A system architecture for a planetary rover

Each planetary mission requires a complex space vehicle which integrates several functions to accomplish the mission and science objectives. A Mars Rover is one of these vehicles, and extends the normal spacecraft functionality with two additional functions: surface mobility and sample acquisition. All functions are assembled into a hierarchical and structured format to understand the complexities of interactions between functions during different mission times. It can graphically show data flow between functions, and most importantly, the necessary control flow to avoid unambiguous results. Diagrams are presented organizing the functions into a structured, block format where each block represents a major function at the system level. As such, there are six blocks representing telecomm, power, thermal, science, mobility and sampling under a supervisory block called Data Management/Executive. Each block is a simple collection of state machines arranged into a hierarchical order very close to the NASREM model for Telerobotics. Each layer within a block represents a level of control for a set of state machines that do the three primary interface functions: command, telemetry, and fault protection. This latter function is expanded to include automatic reactions to the environment as well as internal faults. Lastly, diagrams are presented that trace the system operations involved in moving from site to site after site selection. The diagrams clearly illustrate both the data and control flows. They also illustrate inter-block data transfers and a hierarchical approach to fault protection. This systems architecture can be used to determine functional requirements, interface specifications and be used as a mechanism for grouping subsystems (i.e., collecting groups of machines, or blocks consistent with good and testable implementations)

Micro-abrasion resistance of thermochemically treated steels in aqueous solutions: Mechanisms, maps, materials selection

The area of micro-abrasion is an interesting and relatively recent area in tribo-testing methodologies, where small particles of less than 10 μm are employed between interacting surfaces. It is topical for a number of reasons; its direct relation to the mechanisms of the wear process in bio-tribological applications, ease in conducting tests and the good repeatability of the test results. It has widespread applications in conditions used in the space and offshore industries to bio-engineering for artificial joints and implants. There have been many recent studies on the micro-abrasion performance of materials, ranging from work basic metals to nano-structured coatings. However, no significant work is reported on the micro-abrasion resistance of thermochemically treated steels. Hence, this paper looks at the performance of two thermochemically treated steels, Tenifer bath nitride stainless steel (T-SS) and vanadized carbon steel (V-CS) in such conditions with reference to the stainless steel (SS) by varying the applied load and sliding distance. The results indicated that T-SS demonstrates exceptionally poor resistance to micro-abrasion. It was observed that the heat treatment process and properties of the hardened layer (hardness and thickness) are extremely important in determining the micro-abrasion resistance of such steels. Finally, the results were used to develop micro-abrasion mechanism and wastage maps, which can be used to optimize the surface treated materials for micro-abrasion resistance

Exploring the Morphology of RAVE Stellar Spectra

The RAdial Velocity Experiment (RAVE) is a medium resolution R~7500 spectroscopic survey of the Milky Way which already obtained over half a million stellar spectra. They present a randomly selected magnitude-limited sample, so it is important to use a reliable and automated classification scheme which identifies normal single stars and discovers different types of peculiar stars. To this end we present a morphological classification of 350,000 RAVE survey stellar spectra using locally linear embedding, a dimensionality reduction method which enables representing the complex spectral morphology in a low dimensional projected space while still preserving the properties of the local neighborhoods of spectra. We find that the majority of all spectra in the database ~90-95% belong to normal single stars, but there is also a significant population of several types of peculiars. Among them the most populated groups are those of various types of spectroscopic binary and chromospherically active stars. Both of them include several thousands of spectra. Particularly the latter group offers significant further investigation opportunities since activity of stars is a known proxy of stellar ages. Applying the same classification procedure to the sample of normal single stars alone shows that the shape of the projected manifold in two dimensional space correlates with stellar temperature, surface gravity and metallicity.Comment: 28 pages, 11 figures, accepted for publication in ApJ

Synthesis of CdS and CdSe nanocrystallites using a novel single-molecule precursors approach

The synthesis of CdS and CdSe nanocrystallites using the thermolysis of several dithioor diselenocarbamato complexes of cadmium in trioctylphosphine oxide (TOPO) is reported. The nanodispersed materials obtained show quantum size effects in their optical spectra and exhibit near band-edge luminescence. The influence of experimental parameters on the properties of the nanocrystallites is discussed. HRTEM images of these materials show well-defined, crystalline nanosized particles. Standard size fractionation procedures can be performed in order to narrow the size dispersion of the samples. The TOPO-capped CdS and CdSe nanocrystallites and simple organic bridging ligands, such as 2,2¢-bipyrimidine, are used as the starting materials for the preparation of novel nanocomposites. The optical properties shown by these new nanocomposites are compared with those of the starting nanodispersed materials

