While attitude steering in the yaw and pitch axes effectively minimizes a residual Doppler centroid in spaceborne synthetic aperture radar systems, it can induce a ground-target pointing error due to the steered radar boresight. In other words, the beams after steering may no longer illuminate the desired target. In this letter, a novel method is proposed to compensate for the target error. The roll angle and image start time, the two degrees of freedom that may be modified while maintaining the zero Doppler centroid condition, are utilized as control parameters. By correcting the roll and time, the associated target error can be significantly reduced. Two solutions are proposed in this letter. The first is a numerical accurate solution, and the second is an analytical approximate solution. One of the solutions can be implemented on-board after a tradeoff study is performed between the remaining target error and computational load. Simulation results verify that the target error is considerably reduced while the Doppler centroid is minimized with the proposed methods.

This paper presents a 14-DOF robotic hand including 5 fingers and a wrist. The hand has a new tendon-driven mechanism which minimizes frictional loss and maximizes efficiency and backdrivability. In order to accomplish high efficiency and backdrivability as well as human-like payload and dexterity in a compact size, two novel mechanical concepts are proposed. Firstly, the actuators are placed according to the functions of fingers - high power grasping and precise manipulation - instead of positioning at each joint. For the high power grasping, 7 high payload motors are positioned in the forearm, and 5 small size motors are positioned in the palm for the precise manipulation. Secondly, a new tension decoupling mechanism is proposed to the 2-DOF wrist joint, which delivers wire motions of the forearm motors to the fingers without frictional loss or coupling with wrist motion. A total weight including the forearm is 1.59kg which is similar to human. The fingertip force is 15N which is sufficient for most of household work. High backdrivability enables the contact force sensing by measuring a motor current without additional sensors. A detectable minimum contact force was 0.735N. In order to enhance the contact force sensing capability, a friction compensation algorithm was applied, which resulted to the minimum contact force as 0.196N. Theoretical and experimental analyses are also performed.

An optimal power and antenna height determination over a wide range of incidence angles is proposed for in-orbit operations of the spaceborne stripmap synthetic aperture radar (SAR) with variable antenna height and variable radiating element power. The antenna height and the average transmitted radio-frequency power of a radiating element for each incidence angle are determined so that the mapping area can be maximized with the constraints on the signal-to-noise ratio, ambiguities, and swath width, given the SAR geometry (an altitude and incidence angles) and radar wavelength. With the receive-chain power consumption of one transmit/receive module (P/sub r/=10 mW) and the SAR instrument power consumption without the phased array antenna (P/sub I/=5 W), the illustrative design example shows that the mapping area of the proposed SAR for the maximum incidence angle (/spl eta//sup max/=75/spl deg/) is about 269.1% of that resulted from utilizing only the variable antenna height. The proposed optimization would have a more beneficial effect on applications that need the high-incidence-angle operations.