Primitive Bodies Research Articles

BOOTSTRAPPING PERCEPTION USING INFORMATION THEORY: CASE STUDIES IN A QUADRUPED ROBOT RUNNING ON DIFFERENT GROUNDS

Animals and humans engage in an enormous variety of behaviors which are orchestrated through a complex interaction of physical and informational processes: The physical interaction of the bodies with the environment is intimately coupled with informational processes in the animal's brain. A crucial step toward the mastery of all these behaviors seems to be to understand the flows of information in the sensorimotor networks. In this study, we have performed a quantitative analysis in an artificial agent — a running quadruped robot with multiple sensory modalities — using tools from information theory (transfer entropy). Starting from very little prior knowledge, through systematic variation of control signals and environment, we show how the agent can discover the structure of its sensorimotor space, identify proprioceptive and exteroceptive sensory modalities, and acquire a primitive body schema. In summary, we show how the analysis of directed information flows in an agent's sensorimotor networks can be used to bootstrap its perception and development.

Impact experiments of exotic dust grain capture by highly porous primitive bodies

Small primitive bodies were presumably highly porous when they formed and some still have low densities that are indicative of a high pore content. Therefore, after their formation, interplanetary dust impacting on their surface may have been captured because of their porous structure. The mechanism of dust penetration is thus of importance to understand the evolution of small bodies and the origin of their internal dust particles. Impact experiments of sintered glass-bead targets characterized by 80%, 87%, and 94% bulk porosity were conducted using metal and basalt projectiles at impact velocities ranging from 1.6 to 7.2kms−1. Track morphology and penetration processes were analyzed using both X-ray tomography and a flash X-ray system. Two types of track were observed, as previously also found in the Stardust aerogel: a thin and long track (carrot-shaped track), and a “bulb” with tails (bulb-shaped track). The track shape changed with initial dynamic pressure. We found that the transition between “carrot” and “bulb” occurred at a pressure of roughly 20 times the projectile’s tensile strength. The deceleration process of projectiles without severe deformation and fragmentation was reproduced by a drag equation composed of an inertia drag that was proportional to the square of the projectile’s velocity and a constant drag proportional to the target’s compressive strength. We applied this deceleration equation to silicate dust penetrating into hypothetical porous icy bodies which were homogeneous on much smaller scales than the impacting dust particles. The penetration depth was approximately 100 times the projectile diameter for the bodies with 90% porosity.

바디 제스처 인식을 위한 기초적 신체 모델 인코딩과 선택적 / 비동시적 입력을 갖는 병렬 상태 기계

Body gesture Recognition has been one of the interested research field for Human-Robot Interaction(HRI). Most of the conventional body gesture recognition algorithms used Hidden Markov Model(HMM) for modeling gestures which have spatio-temporal variabilities. However, HMM-based algorithms have difficulties excluding meaningless gestures. Besides, it is necessary for conventional body gesture recognition algorithms to perform gesture segmentation first, then sends the extracted gesture to the HMM for gesture recognition. This separated system causes time delay between two continuing gestures to be recognized, and it makes the system inappropriate for continuous gesture recognition. To overcome these two limitations, this paper suggests primitive body model encoding, which performs spatio/temporal quantization of motions from human body model and encodes them into predefined primitive codes for each link of a body model, and Selective/Asynchronous Input-Parallel State machine(SAI-PSM) for multiple-simultaneous gesture recognition. The experimental results showed that the proposed gesture recognition system using primitive body model encoding and SAI-PSM can exclude meaningless gestures well from the continuous body model data, while performing multiple-simultaneous gesture recognition without losing recognition rates compared to the previous HMM-based work.

