California Institute of Technology

Enabling robot autonomy in complex environments for mission critical application requires robust state estimation. Particularly under conditions where the exteroceptive sensors, which the navigation depends on, can be degraded by environmental challenges thus, leading to mission failure. It is precisely in such challenges where the potential for Frequency Modulated Continuous Wave (FMCW) radar sensors is highlighted: as a complementary exteroceptive sensing modality with direct velocity measuring capabilities. In this work we integrate radial speed measurements from a FMCW radar sensor, using a radial speed factor, to provide linear velocity updates into a sliding–window state estimator for fusion with LiDAR pose and IMU measurements. We demonstrate that this augmentation increases the robustness of the state estimator to challenging conditions present in the environment and the negative effects they can pose to vulnerable exteroceptive modalities. The proposed method is extensively evaluated using robotic field experiments conducted using an autonomous, full-scale, off-road vehicle operating at high-speeds ( ∼12ms) in complex desert environments. Furthermore, the robustness of the approach is demonstrated for cases of both simulated and real-world degradation of the LiDAR odometry performance along with comparison against state-of-the-art methods for radar-inertial odometry on public datasets.

Gas vesicles (GVs) based on acoustic reporter genes have emerged as potent contrast agents for cellular and molecular ultrasound imaging. These air-filled, genetically encoded protein nanostructures can be expressed in a variety of cell types in vivo to visualize cell location and activity or injected systemically to label and monitor tissue function. Distinguishing GV signal from tissue deep inside intact organisms requires imaging approaches such as amplitude modulation (AM) or collapse-based pulse sequences. However, these approaches have limitations either in sensitivity or require the destruction of GVs, restricting the imaging of dynamic cellular processes. To address these limitations, we developed harmonic imaging to enhance the sensitivity of nondestructive GV imaging. We hypothesized that harmonic imaging, integrated with AM, could significantly elevate GV detection sensitivity by leveraging the nonlinear acoustic response of GVs. We tested this hypothesis by imaging tissue-mimicking phantoms embedded with purified GVs, mammalian cells genetically modified to express GVs, and mice liver in vivo post-systemic infusion of GVs. Our findings reveal that harmonic cross-propagating wave AM (HxAM) imaging markedly surpasses traditional xAM in isolating GVs' nonlinear acoustic signature, demonstrating significant (p < 0.05) enhancements in imaging performance. HxAM imaging improves detection of GV producing cells up to three folds in vitro, enhances in vivo imaging performance by over 10 dB, while extending imaging depth by up to 20%. Investigation into the backscattered spectra further elucidates the advantages of harmonic imaging. These advancements bolster ultrasound's capability in molecular and cellular imaging, underscoring the potential of harmonic signals to improve GV detection.

Petrologic investigation of the El Ali IAB iron meteorite (Somalia) revealed three new minerals: elaliite [ $\begin{array}{} \displaystyle {\rm Fe_{8}^{2+}} \end{array}$Fe³⁺(PO4)O8, IMA 2022-087], elkinstantonite [Fe4(PO4)2O, IMA 2022-088], and olsenite [KFe4(PO4)3, IMA 2022-100]. The name elaliite recognizes the occurrence of this mineral within the El Ali meteorite, originally located at 4° 17′ 17″N, 44° 53′ 54″E. Elkinstantonite is named after Linda (Lindy) Elkins-Tanton (b. 1965), a planetary scientist and professor in the School of Earth and Space Exploration at Arizona State University. The name olsenite is in honor of Edward J. Olsen (1927–2020), the former Curator of Mineralogy and Meteorites at the Field Museum of Natural History in Chicago (1960–1991). The new minerals and their names have been approved by the Commission on New Minerals, Nomenclature and Classification of the International Mineralogical Association. The holotype specimens of elaliite, elkinstantonite, and olsenite consist of the polished block mount with accession number MET11814/2-1/EP1 deposited in the University of Alberta Meteorite Collection. Elaliite, elkinstantonite, and olsenite occur along with wüstite, troilite, sarcopside, and Ca-bearing graftonite within inclusions in the iron-nickel metal (kamacite, 9.4 wt% Ni) that makes up the bulk of the El Ali sample. The empirical formulas determined by electron probe microanalysis for elaliite, elkinstantonite, and olsenite are: ( $\begin{array}{} \displaystyle {\rm Fe_{7.943}^{2+}Fe_{1.020}^{3+}} \end{array}$Cr0.010Ni0.006Ca0.004Mn0.004)Σ8.987(P0.932Si0.077S0.005)Σ1.014O12,( $\begin{array}{} \displaystyle {\rm Fe_{3.947}^{2+}} \end{array}$Mn0.016Ni0.003Ca0.001Cr0.001)Σ3.968(P1.986Si0.014S0.013)Σ2.013O9, and (K0.820Na0.135Ca0.004)Σ0.959(Fe3.829Mn0.050)Σ3.879(P2.972S0.058Si0.017)Σ3.047O12, respectively. Electron backscatter diffraction was used to confirm the crystal structures of the three new minerals. Raman spectra for all three minerals are also presented.

