravity model correlates well with a degree 50 spherical harmonic expansion of the Venus topography derived from a combination of Magellan and PVO data. New tracking data from Magellan's gravity mission should provide some improvement to this model, although a complete model of the Venusian gravity field will depend on tracking of Magellan after the circularization of its orbit using aerobraking.

Description: The observability of minor species in Titan's atmosphere in its infrared thermal range is systematically studied and modeled to generate synthetic spectra. The model results on methane, water vapor, benzene, allene, and other heavier trace molecules are used to illustrate the capabilities of instruments aboard the Infrared Space Observatory, in particular a high-resolution composite infrared spectrometer, to determine vertical distributions of the molecules in a few hours of integration time.

Description: The authors present an analysis of why control systems are ineffective in compensating for acceleration disturbances due to Coulomb friction. Linear arguments indicate that the effects of Coulomb friction on a body are most difficult to reject when the control actuator is separated from the body of compliance. The linear arguments were illustrated in a nonlinear simulation of optimal linear tracking control in the presence of nonlinear friction. The results of endpoint acceleration measurements for four robot designs are presented and are compared with simulation and to equivalent measurements on a human. It is concluded that Coulomb friction in common bearings and transmission induces unacceptable levels of endpoint acceleration, that these accelerations cannot be adequately attenuated by control, and that robots for microgravity work will require special design considerations for inherently low friction.

Description: The authors describe the progress that has been made towards the development of a mobile robot that can be used by hazardous materials emergency response teams to perform a variety of tasks including incident localization and characterization, hazardous material identification/classification, site surveillance and monitoring, and ultimately incident mitigation. In September of 1991, the HAZBOT II vehicle performed its first end-to-end demonstration involving a scenario in which the vehicle: navigated to the incident location from a distant (150-200 ft.) deployment site; entered a building through a door with thumb latch style handle and door closer; located and navigated to the suspected incident location (a chemical storeroom); unlocked and opened the storeroom's door; climbed over the storeroom's 12 in. high threshold to enter the storeroom; and located and identified a broken container of benzene.

Description: The flow characteristics of the light ions H(+) and He(+) have been studied in the midnight region of the ionosphere of Venus. Measurements of ion composition, electron and ion temperatures and magnetic fields by instruments onboard the Pioneer Venus Orbiter have been used in rite electron and ion equations of conservation of mass and momentum to derive the vertical flow velocities of H(+) and He(+). When average height profiles of the measured quantities were used, H(+) was found to flow upward, accelerating to speeds of almost 1 km/s at the ion-exobase. In a similar fashion, He(+) was found to flow downward into the neutral atmosphere where it is readily quenched by charge transfer reactions. The polarization electric field played an important role in forcing H(+) upward, but did not contribute enough to the He(+) force balance to produce upward flow. At the ion-exobase, the outward electric polarization force on H(+) was shown to be five times the gravitational force. Using an analogy with the terrestrial ion-exosphere, H(+) was inferred to flow upward into the ionotail of Venus and accelerate to escape speeds. A planet averaged escape flux of 1.4 x 10 exp 7/sq cm/s was calculated, which is comparable to hydrogen loss rates estimated by other investigators.

Description: A general framework is presented for the matrix-form, linear optical model analysis of controlled optomechanical systems; the models are conjoined with linear models of structures and controls to compute system performance as a function of optics, structures, and control parameters. Covariance analysis, optimization, and estimation/simulation are used. Attention is given to a tolerancing example for the Hubble Space Telescope's Wide Field and Planetary Camera, which involves the creation of a linear model of residual pupil shear.

Description: Near-infrared 10/cm resolution spectra of methane obtained at various temperatures, pressures, and abundances are fit to a quasi-random narrow-band model. Exponential-sum absorption coefficients for three temperatures (112, 188, and 295 K), and 20 pressures from 0.0001 to 5.6 bars, applicable to the cold environments of the major planets, are then derived from the band model for the 230 wavelengths measured from 1.6 to 2.5 microns. RMS deviations between the laboratory and the exponential-sum synthetic transmissions are reported for the best fitting 50 wavelengths. Deviations relevant to broadband, 1-percent spectral resolution observations are also presented. The validity of exponential-sum coefficients derived from broadband (10/cm) transmission data is demonstrated via direct comparison with line-by-line calculations. The complete atlas of coefficients is available from the Planetary Data System-Planetary Atmospheres Discipline Node.

