Tumbleweed Rovers

Tumbleweed rovers, now undergoing development, are lightweight, inflatable, approximately spherical exploratory robotic vehicles designed to roll across terrain, using only wind for propulsion. Tumbleweed rovers share many features with beach-ball rovers, which were discussed in several prior NASA Tech Briefs articles. Conceived for use in exploring remote planets, tumbleweed rovers could also be used for exploring relatively inaccessible terrain on Earth. A fully developed tumbleweed rover would consist of an instrumentation package suspended in an inflated twolayer (nylon/polypropylene) ball. The total mass of the rover would be of the order of 10 kg, the diameter of the ball when inflated would be 2 meters, and the minimum wind speed needed for propulsion would be about 5 m/s. The instrumentation package would contain a battery power supply, sensors, a Global Positioning System (GPS) receiver, and a radio transmitter that would send the sensor readings and the GPS position and time readings to a monitoring station via a satellite communication system. Depending on the specific exploratory mission, the sensors could include a thermometer, a barometer, a magnetometer (for studying the terrestrial magnetic field and/or detecting buried meteorites), a subsurface radar system (for measuring ice thickness and/or detecting buried meteorites), and/or one or two diametrally opposed cameras that would take the part of sending two side-looking images out. In the planned Antarctic field test, a prototype tumbleweed rover was released at a location near the South Pole. Using the global Iridium satellite network to send information about its position, the rover transmitted temperature, pressure, humidity, and light intensity data to NASA s Jet Propulsion Laboratory. The rover reached speeds of 30 km per hour over the Antarctic ice cap, and traveled at an average speed of about 6 km per hour. The test was designed to confirm the rover s long-term durability in an extremely cold environment, with the goal being eventual use of the device to explore the Martian polar caps and other planets in the solar system. On future Antarctic exploratory missions, tumbleweed rovers might be used to acquire sensor data for studies of global warming, ozone depletion, and impacts of meteorites

Personalized Virtual Reality for Upper Extremity Rehabilitation: Moving from the Clinic to a Home Exercise Program

Introduction: Traditional rehabilitation does not provide adequate repetitions for maximal motor recovery in the clinic and home exercise programs (HEPs) have low compliance rates. Personalized virtual reality (PVR) is a promising low-cost therapeutic tool for improving compliance by incorporating the client's interests, abilities, and goals into a motivating and engaging intervention using internet games. Objectives: The current study aimed to develop and refine a clinic-to-home PVR intervention, determine its feasibility and usability in an outpatient rehabilitation clinic and as a HEP, and examine its effects on motivation/engagement, compliance, motor repetitions, and functional motor performance. Methods: The PVR system utilizes a Microsoft Kinect sensor to track the participants' movements, free software to translate movements to keystrokes, and free internet games. The therapist matched participants' interests to internet games, customized therapeutic movements for game play, and increased the movement thresholds for game activation as participants improved. Two participants who had strokes resulting in upper extremity (UE) hemiplegia were recruited. The participants attended outpatient occupational therapy (OT) services twice weekly. Following training, the participants used the PVR system at home in place of their UE HEP. They continued to receive traditional OT once a week and clinic-PVR once a week for 5-8 weeks. Results: The PVR intervention was successfully implemented in the clinic and the clients' homes. PVR increased motivation and treatment compliance. The clients exhibited improvements in UE active range of motion, function, symptoms, and occupational performance. Conclusion: Preliminary evidence suggests PVR can improve motivation, compliance, function, and occupational performance. However, larger scale studies and protocol refinement are necessary

Advanced Aerobots for Scientific Exploration

The Picosat and Uninhabited Aerial Vehicle Systems Engineering (PAUSE) project is developing balloon-borne instrumentation systems as aerobots for scientific exploration of remote planets and for diverse terrestrial purposes that can include scientific exploration, mapping, and military surveillance. The underlying concept of balloon-borne gondolas housing outer-space-qualified scientific instruments and associated data-processing and radio-communication equipment is not new. Instead, the novelty lies in numerous design details that, taken together, make a PAUSE aerobot smaller, less expensive, and less massive, relative to prior aerobots developed for similar purposes: Whereas the gondola (including the instrumentation system housed in it) of a typical prior aerobot has a mass of hundreds of kilograms, the mass of the gondola (with instrumentation system) of a PAUSE aerobot is a few kilograms

