Full Payload Research Articles

Assessment of whole-body vibration and development of mitigation intervention for single-axle tractor–trailer combination

IntroductionTractarization is synonymous with farm mechanization in India. Tractor-trailers are extensively used for the transportation of farm inputs and produce on and off-road, exposing drivers to excessive vibration.ObjectivesThe study was undertaken to assess tractor drivers’ vibration exposure while using trailers and to develop low-cost mitigation interventions.MethodologyThe whole-body vibrations were measured at the tractor seat during the transportation with a no, half (3715 kg soil) and full payload (5910 kg soil) trailer on two terrain conditions, namely, asphalt and farm terrains. The speeds recommended by ISO 5008-1979 of 10, 12 and 14 km/h on asphalt roads and 4, 5 and 7 km/h on farm roads, as well as actual working speeds preferred by the operator (18, 20 and 22 km/h on asphalt road and 8, 10 and 12 km/h on farm terrain), were selected for experiments. Two vibration reduction interventions, namely spring suspended single point hitch (I1) and polyurethane (PU) bush (I2), were developed and installed between the tractor and trailer. Whole-body vibration (WBV) was measured by repeating the experiments.ResultsThe maximum vibration reduction on asphalt road at 22 km/h with I1 was found as 14.3, 19.03 and 23.1%, whereas on-farm terrain at 12 km/h was found as 15.16, 22.43, and 25.56% for no, half and full payload. Similarly, with I1 + I2 interventions, the maximum total vibration reduction at 22 km/h was 16.86, 21.12 and 25.51% on asphalt roads, whereas on-farm tertian at 12 km/h was 17.07, 23.77 and 28.67%. The average value of lower health guidance caution zone (HGCZ) limits on asphalt roads increased by 1.11, 0.95 and 0.92 h and on-farm tertian 1.55, 1.14 and 0.83 h with no, half, and full payload. The average value of upper HGCZ limits on asphalt roads increased by 3.13, 3.21 and 3.68 h and on-farm tertian by 2.24, 2.94 and 3.31 h with intervention.ConclusionsThis infers that with developed interventions an operator can safely perform for a longer duration and at higher operational speeds because of the reduced vibration.

Impacts of posted bridges on log truck routing in Mississippi, USA

ABSTRACT Log hauling costs are increased by the presence of closed and posted (restricted weight loading) bridges, as operators are forced to find alternative routes to wood-using mills. The USDA Forest Service Forest Inventory and Analysis (FIA) forest inventory, road network, bridge, and sawmill datasets were obtained for the US state of Mississippi. An 80.5 km buffer was established to define each sawmill’s working area, which occasionally extended across state lines. Anetwork analysis derived 129 feasible shortest optimal trucking routes between 46 FIA plot locations and the sawmills. Thirty of these routes had either closed or posted bridges along the shortest path; only 13 viable alternative routes were identified due to distance and posted weight limits. The additional trucking distance for these workable alternative routes averaged 7.1 km. The affected routes and their legal, full payload alternatives were each fitted to atriangular distribution to better understand how costs were impacted by posted or closed bridges. If no regulated bridges were encountered, haul cost across arange of haul rates and distances ranged from $3.50 to $14.40 USD per tonne. Costs were from $3.90 to $16.00 USD per tonne along routes with posted or closed bridges. On average, the cost difference was $0.98 USD per tonne, which was an increase of 12.0%. These findings have implications for road infrastructure maintenance, log trucking, wood procurement, and ultimately the values of standing timber and timberland.

