Interactions of anesthetics with the membrane-water interface

Although the potency of conventional anesthetics correlates with lipophilicity, an affinity to water also is essential. It was recently found that compounds with very low affinities to water do not produce anesthesia regardless of their lipophilicity. This finding implies that clinical anesthesia might arise because of interactions at molecular sites near the interface of neuronal membranes with the aqueous environment and, therefore, might require increased concentrations of anesthetic molecules at membrane interfaces. As an initial test of this hypothesis, we calculated in molecular dynamics simulations the free energy profiles for the transfer of anesthetic 1,1,2-trifluoroethane and nonanesthetic perfluoroethane across water-membrane and water-hexane interfaces. Consistent with the hypothesis, it was found that trifluoroethane, but not perfluoroethane, exhibits a free energy minimum and, therefore, increased concentrations at both interfaces. The transfer of trifluoroethane from water to the nonpolar hexane or interior of the membrane is accompanied by a considerable, solvent-induced shift in the conformational equilibrium around the C-C bond.

Excess chemical potential of small solutes across water--membrane and water--hexane interfaces

The excess chemical potentials of five small, structurally related solutes, CH4, CH3F, CH2F2, CHF3, and CF4, across the water-glycerol 1-monooleate bilayer and water-hexane interfaces were calculated at 300, 310, and 340 K using the particle insertion method. The excess chemical potentials of nonpolar molecules (CH4 and CF4) decrease monotonically or nearly monotonically from water to a nonpolar phase. In contrast, for molecules that possess permanent dipole moments (CH3F, CH2F, and CHF3), the excess chemical potentials exhibit an interfacial minimum that arises from superposition of two monotonically and oppositely changing contributions: electrostatic and nonelectrostatic. The nonelectrostatic term, dominated by the reversible work of creating a cavity that accommodates the solute, decreases, whereas the electrostatic term increases across the interface from water to the membrane interior. In water, the dependence of this term on the dipole moment is accurately described by second order perturbation theory. To achieve the same accuracy at the interface, third order terms must also be included. In the interfacial region, the molecular structure of the solvent influences both the excess chemical potential and solute orientations. The excess chemical potential across the interface increases with temperature, but this effect is rather small. Our analysis indicates that a broad range of small, moderately polar molecules should be surface active at the water-membrane and water-oil interfaces. The biological and medical significance of this result, especially in relation to the mechanism of anesthetic action, is discussed.

Speed estimates from grating patches are not contrast-normalized

We have previously shown that the perceived speed of a moving grating depends upon its contrast, with lower-contrast patterns appearing to move more slowly than otherwise identical higher-contrast patterns. To explain this finding while remaining consistent with the findings of McKee, Silverman and Nakayama [(1986) Vision Research, 26, 609-619], we proposed that this misperception might arise from a modified version of the contrast-normalization procedure, envisaged by Adelson and Bergen [(1986) The extraction of spatio-temporal energy in human and machine vision (pp. 135-139). Charleston, S.C.: IEEE Computer Society] as a necessary second stage of motion-energy models of human motion processing. Specifically, our previous results might be explained if the two gratings to be compared interfered with each other's normalization. To test this hypothesis we performed two experiments. Experiment 1 demonstrates that the contrast effects persist even when two grating patches to be compared are presented up to 5 sec apart so that they would not be expected to bias each other's normalization. Experiment 2 shows that the contrast effects are unchanged when the two grating patches are surrounded by a range of patterns whose contrast would be expected to interfere with any normalization process. These two results allow the rejection of the contrast-normalized motion-energy hypothesis as an explanation of human speed perception. We discuss the consequences of these results on models of speed processing in the human visual system.

Tolerance of snakes to hypergravity

Sensitivity of carotid blood flow to increased gravitational force acting in the head-to-tail direction(+Gz) was studied in diverse species of snakes hypothesized to show adaptive variation of response. Tolerance to increased gravity was measured red as the maximum graded acceleration force at which carotid blood flow ceased and was shown to vary according to gravitational adaptation of species defined by their ecology and behavior. Multiple regression analysis showed that gravitational habitat, but not body length, had a significant effect on Gz tolerance. At the extremes, carotid blood flow decreased in response to increasing G force and approached zero near +1 Gz in aquatic and ground-dwelling species, whereas in climbing species carotid flow was maintained at forces in excess of +2 Gz. Tolerant (arboreal) species were able to withstand hypergravic forces of +2 to +3 Gz for periods up to 1 h without cessation of carotid blood flow or loss of body movement and tongue flicking. Data suggest that the relatively tight skin characteristic of tolerant species provides a natural antigravity suit and is of prime importance in counteracting Gz stress on blood circulation.

