Waypoint Following Dynamics of a Quaternion Error Feedback Attitude Control System

Closed-loop attitude steering can be used to implement a non-standard attitude maneuver by using a conventional attitude control system to track a non-standard attitude profile. The idea has been employed to perform zero-propellant maneuvers on the International Space Station and minimum time maneuvers on NASA's TRACE space telescope. A challenge for operational implementation of the idea is the finite capacity of a space vehicle's command storage buffer. One approach to mitigate the problem is to downsample-and-hold the attitude commands as a set of waypoints for the attitude control system to follow. In this paper, we explore the waypoint following dynamics of a quaternion error feedback control law for downsample-and-hold. It is shown that downsample-and-hold induces a ripple between downsamples that causes the satellite angular rate to significantly overshoot the desired limit. Analysis in the $z$-domain is carried out in order to understand the phenomenon. An interpolating Chebyshev-type filter is proposed that allows attitude commands to be encoded in terms of a set of filter coefficients. Using the interpolating filter, commands can be issued at the ACS rate but with significantly reduced memory requirements. The attitude control system of NASA's Lunar Reconnaissance Orbiter is used as an example to illustrate the behavior of a practical attitude control system.Comment: 24 pages; 11 figure

Predicting Space Weather Effects on Close Approach Events

The NASA Robotic Conjunction Assessment Risk Analysis (CARA) team sends ephemeris data to the Joint Space Operations Center (JSpOC) for conjunction assessment screening against the JSpOC high accuracy catalog and then assesses risk posed to protected assets from predicted close approaches. Since most spacecraft supported by the CARA team are located in LEO orbits, atmospheric drag is the primary source of state estimate uncertainty. Drag magnitude and uncertainty is directly governed by atmospheric density and thus space weather. At present the actual effect of space weather on atmospheric density cannot be accurately predicted because most atmospheric density models are empirical in nature, which do not perform well in prediction. The Jacchia-Bowman-HASDM 2009 (JBH09) atmospheric density model used at the JSpOC employs a solar storm active compensation feature that predicts storm sizes and arrival times and thus the resulting neutral density alterations. With this feature, estimation errors can occur in either direction (i.e., over- or under-estimation of density and thus drag). Although the exact effect of a solar storm on atmospheric drag cannot be determined, one can explore the effects of JBH09 model error on conjuncting objects' trajectories to determine if a conjunction is likely to become riskier, less risky, or pass unaffected. The CARA team has constructed a Space Weather Trade-Space tool that systematically alters the drag situation for the conjuncting objects and recalculates the probability of collision for each case to determine the range of possible effects on the collision risk. In addition to a review of the theory and the particulars of the tool, the different types of observed output will be explained, along with statistics of their frequency

Transdermal blood sampling for C-peptide is a minimally invasive, reliable alternative to venous sampling in children and adults with type 1 diabetes

Objective: C-peptide and islet autoantibodies are key type 1 diabetes biomarkers, typically requiring venous sampling, which limit their utility. We assessed transdermal capillary blood (TCB) collection as a practical alternative. Research Design and methods: Ninety-one individuals (71 type 1 diabetes, 20 controls; type 1 diabetes: aged median 14.8 years[interquartile range 9.1-17.1]; diabetes duration 4.0 years[1.5-7.7]; controls 42.2 years[38.0-52.1]) underwent contemporaneous venous and TCB sampling for measurement of plasma C-peptide. Type 1 diabetes participants also provided venous serum and plasma, and TCB plasma for measurement of autoantibodies to glutamate decarboxylase, islet antigen-2, and zinc transporter 8. The ability of TCB plasma to detect significant endogenous insulin secretion (venous C-peptide ≥200pmol/L) was compared along with agreement in levels using Bland-Altman. Venous serum was compared with venous and TCB plasma for detection of autoantibodies using established thresholds. Acceptability was assessed by age-appropriate questionnaire.Results: Transdermal sampling took a mean of 2.35minutes (SD 1.49). Median sample volume was 50 µl(IQR 40-50) with 3/91(3.3%) failures, and 13/88(14.7%) <35 µL). TCB C-peptide showed good agreement to venous plasma (mean venous ln(C-peptide) – TCB ln(C-peptide) = 0.008, 95% CI(-0.23, 0.29), with 100%(36/36) sensitivity/100%(50/50) specificity to detect venous C-peptide ≥ 200pmol/L. Where venous serum in multiple autoantibody positive TCB plasma agreed in 22/32 (sensitivity 69%), comparative specificity was 35/36 (97%). TCB was preferred to venous sampling (type 1 diabetes: 63% vs 7%; 30% undecided). Conclusions: Transdermal capillary testing for C-peptide is a sensitive, specific, and acceptable alternative to venous sampling, TCB sampling for islet autoantibodies needs further assessment

