Evaluation of telerobotic systems using an instrumented task board

An instrumented task board was developed at NASA Marshall Space Flight Center (MSFC). An overview of the task board design, and current development status is presented. The task board was originally developed to evaluate operator performance using the Protoflight Manipulator Arm (PFMA) at MSFC. The task board evaluates tasks for Orbital Replacement Unit (ORU), fluid connect and transfers, electrical connect/disconnect, bolt running, and other basic tasks. The instrumented task board measures the 3-D forces and torques placed on the board, determines the robot arm's 3-D position relative to the task board using IR optics, and provides the information in real-time. The PFMA joint input signals can also be measured from a breakout box to evaluate the sensitivity or response of the arm operation to control commands. The data processing system provides the capability for post processing of time-history graphics and plots of the PFMA positions, the operator's actions, and the PFMA servo reactions in addition to real-time force/torque data presentation. The instrumented task board's most promising use is developing benchmarks for NASA centers for comparison and evaluation of telerobotic performance

Short-range/Long-range Integrated Target (SLIT) for Video Guidance Sensor Rendezvous and Docking

A laser target reflector assembly for mounting upon spacecraft having a long-range reflector array formed from a plurality of unfiltered light reflectors embedded in an array pattern upon a hemispherical reflector disposed upon a mounting plate. The reflector assembly also includes a short-range reflector array positioned upon the mounting body proximate to the long-range reflector array. The short-range reflector array includes three filtered light reflectors positioned upon extensions from the mounting body. The three filtered light reflectors retro-reflect substantially all incident light rays that are transmissive by their monochromatic filters and received by the three filtered light reflectors. In one embodiment the short-range reflector array is embedded within the hemispherical reflector

Sea anemone model has a single Toll-like receptor that can function in pathogen detection, NF-κB signal transduction, and development

In organisms from insects to vertebrates, Toll-like receptors (TLRs) are primary pathogen detectors that activate downstream pathways, specifically those that direct expression of innate immune effector genes. TLRs also have roles in development in many species. The sea anemone Nematostella vectensis is a useful cnidarian model to study the origins of TLR signaling because its genome encodes a single TLR and homologs of many downstream signaling components, including the NF-κB pathway. We have characterized the single N. vectensis TLR (Nv-TLR) and demonstrated that it can activate canonical NF-κB signaling in human cells. Furthermore, we show that the intracellular Toll/IL-1 receptor (TIR) domain of Nv-TLR can interact with the human TLR adapter proteins MAL and MYD88. We demonstrate that the coral pathogen Vibrio coralliilyticus causes a rapidly lethal disease in N. vectensis and that heat-inactivated V. coralliilyticus and bacterial flagellin can activate a reconstituted Nv-TLR–to–NF-κB pathway in human cells. By immunostaining of anemones, we show that Nv-TLR is expressed in a subset of cnidocytes and that many of these Nv-TLR–expressing cells also express Nv-NF-κB. Additionally, the nematosome, which is a Nematostella-specific multicellular structure, expresses Nv-TLR and many innate immune pathway homologs and can engulf V. coralliilyticus. Morpholino knockdown indicates that Nv-TLR also has an essential role during early embryonic development. Our characterization of this primitive TLR and identification of a bacterial pathogen for N. vectensis reveal ancient TLR functions and provide a model for studying the molecular basis of cnidarian disease and immunity.IOS-1354935 - National Science Foundation (NSF); GRFP - National Science Foundation (NSF); GRFP - National Science Foundation (NSF); 1262934 - National Science Foundation (NSF); 2014-BSP - Arnold and Mabel Beckman Foundatio

Generation and characterisation of gallium titanate surfaces through hydrothermal ion-exchange processes

