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All sourcesNASA NTRSDOE OSTI
NASA NTRS2004

Mixed-Initiative Constraint-Based Activity Planning for Mars Exploration Rovers

In January, 2004, two NASA rovers, named Spirit and Opportunity, successfully landed on Mars, starting an unprecedented exploration of the Martian surface. Power and thermal concerns constrained the duration of this mission, leading to an aggressive plan for commanding both rovers every day. As part of the process for generating these command loads, the MAPGEN tool provides engineers and scientists an intelligent activity planning tool that allows them to more effectively generate complex plans that maximize the science return each day. The key to'the effectiveness of the MAPGEN tool is an underlying artificial intelligence plan and constraint reasoning engine. In this paper we outline the design and functionality of the MAEPGEN tool and focus on some of the key capabilities it offers to the MER mission engineers.

Bresina, John↗
NASA NTRS2004

Deployment Process, Mechanization, and Testing for the Mars Exploration Rovers

NASA's Mar Exploration Rover (MER) robotic prospectors were produced in an environment of unusually challenging schedule, volume, and mass restrictions. The technical challenges pushed the system s design towards extensive integration of function, which resulted in complex system engineering issues. One example of the system's integrated complexity can be found in the deployment process for the rover. Part of this process, rover "standup", is outlined in this paper. Particular attention is given to the Rover Lift Mechanism's (RLM) role and its design. Analysis methods are presented and compared to test results. It is shown that because prudent design principles were followed, a robust mechanism was created that minimized the duration of integration and test, and enabled recovery without perturbing related systems when reasonably foreseeable problems did occur. Examples of avoidable, unnecessary difficulty are also presented.

Iskenderian, Ted↗
NASA NTRS2004

Oxygen Profile of a Thermo-Haliophilic Community in the Badwater Salt Flat

Badwater is the lowest, saltiest, and hottest, place in North America. This extreme environment is 86 meters (282 feet) below sea level surrounded by four mountain ranges. Due to the geographical location Badwater does not receive moisture from the prevailing winds, this intern results in a hot, arid, and salty environment. Despite these extreme living conditions, microbes manage to flourish within the salt flat. The salt acts as an insulator making life just beneath the surface more comfortable In this paper, we compare the microbial population versus oxygen concentration; and the importance of and the role of oxygen in metabolic functions by these thermo-haliophiles. Furthermore a model of the oxygen profile will also provide an insight to the oxygen cycle in salty environments. This research has implications for the limits of life on Earth and Mars. Recent results from the MER rovers show that water on Mars was very salty. Measuring the oxygen profile in these salty environments on Earth provides a framework within which potential life on Mars can be evaluated. The use of an oxygen profile could also be used as a search criteria for life.

Smith, H. D.↗
NASA NTRS1998

Sequence dependent N-terminal rearrangement and degradation of peptide nucleic acid (PNA) in aqueous solution

The stability of the PNA (peptide nucleic acid) thymine monomer inverted question markN-[2-(thymin-1-ylacetyl)]-N-(2-aminoaminoethyl)glycine inverted question mark and those of various PNA oligomers (5-8-mers) have been measured at room temperature (20 degrees C) as a function of pH. The thymine monomer undergoes N-acyl transfer rearrangement with a half-life of 34 days at pH 11 as analyzed by 1H NMR; and two reactions, the N-acyl transfer and a sequential degradation, are found by HPLC analysis to occur at measurable rates for the oligomers at pH 9 or above. Dependent on the amino-terminal sequence, half-lives of 350 h to 163 days were found at pH 9. At pH 12 the half-lives ranged from 1.5 h to 21 days. The results are discussed in terms of PNA as a gene therapeutic drug as well as a possible prebiotic genetic material.

