Fill a medium saucepan halfway with water (4-5 cups) add salt and bring to a boil. Add rice and reduce heat to a vigorous simmer for 25-30 minutes, until rice is "al dente". Strain rice through a sieve and return it to the saucepan. Cover and set aside for 10 minutes, then remove the lid and let the rice cool to room temperature.
Meanwhile, make an ice bath by adding ice and water to a medium bowl, set aside. Fill a small saucepan halfway with water and bring to a boil. Add asparagus and cook for 3-4 minutes until slightly tender and bright green. With a slotted spoon, transfer asparagus to the ice bath to stop the cooking and preserve the bright green color. Drain the asparagus on paper towels.
In a large bowl combine the blanched asparagus, onion, sun-dried tomatoes, kalamata olives and orange segments. Add cooled rice and toss to combine. Set aside.
In a small bowl combine the lemon zest and juice, garlic, dijon mustard, olive oil, kosher salt and black pepper. Whisk to combine. When emulsified add 3-4 tablespoons of the dressing to the rice salad and toss well. If it needs more dressing, add it 1 tablespoon at a time, so that it's lightly coated.
Just before serving, add the basil and toss to combine. Serve on a bed of arugula