Facilitating Analysis of Multiple Partial Data Streams

Robotic Operations Automation: Mechanisms, Imaging, Navigation report Generation (ROAMING) is a set of computer programs that facilitates and accelerates both tactical and strategic analysis of time-sampled data especially the disparate and often incomplete streams of Mars Explorer Rover (MER) telemetry data described in the immediately preceding article. As used here, tactical refers to the activities over a relatively short time (one Martian day in the original MER application) and strategic refers to a longer time (the entire multi-year MER missions in the original application). Prior to installation, ROAMING must be configured with the types of data of interest, and parsers must be modified to understand the format of the input data (many example parsers are provided, including for general CSV files). Thereafter, new data from multiple disparate sources are automatically resampled into a single common annotated spreadsheet stored in a readable space-separated format, and these data can be processed or plotted at any time scale. Such processing or plotting makes it possible to study not only the details of a particular activity spanning only a few seconds, but also longer-term trends. ROAMING makes it possible to generate mission-wide plots of multiple engineering quantities [e.g., vehicle tilt as in Figure 1(a), motor current, numbers of images] that, heretofore could be found only in thousands of separate files. ROAMING also supports automatic annotation of both images and graphs. In the MER application, labels given to terrain features by rover scientists and engineers are automatically plotted in all received images based on their associated camera models (see Figure 2), times measured in seconds are mapped to Mars local time, and command names or arbitrary time-labeled events can be used to label engineering plots, as in Figure 1(b)

Energetics, skeletal dynamics and long-term predictions in Kolmogorov-Lorenz systems

We study a particular return map for a class of low dimensional chaotic models called Kolmogorov Lorenz systems, which received an elegant general Hamiltonian description and includes also the famous Lorenz63 case, from the viewpoint of energy and Casimir balance. In particular it is considered in detail a subclass of these models, precisely those obtained from the Lorenz63 by a small perturbation on the standard parameters, which includes for example the forced Lorenz case in Ref.[6]. The paper is divided into two parts. In the first part the extremes of the mentioned state functions are considered, which define an invariant manifold, used to construct an appropriate Poincare surface for our return map. From the experimental observation of the simple orbital motion around the two unstable fixed points, together with the circumstance that these orbits are classified by their energy or Casimir maximum, we construct a conceptually simple skeletal dynamics valid within our sub class, reproducing quite well the Lorenz map for Casimir. This energetic approach sheds some light on the physical mechanism underlying regime transitions. The second part of the paper is devoted to the investigation of a new type of maximum energy based long term predictions, by which the knowledge of a particular maximum energy shell amounts to the knowledge of the future (qualitative) behaviour of the system. It is shown that, in this respect, a local analysis of predictability is not appropriate for a complete characterization of this behaviour. A perspective on the possible extensions of this type of predictability analysis to more realistic cases in (geo)fluid dynamics is discussed at the end of the paper.Comment: 21 pages, 14 figure

Energy-based predictions in Lorenz system by a unified formalism and neural network modelling

In the framework of a unified formalism for Kolmogorov-Lorenz systems, predictions of times of regime transitions in the classical Lorenz model can be successfully achieved by considering orbits characterised by energy or Casimir maxima. However, little uncertainties in the starting energy usually lead to high uncertainties in the return energy, so precluding the chance of accurate multi-step forecasts. In this paper, the problem of obtaining good forecasts of maximum return energy is faced by means of a neural network model. The results of its application show promising results

Rapid Diagnostics of Onboard Sequences

Keeping track of sequences onboard a spacecraft is challenging. When reviewing Event Verification Records (EVRs) of sequence executions on the Mars Exploration Rover (MER), operators often found themselves wondering which version of a named sequence the EVR corresponded to. The lack of this information drastically impacts the operators diagnostic capabilities as well as their situational awareness with respect to the commands the spacecraft has executed, since the EVRs do not provide argument values or explanatory comments. Having this information immediately available can be instrumental in diagnosing critical events and can significantly enhance the overall safety of the spacecraft. This software provides auditing capability that can eliminate that uncertainty while diagnosing critical conditions. Furthermore, the Restful interface provides a simple way for sequencing tools to automatically retrieve binary compiled sequence SCMFs (Space Command Message Files) on demand. It also enables developers to change the underlying database, while maintaining the same interface to the existing applications. The logging capabilities are also beneficial to operators when they are trying to recall how they solved a similar problem many days ago: this software enables automatic recovery of SCMF and RML (Robot Markup Language) sequence files directly from the command EVRs, eliminating the need for people to find and validate the corresponding sequences. To address the lack of auditing capability for sequences onboard a spacecraft during earlier missions, extensive logging support was added on the Mars Science Laboratory (MSL) sequencing server. This server is responsible for generating all MSL binary SCMFs from RML input sequences. The sequencing server logs every SCMF it generates into a MySQL database, as well as the high-level RML file and dictionary name inputs used to create the SCMF. The SCMF is then indexed by a hash value that is automatically included in all command EVRs by the onboard flight software. Second, both the binary SCMF result and the RML input file can be retrieved simply by specifying the hash to a Restful web interface. This interface enables command line tools as well as large sophisticated programs to download the SCMF and RMLs on-demand from the database, enabling a vast array of tools to be built on top of it. One such command line tool can retrieve and display RML files, or annotate a list of EVRs by interleaving them with the original sequence commands. This software has been integrated with the MSL sequencing pipeline where it will serve sequences useful in diagnostics, debugging, and situational awareness throughout the mission

