A Region Void of Irregular Satellites Around Jupiter

An interesting feature of the giant planets of our solar system is the existence of regions around these objects where no irregular satellites are observed. Surveys have shown that, around Jupiter, such a region extends from the outermost regular satellite Callisto, to the vicinity of Themisto, the innermost irregular satellite. To understand the reason for the existence of such a satellite-void region, we have studied the dynamical evolution of Jovian irregulars by numerically integrating the orbits of several hundred test particles, distributed in a region between 30 and 80 Jupiter-radii, for different values of their semimajor axes, orbital eccentricities, and inclinations. As expected, our simulations indicate that objects in or close to the influence zones of the Galilean satellites become unstable because of interactions with Ganymede and Callisto. However, these perturbations cannot account for the lack of irregular satellites in the entire region between Callisto and Themisto. It is suggested that at distances between 60 and 80 Jupiter-radii, Ganymede and Callisto may have long-term perturbative effects, which may require the integrations to be extended to times much longer than 10 Myr. The interactions of irregular satellites with protosatellites of Jupiter at the time of the formation of Jovian regulars may also be a destabilizing mechanism in this region. We present the results of our numerical simulations and discuss their applicability to similar satellite void-regions around other giant planets.Comment: 21 pages, 9 figures, 2 tables, accepted for publication in the Astronomical Journa

A Learning-Based Framework for Safe Human-Robot Collaboration with Multiple Backup Control Barrier Functions

Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup controllers to formally guarantee safety under bounded control inputs while satisfying driver intention. By leveraging backup controllers designed to uphold safety and input constraints, backup control barrier functions (BCBFs) construct implicitly defined control invariance sets via a feasible quadratic program (QP). However, BCBF performance largely depends on the design and conservativeness of the chosen backup controller, especially in our setting of human-driven vehicles in complex, e.g, off-road, conditions. While conservativeness can be reduced by using multiple backup controllers, determining when to switch is an open problem. Consequently, we develop a broadcast scheme that estimates driver intention and integrates BCBFs with multiple backup strategies for human-robot interaction. An LSTM classifier uses data inputs from the robot, human, and safety algorithms to continually choose a backup controller in real-time. We demonstrate our method's efficacy on a dual-track robot in obstacle avoidance scenarios. Our framework guarantees robot safety while adhering to driver intention

NeBula: TEAM CoSTAR’s robotic autonomy solution that won phase II of DARPA subterranean challenge

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved second and first place, respectively. We also discuss CoSTAR’s demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including (i) geometric and semantic environment mapping, (ii) a multi-modal positioning system, (iii) traversability analysis and local planning, (iv) global motion planning and exploration behavior, (v) risk-aware mission planning, (vi) networking and decentralized reasoning, and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g., wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.Peer ReviewedAgha, A., Otsu, K., Morrell, B., Fan, D. D., Thakker, R., Santamaria-Navarro, A., Kim, S.-K., Bouman, A., Lei, X., Edlund, J., Ginting, M. F., Ebadi, K., Anderson, M., Pailevanian, T., Terry, E., Wolf, M., Tagliabue, A., Vaquero, T. S., Palieri, M., Tepsuporn, S., Chang, Y., Kalantari, A., Chavez, F., Lopez, B., Funabiki, N., Miles, G., Touma, T., Buscicchio, A., Tordesillas, J., Alatur, N., Nash, J., Walsh, W., Jung, S., Lee, H., Kanellakis, C., Mayo, J., Harper, S., Kaufmann, M., Dixit, A., Correa, G. J., Lee, C., Gao, J., Merewether, G., Maldonado-Contreras, J., Salhotra, G., Da Silva, M. S., Ramtoula, B., Fakoorian, S., Hatteland, A., Kim, T., Bartlett, T., Stephens, A., Kim, L., Bergh, C., Heiden, E., Lew, T., Cauligi, A., Heywood, T., Kramer, A., Leopold, H. A., Melikyan, H., Choi, H. C., Daftry, S., Toupet, O., Wee, I., Thakur, A., Feras, M., Beltrame, G., Nikolakopoulos, G., Shim, D., Carlone, L., & Burdick, JPostprint (published version

Rhythmicity in Mice Selected for Extremes in Stress Reactivity: Behavioural, Endocrine and Sleep Changes Resembling Endophenotypes of Major Depression

Dysregulation of the hypothalamic-pituitary-adrenal (HPA) axis, including hyper- or hypo-activity of the stress hormone system, plays a critical role in the pathophysiology of mood disorders such as major depression (MD). Further biological hallmarks of MD are disturbances in circadian rhythms and sleep architecture. Applying a translational approach, an animal model has recently been developed, focusing on the deviation in sensitivity to stressful encounters. This so-called 'stress reactivity' (SR) mouse model consists of three separate breeding lines selected for either high (HR), intermediate (IR), or low (LR) corticosterone increase in response to stressors.In order to contribute to the validation of the SR mouse model, our study combined the analysis of behavioural and HPA axis rhythmicity with sleep-EEG recordings in the HR/IR/LR mouse lines. We found that hyper-responsiveness to stressors was associated with psychomotor alterations (increased locomotor activity and exploration towards the end of the resting period), resembling symptoms like restlessness, sleep continuity disturbances and early awakenings that are commonly observed in melancholic depression. Additionally, HR mice also showed neuroendocrine abnormalities similar to symptoms of MD patients such as reduced amplitude of the circadian glucocorticoid rhythm and elevated trough levels. The sleep-EEG analyses, furthermore, revealed changes in rapid eye movement (REM) and non-REM sleep as well as slow wave activity, indicative of reduced sleep efficacy and REM sleep disinhibition in HR mice.Thus, we could show that by selectively breeding mice for extremes in stress reactivity, clinically relevant endophenotypes of MD can be modelled. Given the importance of rhythmicity and sleep disturbances as biomarkers of MD, both animal and clinical studies on the interaction of behavioural, neuroendocrine and sleep parameters may reveal molecular pathways that ultimately lead to the discovery of new targets for antidepressant drugs tailored to match specific pathologies within MD