Spatial variation of the 3.29 and 3.40 micron emission bands within reflection nebulae and the photochemical evolution of methylated polycyclic aromatic hydrocarbons

Spectra of 3 micrometers emission features have been obtained at several positions within the reflection nebulae NGC 1333 SVS3 and NGC 2023. Strong variations of the relative intensities of the 3.29 micrometers feature and its most prominent satellite band at 3.40 micrometers are found. It is shown that (i) the 3.40 micrometers band is too intense with respect to the 3.29 micrometers band at certain positions to arise from hot band emission alone, (ii) the 3.40 micrometers band can be reasonably well matched by new laboratory spectra of gas-phase polycyclic aromatic hydrocarbons (PAHs) with alkyl (-CH3) side groups, and (iii) the variations in the 3.40 micrometers to 3.29 micrometers band intensity ratios are consistent with the photochemical erosion of alkylated PAHs. We conclude that the 3.40 micrometers emission feature is attributable to -CH3 side groups on PAH molecules. We predict a value of 0.5 for the peak intensity ratio of the 3.40 and 3.29 micrometers emission bands from free PAHs in the diffuse interstellar medium, which would correspond to a proportion of one methyl group for four peripheral hydrogens. We also compare the 3 micrometers spectrum of the proto-planetary nebula IRAS 05341+0852 with the spectrum of the planetary nebula IRAS 21282+5050. We suggest that a photochemical evolution of the initial aliphatic and aromatic hydrocarbon mixture formed in the outflow is responsible for the changes observed in the 3 micrometers emission spectra of these objects.

Assessment of the polycyclic aromatic hydrocarbon-diffuse interstellar band proposal

The potential link between neutral and/or ionized polycyclic aromatic hydrocarbons (PAHs) and the diffuse interstellar band (DIB) carriers is examined. Based on the study of the general physical and chemical properties of PAHs, an assessment is made of their possible contribution to the DIB carriers. It is found that, under the conditions reigning in the diffuse interstellar medium, PAHs can be present in the form of neutral molecules as well as positive and/or negative ions. The charge distribution of small PAHs is dominated, however, by two charge states at one time with compact PAHs present only in the neutral and cationic forms. Each PAH has a distinct spectral signature depending on its charge state. Moreover, the spectra of ionized PAHs are always clearly dominated by a single band in the DIB spectral range. In the case of compact PAH ions, the strongest absorption band is of type A (i.e., the band is broad, falls in the high-energy range of the spectrum, and possesses a large oscillator strength), and seems to correlate with strong and broad DIBs. For noncompact PAH ions, the strongest absorption band is of type I (i.e., the band is narrow, falls in the low-energy range of the spectrum, and possesses a small oscillator strength), and seems to correlate with weak and narrow DIBs. Potential molecular size and structure constraints for interstellar PAHs are derived by comparing known DIB characteristics to the spectroscopic properties of PAHs. It is found that (i) only neutral PAHs larger than about 30 carbon atoms could, if present, contribute to the DIBs. (ii) For compact PAHs, only ions with less than about 250 carbon atoms could, if present, contribute to the DIBs. (iii) The observed distribution of the DIBs between strong/moderate and broad bands on the one hand and weak and narow bands on the other can easily be interpreted in the context of the PAH proposal by a distribution of compact and noncompact PAH ions, respectively. A plausible correlation between PAH charge states and DIB "families" is thus provided by the PAH-DIB proposal. Following this proposal, DIB families would reflect conditions within a cloud which locally determine the relative importance of cations, anions, and neutral species, rather than tracers of a specific species. Observational predictions are given to establish the viability of the PAH hypothesis. It is concluded that small PAH ions are very promising candidates as DIB carriers provided their population is dominated by a finite number (100-200) of species. A key test for the PAH proposal, consisting of laboratory and astronomical investigations in the ultraviolet range, is called for.

