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At least 163 records · Page 9

Development of a Countermeasure to Mitigate Postflight Locomotor Dysfunction

Astronauts returning from space flight experience locomotor dysfunction following their return to Earth. Our laboratory is currently developing a gait adaptability training program that is designed to facilitate recovery of locomotor function following a return to a gravitational environment. The training program exploits the ability of the sensorimotor system to generalize from exposure to multiple adaptive challenges during training so that the gait control system essentially learns to learn and therefore can reorganize more rapidly when faced with a novel adaptive challenge. Evidence for the potential efficacy of an adaptive generalization gait training program can be obtained from numerous studies in the motor learning literature which have demonstrated that systematically varying the conditions of training enhances the ability of the performer to learn and retain a novel motor task. These variable practice training approaches have been used in applied contexts to improve motor skills required in a number of different sports. The central nervous system (CNS) can produce voluntary movement in an almost infinite number of ways. For example, locomotion can be achieved with many different combinations of joint angles, muscle activation patterns and forces. The CNS can exploit these degrees of freedom to enhance motor response adaptability during periods of adaptive flux like that encountered during a change in gravitational environment. Ultimately, the functional goal of an adaptive generalization countermeasure is not necessarily to immediately return movement patterns back to normal. Rather the training regimen should facilitate the reorganization of available sensory and motor subsystems to achieve safe and effective locomotion as soon as possible after long duration space flight. Indeed, this approach has been proposed as a basic feature underlying effective neurological rehabilitation. We have previously confirmed that subjects participating in an adaptive generalization training program using a variety of visuomotor distortions and throwing as the dependent measure can learn to enhance their ability to adapt to a novel sensorimotor environment (Roller et al., 2001). Importantly, this increased adaptability was retained even one month after completion of the training period. Adaptive generalization has been observed in a variety of other tasks requiring sensorimotor transformations including manual control tasks and reaching (Bock et al., 2001, Seidler, 2003) and obstacle avoidance during walking (Lam and Dietz, 2004). Taken together, the evidence suggests that a training regimen exposing crewmembers to variation in locomotor conditions, with repeated transitions among states, may enhance their ability to learn how to reassemble appropriate locomotor patterns upon return from microgravity. We believe exposure to this type of training will extend crewmembers locomotor behavioral repertoires, facilitating the return of functional mobility after long duration space flight. In other words, our proposed training protocol will compel subjects to develop new behavioral solutions under varying sensorimotor demands. Over time subjects will learn to create appropriate locomotor solution more rapidly enabling acquisition of mobility sooner after long-duration space flight. A gait adaptability training program can be superimposed on nominal treadmill exercise activities thus ensuring that no additional crew time is required to perform this type of training regimen and that it can be implemented with current in-flight exercise systems available on the International Space Station.

Bloomberg, J. J.↗

Restoration and Reexamination of Apollo Lunar Dust Detector Data from Original Telemetry Files

We are recovering the original telemetry (Figure I) from the Apollo Dust, Thermal, Radiation Environment Monitor (DTREM) experiment, more commonly known as the Dust Detector, and producing full time resolution (54 second) data sets for release through the Planetary Data System (PDS). The primary objective of the experiment was to evaluate the effect of dust deposition, temperature, and radiation damage on solar cells on the lunar surface. The monitor was a small box consisting of three solar cells and thermistors mounted on the ALSEP (Apollo Lunar Surface Experiments Package) central station. The Dust Detector was carried on Apollo's 11, 12, 14 and 15. The Apollo 11 DTREM was powered by solar cells and only operated for a few months as planned. The Apollo 12, 14, and 15 detectors operated for 5 to 7 years, returning data every 54 seconds, consisting of voltage outputs from the three solar cells and temperatures measured by the three thermistors. The telemetry was received at ground stations and held on the Apollo Housekeeping (known as "Word 33") tapes. made available to the National Space Science Data Center (NSSDC) by Yosio Nakamura (University of Texas Institute for Geophysics). We have converted selected parts of the telemetry into uncalibrated and calibrated output voltages and temperatures.

