On Advanced Mobility Concepts for Intelligent Planetary Surface Exploration

Surface exploration by wheeled rovers on Earth's Moon (the two Lunokhods) and Mars (Nasa's Sojourner and the two MERs) have been followed since many years already very suc-cessfully, specifically concerning operations over long time. However, despite of this success, the explored surface area was very small, having in mind a total driving distance of about 8 km (Spirit) and 21 km (Opportunity) over 6 years of operation. Moreover, ESA will send its ExoMars rover in 2018 to Mars, and NASA its MSL rover probably this year. However, all these rovers are lacking sufficient on-board intelligence in order to overcome longer dis-tances, driving much faster and deciding autonomously on path planning for the best trajec-tory to follow. In order to increase the scientific output of a rover mission it seems very nec-essary to explore much larger surface areas reliably in much less time. This is the main driver for a robotics institute to combine mechatronics functionalities to develop an intelligent mo-bile wheeled rover with four or six wheels, and having specific kinematics and locomotion suspension depending on the operational terrain of the rover to operate. DLR's Robotics and Mechatronics Center has a long tradition in developing advanced components in the field of light-weight motion actuation, intelligent and soft manipulation and skilled hands and tools, perception and cognition, and in increasing the autonomy of any kind of mechatronic systems. The whole design is supported and is based upon detailed modeling, optimization, and simula-tion tasks. We have developed efficient software tools to simulate the rover driveability per-formance on various terrain characteristics such as soft sandy and hard rocky terrains as well as on inclined planes, where wheel and grouser geometry plays a dominant role. Moreover, rover optimization is performed to support the best engineering intuitions, that will optimize structural and geometric parameters, compare various kinematics suspension concepts, and make use of realistic cost functions like mass and consumed energy minimization, static sta-bility, and more. For self-localization and safe navigation through unknown terrain we make use of fast 3D stereo algorithms that were successfully used e.g. in unmanned air vehicle ap-plications and on terrestrial mobile systems. The advanced rover design approach is applica-ble for lunar as well as Martian surface exploration purposes. A first mobility concept ap-proach for a lunar vehicle will be presented

Anderson localization on the Falicov-Kimball model with Coulomb disorder

The role of Coulomb disorder is analysed in the Anderson-Falicov-Kimball model. Phase diagrams of correlated and disordered electron systems are calculated within dynamical mean-field theory applied to the Bethe lattice, in which metal-insulator transitions led by structural and Coulomb disorders and correlation can be identified. Metallic, Mott insulator, and Anderson insulator phases, as well as the crossover between them are studied in this perspective. We show that Coulomb disorder has a relevant role in the phase-transition behavior as the system is led towards the insulator regime

Polarimetry of Compact Symmetric Objects

We present multi-frequency VLBA observations of two polarized Compact Symmetric Objects (CSOs), J0000+4054 and J1826+1831, and a polarized CSO candidate, J1915+6548. Using the wavelength-squared dependence of Faraday rotation, we obtained rotation measures (RMs) of -180 \pm 10 rad m^-2 and 1540 \pm 7 rad m^-2 for the latter two sources. These are lower than what is expected of CSOs (several 1000 rad m^-2) and, depending on the path length of the Faraday screens, require magnetic fields from 0.03 to 6 \mu G. These CSOs may be more heavily affected by Doppler boosting than their unpolarized counterparts, suggesting that a jet-axis orientation more inclined towards the line of sight is necessary to detect any polarization. This allows for low RMs if the polarized components are oriented away from the depolarizing circumnuclear torus. These observations also add a fourth epoch to the proper motion studies of J0000+4054 and J1826+1831, constraining their kinematic age estimates to >610 yrs and 2600 \pm 490 yrs, respectively. The morphology, spectrum, and component motions of J1915+6548 are discussed in light of its new classification as a CSO candidate, and its angle to the line of sight (~50\deg) is determined from relativistic beaming arguments.Comment: 29 pages, including 9 figures; Accepted by Astrophysical Journal, 16 Feb 0