Origins of life: a comparison of theories and application to Mars

The field of study that deals with the origins of life does not have a consensus for a theory of life's origin. An analysis of the range of theories offered shows that they share some common features that may be reliable predictors when considering the possible origins of life on another planet. The fundamental datum dealing with the origins of life is that life appeared early in the history of the Earth, probably before 3.5 Ga and possibly before 3.8 Ga. What might be called the standard theory (the Oparin-Haldane theory) posits the production of organic molecules on the early Earth followed by chemical reactions that produced increased organic complexity leading eventually to organic life capable of reproduction, mutation, and selection using organic material as nutrients. A distinct class of other theories (panspermia theories) suggests that life was carried to Earth from elsewhere--these theories receive some support from recent work on planetary impact processes. Other alternatives to the standard model suggest that life arose as an inorganic (clay) form and/or that the initial energy source was not organic material but chemical energy or sunlight. We find that the entire range of current theories suggests that liquid water is the quintessential environmental criterion for both the origin and sustenance of life. It is therefore of interest that during the time that life appeared on Earth we have evidence for liquid water present on the surface of Mars.

Medical and surgical applications of space biosensor technology

Researchers in space life sciences are rapidly approaching a technology impasse. Many of the critical questions on the impact of spaceflight on living systems simply cannot be answered with the limited available technologies. Research subjects, particularly small animal models like the rat, must be allowed to function relatively untended and unrestrained for long periods to fully reflect the impact of microgravity and spaceflight on their behavior and physiology. These requirements preclude the use of present hard-wired instrumentation techniques and limited data acquisition systems. Implantable sensors and miniaturized biotelemetry are the only means of capturing the fundamental and critical data. This same biosensor and biotelemetry technology has direct application to Earth-based medicine and surgery. Continuous, on-line data acquisition and improved measurement capabilities combined with the ease and flexibility offered by automated, wireless, and portable instruments and data systems, should provide a boon to the health care industry. Playing a key role in this technology revolution is the Sensors 2000! (S2K!) Program at NASA Ames Research Center. S2K!, in collaboration with space life sciences researchers and managers, provides an integrated capability for sensor technology development and applications, including advanced biosensor technology development, spaceflight hardware development, and technology transfer and commercialization. S2K! is presently collaborating on several spaceflight projects with dual-use medical applications. One prime example is a collaboration with the Fetal Treatment Center (FTC) at the University of California at San Francisco. The goal is to develop and apply implantable chemical sensor and biotelemetry technology to continuously monitor fetal patients during extra-uterine surgery, replacement into the womb, through birth and beyond. Once validated for ground use, the method will be transitioned to spaceflight applications to remotely monitor key biochemical parameters in flight animals. Successful application of NASA implantable biosensor and biotelemetry technologies should accelerate the advancement of this and other modern medical procedures while furthering the exploration of life in space.

A matched filter method for ground-based sub-noise detection of terrestrial extrasolar planets in eclipsing binaries: application to CM Draconis

The photometric detection of extrasolar planets by transits in eclipsing binary systems can be significantly improved by cross-correlating the observational light curves with synthetic models of possible planetary transit features, essentially a matched filter approach. We demonstrate the utility and application of this transit detection algorithm for ground-based detections of terrestrial-sized (Earth-to-Neptune radii) extrasolar planets in the dwarf M-star eclipsing binary system CM Draconis. Preliminary photometric observational data of this system demonstrate that the observational noise is well characterized as white and Gaussian at the observational time steps required for precision photometric measurements. Depending on planet formation scenarios, terrestrial-sized planets may form quite close to this low-luminosity system. We demonstrate, for example, that planets as small as 1.4 Earth radii with periods on the order of a few months in the CM Draconis system could be detected at the 99.9% confidence level in less than a year using 1-m class telescopes from the ground. This result contradicts commonly held assumptions limiting present ground-based efforts to, at best, detections of gas giant planets after several years of observation. This method can be readily extended to a number of other larger star systems with the utilization of larger telescopes and longer observing times. Its extension to spacecraft observations should also allow the determination of the presence of terrestrial-sized planets in nearly 100 other known eclipsing binary systems.

Presence of mind: a reaction to Thomas Sheridan's "Further musings on the psychophysics of presence."

An operator's sense of remote presence during teleoperation or use of virtual environment interfaces is analyzed as to what characteristics it should have to qualify it as an explanatory scientific construct. But the implicit goal of designing virtual environment interfaces to maximize presence is itself questioned in a second section in which examples of human-machine interfaces beneficially designed to avoid a strong sense of egocentric presence are cited. In conclusion, it is argued that the design of a teleoperation or virtual environment system should generally focus on the efficient communication of causal interaction. In this view the sense of presence, that is of actually being at the simulated or remote workplace, is an epiphenomena of secondary importance for design.