Infection negation and biofilm prevention are necessary developments needed for implant materials. Furthermore, an increase in publications regarding gallium (Ga) as an antimicrobial ion has resulted in bacterial-inhibitory surfaces incorporating gallium as opposed to silver (Ag). The authors present the production of novel gallium titanate surfaces through hydrothermal ion-exchange reactions. Commercially-pure Ti (S0: Cp-Ti) was initially suspended in NaOH solutions to obtain sodium titanate (S1: Na2TiO3) layers ca. 0.5–1 μm in depth (2.4 at.% Na). Subsequent suspension in Ga(NO3)3 (S2: Ga2(TiO3)3), and post-heat-treatment at 700 °C (S3: Ga2(TiO3)3-HT), generated gallium titanate layers (9.4 and 4.1 at.% Ga, respectively). For the first time, RHEED analysis of gallium titanate layers was conducted and demonstrated titanate formation. Degradation studies in DMEM showed S2: Ga2(TiO3)3 released more Ga compared to S3: Ga2(TiO3)3-HT (2.76 vs. 0.68 ppm) over 168 h. Furthermore, deposition of Ca/P in a Ca:P ratio of 1.71 and 1.34, on S2: Ga2(TiO3)3 and S3: Ga2(TiO3)3-HT, respectively, over 168 h was seen. However, the study failed to replicate the antimicrobial effect presented by Yamaguchi who utilised A. baumannii, compared to S. aureus used presently. The authors feel a full antimicrobial study is required to assess gallium titanate as a candidate antimicrobial surface

SOST Inhibits Prostate Cancer Invasion.

Inhibitors of Wnt signaling have been shown to be involved in prostate cancer (PC) metastasis; however the role of Sclerostin (Sost) has not yet been explored. Here we show that elevated Wnt signaling derived from Sost deficient osteoblasts promotes PC invasion, while rhSOST has an inhibitory effect. In contrast, rhDKK1 promotes PC elongation and filopodia formation, morphological changes characteristic of an invasive phenotype. Furthermore, rhDKK1 was found to activate canonical Wnt signaling in PC3 cells, suggesting that SOST and DKK1 have opposing roles on Wnt signaling in this context. Gene expression analysis of PC3 cells co-cultured with OBs exhibiting varying amounts of Wnt signaling identified CRIM1 as one of the transcripts upregulated under highly invasive conditions. We found CRIM1 overexpression to also promote cell-invasion. These findings suggest that bone-derived Wnt signaling may enhance PC tropism by promoting CRIM1 expression and facilitating cancer cell invasion and adhesion to bone. We concluded that SOST and DKK1 have opposing effects on PC3 cell invasion and that bone-derived Wnt signaling positively contributes to the invasive phenotypes of PC3 cells by activating CRIM1 expression and facilitating PC-OB physical interaction. As such, we investigated the effects of high concentrations of SOST in vivo. We found that PC3-cells overexpressing SOST injected via the tail vein in NSG mice did not readily metastasize, and those injected intrafemorally had significantly reduced osteolysis, suggesting that targeting the molecular bone environment may influence bone metastatic prognosis in clinical settings

The Colors of Dwarf Elliptical Galaxy Globular Cluster Systems, Nuclei and Stellar Halos

We present the results of a Hubble Space Telescope WFPC2 F555W and F814W survey of 69 dwarf elliptical galaxies (dEs) in the Virgo and Fornax Clusters and Leo Group. The $V-I$ colors of the dE globular clusters, nuclei, and underlying field star populations are used to trace the dE star-formation histories. We find that the dE globular cluster candidates are as blue as the metal-poor globular clusters of the Milky Way. The observed correlation of the dE globular cluster systems' $V-I$ color with the luminosity of the host dE is strong evidence that the globular clusters were formed within the the halos of dEs and do not have a pre-galactic origin. Assuming the majority of dE clusters are old, the mean globular cluster color- host galaxy luminosity correlation implies a cluster metallicity $-$ galaxy luminosity relation of $Z_{GC} \propto L_B^{0.22 \pm 0.05}$, which is significantly shallower than the field star metallicity - host galaxy luminosity relationship observed in Local Group dwarfs ($Z_{FS} \propto L^{0.4}$). The dE stellar envelopes are $0.1-0.2$ magnitudes redder in $V-I$ than their globular clusters and nuclei. This color offset implies separate star-formation episodes within the dEs for the clusters and field stars, while the very blue colors of two dE nuclei trace a third star-formation event in those dEs less than a Gyr ago.Comment: 39 pages, including 5 tables and 10 figures; accepted by the Astrophysical Journa

Fatigue crack growth of type 304/304L stainless steel in pressurized hydrogen gas at elevated temperature

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Why would caregivers not want to treat their relative\u27s Alzheimer\u27s disease?

