Quantifying Operational Constraints of Low-Latency Telerobotics for Planetary Surface Operations

NASA's SLS and Orion crew vehicle will launch humans to cislunar space to begin the new era of space exploration. NASA plans to use the Orion crew vehicle to transport humans between Earth and cislunar space where there will be a stationed habitat known as the Deep Space Gateway (DSG). The proximity to the lunar surface allows for direct communication between the DSG and surface assets, which enables low-latency telerobotic exploration. The operational constraints for telerobotics must be fully explored on Earth before being utilized on space exploration missions. We identified two constraints on space exploration using low-latency surface telerobotics and attempts to quantify these constraints. A constraint associated with low-latency surface telerobotics is the bandwidth available between the orbiting command station and the ground assets. The bandwidth available will vary during operation. As a result, it is critical to quantify the operational video conditions required for effective exploration. We designed an experiment to quantify the threshold frame rate required for effective exploration. The experiment simulated geological exploration via low-latency surface telerobotics using a COTS rover in a lunar analog environment. The results from this experiment indicate that humans should operate above a threshold frame rate of 5 frames per second. In a separate, but similar experiment, we introduced a 2.6 second delay in the video system. This delay recreated the latency conditions present when operating rovers on the lunar farside from an Earth-based command station. This time delay was compared to low-latency conditions for teleoperation at the DSG ($\leq$0.4 seconds). The results from this experiment show a 150% increase in exploration time when the latency is increased to 2.6 seconds. This indicates that such a delay significantly complicates real-time exploration strategies.Comment: 10 pages, 8 figures, Proceedings of the IEEE Aerospace Conference, Big Sky, MT. arXiv admin note: text overlap with arXiv:1706.0375

Physical characteristics and non-keplerian orbital motion of "propeller" moons embedded in Saturn's rings

We report the discovery of several large "propeller" moons in the outer part of Saturn's A ring, objects large enough to be followed over the 5-year duration of the Cassini mission. These are the first objects ever discovered that can be tracked as individual moons, but do not orbit in empty space. We infer sizes up to 1--2 km for the unseen moonlets at the center of the propeller-shaped structures, though many structural and photometric properties of propeller structures remain unclear. Finally, we demonstrate that some propellers undergo sustained non-keplerian orbit motion. (Note: This arXiv version of the paper contains supplementary tables that were left out of the ApJL version due to lack of space).Comment: 9 pages, 4 figures; Published in ApJ

HID-1 controls formation of large dense core vesicles by influencing cargo sorting and trans-Golgi network acidification

Large dense core vesicles (LDCVs) mediate the regulated release of neuropeptides and peptide hormones. They form at the trans-Golgi network (TGN), where their soluble content aggregates to form a dense core, but the mechanisms controlling biogenesis are still not completely understood. Recent studies have implicated the peripheral membrane protein HID-1 in neuropeptide sorting and insulin secretion. Using CRISPR/Cas9, we generated HID-1 KO rat neuroendocrine cells, and we show that the absence of HID-1 results in specific defects in peptide hormone and monoamine storage and regulated secretion. Loss of HID-1 causes a reduction in the number of LDCVs and affects their morphology and biochemical properties, due to impaired cargo sorting and dense core formation. HID-1 KO cells also exhibit defects in TGN acidification together with mislocalization of the Golgi-enriched vacuolar H+-ATPase subunit isoform a2. We propose that HID-1 influences early steps in LDCV formation by controlling dense core formation at the TGN.</jats:p

How alternative urban stream channel designs influence ecohydraulic conditions.

Streams draining urban catchments ubiquitously undergo negative physical and ecosystem changes, recognized to be primarily driven by frequent stormwater runoff input. The common management intervention is rehabilitation of channel morphology. Despite engineering design intentions, ecohydraulic benefits of urban channel rehabilitation are largely unknown and likely limited. This investigation uses an ecohydraulic modeling approach to investigate the performance of alternative channel design configurations intended to restore key ecosystem functioning in urban streams. Channel reconfiguration design scenarios, specified to emulate the range of channel topographic complexity often used in rehabilitation are compared against a reference 'natural' scenario using ecologically relevant hydraulic metrics. The results showed that the ecohydraulic conditions were incremental improved with the addition of natural oscillations to an increasing number of individual topographic variables in a degraded channel. Results showed that reconfiguration reduced excessive frequency of bed mobility, loss of habitat and hydraulic diversity particularly as more topographic variables were added. However, the results also showed that none of the design scenarios returned the ecohydraulics to their reference conditions. This indicate that channel-based restoration can offer some potential changes to hydraulic habitat conditions but are unlikely to completely mitigate the effects of hydrologic change. We suggest that while reach-scale channel modification may be beneficial to restore urban stream, addressing altered hydrology is critical to fully recover natural ecosystem processes

Lipid peroxidation biomarkers for evaluating oxidative stress in equine neuroaxonal dystrophy.

BackgroundEquine neuroaxonal dystrophy/equine degenerative myeloencephalopathy (eNAD/EDM) is a neurodegenerative disorder affecting genetically predisposed foals maintained on an α-tocopherol (α-TOH) deficient diet. Currently no antemortem diagnostic test for eNAD/EDM is available.HypothesisBecause α-TOH deficiency is associated with increased lipid peroxidation, it was hypothesized that F2 -isoprostanes (F2 IsoP), F4 -neuroprostanes (F4 NP) and oxysterols derived from free radical oxidation would be increased in the cerebrospinal fluid (CSF) and neural tissue of eNAD/EDM affected horses and could serve as potential biomarkers for disease.AnimalsIsoprostane Study A: 14 Quarter horse foals (10 healthy foals and 4 eNAD/EDM affected foals) at 1 and 6 months of age. Isoprostane Study B: 17 eNAD/EDM affected and 10 unaffected horses ≥ 1-4 years of age. Oxysterol study: eNAD/EDM affected (n = 14, serum; n = 11, CSF; n = 10, spinal cord [SC]) and unaffected horses 1-4 years of age (n = 12, serum; n = 10, CSF; n = 7, SC).ProceduresCerebrospinal fluid [F2 IsoP] and [F4 NP] were assessed using gas chromatography-negative ion chemical ionization mass spectrometry. Serum, CSF, and cervical SC [oxysterols] were quantified using high performance liquid chromatography mass spectrometry. Results were compared with respective α-TOH concentrations.ResultsSpinal cord [7-ketocholesterol], [7-hydroxycholesterol], and [7-keto-27-hydrocholesterol] were higher in eNAD/EDM horses whereas [24-ketocholesterol] was lower. No significant difference was found in CSF [F2 IsoP] and [F4 NP], serum [oxysterols] and CSF [oxysterols] between eNAD/EDM affected and unaffected horses. No correlation was found between [F2 IsoP], [F4 NP], or [oxysterols] and respective [α-TOH].Conclusions and clinical importanceIn the SC, targeted markers of cholesterol oxidation were significantly increased in horses with eNAD/EDM