We needed to evaluate available orbital data of NASA’s Volatiles Investigating Polar Exploration Rover (VIPER) mission area in order to derive a variety of maps to help the science team identify scientifically interesting places for the rover to visit and to provide scientific context for our mission. Some of these maps also fulfilled engineering and mission design needs to enable safe and efficient landing and roving. We incorporated data from the Lunar Reconnaissance Orbiter Camera, the Lunar Orbital Laser Altimeter, the Mini-RF instrument, the Chandrayaan-2 Orbital High Resolution Camera, the Korean Pathfinder Lunar Orbiter’s Shadowcam, the Kaguya Spectral Profiler and Multiband Imager, and the Chandrayaan-1 Moon Mineralogy Mapper. We used a variety of techniques to build these maps, including stereogrammetry, shape-from-shading, ice stability depth and surface temperature calculations, and the horizon method for solar illumination and direct-to-Earth communications maps. Altogether, these maps allowed us to survey for boulders, evaluate features in permanently shadowed regions that VIPER might explore, provide mineralogic context for what VIPER’s instruments may learn, estimate the ages and radar properties of craters in the VIPER mission area, and evaluate the potential for gravity traverses with the rover. These data and techniques provided a rich set of information from which both the VIPER science team and engineering teams were able to draw in order to plan a safe landing and to plan a VIPER surface mission that will be both scientifically valuable and robust from an operational perspective.

This work focuses on autonomous contingency planning for scientific missions by enabling rapid policy computation from any off-nominal point in the state space in the event of a delay or deviation from the nominal mission plan. Successful contingency planning involves managing risks and rewards, often probabilistically associated with actions, in stochastic scenarios. Markov Decision Processes (MDPs) are used to mathematically model decision-making in such scenarios. However, in the specific case of planetary rover traverse planning, the vast action space and long planning time horizon pose computational challenges. A bi-level MDP framework is proposed to improve computational tractability, while also aligning with existing mission planning practices and enhancing explainability and trustworthiness of AI-driven solutions. We discuss the conversion of a mission planning MDP into a bi-level MDP, and test the framework on RoverGridWorld, a modified GridWorld environment for rover mission planning. We demonstrate the computational tractability and near-optimal policies achievable with the bi-level MDP approach, highlighting the trade-offs between compute time and policy optimality as the problem's complexity grows. This work facilitates more efficient and flexible contingency planning in the context of scientific missions.

This study explores whether Natterer’s bats exhibit fidelity to their foraging sites and individual specialisation in their use of habitat types. The research tracked 34 individual bats in two different landscapes, with some bats tracked twice over varying time intervals. The study found that Natterer’s bats show consistency in their fidelity to foraging sites across different landscapes and intervals between observations. The bats repeatedly exploited specific foraging areas, and some showed individual specialisation in their habitat use. The study also found considerable variation in individual behaviour. The research suggests that a single full night of radio-tracking data can serve as a useful proxy for longer periods and contribute to more robust descriptions of resource requirements by Natterer’s bats in their breeding seasons. This study emphasises the importance of maximising the number of individuals from which movement data is obtained to inform conservation and management of temperate bats, whilst ensuring that the data represent a meaningful measure of behaviour. The results also suggest that protecting a mosaic of habitats rather than a single habitat may be important for Natterer’s bats, given their individual specialisation in habitat use.

Human reasoning depends on reusing pieces of information by putting them together in new ways. However, very little is known about how compositional computation is implemented in the brain. Here, we ask participants to solve a series of problems that each require constructing a whole from a set of elements. With fMRI, we find that representations of novel constructed objects in the frontal cortex and hippocampus are relational and compositional. With MEG, we find that replay assembles elements into compounds, with each replay sequence constituting a hypothesis about a possible configuration of elements. The content of sequences evolves as participants solve each puzzle, progressing from predictable to uncertain elements and gradually converging on the correct configuration. Together, these results suggest a computational bridge between apparently distinct functions of hippocampal-prefrontal circuitry and a role for generative replay in compositional inference and hypothesis testing.

The Artemis program will send crew to explore the south polar region of the Moon, preceded by and integrated with robotic missions. One of the main scientific goals of future exploration is the characterization of polar volatiles, which are concentrated in and near regions of permanent shadow. The meter‐scale cryogeomorphology of shadowed regions remains unknown, posing a potential risk to missions that plan to traverse or land in them. Here, we deploy a physics‐based, deep learning‐driven post‐processing tool to produce high‐signal and high‐resolution Lunar Reconnaissance Orbiter Narrow Angle Camera images of 44 shadowed regions larger than ∼40 m across in the Artemis exploration zone around potential landing sites 001 and 004. We use these images to map previously unknown, shadowed meter‐scale (cryo)geomorphic features, assign relative shadowed region ages, and recommend promising sites for future exploration. We freely release our data and a detailed catalog of all shadowed regions studied.

