Investigating Astromaterials Curation Applications for Dexterous Robotic Arms

The Astromaterials Acquisition and Curation office at NASA Johnson Space Center is currently investigating tools and methods that will enable the curation of future astromaterials collections. Size and temperature constraints for astromaterials to be collected by current and future proposed missions will require the development of new robotic sample and tool handling capabilities. NASA Curation has investigated the application of robot arms in the past, and robotic 3-axis micromanipulators are currently in use for small particle curation in the Stardust and Cosmic Dust laboratories. While 3-axis micromanipulators have been extremely successful for activities involving the transfer of isolated particles in the 5-20 micron range (e.g. from microscope slide to epoxy bullet tip, beryllium SEM disk), their limited ranges of motion and lack of yaw, pitch, and roll degrees of freedom restrict their utility in other applications. For instance, curators removing particles from cosmic dust collectors by hand often employ scooping and rotating motions to successfully free trapped particles from the silicone oil coatings. Similar scooping and rotating motions are also employed when isolating a specific particle of interest from an aliquot of crushed meteorite. While cosmic dust curators have been remarkably successful with these kinds of particle manipulations using handheld tools, operator fatigue limits the number of particles that can be removed during a given extraction session. The challenges for curation of small particles will be exacerbated by mission requirements that samples be processed in N2 sample cabinets (i.e. gloveboxes). We have been investigating the use of compact robot arms to facilitate sample handling within gloveboxes. Six-axis robot arms potentially have applications beyond small particle manipulation. For instance, future sample return missions may involve biologically sensitive astromaterials that can be easily compromised by physical interaction with a curator; other potential future returned samples may require cryogenic curation. Robot arms may be combined with high resolution cameras within a sample cabinet and controlled remotely by curator. Sophisticated robot arm and hand combination systems can be programmed to mimic the movements of a curator wearing a data glove; successful implementation of such a system may ultimately allow a curator to virtually operate in a nitrogen, cryogenic, or biologically sensitive environment with dexterity comparable to that of a curator physically handling samples in a glove box

Meca500 Robotic Arm Developments Towards Astromaterials Curation Applications

As a part of the ongoing efforts to develop new curation tools and techniques for astromaterials within the Astromaterials Acquisition and Curation office at NASAs Johnson Space Center, we are developing a variety of manually and electrically controlled micromanipulation systems. Most current techniques require manual manipulation, and in some cases the manipulation task is being done entirely freehand. The motorized systems avail-able are restricted to three degrees of freedom and use proprietary control systems. For example, the MicroSupport AxisPro manipulation system currently used in microscale particle experiments is limited in its range of motion, as it can only move the manipulators in a three axis Cartesian range over a predetermined area above microscope slides. While having an efficient user interface, the control system is proprietary and prevents custom development and optimization to extend the viable applications of the system. In order to address some of these limitations, we have been testing robotic designs with multiple degrees of freedom and of a variety of designs. We are currently investigating the Meca500 robotic arm by Mecademic as a potential manipulation system to overcome some of these obstacles

Advanced Curation Activities at NASA: Implications for Astrobiological Studies of Future Sample Collections

The Astromaterials Acquisition and Curation Office (henceforth referred to herein as NASA Curation Office) at NASA Johnson Space Center (JSC) is responsible for curating all of NASA's extraterrestrial samples. Under the governing document, NASA Policy Directive (NPD) 7100.10F JSC is charged with curation of all extraterrestrial material under NASA control, including future NASA missions. The Directive goes on to define Curation as including documentation, preservation, preparation, and distribution of samples for re-search, education, and public outreach. Here we briefly describe NASA's astromaterials collections and our ongoing efforts related to enhancing the utility of our current collections as well as our efforts to prepare for future sample return missions. We collectively refer to these efforts as advanced curation

Advanced Curation Activities at NASA: Preparation for Upcoming Missions

The responsibility for curating NASA's astromaterials collections falls to the NASA Curation Office at Johnson Space Center. Under the governing document, NASA Policy Directive (NPD) 7100.10F and derivative requirements documents, JSC is charged with curation of all extraterrestrial material under NASA control, including future NASA missions to include material returned in Mars Sample Return (MSR) efforts, OSIRIS-REx, NASA's subset of Hayabusa-2 samples, and any other sample return missions. The Directive defines Curation as activities including documentation, preservation, sample preparation, distribution, and tracking of samples for research, education, and public outreach. In this abstract we will describe Curation's research and development efforts to improve the care of existing collections and prepare for future NASA sample return missions. These efforts are collectively referred to as Advanced Curation, a term first coined in 2002

Effects of neo-adjuvant chemotherapy for oesophago-gastric cancer on neuro-muscular gastric function

