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The sense of touch is a property that allows humans to interact delicately with their physical environment. This article reports on a technological advancement in intuitive human-robot interaction that enables an intrinsic robotic sense of touch without the use of artificial skin or tactile instrumentation. On the basis of high-resolution joint-force-torque sensing in a redundant arrangement, we were able to let the robot sensitively feel the surrounding environment and accurately localize touch trajectories in space and time that were applied on its surface by a human. Through an intertwined combination of manifold learning techniques and artificial neural networks, the robot identified and interpreted those touch trajectories as machine-readable letters, symbols, or numbers. This opens up unexplored opportunities in terms of intuitive and flexible interaction between human and robot. Furthermore, we showed that our concept of so-called virtual buttons can be used to straightforwardly implement a tactile communication link, including switches and slider bars, which are complementary to speech, hardware buttons, and control panels. These interaction elements could be freely placed, moved, and configured in arbitrary locations on the robot structure. The intrinsic sense of touch we proposed in this work can serve as the basis for an advanced category of physical human-robot interaction that has not been possible yet, enabling a shift from conventional modalities toward adaptability, flexibility, and intuitive handling.

The interference of nonclassical states of light enables quantum-enhanced applications reaching from metrology to computation. Most commonly, the polarization or spatial location of single photons are used as addressable degrees of freedom for turning these applications into praxis. However, the scale-up for the processing of a large number of photons of these architectures is very resource-demanding due to the rapidly increasing number of components, such as optical elements, photon sources, and detectors. Here, we demonstrate a resource-efficient architecture for multiphoton processing based on time-bin encoding in a single spatial mode. We use an efficient quantum dot single-photon source and a fast programmable time-bin interferometer to observe the interference of up to eight photons in 16 modes, all recorded only with one detector, thus considerably reducing the physical overhead previously needed for achieving equivalent tasks. Our results can form the basis for a future universal photonics quantum processor operating in a single spatial mode.

Venous thromboembolism (VTE) comprising deep venous thrombosis and pulmonary embolism is a major cause of morbidity and mortality. Short-term immobility-related conditions are a major risk factor for the development of VTE. Paradoxically, long-term immobilized free-ranging hibernating brown bears and paralyzed spinal cord injury (SCI) patients are protected from VTE. We aimed to identify mechanisms of immobility-associated VTE protection in a cross-species approach. Mass spectrometry-based proteomics revealed an antithrombotic signature in platelets of hibernating brown bears with heat shock protein 47 (HSP47) as the most substantially reduced protein. HSP47 down-regulation or ablation attenuated immune cell activation and neutrophil extracellular trap formation, contributing to thromboprotection in bears, SCI patients, and mice. This cross-species conserved platelet signature may give rise to antithrombotic therapeutics and prognostic markers beyond immobility-associated VTE.

Perseverance's Mastcam-Z instrument provides high-resolution stereo and multispectral images with a unique combination of spatial resolution, spatial coverage, and wavelength coverage along the rover's traverse in Jezero crater, Mars. Images reveal rocks consistent with an igneous (including volcanic and/or volcaniclastic) and/or impactite origin and limited aqueous alteration, including polygonally fractured rocks with weathered coatings; massive boulder-forming bedrock consisting of mafic silicates, ferric oxides, and/or iron-bearing alteration minerals; and coarsely layered outcrops dominated by olivine. Pyroxene dominates the iron-bearing mineralogy in the fine-grained regolith, while olivine dominates the coarse-grained regolith. Solar and atmospheric imaging observations show significant intra- and intersol variations in dust optical depth and water ice clouds, as well as unique examples of boundary layer vortex action from both natural (dust devil) and Ingenuity helicopter-induced dust lifting. High-resolution stereo imaging also provides geologic context for rover operations, other instrument observations, and sample selection, characterization, and confirmation.

We detected surface waves from two meteorite impacts on Mars. By measuring group velocity dispersion along the impact-lander path, we obtained a direct constraint on crustal structure away from the InSight lander. The crust north of the equatorial dichotomy had a shear wave velocity of approximately 3.2 kilometers per second in the 5- to 30-kilometer depth range, with little depth variation. This implies a higher crustal density than inferred beneath the lander, suggesting either compositional differences or reduced porosity in the volcanic areas traversed by the surface waves. The lower velocities and the crustal layering observed beneath the landing site down to a 10-kilometer depth are not a global feature. Structural variations revealed by surface waves hold implications for models of the formation and thickness of the martian crust.