The first steps towards a de minimus, affordable NEA exploration architecture

The impetus for asteroid exploration is scientific, political, and pragmatic. The notion of sending human explorers to asteroids is not new. Piloted missions to these primitive bodies were first discussed in the 1960s, pairing Saturn V rockets with enhanced Apollo spacecraft to explore what were then called “Earth-approaching asteroids.” Two decades ago, NASA's Space Exploration Initiative (SEI) also briefly examined the possibility of visiting these small celestial bodies. Most recently, the US Human Space Flight Review Committee (the second Augustine Commission) suggested that near-Earth objects (NEOs) represent a target-rich environment for exploration via the “Flexible Path” option. However, prior to seriously considering human missions to NEOs, it has become clear that we currently lack a robust catalog of human-accessible targets. The majority of the known NEOs identified by a study team across several NASA centers as “human-accessible” are probably too small and have orbits that are too uncertain to consider mounting piloted expeditions to these small worlds. The first step in developing a comprehensive catalog is, therefore, to complete a space-based NEO survey. The resulting catalog of candidate NEOs would then be transformed into a matrix of opportunities for robotic and human missions for the next several decades and shared with the international community. This initial step of a space-based NEO survey is therefore the linchpin to laying the foundation of a low-risk architecture to venture out and explore these primitive bodies. We suggest such a minimalist framework architecture from (1) extensive ground-based and precursor spacecraft investigations (while applying operational knowledge from science-driven robotic missions), (2) astronaut servicing of spacecraft operating at geosynchronous Earth orbit to retain essential skills and experience, and (3) applying the sum of these skills, knowledge and experience to piloted missions to NEOs.

Analysis of disk‐resolved OMEGA and CRISM spectral observations of Phobos and Deimos

Disk‐resolved observations of Phobos acquired by OMEGA at a range of lighting and viewing geometries were fit with the Hapke photometric function to solve for the single particle phase function and single scattering albedos from 0.4 to 2.5 μm. Single scattering albedos were recovered from CRISM observations of Phobos using the OMEGA derived single particle phase function and are similar to those from OMEGA data. Both the ubiquitous red unit and the blue unit around the crater Stickney exhibit a smooth red‐sloped spectrum, with a steeper continuum in the redder unit. Single scattering albedos retrieved from CRISM measurements of Deimos are similar to those for the red unit on Phobos. Retrieval of single scattering albedos from OMEGA data at 2.8 to 5.0 μm has greater uncertainty, but results in this wavelength range are also consistent with a smooth, red‐sloped spectrum. Phobos' and Deimos' low reflectances, lack of mafic absorption features, and red spectral slopes are incompatible with even highly space weathered chondritic or basaltic compositions. These results, coupled with similarities to laboratory spectra of Tagish Lake (possible D‐type asteroid analog) and CM carbonaceous chondrite meteorites, show that Phobos and Deimos have primitive compositions. If the moons formed in situ rather than by capture of primitive bodies, primitive materials must have been added to the Martian system during accretion or a late stage impact.

Infant imitation and the self—A response to Welsh

Talia Welsh (2006) argues that Shaun Gallagher and Andrew Meltzoff's (1996) application of neonatal imitation research is insufficient grounds for their claim that neonates are born with a primitive body image and thus an innate self-awareness. Drawing upon an understanding of the self that is founded upon a “theory of mind,” Welsh challenges the notion that neonates have the capacity for self-awareness and charges the supposition with an essentialism which threatens to disrupt more social constructionist understandings of the self. In this paper, I initially defend Gallagher and Meltzoff's (1996) application of infant imitation to understandings of neonatal self-awareness by explaining how body image schemas can be understood as non-representational embodied cognitive phenomena that challenge “theory of mind” theory. I then further develop the claim that neonates are born self-aware with reference to my own work in fetal development. I conclude that Welsh's political concerns are unfounded by showing how the conclusion that a neonate is self-aware does not signal a return to an essentialist understanding of self-awareness, but rather introduces into philosophical and psychological discourse possible alternate understandings of an embodied sense of self that are embedded within intersubjective contexts.