Description: Microwave spectral measurements have been performed on pure room-temperature gaseous ammonia at frequencies from 1.75 to 18 GHz (1.7-17 cm), at 50-, 100-, and 300-torr pressures. These measurements are part of a laboratory program to measure the microwave absorption spectrum of ammonia, under conditions applicable to giant planet atmospheres, now in progress at the Jet Propulsion Laboratory. The pure ammonia data reported here agree well with previous data by Bleaney and Loubser (1950) at 100 and 300 torrs, and with predictions of the absorptivity formalism published by Berge and Gulkis. Success with pure ammonia but failure with mixtures of ammonia in hydrogen and helium (Spilker, 1990) indicates that the Berge and Gulkis formalism does not correctly handle foreign-gas effects on ammonia inversion lines. This may require modifying conclusions of radio astronomical and radio occultation studies that used this formalism. Notably, a suggested depletion of ammonia and superabundance of hydrogen sulfide may have been exaggerated as a result of inaccuracies in the Berge and Gulkis formalism.

Description: Results of a spectral analysis of the ULF wave turbulence in the Neptunian polar cusp are presented. The activity is characterized as broadbanded, extending up to a maximum frequency of about 0.5 Hz, and having maximum wave amplitudes as large as 6 percent of the dc magnetic field. Activity in the cusp region was particularly intense at its frontside and backside, associated with the magnetopause and cusp/magnetosphere boundaries, respectively. The turbulence, particularly that above f(ci), is tentatively identified as whistler mode. It is argued that such whistler mode turbulence should resonate with electrons having energies in the tens of kiloelectron volts. Observations indicate a very strong correlation of the ULF turbulence with the energetic electrons between 22 and 35 keV measured by Voyager's low-energy charged particle experiment. A vigorous interaction between the two is inferred. ULF wave turbulence in the cusp may represent a significant but not complete power source for the magnetosphere.

Description: The difficulties connected with conventional maps of Phobos and Deimos are largely overcome by producing maps in digital forms, i.e., by projecting Viking Orbiter images onto a global topographic model made from collections of radii derived by photogrammetry. The resulting digital mosaics are then formatted as arrays of body-centered latitudes, longitudes, radii, and brightness values of Viking Orbiter images. The Phobos mapping described was done with Viking Orbiter data. Significant new coverage was obtained by the Soviet Phobos mission. The mapping of Deimos is in progress, using the techniques developed for Phobos.

Description: Physical and chemical weathering processes that might be important on Mars are reviewed, and the limited observations, including relevant Viking results and laboratory simulations, are summarized. Physical weathering may have included rock splitting through growth of ice, salt or secondary silicate crystals in voids. Chemical weathering probably involved reactions of minerals with water, oxygen, and carbon dioxide, although predicted products vary sensitively with the abundance and physical form postulated for the water. On the basis of kinetics data for hydration of rock glass on earth, the fate of weathering-rind formation on glass-bearing Martian volcanic rocks is tentatively estimated to have been on the order of 0.1 to 4.5 cm/Gyr; lower rates would be expected for crystalline rocks.

Description: This review of the long-term dynamical behavior of Mars covers secular variations of the orbit, oscillations of the obliquity, and polar wandering. Calculations of the large-scale obliquity oscillations of Mars are updated using the most recent orbit theory and contrasted with the earth. The motion for Mars is characterized by about 100,000-yr oscillations driven by differential spin axis and orbit plane precession rates during which the obliquity may change by as much as about 20 deg. The possible role of spin-orbit secular resonances to the spin axis histories of the earth and Mars is also considered. Numerical integrations of the equations of motion indicate that Mars may have passed through resonance as little as 5 Myr ago and that obliquities approaching about 45 deg could have been achieved during such an event.

Description: Deformation of the Martian lithosphere and the various theoretical formulations used to model its behavior on local, regional, and global scales are studied. An overview of the various classes of tectonic features found on Mars is presented. The tectonic record on Mars, which provides the basic framework for interpreting theoretical thermomechanical models in terms of major tectonic events and provinces is summarized. The thickness of the elastic lithosphere is estimated using its response to local surface loads, and significant spatial variability is found, with values ranging from 20 to 300 km. A comparison of the major radial graben systems with theoretical stress models shows that more than one mechanism of lithospheric deformation is required to produce its enormous extent.

