Tactile Robotic Topographical Mapping Without Force or Contact Sensors

A method of topographical mapping of a local solid surface within the range of motion of a robot arm is based on detection of contact between the surface and the end effector (the fixture or tool at the tip of the robot arm). The method was conceived to enable mapping of local terrain by an exploratory robot on a remote planet, without need to incorporate delicate contact switches, force sensors, a vision system, or other additional, costly hardware. The method could also be used on Earth for determining the size and shape of an unknown surface in the vicinity of a robot, perhaps in an unanticipated situation in which other means of mapping (e.g., stereoscopic imaging or laser scanning with triangulation) are not available. The method uses control software modified to utilize the inherent capability of the robotic control system to measure the joint positions, the rates of change of the joint positions, and the electrical current demanded by the robotic arm joint actuators. The system utilizes these coordinate data and the known robot-arm kinematics to compute the position and velocity of the end effector, move the end effector along a specified trajectory, place the end effector at a specified location, and measure the electrical currents in the joint actuators. Since the joint actuator current is approximately proportional to the actuator forces and torques, a sudden rise in joint current, combined with a slowing of the joint, is a possible indication of actuator stall and surface contact. Hence, even though the robotic arm is not equipped with contact sensors, it is possible to sense contact (albeit with reduced sensitivity) as the end effector becomes stalled against a surface that one seeks to measure

Demonstrating high-precision photometry with a CubeSat: ASTERIA observations of 55 Cancri e

ASTERIA (Arcsecond Space Telescope Enabling Research In Astrophysics) is a 6U CubeSat space telescope (10 cm x 20 cm x 30 cm, 10 kg). ASTERIA's primary mission objective was demonstrating two key technologies for reducing systematic noise in photometric observations: high-precision pointing control and high-stabilty thermal control. ASTERIA demonstrated 0.5 arcsecond RMS pointing stability and $\pm$10 milliKelvin thermal control of its camera payload during its primary mission, a significant improvement in pointing and thermal performance compared to other spacecraft in ASTERIA's size and mass class. ASTERIA launched in August 2017 and deployed from the International Space Station (ISS) November 2017. During the prime mission (November 2017 -- February 2018) and the first extended mission that followed (March 2018 - May 2018), ASTERIA conducted opportunistic science observations which included collection of photometric data on 55 Cancri, a nearby exoplanetary system with a super-Earth transiting planet. The 55 Cancri data were reduced using a custom pipeline to correct CMOS detector column-dependent gain variations. A Markov Chain Monte Carlo (MCMC) approach was used to simultaneously detrend the photometry using a simple baseline model and fit a transit model. ASTERIA made a marginal detection of the known transiting exoplanet 55 Cancri e ($\sim2$~\Rearth), measuring a transit depth of $374\pm170$ ppm. This is the first detection of an exoplanet transit by a CubeSat. The successful detection of super-Earth 55 Cancri e demonstrates that small, inexpensive spacecraft can deliver high-precision photometric measurements.Comment: 23 pages, 9 figures. Accepted in A

MarCO: Early Operations of the First CubeSats to Mars

The MarCO (Mars Cube One) spacecraft launched with the InSight mission from Vandenburg Airforce Base on May 5, 2018. These spacecraft, the first interplanetary CubeSats, serve as technology demonstrators, supporting the InSight Mars lander. During InSight’s entry, descent, and landing sequence, the MarCO spacecraft will flyby Mars, collecting transmitted data from the lander, and relaying it back to the Deep Space Network (DSN) on Earth. This serves as a demonstrator for the “carry-your-own-relay” concept that might be utilized on more challenging future missions Prior to InSight support, the mission will also demonstrate the capability for a CubeSat sized, DSN compatible deep space transponder, to independently navigate from the Earth to Mars with a small spacecraft, and flight testing for numerous commercial products. In this paper, we present a status update of the mission, an overview of early operations, and an outline for the remainder of the mission to Mars. A broad description of the planetary protection approach that MarCO utilized is provided, as well as detail of the first trajectory correction maneuver

A Read/Write Mechanism Connects p300 Bromodomain Function to H2A.Z Acetylation

Acetylation of the histone variant H2A.Z (H2A.Zac) occurs at active regulatory regions associated with gene expression. Although the Tip60 complex is proposed to acetylate H2A.Z, functional studies suggest additional enzymes are involved. Here, we show that p300 acetylates H2A.Z at multiple lysines. In contrast, we found that although Tip60 does not efficiently acetylate H2A.Z in vitro, genetic inhibition of Tip60 reduces H2A.Zac in cells. Importantly, we found that interaction between the p300-bromodomain and H4 acetylation (H4ac) enhances p300-driven H2A.Zac. Indeed, H2A.Zac and H4ac show high genomic overlap, especially at active promoters. We also reveal unique chromatin features and transcriptional states at enhancers correlating with co-occurrence or exclusivity of H4ac and H2A.Zac. We propose that differential H4 and H2A.Z acetylation signatures can also define the enhancer state. In conclusion, we show both Tip60 and p300 contribute to H2A.Zac and reveal molecular mechanisms of writer/reader crosstalk between H2A.Z and H4 acetylation through p300

The eINTACT system dissects bacterial exploitation of plant osmosignalling to enhance virulence

