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At least 631 records · Page 35

Ubiquitin-like conjugation by bacterial cGAS enhances anti-phage defence

Abstract cGAS is an evolutionarily conserved enzyme that has a pivotal role in immune defence against infection 1–3 . In vertebrate animals, cGAS is activated by DNA to produce cyclic GMP–AMP (cGAMP) 4,5 , which leads to the expression of antimicrobial genes 6,7 . In bacteria, cyclic dinucleotide (CDN)-based anti-phage signalling systems (CBASS) have been discovered 8–11 . These systems are composed of cGAS-like enzymes and various effector proteins that kill bacteria on phage infection, thereby stopping phage spread. Of the CBASS systems reported, approximately 39% contain Cap2 and Cap3 , which encode proteins with homology to ubiquitin conjugating (E1/E2) and deconjugating enzymes, respectively 8,12 . Although these proteins are required to prevent infection of some bacteriophages 8 , the mechanism by which the enzymatic activities exert an anti-phage effect is unknown. Here we show that Cap2 forms a thioester bond with the C-terminal glycine of cGAS and promotes conjugation of cGAS to target proteins in a process that resembles ubiquitin conjugation. The covalent conjugation of cGAS increases the production of cGAMP. Using a genetic screen, we found that the phage protein Vs.4 antagonized cGAS signalling by binding tightly to cGAMP (dissociation constant of approximately 30 nM) and sequestering it. A crystal structure of Vs.4 bound to cGAMP showed that Vs.4 formed a hexamer that was bound to three molecules of cGAMP. These results reveal a ubiquitin-like conjugation mechanism that regulates cGAS activity in bacteria and illustrates an arms race between bacteria and viruses through controlling CDN levels.

Science & Technology - Other Topics↗

Interference in between the acts of pre- and postselection

As an alternative approach for measuring the weak effects associated with the artificial preparation of rare events in quantum metrology, we propose the study of the interference pattern generated by acts of pre- and postselection of a quantum system. An example of two Mach – Zehnder interferometers connected by a cross-Kerr nonlinearity is considered. Postselection of photon states at the output of one of the interferometers and the application of a controlled phase shift in one of its arms induces interference phenomena in the photodetection statistics at the output of the second interferometer. The nonlinearity parameter determines the shift and width of the structures in the interference pattern. The main features of this pattern are studied depending on the magnitude of the Kerr nonlinearity and the number of photons at the input of the interferometers. (paper)

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Robotic Systems integration for cleanroom SRF assembly at Fermilab

Superconducting Radio Frequency (SRF) cryomodule assembly is a critical process that demands the highest levels of contamination control in a cleanroom to ensure product quality and reliability. Within the cleanroom environment, human-driven activities remain the major source of uncontrolled particulate. Moreover, the precise manual alignment of components often exceeds expected timeframes, increasing the risk of particulate migration into the critical inner space of the SRF resonant cavity, and causing extended discomfort for workers. Automation comes as a natural solution to address these challenges. The goal of this activity is to set up and integrate a robotic system to support cavity coupler installation in the cleanroom environment. Initially, remote control of a 6-axis collaborative robot arm will be implemented as an introductory step towards automation in the cleanroom. Subsequently, the system will be further enhanced by integrating manipulation capabilities through an appropriate end-effector, and computer vision technology to enable accurate pose estimation. This comprehensive approach aims to achieve a fully automated and adaptable assembly process in the partially structured cleanroom environment, thereby enhancing efficiency and mitigating existing challenges for better product quality and workers safety.

42 ENGINEERING↗

Frequency modulated cutaneous orientation feedback from artificial arms

A model of the human arm, emphasizing the neuromuscular mechanisms of feedback control, has been constructed. The various parameters and functions of physiological receptors in the feedback section have been classified into an automated category that can be incorporated in the prosthesis servo loop, and into a sensory category that should be communicated to the operator if control and dynamic performance are to be optimized. A scheme for simultaneous display of two such sensory parameters, i.e., fingertip pressure and elbow position, has been developed, implemented and evaluated. The neurophysiological mechanism of such displays, and the feasibility of sensory transformation, is discussed in this paper.

Solomonow, M.↗

Flying-hot-wire study of two-dimensional mean flow past an NACA 4412 airfoil at maximum lift

Hot-wire measurements have been made in the boundary layer, the separated region, and the near wake for flow past an NACA 4412 airfoil at maximum lift. The Reynolds number based on chord was about 1,500,000. The main instrumentation was a hot-wire probe mounted on the end of a rotating arm. A digital computer was used to control synchronized sampling of hot-wire data at closely spaced points along the probe arc. Ensembles of data were obtained at several thousand locations in the flow field. The data include intermittency, two components of mean velocity, and twelve mean values for double, triple, and quadruple products of two velocity fluctuations. The data are available on punched cards in raw form and also after use of smoothing and interpolation routines to obtain values on a fine rectangular grid aligned with the airfoil chord. The data are displayed in the paper as contour plots.