Lipid biomarkers for bacterial ecosystems: studies of cultured organisms, hydrothermal environments and ancient sediments

This paper forms part of our long-term goal of using molecular structure and carbon isotopic signals preserved as hydrocarbons in ancient sediments to improve understanding of the early evolution of Earth's surface environment. We are particularly concerned with biomarkers which are informative about aerobiosis. Here, we combine bacterial biochemistry with the organic geochemistry of contemporary and ancient hydrothermal ecosystems to construct models for the nature, behaviour and preservation potential of primitive microbial communities. We use a combined molecular and isotopic approach to characterize lipids produced by cultured bacteria and test a variety of culture conditions which affect their biosynthesis. This information is then compared with lipid mixtures isolated from contemporary hot springs and evaluated for the kinds of chemical change that would accompany burial and incorporation into the sedimentary record. In this study we have shown that growth temperature does not appear to alter isotopic fractionation within the lipid classes produced by a methanotropic bacterium. We also found that cultured cyanobacteria biosynthesize diagnostic methylalkanes and dimethylalkanes with the latter only made when growing under low pCO2. In an examination of a microbial mat sample from Octopus Spring, Yellowstone National Park (USA), we could readily identify chemical structures with 13C contents which were diagnostic for the phototrophic organisms such as cyanobacteria and Chloroflexus. We could not, however, find molecular evidence for operation of a methane cycle in the particular mat samples we studied.

Asymmetric structure of five and six membered DNA hairpin loops

The tertiary structure of nucleic acid hairpins was elucidated by means of the accessibility of the single-strand-specific nuclease from mung bean. This molecular probe has proven especially useful in determining details of the structural arrangement of the nucleotides within a loop. In this study 3'-labeling is introduced to complement previously used 5'-labeling in order to assess and to exclude possible artifacts of the method. Both labeling procedures result in mutually consistent cleavage patterns. Therefore, methodological artifacts can be excluded and the potential of the nuclease as structural probe is increased. DNA hairpins with five and six membered loops reveal an asymmetric loop structure with a sharp bend of the phosphate-ribose backbone between the second and third nucleotide on the 3'-side of a loop. These hairpin structures differ from smaller loops with 3 or 4 members, which reveal this type of bend between the first and second 3' nucleotide, and resemble with respect to the asymmetry anticodon loops of tRNA.

The Spacelab-Mir-1 "Greenhouse-2" experiment

The Spacelab-Mir-1 (SLM-1) mission is the first docking of the Space Shuttle Atlantis (STS-71) with the Orbital Station Mir in June 1995. The SLM-1 "Greenhouse-2" experiment will utilize the Russian-Bulgarian-developed plant growth unit (Svet). "Greenhouse-2" will include two plantings (1) designed to test the capability of Svet to grow a crop of Superdwarf wheat from seed to seed, and (2) to provide green plant material for post-flight analysis. Protocols, procedures, and equipment for the experiment have been developed by the US-Russian science team. "Greenhouse-2" will also provide the first orbital test of a new Svet Instrumentation System (SIS) developed by Utah State University to provide near real time data on plant environmental parameters and gas-exchange rates. SIS supplements the Svet control and monitoring system with additional sensors for substrate moisture, air temperature, IR leaf temperature, light, oxygen, pressure, humidity, and carbon-dioxide. SIS provides the capability to monitor canopy transpiration and net assimilation of the plants growing in each vegetation unit (root zone) by enclosing the canopy in separate, retractable, ventilated leaf chambers. Six times during the seed-to-seed experiment, plant samples will be collected, leaf area measured, and plant parts fixed and/or dried for ground analysis. A second planting initiated 30 days before the arrival of a U.S. Shuttle [originally planned to be STS-71] is designed to provide green material at the vegetative development stage for ground analysis. [As this paper is being edited, the experiment has been delayed until after the arrival of STS-71.]