Kinematic Design and Prototyping of a Gripper with Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot

Abstract A new gripper design is proposed to offer grasping and scooping capabilities to a parallel robot. This enables the parallel robot to manipulate not only large objects, but also thin objects lying on flat surfaces. Moreover, this gripper is driven directly by the redundant degrees of freedom of the parallel robot to which it is integrated. Thus, by eliminating actuators from the gripper, weight is drastically reduced, thereby making it possible to take advantage of the full payload of the parallel robot. The kinematic architecture of the gripper is first presented, notably, the kinematic implications of using an epicyclic mechanism. Then, the kinematic model developed to integrate the gripper to a (6+3)-degree-of-freedom robot is presented. Trajectory planning strategies for both grasping and scooping are then presented together with the parameters used. Finally, the experimental validation of these manipulation methods is discussed briefly to assess foreseeable improvements to the gripper itself as well as the trajectory planning aspect of the manipulation methods.

Influence of Mobile Robots on Human Safety Perception and System Productivity in Wholesale and Retail Trade Environments: A Pilot Study

Ensuring human safety has been one of the most critical considerations within the field of human–robot interaction. To explore the effects of working with autonomous robots on human coworkers’ perceived workload and job performance, two experiments were conducted in this study. Eight participants were recruited in the first experiment. Results revealed an increase in both subjective and objective workload measurements: compared to the baseline “no robot” to “empty payload” condition, the sum of NASA Task Load Index (NASA-TLX) scores increased from 129.3 (58.8) to 147.6 (53.7) ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$p$</tex-math></inline-formula> -value = 0.041) and the pupil diameter increased from 4.07 (0.64) mm to 4.11 (0.67) mm; while working with a full payload robot, the sum of NASA-TLX scores increased to 151.7 (55.9) ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$p$</tex-math></inline-formula> -value = 0.010) and the pupil diameter increased to 4.12 (0.66) mm. Increased task completion time (3.1% for empty payload condition and 6.6% for full payload condition) showed a decrease in human productivity. However, this slight human output reduction was compensated by the substantial gain from the robot. Similar effects of autonomous mobile robots on participants’ NASA-TLX scores and task completion time were observed in the second experiment, where eight participants performed the order picking and sorting tasks in a high-fidelity grocery store setting. Results from the study suggested the feasibility of applying fully autonomous mobile robots in Wholesale and Retail Trade settings to improve human–robot team productivity while prioritizing physical safety and reasonable increases in mental workload.

Perhitungan Jumlah Maksimum Flight Cycle Tanpa Refuelling pada Kondisi Full Tank dan Full Payload pada Jaringan Rute Commuter Pesawat ATR 72

Transportation is the process of moving or moving people and goods from one place to another with a specific purpose, ATR aircraft are very suitable for regional flights, so that fuel utilization must be calculated to make the transportation cost is minimum. Indonesian airlines have very big demands in world aviation competition. One of Indonesia's domestic route type is commuter, ATR aircraft is very suitable for regional flights with commuter route, flights with short range with small aircraft for carrying passengers between airports with low passenger capacity. One of commuter advantage is the aircraft didn't have to refueling in the transit airport. The purpose of this research is to determine maximum flight cycle without refueling based on weight variation using FCOM data and fuel consumption calculation using analytical methods based on ATR aircraft specification. Using an analytic method for calculating fuel consumption from FCOM data with full tank strategy, full payload and refueling strategy in every airport for Nusa Tenggara and Sumatera route. This research calculation has resulted for Nusa Tenggara route total fuel is 4750,57 kg and Sumatera 4474,88 kg strategy full tank. Calculation has result for Nusa Tenggara 2789,69 kg and Sumatera 2658,98 kg strategy full payload.Then obtained full tank strategy not as much as 12 flights cycle, full payload as much as 7 flights cycle in Nusa Tenggara route and full tank strategy as much as 10 flight cycle, full payload obtained 6 flight cycle in Sumatera route On the Sumatra route.