Delivery of dark material to Vesta via carbonaceous chondritic impacts

NASA’s Dawn spacecraft observations of Asteroid (4) Vesta reveal a surface with the highest albedo and color variation of any asteroid we have observed so far. Terrains rich in low albedo dark material (DM) have been identified using Dawn Framing Camera (FC) 0.75μm filter images in several geologic settings: associated with impact craters (in the ejecta blanket material and/or on the crater walls and rims); as flow-like deposits or rays commonly associated with topographic highs; and as dark spots (likely secondary impacts) nearby impact craters. This DM could be a relic of ancient volcanic activity or exogenic in origin. We report that the majority of the spectra of DM are similar to carbonaceous chondrite meteorites mixed with materials indigenous to Vesta. Using high-resolution seven color images we compared DM color properties (albedo, band depth) with laboratory measurements of possible analog materials. Band depth and albedo of DM are identical to those of carbonaceous chondrite xenolith-rich howardite Mt. Pratt (PRA) 04401. Laboratory mixtures of Murchison CM2 carbonaceous chondrite and basaltic eucrite Millbillillie also show band depth and albedo affinity to DM. Modeling of carbonaceous chondrite abundance in DM (1–6vol.%) is consistent with howardite meteorites. We find no evidence for large-scale volcanism (exposed dikes/pyroclastic falls) as the source of DM. Our modeling efforts using impact crater scaling laws and numerical models of ejecta reaccretion suggest the delivery and emplacement of this DM on Vesta during the formation of the ∼400km Veneneia basin by a low-velocity (<2km/s) carbonaceous impactor. This discovery is important because it strengthens the long-held idea that primitive bodies are the source of carbon and probably volatiles in the early Solar System.

Recent collisional jet from a primitive asteroid

Here we show an example of a young asteroid cluster located in a dynamically stable region, which was produced by partial disruption of a primitive body about 30 km in size. We estimate its age to be only 1.9 +/- 0.3 Myr, thus its post-impact evolution should have been very limited. The large difference in size between the largest object and the other cluster members means that this was a cratering event. The parent body had a large orbital inclination, and was subject to collisions with typical impact speeds higher by a factor of 2 than in the most common situations encountered in the main belt. For the first time we have at disposal the observable outcome of a very recent event to study high-speed collisions involving primitive asteroids, providing very useful constraints to numerical simulations of these events and to laboratory experiments.

Methanol ice on the surface of minor bodies in the solar system

Aims. Spectral analyses of trans-Neptunan objects (TNOs) and of the linked Centaurs, which are supposed to be among the most primitive minor bodies in the solar system, reveal some chemical and physical properties of their surface. To determine the surface composition of these objects and their surface evolution is essential for gaining clues on the conditions under which the solar system has been formed. Methods. Chemical composition and physical properties of the surface of three objects have been constrained by computing the depth of the absorption features of the spectra in the near-infrared, running spectral models based on radiative transfer theory in the [0.4-2.3] μm range, and analyzing new laboratory measurements of the spectral behavior of thin samples of H 2 O-CH 3 OH mixtures. Results. Our investigations allow us to confirm the presence of CH 3 OH ice on the surface of the Centaur (5145) Pholus and the resonant (55638) TNO 2002 VE 95 . It may also possibly be found on the classical TNO (120348) 2004 TY 364 . Our laboratory experiments indicate that the behavior of the methanol and water ice absorption bands is dependent on the ambient temperature and the dilution level of the mixture. These results also suggest that methanol may be diluted in water ice on the surface of the Centaur Pholus. Conclusions. Formation and destruction processes of methanol suggest that a part (at least) of the surface of these objects is younger than the solar system age. If confirmed, this shows that primordial ices could still be detected on the surface of objects that are submitted to irradiation and rejuvenation processes.