Two rover missions to Mars aim to detect biomolecules as a sign of extinct or extant life with, among other instruments, Raman spectrometers. However, there are many unknowns about the stability of Raman-detectable biomolecules in the martian environment, clouding the interpretation of the results. To quantify Raman-detectable biomolecule stability, we exposed seven biomolecules for 469 days to a simulated martian environment outside the International Space Station. Ultraviolet radiation (UVR) strongly changed the Raman spectra signals, but only minor change was observed when samples were shielded from UVR. These findings provide support for Mars mission operations searching for biosignatures in the subsurface. This experiment demonstrates the detectability of biomolecules by Raman spectroscopy in Mars regolith analogs after space exposure and lays the groundwork for a consolidated space-proven database of spectroscopy biosignatures in targeted environments.

Current space exploration roadmaps envision exploring the surface geology of celestial bodies with robots for both scientific research and in situ resource utilization. In such unstructured, poorly lit, complex, and remote environments, automation is not always possible, and some tasks, such as geological sampling, require direct teleoperation aided by force-feedback (FF). The operator would be on an orbiting spacecraft, and poor bandwidth, high latency, and packet loss from orbit to ground mean that safe, stable, and transparent interaction is a substantial technical challenge. For this scenario, a control method was developed that ensures stability at high delay without reduction in speed or loss of positioning accuracy. At the same time, a new level of safety is achieved not only through FF itself but also through an intrinsic property of the approach preventing hard impacts. On the basis of this method, a tele-exploration scenario was simulated in the Analog-1 experiment with an astronaut on the International Space Station (ISS) using a 6-degree-of-freedom (DoF) FF capable haptic input device to control a mobile robot with manipulator on Earth to collect rock samples. The 6-DoF FF telemanipulation from space was performed at a round-trip communication delay constantly between 770 and 850 milliseconds and an average packet loss of 1.27%. This experiment showcases the feasibility of a complete space exploration scenario via haptic telemanipulation under spaceflight conditions. The results underline the benefits of this control method for safe and accurate interactions and of haptic feedback in general.

An atom interferometer measures the quantum phase due to gravitational time dilation.

A planet's crust bears witness to the history of planetary formation and evolution, but for Mars, no absolute measurement of crustal thickness has been available. Here, we determine the structure of the crust beneath the InSight landing site on Mars using both marsquake recordings and the ambient wavefield. By analyzing seismic phases that are reflected and converted at subsurface interfaces, we find that the observations are consistent with models with at least two and possibly three interfaces. If the second interface is the boundary of the crust, the thickness is 20 ± 5 kilometers, whereas if the third interface is the boundary, the thickness is 39 ± 8 kilometers. Global maps of gravity and topography allow extrapolation of this point measurement to the whole planet, showing that the average thickness of the martian crust lies between 24 and 72 kilometers. Independent bulk composition and geodynamic constraints show that the thicker model is consistent with the abundances of crustal heat-producing elements observed for the shallow surface, whereas the thinner model requires greater concentration at depth., (Copyright © 2021 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.)

Human exploration of the Moon is associated with substantial risks to astronauts from space radiation. On the surface of the Moon, this consists of the chronic exposure to galactic cosmic rays and sporadic solar particle events. The interaction of this radiation field with the lunar soil leads to a third component that consists of neutral particles, i.e., neutrons and gamma radiation. The Lunar Lander Neutrons and Dosimetry experiment aboard China's Chang'E 4 lander has made the first ever measurements of the radiation exposure to both charged and neutral particles on the lunar surface. We measured an average total absorbed dose rate in silicon of 13.2 ± 1 μGy/hour and a neutral particle dose rate of 3.1 ± 0.5 μGy/hour., (Copyright © 2020 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works. Distributed under a Creative Commons Attribution NonCommercial License 4.0 (CC BY-NC).)

A giant impact onto Earth led to the formation of the Moon, resulted in a lunar magma ocean (LMO), and initiated the last event of core segregation on Earth. However, the timing and temporal link of these events remain uncertain. Here, we demonstrate that the low thermal conductivity of the lunar crust combined with heat extraction by partial melting of deep cumulates undergoing convection results in an LMO solidification time scale of 150 to 200 million years. Combining this result with a crystallization model of the LMO and with the ages and isotopic compositions of lunar samples indicates that the Moon formed 4.425 ± 0.025 billion years ago. This age is in remarkable agreement with the U-Pb age of Earth, demonstrating that the U-Pb age dates the final segregation of Earth's core., (Copyright © 2020 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works. Distributed under a Creative Commons Attribution License 4.0 (CC BY).)