McBride, M. J.↗

Crater clusters and light mantle at the Apollo 17 site - A result of secondary impact from Tycho

The morphologies of Tycho secondary craters and their ejecta deposits were studied using full-moon, Lunar-Orbiter, and Apollo panoramic photographs. These data were compared with similar data for the secondary craters and light mantle of the Apollo 17 landing site. The results indicate that (1) the central crater cluster and the light mantle can be attributed to Tycho, (2) the dominant mechanism for emplacement of the light mantle was impact by secondary craters that threw material across the valley floor, and (3) level sheets of material may be emplaced locally by secondary impact. Analysis of returned samples confirms that secondary impacts rework mostly local material.

Lucchitta, B. K.↗

Space Radiation Cancer Risk Projections for Exploration Missions: Uncertainty Reduction and Mitigation

In this paper we discuss expected lifetime excess cancer risks for astronauts returning from exploration class missions. For the first time we make a quantitative assessment of uncertainties in cancer risk projections for space radiation exposures. Late effects from the high charge and energy (HZE) ions present in the galactic cosmic rays including cancer and the poorly understood risks to the central nervous system constitute the major risks. Methods used to project risk in low Earth orbit are seen as highly uncertain for projecting risks on exploration missions because of the limited radiobiology data available for estimating HZE ion risks. Cancer risk projections are described as a product of many biological and physical factors, each of which has a differential range of uncertainty due to lack of data and knowledge. Monte-Carlo sampling from subjective error distributions represents the lack of knowledge in each factor to quantify risk projection overall uncertainty. Cancer risk analysis is applied to several exploration mission scenarios. At solar minimum, the number of days in space where career risk of less than the limiting 3% excess cancer mortality can be assured at a 95% confidence level is found to be only of the order of 100 days.

Cucinotta, Francis↗

Neuro-Vestibular Examination During and Following Spaceflight (Vestibular Health)

BACKGROUND Adaptation to microgravity during spaceflight causes neurological disturbances that are either directly or indirectly mediated by the vestibular system. These disturbances could include space motion sickness, spatial disorientation, and cognitive impairment, as well as changes in head-eye coordination, vestibulo-ocular reflexes, and control of posture and locomotion. Otolith-mediated reflex gains appear to adapt rapidly during spaceflight and after landing. However, animal studies have shown that structural modifications of the vestibular sensory apparatus develop during long-duration spaceflight. To date, no studies have characterized the severity of vestibular syndromes experienced by astronauts as a function of the duration of spaceflight or whether the effects are caused by changes at the peripheral end organs, midbrain, cerebellum, or vestibular cortex. OBJECTIVES We will investigate temporal vestibular changes in crewmembers of short, 6-month, and one-year missions to identify trends in adaptation of vestibular health and performance in orbit and after landing. We will also determine whether the vestibular organs and/or the central vestibular system undergo structural changes during long-duration exposure to microgravity, which could cause vestibular disorders when transitioning to a different gravitational environment. METHODS Recordings of eye, head, and body movements, as well as subjective reports of perception of motion, will be used to determine the presence of abnormal eye movements, dysmetria, motion sickness symptoms, and illusions of motion during head or body movements. This includes characterization of temporal trends in central compensation for vestibular (otolith) asymmetry. Pre-flight data will be collected 90 days before the flight. In-flight tests will be performed early in the mission and once every one or two months thereafter. Post-flight examinations will be performed on the following days after return (R) from the mission: R+0, R+4, R+9, and R+30. Ground-based control tests will be performed on healthy volunteers in the laboratory to estimate mean normative responses. CONTROL RESULTS Thirty-two healthy (non-astronaut) control subjects performed the same ground test procedures as planned for crewmembers. In addition to establishing a normative database, these data were used to calculate vestibular asymmetries from perceptual reports during unilateral centrifugation, oculomotor responses during visual-alignment tasks, vestibulo-ocular reflex gain during head-impulse tests, and body rotation during stepping tests. A significant correlation was observed between asymmetries of subjective visual vertical and verbal report during unilateral centrifugation. Another significant correlation was observed between the asymmetries of ocular alignment, vestibulo-ocular reflex gain, and body rotation. These findings in a healthy cohort may help us better understand changes in vestibular asymmetries in crewmembers during and following spaceflight. RELEVANCE If the observed symptoms in crewmembers are more deleterious after the year-long missions than those documented after 6-month missions, then relevant countermeasures will be required to maintain the health and operational performance of astronauts during longer missions. Depending on the etiology of the vestibular syndrome revealed by these tests, countermeasures will be proposed based on vestibular rehabilitation therapies currently used in patients with vestibular disorders, such as habituation, gaze stabilization, and/or balance training exercises. ACKNOWLEDGEMENT This work is supported by the NASA’s Human Research Program Human Health Countermeasures Element.