From Microcars to Heavy-Duty Vehicles: Vehicle Performance Comparison of Battery and Fuel Cell Electric Vehicles

Low vehicle occupancy rates combined with record conventional vehicle sales justify the requirement to optimize vehicle type based on passengers and a powertrain with zero-emissions. This study compares the performance of different vehicle types based on the number of passengers/payloads, powertrain configuration (battery and fuel cell electric configurations), and drive cycles, to assess range and energy consumption. An adequate choice of vehicle segment according to the real passenger occupancy enables the least energy consumption. Vehicle performance in terms of range points to remarkable results for the FCEV (fuel cell electric vehicle) compared to BEV (battery electric vehicle), where the former reached an average range of 600 km or more in all different drive cycles, while the latter was only cruising nearly 350 km. Decisively, the cost analysis indicated that FCEV remains the most expensive option with base cost three-fold that of BEV. The FCEV showed notable results with an average operating cost of less than 7 cents/km, where BEV cost more than 10 €/km in addition to the base cost for light-duty vehicles. The cost analysis for a bus and semi-truck showed that with a full payload, FCPT (fuel cell powertrain) would be more economical with an average energy cost of ~1.2 €/km, while with BPT the energy cost is more than 300 €/km.

Adaptive Control Design for Multi-UAV Cooperative Lift Systems

Multi-unmanned aerial vehicle (UAV) cooperative lift systems use multiple UAVs to collectively lift and transport payloads. These systems have unique benefits over standard single-vehicle logistics paradigms in that they distribute lift capacity among several potentially inexpensive and man-portable aircraft, and furthermore provide redundancy to guard against vehicle failure. However, several challenges arise when multiple vehicles are tasked with coordinating stabilization and control tasks for an unknown payload, particularly when there is also uncertainty regarding relative vehicle placement and orientation. This paper presents a novel adaptive control framework for modular cooperative lift systems. The algorithm uses an extended Kalman filter to update system parameters within a control allocation scheme. Thrust vectoring is employed to ensure adequate yaw control authority, and null-space excitation is used to speed estimator convergence. The adaptive control approach is designed to execute a full payload transportation mission starting from rest on the ground. Extensive simulation studies and preliminary flight experiments evaluate robustness of the adaptive control scheme and explore tradeoffs with respect to several system parameters and levels of uncertainty. Overall, the proposed control and estimator scheme is shown to be highly effective in stabilizing multi-UAV payload systems under realistic uncertainty in vehicle configuration and payload parameters.

Design, Development, and Testing of Package Delivery Quadrotor Biplane Tail-Sitter

This Paper explores the development of a novel hybrid air vehicle for package delivery called the quadrotor biplane tail-sitter. This vehicle uses differential thrust to effect body attitude changes like a traditional quadrotor, ensuring full transitional control between hover and forward flight modes. This method of control also allows the vehicle to remain mechanically simple. A vehicle was designed with a 1 lb (0.45 kg) payload, resulting in an 8 lb (3.63 kg) gross takeoff weight. The vehicle can hover using 15 in. (0.381 m) diameter proprotors and has two wings that span 3.35 ft (1.03 m), which provide lift in forward flight. Sensors were implemented onboard the vehicle to monitor individual dc brushless motor revolutions per minute, body attitude angles, electrical power consumption, and airspeed relative to wind. Stable hover was demonstrated with package delivery, and it was found that 18% less power was used when hovering with no payload compared to full payload. Package delivery was also successfully demonstrated after transitioning from hover to forward flight and back. In forward flight mode with no payload, the power consumption at a forward flight speed of () was seen to be 50% less than the power consumed in hover.

Secret Key-Based Image Steganography in Spatial Domain

Day by day, the requirement for secure communication among users is rising in a digital world, to protect the message from the undesirable users. Steganography is a methodology that satisfies the user’s necessity of secure communication by inserting a message into different formats. This paper proposes a secret key-based image steganography to secure the message by concealing the grayscale image inside a cover image. The proposed technique shares the 20 characters long secret key between two clients where the initial eight characters of a secret key are utilized for bit permutation of characters and pixels while the last 12 characters of secret key decide the encryption keys and position of pixels of a grayscale image into the cover. The grayscale image undergoes operation such as encryption and chaotic baker followed by its hiding in a cover to form a stego image. The execution of the proposed strategy is performed on Matlab 2018. It shows that the proposed approach manages to store the maximum message of size 16[Formula: see text]KB into the cover of size [Formula: see text]. The image quality of stego images has been evaluated using PSNR, MSE. For a full payload of 16[Formula: see text]KB, PSNR is around 51[Formula: see text]dB to 53[Formula: see text]dB which is greater than satisfactory PSNR.