Coles, D.↗

The Manned Maneuvering Unit - 'A nice flying machine'

The need for untethered maneuvers in extravehicular space was recognized early in the NASA manned spaceflight program, leading to experiments during the Gemini flights. The Space Shuttle crews are now equipped with a Manned Maneuvering Unit (MMU) which employs 24 gaseous nitrogen thrusters to furnish six-degree-of-freedom mobility and is fitted with fully redundant electronics, electrical, and propulsion subsystems. The MMU thrusters are operated with translational and rotational hand controllers at the ends of the MMU arms.

Bollendonk, W. W.↗

Development of a multipurpose hand controller for JEMRMS

A prototype multipurpose hand controller for the JEMRMS (Japanese Experiment Module Remote Manipulator System) was developed. The hand controller (H/C) is an orthogonal type, with 6 degrees of freedom (DOF) and small size. The orthogonal type H/C is very simple for coordinate transformations and can easily control any type of manipulators. In fact, the JEMRMS is planned to have two manipulators controlled by a common H/C at this stage. The H/C was able to be used as a rate control joystick and a force reflection master arm, using an experimental 6 DOF manipulator. Good maneuverability was confirmed in the verification test. The orthogonal type H/C is suitable for use as a common H/C for the two manipulators of the JEMRMS.

Matsuhira, Nobuto↗

A unified teleoperated-autonomous dual-arm robotic system

A description is given of complete robot control facility built as part of a NASA telerobotics program to develop a state-of-the-art robot control environment for performing experiments in the repair and assembly of spacelike hardware to gain practical knowledge of such work and to improve the associated technology. The basic architecture of the manipulator control subsystem is presented. The multiarm Robot Control C Library (RCCL), a key software component of the system, is described, along with its implementation on a Sun-4 computer. The system's simulation capability is also described, and the teleoperation and shared control features are explained.

Hayati, Samad↗

Summary report: A preliminary investigation into the use of fuzzy logic for the control of redundant manipulators

The Rice University Department of Mechanical Engineering and Materials Sciences' Robotics Group designed and built an eight degree of freedom redundant manipulator. Fuzzy logic was proposed as a control scheme for tasks not directly controlled by a human operator. In preliminary work, fuzzy logic control was implemented for a camera tracking system and a six degree of freedom manipulator. Both preliminary systems use real time vision data as input to fuzzy controllers. Related projects include integration of tactile sensing and fuzzy control of a redundant snake-like arm that is under construction.

Cheatham, John B., Jr.↗

Reduced order multirate compensator synthesis

A method for synthesizing reduced-order multirate compensators is presented. Necessary conditions for the compensator parameter values to minimize an infinite-time quadratic cost function are derived. An algorithm for finding compensator parameter values which satisfy the necessary conditions is described. This algorithm is used to design several tip position controllers for a two-link robot arm.

Mason, Gregory S.↗

Compact Multifunction Inspection Head

Multiple-sensor inspection head designed to be mounted at tip of robot arm for performing multiple automated and/or remotely controlled inspection functions. Inspection head houses optoelectronic sensors, electrochemical sensor, sources of illumination, and parallel-jaw gripper.

Volpe, Richard A.↗

Time Varying Compensator Design for Reconfigurable Structures Using Non-Collocated Feedback

Analysis and synthesis tools are developed to improved the dynamic performance of reconfigurable nonminimum phase, nonstrictly positive real-time variant systems. A novel Spline Varying Optimal (SVO) controller is developed for the kinematic nonlinear system. There are several advantages to using the SVO controller, in which the spline function approximates the system model, observer, and controller gain. They are: The spline function approximation is simply connected, thus the SVO controller is more continuous than traditional gain scheduled controllers when implemented on a time varying plant; ft is easier for real-time implementations in storage and computational effort; where system identification is required, the spline function requires fewer experiments, namely four experiments; and initial startup estimator transients are eliminated. The SVO compensator was evaluated on a high fidelity simulation of the Shuttle Remote Manipulator System. The SVO controller demonstrated significant improvement over the present arm performance: (1) Damping level was improved by a factor of 3; and (2) Peak joint torque was reduced by a factor of 2 following Shuttle thruster firings.