Science benefits of onboard spacecraft navigation

Primitive bodies (asteroids and comets), which have remained relatively unaltered since their formation, are important targets for scientific missions that seek to understand the evolution of the solar system. Often the first step is to fly by these bodies with robotic spacecraft. The key to maximizing data returns from these flybys is to determine the spacecraft trajectory relative to the target body—in short, navigate the spacecraft—with sufficient accuracy so that the target is guaranteed to be in the instruments' field of view. The most powerful navigation data in these scenarios are images taken by the spacecraft of the target against a known star field (onboard astrometry).

Overview of the rocky component of Wild 2 comet samples: Insight into the early solar system, relationship with meteoritic materials and the differences between comets and asteroids

Abstract– The solid 2–10 μm samples of comet Wild 2 provide a limited but direct view of the solar nebula solids that accreted to form Jupiter family comets. The samples collected by the Stardust mission are dominated by high‐temperature materials that are closely analogous to meteoritic components. These materials include chondrule and CAI‐like fragments. Five presolar grains have been discovered, but it is clear that isotopically anomalous presolar grains are only a minor fraction of the comet. Although uncertain, the presolar grain content is perhaps higher than found in chondrites and most interplanetary dust particles. It appears that the majority of the analyzed Wild 2 solids were produced in high‐temperature “rock forming” environments, and they were then transported past the orbit of Neptune, where they accreted along with ice and organic components to form comet Wild 2. We hypothesize that Wild 2 rocky components are a sample of a ubiquitously distributed flow of nebular solids that was accreted by all bodies including planets and meteorite parent bodies. A primary difference between asteroids and the rocky content of comets is that comets are dominated by this widely distributed component. Asteroids contain this component, but are dominated by locally made materials that give chondrite groups their distinctive properties. Because of the large radial mixing in this scenario, it seems likely that most comets contain a similar mix of rocky materials. If this hypothesis is correct, then properties such as oxygen isotopes and minor element abundances in olivine, should have a wider dispersion than in any chondrite group, and this may be a characteristic property of primitive outer solar system bodies made from widely transported components.

Detrital remanent magnetization in the solar nebula

We introduce the theoretical basis of a new form of remanent magnetization that likely formed on primitive bodies in the solar system. Accretional detrital remanent magnetization (ADRM) operates via “compass needle”‐type alignment of ferromagnetic solids with locally uniform background fields in the solar nebula. Accretion of coherently aligned magnetic particles should have formed aggregates up to centimeters in size with significant net magnetic moment. We quantify several processes that constrain the likelihood of ADRM formation, finding that rotational gas damping and background field intensities expected for the solar nebula are sufficient to mutually align magnetic particles with diameters between ∼30 μm and several cm. The lower bound is dictated by Brownian motion or radiative torque while the upper bound is set by aerodynamic torque on non‐spherical particles. Processes important for interstellar dust dynamics such as Larmor‐type precession and Purcell torque are less significant in the solar nebula. ADRM can be potentially observed as zones of coherent magnetization in primitive chondrites and may be detected by spacecraft magnetic field observations on the surfaces of small bodies. Observational identification and characterization of ADRM would constrain the strength and geometry of magnetic fields in the early solar system, the accretion process of sub‐meter sized objects, the formation regions of chondrite parent bodies, and the alteration history of chondritic components.

The effects of disk building on the distributions of refractory materials in the solar nebula

Abstract– Refractory materials, such as calcium‐aluminum‐rich inclusions (CAIs) and crystalline silicates, are widely found in chondritic meteorites as well as comets, taken as evidence for large‐scale mixing in the solar nebula. Most models for mixing in the solar nebula begin with a well‐formed protoplanetary disk. Here, we relax this assumption by modeling the formation and evolution of the solar nebula during and after the period when it accreted material from its parent molecular cloud. We consider how disk building impacts the long‐term evolution of the disk and the implications for grain transport and mixing within it. Our model shows that materials that formed before infall was complete could be preserved in primitive bodies, especially those that accreted in the outer disk. This potentially explains the discovery of refractory objects with low initial 26Al/27Al ratios in comets. Our model also shows that the highest fraction of refractory materials in meteorites formed around the time that infall stopped. Thus, we suggest that the calcium‐aluminum‐rich inclusions in chondrites would be dominated by the population that formed during the transition from class I to class II stage of young stellar objects. This helps us to understand the meaning of t = 0 in solar system chronology. Moreover, our model offers a possible explanation for the existence of isotopic variations observed among refractory materials—that the anomalous materials formed before the collapse of the parent molecular cloud was complete.

