Path Planning for Reconfigurable Rovers in Planetary Exploration

This paper introduces a path planning algorithm that takes into consideration different locomotion modes in a wheeled reconfigurable rover. Power consumption and traction are estimated by means of simplified dynamics models for each locomotion mode. In particular, wheel-walking and normaldriving are modeled for a planetary rover prototype. These models are then used to define the cost function of a path planning algorithm based on fast marching. It calculates the optimal path, in terms of power consumption, between two positions, providing the most appropriate locomotion mode to be used at each position. Finally, the path planning algorithm was implemented in V-REP simulation software and a Martian area was used to validate it. Results of this contribution also demonstrate how the use of these locomotion modes would reduce the power consumption for a particular area.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Real-time smart and standalone vision/IMU navigation sensor

In this paper, we present a smart, standalone, multi-platform stereo vision/IMU-based navigation system, providing ego-motion estimation. The real-time visual odometry algorithm is run on a nano ITX single-board computer (SBC) of 1.9 GHz CPU and 16-core GPU. High-resolution stereo images of 1.2 megapixel provide high-quality data. Tracking of up to 750 features is made possible at 5 fps thanks to a minimal, but efficient, features detection–stereo matching–feature tracking scheme runs on the GPU. Furthermore, the feature tracking algorithm benefits from assistance of a 100 Hz IMU whose accelerometer and gyroscope data provide inertial features prediction enhancing execution speed and tracking efficiency. In a space mission context, we demonstrate robustness and accuracy of the real-time generated 6-degrees-of-freedom trajectories from our visual odometry algorithm. Performance evaluations are comparable to ground truth measurements from an external motion capture system

Efficacy of a new technique - INtubate-RECruit-SURfactant-Extubate - "IN-REC-SUR-E" - in preterm neonates with respiratory distress syndrome: Study protocol for a randomized controlled trial

Background: Although beneficial in clinical practice, the INtubate-SURfactant-Extubate (IN-SUR-E) method is not successful in all preterm neonates with respiratory distress syndrome, with a reported failure rate ranging from 19 to 69 %. One of the possible mechanisms responsible for the unsuccessful IN-SUR-E method, requiring subsequent re-intubation and mechanical ventilation, is the inability of the preterm lung to achieve and maintain an "optimal" functional residual capacity. The importance of lung recruitment before surfactant administration has been demonstrated in animal studies showing that recruitment leads to a more homogeneous surfactant distribution within the lungs. Therefore, the aim of this study is to compare the application of a recruitment maneuver using the high-frequency oscillatory ventilation (HFOV) modality just before the surfactant administration followed by rapid extubation (INtubate-RECruit-SURfactant-Extubate: IN-REC-SUR-E) with IN-SUR-E alone in spontaneously breathing preterm infants requiring nasal continuous positive airway pressure (nCPAP) as initial respiratory support and reaching pre-defined CPAP failure criteria. Methods/design: In this study, 206 spontaneously breathing infants born at 24+0-27+6 weeks' gestation and failing nCPAP during the first 24 h of life, will be randomized to receive an HFOV recruitment maneuver (IN-REC-SUR-E) or no recruitment maneuver (IN-SUR-E) just prior to surfactant administration followed by prompt extubation. The primary outcome is the need for mechanical ventilation within the first 3 days of life. Infants in both groups will be considered to have reached the primary outcome when they are not extubated within 30 min after surfactant administration or when they meet the nCPAP failure criteria after extubation. Discussion: From all available data no definitive evidence exists about a positive effect of recruitment before surfactant instillation, but a rationale exists for testing the following hypothesis: a lung recruitment maneuver performed with a step-by-step Continuous Distending Pressure increase during High-Frequency Oscillatory Ventilation (and not with a sustained inflation) could have a positive effects in terms of improved surfactant distribution and consequent its major efficacy in preterm newborns with respiratory distress syndrome. This represents our challenge. Trial registration: ClinicalTrials.gov identifier: NCT02482766. Registered on 1 June 2015

Introduction to Surface Avatar: the First Heterogeneous Robotic Team to be Commanded with Scalable Autonomy from the ISS

Robotics is vital to the continued development toward Lunar and Martian exploration, in-situ resource utilization, and surface infrastructure construction. Large-scale extra-terrestrial missions will require teams of robots with different, complementary capabilities, together with a powerful, intuitive user interface for effective commanding. We introduce Surface Avatar, the newest ISS-to-Earth telerobotic experiment series, to be conducted in 2022-2024. Spearheaded by DLR, together with ESA, Surface Avatar builds on expertise on commanding robots with different levels of autonomy from our past telerobotic experiments: Kontur-2, Haptics, Interact, SUPVIS Justin, and Analog-1. A team of four heterogeneous robots in a multi-site analog environment at DLR are at the command of a crew member on the ISS. The team has a humanoid robot for dexterous object handling, construction and maintenance; a rover for long traverses and sample acquisition; a quadrupedal robot for scouting and exploring difficult terrains; and a lander with robotic arm for component delivery and sample stowage. The crew's command terminal is multimodal, with an intuitive graphical user interface, 3-DOF joystick, and 7-DOF input device with force-feedback. The autonomy of any robot can be scaled up and down depending on the task and the astronaut's preference: acting as an avatar of the crew in haptically-coupled telepresence, or receiving task-level commands like an intelligent co-worker. Through crew performing collaborative tasks in exploration and construction scenarios, we hope to gain insight into how to optimally command robots in a future space mission. This paper presents findings from the first preliminary session in June 2022, and discusses the way forward in the planned experiment sessions

Highly efficient technetium-99m labeling procedure based on the conjugation of N-[N-(3-diphenylphosphinopropionyl)glycyl]cysteine ligand with poly(ethylene glycol)

The PN(2)S N-(N-(3-diphenylphosphinopropionyl)glycyl)cysteine ligand was conjugated to methoxy-poly(ethylene glycol)-amino (mPEG-NH(2)) 5 and 20 kDa to yield PN(2)S(Trt)-PEG(5000) 1 and PN(2)S(Trt)-PEG(20000) 2, and then detritylated to PN(2)S-PEG(5000) 4 and PN(2)S-PEG(20000) 5. When an acidic solution of (99m)TcO(4)(-) is added to 4 or 5 in solid form, a quantitative yield in a single labeled species, (99m)Tc-labeled PN(2)S-PEG(5000) 9 and (99m)Tc-labeled PN(2)S-PEG(20000) 10, respectively, is obtained. The reaction occurs in less than 15 min at room temperature for 4 and 35 degrees C for 5. This labeling procedure avoids the use of an external reducing agent, and it is based on the amphiphilic properties of PN(2)S-PEGs. Once in water, 4 and 5 self-assemble in micelles, which catalyze the metal reduction by means of an electron pair transfer from the phosphorus to technetium. The [(99m)TcO](3+) species is then coordinated, and at micelle level, both the (P)ON(2)S and the PN(2)S coordinations are possible, as demonstrated by reacting (99m)Tc-gluconate and ReOCl(3)(PPh(3))(2) with 4 and 5 and with the oxidized analogous (P)ON(2)S-PEG(5000) 6. Compounds 9 and 10 exhibited a high stability both in vitro and in vivo. Biodistribution studies in mice also indicated that PN(2)S linking and (99m)Tc labeling do not modify PEG behavior in water and in vivo since the polymer dictates the fate of the conjugate

Methods and outcomes of the COMRADE project - Design of robust coupled control for robotic spacecraft in servicing missions: trade-off between Hinf and nonlinear Lyapunov-based approaches

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