Satellite Test Assistant Robot (STAR)

A three-year, three-phase program to demonstrate the applicability of telerobotic technology to the testing of satellites and other spacecraft has been initiated. Specifically, the objectives are to design, fabricate, and install into the JPL 25-ft. Space Simulator (SS) a system that will provide the capability to view test articles from all directions in both the visible and infrared (IR) spectral regions, to automatically map the solar flux intensity over the entire work volume of the chamber, and to provide the capability for leak detection. The first year's work, which provides a vertically mobile viewing platform equipped with stereo cameras, will be discussed. Design constraints and system implementation approaches mandated by the requirements of thermal vacuum operation will be emphasized

Performance evaluation of a six-axis generalized force-reflecting teleoperator

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator

Performance confirmation data acquisition system

As part of the Viability Assessment (VA) work, this QAP-3-9 document presents and evaluates a comprehensive set of viable concepts for collecting Performance Confirmation (PC) related data. The concepts include: monitoring subsurface repository air temperatures, humidity levels and gaseous emissions via the subsurface ventilation systems, and monitoring the repository geo-technical parameters and rock mass from bore-holes located along the perimeter main drifts and throughout a series of human-rated Observation Drifts to be located in a plane 25 meters above the plane of the emplacement drifts. A key element of this document is the development and analysis of a purposed multi-purpose Remote Inspection Gantry that would provide direct, real-time visual, thermal, and radiological monitoring of conditions inside operational emplacement drifts and close-up observations of in-situ Waste Packages. Preliminary finite-element analyses are presented that indicate the technological feasibility of operating an inspection gantry inside the operational emplacement drifts for short inspection missions lasting 2--3 hours. Overall reliability, availability, and maintainability of the PC data collection concepts are discussed. Preliminary concepts for PC data collection network are also provided

Isolation of a Structural Mechanism for Uncoupling T Cell Receptor Signaling from Peptide-MHC Binding

TCR-signaling strength generally correlates with peptide-MHC binding affinity; however, exceptions exist. We find high-affinity, yet non-stimulatory, interactions occur with high frequency in the human T cell repertoire. Here, we studied human TCRs that are refractory to activation by pMHC ligands despite robust binding. Analysis of 3D affinity, 2D dwell time, and crystal structures of stimulatory versus non-stimulatory TCR-pMHC interactions failed to account for their different signaling outcomes. Using yeast pMHC display, we identified peptide agonists of a formerly non-responsive TCR. Single-molecule force measurements demonstrated the emergence of catch bonds in the activating TCR-pMHC interactions, correlating with exclusion of CD45 from the TCR-APC contact site. Molecular dynamics simulations of TCR-pMHC disengagement distinguished agonist from non-agonist ligands based on the acquisition of catch bonds within the TCR-pMHC interface. The isolation of catch bonds as a parameter mediating the coupling of TCR binding and signaling has important implications for TCR and antigen engineering for immunotherapy

Isolation of a Structural Mechanism for Uncoupling T Cell Receptor Signaling from Peptide-MHC Binding

TCR-signaling strength generally correlates with peptide-MHC binding affinity; however, exceptions exist. We find high-affinity, yet non-stimulatory, interactions occur with high frequency in the human T cell repertoire. Here, we studied human TCRs that are refractory to activation by pMHC ligands despite robust binding. Analysis of 3D affinity, 2D dwell time, and crystal structures of stimulatory versus non-stimulatory TCR-pMHC interactions failed to account for their different signaling outcomes. Using yeast pMHC display, we identified peptide agonists of a formerly non-responsive TCR. Single-molecule force measurements demonstrated the emergence of catch bonds in the activating TCR-pMHC interactions, correlating with exclusion of CD45 from the TCR-APC contact site. Molecular dynamics simulations of TCR-pMHC disengagement distinguished agonist from non-agonist ligands based on the acquisition of catch bonds within the TCR-pMHC interface. The isolation of catch bonds as a parameter mediating the coupling of TCR binding and signaling has important implications for TCR and antigen engineering for immunotherapy

Learning Constitutional Law: Powers, Structure, and the Fourteenth Amendment

Learning Constitutional Law: Powers, Structure, and the Fourteenth Amendment meets law students where they really are and bridges them to the places they are headed. True to its title, it is designed to help law students better pursue the task of learning constitutional law as they head into their professional careers. This softcover book covers the subject matter typically addressed in a one-semester constitutional law course. For the convenience of students and professors, it omits chapters on the freedom of religion and freedom of expression that appear in a forthcoming larger hardcover edition, titled simply Learning Constitutional Law. Focused first and foremost on student learning, Learning Constitutional Law anticipates the challenges students face when studying constitutional law. The canon is covered and leading cases appear in generous excerpts. But unlike many traditional constitutional law casebooks, Learning Constitutional Law does not present the material as pieces of a puzzle (often in the form of a sequence of cases) awaiting assembly into a coherent and accurate picture of the law later, presumably in class and through Socratic discussion. Students instead will find clear and concise treatise-like summaries and discussions that directly meet their learning needs – and which also free up pages in the casebook and time in the classroom for students to apply what they have learned and thereby deepen and broaden their understanding. Problems, exercises, and discussion prompts figure importantly in the book, and they are geared to guide learning inside and outside the classroom. Importantly, every effort is made to highlight constitutional law’s relevancy to the roles students can see themselves playing in their careers as practicing lawyers. The problems, exercises, and discussion prompts aim to situate students in realistic contexts they will face in their immediate future. The subject comes alive in new ways for students, promoting interest, engagement, and accessibility. Learning Constitutional Law also has the virtues of a first edition written here and now. While attentive to history and its importance, the book is structured by constitutional law as it stands today. Fresh and current, it will serve professors and students well as they examine new challenges and developments in times of constitutional change