Origin of felsic achondrites Graves Nunataks 06128 and 06129, and ultramafic brachinites and brachinite-like achondrites by partial melting of volatile-rich primitive parent bodies

New major- and trace-element abundances, highly siderophile element (HSE: Os, Ir, Ru, Pt, Pd, Re) abundances, and oxygen and rhenium–osmium isotope data are reported for oligoclase-rich meteorites Graves Nunataks 06128 and 06129 (GRA 06128/9), six brachinites (Brachina; Elephant Morraine 99402/7; Northwest Africa (NWA) 1500; NWA 3151; NWA 4872; NWA 4882) and three olivine-rich achondrites, which are referred to here as brachinite-like achondrites (NWA 5400; NWA 6077; Zag (b)). GRA 06128/9 represent examples of felsic and highly-sodic melt products from an asteroid that may provide a differentiation complement to brachinites and/or brachinite-like achondrites. The new data, together with our petrological observations, are consistent with derivation of GRA 06128/9, brachinites and the three brachinite-like achondrites from nominally volatile-rich and oxidised ‘chondritic’ precursor sources within their respective parent bodies. Furthermore, the range of Δ17O values (∼0‰ to −0.3‰) among the meteorites indicates generation from isotopically heterogeneous sources that never completely melted, or isotopically homogenised.It is possible to generate major- and trace-element compositions similar to brachinites and the three studied brachinite-like achondrites as residues of moderate degrees (13–30%) of partial melting of primitive chondritic sources. This process was coupled with inefficient removal of silica-saturated, high Fe/Mg felsic melts with compositions similar to GRA 06128/9. Melting of the parent bodies of GRA 06128/9, brachinites and brachinite-like achondrites halted well before extensive differentiation, possibly due to the exhaustion of the short-lived radionuclide 26Al by felsic melt segregation. This mechanism provides a potential explanation for the cessation of run-away melting in asteroids to preserve achondrites such as GRA 06128/9, brachinites, brachinite-like achondrites, acapulcoite-lodranites, ureilites and aubrites.Moderate degrees of partial melting of chondritic material and generation of Fe–Ni–S-bearing melts are generally consistent with HSE abundances that are within factors of ∼2–10×CI-chondrite abundances for GRA 06128/9, brachinites and the three brachinite-like achondrites. However, in detail, brachinite-like achondrites NWA 5400, NWA 6077 and Zag (b) are interpreted to have witnessed single-stage S-rich metal segregation, whereas HSE in GRA 06128/9 and brachinites have more complex heritages. The HSE compositions of GRA 06128/9 and brachinites require either: (1) multiple phases in the residue (e.g., metal and sulphide); (2) fractionation after generation of an initial melt, again involving multiple phases; (3) fractional fusion, or; (4) a parent body with non-chondritic relative HSE abundances. Petrological and geochemical observations permit genetic links (i.e., same parent body) between GRA 06128/9 and brachinites and similar formation mechanisms for brachinites and brachinite-like achondrites.