Non-NASA Center↗
NASA NTRS1993

Montmorillonite catalysis of RNA oligomer formation in aqueous solution. A model for the prebiotic formation of RNA

Oligomers of adenylic acid of up to the 11-mer in length are formed by the reaction of the phosphorimidazolide of adenosine (ImpA) in pH 8 aqueous solution at room temperature in the presence of Na(+)-montmorillonite. These oligomers are joined by phosphodiester bonds in which the 3',5'-linkage predominates over the 2',5'-linkage by a 2:1 ratio. Reaction of a 9:1 mixture of ImpA, A5'ppA results in the formation of oligomers with a 3:1 ratio of 3',5'- to 2',5'-linked phosphodiester bonds. A high proportion of these oligomers contain the A5'ppA grouping. A5'ppA reacts much more rapidly with ImpA than does 5'-ADP (ppA) or 5'-ATP (pppA). The exchangeable cation associated with the montmorillonite effects the observed catalysis with Li+, Na+, NH4+, and Ca2+ being the more effective while Mg2+ and Al3+ are almost ineffective catalysts. 2',5'-Linked oligomers, up to the tetramer in length, are formed using UO2(2+)-montmorillonite. The structure analysis of individual oligomer fractions was performed by selective enzymatic and KOH hydrolytic studies followed by HPLC analysis of the reaction products. It is concluded from the composition of the oligomers that the rate of addition ImpA to a 3'-terminus containing a 2',5'-linkage is slower than the addition to a nucleoside joined by a 3',5'-linked phosphodiester bond. The potential importance of mineral catalysis of the formation of RNA and other oligomers on primitive Earth is discussed.

Non-NASA Center↗
NASA NTRS1993

Kinetic dissection of individual steps in the poly(C)-directed oligoguanylate synthesis from guanosine 5'-monophosphate 2-methylimidazolide

A kinetic study of oligoguanylate synthesis on a polycytidylate template, poly(C), as a function of the concentration of the activated monomer, guanosine 5'-monophosphate 2-methylimidazolide, 2-MeImpG, is reported. Reactions were run with 0.005-0.045 M 2-MeImpG in the presence of 0.05 M poly(C) at 23 degrees C. The kinetic results are consistent with a reaction scheme (eq 1) that consists of a series of consecutive steps, each step representing the addition of one molecule of 2-MeImpG to the growing oligomer. This scheme allows the calculation of second-order rate constants for every step by analyzing the time-dependent growth of each oligomer. Computer simulations of the course of reaction based on the determined rate constants and eq 1 are in excellent agreement with the product distributions seen in the HPLC profiles. In accord with an earlier study (Fakhrai, H.; Inoue, T.; Orgel, L. E. Tetrahedron 1984, 40, 39), rate constants, ki, for the formation of the tetramer and longer oligomers up to the 16-mer were found to be independent of length and somewhat higher than k3 (formation of trimer), which in turn is much higher than k2 (formation of dimer). The ki (i > or = 4), k3, and k2 values are not true second-order rate constants but vary with monomer concentration. Mechanistic models for the dimerization (Scheme I) and elongation reactions (Scheme II) are proposed that are consistent with our results. These models take into account that the monomer associates with the template in a cooperative manner. Our kinetic analysis allowed the determination of rate constants for the elementary processes of covalent bond formation between two monomers (dimerization) and between an oligomer and a monomer (elongation) on the template. A major conclusion from our study is that bond formation between two monomer units or between a primer and a monomer is assisted by the presence of additional next-neighbor monomer units. This is consistent with recent findings with hairpin oligonucleotides (Wu, T.; Orgel, L. E. J. Am. Chem. Soc. 1992, 114, 317). Our study is the first of its kind that shows the feasibility of a thorough kinetic analysis of a template-directed oligomerization and provides a detailed mechanistic model of these reactions.

Non-NASA Center↗
NASA NTRS2004

Mixed-Initiative Planning and Scheduling for Science Missions

The objective of this joint NASA Ames/JPL/SRI project was to develop mixed-initiative planning and scheduling technology that would enable more effective and efficient planning of science missions. The original intent behind the project was to have all three organizations work closely on the overall research and technology development objectives. Shortly after the project began, however, the Ames and JPL project members made a commitment to develop and field an operational mixed-initiative planning and scheduling tool called MAPGEN for the 2003 Mars Exploration Rover (MER) mission [Ai-Chang et al. 2003]. Because of the tremendous amounts of time and effort that went into making that tool a success, the Ames and JPL personnel were mostly unavailable for collaboration on the joint objectives of the original proposal. Until November of 2002, SRI postponed work on the project in the hope that the Ames and JPL personnel would be able to find time for the planned collaborative research. During discussions between Dr. Karen Myers (the SRI institutional PI) and Dr. John Bresina (the project PI) during November of 2002, it was mutually agreed that SRI should work independently to achieve some of the research objectives for the project. In particular, Dr. Bresina identified explanation of plans and planner behavior as a critical area for research, based on feedback from demonstrating an initial prototype of MAPGEN to the operational community. For that reason, our focus from November of 2002 through the end of the project was on designing explanation methods to address this need.