T R Macaulay↗

Verification results for the Spectral Ocean Wave Model (SOWM) by means of significant wave height measurements made by the GEOS-3 spacecraft

Significant wave heights estimated from the shape of the return pulse wave form of the altimeter on GEOS-3 for forty-four orbit segments obtained during 1975 and 1976 are compared with the significant wave heights specified by the spectral ocean wave model (SOWM), which is the presently operational numerical wave forecasting model at the Fleet Numerical Weather Central. Except for a number of orbit segments with poor agreement and larger errors, the SOWM specifications tended to be biased from 0.5 to 1.0 meters too low and to have RMS errors of 1.0 to 1.4 meters. The much fewer larger errors can be attributed to poor wind data for some parts of the Northern Hemisphere oceans. The bias can be attributed to the somewhat too light winds used to generate the waves in the model. Other sources of error are identified in the equatorial and trade wind areas.

Pierson, W. J.↗

Overview of the Mars Pathfinder mission and assessment of landing site predictions

Chemical analyses returned by Mars Pathfinder indicate that some rocks may be high in silica, implying differentiated parent materials. Rounded pebbles and cobbles and a possible conglomerate suggest fluvial processes that imply liquid water in equilibrium with the atmosphere and thus a warmer and wetter past. The moment of inertia indicates a central metallic core of 1300 to 2000 kilometers in radius. Composite airborne dust particles appear magnetized by freeze-dried maghemite stain or cement that may have been leached from crustal materials by an active hydrologic cycle. Remote-sensing data at a scale of generally greater than approximately 1 kilometer and an Earth analog correctly predicted a rocky plain safe for landing and roving with a variety of rocks deposited by catastrophic floods that are relatively dust-free.

unmanned↗

Understanding How Astronauts Adapt to Space and to Earth: Anatomical Studies of Central Vestibular Adaptation

Significant changes take place in the nervous systems of astronauts during and following exposure to microgravity. These changes, particularly in the part of the brain that controls balance, the vestibular system, can cause sensations of rotation, dizziness, and vertigo, as well as space adaptation syndrome. Adaptation to the microgravity environment usually occurs within one week, and a subsequent re-adaptation period of several days is often required upon return to Earth. In order to realize long-term spaceflight, effective countermeasures for these symptoms must be developed. The structural changes that take place in one of the vestibular regions of the brain (the cerebellar cortex) during the process of adaptation to Earth's gravity remain unclear and are the subject of an experiment being conducted on STS-107 by Dr. Gay Holstein of the Mount Sinai School of Medicine in New York. Using the rat as a model, Dr. Holstein and her team will seek to identify the cellular changes underlying the vestibular changes experienced by astronauts.

