Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

The Mars Exploration Rovers (MERs), Spirit and Opportunity, far exceeded their original drive distance expectations and have traveled, at the time of this reporting, a combined 29 kilometers across the surface of Mars. The Rover Sequencing and Visualization Program (RSVP), the current program used to plan drives for MERs, is only a kinematic simulator of rover movement. Therefore, rover response to various terrains and soil types cannot be modeled. Although sandbox experiments attempt to model rover-terrain interaction, these experiments are time-intensive and costly, and they cannot be used within the tactical timeline of rover driving. Imaging techniques and hazard avoidance features on MER help to prevent the rover from traveling over dangerous terrains, but mobility issues have shown that these methods are not always sufficient. ARTEMIS, a dynamic modeling tool for MER, allows planned drives to be simulated before commands are sent to the rover. The deformable soils component of this model allows rover-terrain interactions to be simulated to determine if a particular drive path would take the rover over terrain that would induce hazardous levels of slip or sink. When used in the rover drive planning process, dynamic modeling reduces the likelihood of future mobility issues because high-risk areas could be identified before drive commands are sent to the rover, and drives planned over these areas could be rerouted. The ARTEMIS software consists of several components. These include a preprocessor, Digital Elevation Models (DEMs), Adams rover model, wheel and soil parameter files, MSC Adams GUI (commercial), MSC Adams dynamics solver (commercial), terramechanics subroutines (FORTRAN), a contact detection engine, a soil modification engine, and output DEMs of deformed soil. The preprocessor is used to define the terrain (from a DEM) and define the soil parameters for the terrain file. The Adams rover model is placed in this terrain. Wheel and soil parameter files can be altered in the respective text files. The rover model and terrain are viewed in Adams View, the GUI for ARTEMIS. The Adams dynamics solver calls terramechanics subroutines in FORTRAN containing the Bekker-Wong equations

Sensor for Boundary Shear Stress in Fluid Flow

The formation of scour patterns at bridge piers is driven by the forces at the boundary of the water flow. In most experimental scour studies, indirect processes have been applied to estimate the shear stress using measured velocity profiles. The estimations are based on theoretical models and associated assumptions. However, the turbulence flow fields and boundary layer in the pier-scour region are very complex and lead to low-fidelity results. In addition, available turbulence models cannot account accurately for the bed roughness effect. Direct measurement of the boundary shear stress, normal stress, and their fluctuations are attractive alternatives. However, most direct-measurement shear sensors are bulky in size or not compatible to fluid flow. A sensor has been developed that consists of a floating plate with folded beam support and an optical grid on the back, combined with a high-resolution optical position probe. The folded beam support makes the floating plate more flexible in the sensing direction within a small footprint, while maintaining high stiffness in the other directions. The floating plate converts the shear force to displacement, and the optical probe detects the plate s position with nanometer resolution by sensing the pattern of the diffraction field of the grid through a glass window. This configuration makes the sensor compatible with liquid flow applications

Room Temperature Operation of a Radiofrequency Diamond Magnetometer near the Shot Noise Limit

We operate a nitrogen vacancy (NV-) diamond magnetometer at ambient temperatures and study the dependence of its bandwidth on experimental parameters including optical and microwave excitation powers. We introduce an analytical theory that yields an explicit formula for the response of an ensemble of NV- spins to an oscillating magnetic field, such as in NMR applications. We measure a detection bandwidth of 1.6 MHz and a sensitivity of 4.6 nT/Hz^(1/2), unprecedented in a detector with this active volume and close to the photon shot noise limit of our experiment.Comment: 4 pages; 4 figures; supporting informatio

Failures in sand in reduced gravity environments

The strength of granular materials, specifically sand is important for understanding physical phenomena on other celestial bodies. However, relatively few experiments have been conducted to determine the dependence of strength properties on gravity. In this work, we experimentally investigated relative values of strength (the peak friction angle, the residual friction angle, the angle of repose, and the peak dilatancy angle) in Earth, Martian, Lunar, and near-zero gravity. The various angles were captured in a classical passive Earth pressure experiment conducted on board a reduced gravity flight and analyzed using digital image correlation. The data showed essentially no dependence of the peak friction angle on gravity, a decrease in the residual friction angle between Martian and Lunar gravity, no dependence of the angle of repose on gravity, and an increase in the dilation angle between Martian and Lunar gravity. Additionally, multiple flow surfaces were seen in near-zero gravity. These results highlight the importance of understanding strength and deformation mechanisms of granular materials at different levels of gravity

Failures in sand in reduced gravity environments

The strength of granular materials, specifically sand is important for understanding physical phenomena on other celestial bodies. However, relatively few experiments have been conducted to determine the dependence of strength properties on gravity. In this work, we experimentally investigated relative values of strength (the peak friction angle, the residual friction angle, the angle of repose, and the peak dilatancy angle) in Earth, Martian, Lunar, and near-zero gravity. The various angles were captured in a classical passive Earth pressure experiment conducted on board a reduced gravity flight and analyzed using digital image correlation. The data showed essentially no dependence of the peak friction angle on gravity, a decrease in the residual friction angle between Martian and Lunar gravity, no dependence of the angle of repose on gravity, and an increase in the dilation angle between Martian and Lunar gravity. Additionally, multiple flow surfaces were seen in near-zero gravity. These results highlight the importance of understanding strength and deformation mechanisms of granular materials at different levels of gravity