Delayed gastric emptying symptoms are often reported after chemotherapy. This study aims to characterise the effects of chemotherapy on gastric neuro-muscular function. Patients undergoing elective surgery for oesophago-gastric cancer were recruited. Acetylcholinesterase, nNOS, ghrelin receptor and motilin expressions were studied in gastric sections from patients receiving no chemotherapy (n = 3) or oesophageal (n = 2) or gastric (n = 2) chemotherapy. A scoring system quantified staining intensity (0–3; no staining to strong). Stomach sections were separately suspended in tissue baths for electrical field stimulation (EFS) and exposure to erythromycin or carbachol; three patients had no chemotherapy; four completed cisplatin-based chemotherapy within 6 weeks prior to surgery. AChE expression was markedly decreased after chemotherapy (scores 2.3 ± 0.7, 0.5 ± 0.2 and 0 ± 0 in non-chemotherapy, oesophageal- and gastric-chemotherapy groups (p < 0.03 each) respectively. Ghrelin receptor and motilin expression tended to increase (ghrelin: 0.7 ± 0.4 vs 2.0 ± 0.4 and 1.2 ± 0.2 respectively; p = 0.04 and p = 0.2; motilin: 0.7 ± 0.5 vs 2.2 ± 0.5 and 2.0 ± 0.7; p = 0.06 and p = 0.16). Maximal contraction to carbachol was 3.7 ± 0.7 g and 1.9 ± 0.8 g (longitudinal muscle) and 3.4 ± 0.4 g and 1.6 ± 0.6 (circular) in non-chemotherapy and chemotherapy tissues respectively (p < 0.05 each). There were loss of AChE and reduction in contractility to carbachol. The tendency for ghrelin receptors to increase suggests an attempt to upregulate compensating systems. Our study offers a mechanism by which chemotherapy markedly alters neuro-muscular gastric function

Bayesian hierarchical clustering for studying cancer gene expression data with unknown statistics

Clustering analysis is an important tool in studying gene expression data. The Bayesian hierarchical clustering (BHC) algorithm can automatically infer the number of clusters and uses Bayesian model selection to improve clustering quality. In this paper, we present an extension of the BHC algorithm. Our Gaussian BHC (GBHC) algorithm represents data as a mixture of Gaussian distributions. It uses normal-gamma distribution as a conjugate prior on the mean and precision of each of the Gaussian components. We tested GBHC over 11 cancer and 3 synthetic datasets. The results on cancer datasets show that in sample clustering, GBHC on average produces a clustering partition that is more concordant with the ground truth than those obtained from other commonly used algorithms. Furthermore, GBHC frequently infers the number of clusters that is often close to the ground truth. In gene clustering, GBHC also produces a clustering partition that is more biologically plausible than several other state-of-the-art methods. This suggests GBHC as an alternative tool for studying gene expression data. The implementation of GBHC is available at https://sites. google.com/site/gaussianbhc

Weak Localization Effect in Superconductors by Radiation Damage

Large reductions of the superconducting transition temperature $T_{c}$ and the accompanying loss of the thermal electrical resistivity (electron-phonon interaction) due to radiation damage have been observed for several A15 compounds, Chevrel phase and Ternary superconductors, and $\rm{NbSe_{2}}$ in the high fluence regime. We examine these behaviors based on the recent theory of weak localization effect in superconductors. We find a good fitting to the experimental data. In particular, weak localization correction to the phonon-mediated interaction is derived from the density correlation function. It is shown that weak localization has a strong influence on both the phonon-mediated interaction and the electron-phonon interaction, which leads to the universal correlation of $T_{c}$ and resistance ratio.Comment: 16 pages plus 3 figures, revtex, 76 references, For more information, Plesse see http://www.fen.bilkent.edu.tr/~yjki

Degradation and healing in a generalized neo-Hookean solid due to infusion of a fluid

The mechanical response and load bearing capacity of high performance polymer composites changes due to diffusion of a fluid, temperature, oxidation or the extent of the deformation. Hence, there is a need to study the response of bodies under such degradation mechanisms. In this paper, we study the effect of degradation and healing due to the diffusion of a fluid on the response of a solid which prior to the diffusion can be described by the generalized neo-Hookean model. We show that a generalized neo-Hookean solid - which behaves like an elastic body (i.e., it does not produce entropy) within a purely mechanical context - creeps and stress relaxes when infused with a fluid and behaves like a body whose material properties are time dependent. We specifically investigate the torsion of a generalized neo-Hookean circular cylindrical annulus infused with a fluid. The equations of equilibrium for a generalized neo-Hookean solid are solved together with the convection-diffusion equation for the fluid concentration. Different boundary conditions for the fluid concentration are also considered. We also solve the problem for the case when the diffusivity of the fluid depends on the deformation of the generalized neo-Hookean solid.Comment: 24 pages, 10 figures, submitted to Mechanics of Time-dependent Material