Holstein, Gay↗

Multisensor analysis of hydrologic features in the Wind River Range, Wyoming with emphasis on the SEASAT SAR

The author has identified the following significant results. Analysis of imagery obtained over west-central Wyoming indicates that Seasat SAR has capability for hydrologic mapping. Both the L-Band (Seasat) and the X-Band (aircraft) SAR imagery were useful for observing drainage detail. Streams have bright signatures on the SAR imagery because the riparian vegetation produces a rough surface and thus high radar returns. Lakes appear relatively bright on the Seasat image presumably in response to surface ripples and waves induced by wind action. SAR imagery did not reveal snow at either the 23.5 cm (L-Band) or 2.8 cm (X-Band) wavelengths. Comparing Seasat and X-Band aircraft SAR imagery to LANDSAT RBV imagery, U-2 photography, and topographic maps of the Wind River Range, it appears that the SAR data do not seem to provide as much hydrologic information as do the other sensors in the visible and near infrared portions of the spectrum.

Foster, J. L.↗

Further probing of the X-ray source in NGC 4151 - New constraints on the nuclear geometry

We report on the results of new Ginga observations of the archetypal Seyfert galaxy, NGC 4151, performed over an 18-month period between early 1990 and mid-1991. The present program complements earlier extensive monitoring of this source in the medium-energy X-ray band by both EXOSAT and Ginga to give a combined data set of some 36 separate observations made over a period of 8 years. The new observations bring to light a remarkable transient change in the low-energy extinction and soft X-ray excess apparent in the X-ray spectrum of NGC 4151. The spectrum became systematically softer below about 4 keV from mid-1988, with the spectral softness peaking in mid-1990 and then reverting to its former state by late 1990. Interpreting this in terms of the partial covering model, the covered fraction of the source, which normally takes a value of 80-90 percent, underwent a sharp decline to about 20 percent over a 2-year period and then returned to the canonical level over the following six months. This observation favors the presence of a normally stable 'bulk' structure such as an edge-on accretion disk. A transitory change of azimuthal structure in the disk could then account for the apparent dip in the covered fraction. If the central X-ray source radiates isotropically then the medium producing the bulk of the iron-line emission must deviate from a spherically symmetric distribution.

Yaqoob, T.↗

Terrain profiling from Seasat altimetry

To determine their applicability for terrain profiling, Seasat altimeter measurements were analyzed for the following geographic areas: (1) Andean salars of southern Bolivia; (2) Alaska; (3) south-central Arizona; (4) imperial Valley of California; (5) Yuma Valley of Arizona; and (6) Great Salt Lake Desert. Analysis of the data over all of these geographic areas shows that the satellite altimeter servo did not respond quickly enough to changing terrain features. However, it is demonstrated that retracking of the archived surface return waveforms yields surface elevations over smooth terrain accurate to + or - 1 m when correlated with large scale maps. The retracking algorithm used and its verification over the salars of southern Bolivia are described. Results are presented for each of the six geographic areas.

Brooks, R. L.↗

Neuro-Vestibular Examination During and Following Spaceflight (Vestibular Health)