Myers, Karen L.↗
NASA NTRS2004

The Crystallization of Canavalin as a Function of pH and NaCl Concentration

We posed the question of what happens to a protein that is known to grow as an n-mer when it is placed in solution conditions where it is monomeric. The trypsin-treated, or cut, form of the protein canavalin (CCAN) has been shown to nucleate and grow crystals as a trimer from neutral to slightly acidic solutions. Under these conditions the solution is composed almost wholly of trimers. The crystalline protein can be readily dissolved by weakly basic solution, which has been proposed to result in a solution that is monomeric. There are three possible outcomes to an attempt at crystallization of the protein under monomeric (high pH) conditions: 1) we will obtain the same crystals as under trimer conditions, but at different protein concentrations governed by the self association equilibria; 2) we will obtain crystals having a different symmetry, based upon a monomeric growth unit; 3) we will not obtain crystals. Obtaining the first result would be indicative that the solution-phase self-association process is critical to the crystal nucleation and growth process. The second result would be less clear, as it may also reflect a pH-dependent shift in the trimer-trimer molecular interactions. The third result, particularly for experiments in the transition pH's between trimeric and monomeric CCAN, would indicate that the monomer does not crystallize, and that solution phase self association is not part of the crystal nucleation and growth path. Results are presented for crystallization experiments of CCAN over the pH 6.4 to 9.6 range. Fluorescence anisotropy, light scattering, and gel filtration experiments show that the solutions are primarily trimers, with association to form larger species occurring as a function of protein concentration.

Forsythe, Elizabeth L.↗
NASA NTRS2000

An early ethylene up-regulated gene encoding a calmodulin-binding protein involved in plant senescence and death

35S-Labeled calmodulin (CaM) was used to screen a tobacco anther cDNA library. A positive clone (NtER1) with high homology to an early ethylene-up-regulated gene (ER66) in tomato, and an Arabidopsis homolog was isolated and characterized. Based on the helical wheel projection, a 25-mer peptide corresponding to the predicted CaM-binding region of NtER1 (amino acids 796-820) was synthesized. The gel-mobility shift assay showed that the peptide formed a stable complex with CaM only in the presence of Ca(2+). CaM binds to NtER1 with high affinity (K(d) approximately 12 nm) in a calcium-dependent manner. Tobacco flowers at different stages of development were treated with ethylene or with 1-methylcyclopropene for 2 h before treating with ethylene. Northern analysis showed that the NtER1 was rapidly induced after 15 min of exposure to ethylene. However, the 2-h 1-methylcyclopropene treatment totally blocked NtER1 expression in flowers at all stages of development, suggesting that NtER1 is an early ethylene-up-regulated gene. The senescing leaves and petals had significantly increased NtER1 induction as compared with young leaves and petals, implying that NtER1 is developmentally regulated and acts as a trigger for senescence and death. This is the first documented evidence for the involvement of Ca(2+)/CaM-mediated signaling in ethylene action.

Non-NASA Center↗
NASA NTRS1999

Oligomerization of L-gamma-carboxyglutamic acid

Unlike glutamic acid, L-gamma-carboxyglutamic acid does not oligomerize efficiently when treated with carbonyldiimidazole in aqueous solution. However, divalent ions such as Mg2+ catalyze the reaction, and lead to the formation of oligomers in good yield. In the presence of hydroxylapatite, L-gamma-carboxyglutamic acid oligomerizes efficiently in a reaction that proceeds in the absence of divalent ions but is further catalyzed when they are present. After 'feeding' 50 times with activated amino acid in the presence of the Mg2+ ion, oligomers longer than the 20-mer could be detected. The effect of hydroxylapatite on peptide elongation is very sensitive to the nature of the activated amino acid and the acceptor peptide. Glutamic acid oligomerizes more efficiently than L-gamma-carboxyglutamic acid on hydroxylapatite and adds more efficiently to decaglutamic acid in solution. One might, therefore, expect that glutamic acid would add more efficiently than L-gamma-carboxyglutamic acid to decaglutamic acid on hydroxylapatite. The contrary is true--the addition of L-gamma-carboxyglutamic acid is substantially more efficient. This suggests that oligomerization on the surface of hydroxylapatite depends on the detailed match between the structure of the surface of the mineral and the structure of the oligomer.