Effects of Autonomous Mobile Robots on Human Mental Workload and System Productivity in Smart Warehouses: A Preliminary Study

Safety is of critical concern in human-robot collaboration. A human-in-the-loop experiment was conducted to assess the performance of the customized robot control scheme in a smart warehouse setting, where the human participants performed order picking and assembly tasks, and the mobile robot performed simulated pallet moving tasks. Three modes of human-robot interaction were tested (no robot involved, mobile robot with the empty payload and mobile robot with the full payload). Participants’ pupillary response, subjective workload as well as task performance (completion time and errors) were recorded and compared between different modes. Preliminary results indicated a slight decrease in human productivity (completion time increased from 191.4 to 204.1 seconds, p = 0.041) was well compensated by the relatively large gain from the robotics outputs. Additionally, human mental workload was negatively impacted (pupil diameter increased from 4.0 to 4.2 mm, p = 0.012) by introducing the robot into the shared workplace.

Synthetic biological circuit tested in spaceflight

Synthetic biology has potential spaceflight applications yet few if any studies have attempted to translate Earth-based synthetic biology tools into spaceflight. An exogenously inducible biological circuit for protein production in Arabidopsis thaliana, pX7-AtPDSi (Guo et al. 2003), was flown to ISS and functionally investigated. Seedlings were grown in a custom built 1.25 U plant greenhouse. Images recorded during the experiment show that leaves of pX7-AtPDSi seedlings photobleached as designed while wild type Col-0 leaves did not, which reveals that the synthetic circuit led to protein production during spaceflight. Polymerase chain reaction analysis post-flight also confirms that the Cre/LoxP (recombination system) portions of the circuit were functional in spaceflight. The subcomponents of the biological circuit, estrogen-responsive transcription factor XVE, Cre/LoxP DNA recombination system, and RNAi post-transcriptional gene silencing system now have flight heritage and can be incorporated in future designs for space applications. To facilitate future plant studies in space, the full payload design and manufacturing files are made available.

LooCipher Ransomware Detection Using Lightweight Packet Characteristics

Abstract Ransomware activities have been rising steadily. The network traffic characteristics in a network packet analysis are available immediately to explore anomalies and find any offensive behaviors. This paper applies a lightweight ICEAP (Identify-Collect-Examine-Analyze-Present) approach for effectively identifying LooCipher ransomware activities instead of establishing complex systems or creating various programs. This proposed approach tracks online behaviors and understands the source/destination entities. With this innovative detection method, analysts can merge the eigenvalues into security mechanisms, uncover network threats by analyzing the full payload, and detect infected ransomware in a minimum effort.

Performance of a Direct-Liquid-Cooled Motor in an Electric Bus Under Different Load Cycles

In this paper, a direct liquid cooling method is proposed for a radial-flux permanent-magnet motor. To demonstrate the feasibility of the cooling method, a test motor with a rated output of 205 kW was designed, constructed, and tested in an actual vehicle application, an electric city bus. The energy consumption tests were conducted by applying a heavy-duty chassis dynamometer capable of simulating the inertia, weight, and road loads that the buses are subjected to in the normal on-road operation. The electricity consumption on the real bus route of the Espoo line 11 in Finland was 0.61 kWh/km. The test results of the cooling solution show that the motor is capable of meeting the most challenging requirements of the load cycle even with a full payload. The highest winding temperature rise in the test driving cycles was only 26 °C, which proves the effectiveness of direct-liquid-cooled coils in a vehicle motor.