BACKGROUND Adaptation to microgravity during spaceflight causes neurological disturbances that are either directly or indirectly mediated by the vestibular system. These disturbances can include space motion sickness, spatial disorientation, and cognitive impairment, as well as changes in head-eye coordination, vestibulo-ocular reflexes, and control of posture and locomotion. Otolith-mediated reflex gains appear to adapt rapidly during spaceflight and after landing. However, animal studies have shown that structural modifications of the vestibular sensory apparatus develop during long-duration spaceflight. To date, no studies have characterized the severity of vestibular syndromes experienced by astronauts as a function of the duration of spaceflight or whether the effects are caused by changes at the peripheral end organs, midbrain, cerebellum, or vestibular cortex. OBJECTIVES We will investigate temporal vestibular changes in crewmembers of short, 6-month, and one-year missions to identify trends in adaptation of vestibular health and performance in orbit and after landing. We will also determine whether the vestibular organs and/or the central vestibular system undergo structural changes during long-duration exposure to microgravity, which could cause vestibular disorders when transitioning to a different gravitational environment. METHODS Recordings of eye, head, and body movements, as well as subjective reports of perception of motion, will be used to determine the presence of abnormal eye movements, dysmetria, motion sickness symptoms, and illusions of motion during head or body movements. This includes characterization of temporal trends in central compensation for vestibular (otolith) asymmetry. Pre-flight data will be collected 90 days before launch. In-flight examinations will be performed early in the mission (Flight Days 1 and 30) and once every two or three months thereafter. Post-flight examinations will be performed on the following days after return (R) from the mission: R+0, R+4, R+9, and R+30. Ground-based control tests have been performed on healthy volunteers in the laboratory to estimate mean normative responses. RESULTS Data collection for this study is ongoing. Data processing techniques are being refined. Our eye tracking method for measuring three-dimensional eye movement takes advantage of modern computer vision software (OpenCV) and advances in the field of iris recognition to improve measurement of ocular-counterolling. RELEVANCE If the observed symptoms in crewmembers are more deleterious after the year-long missions than those documented after 6-month missions, then relevant countermeasures will be required to maintain the health and operational performance of astronauts during longer missions. Depending on the etiology of the vestibular syndrome revealed by these tests, countermeasures will be proposed based on vestibular rehabilitation therapies currently used in patients with vestibular disorders, such as habituation, gaze stabilization, and/or balance training exercises.

T R Macaulay↗

An Observation-Driven Framework for Modeling Post-Fire Hydrologic Response: Evaluation for Two Central California Case Studies

In a warming climate, wildfires are becoming increasingly common, especially in semi-arid environments. Wildfires can disrupt forest ecosystems and induce changes to the land surface. Collectively, these impacts can alter the hydrologic response of a catchment following a fire, resulting in increased potential for surface runoff, reduced evapotranspiration, and, ultimately, a higher risk for flash flooding and mass wasting. The timescale of post-fire recovery of hydrological processes to return to pre-fire conditions is not well established due to the lack of ground measurements. Accurate characterization of the impacts of fire on hydrologic response is also challenging to simulate, given the complex interplay of various processes. Here, we present a generalized framework to quantify the impacts of wildfire on runoff generation. We consider the disturbances in the vegetation and soil as the two main factors contributing to post-fire floods. Using an ensemble modeling structure to account for parameter uncertainty, remotely sensed leaf area index (LAI) is assimilated into a land surface model (LSM) to simulate vegetation disturbance, and the maximum land surface saturation LSM parameter is decreased to parameterize the soil disturbance following observed fires. We consider the impacts of fire-induced changes to LAI and soil saturation on hydrologic states like runoff and evapotranspiration for two case studies. These case studies demonstrate the general applicability of hydrophobicity formulation to serve as a guideline for exploring the range of hydrologic responses post-fire.

Fire Hydrology↗

Effects of Bed Rest on Conduction Velocity of the Triceps Surae Stretch Reflex and Postural Control