Scott, Michael A.↗

STS-109 Flight Day 8 Highlights

Footage of the eighth day of STS-109 is shown during which Mission Specialists John Grunsfeld and Rick Linnehan service the Hubble Space Telescope (HST). A broad overview of the Columbia Orbiter mission is presented. On the fifth extravehicular activity (EVA) of the mission, Grunsfeld and Linnehan installed a new cryogenic cooling system and radiator on HST for NICMOS (Near Infrared Camera and Multi-Object Spectrometer) which had not been previously operational due to the failure of an earlier cooling system. Linnehan and Grunsfeld are both shown on the end of the Orbiter's robot arm, the Remote Manipulator System, which was controlled by Commander Scott Altman. Following the completion of their spacewalks, the two Mission Specialists make statements which include thanking the numerous support personnel. Linnehan answers questions on the differences between training simulation at facilities such as the Neutral Buoyancy Lab (NBL) and his actual experiences in space.

Source record↗

Stabilization of posture by precision touch of the index finger with rigid and flexible filaments

Light touch of the index finger with a stationary surface at non-mechanically supportive force levels (<100 g) greatly attenuates the body sway of standing subjects. In three experiments, we evaluated the properties of finger contact and of the contacted object necessary to produce postural stabilization in subjects standing heel-to-toe with eyes closed, as well as how accurately hand position can be controlled. Experiment 1 involved finger contact with flexible filaments of different bending strengths, a flat surface, and an imagined spatial position. Contact with the flat surface was most effective in attenuating sway; the flexible filaments were much less effective but still significantly better than imagined contact. Experiment 2 compared the effectiveness of finger contact with a flexible filament, a rigid filament of the same diameter, a flat surface, and an imagined spatial position. The rigid filament and flat surface conditions were equally effective in attenuating body sway and were greatly superior to contact with the flexible filament, which was superior to imagined contact. Experiment 3 included five conditions: arms by sides; finger "contact" with an imagined spatial position; finger contact with a flat surface; finger contact with a flexible filament attempting to maintain it bent; and contact with the flexible filament attempting not to bend it. The arms by sides and finger "contact" with an imagined position conditions did not differ significantly; all three conditions involving actual finger contact showed significantly less center of pressure and hand sway, but contact with the flat surface was most effective in attenuating both postural and hand displacement. In all three experiments, the level of force applied in fingertip contact conditions was far below that necessary to provide mechanical stabilization. Our findings indicate that: (1) stimulation of a small number of receptors in the fingertip is adequate to allow stabilization of sway, (2) fingertip force levels as low as 5-10 g provide some stabilization, (3) contact with a stationary spatial referent is most effective, and (4) independent control of arm and torso occurs when finger contact is allowed.

NASA Discipline Neuroscience↗

Simulation of the assembly dynamics and control of Space Station Freedom

A large-angle, flexible, multi-body, dynamic modelling capability has been developed to help validate numerical simulations of the dynamic motion and control forces which occur during berthing of Space Station Freedom to the Shuttle Orbiter in the early assembly flights. This paper outlines the dynamics and control of the Station, the attached Shuttle Remote Manipulator System, and the Orbiter. The simulation tool developed for the analysis is described and the results of two simulations are presented. The first is a simulated maneuver from a gravity-gradient attitude to a torque equilibrium attitude using the Station reaction control jets. The second simulation is the berthing of the Station to the Orbiter with the Station control moment gyros actively maintaining an estimated torque equilibrium attitude. The influence of the elastic dynamic behavior of the Station and of the Remote Manipulator System on the attitude control of the Station/Orbiter system during each maneuver was investigated. The flexibility of the Station and the arm were found to have only a minor influence on the attitude control of the system during the maneuvers.

Cooper, Paul A.↗

Modelling and simulation of Space Station Freedom berthing dynamics and control

A large-angle, flexible, multibody, dynamic modeling capability has been developed to help validate numerical simulations of the dynamic motion and control forces which occur during berthing of Space Station Freedom to the Shuttle Orbiter in the early assembly flights. This paper outlines the dynamics and control of the station, the attached Shuttle Remote Manipulator System, and the orbiter. The simulation tool developed for the analysis is described and the results of two simulations are presented. The first is a simulated maneuver from a gravity-gradient attitude to a torque equilibrium attitude using the station reaction control jets. The second simulation is the berthing of the station to the orbiter with the station control moment gyros actively maintaining an estimated torque equilibrium attitude. The influence of the elastic dynamic behavior of the station and of the Remote Manipulator System on the attitude control of the station/orbiter system during each maneuver was investigated. The flexibility of the station and the arm were found to have only a minor influence on the attitude control of the system during the maneuvers.

