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Small satellite technologies, particularly CubeSats, are enabling breakthrough research in space. Over the past 15 years, NASA Ames Research Center has developed and flown half a dozen biological CubeSats in low Earth orbit (LEO) to conduct space biology and astrobiology research investigating the effects of the space environment on microbiological organisms. These studies of the impacts of radiation and reduced gravity on cellular processes include dose-dependent interactions with antimicrobial drugs, measurements of gene expression and signaling, and assessment of radiation damage. BioSentinel, the newest addition to this series, will be the first deep space biological CubeSat, its heliocentric orbit extending far beyond the radiation-shielded environment of low Earth orbit. BioSentinel's 4U biosensing payload, the first living biology space experiment ever conducted beyond the Earth-Moon system, will use a microbial bioassay to assess repair of radiation-induced DNA damage in eukaryotic cells over a duration of 6-12 months. Part of a special collection of articles focused on BioSentinel and its science mission, this article describes the design, development, and testing of the biosensing payload's microfluidics and optical systems, highlighting improvements relative to previous CubeSat life-support and bioanalytical measurement technologies.

Ancient Venus and Earth may have been similar in crucial ways for the development of life, such as liquid water oceans, land-ocean interfaces, favorable chemical ingredients and energy pathways. If life ever developed on, or was transported to, early Venus from elsewhere, it might have thrived, expanded and then survived the changes that have led to an inhospitable surface on Venus today. The Venus cloud layer may provide a refugium for extant life that persisted from an earlier more habitable surface environment. We introduce the Venus Life Equation - a theory and evidence-based approach to calculate the probability of extant life on Venus, L, using three primary factors of life: Origination, Robustness, and Continuity, or L = O x R x C. We evaluate each of these factors using our current understanding of Earth and Venus environmental conditions from the Archaean to the present. We find that the probability of origination of life on Venus would be similar to that of the Earth and argue that the other factors should be nonzero, comparable to other promising astrobiological targets in the solar system. The Venus Life Equation also identifies poorly understood aspects of Venus that can be addressed by direct observations with future exploration missions., Revision resubmitted after review to Astrobiology for Venus Special issue. 37 pages, 4 figures. Shorter version submitted as white paper in shortened form to Planetary and Astrobiology Decadal Survey

The interest in the possibility of life on Venus is driven not just by curiosity about life originating in another Earth-like environment, but because of the possibility that life may be playing a critical role in the planet’s present, and possibly its past, atmospheric state. The brilliance of Venus in the night sky (as viewed from Earth) is due to its highly reflective cloud cover, about 28 km thick at the equator. Its spectral albedo is about 90% at wavelengths > 500 nm, but it drops gradually to about 40% around 370 nm before rising slightly at shorter wavelengths. This albedo drop is due to the presence of several absorbers in the atmosphere and the cloud cover. A very large fraction of the energy absorbed by Venus is at ultraviolet wavelengths with sulfur dioxide above the clouds contributing to the absorption below 330 nm; however, the identities of the other absorbers remain unknown. The inability to identify the absorbers that are responsible for determining the radiative energy balance of Venus over the last century is a major impediment to understanding how the planet “works”, a major component of NASA’s efforts in planetary exploration. Limaye et al. (Astrobiology 18, 1181-1198, 2018) presented a hypothesis suggesting that cloud-based microbial life could be contributors to the spectral signatures of Venus’ clouds, building upon previous suggestions of the possibility of life in the clouds of Venus.Four interconnected themes for the exploration of Venus as an astrobiology target are: – (i) investigations focused on the likelihood that liquid water existed on the surface in the past leading to the potential for the origin and evolution of life, (ii) investigations into the potential for habitable zones within Venus’ clouds and Venus-like atmospheres, (iii) theoretical investigations into how active aerobiology may impact the radiative energy balance of Venus’ clouds and Venus-like atmospheres, and (iv) application of these investigative themes towards better understanding the atmospheric dynamics and habitability of exoplanets. These themes can serve as a basis for proposed Venus Astrobiology Objectives and suggestions for measurements for future missions, as per the goals and objectives developed by the Venus Exploration Analysis Group (VEXAG), which is sponsored by NASA to plan for the future exploration of Venus. A Venus Collection to be published in Astrobiology journal in 2021 will include papers from the “Habitability of the Venus Cloud Layer”, Moscow (October 2019) workshop.