The RAVE survey: the Galactic escape speed and the mass of the Milky Way

We construct new estimates on the Galactic escape speed at various Galactocentric radii using the latest data release of the Radial Velocity Experiment (RAVE DR4). Compared to previous studies we have a database larger by a factor of 10 as well as reliable distance estimates for almost all stars. Our analysis is based on the statistical analysis of a rigorously selected sample of 90 high-velocity halo stars from RAVE and a previously published data set. We calibrate and extensively test our method using a suite of cosmological simulations of the formation of Milky Way-sized galaxies. Our best estimate of the local Galactic escape speed, which we define as the minimum speed required to reach three virial radii $R_{340}$, is $533^{+54}_{-41}$ km/s (90% confidence) with an additional 5% systematic uncertainty, where $R_{340}$ is the Galactocentric radius encompassing a mean over-density of 340 times the critical density for closure in the Universe. From the escape speed we further derive estimates of the mass of the Galaxy using a simple mass model with two options for the mass profile of the dark matter halo: an unaltered and an adiabatically contracted Navarro, Frenk & White (NFW) sphere. If we fix the local circular velocity the latter profile yields a significantly higher mass than the un-contracted halo, but if we instead use the statistics on halo concentration parameters in large cosmological simulations as a constraint we find very similar masses for both models. Our best estimate for $M_{340}$, the mass interior to $R_{340}$ (dark matter and baryons), is $1.3^{+0.4}_{-0.3} \times 10^{12}$ M$_\odot$ (corresponding to $M_{200} = 1.6^{+0.5}_{-0.4} \times 10^{12}$ M$_\odot$). This estimate is in good agreement with recently published independent mass estimates based on the kinematics of more distant halo stars and the satellite galaxy Leo I.Comment: 16 pages, 15 figures; accepted for publication in Astronomy & Astrophysic

4MOST Consortium Survey 3: Milky Way Disc and Bulge Low-Resolution Survey (4MIDABLE-LR)

The mechanisms of the formation and evolution of the Milky Way are encoded in the orbits, chemistry and ages of its stars. With the 4MOST MIlky way Disk And BuLgE Low-Resolution Survey (4MIDABLE-LR) we aim to study kinematic and chemical substructures in the Milky Way disc and bulge region with samples of unprecedented size out to larger distances and greater precision than conceivable with Gaia alone or any other ongoing or planned survey. Gaia gives us the unique opportunity for target selection based almost entirely on parallax and magnitude range, hence increasing the efficiency in sampling larger Milky Way volumes with well-defined and effective selection functions. Our main goal is to provide a detailed chrono-chemo-kinematical extended map of our Galaxy and the largest Gaia follow-up down to $G = 19$ magnitudes (Vega). The complex nature of the disc components (for example, large target densities and highly structured extinction distribution in the Milky Way bulge and disc area), prompted us to develop a survey strategy with five main sub-surveys that are tailored to answer the still open questions about the assembly and evolution of our Galaxy, while taking full advantage of the Gaia data.Comment: Part of the 4MOST issue of The Messenger, published in preparation of 4MOST Community Workshop, see http://www.eso.org/sci/meetings/2019/4MOST.htm

The Galah survey: classification and diagnostics with t-SNE reduction of spectral information