The measured nitrogen-to-carbon ratio in comets is lower than for the Sun, a discrepancy which could be alleviated if there is an unknown reservoir of nitrogen in comets. The nucleus of comet 67P/Churyumov-Gerasimenko exhibits an unidentified broad spectral reflectance feature around 3.2 micrometers, which is ubiquitous across its surface. On the basis of laboratory experiments, we attribute this absorption band to ammonium salts mixed with dust on the surface. The depth of the band indicates that semivolatile ammonium salts are a substantial reservoir of nitrogen in the comet, potentially dominating over refractory organic matter and more volatile species. Similar absorption features appear in the spectra of some asteroids, implying a compositional link between asteroids, comets, and the parent interstellar cloud., (Copyright © 2020 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.)

The phase of matter waves depends on proper time and is therefore susceptible to special-relativistic (kinematic) and gravitational (redshift) time dilation. Hence, it is conceivable that atom interferometers measure general-relativistic time-dilation effects. In contrast to this intuition, we show that (i) closed light-pulse interferometers without clock transitions during the pulse sequence are not sensitive to gravitational time dilation in a linear potential. (ii) They can constitute a quantum version of the special-relativistic twin paradox. (iii) Our proposed experimental geometry for a quantum-clock interferometer isolates this effect., (Copyright © 2019 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works. Distributed under a Creative Commons Attribution NonCommercial License 4.0 (CC BY-NC).)

Industrial robots cannot be reconfigured to optimally fulfill a given task and often have to be caged to guarantee human safety. Consequently, production processes are meticulously planned so that they last for long periods to make automation affordable. However, the ongoing trend toward mass customization and small-scale manufacturing requires purchasing new robots on a regular basis to cope with frequently changing production. Modular robots are a natural answer: Robots composed of standardized modules can be easily reassembled for new tasks, can be quickly repaired by exchanging broken modules, and are cost-effective by mass-producing standard modules usable for a large variety of robot types. Despite these advantages, modular robots have not yet left research laboratories because an expert must reprogram each new robot after assembly, rendering reassembly impractical. This work presents our set of interconnectable modules (IMPROV), which programs and verifies the safety of assembled robots themselves. Experiments show that IMPROV robots retained the same control performance as nonmodular robots, despite their reconfigurability. With respect to human-robot coexistence, our user study shows a reduction of robot idle time by 36% without compromising on safety using our self-verification concept compared with current safety standards. We believe that by using self-programming and self-verification, modular robots can transform current automation practices., (Copyright © 2019 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.)

The near-Earth carbonaceous asteroid 162173 Ryugu is thought to have been produced from a parent body that contained water ice and organic molecules. The Hayabusa2 spacecraft has obtained global multicolor images of Ryugu. Geomorphological features present include a circum-equatorial ridge, east-west dichotomy, high boulder abundances across the entire surface, and impact craters. Age estimates from the craters indicate a resurfacing age of [Formula: see text] years for the top 1-meter layer. Ryugu is among the darkest known bodies in the Solar System. The high abundance and spectral properties of boulders are consistent with moderately dehydrated materials, analogous to thermally metamorphosed meteorites found on Earth. The general uniformity in color across Ryugu's surface supports partial dehydration due to internal heating of the asteroid's parent body., (Copyright © 2019, American Association for the Advancement of Science.)

The glaciers flowing into the Amundsen Sea Embayment, West Antarctica, have undergone acceleration and grounding line retreat over the past few decades that may yield an irreversible mass loss. Using a constellation of satellites, we detect the evolution of ice velocity, ice thinning, and grounding line retreat of Thwaites Glacier from 1992 to 2017. The results reveal a complex pattern of retreat and ice melt, with sectors retreating at 0.8 km/year and floating ice melting at 200 m/year, while others retreat at 0.3 km/year with ice melting 10 times slower. We interpret the results in terms of buoyancy/slope-driven seawater intrusion along preferential channels at tidal frequencies leading to more efficient melt in newly formed cavities. Such complexities in ice-ocean interaction are not currently represented in coupled ice sheet/ocean models.