This image repository contains a total of 576 non map-projected HORUS (Hyper-effective nOise Removal Unet Software) post-processed images of permanently shadowed regions (PSRs) located across the Artemis exploration zone at the lunar south pole (144 individual images).

Introduction: Hypertension affects nearly half of adults in the U.S. and is more prevalent in non-Hispanic black and Hispanic people than other groups. HEDIS now includes blood pressure readings from remote monitoring devices that are digitally stored and transmitted to the provider. Digital interventions used to support self-management of hypertension are effective in reducing blood pressure. Healthcare policies that support adoption of innovative digital interventions can positively impact groups with greater health disparities. Hypothesis: We tested the hypothesis that systolic blood pressure (SBP) change observed after 6 months in a smartphone-based hypertension self-management program would demonstrate similar outcomes across subgroups and not be impacted by known health inequities based on sex, language or race. Methods: A cohort study of individuals who enrolled in a digital-only hypertension self-management program without live coaching was used to evaluate SBP change at 6 months and its association with age, sex, language (English/Spanish), and race. Because race information was only available in a subset of the cohort who shared electronic medical records, the largest sub-groups (432 white and 127 non-Hispanic black adults) were compared. Results: 15,361 (age 57 ± .8y, 37% female) people uploaded SBP data at both time points. A reduction in SBP was observed (t = 15.1, p<.01), and the majority (62.3%) reduced SBP. 83.6% (4139 of 4947) of those with stage 2 hypertension (SBP ≥ 140 mm Hg) at program start reduced SBP, with an average reduction of 16.6 ± 0.18 mm Hg. No difference in SBP change was found based on age, race, or preferred language (all ps > .05). Females had a greater reduction in SBP than males (1.5 ± 0.19 mm Hg, p<.01). Conclusions: This study supports the use of a smartphone-based hypertension program incorporating AI driven, digital-only self-management and lifestyle coaching to reduce SBP similarly across age, race, and preferred language groups. Results indicate that digital self-management tools have the potential to bridge health inequity gaps. Future studies could assess whether digital behavioral change coaching leads to reduced SBP across disadvantaged groups based on Area of Deprivation Index (ADI).

Understanding the visual world is a constructive process. Whilst a frontal-hippocampal circuit is known to be essential for this task, little is known about the associated neuronal computations. Visual understanding appears superficially distinct from other known functions of this circuit, such as spatial reasoning and model-based planning, but recent models suggest deeper computational similarities. Here, using fMRI, we show that representations of a simple visual scene in these brain regions are relational and compositional – key computational properties theorised to support rapid construction of hippocampal maps. Using MEG, we show that rapid sequences of representations, akin to replay in spatial navigation and planning problems, are also engaged in visual construction. Whilst these sequences have previously been proposed as mechanisms to plan possible futures or learn from the past, here they are used to understand the present. Replay sequences form constructive hypotheses about possible scene configurations. These hypotheses play out in an optimal order for relational inference, progressing from predictable to uncertain scene elements, gradually constraining possible configurations, and converging on the correct scene configuration. Together, these results suggest a computational bridge between apparently distinct functions of hippocampal-prefrontal circuitry, and a role for generative replay in constructive inference and hypothesis testing.

Colaprete, and Rick Elphic, KBR, NASA Ames Research Center, MS 245-3, Moffett Field, CA, USA (ara.nefian@nasa.gov),NASA Age and size characterization of Lunar craters plays a significant role in Lunar science as well as in mission planing. The first step in achieving this goal is building of a large scale, high accuracy crater detection system. Current methods in crater detection include both manual and automatic methods. While manual crater detection is impractical given the large amount of data made available by Lunar orbital missions, the accuracy of the automatic methods is often limited by the crater size, and by varying illumination conditions. The proposed fully automatic method has been tested successfully in Lunar Pole LRO-NAC imagery for craters down to 8m in diameter and captured in various illumination conditions.