Carbon dioxide exchange of lettuce plants under hypobaric conditions

Growth of plants in a Controlled Ecological Life Support System (CELSS) may involve the use of hypobaric pressures enabling lower mass requirements for atmospheres and possible enhancement of crop productivity. A controlled environment plant growth chamber with hypobaric capability designed and built at Ames Research Center was used to determine if reduced pressures influence the rates of photosynthesis (Ps) and dark respiration (DR) of hydroponically grown lettuce plants. The chamber, referred to as a plant volatiles chamber (PVC), has a growing area of about 0.2 m2, a total gas volume of about 0.7 m3, and a leak rate at 50 kPa of <0.1%/day. When the pressure in the chamber was reduced from ambient to 51 kPa, the rate of net Ps increased by 25% and the rate of DR decreased by 40%. The rate of Ps increased linearly with decreasing pressure. There was a greater effect of reduced pressure at 41 Pa CO2 than at 81 Pa CO2. This is consistent with reports showing greater inhibition of photorespiration (Pr) in reduced O2 at low CO2 concentrations. When the partial pressure of O2 was held constant but the total pressure was varied between 51 and 101 kPa, the rate of CO2 uptake was nearly constant, suggesting that low pressure enhancement of Ps may be mainly attributable to lowered partial pressure of O2 and the accompanying reduction in Pr. The effects of lowered partial pressure of O2 on Ps and DR could result in substantial increases in the rates of biomass production, enabling rapid throughput of crops or allowing flexibility in the use of mass and energy resources for a CELSS.

Refinement of planetary protection policy for Mars missions

Under existing COSPAR policy adopted in 1984, missions to Mars (landers, probes, and some orbiters) are designated as Category IV missions. As such, the procedures for implementing planetary protection requirements could include trajectory biasing, cleanrooms, bioload reduction, sterilization of hardware, and bioshields. In 1992, a U.S. National Research Council study recommended that controls on forward contamination of Mars be tied to specific mission objectives. The report recommended that Mars landers with life detection instruments be subject to at least Viking-level sterilization procedures for bioload reduction, while spacecraft (including orbiters) without life detection instruments be subject to at least Viking-level pre-sterilization procedures for bioload reduction but need not be sterilized. In light of this, it is proposed that the current policy's Category IV and its planetary protection requirements be divided into two sub-categories as follows: Category IVa, for missions comprising landers and probes without life detection experiments, which will meet a specified bioburden limit for exposed surfaces, and Category IVb, for landers and probes with life detection experiments, which will require sterilization of landed systems. In addition, Category III orbiter mission specifications are expanded to be consistent with these recommendations.

Dynamic response of electromagnetic spatial displacement trackers

Overall system latency--the elapsed time from input human motion until the immediate consequences of that input are available in the display--is one of the most frequently cited shortcoming of current virtual environment (VE) technology. Given that spatial displacement trackers are employed to monitor head and hand position and orientation in many VE applications, the dynamic response intrinsic to these devices is an unavoidable contributor to overall system latency. In this paper, we describe a testbed and method for measurement of tracker dynamic response that use a motorized rotary swing arm to sinusoidally displace the VE sensor at a number of frequencies spanning the bandwidth of volitional human movement. During the tests, actual swing arm angle and VE sensor reports are collected and time stamped. By calibrating the time stamping technique, the tracker's internal transduction and processing time are separated from data transfer and host computer software execution latencies. We have used this test-bed to examine several VE sensors--most recently to compare latency, gain, and noise characteristics of two commercially available electromagnetic trackers: Ascension Technology Corp.'s Flock of Birds(TM) and Polhemus Inc.'s Fastrak(TM).

Fossilization processes in siliceous thermal springs: trends in preservation along thermal gradients

To enhance our ability to extract palaeobiological and palaeoenvironmental information from ancient thermal spring deposits, we have studied the processes responsible for the development and preservation of stromatolites in modern subaerial thermal spring systems in Yellowstone National Park (USA). We investigated specimens collected from silica-depositing thermal springs along the thermal gradient using petrographic techniques and scanning electron microscopy. Although it is known that thermophilic cyanobacteria control the morphogenesis of thermal spring stromatolites below 73 degrees C, we have found that biofilms which contain filamentous thermophiles contribute to the microstructural development of subaerial geyserites that occur along the inner rims of thermal spring pools and geyser effluents. Biofilms intermittently colonize the surfaces of subaerial geyserites and provide a favoured substrate for opaline silica precipitation. We have also found that the preservation of biotically produced microfabrics of thermal spring sinters reflects dynamic balances between rates of population growth, decomposition of organic matter, silica deposition and early diagenesis. Major trends in preservation of thermophilic organisms along the thermal gradient are defined by differences in the mode of fossilization, including replacement, encrustation and permineralization.