Volcanic edifices are abundant on rocky bodies of the inner solar system. In the cold outer solar system, volcanism can occur on solid bodies with a water-ice shell, but derived cryovolcanic constructs have proved elusive. We report the discovery, using Dawn Framing Camera images, of a landform on dwarf planet Ceres that we argue represents a viscous cryovolcanic dome. Parent material of the cryomagma is a mixture of secondary minerals, including salts and water ice. Absolute model ages from impact craters reveal that extrusion of the dome has occurred recently. Ceres' evolution must have been able to sustain recent interior activity and associated surface expressions. We propose salts with low eutectic temperatures and thermal conductivities as key drivers for Ceres' long-term internal evolution., (Copyright © 2016, American Association for the Advancement of Science.)

Analysis of Dawn spacecraft Framing Camera image data allows evaluation of the topography and geomorphology of features on the surface of Ceres. The dwarf planet is dominated by numerous craters, but other features are also common. Linear structures include both those associated with impact craters and those that do not appear to have any correlation to an impact event. Abundant lobate flows are identified, and numerous domical features are found at a range of scales. Features suggestive of near-surface ice, cryomagmatism, and cryovolcanism have been identified. Although spectroscopic analysis has currently detected surface water ice at only one location on Ceres, the identification of these potentially ice-related features suggests that there may be at least some ice in localized regions in the crust., (Copyright © 2016, American Association for the Advancement of Science.)

Thermochemical models have predicted that Ceres, is to some extent, differentiated and should have an icy crust with few or no impact craters. We present observations by the Dawn spacecraft that reveal a heavily cratered surface, a heterogeneous crater distribution, and an apparent absence of large craters. The morphology of some impact craters is consistent with ice in the subsurface, which might have favored relaxation, yet large unrelaxed craters are also present. Numerous craters exhibit polygonal shapes, terraces, flowlike features, slumping, smooth deposits, and bright spots. Crater morphology and simple-to-complex crater transition diameters indicate that the crust of Ceres is neither purely icy nor rocky. By dating a smooth region associated with the Kerwan crater, we determined absolute model ages (AMAs) of 550 million and 720 million years, depending on the applied chronology model., (Copyright © 2016, American Association for the Advancement of Science.)

The Philae lander provides a unique opportunity to investigate the internal structure of a comet nucleus, providing information about its formation and evolution in the early solar system. We present Comet Nucleus Sounding Experiment by Radiowave Transmission (CONSERT) measurements of the interior of Comet 67P/Churyumov-Gerasimenko. From the propagation time and form of the signals, the upper part of the "head" of 67P is fairly homogeneous on a spatial scale of tens of meters. CONSERT also reduced the size of the uncertainty of Philae's final landing site down to approximately 21 by 34 square meters. The average permittivity is about 1.27, suggesting that this region has a volumetric dust/ice ratio of 0.4 to 2.6 and a porosity of 75 to 85%. The dust component may be comparable to that of carbonaceous chondrites., (Copyright © 2015, American Association for the Advancement of Science.)

The structure of the upper layer of a comet is a product of its surface activity. The Rosetta Lander Imaging System (ROLIS) on board Philae acquired close-range images of the Agilkia site during its descent onto comet 67P/Churyumov-Gerasimenko. These images reveal a photometrically uniform surface covered by regolith composed of debris and blocks ranging in size from centimeters to 5 meters. At the highest resolution of 1 centimeter per pixel, the surface appears granular, with no apparent deposits of unresolved sand-sized particles. The thickness of the regolith varies across the imaged field from 0 to 1 to 2 meters. The presence of aeolian-like features resembling wind tails hints at regolith mobilization and erosion processes. Modeling suggests that abrasion driven by airfall-induced particle "splashing" is responsible for the observed formations., (Copyright © 2015, American Association for the Advancement of Science.)

Knowledge of the magnetization of planetary bodies constrains their origin and evolution, as well as the conditions in the solar nebular at that time. On the basis of magnetic field measurements during the descent and subsequent multiple touchdown of the Rosetta lander Philae on the comet 67P/Churyumov-Gerasimenko (67P), we show that no global magnetic field was detected within the limitations of analysis. The Rosetta Magnetometer and Plasma Monitor (ROMAP) suite of sensors measured an upper magnetic field magnitude of less than 2 nanotesla at the cometary surface at multiple locations, with the upper specific magnetic moment being <3.1 × 10(-5) ampere-square meters per kilogram for meter-size homogeneous magnetized boulders. The maximum dipole moment of 67P is 1.6 × 10(8) ampere-square meters. We conclude that on the meter scale, magnetic alignment in the preplanetary nebula is of minor importance., (Copyright © 2015, American Association for the Advancement of Science.)