Despite rigorous exercise and nutritional management during space missions, astronauts returning from microgravity exhibit neuromuscular deficits and a significant loss in muscle mass in the postural muscles of the lower leg. Similar changes in the postural muscles occur in subjects participating in long-duration bed rest studies. These adaptive muscle changes manifest as a reduction in reflex conduction velocity during head-down bed rest. Because the stretch reflex encompasses both the peripheral (muscle spindle and nerve axon) and central (spinal synapse) components involved in adaptation to calf muscle unloading, it may be used to provide feedback on the general condition of neuromuscular function, and might be used to evaluate the effectiveness of countermeasures aimed at preserving muscle mass and function during periods of unloading. Stretch reflexes were measured on 18 control subjects who spent 60 to 90 days in continuous 6 deg head-down bed rest. Using a motorized system capable of rotating the foot around the ankle joint (dorsiflexion) through an angle of 10 degrees at a peak velocity of about 250 deg/sec, a stretch reflex was recorded from the subject's left triceps surae muscle group. Using surface electromyography, about 300 reflex responses were obtained and ensemble-averaged on 3 separate days before bed rest, 3 to 4 times in bed, and 3 times after bed rest. The averaged responses for each test day were examined for reflex latency and conduction velocity (CV) across gender. Computerized posturography was also conducted on these same subjects before and after bed rest as part of the standard measures. Peak-to-peak sway was measured during Sensory Organization Tests (SOTs) to evaluate changes in the ability to effectively use or suppress visual, vestibular, and proprioceptive information for postural control. Although no gender differences were found, a significant increase in reflex latency and a significant decrease in CV were observed during the bed rest period, with a return to baseline 3 to 5 days after bed rest, depending on the duration of bed rest. In addition, a relationship between CV and loss of muscle strength in the lower leg was observed post bed rest for most subjects. Immediately post-bed rest, most subjects showed decreased performance on SOTs, with the greater decrements on sway-referenced support and head movement conditions. Post-bed rest decrements were less than typically observed following spaceflight. Decrements in postural control and the stretch reflex can be primarily attributed to the unloading mechanisms this ground-based analog provides. The stretch reflex is a concise test measurement that can be obtained during the head-down phase of bed rest, as it does not interfere with the bed rest paradigm. This makes it an ideal tool that can detect, early on, whether a countermeasure is successful in preserving muscle function.

Reschke, M. F.↗

Is there resetting of central venous pressure in microgravity?

In the early phase of the Space Shuttle program, NASA flight surgeons implemented a fluid-loading countermeasure in which astronauts were instructed to ingest eight 1-g salt tablets with 960 ml of water approximately 2 hours prior to reentry from space. This fluid loading regimen was intended to enhance orthostatic tolerance by replacing circulating plasma volume reduced during the space mission. Unfortunately, fluid loading failed to replace plasma volume in groundbased experiments and has proven minimally effective as a countermeasure against post-spaceflight orthostatic intolerance. In addition to the reduction of plasma volume, central venous pressure (CVP) is reduced during exposure to actual and groundbased analogs of microgravity. In the present study, we hypothesized that the reduction in CVP due to exposure to microgravity represents a resetting of the CVP operating point to a lower threshold. A lower CVP 'setpoint' might explain the failure of fluid loading to restore plasma volume. In order to test this hypothesis, we conducted an investigation in which we administered an acute volume load (stimulus) and measured responses in CVP, plasma volume and renal functions. If our hypothesis is true, we would expect the elevation in CVP induced by saline infusion to return to its pre-infusion levels in both HDT and upright control conditions despite lower vascular volume during HDT. In contrast to previous experiments, our approach is novel in that it provides information on alterations in CVP and vascular volume during HDT that are necessary for interpretation of the proposed CVP operating point resetting hypothesis.

NASA Discipline Cardiopulmonary↗

Human Ocular Counter-Rolling and Roll Tilt Perception during Off-Vertical Axis Rotation after Spaceflight

Ocular counter-rolling (OCR) induced by whole body tilt in roll has been explored after spaceflight as an indicator of the adaptation of the otolith function to microgravity. It has been claimed that the overall pattern of OCR responses during static body tilt after spaceflight is indicative of a decreased role of the otolith function, but the results of these studies have not been consistent, mostly due to large variations in the OCR within and across individuals. By contrast with static head tilt, off-vertical axis rotation (OVAR) presents the advantage of generating a sinusoidal modulation of OCR, allowing averaged measurements over several cycles, thus improving measurement accuracy. Accordingly, OCR and the sense of roll tilt were evaluated in seven astronauts before and after spaceflight during OVAR at 45 /s in darkness at two angles of tilt (10 and 20 ). There was no significant difference in OCR during OVAR immediately after landing compared to preflight. However, the amplitude of the perceived roll tilt during OVAR was significantly larger immediately postflight, and then returned to control values in the following days. Since the OCR response is predominantly attributed to the shearing force exerted on the utricular macula, the absence of change in OCR postflight suggests that the peripheral otolith organs function normally after short-term spaceflight. However, the increased sense of roll tilt indicates an adaptation in the central processing of gravitational input, presumably related to a re-weigthing of the internal representation of gravitational vertical as a result of adaptation to microgravity.