Cooper, Paul A.↗

Method and Apparatus for Coupling Space Vehicles

A first space vehicle is attached with a second space vehicle which includes a rocket propulsion nozzle having a combustion chamber upstream from the nozzle throat. Apparatus 10 includes an elongate grappling arm 12 extending from the first space vehicle, a pair of inflatable bladders 16, 18 positioned about the grappling arm for engaging an inner surface of the combustion chamber upon inflation. and a pair of rear bladders 20, 22 positioned about the grappling arm for engaging an inner surface of the nozzle downstream from the combustion chamber upon inflation for aligning the grappling arm and the rocket propulsion nozzle. A pressurized fluid source 24 is provided on the first space vehicle for supplying fluid pressure to the inflatable bladders. and a fluid control valve manifold 30 selectively controls the release of pressurized fluid to the bladders. According to the method of the invention. the grappling arm is inserted into the rocket propulsion nozzle. and the control valves are actuated to first inflate the front bladders and thereby interconnect the grappling arm and the rocket propulsion nozzle. The rear bladders are subsequently inflated to align a central axis of the grappling arm with a central axis of the rocket propulsion nozzle. Inflation of the rear bladders provides an axial reaction load to balance the axial load provided by the front bladders. Attaching the vehicles in space may be controlled from the earth by activating the control valves to inflate the bladders. The cost of attaching space vehicles is significantly reduced by attaching a grappling arm on one vehicle with the existing rocket propulsion nozzle of another vehicle.

Schneider, William C.↗

NASA Tech Briefs, September 2012

Topics covered include: Beat-to-Beat Blood Pressure Monitor; Measurement Techniques for Clock Jitter; Lightweight, Miniature Inertial Measurement System; Optical Density Analysis of X-Rays Utilizing Calibration Tooling to Estimate Thickness of Parts; Fuel Cell/Electrochemical Cell Voltage Monitor; Anomaly Detection Techniques with Real Test Data from a Spinning Turbine Engine-Like Rotor; Measuring Air Leaks into the Vacuum Space of Large Liquid Hydrogen Tanks; Antenna Calibration and Measurement Equipment; Glass Solder Approach for Robust, Low-Loss, Fiber-to-Waveguide Coupling; Lightweight Metal Matrix Composite Segmented for Manufacturing High-Precision Mirrors; Plasma Treatment to Remove Carbon from Indium UV Filters; Telerobotics Workstation (TRWS) for Deep Space Habitats; Single-Pole Double-Throw MMIC Switches for a Microwave Radiometer; On Shaft Data Acquisition System (OSDAS); ASIC Readout Circuit Architecture for Large Geiger Photodiode Arrays; Flexible Architecture for FPGAs in Embedded Systems; Polyurea-Based Aerogel Monoliths and Composites; Resin-Impregnated Carbon Ablator: A New Ablative Material for Hyperbolic Entry Speeds; Self-Cleaning Particulate Prefilter Media; Modular, Rapid Propellant Loading System/Cryogenic Testbed; Compact, Low-Force, Low-Noise Linear Actuator; Loop Heat Pipe with Thermal Control Valve as a Variable Thermal Link; Process for Measuring Over-Center Distances; Hands-Free Transcranial Color Doppler Probe; Improving Balance Function Using Low Levels of Electrical Stimulation of the Balance Organs; Developing Physiologic Models for Emergency Medical Procedures Under Microgravity; PMA-Linked Fluorescence for Rapid Detection of Viable Bacterial Endospores; Portable Intravenous Fluid Production Device for Ground Use; Adaptation of a Filter Assembly to Assess Microbial Bioburden of Pressurant Within a Propulsion System; Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators; Whispering Gallery Mode Optomechanical Resonator; Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles; Self-Sealing Wet Chemistry Cell for Field Analysis; General MACOS Interface for Modeling and Analysis for Controlled Optical Systems; Mars Technology Rover with Arm-Mounted Percussive Coring Tool, Microimager, and Sample-Handling Encapsulation Containerization Subsystem; Fault-Tolerant, Real-Time, Multi-Core Computer System; Water Detection Based on Object Reflections; SATPLOT for Analysis of SECCHI Heliospheric Imager Data; Plug-in Plan Tool v3.0.3.1; Frequency Correction for MIRO Chirp Transformation Spectroscopy Spectrum; Nonlinear Estimation Approach to Real-Time Georegistration from Aerial Images; Optimal Force Control of Vibro-Impact Systems for Autonomous Drilling Applications; Low-Cost Telemetry System for Small/Micro Satellites; Operator Interface and Control Software for the Reconfigurable Surface System Tri-ATHLETE; and Algorithms for Determining Physical Responses of Structures Under Load.

Source record↗