Plain Language Summary Water and carbon dioxide each form high‐altitude (40–100 km) clouds on Mars. Clouds at those altitudes on Earth can be noctilucent—night‐shining—when they are illuminated by sunlight while the world below is dark. Noctilucent clouds have been seen on Mars but were not expected around the Curiosity rover site. Curiosity rover images from early southern autumn show clouds that are not only noctilucent, but they are also colorful with a mother‐of‐pearl appearance due to iridescence—such clouds are called nacreous on Earth. Curiosity's environmental data record shows that the clouds have consistently formed near sunset in that season. By looking at the timing of when Mars' shadow falls on the cirrus‐like clouds, we found that they are 50–80 km high and are probably carbon dioxide ice, but there are lower layers of wave‐like clouds that may be water ice. The pastel red, orange, green, and blue fringes of the clouds, which would be easily visible to an astronaut on Mars, help us understand the size of the cloud particles and how they grow and change.

Strain engineering has emerged as a powerful approach in steering material properties. However, the mechanism and potential limitations remain poorly understood. Here we report that subtle changes in molecular configurations can profoundly affect, conducively or adversely, the catalytic selectivity and product turnover frequencies (TOFs) of CO2 reduction reaction. Specifically, introducing molecular curvature in cobalt tetraaminophthalocyanine improves the multielectron reduction activity by favorable *CO hydrogenation, attaining methanol Faradaic efficiency up to 52 %. In stark contrast, strained iron phthalocyanine exacerbates *CO poisoning, leading to decreased TOFCO by >50 % at −0.5 VRHE and a rapid current decay. The uniform dispersion is crucial for optimizing electron transfer, while activity is distinctly sensitive to the local atomic environment around the active sites. Specifically, local strain either enhances binding to intermediates or poisons the catalytic sites. Our comprehensive analysis elucidates the intricate relationship between molecular structure and activities, offering insights into designing efficient heterogeneous molecular interfaces.

The Curiosity rover explored the region between the orbitally defined phyllosilicate‐bearing Glen Torridon trough and the overlying layered sulfate‐bearing unit, called the “clay‐sulfate transition region.” Samples were drilled from the top of the fluviolacustrine Glasgow member of the Carolyn Shoemaker formation (CSf) to the eolian Contigo member of the Mirador formation (MIf) to assess in situ mineralogical changes with stratigraphic position. The Sample Analysis at Mars‐Evolved Gas Analysis (SAM‐EGA) instrument analyzed drilled samples within this region to constrain their volatile chemistry and mineralogy. Evolved H2O consistent with nontronite was present in samples drilled in the Glasgow and Mercou members of the CSf but was generally absent in stratigraphically higher samples. SO2 peaks consistent with Fe sulfate were detected in all samples, and SO2 evolutions consistent with Mg sulfate were observed in most samples. CO2 and CO evolutions were variable between samples and suggest contributions from adsorbed CO2, carbonates, simple organic salts, and instrument background. The lack of NO and O2 in the data suggest that oxychlorines and nitrates were absent or sparse, and evolved HCl was consistent with the presence of chlorides in all samples. The combined rover data sets suggest that sediments in the upper CSf and MIf may represent similar source material and were deposited in lacustrine and eolian environments, respectively. Rocks were subsequently altered in briny solutions with variable chemical compositions that resulted in the precipitation of sulfates, carbonates, and chlorides. The results suggest that the clay‐sulfate transition records progressively drier surface depositional environments and saline diagenetic fluid, potentially impacting habitability.

