Lunar Glovebox Balance with Wireless Technology

The most important equipment required for processing lunar samples is a high-quality mass balance for maintaining accurate weight inventory, security, and scientific study. After careful review, a Curation Office memo by Michael Duke in 1978 chose the Mettler PL200 to be used for sample weight measurements inside the gloveboxes (Fig. 3). These commercial off-the-shelf (COTS) balances did not meet the strict accepted material requirements in the Lunar lab. As a result, each balance housing, weighing pan, and wiring was custom retrofitted to meet Lunar Operating Procedure (LOP) 54 requirements [for material construction restrictions]. The original design drawings for the custom housings, readout support stands, and wiring were done by the JSC engineering directorate. The 1977- 1978 schematics, drawings, and files are now housed in the curation Data Center. Per the design specifications, the housing was fabricated from aluminum grade 6061 T6, seamless welds, and anodized per MIL-A-8625 type I, class I. The balance feet were TFE Teflon and any required joints were sealed with Viton A gaskets. The readout display and support stands outside the glovebox were fabricated from 300 series stainless steel with #4 finish and mounted to the glovebox with welded bolts. Wire harnesses that linked the balance with the outside display and power were encapsulated with TFE Teflon and transported through custom Deutsch wire bulk head pass-through systems from inside to outside the glovebox. These Deutsch connectors were custom fabricated with 316L stainless steel bodies, Viton A O-rings, aluminum 6061 with electroless nickel plating, Teflon (replacing the silicone), and gold crimp connectors (no soldering). Many of the Deutsch connectors may have been used in the Apollo program high vacuum complex in building 37 and date to about 1968 to 1970

Preliminary results on noncollocated torque control of space robot actuators

In the Space Station era, more operations will be performed robotically in space in the areas of servicing, assembly, and experiment tending among others. These robots may have various sets of requirements for accuracy, speed, and force generation, but there will be design constraints such as size, mass, and power dissipation limits. For actuation, a leading motor candidate is a dc brushless type, and there are numerous potential drive trains each with its own advantages and disadvantages. This experiment uses a harmonic drive and addresses some inherent limitations, namely its backdriveability and low frequency structural resonances. These effects are controlled and diminished by instrumenting the actuator system with a torque transducer on the output shaft. This noncollocated loop is closed to ensure that the commanded torque is accurately delivered to the manipulator link. The actuator system is modelled and its essential parameters identified. The nonlinear model for simulations will include inertias, gearing, stiction, flexibility, and the effects of output load variations. A linear model is extracted and used for designing the noncollocated torque and position feedback loops. These loops are simulated with the structural frequency encountered in the testbed system. Simulation results are given for various commands in position. The use of torque feedback is demonstrated to yield superior performance in settling time and positioning accuracy. An experimental setup being finished consists of a bench mounted motor and harmonic drive actuator system. A torque transducer and two position encoders, each with sufficient resolution and bandwidth, will provide sensory information. Parameters of the physical system are being identified and matched to analytical predictions. Initial feedback control laws will be incorporated in the bench test equipment and various experiments run to validate the designs. The status of these experiments is given

In the proper context: Neuropeptide regulation of behavioral transitions during food searching

Neuromodulation enables transient restructuring of anatomically fixed neural circuits, generating alternate outputs and distinct states that allow for flexible organismal responses to changing conditions. We recently identified a requirement for the neuropeptide-like protein NLP-12, a Caenorhabditis elegans homolog of mammalian Cholecystokinin (CCK), in the control of behavioral responses to altered food availability. We showed that deletion of nlp-12 impairs turning during local food searching while nlp-12 overexpression is sufficient to induce deep body bends and enhance turning. nlp-12 is solely expressed in the DVA interneuron that is located postsynaptic to the dopaminergic PDE neurons and presynaptic to premotor and motor neurons, well-positioned for modulating sensorimotor tasks. Interestingly, DVA was previously implicated in a NLP-12 mediated proprioceptive feedback loop during C. elegans locomotion. Here, we discuss the modulatory effects of NLP-12 with an emphasis on the potential for circuit level integration with olfactory information about food availability. In addition, we propose potential mechanisms by which DVA may integrate distinct forms of sensory information to regulate NLP-12 signaling and mediate context-dependent modulation of the motor circuit