Galah is an ongoing high-resolution spectroscopic survey with the goal of disentangling the formation history of the Milky Way, using the fossil remnants of disrupted star formation sites which are now dispersed around the Galaxy. it is targeting a randomly selected, magnitude limited (V ≤ 14) sample of stars, with the goal of observing one million objects. To date, 300,000 spectra have been obtained. Not all of them are correctly processed by parameter estimation pipelines and we need to know about them. We present a semi-automated classification scheme which identifies different types of peculiar spectral morphologies, in an effort to discover and flag potentially problematic spectra and thus help to preserve the integrity of the survey's results. To this end we employ a recently developed dimensionality reduction technique t-SNE (t-distributed Stochastic Neighbour Embedding), which enables us to represent the complex spectral morphology in a two-dimensional projection map while still preserving the properties of the local neighbourhoods of spectra. We find that the majority (178,483) of the 209,533 Galah spectra considered in this study represents normal single stars, whereas 31,050 peculiar and problematic spectra with very diverse spectral features pertaining to 28,579 stars are distributed into 10 classification categories: Hot stars, Cool metal-poor giants, Molecular absorption bands, Binary stars, Ha\Hβ emission, Ha/Hβ emission superimposed on absorption, Ha/Hβ P-Cygni, Ha/Hβ inverted P-Cygni, Lithium absorption, and Problematic. Classified spectra with supplementary information are presented in the catalogue, indicating candidates for follow-up observations and population studies of the short-lived phases of stellar evolution

Alternative and complementary therapies in osteoarthritis and cartilage repair

Osteoarthritis (OA) is the most common joint condition and, with a burgeoning ageing population, is due to increase in prevalence. Beyond conventional medical and surgical interventions, there are an increasing number of ‘alternative’ therapies. These alternative therapies may have a limited evidence base and, for this reason, are often only afforded brief reference (or completely excluded) from current OA guidelines. Thus, the aim of this review was to synthesize the current evidence regarding autologous chondrocyte implantation (ACI), mesenchymal stem cell (MSC) therapy, platelet-rich plasma (PRP), vitamin D and other alternative therapies. The majority of studies were in knee OA or chondral defects. Matrix-assisted ACI has demonstrated exceedingly limited, symptomatic improvements in the treatment of cartilage defects of the knee and is not supported for the treatment of knee OA. There is some evidence to suggest symptomatic improvement with MSC injection in knee OA, with the suggestion of minimal structural improvement demonstrated on MRI and there are positive signals that PRP may also lead to symptomatic improvement, though variation in preparation makes inter-study comparison difficult. There is variability in findings with vitamin D supplementation in OA, and the only recommendation which can be made, at this time, is for replacement when vitamin D is deplete. Other alternative therapies reviewed have some evidence (though from small, poor-quality studies) to support improvement in symptoms and again there is often a wide variation in dosage and regimens. For all these therapeutic modalities, although controlled studies have been undertaken to evaluate effectiveness in OA, these have often been of small size, limited statistical power, uncertain blindness and using various methodologies. These deficiencies must leave the question as to whether they have been validated as effective therapies in OA (or chondral defects). The conclusions of this review are that all alternative interventions definitely require clinical trials with robust methodology, to assess their efficacy and safety in the treatment of OA beyond contextual and placebo effects

The Relationship Between Mono-Abundance and Mono-Age Stellar Populations in the Milky Way Disk

Studying the Milky Way disk structure using stars in narrow bins of [Fe/H] and [α/Fe] has recently been proposed as a powerful method to understand the Galactic thick and thin disk formation. It has been assumed so far that these mono-abundance populations (MAPs) are also coeval, or mono-age, populations. Here we study this relationship for a Milky Way chemodynamical model and show that equivalence between MAPs and mono-age populations exists only for the high-[α/Fe] tail, where the chemical evolution curves of different Galactic radii are far apart. At lower [α/Fe]-values an MAP is composed of stars with a range in ages, even for small observational uncertainties and a small MAP bin size. Due to the disk inside-out formation, for these MAPs younger stars are typically located at larger radii, which results in negative radial age gradients that can be as large as 2 Gyr kpc−1. Positive radial age gradients can result for MAPs at the lowest [α/Fe] and highest [Fe/H] end. Such variations with age prevent the simple interpretation of observations for which accurate ages are not available. Studying the variation with radius of the stellar surface density and scale height in our model, we find good agreement to recent analyses of the APOGEE red-clump (RC) sample when 1–4 Gyr old stars dominate (as expected for the RC). Our results suggest that the APOGEE data are consistent with a Milky Way model for which mono-age populations flare for all ages. We propose observational tests for the validity of our predictions and argue that using accurate age measurements, such as from asteroseismology, is crucial for putting constraints on Galactic formation and evolution

Rock size‐frequency distributions on Mars and implications for Mars Exploration Rover landing safety and operations

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/95449/1/jgre1686.pd