Modular Mechatronics Infrastructure for Robotic Planetary Exploration Assets in a Field Operation Scenario

In 2021 the Modular Mechatronics Infrastructure (MMI) was introduced as a solution to reduce weight, costs, and development time in robotic lanetary missions. With standardized interfaces and multi-functional elements, this modular approach is planned to be used more often in sustainable exploration activities on the Moon and Mars. The German multi-robot research project “Autonomous Robotic Networks to Help Modern Societies (ARCHES)” has explored this concept with the use of various collaborative robotic assets which have their capabilities extended by the MMI. Different scientific payloads, engineering infrastructure modules, and specific purpose tools can be integrated to and manipulated by a robotic arm and a standardized electromechanical docking-interface. Throughout the MMI’s design and implementation phase the performed preliminary tests confirmed that the different systems of the robotic cooperative team such as the Docking Interface System (DIS), the Power Management System (PMS), and the Data Communication System (DCS) functioned successfully. During the summer of 2022 a Demonstration Mission on Mount Etna (Sicily, Italy) was carried out as part of the ARCHES Project. This field scenario allowed the validation of the robotics systems in an analogue harsh environment and the confirmation of enhanced operations with the application of this modular method. Among the numerous activities performed in this volcanic terrain there are the efficient assembling of the Low Frequency Array (LOFAR) network, the energy-saving and reduced complexity of a detached Laser Induced Breakdown Spectroscopy (LIBS) module, and the uninterrupted powered operation between modules when switching between different power sources. The field data collected during this analogue campaign provided important outcomes for the modular robotics application. Modular and autonomous robots certainly benefit from their versatility, reusability, less complex systems, reduced requirements for space qualification, and lower risks for the mission. These characteristics will ensure that long duration and complex robotic planetary endeavours are not as challenging as they used to be in the past

Retrograde procedural memory is impaired in people with Parkinson’s disease with freezing of gait

peer reviewedFreezing of gait (FOG), is associated with impairment of different cognitive functions. Previous studies hypothesized that FOG may be due to a loss of automaticity. Research question: To explore whether FOG is associated with impairment in cognitive functions, focusing on retrograde procedural memory, the memory responsible for the automatic, implicit stored procedures that have been acquired in earlier life stages. Methods: In this cross-sectional, case–control study, 288 people with typical Parkinson’s disease (PD) from the Luxembourg Parkinson’s Study were assigned to Freezers (FOG+) and non-Freezers (FOG−) based on the MDS-UPDRS 2.13 (self-reported FOG episodes) and 3.11 (FOG evaluated by clinicians during gait assessment). Both groups were matched on age, sex and disease duration. Global cognition (MoCA), retrograde procedural memory and visuo-constructive abilities (CUPRO), psychomotor speed and mental flexibility (TMT) were assessed. Furthermore, we repeated our analyses by additionally controlling for depression (BDI-I). Results: Besides lower global cognition (MoCA; p = 0.007) and mental flexibility (TMT-B and Delta-TMT; p < 0.001), FOG+ showed a lower performance in retrograde procedural memory (CUPRO-IS1; p < 0.001) compared to FOG−. After controlling additionally for depression, our main outcome variable CUPRO-IS1 remained significantly lower in FOG+ (p = 0.010). Conclusion: Our findings demonstrated that besides lower global cognition and mental flexibility scores, FOG+ showed lower performance in retrograde procedural memory compared to matched FOG-control patients, even when accounting for factors such as age, sex, disease duration or depression. Significance: In the context of limited treatment options, especially for non-invasive therapeutic approaches, these insights on procedural memory and FOG may lead to new hypotheses on FOG etiology and consequently the development of new treatment options.3. Good health and well-bein