Wave‐ice interactions are critical for correctly modeling air‐sea exchanges and ocean surface processes in polar regions. While the role of sea ice in damping open‐water swell waves has received considerable research interest, the impact of sea ice on locally generated wind‐waves in partial ice cover remains uncertain. The current approach in spectral wave models is to scale the wind input term by the open‐water fraction, 1−ϕ $1-\phi$, for ϕ $\phi$ the sea ice concentration (SIC), but this neglects the impact of subgrid‐scale patterns of sea ice coverage in limiting fetch for wind‐wave growth. Here, we use the spectral wave model SWAN to simulate local waves in realistic, synthetic fields of explicitly resolved sea ice floes over a range of SICs and floe size distributions (FSDs). We consider cases with floe sizes much larger than the wavelengths, and absent of interstitial frazil or pancake ice. Through geometric arguments, we show that the fetch available for wind‐wave growth, and thus the resulting wave statistics, depends on a combination of the SIC and the FSD. The combination of geometric scaling and empirical wave laws allows the prediction of bulk wave statistics as a function of SIC, a characteristic floe size, and wind speed. We show that due to the difference in spectral character from attenuated propagating open‐ocean swell, these waves may have an outsized impact on ocean mixing regimes.

Monitoring neuronal activity at single-cell resolution in freely moving Drosophila engaged in social behaviors is challenging because of their small size and lack of transparency. Extant methods, such as Flyception, are highly invasive. Whole-brain calcium imaging in head-fixed, walking flies is feasible but the animals cannot perform the consummatory phases of social behaviors like aggression or mating under these conditions. This has left open the fundamental question of whether neurons identified as functionally important for such behaviors using loss- or gain-of-function screens are actually active during the natural performance of such behaviors, and if so during which phase(s). Here, we perform brain-wide mapping of active cells expressing the Immediate Early Gene hr38 using a high-sensitivity/low background fluorescence in situ hybridization (FISH) amplification method called HCR-3.0. Using double-labeling for hr38 mRNA and for GFP, we describe the activity of several classes of aggression-promoting neurons during courtship and aggression, including P1 a cells, an intensively studied population of male-specific interneurons. Using HI-FISH in combination with optogenetic activation of aggression-promoting neurons (opto-HI-FISH), we identify candidate downstream functional targets of these cells in a brain-wide, unbiased manner. Finally, we compare the activity of P1 a neurons during sequential performance of courtship and aggression, using intronic vs. exonic hr38 probes to differentiate newly synthesized nuclear transcripts from cytoplasmic transcripts synthesized at an earlier time. These data provide evidence suggesting that different subsets of P1 a neurons may be active during courtship vs. aggression. HI-FISH and associated methods may help to fill an important lacuna in the armamentarium of tools for neural circuit analysis in Drosophila .

The unsteady flow physics of wind-turbine wakes under dynamic forcing conditions are critical to the modelling and control of wind farms for optimal power density. Unsteady forcing in the streamwise direction may be generated by unsteady inflow conditions in the atmospheric boundary layer, dynamic induction control of the turbine or streamwise surge motions of a floating offshore wind turbine due to floating-platform oscillations. This study seeks to identify the dominant flow mechanisms in unsteady wakes forced by a periodic upstream inflow condition. A theoretical framework for the problem is derived, which describes travelling-wave undulations in the wake radius and streamwise velocity. These dynamics encourage the aggregation of tip vortices into large structures that are advected along in the wake. Flow measurements in the wake of a periodically surging turbine were obtained in an optically accessible towing-tank facility, with an average diameter-based Reynolds number of 300 000 and with surge-velocity amplitudes of up to 40 % of the mean inflow velocity. Qualitative agreement between trends in the measurements and model predictions is observed, supporting the validity of the theoretical analyses. The experiments also demonstrate large enhancements in the recovery of the wake relative to the steady-flow case, with wake-length reductions of up to 46.5 % and improvements in the available power at 10 diameters downstream of up to 15.7 %. These results provide fundamental insights into the dynamics of unsteady wakes and serve as additional evidence that unsteady fluid mechanics can be leveraged to increase the power density of wind farms.

Moho topography yields insights into the evolution of the lithosphere and the strength of the lower crust. The Moho reflected phase (PmP) samples this key boundary and may be used in concert with the first arriving P phase to infer crustal thickness. The densely sampled station coverage of distributed acoustic sensing arrays allows for the observation of PmP at fine-scale intervals over many kilometers with individual events. We use PmP recorded by a 100-km-long fiber that traverses a path between Ridgecrest, CA and Barstow, CA to explore Moho variability in Southern California. With hundreds of well-recorded events, we verify that PmP is observable and develop a technique to identify and pick P-PmP differential times with high confidence. We use these observations to constrain Moho depth throughout Southern California, and we find that short-wavelength variability in crustal thickness is abundant, with sharp changes across the Garlock Fault and Coso Volcanic Field.