Lithofacies and biofacies of mid-Paleozoic thermal spring deposits in the Drummond Basin, Queensland, Australia

The Devonian to Carboniferous sinters of the Drummond Basin, Australia, are among the oldest well established examples of fossil subaerial hot springs. Numerous subaerial and subaqueous spring deposits are known from the geological record as a result of the occurrence of economic mineral deposits in many of them. Some are reported to contain fossils, but very few have been studied by paleobiologists; they represent an untapped source of paleobiological information on the history of hydrothermal ecosystems. Such systems are of special interest, given the molecular biological evidence that thermophilic bacteria lie near the root of the tree of extant life. The Drummond Basin sinters are very closely comparable with modern examples in Yellowstone National Park and elsewhere. Thirteen microfacies are recognisable in the field, ranging from high temperature apparently abiotic geyserite through various forms of stromatolitic sinter probably of cyanobacterial origin to ambient temperature marsh deposits. Microfossils in the stromatolites are interpreted as cyanobacterial sheaths. Herbaceous lycopsids occur in the lower temperature deposits.

Capillary movement of liquid in granular beds in microgravity

A more complete understanding of the dynamics of capillary flow through an unsaturated porous medium would be useful for the development of an effective water and nutrient delivery system for the growth of plants in space. An experiment was conducted on the Mir Space Station that used an experimental cuvette called "Capillary Test Bed" to compare fluid migration under terrestrial laboratory conditions by positioning the cuvette such that the hydrostatic force is negated and on Mir under microgravity conditions. Differences in fluid migration in the cuvette were observed with migration being slower in microgravity compared with some ground control experiments.

Noninvasive determination of bone mechanical properties using vibration response: a refined model and validation in vivo

Accurate non-invasive mechanical measurement of long bones is made difficult by the masking effect of surrounding soft tissues. Mechanical response tissue analysis (MRTA) offers a method for separating the effects of the soft tissue and bone; however, a direct validation has been lacking. A theoretical analysis of wave propagation through the compressed tissue revealed a strong mass effect dependent on the relative accelerations of the probe and bone. The previous mathematical model of the bone and overlying tissue system was reconfigured to incorporate the theoretical finding. This newer model (six-parameter) was used to interpret results using MRTA to determine bone cross-sectional bending stiffness, EIMRTA. The relationship between EIMRTA and theoretical EI values for padded aluminum rods was R2 = 0.999. A biological validation followed using monkey tibias. Each bone was tested in vivo with the MRTA instrument. Postmortem, the same tibias were excised and tested to failure in three-point bending to determine EI3-PT and maximum load. Diaphyseal bone mineral density (BMD) measurements were also made. The relationship between EI3-PT and in vivo EIMRTA using the six-parameter model is strong (R2 = 0.947) and better than that using the older model (R2 = 0.645). EIMRTA and BMD are also highly correlated (R2 = 0.853). MRTA measurements in vivo and BMD ex vivo are both good predictors of scaled maximum strength (R2 = 0.915 and R2 = 0.894, respectively). This is the first biological validation of a non-invasive mechanical measurement of bone by comparison to actual values. The MRTA technique has potential clinical value for assessing long-bone mechanical properties.

The problem of assuring performance robustness of biological life support systems

A perspective of the process of obtaining performance robustness of space exploration life support systems is presented. Some useful definitions are made, some relevant issues are addressed, and a procedure for establishing performance robustness, so far as it now known, is explained. An example is given to illustrate the procedure.

Regulative development of Xenopus laevis in microgravity

To test whether gravity is required for normal amphibian development, Xenopus laevis females were induced to ovulate aboard the orbiting Space Shuttle. Eggs were fertilized in vitro, and although early embryonic stages showed some abnormalities, the embryos were able to regulate and produce nearly normal larvae. These results demonstrate for the first time that a vertebrate can ovulate in the virtual absence of gravity, and that the eggs can develop to a free-living stage.

Model-based supervisory control in telerobotics

Model-based approaches can be used to confront several of the challenging performance issues in teleoperation. This paper describes a model-based supervisory control technique for telerobotics. A human-machine interface (HMI) was developed for online, interactive task segmentation and planning utilizing a world model of the telerobotic working environment (TRWE). The task model is transferred intermittently over a low bandwidth communication channel for interpretation, planning, and execution of the task segments through the autonomous control capabilities of a telerobot. For the purposes of outlining tasks, a human operator controls a simulation model to generate a "task sequence script" as a sequential list of desired sub-goals for a telerobot. A graphic user interface (GUI) facilitates the development of the task sequence script with viewing perspectives of the graphic display automatically selected as a function of the operational state and model parameters. Also, because the human operator is specifying discrete model set-points of the TRWE, and allowing the autonomous control capabilities of the telerobot to coordinate the actual trajectory between set-points, a provision is made to preview the proposed trajectory for approval or modification before execution. Preliminary results with a manipulator arm remotely controlled via the Internet demonstrate the utility of the model-based supervisory control technique.