Aflibercept Nanoformulation Inhibits VEGF Expression in Ocular In Vitro Model: A Preliminary Report.

Age-related macular degeneration (AMD) is one of the leading causes of blindness in the United States, affecting approximately 11 million patients. AMD is caused primarily by an upregulation of vascular endothelial growth factor (VEGF). In recent years, aflibercept injections have been used to combat VEGF. However, this treatment requires frequent intravitreal injections, leading to low patient compliance and several adverse side effects including scarring, increased intraocular pressure, and retinal detachment. Polymeric nanoparticles have demonstrated the ability to deliver a sustained release of drug, thereby reducing the necessary injection frequency. Aflibercept (AFL) was encapsulated in poly lactic-co-glycolic acid (PLGA) nanoparticles (NPs) via double emulsion diffusion. Scanning electron microscopy showed the NPs were spherical and dynamic light scattering demonstrated that they were uniformly distributed (PDI < 1). The encapsulation efficiency and drug loading were 75.76% and 7.76% respectively. In vitro release studies showed a sustained release of drug; 75% of drug was released by the NPs in seven days compared to the full payload released in 24 h by the AFL solution. Future ocular in vivo studies are needed to confirm the biological effects of the NPs. Preliminary studies of the proposed aflibercept NPs demonstrated high encapsulation efficiency, a sustained drug release profile, and ideal physical characteristics for AMD treatment. This drug delivery system is an excellent candidate for further characterization using an ocular neovascularization in vivo model.

Data Hiding Method based on Reference Matrix

A data hiding method based on a reference matrix generated base-5 numeral system was presented in this article. The method fully exploits the embedding space in reference matrix to achieve high embedding capability and acceptable embedding quality. The results of experiment indicate that the average value of PSNR (Peak Signal Noise Ratio) of stego images with full payload generated by this method is about 43.7dB, which demonstrates good visual quality. Furthermore, an embedding capacity of 2.3219 bpp (bit per pixel) was achieved in the proposed method, which means that for an image sized by 512×512, 608679 bits can be carried. This is much greater than that of the method of Chang et al.

Flat Top Barge 300 feet Using Portable Dynamic Positioning System

Portable Dynamic Positioning System has not commonly applied to the ship, especially on barge. Besides for Dynamic Positioning function, the system can be used as ship's main propulsion. By using this system, the ship able to not using anchors because the functions can be performed by the Portable Dynamic System. Therefore, research about the application of Portable Dynamic Positioning System on the ship is conducted. This research aims to design a Flat Top Barge 300feet ship, to determine the specifications of Portable Dynamic Positioning System which is used, and to find out the ship stability which is designed on the empty payload condition and maximum payload. This research designed the ships with main dimensions LWL 90.1 meters, 25 meters wide, 5.5 meters high and 4.2 meters draught. To generate the ship with a maximum speed of 8 knots, it takes four thruster supplied with power 225 kW each, so that the total generated power is 1100 kW. This study analyzes three conditions of the ship stability, there are the condition of full payload, empty payload, and maximum payload. Each payload conditions will be analyzed regarding the large payload and draught water produced. The first is full payload conditions resulting payload in the amount of 5650 ton with a draught on the LCF at 4,181 meters. The second is the large empty payload condition displacement is 2809 ton and water draught on the LCF at 1,591. And the last is maximum payload conditions, resulting payload in the amount of 7450 ton with a draught on the LCF at 4,994 meters.

