Visual and Kinematic Coordinated Control of Mobile Manipulating Unmanned Aerial Vehicles

Manipulating objects using arms mounted to unmanned aerial vehicles (UAVs) is attractive because UAVs may access many locations that are otherwise inaccessible to traditional mobile manipulation platforms such as ground vehicles. Historically, UAVs have been employed in ways that avoid interaction with the environment at all costs. The recent trend of increasing small UAV lift capacity and the reduction of the weight of manipulator components make the realization of mobile manipulating UAVs imminent. Despite recent work, several major challenges remain to be overcome before it will be common practice to manipulate objects from UAVs. Among these challenges, the constantly moving UAV platform and compliance of manipulator arms make it difficult to position the UAV and end-effector relative to an object of interest precisely enough for reliable manipulation. Solving this challenge will bring UAVs one step closer to being able to perform meaningful tasks such as infrastructure repair, disaster response, law enforcement, and personal assistance. Toward a solution to this challenge, this thesis describes a way forward that uses the UAV as a means to crudely position a manipulator within reach of the end-effector's goal position in the world. The manipulator then performs the fine positioning of the end-effector, rejecting position perturbations caused by UAV motions. An algorithm to coordinate the redundant degrees of freedom of an aerial manipulation system is described that allows the motions of the manipulator to serve as inputs to the UAV's position controller. To demonstrate this algorithm, the manipulator's six degrees of freedom are servoed using visual sensing to drive an eye-in-hand camera to a specified pose relative to a target while treating motions of the host platform as perturbations. Simultaneously, the host platform's degrees of freedom are regulated using kinematic information from the manipulator. This ultimately drives the UAV to a position that allows the manipulator to assume a pose relative to the UAV that maximizes reachability, thus facilitating the arm's ability to compensate for undesired UAV motions. Maintaining this loose kinematic coupling between the redundant degrees of freedom of the host UAV and manipulator allows this type of controller to be applied to a wide variety of platforms, including manned aircraft, rather than a single instance of a purpose-built system. As a result of this loose coupling, careful consideration must be given to the manipulator design so that it can achieve useful poses while minimally influencing the stability of the host UAV. Accordingly, the novel application of a parallel manipulator mechanism is described.Ph.D., Mechanical Engineering -- Drexel University, 201

Direct Semi-Synthesis of the Anticancer Lead-Drug Protoapigenone from Apigenin, and Synthesis of Further New Cytotoxic Protoflavone Derivatives

Protoapigenone, a natural flavonoid possessing an unusual p-quinol moiety on its B-ring, is a novel prospective anticancer agent with low toxicity that is currently in development. The first economical, one-step synthesis of protoapigenone from apigenin is described on up to gram scale. 13 new 1′-O-alkylflavone analogs were also synthesized, either from apigenin or β-naphthoflavone. The in vitro cytotoxic activity of each compound was tested on six human cancer cell lines (HepG2, Hep3B, Ca9-22, A549, MCF-7 and MDA-MB-231). In the case of 1′-O-alkyl-protoapigenone derivatives, structure-activity relationships were found depending on the side-chain, and protoapigenone 1′-O-butyl ether was found to exert significantly stronger activity against three of the cell lines (Hep3B, MCF-7 and MDA-MB-231) than its non-substituted analog, protoapigenone itself. In contrast to this, all β-naphthoflavone derivatives bearing the same pharmacophore on their B-ring showed decreased cytotoxic activities when substituted with an O-alkyl side-chain at position 1′, comparing to that of the non-substituted compound

Robotic Rotorcraft and Perch-and-Stare: Sensing Landing Zones and Handling

Abstract — Perch and stare is a maneuver where a vehicle flies to an overhead vantage point to provide a user with improved tactical information. This may include landing on rooftops, flying from rooftop to rooftop, or to windowsills all while carrying cameras or other intelligence gathering sensors. Miniature rotorcraft are ideal surveillance platforms, especially for perch and stare maneuvers because of their unique ability to take off and land vertically. Minimal vehicle size and weight also greatly enhance portability. Real world environmental influences such as fog, smoke, wind and cluttered or moving landing areas greatly complicate perch and stare maneuvers. This paper describes the application of optic flow and ultrasonic range finding sensors to increase miniature robotic rotorcraft autonomy for perch and stare maneuvers, especially in degraded environments

Flight Stability in Aerial Redundant Manipulators

Ongoing efforts toward mobile manipulation from an aerial vehicle are presented. Recent tests and results from a prototype rotorcraft have shown that our hybrid structure increases stability during flight and manipulation. Since UAVs require significant setup time, suitable testing locations, and have tendencies to crash, we developed an aerial manipulation test and evaluation environment that provides controllable and repeatable experiments. By using force feedback techniques, we have designed multiple, dexterous, redundant manipulators that can grasp objects such as tools and small objects. These manipulators are controlled in concert with an emulated aerial platform to provide hovering stability. The manipulator and aircraft flight control are tightly coupled to facilitate grasping without large perturbations in the end-effector

A Randomized Study of Immune Plasma for the Treatment of Severe Influenza

Summary Background: Influenza causes significant morbidity and mortality despite currently available treatments. Anecdotal reports suggest plasma with high antibody titers towards influenza may be of benefit in the treatment of severe influenza. Methods: We conducted a randomized, open-label, multicenter phase 2 trial at 29 academic medical centers in the United States to assess the safety and efficacy of anti-influenza plasma with hemagglutination inhibition (HAI) antibody titers of ≥ 1:80 to the infecting strain. Hospitalized children and adults (including pregnant women) with severe influenza A or B (defined as hypoxia or tachypnea) were randomly assigned to receive either 2 units (or pediatric equivalent) of anti-influenza plasma plus standard care (P+S), versus standard care alone (S), and were followed for 28 days. The primary endpoint was time to normalization of patients’ respiratory status (respiratory rate of ≤ 20 for adults or age defined thresholds of 20–38 for children), and a room air saturation of oxygen ≥ 93%. ClinicalTrials.gov Identifier: NCT01052480 Findings: Between January 13, 2011 and March 2, 2015, 113 participants were screened, and 98 were randomized. Of the participants with confirmed influenza, 28 of 42 (67%) of P+S participants normalized their respiratory status by Day 28, as compared to 24 of 45 (53%) of S participants (p=0·069). The estimated hazard ratio comparing P+S to S was 1·71 (95% CI: 0·96 to 3·06). Six participants died, 1 (2%) and 5 (10%) from the P+S and S arms respectively (p=0·093). P+S participants had non-significant reductions in days in hospital (median 6 vs. 11 days, p=0·13) and days on mechanical ventilation (median 0 vs. 3 days, p=0·14), and significantly improved clinical status at Day 7 (p=0·020). Fewer P+S participants experienced SAEs compared to S recipients (20% vs. 38%, p= 0·041), the most frequent of which were acute respiratory distress syndrome (1 [2%] vs 2 [4%]) and stroke (1 [2%] vs 2 [4%]). Interpretation Results from this Phase II randomized trial of immune plasma for the treatment of severe influenza provides support for a possible benefit of immunotherapy across the primary and secondary endpoints. A Phase III randomized trial is now underway to further evaluate this intervention