Focus 3D: Compressive Accommodation Display

We present a glasses-free 3D display design with the potential to provide viewers with nearly correct accommodative depth cues, as well as motion parallax and binocular cues. Building on multilayer attenuator and directional backlight architectures, the proposed design achieves the high angular resolution needed for accommodation by placing spatial light modulators about a large lens: one conjugate to the viewer's eye, and one or more near the plane of the lens. Nonnegative tensor factorization is used to compress a high angular resolution light field into a set of masks that can be displayed on a pair of commodity LCD panels. By constraining the tensor factorization to preserve only those light rays seen by the viewer, we effectively steer narrow high-resolution viewing cones into the user's eyes, allowing binocular disparity, motion parallax, and the potential for nearly correct accommodation over a wide field of view. We verify the design experimentally by focusing a camera at different depths about a prototype display, establish formal upper bounds on the design's accommodation range and diffraction-limited performance, and discuss practical limitations that must be overcome to allow the device to be used with human observers

Tyrosine-phosphorylated and nonphosphorylated isoforms of α-dystrobrevin: roles in skeletal muscle and its neuromuscular and myotendinous junctions

α-Dystrobrevin (DB), a cytoplasmic component of the dystrophin–glycoprotein complex, is found throughout the sarcolemma of muscle cells. Mice lacking αDB exhibit muscular dystrophy, defects in maturation of neuromuscular junctions (NMJs) and, as shown here, abnormal myotendinous junctions (MTJs). In normal muscle, alternative splicing produces two main αDB isoforms, αDB1 and αDB2, with common NH2-terminal but distinct COOH-terminal domains. αDB1, whose COOH-terminal extension can be tyrosine phosphorylated, is concentrated at the NMJs and MTJs. αDB2, which is not tyrosine phosphorylated, is the predominant isoform in extrajunctional regions, and is also present at NMJs and MTJs. Transgenic expression of either isoform in αDB−/− mice prevented muscle fiber degeneration; however, only αDB1 completely corrected defects at the NMJs (abnormal acetylcholine receptor patterning, rapid turnover, and low density) and MTJs (shortened junctional folds). Site-directed mutagenesis revealed that the effectiveness of αDB1 in stabilizing the NMJ depends in part on its ability to serve as a tyrosine kinase substrate. Thus, αDB1 phosphorylation may be a key regulatory point for synaptic remodeling. More generally, αDB may play multiple roles in muscle by means of differential distribution of isoforms with distinct signaling or structural properties

First insights into the microbiology of three antarctic briny systems of the northern Victoria land

Different polar environments (lakes and glaciers), also in Antarctica, encapsulate brine pools characterized by a unique combination of extreme conditions, mainly in terms of high salinity and low temperature. Since 2014, we have been focusing our attention on the microbiology of brine pockets from three lakes in the Northern Victoria Land (NVL), lying in the Tarn Flat (TF) and Boulder Clay (BC) areas. The microbial communities have been analyzed for community structure by next generation sequencing, extracellular enzyme activities, metabolic potentials, and microbial abundances. In this study, we aim at reconsidering all available data to analyze the influence exerted by environmental parameters on the community composition and activities. Additionally, the prediction of metabolic functions was attempted by the phylogenetic investigation of communities by reconstruction of unobserved states (PICRUSt2) tool, highlighting that prokaryotic communities were presumably involved in methane metabolism, aromatic compound biodegradation, and organic compound (proteins, polysaccharides, and phosphates) decomposition. The analyzed cryoenvironments were different in terms of prokaryotic diversity, abundance, and retrieved metabolic pathways. By the analysis of DNA sequences, common operational taxonomic units ranged from 2.2% to 22.0%. The bacterial community was dominated by Bacteroidetes. In both BC and TF brines, sequences of the most thermally tolerant and methanogenic Archaea were detected, some of them related to hyperthermophiles

The support model for people with legally modified abilities according to United Nations

Este artículo se basa en una investigación social sobre el sistema de protección jurídica de las personas con algún tipo de discapacidad o en situación de dependencia que se encuentran sometidas a las figuras de tutela o curatela, en aplicación de lo previsto y establecido en el Código Civil Español, en sus artículos 199 y 200, así como en la Ley de Enjuiciamiento Civil. La investigación se plantea como un estudio comparado entre diferentes países de la Unión Europea para ver su adecuación a lo establecido en el artículo 12 de la Convención de Naciones Unidas sobre derechos de las Personas con Discapacidad (en adelante, CDPD) en los procedimientos de incapacitación. Los resultados se analizan sobre la base de modelos técnico-sociales de intervención, los análisis jurídicos y la experiencia adquirida por las Fundación Tutelares de Castilla y León. Se proponen y diseñan algunas alternativas y servicios que pueden mejorar la calidad de vida de las personas adultas incapacitadas judicialmente y el tipo de apoyos que se les puede prestar, de acuerdo a lo establecido en la Convención de Naciones Unidas.This article is based on social research into the system of legal protection for persons with disabilities or in a situation of dependence who are subject to the figures of guardianship or conservatorship pursuant to the provisions in the Spanish Civil Code, sections 199 and 200, as well as the Code of Civil Procedure. The research is presented as a comparative study between different countries of the European Union regarding the adaptation to the provisions of Article 12 of the UN Convention on Rights of Persons with Disabilities (hereinafter CRPD) Incapacitation procedures. The results are analyzed on the basis of technical-social intervention models, legal analysis and the experience of Guardianship Foundations of Castilla y León. Some alternatives and services are proposed and designed that can improve the quality of life of legally incapacitated persons and the type of support that can be provided to them in accordance with the provisions of the United Nations Convention