Improved Pattern Matching Method for Intrusion Detection Systems under DDoS Attack

Increasing popularity of the internet usage is causing many DDoS attacks such as 7.7 DDoS in 2009 and 3.4 DDoS in 2011 in South Korea. A DDoS attack is one of the simplest and most powerful cyber-attacks. DDoS attack is getting a huge problem because the unspecified individuals (called zombie PCs) are used in loading malicious codes while attacking a single site or system. Network security appliances such as IDSes (Intrusion Detection Systems) and DDoS attack prevention systems detect attacks by signature-based pattern matching. These appliances check the full data payload of packets to find abnormal signatures. Then reducing the packet inspection time is one of the most important challenges of improving the performance of these systems because pattern matching methods affect the total execution time. In this paper, we analyze network attack events are collected on two DDoS defense systems which are operated by KISA (KrCERT/CC) in Korea. Then we propose improved pattern matching method using multicore process.

Modelling of wander ratios, travel speeds and productivity of cable and grapple skidders in softwood sawtimber operations in South Africa

The objective of this study was to develop predictive models for cable and grapple skidder wander ratios, travel speeds (loaded and unloaded), and productivity in softwood roundwood sawtimber harvesting operations. For field data collection, the study utilised on-board computing systems supported by manual time study. Four-hundred and twenty-seven extraction cycles over varying terrain and tree sizes were studied for 13 sites in the Western, Southern and Eastern Cape, and KwaZulu-Natal. Machine make and model as well as gross power rating were studied. Due to insignificance across skidder types and configurations, the objective of creating a predictive model for skidder wander ratio was not met. The overall mean wander ratio for all skidders and terrain studied was 1.12:1. This value was used in the models subsequently developed. No differences were found for unloaded and loaded travel speeds between individual skidder types and speeds were found to be 7.3 km h−1 and 5.5 km h−1, respectively. In terms of productivity, when based on field-measured data, there were differences between skidder types with cable skidders achieving 43.9 m3 per productive machine hour (PMH) and grapples skidders 123.9 m3 PMH−1. The study, however, found that both cable and grapple skidders were only hauling approximately 50% of their capacity and for that reason multiple regression models to predict potential production at full payload capacity were developed for the two skidder configurations. Multiple regression was also used to develop prediction models for travel speeds loaded and unloaded. The study met its objectives for driving speeds and productivity, and the developed models will be used in a subsequent network analysis to provide solutions to optimise the softwood sawtimber supply chain. The study also found that the human element had an impact on the factors studied and that good training, planning, implementation and operational control are imperative to ensure supply (or value) chain goals are met.

Minimum cost in a mix of new and old reusable items: an application to sizing a fleet of delivery trucks

Companies that operate a commodity delivery service, lumber for instance, often own trucks to ship from a warehouse to their customers. One of these companies may consider purchasing new trucks to reduce operation costs, when operating new trucks is cheaper than operating old ones. That is, a company can save on future operational expenditures at the cost of purchasing new trucks. Once new trucks have been bought, the fleet consists of two sub-fleets: the subfleet of new and the subfleet of old trucks. The cheaper operation [currency units/min] of new trucks makes them preferable to old trucks. Thus, old trucks start servicing orders only when all new trucks are busy. For a given time horizon, the optimal cost of the project is a trade-off between the times serviced with old trucks, new trucks, and the cost of the new trucks to be purchased. This article puts forward a method to determine the number of new trucks to purchase that maximizes the expected present value of the project that applies to full payload deliveries. It uses historical information on hour-specific expected intensities of delivery requests and delivery services. Our approach can incorporate restrictions preventing deliveries to specific customers during certain time windows.