Trojans’ Odyssey: Unveiling the early history of the Solar System

In our present understanding of the Solar System, small bodies (asteroids, Jupiter Trojans, comets and TNOs) are the most direct remnants of the original building blocks that formed the planets. Jupiter Trojan and Hilda asteroids are small primitive bodies located beyond the ‘snow line’, around respectively the L4 and L5 Lagrange points of Jupiter at ∼5.2 AU (Trojans) and in the 2:3 mean-motion resonance with Jupiter near 3.9 AU (Hildas). They are at the crux of several outstanding and still conflicting issues regarding the formation and evolution of the Solar System. They hold the potential to unlock the answers to fundamental questions about planetary migration, the late heavy bombardment, the formation of the Jovian system, the origin and evolution of trans-neptunian objects, and the delivery of water and organics to the inner planets. The proposed Trojans’ Odyssey mission is envisioned as a reconnaissance, multiple flyby mission aimed at visiting several objects, typically five Trojans and one Hilda. It will attempt exploring both large and small objects and sampling those with any known differences in photometric properties. The orbital strategy consists in a direct trajectory to one of the Trojan swarms. By carefully choosing the aphelion of the orbit (typically 5.3 AU), the trajectory will offer a long arc in the swarm thus maximizing the number of flybys. Initial gravity assists from Venus and Earth will help reducing the cruise time as well as the ΔV needed for injection thus offering enough capacity to navigate among Trojans. This solution further opens the unique possibility to flyby a Hilda asteroid when leaving the Trojan swarm. During the cruise phase, a Main Belt Asteroid could be targeted if requiring a modest ΔV. The specific science objectives of the mission will be best achieved with a payload that will perform high-resolution panchromatic and multispectral imaging, thermal-infrared imaging/ radiometry, near- and mid-infrared spectroscopy, and radio science/mass determination. The total mass of the payload amounts to 50 kg (including margins). The spacecraft is in the class of Mars-Express or a down-scaled version of Jupiter Ganymede Orbiter. It will have a dry mass of 1200 kg, a total mass at launch of 3070 kg and a ΔV capability of 700 m/s (after having reached the first Trojan) and can be launched by a Soyuz rocket. The mission operations concept (ground segment) and science operations are typical of a planetary mission as successfully implemented by ESA during, for instance, the recent flybys of Main Belt asteroids Steins and Lutetia.

A chondrule-like object captured by space-exposed aerogel on the international space station

Here we report on the mineralogy, petrography, and oxygen-isotope compositions of a micrometeoroid captured on the international space station. This micrometeoroid has the texture of a porphyritic olivine chondrule. Because hydrated phases were not identified in the micrometeoroid and because Ni-rich sulfide in it does not show exsolution of pentlandite on the TEM scale, the micrometeoroid probably escaped low temperature events such as aqueous alteration on its parent body. However, the mean value and standard deviation of Cr 2O 3 wt.% in olivine in the micrometeoroid suggest that the micrometeoroid experienced weak thermal metamorphism. Oxygen isotope ratios of pyroxene and olivine in the micrometeoroid are similar to those of chondrule-like objects in comet 81P/Wild2 and coarse-grained crystalline micrometeorites as well as those in chondrules in major types of carbonaceous chondrites. These data suggest that the micrometeoroid is a fragment of a chondrule-like object that was derived from a primitive parent body that experienced thermal metamorphism.

Animal egg as evolutionary innovation: a solution to the “embryonic hourglass” puzzle