Chemical Abundances in AGN Environment: X-Ray/UV Campaign on the MRK 279 Outflow

We present the first reliable determination of chemical abundances in an AGN outflow. The abundances are extracted from the deep and simultaneous FUSE and HST/STIS observations of Mrk 279. This data set is exceptional for its high signal-to-noise, unblended doublet troughs and little Galactic absorption contamination. These attributes allow us to solve for the velocity-dependent covering fraction, and therefore obtain reliable column densities for many ionic species. For the first time we have enough such column densities to simultaneously determine the ionization equilibrium and abundances in the flow. Our analysis uses the full spectral information embedded in these high-resolution data. Slicing a given trough into many independent outflow elements yields the extra constraints needed for a physically meaningful abundances determination. We find that relative to solar the abundances in the Mrk 279 outflow are (linear scaling): carbon 2.2+/-0.7, nitrogen 3.5+/-1.1 and oxygen 1.6+/-0.8. Our UV-based photoionization and abundances results are in good agreement with the independent analysis of the simultaneous Mrk 279 X-ray spectra. This is the best agreement between the UV and X-ray analyses of the same outflow to date.Comment: 28 pages, 7 figures, accepted on 29 Nov 2006 for publication in the ApJ (submission date: 27 Jul 2006

Hubble Space Telescope Ultraviolet Spectroscopy of Fourteen Low-Redshift Quasars

We present low-resolution ultraviolet spectra of 14 low redshift (z<0.8) quasars observed with HST/STIS as part of a Snap project to understand the relationship between quasar outflows and luminosity. By design, all observations cover the CIV emission line. Nine of the quasars are from the Hamburg-ESO catalog, three are from the Palomar-Green catalog, and one is from the Parkes catalog. The sample contains a few interesting quasars including two broad absorption line (BAL) quasars (HE0143-3535, HE0436-2614), one quasar with a mini-BAL (HE1105-0746), and one quasar with associated narrow absorption (HE0409-5004). These BAL quasars are among the brightest known (though not the most luminous) since they lie at z<0.8. We compare the properties of these BAL quasars to the z1.4 Large Bright Quasar samples. By design, our objects sample luminosities in between these two surveys, and our four absorbed objects are consistent with the v ~ L^0.62 relation derived by Laor & Brandt (2002). Another quasar, HE0441-2826, contains extremely weak emission lines and our spectrum is consistent with a simple power-law continuum. The quasar is radio-loud, but has a steep spectral index and a lobe-dominated morphology, which argues against it being a blazar. The unusual spectrum of this quasar resembles the spectra of the quasars PG1407+265, SDSSJ1136+0242, and PKS1004+13 for which several possible explanations have been entertained.Comment: Uses aastex.cls, 21 pages in preprint mode, including 6 figures and 2 tables; accepted for publication in The Astronomical Journal (projected vol 133

Galactic-scale absorption outflow in the low-luminosity quasar IRAS F04250-5718: Hubble space telescope/cosmic origins spectrograph observations

We present absorption line analysis of the outflow in the quasar IRAS F04250?5718. Far-ultraviolet data from the Cosmic Origins Spectrograph on board the Hubble Space Telescope reveal intrinsic narrow absorption lines from high ionization ions (e.g., C iv, N v, and O vi) as well as low ionization ions (e.g., Cii and Si iii). We identify three kinematic components with central velocities ranging from ??50 to ??230 km s?1. Velocity-dependent, nonblack saturation is evident from the line profiles of the high ionization ions. From the non-detection of absorption from a metastable level of C ii, we are able to determine that the electron number density in the main component of the outflow is 30 cm?3. Photoionization analysis yields an ionization parameter log UH ? ?1.6 ± 0.2, which accounts for changes in the metallicity of the outflow and the shape of the incident spectrum. We also consider solutions with two ionization parameters. If the ionization structure of the outflow is due to photoionization by the active galactic nucleus, we determine that the distance to this component from the central source is 3 kpc. Due to the large distance determined for the main kinematic component, we discuss the possibility that this outflow is part of a galactic wind.We acknowledge support from NASA STScI grants GO 11686 and GO 12022 as well as NSF grant AST 0837880. We thank Pat Hall for insightful suggestions and discussions. J.I.G.-S. and C.B. acknowledge financial support from the Spanish Ministerio de Ciencia e Innovacion under project AYA2008-06311-C02-02

The Ionized Gas and Nuclear Environment in NGC 3783. IV. Variability and Modeling of the 900 ks CHANDRA Spectrum

We present a detailed spectral analysis of the data obtained from NGC 3783 during the period 2000-2001 using Chandra. This analysis leads us to the following results. 1) NGC 3783 fluctuated in luminosity by a factor ~1.5 during individual observations (~170 ks duration). These fluctuations were not associated with significant spectral variations. 2) On a longer time scale (20-120 days), we found the source to exhibit two very different spectral shapes. The main difference between these can be well-described by the appearance and disappearance of a spectral component that dominates the underlying continuum at the longest wavelengths. The spectral variations are not related to the brightening or the fading of the continuum at short wavelengths in any simple way. 3) The appearance of the soft continuum component is consistent with being the only spectral variation, and there is no need to invoke changes in the opacity of the absorbers. 4) Photoionization modeling indicates that a combination of three ionized absorbers, each split into two kinematic components, can explain the strengths of almost all the absorption lines and bound-free edges. All three components are thermally stable and seem to have the same gas pressure. 5) The only real discrepancy between our model and the observations concerns the range of wavelengths absorbed by the iron M-shell UTA feature. This most likely arises as the result of our underestimation of the poorly-known dielectronic recombination rates appropriate for these ions. 6) The lower limit on the distance of the absorbing gas in NGC 3783 is between 0.2 and 3.2 pc. The assumption of pressure equilibrium imposes an upper limit of about 25 pc on the distance of the least-ionized component from the central source. (abridged)Comment: 16 pages, 12 figures (9 in color), emulateapj5, accepted for publication in The Astrophysical Journa

