Neuromorphic computing for attitude estimation onboard quadrotors

Compelling evidence has been given for the high energy efficiency and update rates of neuromorphic processors, with performance beyond what standard Von Neumann architectures can achieve. Such promising features could be advantageous in critical embedded systems, especially in robotics. To date, the constraints inherent in robots (e.g., size and weight, battery autonomy, available sensors, computing resources, processing time, etc.), and particularly in aerial vehicles, severely hamper the performance of fully-autonomous on-board control, including sensor processing and state estimation. In this work, we propose a spiking neural network (SNN) capable of estimating the pitch and roll angles of a quadrotor in highly dynamic movements from 6-degree of freedom Inertial Measurement Unit (IMU) data. With only 150 neurons and a limited training dataset obtained using a quadrotor in a real world setup, the network shows competitive results as compared to state-of-the-art, non-neuromorphic attitude estimators. The proposed architecture was successfully tested on the Loihi neuromorphic processor on-board a quadrotor to estimate the attitude when flying. Our results show the robustness of neuromorphic attitude estimation and pave the way towards energy-efficient, fully autonomous control of quadrotors with dedicated neuromorphic computing systems

Neuromorphic Control using Input-Weighted Threshold Adaptation

Neuromorphic processing promises high energy efficiency and rapid response rates, making it an ideal candidate for achieving autonomous flight of resource-constrained robots. It will be especially beneficial for complex neural networks as are involved in high-level visual perception. However, fully neuromorphic solutions will also need to tackle low-level control tasks. Remarkably, it is currently still challenging to replicate even basic low-level controllers such as proportional-integral-derivative (PID) controllers. Specifically, it is difficult to incorporate the integral and derivative parts. To address this problem, we propose a neuromorphic controller that incorporates proportional, integral, and derivative pathways during learning. Our approach includes a novel input threshold adaptation mechanism for the integral pathway. This Input-Weighted Threshold Adaptation (IWTA) introduces an additional weight per synaptic connection, which is used to adapt the threshold of the post-synaptic neuron. We tackle the derivative term by employing neurons with different time constants. We first analyze the performance and limits of the proposed mechanisms and then put our controller to the test by implementing it on a microcontroller connected to the open-source tiny Crazyflie quadrotor, replacing the innermost rate controller. We demonstrate the stability of our bio-inspired algorithm with flights in the presence of disturbances. The current work represents a substantial step towards controlling highly dynamic systems with neuromorphic algorithms, thus advancing neuromorphic processing and robotics. In addition, integration is an important part of any temporal task, so the proposed Input-Weighted Threshold Adaptation (IWTA) mechanism may have implications well beyond control tasks

On the Microscopic Origin of Cholesteric Pitch

We present a microscopic analysis of the instability of the nematic phase to chirality when molecular chirality is introduced perturbatively. We show that previously neglected short-range biaxial correlations play a crucial role in determining the cholesteric pitch. We propose an order parameter which quantifies the chirality of a molecule.Comment: RevTeX 3.0, 4 pages, one included eps figure. Published versio

Seeking creativity: A case study on information problem solving in professional music

This study explored the information seeking behavior of a professional jazz musician during creative work. It aimed at revealing information seeking activities necessary to execute present-day musical projects. A single case was studied in depth. First, a narrative interview was conducted to reveal project phases and corresponding information seeking behavior. Second, hereupon a semi-structured interview was taken to identify information seeking activities per phase. Results indicate that the musician deliberately searched for musical information especially in the first project phases. The internet was used as main source. Both data and goal driven strategies were applied, of which the latter were relatively scarce. This means that in this case the musician sporadically searched information based on a contemplated search plan. Future research should aim at generalizing findings of this case. It should further validate the underlying analytical framework that proved to be useful for describing and categorizing musical information seeking behavior