We present a case for the exploration of Venus as an astrobiology target—(1) investigations focused on the likelihood that liquid water existed on the surface in the past, leading to the potential for the origin and evolution of life, (2) investigations into the potential for habitable zones within Venus’ present-day clouds and Venus-like exo atmospheres, (3) theoretical investigations into how active aerobiology may impact the radiative energy balance of Venus’ clouds and Venus-like atmospheres, and (4) application of these investigative approaches toward better understanding the atmospheric dynamics and habitability of exoplanets. The proximity of Venus to Earth, guidance for exoplanet habitability investigations, and access to the potential cloud habitable layer and surface for prolonged in situ extended measurements together make the planet a very attractive target for near term astrobiological exploration.

To search more efficiently for a record of past life on Mars, it is critical to know where to look and thus maximize the likelihood of success. Large-scale site selection for the Mars 2020 mission has been completed, but small (meter to 10 cm)-scale relationships of microenvironments will not be known until the rover reaches the surface. Over a 2 m transect at a modern volcanic deposit on the flank of Askja volcano in the barren highlands of Iceland, we compared two biological indicators (ATP activity and 16SrRNA amplicon sequence composition) to physical characteristics including bulk chemical composition, spectral signatures of mineralogy, and grain size. Using analytical instrumentation analogous to those available on Mars rovers, we were able to characterize the geological setting of the deposits and link physical parameters to microbial abundance and diversity. In general, methanogenesis, methanotrophy/methylotrophy, and nitrate reduction were the functional traits most associated with microbial community shift along the transect. Core microbiome members tended to be associated with nitrate reduction, and relative abundance of core microbes was strongly related to free water in the deposit. Community compositional shift of the rare microbiome was related to microenvironmental changes such as change in grain size, geochemistry, and age of deposit. These correlations lead us to suggest a sampling strategy that accounts for Martian geology, looking for undisturbed (not remobilized) explosive volcanic ash below pumice that could maximize diversity and abundance of different bioindicators. Our study also illustrates the importance of studying the variability across microenvironments in low biomass settings on earth.

We conducted an analog sampling expedition under simulated mission constraints to areas dominated by basaltic tephra of the Eldfell and Fimmvörðuháls lava fields (Iceland). Sites were selected to be “homogeneous” at a coarse remote sensing resolution (10–100 m) in apparent color, morphology, moisture, and grain size, with best-effort realism in numbers of locations and replicates. Three different biomarker assays (counting of nucleic-acid-stained cells via fluorescent microscopy, a luciferin/luciferase assay for adenosine triphosphate, and quantitative polymerase chain reaction (qPCR) to detect DNA associated with bacteria, archaea, and fungi) were characterized at four nested spatial scales (1 m, 10 m, 100 m, and >1 km) by using five common metrics for sample site representativeness (sample mean variance, group F tests, pairwise t tests, and the distribution-free rank sum H and u tests). Correlations between all assays were characterized with Spearman's rank test. The bioluminescence assay showed the most variance across the sites, followed by qPCR for bacterial and archaeal DNA; these results could not be considered representative at the finest resolution tested (1 m). Cell concentration and fungal DNA also had significant local variation, but they were homogeneous over scales of >1 km. These results show that the selection of life detection assays and the number, distribution, and location of sampling sites in a low biomass environment with limited a priori characterization can yield both contrasting and complementary results, and that their interdependence must be given due consideration to maximize science return in future biomarker sampling expeditions. Key Words: Astrobiology—Biodiversity—Microbiology—Iceland—Planetary exploration—Mars mission simulation—Biomarker. Astrobiology 17, 1009–1021.

A conceptual design is presented for a low complexity, heritage-based flyby mission to Io, Jupiter’s innermost Galilean satellite and the most volcanically active body in the Solar System. The design addresses the 2011 Decadal Surveys recommendation for a New Frontiers class mission to Io and is based upon the result of the June 2012 NASA-JPL Planetary Science Summer School. A science payload is proposed to investigate the link between the structure of Io’s interior, it’s volcanic activity, it’s surface composition, and it’s tectonics. A study of Io’s atmospheric processes and Io’s role in the Jovian magnetosphere is also planned. The instrument suite includes a visible/near IR imager, a magnetic field and plasma suite, a dust analyzer and a gimbaled high gain antenna to perform radio science investigations. Payload activity and spacecraft operations would be powered by three Advanced Stirling Radioisotope Generators (ASRG). The primary mission includes 10 flybys with close-encounter altitudes as low as 100 km. The mission risks are mitigated by ensuring that relevant components are radiation tolerant and by using redundancy and flight-proven parts in the design. The spacecraft would be launched on an Atlas V rocket with a delta-v of 1.3 km/s. Three gravity assists (Venus, Earth, Earth) would be used to reach the Jupiter system in a 6-year cruise. The resulting concept demonstrates the rich scientific return of a flyby mission to Io.