Robert Peichung Lin

Robert Peichung Lin died suddenly from a stroke on 17 November 2012 in Berkeley, California. His titanic career in experimental space science spanned 50 years. He was known especially for his innovative experimental concepts and was widely considered to be the father of modern experimental high-energy solar physics.Bob was born on 24 January 1942 in Kwangsi, China. During his childhood, his family moved first to London then to the US as his father established an academic career. In 1962 Bob graduated from Caltech with a physics degree and joined the physics graduate program at the University of California, Berkeley. He received his PhD in physics in 1967 with Kinsey Anderson as his research adviser and then joined the staff at Berkeley’s Space Sciences Laboratory (SSL). In 1991 he became a professor in the physics department at Berkeley; he served as director of SSL from 1998 to 2008; and in 2011 he retired from teaching. Apart from a sabbatical year at ETH Zürich, Bob spent his entire professional career at Berkeley. He remained fully active in research after his retirement from the classroom.When Bob arrived at Berkeley in 1962, Anderson’s group was operating a vigorous program of rocket- and balloon-borne x-ray measurements. Anderson had just made the first measurements of the x rays associated with solar flares and of the x-ray spectrum of the aurora. The group was just starting to develop instruments for satellite missions, and Bob recognized quickly the enormous potential for that work. For his PhD thesis, he used Geiger–Müller tube experiments developed at Berkeley to make measurements of the spectrum of interplanetary electrons generated by solar flares.In the early 1970s, Anderson and Bob convinced NASA to include a simple electron spectrometer on the lunar satellites launched by Apollo 15 and Apollo 16. Bob used the instruments to analyze the remnant magnetic fields in the lunar crust by measuring 10- to 1000-eV electrons reflected by those fields. Later, using follow-on instruments on the Lunar Prospector and the Mars Global Surveyor, he and his students mapped the crustal magnetic field of the Moon and Mars. The NASA MAVEN (Mars Atmosphere and Volatile Evolution) mission, scheduled to launch in November 2013, carries a full payload of in situ instruments inspired by Bob’s research on the interaction of the solar wind with Mars.Bob’s early work on solar-flare electrons led to instrument suites on the ISEE-3 (International Sun–Earth Explorer 3; 1978), Giotto (1986), Wind (1994), and STEREO (Solar Terrestrial Relations Observatory; 2006). Bob and his students and collaborators used those instruments to study energetic electrons and ions associated with solar flares, coronal mass ejections, magnetic reconnection, and other space-plasma phenomena. He and his collaborators made the first measurements of in situ plasma radio-emission processes, diagnosed the source regions for particle energization in solar flares, measured the helical magnetic field-line length inside a coronal mass ejection, and studied the interaction of Comet Halley with solar wind, among many other things.In the 1980s and 1990s, Bob’s group flew balloon payloads with solid-state germanium detectors and sodium iodide and cesium iodide scintillator detectors to study hard x-ray and gamma-ray spectra of solar flares. He used those experiments to discover a class of microflares and to separate the thermal and nonthermal emissions. Meanwhile, another group had developed a balloon-borne imaging system with rotating modulation collimators to study solar hard x rays and gamma rays. Bob worked tirelessly for years to marry the two technologies for a space mission; the result was NASA’s RHESSI (Reuven Ramaty High Energy Solar Spectroscopic Imager), launched in 2002. Bob served as the NASA principal investigator and led the science team with great enthusiasm. The mission’s success and discoveries have led to the new instrument concepts currently being developed for and flown on sounding rocket flights and long-duration balloons.For NASA’s STEREO mission, Bob developed a simple solid-state particle detector, with a very good sensitivity to suprathermal particles, and found that the instrument was sensitive to energetic neutral particles created by charge exchange in Earth’s magnetosphere. That led to his final effort on energetic neutral spectroscopy: the development of a small microsatellite—CINEMA (CubeSat for Ions, Neutrals, Electrons, and Magnetic Fields)—to study Earth’s ring-current region.Most recently, Bob had professorial appointments at Kyung Hee University in South Korea and Peking University in China and had begun new collaborations with groups in both countries to develop space-instrumentation expertise.Bob was an inspiring and generous colleague and is remembered warmly by his students, postdocs, and collaborators. Throughout his career he received many professional honors, always with humility, but he was most at home at the Berkeley SSL or at his biweekly Chinese lunch with his friends and colleagues.Robert Peichung LinPEG SKORPINSKIPPT|High resolution© 2013 American Institute of Physics.