Toward Interoperable Mesh, Geometry and Field Components for PDE Simulation Development

Mesh-based PDE simulation codes are becoming increasingly sophisticated and rely on advanced meshing and discretization tools. Unfortunately, it is still difficult to interchange or interoperate tools developed by different communities to experiment with various technologies or to develop new capabilities. To address these difficulties, we have developed component interfaces designed to support the information flow of mesh-based PDE simulations. We describe this information flow and discuss typical roles and services provided by the geometry, mesh, and field components of the simulation. Based on this delineation for the roles of each component, we give a high-level description of the abstract data model and set of interfaces developed by the Department of Energy's Interoperable Tools for Advanced Petascale Simulation (ITAPS) center. These common interfaces are critical to our interoperability goal, and we give examples of several services based upon these interfaces including mesh adaptation and mesh improvement

Justification for the use of Ocimum gratissimum L in herbal medicine and its interaction with disc antibiotics

<p>Abstract</p> <p>Background</p> <p>The ethanolic extract of the leaves of <it>Ocimium gratisimum </it>L. (Lamiaceae), used in traditional medicine for the treatment of several ailments such as urinary tract, wound, skin and gastrointestinal infections, was evaluated for its antibacterial properties against four clinical bacteria isolates namely: <it>Escherichia coli, Proteus mirabilis, Staphylococcus aureus and Pseudomonas aeruginosa </it>and the antifungal properties using a clinical isolate of <it>Candida albicans</it>. A typed bacterium of <it>Escherichia coli </it>ATCC 11775 and another typed fungal strain of <it>Candida albicans </it>(ATCC 90028) were also included. The study also intended to verify if the concomitant administration of conventional antibiotics with <it>Ocimium gratisimum </it>which is normally taken as food (spice) will negatively affect its activity.</p> <p>Methods</p> <p>The agar diffusion method was used to test the in vitro activity of the plant extract. The interaction of the plant extract with some disc antibiotics namely: ciprofloxacin, septrin, streptomycin, ampicillin, nystatin and ketoconazole was tested using the agar overlay inoculum susceptibility disc method. Phytochemical analysis of the extract was performed following established methods.</p> <p>Results</p> <p>The extract showed good but varying <it>in vitro </it>activities against all the isolates tested. While ampicillin showed synergistic interaction with the plant extract against clinical isolates of <it>E. coli </it>and <it>P. mirabilis</it>, septrin was synergistic against the clinical isolate of <it>E. coli </it>only. Similarly, the activity of the extract against <it>C. albicans </it>isolate was synergistic with ketoconazole and nystatin.</p> <p>Conclusion</p> <p>The study has validated the folkloric use of <it>O. gratissimum </it>in traditional medicinal practice and goes further to show that the use of this plant material as food spice may not really threaten the efficacy of some conventional antibiotics that may have been taken concomitantly with it as is the popular belief in the practice of herbal medicine in local/rural communities of many countries in the world.</p

Screening of crude extracts of six medicinal plants used in South-West Nigerian unorthodox medicine for anti-methicillin resistant Staphylococcus aureus activity

BACKGROUND: Six Nigerian medicinal plants Terminalia avicennioides, Phylantus discoideus, Bridella ferruginea, Ageratum conyzoides, Ocimum gratissimum and Acalypha wilkesiana used by traditional medical practitioners for the treatment of several ailments of microbial and non-microbial origins were investigated for in vitro anti-methicillin Resistant Staphylococcus aureus (MRSA) activity. METHODS: Fresh plant materials were collected from the users. Water and ethanol extracts of the shredded plants were obtained by standard methods. The Bacterial cultures used were strains of MRSA isolated from patients. MRSA was determined by the reference broth microdilution methods using the established National Committee for Clinical Laboratory Standards break points. Staphylococcus aureus NCIB 8588 was used as a standard strain. Susceptibility testing and phytochemical screening of the plant extracts were performed by standard procedures. Controls were maintained for each test batch. RESULTS: Both water and ethanol extracts of T. avicennioides, P. discoideus, O. gratissimum, and A. wilkesiana were effective on MRSA. The Minimum Inhibition Concentration (MIC) and Minimum Bactericidal Concentration (MBC) of the ethanol extracts of these plants range from 18.2 to 24.0 mcg/ml and 30.4 to 37.0 mcg/ml respectively. In contrast, MIC range of 30.6 to 43.0 mcg/ml and 55.4 to 71.0 mcg/ml were recorded for ethanol and water extracts of B. ferruginea, and A. conyzoides respectively. Higher MBC values were obtained for the two plants. These concentrations were too high to be considered active in this study. All the four active plants contained at least trace amount of anthraquinones. CONCLUSION: Our results offer a scientific basis for the traditional use of water and ethanol extracts of A. wilkesiana, O. gratissimum, T. avicennioides and P. discoideus against MRSA-associated diseases. However, B. ferruginea and A. conyzoides were ineffective in vitro in this study; we therefore suggest the immediate stoppage of their traditional use against MRSA-associated diseases in Lagos, Nigeria