Background: Preterm infants have high rates of morbidity, especially from late-onset sepsis and necrotising enterocolitis. Lactoferrin is an anti-infective milk protein that may act through effects on gut bacteria, metabolites and epithelial cell function. The impact of supplemental lactoferrin in reducing late-onset sepsis was explored in the Enteral LactoFerrin In Neonates (ELFIN) trial. Objectives: The Mechanisms Affecting the Gut of Preterm Infants in Enteral feeding (MAGPIE) study was nested within the ELFIN trial and aimed to determine the impact of lactoferrin on gut microbiota and bacterial function, and changes preceding disease onset. We aimed to explore impacts on the stool bacteria and faecal/urinary metabolome using gas and liquid chromatography–mass spectrometry, and explore immunohistological pathways in resected tissue. Methods: Preterm infants from 12 NHS hospitals were enrolled in the study, and daily stool and urine samples were collected. Local sample collection data were combined with ELFIN trial data from the National Perinatal Epidemiology Unit, Oxford. The longitudinal impact of lactoferrin in healthy infants was determined, and samples that were collected before disease onset were matched with samples from healthy control infants. Established, quality-controlled 16S ribonucleic acid, gas chromatography–mass spectrometry and liquid chromatography–mass spectrometry analyses were conducted. Validated databases and standardised workflows were used to identify bacteria and metabolites. Tissue samples from infants undergoing surgery and matched controls were analysed. Results: We recruited 479 preterm infants (mean gestation of 28.4 ± 2.3 weeks) and collected > 33,000 usable samples from 467 infants. 16S ribonucleic acid bacterial analysis was conducted on samples from 201 infants, of whom 20 had necrotising enterocolitis and 51 had late-onset sepsis, along with samples from healthy matched controls to explore longitudinal changes. The greatest change in relative bacterial abundance over time was observed in Staphylococcus, which decreased from 42% at aged 7–9 days to only 2% at aged 30–60 days (p < 0.001). Small but significant differences in community composition were observed between samples in each ELFIN trial group (R2 = 0.005; p = 0.04). Staphylococcus (p < 0.01), Haemophilus (p < 0.01) and Lactobacillus (p = 0.01) showed greater mean relative abundance in the placebo group than in the lactoferrin group. Gas chromatography–mass spectrometry and liquid chromatography–mass spectrometry analyses showed that lactoferrin had limited impact on the metabolome. Liquid chromatography–mass spectrometry showed significant metabolite differences between necrotising enterocolitis or late-onset sepsis infants and healthy controls. The resected gut tissue analysis revealed 82 differentially expressed genes between healthy and necrotic tissue. Limitations: Although we recruited a large number of infants, collecting daily samples from every infant is challenging, especially in the few days immediately preceding disease onset. Conclusion: We conducted a large mechanistic study across multiple hospital sites and showed that, although lactoferrin significantly decreased the level of Staphylococcus and other key pathogens, the impact was smaller than those of other clinical variables. Immunohistochemistry identified multiple inflammatory pathways leading to necrotising enterocolitis and showed that the use of NHS pathology archive tissue is feasible in the context of a randomised controlled trial. Future work: We observed significant changes in the stool and urinary metabolome in cases preceding late-onset sepsis or necrotising enterocolitis, which provide metabolic targets for a future mechanistic and biomarker study. Trial registration: Current Controlled Trials ISRCTN12554594. Funding: This project was funded by the Efficacy and Mechanism Evaluation (EME) programme, a Medical Research Council (MRC) and National Institute for Health Research (NIHR) partnership. This will be published in full in Efficacy and Mechanism Evaluation; Vol. 8, No. 14. See the NIHR Journals Library website for further project information.

The lunar permanently shadowed regions (PSRs) are expected to host large quantities of water-ice, which are key for sustainable exploration of the Moon and beyond. In the near future, NASA and other entities plan to send rovers and humans to characterize water-ice within PSRs. However, there exists only limited information about the small-scale geomorphology and distribution of ice within PSRs because the orbital imagery captured to date lacks sufficient resolution and/or signal. In this paper, we develop and validate a new method of post-processing LRO NAC images of PSRs. We show that our method is able to reveal previously unseen geomorphological features such as boulders and craters down to 3 meters in size, whilst not finding evidence for surface frost or near-surface ice. Our post-processed images significantly facilitate the exploration of PSRs by reducing the uncertainty of target selection and traverse/mission planning.

Models to forecast slug populations make assumptions about growth and mortality in response to environmental factors. To refine these models, the growth trajectories and survival of Deroceras reticulatum, a worldwide pest, hatching in spring and autumn were compared at three rearing temperatures (ambient, 12 °C and 15 °C). Deroceras reticulatum reared under identical conditions showed great variation in growth and strong bimodality in growth rates. At all rearing temperatures, growth was influenced by hatching season; in all cases, fast growers dominated in autumn and slow growers dominated in spring. Survival was influenced by hatching season: autumn-born slugs survived better at ambient temperatures, but spring-born slugs had better survival at 15 °C. Deroceras reticulatum may be partitioned into ”slow growers” and ”fast growers”. Fast growers responded to warmer conditions, growing to large sizes. Slow growers, in contrast, gained weight at comparable rates to ambient reared slugs, regardless of the elevated constant temperatures. The peaks of slug activity in autumn and spring are possibly not distinct generations as some slugs may mature early/late and slip into the alternative cohort. Rather, the observed autumn and spring peaks in slug numbers may be a response of a mixed-age population to the favourable environmental conditions at that time.