Non-NASA Center↗
NASA NTRS1998

Polymerization on the rocks: negatively-charged alpha-amino acids

Oligomers of the negatively-charged amino acids, glutamic acid, aspartic acid, and O-phospho-L-serine are adsorbed by hydroxylapatite and illite with affinities that increase with oligomer length. In the case of oligo-glutamic acids adsorbed on hydroxylapatite, addition of an extra residue results in an approximately four-fold increase in the strength of adsorption. Oligomers much longer than the 7-mer are retained tenaciously by the mineral. Repeated incubation of short oligo-glutamic acids adsorbed on hydroxylapatite or illite with activated monomer leads to the accumulation of oligomers at least 45 units long. The corresponding reactions of aspartic acid and O-phospho-L-serine on hydroxylapatite are less effective in generating long oligomers, while illite fails to accumulate substantial amounts of long oligomers of aspartic acid or of O-phospho-L-serine.

NASA Discipline Exobiology↗
NASA NTRS2004

A Reassessment of the Mars Ocean Hypothesis

Initial work on the identification and mapping of potential ancient shorelines on Mars was based on Viking Orbiter image data (Parker et al., 1987, 1989, 1993). The Viking Orbiters were designed to locate landing site for the two landers and were not specifically intended to map the entire planet. Fortunately, they mapped the entire planet. Unfortunately, they did so at an average resolution of greater than 200m/pixel. Higher resolution images, even mosaics of interesting regions, are available, but relatively sparse. Mapping of shorelines on Earth requires both high-resolution aerial photos or satellite images and good topographic information. Three significant sources of additional data from missions subsequent to Viking are useful for reassessing the ocean hypothesis. These are: MGS MOC images; MGS MOLA topography; Odyssey THEMIS IR and VIS images; and MER surface geology at Meridiani and Gusev. Okay, my mistake: Four.

Parker, T. J.↗
NASA NTRS1992

Rapid in situ hybridization technique using 16S rRNA segments for detecting and differentiating the closely related gram-positive organisms Bacillus polymyxa and Bacillus macerans

A rapid, sensitive, inexpensive in situ hybridization technique, using 30-mer 16S rRNA probes, can specifically differentiate two closely related Bacillus spp., B. polymyxa and B. macerans. The 16S rRNA probes were labeled with a rhodamine derivative (Texas Red), and quantitative fluorescence measurements were made on individual bacterial cells. The microscopic fields analyzed were selected by phase-contrast microscopy, and the fluorescence imaging analyses were performed on 16 to 67 individual cells. The labeled 16S rRNA probe, POL, whose sequence was a 100% match with B. polymyxa 16S rRNA but only a 60% match with B. macerans 16S rRNA, gave quantitative fluorescence ratio measurements that were 34.8-fold higher for B. polymyxa cells than for B. macerans cells. Conversely, the labeled probe, MAC, which matched B. polymyxa 16S rRNA in 86.6% of its positions and B. macerans 16S rRNA in 100% of its positions, gave quantitative fluorescence measurements that were 59.3-fold higher in B. macerans cells than in B. polymyxa cells. Control probes, whose 16S rRNA sequence segment (P-M) was present in both B. polymyxa and B. macerans as well as a panprokaryotic probe (16S), having a 100% match with all known bacteria, hybridized equally well with both organisms. These latter hybridizations generated very high fluorescence signals, but their comparative fluorescence ratios (the differences between two organisms) were low. The control paneukaryotic probe (28S), which had less than 30% identity for both B. macerans and B. polymyxa, did not hybridize with either organism.