Diamond-on-chip infrared absorption magnetic field camera

Integrated and fiber-packaged magnetic field sensors with a sensitivity sufficient to sense electric pulses propagating along nerves in life science applications and with a spatial resolution fine enough to resolve their propagation directions will trigger a tremendous step ahead not only in medical diagnostics, but in understanding neural processes. Nitrogen-vacancy centers in diamond represent the leading platform for such sensing tasks under ambient conditions. Current research on uniting a good sensitivity and a high spatial resolution is facilitated by scanning or imaging techniques. However, these techniques employ moving parts or bulky microscope setups. Despite being far developed, both approaches cannot be integrated and fiber-packaged to build a robust, adjustment-free hand-held device. In this work, we introduce novel concepts for spatially resolved magnetic field sensing and 2-D gradiometry with an integrated magnetic field camera. The camera is based on infrared absorption optically detected magnetic resonance (IRA-ODMR) mediated by perpendicularly intersecting infrared and pump laser beams forming a pixel matrix. We demonstrate our 3-by-3 pixel sensor's capability to reconstruct the position of an electromagnet in space. Furthermore, we identify routes to enhance the magnetic field camera's sensitivity and spatial resolution as required for complex sensing applications.Comment: Main part: 14 pages, 5 figure

Cognition and Other Non-Motor Symptoms in an At-Risk Cohort for Parkinson’s Disease Defined by REM-Sleep Behavior Disorder and Hyposmia

peer reviewedBackground: REM-sleep behavior disorder (RBD) and other non-motor symptoms such as hyposmia were proposed by the Movement Disorder Society as research criteria for prodromal Parkinson’s disease (P-PD). Global cognitive deficit was later added. Objective: To compare non-motor symptoms, focusing on cognition, between a P-PD group and a matched control group. Methods: In this cross-sectional, case-control study, in a first set of analyses, we performed extensive cognitive testing on people with (n = 76) and a control group without (n = 195) probable RBD and hyposmia. Furthermore, we assessed motor and non-motor symptoms related to Parkinson’s Disease (PD). After propensity score matching, we compared 62 P-PD with 62 age- and sex-matched controls. In addition, we performed regression analyses on the total sample (n = 271). In a second set of analyses, we used, a.o., the CUPRO to evaluate retrograde procedural memory and visuo-constructive functions. Results: People with P-PD showed significantly poorer performances in global cognition, visuo-constructive and executive functions, mainly in mental flexibility (p < 0.001; p = 0.004; p = 0.003), despite similar educational levels (p = 0.415). We observed significantly more motor and non-motor symptoms (p < 0.001; p = 0.004), higher scores for depression (p = 0.004) and apathy (p < 0.001) as well as lower quality of life (p < 0.001) in P-PD. CONCLUSIONS: Our findings confirm that global cognitive, executive, and visuo-constructive deficits define the P-PD group. In addition, depression, apathy, and lower quality of life were more prevalent in P-PD. If replicated in other samples, executive and visuo-constructive deficits should be considered in non-motor P-PD. Determining specific patterns will support early recognition of PD, secondary prevention of complications and the development of neuroprotective treatments.3. Good health and well-bein

High-yield methods for accurate two-alternative visual psychophysics in head-fixed mice

Research in neuroscience increasingly relies on the mouse, a mammalian species that affords unparalleled genetic tractability and brain atlases. Here, we introduce high-yield methods for probing mouse visual decisions. Mice are head-fixed, facilitating repeatable visual stimulation, eye tracking, and brain access. They turn a steering wheel to make two alternative choices, forced or unforced. Learning is rapid thanks to intuitive coupling of stimuli to wheel position. The mouse decisions deliver high-quality psychometric curves for detection and discrimination and conform to the predictions of a simple probabilistic observer model. The task is readily paired with two-photon imaging of cortical activity. Optogenetic inactivation reveals that the task requires mice to use their visual cortex. Mice are motivated to perform the task by fluid reward or optogenetic stimulation of dopamine neurons. This stimulation elicits a larger number of trials and faster learning. These methods provide a platform to accurately probe mouse vision and its neural basis

Design and Implementation of a Modular Mechatronics Infrastructure for Robotic Planetary Exploration Assets