ACHORD: communication-aware multi-robot coordination with intermittent connectivity

© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksCommunication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean) environments requires a multi-robot system to tolerate and anticipate intermittent connectivity, and to carefully consider comms requirements, otherwise mission-critical data may be lost. In this paper, we describe and analyze ACHORD (Autonomous & Collaborative High-Bandwidth Operations with Radio Droppables), a multi-layer networking solution which tightly co-designs the network architecture and high-level decision-making for improved comms. ACHORD provides bandwidth prioritization and timely and reliable data transfer despite intermittent connectivity. Furthermore, it exposes low-layer networking metrics to the application layer to enable robots to autonomously monitor, map, and extend the network via droppable radios, as well as restore connectivity to improve collaborative exploration. We evaluate our solution with respect to the comms performance in several challenging underground environments including the DARPA SubT Finals competition environment. Our findings support the use of data stratification and flow control to improve bandwidth-usage.Peer ReviewedPostprint (author's final draft

Formyl Peptide Receptor as a Novel Therapeutic Target for Anxiety-Related Disorders

Formyl peptide receptors (FPR) belong to a family of sensors of the immune system that detect microbe-associated molecules and inform various cellular and sensorial mechanisms to the presence of pathogens in the host. Here we demonstrate that Fpr2/3-deficient mice show a distinct profile of behaviour characterised by reduced anxiety in the marble burying and light-dark box paradigms, increased exploratory behaviour in an open-field, together with superior performance on a novel object recognition test. Pharmacological blockade with a formyl peptide receptor antagonist, Boc2, in wild type mice reproduced most of the behavioural changes observed in the Fpr2/3(-/-) mice, including a significant improvement in novel object discrimination and reduced anxiety in a light/dark shuttle test. These effects were associated with reduced FPR signalling in the gut as shown by the significant reduction in the levels of p-p38. Collectively, these findings suggest that homeostatic FPR signalling exerts a modulatory effect on anxiety-like behaviours. These findings thus suggest that therapies targeting FPRs may be a novel approach to ameliorate behavioural abnormalities present in neuropsychiatric disorders at the cognitive-emotional interface

Habitable Zones in the Universe

Habitability varies dramatically with location and time in the universe. This was recognized centuries ago, but it was only in the last few decades that astronomers began to systematize the study of habitability. The introduction of the concept of the habitable zone was key to progress in this area. The habitable zone concept was first applied to the space around a star, now called the Circumstellar Habitable Zone. Recently, other, vastly broader, habitable zones have been proposed. We review the historical development of the concept of habitable zones and the present state of the research. We also suggest ways to make progress on each of the habitable zones and to unify them into a single concept encompassing the entire universe.Comment: 71 pages, 3 figures, 1 table; to be published in Origins of Life and Evolution of Biospheres; table slightly revise

Sleep disturbances in highly stress reactive mice: Modeling endophenotypes of major depression

<p>Abstract</p> <p>Background</p> <p>Neuronal mechanisms underlying affective disorders such as major depression (MD) are still poorly understood. By selectively breeding mice for high (HR), intermediate (IR), or low (LR) reactivity of the hypothalamic-pituitary-adrenocortical (HPA) axis, we recently established a new genetic animal model of extremes in stress reactivity (SR). Studies characterizing this SR mouse model on the behavioral, endocrine, and neurobiological levels revealed several similarities with key endophenotypes observed in MD patients. HR mice were shown to have changes in rhythmicity and sleep measures such as rapid eye movement sleep (REMS) and non-REM sleep (NREMS) as well as in slow wave activity, indicative of reduced sleep efficacy and increased REMS. In the present study we were interested in how far a detailed spectral analysis of several electroencephalogram (EEG) parameters, including relevant frequency bands, could reveal further alterations of sleep architecture in this animal model. Eight adult males of each of the three breeding lines were equipped with epidural EEG and intramuscular electromyogram (EMG) electrodes. After recovery, EEG and EMG recordings were performed for two days.</p> <p>Results</p> <p>Differences in the amount of REMS and wakefulness and in the number of transitions between vigilance states were found in HR mice, when compared with IR and LR animals. Increased frequencies of transitions from NREMS to REMS and from REMS to wakefulness in HR animals were robust across the light-dark cycle. Detailed statistical analyses of spectral EEG parameters showed that especially during NREMS the power of the theta (6-9 Hz), alpha (10-15 Hz) and eta (16-22.75 Hz) bands was significantly different between the three breeding lines. Well defined distributions of significant power differences could be assigned to different times during the light and the dark phase. Especially during NREMS, group differences were robust and could be continuously monitored across the light-dark cycle.</p> <p>Conclusions</p> <p>The HR mice, i.e. those animals that have a genetic predisposition to hyper-activating their HPA axis in response to stressors, showed disturbed patterns in sleep architecture, similar to what is known from depressed patients. Significant alterations in several frequency bands of the EEG, which also seem to at least partly mimic clinical observations, suggest the SR mouse lines as a promising animal model for basic research of mechanisms underlying sleep impairments in MD.</p