Objectives: To determine family caregivers\u27 willingness to use Alzheimer\u27s disease (AD)-slowing medicines and to examine the relationships between this willingness, dementia severity, and caregiver characteristics. Design: Cross-sectional survey. Setting: In-home interviews of patients from the Memory Disorders Clinic of the University of Pennsylvania\u27s Alzheimer\u27s Disease Center. Participants: One hundred two caregivers of patients with mild to severe AD who were registered at an Alzheimer\u27s disease center. Measurements: Subjects participated in an in-home interview to assess their willingness to use a risk-free AD-slowing medicine and a medicine with 3% annual risk of gastrointestinal bleeding. Results: Half of the patients had severe dementia (n=52). Seventeen (17%) of the caregivers did not want their relative to take a risk-free medicine that could slow AD. Half (n=52) did not want their relative to take an AD-slowing medicine that had a 3% annual risk of gastrointestinal bleeding. Caregivers who were more likely to forgo risk-free treatment of AD were older (odds ratio (OR)=1.7, P=.04), were depressed (OR=3.66, P=.03), had relatives living in a nursing home (OR=3.6, P=.02), had relatives with more-severe dementia according to the Mini-Mental State Examination (MMSE) (OR=2.29, P=.03) or Dementia Severity Rating Scale (DSRS) (OR=2.55, P=.002), and rated their relatives\u27 quality of life (QOL) poorly on a single-item global rating (OR=0.25, P=.001) and the 13-item quality-of-life (QOL)-AD scale (OR=0.38, P=.002). Caregivers who were more likely to forgo a risky treatment were nonwhite (OR=6.53, P=.005), had financial burden (OR=2.93, P=.02), and rated their relative\u27s QOL poorly on a single-item global rating (OR=0.61, P=.01) and the QOL-AD (OR=0.56, P=.01). Conclusion: These results suggest that caregivers are generally willing to slow the progression of their relative\u27s dementia even into the severe stage of the disease, especially if it can be done without risk to the patient. Clinical trials and practice guidelines should recognize that a caregiver\u27s assessment of patient QOL and the factors that influence it affect a caregiver\u27s willingness to use AD-slowing treatments

CFHTLenS: Co-evolution of galaxies and their dark matter haloes

Galaxy-galaxy weak lensing is a direct probe of the mean matter distribution around galaxies. The depth and sky coverage of the CFHT Legacy Survey yield statistically significant galaxy halo mass measurements over a much wider range of stellar masses ($10^{8.75}$ to $10^{11.3} M_{\odot}$) and redshifts ($0.2 < z < 0.8$) than previous weak lensing studies. At redshift $z \sim 0.5$, the stellar-to-halo mass ratio (SHMR) reaches a maximum of $4.0\pm0.2$ percent as a function of halo mass at $\sim 10^{12.25} M_{\odot}$. We find, for the first time from weak lensing alone, evidence for significant evolution in the SHMR: the peak ratio falls as a function of cosmic time from $4.5 \pm 0.3$ percent at $z \sim 0.7$ to $3.4 \pm 0.2$ percent at $z \sim 0.3$, and shifts to lower stellar mass haloes. These evolutionary trends are dominated by red galaxies, and are consistent with a model in which the stellar mass above which star formation is quenched "downsizes" with cosmic time. In contrast, the SHMR of blue, star-forming galaxies is well-fit by a power law that does not evolve with time. This suggests that blue galaxies form stars at a rate that is balanced with their dark matter accretion in such a way that they evolve along the SHMR locus. The redshift dependence of the SHMR can be used to constrain the evolution of the galaxy population over cosmic time.Comment: 18 pages, MNRAS, in pres