In light of future missions beyond low Earth orbit (LEO) and the potential establishment of bases on the Moon and Mars, the effects of the deep space environment on biology need to be examined in order to develop protective countermeasures. Although many biological experiments have been performed in space since the 1960s, most have occurred in LEO and for only short periods of time. These LEO missions have studied many biological phenomena in a variety of model organisms, and have utilized a broad range of technologies. However, given the constraints of the deep space environment, upcoming deep space biological missions will be largely limited to microbial organisms and plant seeds using miniaturized technologies. Small satellites such as CubeSats are capable of querying relevant space environments using novel, miniaturized instruments and biosensors. CubeSats also provide a low-cost alternative to larger, more complex missions, and require minimal crew support, if any. Several have been deployed in LEO, but the next iterations of biological CubeSats will travel beyond LEO. They will utilize biosensors that can better elucidate the effects of the space environment on biology, allowing humanity to return safely to deep space, venturing farther than ever before.

We will present details and initial lab test results from an integrated bioanalytical microsystem designed to conduct the first biology experiments beyond low Earth orbit (LEO) since Apollo 17 (1972). The 14-kg, 12x24x37-cm BioSentinel spacecraft (Figure 1) assays radiation-responsive yeast in its science payload by measuring DNA double-strand breaks (DSBs) repaired via homologous recombination, a mechanism common to all eukaryotes including humans. S. cerevisiae (brewer's yeast) in 288 microwells are provided with nutrient and optically assayed for growth and metabolism via 3-color absorptimetry monthly during the 18-month mission. BioSentinel is one of several secondary payloads to be deployed by NASA's Exploration Mission 1 (EM-1) launch vehicle into approximately 0.95 AU heliocentric orbit in July 2018; it will communicate with Earth from up to 100 million km.

Field expeditions that simulate the operations of robotic planetary exploration missions at analog sites on Earth can help establish best practices and are therefore a positive contribution to the planetary exploration community. There are many sites in Iceland that possess heritage as planetary exploration analog locations and whose environmental extremes make them suitable for simulating scientific sampling and robotic operations. We conducted a planetary exploration analog mission at two recent lava fields in Iceland, Fimmvorðuhals (2010) and Eldfell (1973), using a specially developed field laboratory. We tested the utility of in-field site sampling down selection and tiered analysis operational capabilities with three life detection and characterization techniques: fluorescence microscopy (FM), adenine-triphosphate (ATP) bioluminescence assay, and quantitative polymerase chain reaction (qPCR) assay. The study made use of multiple cycles of sample collection at multiple distance scales and field laboratory analysis using the synchronous life-detection techniques to heuristically develop the continuing sampling and analysis strategy during the expedition. Here we report the operational lessons learned and provide brief summaries of scientific data. The full scientific data report will follow separately. We found that rapid in-field analysis to determine subsequent sampling decisions is operationally feasible, and that the chosen life detection and characterization techniques are suitable for a terrestrial life-detection field mission. In-field analysis enables the rapid obtainment of scientific data and thus facilitates the collection of the most scientifically relevant samples within a single field expedition, without the need for sample relocation to external laboratories. The operational lessons learned in this study could be applied to future terrestrial field expeditions employing other analytical techniques and to future robotic planetary exploration missions.

Bilateral teleoperation across significant time delays has been extensively studied and is posed to provide remote control of orbiting robots. Unfortunately, most standard approaches assume an impedance controlled, backdrivable robot. In this work, we apply wave variable control to Ranger, a large, space-qualified, geared robot. We incorporate local feedback of contact forces into the control framework to achieve backdrivable operation. In particular, this control framework imitates an idealized point mass to respect Ranger’s dynamic capabilities. Beyond perceiving steady state contact forces, the user’s perception can be enhanced with high-frequency acceleration feedback of contact transients. Experimental results from controlling Ranger using network communications show stable operation in free space and contact.Copyright © 2008 by ASME

Model mediated teleoperation allows users to interact with a remote environment via a local rendition to mitigate the effects of large communication delays. As the slave encounters an environment a model is identified, transmitted to the master, then haptically and graphically recreated. Particular attention must be paid to the user interface when model information is updated, to avoid confusion or disruptive effects. This paper examines various transition methods from the perspective of user preferences and perception. Transitions are grouped according to three basic philosophies: hiding changes from the user, forcing changes upon the user, and alerting users to model updates. A user study is presented which evaluated subjects' performance and opinions for different approaches. We found transitions that gradually but actively presented information to be the most successful