Description: The paper summarizes the fundamental gravity field constants for Mars and a brief historical review of early determinations and current-day accurate estimates. These include the planetary gravitational constant, global figure, dynamical oblateness, mean density, and rotational period. Topographic results from data acquired from the 1967 opposition to the most recent, 1988, opposition are presented. Both global and selected local topographic variations and features are discussed. The inertia tensor and the nonhydrostatic component of Mars are examined in detail. The dimensionless moment of inertia about the rotational axis is 0.4 for a body of uniform density and 0.37621 if Mars were in hydrostatic equilibrium. By comparing models of both gravity and topography, inferences are made about the degree and depth of compensation in the interior and stresses in the lithosphere.

Description: Soviet and American spacecraft exploration of Mars over the past quarter century is reviewed. Data on the earliest Soviet attempts to send spacecraft to observe the planet are presented. Of the series of spacecraft that were announced (designated Mars 1 to Mars 7), none fulfilled all its scientific goals, but some good photographs and other important data were obtained. Of the six spacecraft in the Mariner series, two failed, but Mariner 4 first revealed the cratered surface of Mars, and Mariner 9 discovered all the major geologic features. The Viking mission, with its two Orbiters, two Landers, and its 6-yr duration, surpassed in quantity and variety of data all other missions combined. The Phobos mission ended in two failures, but the second of the two spacecraft acquired significant new data about Mars and Phobos. An appendix listing special issues of journals containing collections of papers about Mars is provided.

Description: Telescopic observations of Mars, from those of Galileo in 1610 to the late 19th century, were summarized by Flammarion (1892, 1909). Major compilations of knowledge of Mars were produced by Antoniadi (1930) and de Vaucouleurs (1954). Polar cap composition was debated until the discovery by the Viking mission that the north and south perennial polar caps are composed of different materials. Spacecraft data indicate a rich and diverse geologic history as well as many unsolved puzzles. An annotated list of books about Mars is provided. Basic physical and chemical data on Mars are summarized in tabular form, and a guide to the Martian seasons is given.

Description: The vibrations of a flexible rotor are controlled using piezoelectric actuators. The controller includes active analog components and a hybrid interface with a digital computer. The computer utilizes a grid search algorithm to select feedback gains that minimize a vibration norm at a specific operating speed. These gains are then downloaded as active stillnesses and dampings with a linear fit throughout the operating speed range to obtain a very effective vibration control.

Description: An analytical and experimental investigation of a vibratory system with a clearance was conducted. A finite element model and an equivalent single-degree-of-freedom closed-form solution were used to determine the dynamic parameters and response of an experimental structure interacting with a gap. The closed-form solution is obtained by taking advantage of the piecewise linearity of the system. Results from these solution methods are in agreement with experimental data. The results also suggest that the closed-form solution approximates the response of the experimental structure with accuracy greater than that of the finite element model. The closed-form solution was also used to determine the gap size of the structure. The parameter identification procedure utilized in this study appears to be simple to use and can be readily extended to other types of piecewise-linear multi-degree-of-freedom systems.

Description: The explosion over Tunguska, Central Siberia, in 1908 released 10 to 20 megatons (high explosive equivalent) of energy at an altitude of about 10 km. This event represents a typical fate for stony asteroids tens of meters in radius entering the Earth's atmosphere at common hypersonic velocities. Comets and carbonaceous asteroids of the appropriate energy disrupt too high, whereas typical iron objects reach and crater the terrestrial surface.

Description: The amount and rate of release of volatiles (H2O, CO2, etc.) from recent volcanism in Elysium, Mars, are estimated. Possible implications of these volatiles on the climate, weathering, and surface morphology are discussed. Total eruptic volcanics may amount to about 4 x 10 exp 5 cu km and would have released large quantities of volatiles into the Martian environment. Assuming that the lavas contained 1.0 wt pct water, about 7.6 x 10 exp 15 kg of the water, or about 1000 times the present atmospheric water inventory, would have been released. Release amounts of other volatiles are estimated to be 10 exp 15 kg of S, 10 exp 13 kg of Cl, and 10 exp 13 kg of F. The short-term effect of the SO2 gas would be to warm the climate due to its greenhouse properties. Conversion to sulfate aerosols might have resulted in a net surface cooling due to scattering of sunlight. As the sulfate aerosols settled from the atmosphere, the climate could have returned to its preeruption equilibrium.