Transdermal Blood Sampling for C-peptide Is a Minimally Invasive, Reliable Alternative to Venous Sampling in Children and Adults With Type 1 Diabetes

OBJECTIVE:C-peptide and islet autoantibodies are key type 1 diabetes biomarkers, typically requiring venous sampling, which limits their utility. We assessed transdermal capillary blood (TCB) collection as a practical alternative.RESEARCH DESIGN AND METHODS:Ninety-one individuals (71 with type 1 diabetes, 20 controls; individuals with type 1 diabetes: aged median 14.8 years [interquartile range (IQR) 9.1–17.1], diabetes duration 4.0 years [1.5–7.7]; controls: 42.2 years [38.0–52.1]) underwent contemporaneous venous and TCB sampling for measurement of plasma C-peptide. Participants with type 1 diabetes also provided venous serum and plasma, and TCB plasma for measurement of autoantibodies to glutamate decarboxylase, islet antigen-2, and zinc transporter 8. The ability of TCB plasma to detect significant endogenous insulin secretion (venous C-peptide ≥200 pmol/L) was compared along with agreement in levels, using Bland-Altman. Venous serum was compared with venous and TCB plasma for detection of autoantibodies, using established thresholds. Acceptability was assessed by age-appropriate questionnaire.RESULTS:Transdermal sampling took a mean of 2.35 min (SD 1.49). Median sample volume was 50 µL (IQR 40–50) with 3 of 91 (3.3%) failures, and 13 of 88 (14.7%) &lt;35 µL. TCB C-peptide showed good agreement with venous plasma (mean venous ln[C-peptide] – TCB ln[C-peptide] = 0.008, 95% CI [−0.23, 0.29], with 100% [36 of 36] sensitivity/100% [50 of 50] specificity to detect venous C-peptide ≥200 pmol/L). Where venous serum in multiple autoantibody positive TCB plasma agreed in 22 of 32 (sensitivity 69%), comparative specificity was 35 of 36 (97%). TCB was preferred to venous sampling (type 1 diabetes: 63% vs. 7%; 30% undecided).CONCLUSIONS:Transdermal capillary testing for C-peptide is a sensitive, specific, and acceptable alternative to venous sampling; TCB sampling for islet autoantibodies needs further assessment

Fast Attitude Maneuvers for the Lunar Reconnaissance Orbiter

This paper describes a new operational capability for fast attitude maneuvering that is being developed for the Lunar Reconnaissance Orbiter (LRO). The LRO hosts seven scientific instruments. For some instruments, it is necessary to per-form large off-nadir slews to collect scientific data. The accessibility of off-nadir science targets has been limited by slew rates and/or occultation, thermal and power constraints along the standard slew path. The new fast maneuver (FastMan) algorithm employs a slew path that autonomously avoids constraint violations while simultaneously minimizing the slew time. The FastMan algo-rithm will open regions of observation that were not previously feasible and improve the overall science return for LRO's extended mission. The design of an example fast maneuver for LRO's Lunar Orbiter Laser Altimeter that reduc-es the slew time by nearly 40% is presented. Pre-flight, ground-test, end-to-end tests are also presented to demonstrate the readiness of FastMan. This pioneer-ing work is extensible and has potential to improve the science data collection return of other NASA spacecraft, especially those observatories in extended mission phases where new applications are proposed to expand their utility

Testing of the Lunar Reconnaissance Orbiter Attitude Control System Re-Design Without a Gyro

The Lunar Reconnaissance Orbiter (LRO) was launched in 2009 and, with itsseven science instruments, has made numerous contributions to our understandingof the moon. LRO is in an elliptical, polar lunar orbit and nominally maintainsa nadir orientation. There are frequent slews off nadir to observe various sciencetargets. LRO attitude control system (ACS) has two star trackers and a gyro forattitude estimation in an extended Kalman filter (EKF) and four reaction wheelsused in a proportional-integral-derivative (PID) controller. LRO is equipped withthrusters for orbit adjustments and momentum management. In early 2018, thegyro was powered off following a fairly rapid decline in the laser intensity on theX axis. Without the gyro, the EKF has been disabled. Attitude is provided by asingle star tracker and a coarse rate estimate is computed by a back differencingof the star tracker quaternions. Slews have also been disabled. A new rate estimationapproach makes use of a complementary filter, combining the quaterniondifferentiated rates and the integrated PID limited control torque (with reactionwheel drag and feedforward torque removed). The filtered rate estimate replacesthe MIMU rate in the EKF, resulting in minimal flight software changes. The paperwill cover the preparation and testing of the new gyroless algorithm, both inground simulations and inflight

Antibacterial activity of blue light against nosocomial wound pathogens growing planktonically and as mature biofilms