Non-NASA Center↗
NASA NTRS2004

Demonstrating Robotic Autonomy in NASA's Intelligent Systems Project

This paper will provide an overview of NASA's investments in autonomy during the past five years within the Intelligent Systems Project, with particular attention paid to investments that have resulted in mission infusion of autonomy technology, in particular, into the recent Mars Exploration Rover (MER) mission. The content of the paper will be divided into two primary topic areas: a technical overview of the component technologies developed under the program, and a programmatic overview of the history and organization of the NASA IS project itself, with a focus on describing the program elements related to autonomy and intelligent robotics. The paper will also provide an overview of the September 2004 autonomy demonstrations, including a discussion of objectives, organization, and preliminary results (to the extent they are available before the submission deadline).

Morris, Robert↗
NASA NTRS2004

Choosing Mars-Time: Analysis of the Mars Exploration Rover Experience

This paper focuses on the Mars Exploration Rover (MER) mission decision to work on Mars Time and the implications of that decision on the tactical surface operations process as personnel planned activities and created a new command load for work on each Martian sol. The paper also looks at tools that supported the complexities of Mars Time work, and makes some comparisons between Earth and Mars time scheduling.

Bass, Deborah S.↗
NASA NTRS2004

Circular Permutation of a Chaperonin Protein: Biophysics and Application to Nanotechnology

We have designed five circular permutants of a chaperonin protein derived from the hyperthermophilic organism Sulfolobus shibatae. These permuted proteins were expressed in E. coli and are well-folded. Furthermore, all the permutants assemble into 18-mer double rings of the same form as the wild-type protein. We characterized the thermodynamics of folding for each permutant by both guanidine denaturation and differential scanning calorimetry. We also examined the assembly of chaperonin rings into higher order structures that may be used as nanoscale templates. The results show that circular permutation can be used to tune the thermodynamic properties of a protein template as well as facilitating the fusion of peptides, binding proteins or enzymes onto nanostructured templates.

Paavola, Chad↗
NASA NTRS2005

Lunar and Planetary Science XXXVI, Part 1

Contents include the following: Observations with Near Infrared Spectrometer for Hayabusa Mission in the Cruising Phase. First Results of Quadrantid Meteor Spectrum. Compositional Investigation of Binary Near-Earth Asteroid 66063 (1998 RO1): A Potentially Undifferentiated Assemblage. Impact-induced Hydrothermal Activity on Early Mars. HRTEM and EFTEM Studies of Phyllosilicate-Organic Matter Associations in Matrix and Dark Inclusions in the EET92042 CR2 Carbonaceous Chondrite. Volumetric Analysis of Martian Rampart Craters. High Pressure Melting of H-Chondrite: A Match for the Martian Basalt Source Mantle. MERView: A New Computer Program for Easy Display of MER-acquired M ssbauer Data. Distribution, Exchange, and Topographic Control of Subsurface Ice on Mars. Shock-induced Damage Beneath Normal and Oblique Impact Craters. Amphitrites Patera Studied from the Mars Express HRSC Data. Oxygen Isotope Microanalysis of Enveloping Compound Chondrules in CV3 and LL3 Chondrites. Gamma-Ray Irradiation in the Early Solar System and the Conundrum of the Lu-176 Decay Constant. Magnesium Isotope Mapping of Silica-rich Grains Having. Extreme Oxygen Isotope Anomalies Extreme Oxygen Isotopic Anomalies from Irradiation in the Early Solar System, Re-Examining the Role of Chondrules in Producing the Elemental Fractionations in Chondrites. Meteorite Data on the Solar Modulation of Galactic Cosmic Rays and an Inference on the Solar Activity Influence on Climate of the Earth. Volatiles Enrichments and Composition of Jupiter. Thinking Like a Wildcatter Prospecting for Methane in Arabia Terra, Mars. Size Distribution of Genesis Solar Wind Array Collector Fragments. Initial Subdivision of Genesis Early Science Polished Aluminum Collector. Presolar Graphite and Its Noble Gases. Young Pb-Isotopic Ages of Chondrules in CB Carbonaceous Chondrites. Fe Isotopic Composition of Martian Meteorites. Petrology and Geochemistry of Nakhlite MIL 03346: A New Martian Meteorite from Antarctica.

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