The autonomic nervous system orchestrates the functions of the brain and body through the sympathetic and parasympathetic pathways¹. However, our understanding of the autonomic system, especially the sympathetic system, at the cellular and molecular levels is severely limited. Here we show topological representations of individual visceral organs in the major abdominal sympathetic ganglion complex. Using multi-modal transcriptomic analyses, we identified molecularly distinct sympathetic populations in the coeliac–superior mesenteric ganglia (CG–SMG). Of note, individual CG–SMG populations exhibit selective and mutually exclusive axonal projections to visceral organs, targeting either the gastrointestinal tract or secretory areas including the pancreas and bile tract. This combinatorial innervation pattern suggests functional segregation between different CG–SMG populations. Indeed, our neural perturbation experiments demonstrated that one class of neurons regulates gastrointestinal transit, and another class of neurons controls digestion and glucagon secretion independent of gut motility. These results reveal the molecularly diverse sympathetic system and suggest modular regulation of visceral organ functions by sympathetic populations.

Plain Language Summary Ozone is a trace gas in the atmosphere that acts as an important greenhouse gas, and high concentrations near Earth's surface are a form of air pollution, detrimental to human health and vegetation productivity. Ozone is formed by sunlight reacting with precursor gases, such as those emitted by fossil fuel combustion. Wildfires are also an important source of ozone precursor gases. During summer 2023 Canada experienced its most intense wildfire season on record. Smoke from these fires impacted the U.S. Upper Midwest during May–June 2023, leading to regional scale surface enhancements of fine particulate matter and ozone. These unusual early season fires produced the highest regional‐scale surface ozone levels ever recorded across the northern U.S. Mid‐latitude wildfires have increased as the planet warms, and their frequency is expected to increase further with continued climate change. This analysis suggests that extreme ozone pollution episodes associated with wildfires could also increase in the future.

The precise origins of fast radio bursts (FRBs) remain unknown. Multiwavelength observations of nearby FRB sources can provide important insights into the enigmatic FRB phenomenon. Here we present results from a sensitive, broadband X-ray and radio observational campaign of FRB 20200120E, the closest known extragalactic repeating FRB source (located 3.63 Mpc away in an ~10-Gyr-old globular cluster). We place deep limits on the persistent and prompt X-ray emission from FRB 20200120E, which we use to constrain possible origins for the source. We compare our results with various classes of X-ray sources, transients and FRB models. We find that FRB 20200120E is unlikely to be associated with ultraluminous X-ray bursts, magnetar-like giant flares or an SGR 1935+2154-like intermediate flare. Although other types of bright magnetar-like intermediate flares and short X-ray bursts would have been detectable from FRB 20200120E during our observations, we cannot entirely rule them out as a class. We show that FRB 20200120E is unlikely to be powered by an ultraluminous X-ray source or a young extragalactic pulsar embedded in a Crab-like nebula. We also provide new constraints on the compatibility of FRB 20200120E with accretion-based FRB models involving X-ray binaries. These results highlight the power of multiwavelength observations of nearby FRBs for discriminating between FRB models.

The high costs and geopolitical challenges inherent to the lithium-ion (Li-ion) battery supply chain have driven a rising interest in the development of sodium-ion (Na-ion) batteries as a potential alternative. Unfortunately, the larger ionic radius of Na limits the reversibility of cycling because of the extensive atomic rearrangements that accompany Na-ion insertion, which in turn limit diffusion and charging speed, and lead to rapid degradation of the electrodes. The Center for Strain Optimization for Renewable Energy (STORE) was established to address these challenges and develop new electrode materials for Na-ion cells. This article discusses the current state-of-the-art materials used in Na-ion cells and several directions that STORE believes are critical to understand and control the structural and volumetric changes during the reversible (de)insertion of large cations. Graphical abstract Highlights Understanding the fundamental way materials respond to localized strains at the atomic length-scale is a critical first step in the development of highly reversible, long cycle life, Na-ion insertion hosts. This perspective explores a variety of methods that can be employed to mitigate the detrimental effects of large strain. The insights gained from these investigations should help lay the foundation for the creation of more economical and sustainable batteries that could have immediate impact on global energy infrastructure. Discussion Although there is near universal agreement that electrochemical energy storage must be an integral part of a green-energy future, there is less agreement about how to reduce the cost of energy storage. Replacing high-cost lithium-ion cells with lower-cost sodium-ion batteries is one option frequently considered in future energy models, but the details of what can be achieve with optimized sodium cell performance remains unclear. Here we posit that developing methods to mitigating strain on the electrode particle length scale is a key factor for achieving long-cycle-life sodium-ion batteries. Mitigating strain on the atomic scale suppress electrode-level volume change. Allowing for fast cycling in materials without the problems of electrode cracking or delamination. We further posit that understanding volume change in sodium-ion electrodes at a fundamental level will lead to the designing new sodium-ion electrode materials that will allow for efficient, stable, lower-cost energy storage.