Traditionally, the robotic systems which aim to explore other celestial bodies include all instruments and tools necessary for the mission. This makes them unique developments. Usually, they are heavy, complex, costly and do not provide any interchangeable parts that could be replaced in the event of permanent failure. However, for future missions, agencies, institutes and commercial companies are developing robotics systems based on the concept of modular robotics. This new strategy becomes critical for planetary exploration because it is able to reduce load, costs and development time. In the German multi robot research project, ‘’Autonomous Robotic Networks to Help Modern Societies (ARCHES)”, led by the German Aerospace Center (DLR), this modern design methodology is followed. Cooperation among robots and modularity are the core of its structure. These characteristics are present in the collaboration between the rovers and the uncrewed aerial vehicle (UAV) during navigation tasks, or when the Lightweight Rover Unit (LRU) interacts with changeable manipulator tools and payload boxes through its robotic arm and its standardized electromechanical interface. Examples of these modules include scientific packages, power supply systems, communication and data acquisition architectures, soil sample storage units, and specific purpose end-effectors. The focus of this work is in the design and implementation of a mechatronics infrastructure (MI) which encompasses the docking interface, the payload modules, and the power and data management electronics board inside each box. These three elements are essential for the extension of the capabilities of the rover and the enhancement of the robotics systems according to the tasks to be performed. This will ensure that robots can cooperate with each other either in scientific missions or in the construction and maintenance of large structures. The MI’s hardware and software developed in this project will be tested and validated in the ARCHES demonstration mission on Mount Etna, Sicily, in Italy between 13th June and 9th July 2022. Finally, it is important to highlight that modularity and standardization were considered at all levels of the infrastructure. From the robotics systems to the internal architecture of each payload module, these concepts can provide versatility and reliability to the cooperative robotic network. This will improve the problem-solving capabilities of robots performing complex tasks in future planetary exploration missions

Modular Mechatronics Infrastructure for Robotic Planetary Exploration Assets in a Field Operation Scenario

In 2021 the Modular Mechatronics Infrastructure (MMI) was introduced as a solution to reduce weight, costs, and development time in robotic planetary missions. With standardized interfaces and multi-functional elements, this modular approach is planned to be used more often in sustainable exploration activities on the Moon and Mars. The German multi-robot research project “Autonomous Robotic Networks to Help Modern Societies (ARCHES)” has explored this concept with the use of various collaborative robotic assets which have their capabilities extended by the MMI. Different scientific payloads, engineering infrastructure modules, and specific purpose tools can be integrated to and manipulated by a robotic arm and a standardized electromechanical docking-interface. Throughout the MMI’s design and implementation phase the performed preliminary tests confirmed that the different systems of the robotic cooperative team such as the Docking Interface System (DIS), the Power Management System (PMS), and the Data Communication System (DCS) functioned successfully. During the summer of 2022 a Demonstration Mission on Mount Etna (Sicily, Italy) was carried out as part of the ARCHES Project. This field scenario allowed the validation of the robotics systems in an analogue harsh environment and the confirmation of enhanced operations with the application of this modular method. Among the numerous activities performed in this volcanic terrain there are the efficient assembling of the Low Frequency Array (LOFAR) network, the energy-saving and reduced complexity of a detached Laser Induced Breakdown Spectroscopy (LIBS) module, and the uninterrupted powered operation between modules when switching between different power sources. The field data collected during this analogue campaign provided important outcomes for the modular robotics application. Modular and autonomous robots certainly benefit from their versatility, reusability, less complex systems, reduced requirements for space qualification, and lower risks for the mission. These characteristics will ensure that long duration and complex robotic planetary endeavours are not as challenging as they used to be in the past

Survival after secondary liver resection in metastatic colorectal cancer : comparing data of three prospective randomized European trials (LICC, CELIM, FIRE-3)