Possible High-Redshift, Low-Luminosity AGN Activity in the Hubble Deep Field

In the Hubble Deep Field (HDF), twelve candidate sources of high-redshift (z > 3.5) AGN activity have been identified. The color selection criteria were established by passing spectra of selected quasars and Seyfert galaxies (appropriately redshifted and modified for "Lyman forest" absorption), as well as stars, observed normal and starburst galaxies, and galaxy models for various redshifts through the filters used for the HDF observations. The actual identification of AGN candidates also involved convolving a Laplacian-of-Gaussian filter with the HDF images, thereby removing relatively flat galactic backgrounds and leaving only the point-like components in the centers. Along with positions and colors, estimated redshifts and absolute magnitudes are reported, with the candidates falling toward the faint end of the AGN luminosity function. One candidate has been previously observed spectroscopically, with a measured redshift of 4.02. The number of sources reported here is consistent with a simple extrapolation of the observed quasar luminosity function to magnitude 30 in B_Johnson. Implications for ionization of the intergalactic medium and for gravitational lensing are discussed.Comment: 10 pages LaTex plus 2 separate files (Table 1 which is a two-page landscape LaTex file; and Figure 6 which is a large (0.7 MB) non-encapsulated postscript file). Accepted for publication in the Astronomical Journa

Dendrites actively restrain axon outgrowth and regeneration

Comment on: Novel DLK-independent neuronal regeneration in Caenorhabditis elegans shares links with activity-dependent ectopic outgrowth. [Proc Natl Acad Sci U S A. 2016

Towards an open-source universal-dependency treebank for Erzya

This article describes the first steps towards a open-source dependency tree- bank for Erzya based on universal dependency (UD) annotation standards. The treebank contains 610 sentences with 6661 tokens and is based on texts from a range of open-source and public domain original Erzya sources. This ensures its free availability and extensibility. Texts in the treebank are first morphologically analyzed and disambiguated after which they are annotated manually for depen- dency structure. In the article we present some issues in dependency syntax for Erzya and how they are analyzed in the universal-dependency framework. Pre- liminary statistics are given for dependency parsing of Erzya, along with points of interest for future research.Peer reviewe

A tale of two receptors: Dual roles for ionotropic acetylcholine receptors in regulating motor neuron excitation and inhibition

Nicotinic or ionotropic acetylcholine receptors (iAChRs) mediate excitatory signaling throughout the nervous system, and the heterogeneity of these receptors contributes to their multifaceted roles. Our recent work has characterized a single iAChR subunit, ACR-12, which contributes to two distinct iAChR subtypes within the C. elegans motor circuit. These two receptor subtypes regulate the coordinated activity of excitatory (cholinergic) and inhibitory (GABAergic) motor neurons. We have shown that the iAChR subunit ACR-12 is differentially expressed in both cholinergic and GABAergic motor neurons within the motor circuit. In cholinergic motor neurons, ACR-12 is incorporated into the previously characterized ACR-2 heteromeric receptor, which shows non-synaptic localization patterns and plays a modulatory role in controlling circuit function.(1) In contrast, a second population of ACR-12-containing receptors in GABAergic motor neurons, ACR-12GABA, shows synaptic expression and regulates inhibitory signaling.(2) Here, we discuss the two ACR-12-containing receptor subtypes, their distinct expression patterns, and functional roles in the C. elegans motor circuit. We anticipate our continuing studies of iAChRs in the C. elegans motor circuit will lead to novel insights into iAChR function in the nervous system as well as mechanisms for their regulation

Molecular Mechanisms Directing Spine Outgrowth and Synaptic Partner Selection in Caenorhabditis elegans

The development of the nervous system requires precise outgrowth, extension, and wiring of both axons and dendrites to generate properly functioning neural circuits. The molecular mechanisms that shape neurite development, in particular dendritic development, remain incompletely understood. Dendrites are often highly branched and coated with actin-filled, thorny protrusions, called dendritic spines, that allow for increased numbers of synaptic contacts with neighboring neurons. Disruptions in dendritic spine development have been implicated in many neurological disorders such as autism, schizophrenia, and Alzheimer\u27s disease. Although the development of dendritic spines is vital for cognitive function, understanding the mechanisms driving their outgrowth and stabilization in vivo remains a challenge. Our recent work identifies the presence of dendritic spine-like structures in the nematode Caenorhabditis elegans and provides initial insights into mechanisms promoting spine outgrowth in this system. Specifically, we show that neurexin/nrx-1 is a critical molecular component in directing the development of synaptic connections and promoting spine outgrowth. Our investigation provides important insights into the molecular machinery that sculpt synaptic connectivity, and continuing efforts in this system offer the potential for identifying new mechanisms governing both synaptic partner selection and dendritic spine outgrowth