The blue wavelengths within the visible light spectrum are intrinisically antimicrobial and can photodynamically inactivate the cells of a wide spectrum of bacteria (Gram positive and negative) and fungi. Furthermore, blue light is equally effective against both drug-sensitive and -resistant members of target species and is less detrimental to mammalian cells than is UV radiation. Blue light is currently used for treating acnes vulgaris and Helicobacter pylori infections; the utility for decontamination and treatment of wound infections is in its infancy. Furthermore, limited studies have been performed on bacterial biofilms, the key growth mode of bacteria involved in clinical infections. Here we report the findings of a multicenter in vitro study performed to assess the antimicrobial activity of 400-nm blue light against bacteria in both planktonic and biofilm growth modes. Blue light was tested against a panel of 34 bacterial isolates (clinical and type strains) comprising Acinetobacter baumannii, Enterobacter cloacae, Stenotrophomonas maltophilia, Pseudomonas aeruginosa, Escherichia coli, Staphylococcus aureus, Enterococcus faecium, Klebsiella pneumoniae, and Elizabethkingia meningoseptica. All planktonic-phase bacteria were susceptible to blue light treatment, with the majority (71%) demonstrating a ≥ 5-log10 decrease in viability after 15 to 30 min of exposure (54 J/cm2 to 108 J/cm2). Bacterial biofilms were also highly susceptible to blue light, with significant reduction in seeding observed for all isolates at all levels of exposure. These results warrant further investigation of blue light as a novel decontamination strategy for the nosocomial environment, as well as additional wider decontamination applications

Health-Related Quality of Life among Older Related Hematopoietic Stem Cell Donors (>60 Years) Is Equivalent to That of Younger Related Donors (18 to 60 Years): A Related Donor Safety Study

The increasing number of older adults with blood-related disorders and the introduction of reduced intensity conditioning regimens has led to increases in hematopoietic stem cell (HSC) transplantation among older adults and a corresponding increase in the age of siblings who donate HSCs to these patients. Data regarding the donation-related experiences of older donors is lacking. The Related Donor Safety Study (RDSafe) aimed to examine/compare health-related quality of life (HRQoL) of older versus younger HSC donors. 60 peripheral blood stem cell (PBSC) donors ages 18–60 and 104 PBSC donors age >60 completed validated questionnaires at pre-donation, 4 weeks and 1 year post-donation. Prior to donation, older donors had poorer general physical health (t=−3.27; p=.001) but better mental health (t=2.11; p<.05). There were no age differences in multiple other donation-related factors. At 4 weeks post-donation, there were no group differences in general physical/mental health, but older donors were less likely to report donation-related pain (t=−2.26; p<.05) and concerns (t=−3.38; p=.001). At both 4 weeks and 1 year post-donation, there were no significant differences in the percentage of each age group feeling physically back to normal or in the number of days it took donors to feel completely well. There was no evidence that increasing age within the older donor group was associated with poorer donation-related HRQoL. Taken together, these data support the current practice of HSC donation by sibling donors above age 60, providing no evidence of worsening HRQoL up to one year after donation in individuals up to age 76

Mapping Landscape Values: Issues, Challenges and Lessons Learned from Field Work on the Olympic Peninsula, Washington

In order to inform natural resource policy and land management decisions, landscape values mapping (LVM) is increasingly used to collect data about the meanings that people attach to places and the activities associated with those places. This type of mapping provides geographically referenced data on areas of high density of values or associated with different types of values. This article focuses on issues and challenges that commonly occur in LVM, drawing on lessons learned in the US Forest Service Olympic Peninsula Human Ecology Mapping Project. The discussion covers choosing a spatial scale for collecting data, creating the base map, developing data collection strategies, the use of ascribed versus assigned values, and the pros and cons of different mapping formats. Understanding the common issues and challenges in LVM will assist policy makers, land managers, and researchers in designing a LVM project that effectively balances project goals, time and budgetary constraints, and personnel resources in a way that ensures the most robust data and inclusive public participation

Making Sense of Human Ecology Mapping: An Overview of Approaches to Integrating Socio-Spatial Data into Environmental Planning

Ecosystem-based planning and management have stimulated the need to gather sociocultural values and human uses of land in formats accessible to diverse planners and researchers. Human Ecology Mapping (HEM) approaches offer promising spatial data gathering and analytical tools, while also addressing important questions about human-landscape connections. This article reviews and compares the characteristics of three HEM approaches that are increasingly used in natural resource management contexts, each focused on a particular aspect of human-environmental interactions. These aspects include tenure and resource use (TRU), local ecological knowledge (LEK), and sense of place (SOP). We discuss their origins, provide examples of their use, and identify challenges to their application. Our review serves as a guide for environmental managers, planners, and communities interested in gathering spatial data on aspects of human ecology important in ecosystem-based management and planning, and for scientists designing socioecological research