Managing the impacts of invasive alien species (IAS) is a great societal challenge. A wide variety of terms have been used to describe the management of invasive alien species and the sequence in which they might be applied. This variety and lack of consistency creates uncertainty in the presentation and description of management in policy, science and practice. Here we expand on the existing description of the invasion process to develop an IAS management framework. We define the different forms of active management using a novel approach based on changes in species status, avoiding the need for stand-alone descriptions of management types, and provide a complete set of potential management activities. We propose a standardised set of management terminology as an emergent feature of this framework. We identified eight key forms of management: (1) pathway management, (2) interception, (3) limits to keeping, (4) secure keeping, (5) eradication, (6) complete reproductive removal, (7) containment and (8) suppression. We recognise four associated terms: prevention; captive management; rapid eradication; and long-term management, and note the use of impact mitigation and restoration as associated forms of management. We discuss the wider use of this framework and the supporting activities required to ensure management is well-targeted, cost-effective and makes best use of limited resources.

Relations between task elements often follow hidden underlying structural forms such as periodicities or hierarchies, whose inferences fosters performance. However, transferring structural knowledge to novel environments requires flexible representations that are generalizable over particularities of the current environment, such as its stimuli and size. We suggest that humans represent structural forms as abstract basis sets and that in novel tasks, the structural form is inferred and the relevant basis set is transferred. Using a computational model, we show that such representation allows inference of the underlying structural form, important task states, effective behavioural policies and the existence of unobserved state-trajectories. In two experiments, participants learned three abstract graphs during two successive days. We tested how structural knowledge acquired on Day-1 affected Day-2 performance. In line with our model, participants who had a correct structural prior were able to infer the existence of unobserved state-trajectories and appropriate behavioural policies.

The hippocampal-entorhinal system is important for spatial and relational memory tasks. We formally link these domains, provide a mechanistic understanding of the hippocampal role in generalization, and offer unifying principles underlying many entorhinal and hippocampal cell types. We propose medial entorhinal cells form a basis describing structural knowledge, and hippocampal cells link this basis with sensory representations. Adopting these principles, we introduce the Tolman-Eichenbaum machine (TEM). After learning, TEM entorhinal cells display diverse properties resembling apparently bespoke spatial responses, such as grid, band, border, and object-vector cells. TEM hippocampal cells include place and landmark cells that remap between environments. Crucially, TEM also aligns with empirically recorded representations in complex non-spatial tasks. TEM also generates predictions that hippocampal remapping is not random as previously believed; rather, structural knowledge is preserved across environments. We confirm this structural transfer over remapping in simultaneously recorded place and grid cells.

OBJECTIVE:We describe a networked, two-user virtual reality (VR) power wheelchair (PWC) simulator system in which an actor (client) and an observer (clinician) meet. We then present a study with 15 observers (expert clinicians) evaluating the effect of three principal forms of viewpoint control (egocentric-egomotion, egocentric-tethered, and client-centric) on the observer's assessment of driving tasks in a virtual environment (VE).BACKGROUND:VR allows for the simulation and assessment of real-world tasks in a controlled, safe, and repeatable environment. Observing users' movement behavior in such a VE requires appropriate viewpoint control for the observer. The VR viewpoint user interface should allow an observer to make judgments equivalent or even superior to real-world situations.METHOD:A purpose-built VR PWC simulator was developed. In a series of PWC driving tasks, we measured the perceived ease of use and sense of presence of the observers and compared the virtual assessment with real-world "gold standard" scores, including confidence levels in judgments.RESULTS:Findings suggest that with more immersive techniques, such as egomotion and tethered egocentric viewpoints, judgments are both more accurate and more confident. The ability to walk and/or orbit around the view significantly affected the observers' sense of presence.CONCLUSION:Incorporating the observer into the VE, through egomotion, is an effective method for assessing users' behavior in VR with implications for the transferability of virtual experiences to the real world.APPLICATION:Our application domain serves as a representative example for tasks where the movement of users through a VE needs to be evaluated.

Animals can transfer knowledge that was learnt previously and infer when this knowledge is relevant. Frequently, the relations between elements in an environment or task follow hidden underlying structure. We suggest that animals represent these underlying structures using abstract basis sets that are generalized over particularities of the current environment, such as its stimuli and size. We show that this type of representation allows inference of important task states, correct behavioural policy and the existence of unobserved routes. We further conducted two experiments in which participants learned three maps during two successive days and asked how the structural knowledge that was acquire during the first day affect participants behaviour during the second day. In line with our model, we show that participants who have a correct structural prior are able to infer the existence of unobserved routes and are able to infer appropriate behavioural policy. Therefore supporting the idea that abstract structural knowledge can be acquired and generalised across different cognitive maps.