Clement, Gilles↗

Validation of Procedures for Monitoring Crewmember Immune Function

There is ample evidence to suggest that space flight leads to immune system dysregulation, however the nature of the phenomenon as it equilibrates over longer flights has not been determined. This dysregulation may be a result of microgravity, confinement, physiological stress, radiation, environment or other mission-associated factors. The clinical risk (if any) for exploration-class space flight is unknown, but may include increased incidence of infection, allergy, hypersensitivity, hematological malignancy or altered wound healing. The objective of this Supplemental Medical Objective (SMO) is to determine the status of the immune system, physiological stress and latent viral reactivation (a clinical outcome that can be measured) during both short and long-duration spaceflight. In addition, this study will develop and validate an immune monitoring strategy consistent with operational flight requirements and constraints. Pre-mission, in-flight and post-flight blood and saliva samples will be obtained from participating crewmembers. Assays included peripheral immunophenotype, T cell function, cytokine profiles (RNA, intracellular, secreted), viral-specific immunity, latent viral reactivation (EBV, CMV, VZV), and stress hormone measurements. This study is currently ongoing. To date, 10 short duration and 5 long-duration crewmembers have completed the study. Technically, the study is progressing well. In-flight blood samples are being collected, and returned for analysis, including functional assays that require live cells. For all in-flight samples to date, sample viability has been acceptable. Preliminary data (n = 4/7; long/short duration, respectively) indicate that distribution of most peripheral leukocyte subsets is largely unaltered during flight. Exceptions include elevated T cells, reduced B/NK cells, increased memory T cells and increased central memory CD8+ T cells. General T cell function, early blastogenesis response to mitogenic stimulation, is markedly reduced in-flight. In-vivo cytokine production profiles are altered, with in-flight dysregulation observed in the Th1/Th2/Treg equilibrium. EBV specific T cell levels are increased during flight, whereas their function is reduced. VZV reactivation was observed inflight and several days post flight with highest levels measured later during long-duration flight. The shedding of CMV in the urine was detected of 4/5 long duration and 4/7 short duration crewmembers. Plasma cortisol was not elevated during flight. Further data will be required to validate the initial observations.

Crucian, Brian↗

Search and Rescue under the Forest Canopy using Multiple UAS

We consider the problem of multi-robot search and rescue under the forest canopy. Forest is a particularly challenging environment for collaborative mapping and exploration, mainly due to the existence of severe perceptual aliasing, which hinders reliable mutual localization and map fusion. Our proposed system features unmanned aerial vehicles (UAVs) with onboard sensing and autonomy. Each UAV runs a lightweight filtering algorithm for local state estimation, and a dynamic-aware frontier selection algorithm for fast exploration. The essential and computationally intensive task of collaborative simultaneous localization and mapping (CSLAM) is performed at a central ground station. To handle perceptual aliasing, we make use of stable landmarks extracted from trees, which significantly improve precision and recall during place recognition. Furthermore, to recover from incorrect pairwise data associations during loop closure, we propose a novel procedure for global data association based on recently developed techniques on cycle consistent multiway matching. Our algorithm returns a global data association that is guaranteed to be cycle consistent, and is shown to significantly improve precision compared to the input pairwise associations. The overall multi-UAV system is extensively validated during real-world collaborative exploration missions in a forest at NASA Langley Research Center.

Multi-robot systems↗