The evolutionary origin of the egg stage of animal development presents several difficulties for conventional developmental and evolutionary narratives. If the egg's internal organization represents a template for key features of the developed organism, why can taxa within a given phylum exhibit very different egg types, pass through a common intermediate morphology (the so-called "phylotypic stage"), only to diverge again, thus exemplifying the embryonic "hourglass"? Moreover, if different egg types typically represent adaptations to different environmental conditions, why do birds and mammals, for example, have such vastly different eggs with respect to size, shape, and postfertilization dynamics, whereas all these features are more similar for ascidians and mammals? Here, I consider the possibility that different body plans had their origin in self-organizing physical processes in ancient clusters of cells, and suggest that eggs represented a set of independent evolutionary innovations subsequently inserted into the developmental trajectories of such aggregates. I first describe how "dynamical patterning modules" (DPMs) associations between components of the metazoan developmental-genetic toolkit and certain physical processes and effects may have organized primitive animal body plans independently of an egg stage. Next, I describe how adaptive specialization of cells released from such aggregates could have become "proto-eggs," which regenerated the parental cell clusters by cleavage, conserving the characteristic DPMs available to a lineage. Then, I show how known processes of cytoplasmic reorganization following fertilization are often based on spontaneous, self-organizing physical effects ("egg-patterning processes": EPPs). I suggest that rather than acting as developmental blueprints or prepatterns, the EPPs refine the phylotypic body plans determined by the DPMs by setting the boundary and initial conditions under which these multicellular patterning mechanisms operate. Finally, I describe how this new perspective provides a resolution to the embryonic hourglass puzzle.

The Asteroid-Comet Continuum: In Search of Lost Primitivity

Recent results from the Stardust comet sample-return mission have confirmed the idea that there is a continuum between primitive small bodies in the outer main asteroid belt and comets. Indeed, the mineralogy as well as the chemical and oxygen isotope compositions of the dust from comet Wild 2 are very similar to those of carbonaceous chondrites, a class of meteorites allegedly derived from primitive, dark asteroids. Comets no longer represent extremely primitive samples of the early Solar System that are radically different from dark asteroids. We enter a new era in which comets and their siblings, the dark asteroids, are seen as a collection of individual objects whose geology can be studied. The most primitive of these objects, i.e. the ones that escaped thermal metamorphism or hydrothermal alteration, can help us decipher physicochemical processes in the interstellar medium and in the protoplanetary disk from which our Solar System formed.

Dicyemid’s dilemma: structure versus genes. The unorthodox structure of dicyemid reproduction

The clear phylogenetic status of the enigmatic Phylum Dicyemida is still uncertain. Their primitive body plan lacks essential metazoan synapomorphies, while genetic data favor a kinship with higher lophotrochozoans. This ultrastructural study increases the confusion about this phylum by presenting an unusual gonad and sperm structure lacking all synapomorphies essential for the various phyla of the lophotrochozoans, either free-living ones or parasites. In Dicyema typus, gonadogenesis is reduced to a single somatic cell, i.e., the infusorigen's axial cell that functions as a somatic gonadal founder cell as soon as a spermatogonium takes residence in its cytoplasm. The spermiogenic cells resulting therefrom are not connected by intercellular bridges and permanently contain a bundle of microtubules in their cytoplasm, obviously a kind of "dormant" spindle having assembled without centrosomes. Primary spermatocytes develop so-called polycomplexes, multiple synaptinemal complexes. The structure of the sperm is based on a certain kind of somatic cell that has been minimally adapted to function as a sperm. The mature sperm consists in only three organelles: an ovoid nucleus with a somatic chromatin structure, numerous pore complexes and a centrally arranged cluster of coiled tubular structures; a bundle of microtubules embedded into a rim running along the nucleus longitudinal surface, projecting out of the cell like a spear; and a lipid vesicle tightly attached to one pole of the nucleus, touching there the adjacent bundle of microtubules. Immunelectron microscopy confirms the somatic condition of mature sperm, revealing somatic histone H1 immunoreactivity over the nucleus, which can be interpreted as synapomorphy shared with Protozoa, Porifera and Cnidaria. Fertilization occurs as selfing, where the sperm penetrates, "bundle of microtubules first", a primary oocyte attached vis-à-vis on the other side of the plasma membrane of the infusorigen's axial cell. This somatic situation points to an ancient evolutionary model rather than to a condition caused by retrogression due to their life as commensals.

K1 制約付きモデル予測制御に基づく小惑星探査機の降下・着陸フェーズでの運動制御(宇宙探査)

K1 制約付きモデル予測制御に基づく小惑星探査機の降下・着陸フェーズでの運動制御(宇宙探査)