Weakly‐coordinating anions (WCAs) are employed in a wide range of applications, but limitations remain, including high reactivity, limited redox window, complicated synthesis, high cost, low solublity, and low structural tunabililty. Herein, we report a new class of WCA based on alkyl or aryl (R) substituted silicates bearing fluorinated pinacolate ligands, “[RSiF24]⁻”. Anions bearing a variety of R groups were prepared, enabling facile tuning of sterics and solubility. A range of cations employed in chemical reactivity has been supported by these anions, including ether‐free alkali cations, Ag⁺, Ph3C⁺, Fc⁺, [NiI(COD)2]⁺. [Pd(dppe)(NCMe)Me]⁺ has been generated by salt metathesis or protonation of a metal‐alkyl bond, showcasing the ability of the [RSiF24]⁻ anions to support applications in coordination chemistry and catalysis. Electrochemical studies on the [Bu4N]⁺ variant show an exceptionally wide stability window for the [MeSiF24]⁻ anion of 7.5 V in MeCN. CV experiments demonstrate reversible Mg deposition and stripping.

The weakly ionized plasma in the Earth's ionosphere is controlled by a complex interplay between solar and magnetospheric inputs from above, atmospheric processes from below, and plasma electrodynamics from within. This interaction results in ionosphere structuring and variability that pose major challenges for accurate ionosphere prediction for global navigation satellite system (GNSS) related applications and space weather research. The ionospheric structuring and variability are often probed using the total electron content (TEC) and its relative perturbations (dTEC). Among dTEC variations observed at high latitudes, a unique modulation pattern has been linked to magnetospheric ultra‐low‐frequency (ULF) waves, yet its underlying mechanisms remain unclear. Here using magnetically conjugate observations from the THEMIS spacecraft and a ground‐based GPS receiver at Fairbanks, Alaska, we provide direct evidence that these dTEC modulations are driven by magnetospheric electron precipitation induced by ULF‐modulated whistler‐mode waves. We observed peak‐to‐peak dTEC amplitudes reaching ∼ ${\sim}$ 0.5 TECU (1 TECU is equal to 106 ${10}^{6}$ electrons/m2 ${\mathrm{m}}^{2}$) with modulations spanning scales of ∼ ${\sim}$ 5–100 km. The cross‐correlation between our modeled and observed dTEC reached ∼ ${\sim}$ 0.8 during the conjugacy period but decreased outside of it. The spectra of whistler‐mode waves and dTEC also matched closely at ULF frequencies during the conjugacy period but diverged outside of it. Our findings elucidate the high‐latitude dTEC generation from magnetospheric wave‐induced precipitation, addressing a significant gap in current physics‐based dTEC modeling. Theses results thus improve ionospheric dTEC prediction and enhance our understanding of magnetosphere‐ionosphere coupling via ULF waves.

Gene expression is controlled by dynamic localization of thousands of regulatory proteins to precise genomic regions. Understanding this cell type-specific process has been a longstanding goal yet remains challenging because DNA–protein mapping methods generally study one protein at a time. Here, to address this, we developed chromatin immunoprecipitation done in parallel (ChIP-DIP) to generate genome-wide maps of hundreds of diverse regulatory proteins in a single experiment. ChIP-DIP produces highly accurate maps within large pools (>160 proteins) for all classes of DNA-associated proteins, including modified histones, chromatin regulators and transcription factors and across multiple conditions simultaneously. First, we used ChIP-DIP to measure temporal chromatin dynamics in primary dendritic cells following LPS stimulation. Next, we explored quantitative combinations of histone modifications that define distinct classes of regulatory elements and characterized their functional activity in human and mouse cell lines. Overall, ChIP-DIP generates context-specific protein localization maps at consortium scale within any molecular biology laboratory and experimental system.