Dating COINS: Kinematic Ages for Compact Symmetric Objects

We present multi-epoch VLBA observations of Compact Symmetric Objects (CSOs) from the COINS sample (CSOs Observed In the Northern Sky). These observations allow us to make estimates of, or place limits on, the kinematic ages for those sources with well-identified hot spots. This study significantly increases the number of CSOs with well-determined ages or limits. The age distribution is found to be sharply peaked under 500 years, suggesting that many CSOs die young, or are episodic in nature, and very few survive to evolve into FR II sources like Cygnus A. Jet components are found to have higher velocities than hot spots which is consistent with their movement down cleared channels. We also report on the first detections of significant polarization in two CSOs, J0000+4054 (2.1%) and J1826+1831 (8.8%). In both cases the polarized emission is found in jet components on the stronger side of the center of activity.Comment: 34 pages including 7 figures, Accepted to ApJ on Dec 7, 200

Translational research into gut microbiota: new horizons on obesity treatment: updated 2014

Obesity is currently a pandemic of worldwide proportions affecting millions of people. Recent studies have proposed the hypothesis that mechanisms not directly related to the human genome could be involved in the genesis of obesity, due to the fact that, when a population undergoes the same nutritional stress, not all individuals present weight gain related to the diet or become hyperglycemic. The human intestine is colonized by millions of bacteria which form the intestinal flora, known as gut flora. Studies show that lean and overweight human may present a difference in the composition of their intestinal flora; these studies suggest that the intestinal flora could be involved in the development of obesity. Several mechanisms explain the correlation between intestinal flora and obesity. The intestinal flora would increase the energetic extraction of non-digestible polysaccharides. In addition, the lipopolysaccharide from intestinal flora bacteria could trigger a chronic sub-clinical inflammatory process, leading to obesity and diabetes. Another mechanism through which the intestinal flora could lead to obesity would be through the regulation of genes of the host involved in energy storage and expenditure. In the past five years data coming from different sources established causal effects between intestinal microbiota and obesity/insulin resistance, and it is clear that this area will open new avenues of therapeutic to obesity, insulin resistance and DM2.Obesity is currently a pandemic of worldwide proportions affecting millions of people. Recent studies have proposed the hypothesis that mechanisms not directly related to the human genome could be involved in the genesis of obesity, due to the fact that, when a population undergoes the same nutritional stress, not all individuals present weight gain related to the diet or become hyperglycemic. The human intestine is colonized by millions of bacteria which form the intestinal flora, known as gut flora. Studies show that lean and overweight human may present a difference in the composition of their intestinal flora; these studies suggest that the intestinal flora could be involved in the development of obesity. Several mechanisms explain the correlation between intestinal flora and obesity. The intestinal flora would increase the energetic extraction of non-digestible polysaccharides. In addition, the lipopolysaccharide from intestinal flora bacteria could trigger a chronic sub-clinical inflammatory process, leading to obesity and diabetes. Another mechanism through which the intestinal flora could lead to obesity would be through the regulation of genes of the host involved in energy storage and expenditure. In the past five years data coming from different sources established causal effects between intestinal microbiota and obesity/insulin resistance, and it is clear that this area will open new avenues of therapeutic to obesity, insulin resistance and DM259215416

Metastable anisotropy orientation of nematic quantum Hall fluids

We analyze the experimental observation of metastable anisotropy resistance orientation at half filled quantum Hall fluids by means of a model of a quantum nematic liquid in an explicit symmetry breaking potential. We interpret the observed ``rotation'' of the anisotropy axis as a process of nucleation of nematic domains and compute the nucleation rate within this model. By comparing with experiment, we are able to predict the critical radius of nematic bubbles, $R_c\sim 2.6 \mu m$. Each domain contains about $10^4$ electrons.Comment: 10 pages, 8 figures, final version as will appear in PR