X-ray/UV Observing Campaign on the Mrk 279 AGN Outflow: A Global Fitting Analysis of the UV Absorption

We present an analysis of the intrinsic UV absorption in the Seyfert 1 galaxy Mrk 279 based on simultaneous long observations with the Hubble Space Telescope (41 ks) and the Far Ultraviolet Spectroscopic Explorer (91 ks). To extract the line-of-sight covering factors and ionic column densities, we separately fit two groups of absorption lines: the Lyman series and the CNO lithium-like doublets. For the CNO doublets we assume that all three ions share the same covering factors. The fitting method applied here overcomes some limitations of the traditional method using individual doublet pairs; it allows for the treatment of more complex, physically realistic scenarios for the absorption-emission geometry and eliminates systematic errors that we show are introduced by spectral noise. We derive velocity-dependent solutions based on two models of geometrical covering -- a single covering factor for all background emission sources, and separate covering factors for the continuum and emission lines. Although both models give good statistical fits to the observed absorption, we favor the model with two covering factors because: (a) the best-fit covering factors for both emission sources are similar for the independent Lyman series and CNO doublet fits; (b) the fits are consistent with full coverage of the continuum source and partial coverage of the emission lines by the absorbers, as expected from the relative sizes of the nuclear emission components; and (c) it provides a natural explanation for variability in the Ly$\alpha$ absorption detected in an earlier epoch. We also explore physical and geometrical constraints on the outflow from these results.Comment: 17 pages, 15 figures (9 color), emulateapj, accepted for publication in The Astrophysical Journa

Adjunctive rifampicin for Staphylococcus aureus bacteraemia (ARREST): a multicentre, randomised, double-blind, placebo-controlled trial.

BACKGROUND: Staphylococcus aureus bacteraemia is a common cause of severe community-acquired and hospital-acquired infection worldwide. We tested the hypothesis that adjunctive rifampicin would reduce bacteriologically confirmed treatment failure or disease recurrence, or death, by enhancing early S aureus killing, sterilising infected foci and blood faster, and reducing risks of dissemination and metastatic infection. METHODS: In this multicentre, randomised, double-blind, placebo-controlled trial, adults (≥18 years) with S aureus bacteraemia who had received ≤96 h of active antibiotic therapy were recruited from 29 UK hospitals. Patients were randomly assigned (1:1) via a computer-generated sequential randomisation list to receive 2 weeks of adjunctive rifampicin (600 mg or 900 mg per day according to weight, oral or intravenous) versus identical placebo, together with standard antibiotic therapy. Randomisation was stratified by centre. Patients, investigators, and those caring for the patients were masked to group allocation. The primary outcome was time to bacteriologically confirmed treatment failure or disease recurrence, or death (all-cause), from randomisation to 12 weeks, adjudicated by an independent review committee masked to the treatment. Analysis was intention to treat. This trial was registered, number ISRCTN37666216, and is closed to new participants. FINDINGS: Between Dec 10, 2012, and Oct 25, 2016, 758 eligible participants were randomly assigned: 370 to rifampicin and 388 to placebo. 485 (64%) participants had community-acquired S aureus infections, and 132 (17%) had nosocomial S aureus infections. 47 (6%) had meticillin-resistant infections. 301 (40%) participants had an initial deep infection focus. Standard antibiotics were given for 29 (IQR 18-45) days; 619 (82%) participants received flucloxacillin. By week 12, 62 (17%) of participants who received rifampicin versus 71 (18%) who received placebo experienced treatment failure or disease recurrence, or died (absolute risk difference -1·4%, 95% CI -7·0 to 4·3; hazard ratio 0·96, 0·68-1·35, p=0·81). From randomisation to 12 weeks, no evidence of differences in serious (p=0·17) or grade 3-4 (p=0·36) adverse events were observed; however, 63 (17%) participants in the rifampicin group versus 39 (10%) in the placebo group had antibiotic or trial drug-modifying adverse events (p=0·004), and 24 (6%) versus six (2%) had drug interactions (p=0·0005). INTERPRETATION: Adjunctive rifampicin provided no overall benefit over standard antibiotic therapy in adults with S aureus bacteraemia. FUNDING: UK National Institute for Health Research Health Technology Assessment