A Sub-arcsecond Survey Toward Class 0 Protostars in Perseus: Searching for Signatures of Protostellar Disks

We present a CARMA 1.3 mm continuum survey toward 9 Class 0 protostars in the Perseus molecular cloud at $\sim$0.3$^{\prime\prime}$ (70 AU) resolution. This study approximately doubles the number of Class 0 protostars observed with spatial resolutions $<$ 100 AU at millimeter wavelengths, enabling the presence of protostellar disks and proto-binary systems to be probed. We detect flattened structures with radii $>$ 100 AU around 2 sources (L1448 IRS2 and Per-emb-14) and these sources may be strong disk candidates. Marginally-resolved structures with position angles within 30$^{\circ}$ of perpendicular to the outflow are found toward 3 protostars (L1448 IRS3C, IRAS 03282+3035, and L1448C) and are considered disk candidates. Two others (L1448 IRS3B and IRAS 03292+3039) have resolved structure, possibly indicative of massive inner envelopes or disks; L1448 IRS3B also has a companion separated by 0.9$^{\prime\prime}$ ($\sim$210 AU). IC348-MMS does not have well-resolved structure and the candidate first hydrostatic core L1451-MMS is marginally resolved on 1$^{\prime\prime}$ scales. The strong disk candidate sources were followed-up with C$^{18}$O ($J=2\rightarrow1$) observations, detecting velocity gradients consistent with rotation, but it is unclear if the rotation is Keplerian. We compare the observed visibility amplitudes to radiative transfer models, finding that visibility amplitude ratios suggest a compact component (possibly a disk) is necessary for 5 of 9 Class 0 sources; envelopes alone may explain the other 4 systems. We conclude that there is evidence for the formation of large disks in the Class 0 phase with a range of radii and masses dependent upon their initial formation conditions.Comment: Accepted to ApJ, 58 pages, 19 Figures, 5 Table

FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking

Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning tends to be too computationally intensive for real-time replanning. We propose FaSTrack, Fast and Safe Tracking, a framework that achieves both real-time replanning and guaranteed safety. In this framework, real-time computation is achieved by allowing any trajectory planner to use a simplified \textit{planning model} of the system. The plan is tracked by the system, represented by a more realistic, higher-dimensional \textit{tracking model}. We precompute the tracking error bound (TEB) due to mismatch between the two models and due to external disturbances. We also obtain the corresponding tracking controller used to stay within the TEB. The precomputation does not require prior knowledge of the environment. We demonstrate FaSTrack using Hamilton-Jacobi reachability for precomputation and three different real-time trajectory planners with three different tracking-planning model pairs.Comment: Published in the IEEE Transactions on Automatic Contro

Divergent Pro- and Antiinflammatory Roles for IL-23 and IL-12 in Joint Autoimmune Inflammation

Interleukin (IL) 23 is a heterodimeric cytokine composed of a p19 subunit and the p40 subunit of IL-12. IL-23 affects memory T cell and inflammatory macrophage function through engagement of a novel receptor (IL-23R) on these cells. Recent analysis of the contribution of IL-12 and IL-23 to central nervous system autoimmune inflammation demonstrated that IL-23 rather than IL-12 was the essential cytokine. Using gene-targeted mice lacking only IL-12 (p35−/−) or IL-23 (p19−/−), we show that the specific absence of IL-23 is protective, whereas loss of IL-12 exacerbates collagen-induced arthritis. IL-23 gene-targeted mice did not develop clinical signs of disease and were completely resistant to the development of joint and bone pathology. Resistance correlated with an absence of IL-17–producing CD4+ T cells despite normal induction of collagen-specific, interferon-γ–producing T helper 1 cells. In contrast, IL-12–deficient p35−/− mice developed more IL-17–producing CD4+ T cells, as well as elevated mRNA expression of proinflammatory tumor necrosis factor, IL-1β, IL-6, and IL-17 in affected tissues of diseased mice. The data presented here indicate that IL-23 is an essential promoter of end-stage joint autoimmune inflammation, whereas IL-12 paradoxically mediates protection from autoimmune inflammation

Operando visualisation of battery chemistry in a sodium-ion battery by 23Na magnetic resonance imaging

© 2020, The Author(s). Sodium-ion batteries are a promising battery technology for their cost and sustainability. This has led to increasing interest in the development of new sodium-ion batteries and new analytical methods to non-invasively, directly visualise battery chemistry. Here we report operando 1H and 23Na nuclear magnetic resonance spectroscopy and imaging experiments to observe the speciation and distribution of sodium in the electrode and electrolyte during sodiation and desodiation of hard carbon in a sodium metal cell and a sodium-ion full-cell configuration. The evolution of the hard carbon sodiation and subsequent formation and evolution of sodium dendrites, upon over-sodiation of the hard carbon, are observed and mapped by 23Na nuclear magnetic resonance spectroscopy and imaging, and their three-dimensional microstructure visualised by 1H magnetic resonance imaging. We also observe, for the first time, the formation of metallic sodium species on hard carbon upon first charge (formation) in a full-cell configuration

IL-23 drives a pathogenic T cell population that induces autoimmune inflammation

Interleukin (IL)-23 is a heterodimeric cytokine composed of a unique p19 subunit, and a common p40 subunit shared with IL-12. IL-12 is important for the development of T helper (Th)1 cells that are essential for host defense and tumor suppression. In contrast, IL-23 does not promote the development of interferon-γ–producing Th1 cells, but is one of the essential factors required for the expansion of a pathogenic CD4+ T cell population, which is characterized by the production of IL-17, IL-17F, IL-6, and tumor necrosis factor. Gene expression analysis of IL-23–driven autoreactive T cells identified a unique expression pattern of proinflammatory cytokines and other novel factors, distinguishing them from IL-12–driven T cells. Using passive transfer studies, we confirm that these IL-23–dependent CD4+ T cells are highly pathogenic and essential for the establishment of organ-specific inflammation associated with central nervous system autoimmunity

Identification of pre-leukaemic haematopoietic stem cells in acute leukaemia.

In acute myeloid leukaemia (AML), the cell of origin, nature and biological consequences of initiating lesions, and order of subsequent mutations remain poorly understood, as AML is typically diagnosed without observation of a pre-leukaemic phase. Here, highly purified haematopoietic stem cells (HSCs), progenitor and mature cell fractions from the blood of AML patients were found to contain recurrent DNMT3A mutations (DNMT3A(mut)) at high allele frequency, but without coincident NPM1 mutations (NPM1c) present in AML blasts. DNMT3A(mut)-bearing HSCs showed a multilineage repopulation advantage over non-mutated HSCs in xenografts, establishing their identity as pre-leukaemic HSCs. Pre-leukaemic HSCs were found in remission samples, indicating that they survive chemotherapy. Therefore DNMT3A(mut) arises early in AML evolution, probably in HSCs, leading to a clonally expanded pool of pre-leukaemic HSCs from which AML evolves. Our findings provide a paradigm for the detection and treatment of pre-leukaemic clones before the acquisition of additional genetic lesions engenders greater therapeutic resistance