Metastatic colorectal cancer (mCRC) patients with liver-limited disease (LLD) have a chance of long-term survival and potential cure after hepatic metastasectomy. However, the appropriate postoperative treatment strategy is still controversial. The CELIM and FIRE-3 studies demonstrated that secondary hepatic resection significantly improved overall survival (OS). The objective of this analysis was to compare these favorable outcome data with recent results from the LICC trial investigating the antigen-specific cancer vaccine tecemotide (L-BLP25) as adjuvant therapy in mCRC patients with LLD after R0/R1 resection. Data from mCRC patients with LLD and secondary hepatic resection from each study were analyzed for efficacy outcomes based on patient characteristics, treatment and surveillance after surgery. In LICC, 40/121 (33%) patients, in CELIM 36/111 (32%) and in FIRE-3-LLD 29/133 (22%) patients were secondarily resected, respectively. Of those, 31 (77.5%) patients in LICC and all patients in CELIM were R0 resected. Median disease-free survival after resection was 8.9 months in LICC, 9.9 months in CELIM. Median OS in secondarily resected patients was 66.1 months in LICC, 53.9 months in CELIM and 56.2 months in FIRE-3-LLD. Median age was about 5 years less in LICC compared to CELIM and FIRE-3. Secondarily resected patients of LICC, CELIM and FIRE-3 showed an impressive median survival with a tendency for improved survival for patients in the LICC trial. A younger patient cohort but also more selective surgery, improved resection techniques, deep responses and a close surveillance program after surgery in the LICC trial may have had a positive impact on survival. What's new? The management of liver-limited disease (LLD) in patients with metastatic colorectal cancer (mCRC) is controversial, the optimal treatment has not been defined. Here, data from mCRC patients with LLD and secondary hepatic resection from the prospective randomized trials CELIM, FIRE-3 and LICC were compared. Secondarily resected patients from these trials showed an impressive overall survival (OS), with a tendency for improved OS in LICC. Reasons might be the deep response induced by chemotherapy and surgery combined with close surveillance after surgery. Further prospective, randomized clinical trials are strongly needed to clarify these benefits

Retrograde procedural memory is impaired in people with Parkinson’s disease with freezing of gait

BackgroundFreezing of gait (FOG), is associated with impairment of different cognitive functions. Previous studies hypothesized that FOG may be due to a loss of automaticity.Research questionTo explore whether FOG is associated with impairment in cognitive functions, focusing on retrograde procedural memory, the memory responsible for the automatic, implicit stored procedures that have been acquired in earlier life stages.MethodsIn this cross-sectional, case–control study, 288 people with typical Parkinson’s disease (PD) from the Luxembourg Parkinson’s Study were assigned to Freezers (FOG+) and non-Freezers (FOG−) based on the MDS-UPDRS 2.13 (self-reported FOG episodes) and 3.11 (FOG evaluated by clinicians during gait assessment). Both groups were matched on age, sex and disease duration. Global cognition (MoCA), retrograde procedural memory and visuo-constructive abilities (CUPRO), psychomotor speed and mental flexibility (TMT) were assessed. Furthermore, we repeated our analyses by additionally controlling for depression (BDI-I).ResultsBesides lower global cognition (MoCA; p = 0.007) and mental flexibility (TMT-B and Delta-TMT; p &lt; 0.001), FOG+ showed a lower performance in retrograde procedural memory (CUPRO-IS1; p &lt; 0.001) compared to FOG−. After controlling additionally for depression, our main outcome variable CUPRO-IS1 remained significantly lower in FOG+ (p = 0.010).ConclusionOur findings demonstrated that besides lower global cognition and mental flexibility scores, FOG+ showed lower performance in retrograde procedural memory compared to matched FOG-control patients, even when accounting for factors such as age, sex, disease duration or depression.SignificanceIn the context of limited treatment options, especially for non-invasive therapeutic approaches, these insights on procedural memory and FOG may lead to new hypotheses on FOG etiology and consequently the development of new treatment options

A Laser-Induced Breakdown Spectroscopy (LIBS) Instrument for In-Situ Exploration with the DLR Lightweight Rover Unit (LRU)

In the framework of the Helmholtz ARCHES project, a multitude of robots, including rovers and drones, were prepared for the autonomous exploration of a test site at the foothills of Mt. Etna, Sicily--a terrain resembling extraterrestrial locations such as the Moon. To expand the suite of tools and sensors available for the exploration and investigation of the test site, we developed a laser-induced breakdown spectroscopy (LIBS) instrument for the geochemical analysis of local geological samples. In alignment with the mission scenario, this instrument is housed in a modular payload box that can be attached to the robotic arm of the Lightweight Rover Unit 2 (LRU2), allowing the rover to use the instrument autonomously in the field. A compact Nd:YAG laser is utilized for material ablation, generating a micro-plasma that is subsequently analyzed with a small fiber-coupled spectrometer. A single-board computer controls the LIBS hardware components for data acquisition. In this study, we provide details of the ARCHES LIBS instrument implementation, report on preceding laboratory tests where the LRU2 operated the LIBS module for the first time, and showcase the results obtained during the successful ARCHES space analogue demonstration mission campaign in summer 2022 in Sicily