Pulsed field studies of the magnetization reversal in molecular nanomagnets

We report experimental studies of crystals of Mn12 molecular magnetic clusters in pulsed magnetic fields with sweep rates up to 4x10^3 T/s. The steps in the magnetization curve are observed at fields that are shifted with respect to the resonant field values. The shift systematically increases as the rate of the field sweep goes up. These data are consistent with the theory of the collective dipolar relaxation in molecular magnets.Comment: 4 pages, 4 figure

Polydispersity and ordered phases in solutions of rodlike macromolecules

We apply density functional theory to study the influence of polydispersity on the stability of columnar, smectic and solid ordering in the solutions of rodlike macromolecules. For sufficiently large length polydispersity (standard deviation $\sigma>0.25$) a direct first-order nematic-columnar transition is found, while for smaller $\sigma$ there is a continuous nematic-smectic and first-order smectic-columnar transition. For increasing polydispersity the columnar structure is stabilized with respect to solid perturbations. The length distribution of macromolecules changes neither at the nematic-smectic nor at the nematic-columnar transition, but it does change at the smectic-columnar phase transition. We also study the phase behaviour of binary mixtures, in which the nematic-smectic transition is again found to be continuous. Demixing according to rod length in the smectic phase is always preempted by transitions to solid or columnar ordering.Comment: 13 pages (TeX), 2 Postscript figures uuencode

Antibodies against Platelet Glycoproteins in Clinically Suspected VITT Patients

Vaccine-induced thrombotic thrombocytopenia (VITT) is a rare but severe complication following COVID-19 vaccination, marked by thrombocytopenia and thrombosis. Analogous to heparin-induced thrombocytopenia (HIT), VITT shares similarities in anti-platelet factor 4 (PF4) IgG-mediated platelet activation via the FcγRIIa. To investigate the involvement of platelet-antibodies in VITT, we analyzed the presence of platelet-antibodies directed against glycoproteins (GP)IIb/IIIa, GPV and GPIb/IX in the serum of 232 clinically suspected VITT patients determined based on (suspicion of) occurrence of thrombocytopenia and/or thrombosis in relation to COVID-19 vaccination. We found that 19% of clinically suspected VITT patients tested positive for anti-platelet GPs: 39%, 32% and 86% patients tested positive for GPIIb/IIIa, GPV and GPIb/IX, respectively. No HIT-like VITT patients (with thrombocytopenia and thrombosis) tested positive for platelet-antibodies. Therefore, it seems unlikely that platelet-antibodies play a role in HIT-like anti-PF4-mediated VITT. Platelet-antibodies were predominantly associated with the occurrence of thrombocytopenia. We found no association between the type of vaccination (adenoviral vector vaccine versus mRNA vaccine) or different vaccines (ChAdOx1 nCoV-19, Ad26.COV2.S, mRNA-1273, BTN162b2) and the development of platelet-antibodies. It is essential to conduct more research on the pathophysiology of VITT, to improve diagnostic approaches and identify preventive and therapeutic strategies.</p

Advances in preclinical therapeutics development using small animal imaging and molecular analyses: the gastrointestinal stromal tumors model

The large use of target therapies in the treatment of gastrointestinal stromal tumors (GISTs) highlighted the urgency to integrate new molecular imaging technologies, to develop new criteria for tumor response evaluation and to reach a more comprehensive definition of the molecular target. These aspects, which come from clinical experiences, are not considered enough in preclinical research studies which aim to evaluate the efficacy of new drugs or new combination of drugs with molecular target. We developed a xenograft animal model GIST882 using nude mice. We evaluated both the molecular and functional characterization of the tumor mass. The mutational analysis of KIT receptor of the GIST882 cell lines and tumor mass showed a mutation on exon 13 that was still present after in vivo cell growth. The glucose metabolism and cell proliferation was evaluated with a small animal PET using both FDG and FLT. The experimental development of new therapies for GIST treatment requires sophisticated animal models in order to represent the tumor molecular heterogeneity already demonstrated in the clinical setting and in order to evaluate the efficacy of the treatment also considering the inhibition of tumor metabolism, and not only considering the change in size of tumors. This approach of cancer research on GISTs is crucial and essential for innovative perspectives that could cross over to other types of cancer