Bacteria inject effector proteins into host cells to manipulate cellular processes that promote disease. Since bacteria deliver minuscule amounts of effectors only into targeted host cells, it is technically challenging to capture effector-dependent cellular changes from bulk-infected host tissues. Here, we report a new technique called effector-inducible isolation of nuclei tagged in specific cell types (eINTACT), which facilitates affinity-based purification of nuclei from Arabidopsis plant cells that have received Xanthomonas bacterial effectors. Analysis of purified nuclei reveals that the Xanthomonas effector XopD manipulates the expression of Arabidopsis abscisic acid signalling-related genes and activates OSCA1.1, a gene encoding a calcium-permeable channel required for stomatal closure in response to osmotic stress. The loss of OSCA1.1 causes leaf wilting and reduced bacterial growth in infected leaves, suggesting that OSCA1.1 promotes host susceptibility. eINTACT allows us to uncover that XopD exploits host OSCA1.1/abscisic acid osmosignalling-mediated stomatal closure to create a humid habitat that favours bacterial growth and opens up a new avenue for accurately elucidating functions of effectors from numerous gram-negative plant bacteria in native infection contexts.Fil: You, Yuan. Eberhard Karls Universität Tübingen; AlemaniaFil: Koczyk, Grzegorz. Polish Academy of Sciences; ArgentinaFil: Nuc, Maria. Polish Academy of Sciences; ArgentinaFil: Morbitzer, Robert. Eberhard Karls Universität Tübingen; AlemaniaFil: Holmes, Danalyn R.. Eberhard Karls Universität Tübingen; AlemaniaFil: von Roepenack Lahaye, Edda. Eberhard Karls Universität Tübingen; AlemaniaFil: Hou, Shiji. Huazhong Agricultural University; ChinaFil: Giudicatti, Axel Joel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Agrobiotecnología del Litoral. Universidad Nacional del Litoral. Instituto de Agrobiotecnología del Litoral; ArgentinaFil: Gris, Carine. Université de Toulouse; FranciaFil: Manavella, Pablo Andrés. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe. Instituto de Agrobiotecnología del Litoral. Universidad Nacional del Litoral. Instituto de Agrobiotecnología del Litoral; ArgentinaFil: Noël, Laurent D.. Université de Toulouse; FranciaFil: Krajewski, Paweł. Polish Academy of Sciences; ArgentinaFil: Lahaye, Thomas. Eberhard Karls Universität Tübingen; Alemani

HD 219134 Revisited: Planet d Transit Upper Limit and Planet f Transit Nondetection with ASTERIA and TESS

HD 219134 is a K3V dwarf star with six reported radial-velocity discovered planets. The two innermost planets b and c show transits, raising the possibility of this system to be the nearest (6.53 pc), brightest (V = 5.57) example of a star with a compact multiple transiting planet system. Ground-based searches for transits of planets beyond b and c are not feasible because of the infrequent transits, long transit duration (~5 hr), shallow transit depths (<1%), and large transit time uncertainty (~half a day). We use the space-based telescopes the Arcsecond Space Telescope Enabling Research in Astrophysics (ASTERIA) and the Transiting Exoplanet Survey Satellite (TESS) to search for transits of planets f (P = 22.717 days and M sin i = 7.3 ± 0.04M_⊕) and d (P = 46.859 days and M sin i = 16.7 ± 0.64M_⊕). ASTERIA was a technology demonstration CubeSat with an opportunity for science in an extended program. ASTERIA observations of HD 219134 were designed to cover the 3σ transit windows for planets f and d via repeated visits over many months. While TESS has much higher sensitivity and more continuous time coverage than ASTERIA, only the HD 219134 f transit window fell within the TESS survey's observations. Our TESS photometric results definitively rule out planetary transits for HD 219134 f. We do not detect the Neptune-mass HD 219134 d transits and our ASTERIA data are sensitive to planets as small as 3.6 R_⊕. We provide TESS updated transit times and periods for HD 219134 b and c, which are designated TOI 1469.01 and 1469.02 respectively

Gastrointestinal function in intensive care patients: terminology, definitions and management. Recommendations of the ESICM Working Group on Abdominal Problems

Acute gastrointestinal (GI) dysfunction and failure have been increasingly recognized in critically ill patients. The variety of definitions proposed in the past has led to confusion and difficulty in comparing one study to another. An international working group convened to standardize the definitions for acute GI failure and GI symptoms and to review the therapeutic options

MarCO: CubeSats to Mars in 2016

In March of 2016, the InSight lander will launch from Vandenberg Air Force Base to begin a 6.5 month cruise to Mars. Soon after InSight separates from the upper stage of the launch vehicle, the two MarCO CubeSats will deploy and independently fly to Mars to support telecommunications relay for InSight’s entry, descent, and landing sequence. These craft will have onboard capability for deep space trajectory correction maneuvers; high-speed direct-to-Earth & DSN-compatible communications; an advanced navigation transponder; a large deployable reflectarray high gain antenna; and a robust software suite. This paper will present preliminary information on the MarCO project, including a concept of operations and details of the CubeSats and subsystem design. MarCO will open the door for NanoSpacecraft to serve in support roles for much larger primary missions – in this case, providing a real-time relay of for the InSight project. It will also be the first CubeSats to reach deep space, building upon the lessons learned from the INSPIRE project. At only a 6U in size, these craft well illustrate the tremendous capability available in a small package. And in 2016, CubeSats will reach Mars