Real-time control architecture for a multi UAV test bed

The purpose of this thesis is to develop a control architecture running at real-time for a multi unmanned aerial vehicle test bed formed by three AscTec Hummingbird mini quadrotors. The reliable and reconfigurable architecture presented here has a FPGA-based embedded system as main controller. Under the implemented control system, different practical applications have been performed in the MARHES Lab at the University of New Mexico as part of its research in cooperative control of mobile aerial agents. This thesis also covers the quadrotor modeling, the design of a position controller, the real-time architecture implementation and the experimental flight tests. A hybrid approach combining first-principles with system identification techniques is used for modeling the quadrotor due to the lack of information around the structure of the onboard controller designed by AscTec. The complete quadrotor model structure is formed by a black-box subsystem and a point-mass submodel. Experimental data have been gathered for system identification and black-box submodel validation purposes; while the point-mass submodel is found applying rigid-body dynamics. Using the dynamical model, a position control block based in lead-lag and PI compensators is developed and simulated. Improvements in trajectory tracking performance are achieved estimating the linear velocity of the aerial robot and incorporating velocity lead-lag compensators to the control approach. The velocity of the aerial robot is computed by numerical differentiation of position data. Simulation results to a variety of input signals of the control block in cascade with the complete dynamic model of the quadrotor are included. The control block together with the velocity estimation is fully programmed in the embedded controller. A graphical user interface, GUI, as part of the architecture is designed to display real-time data of position and orientation streamed from the motion tracking system as well as to contain useful user controllers. This GUI facilitates that a single operator conducts and oversees all aspects of the different applications where one or multiple quadrotors are used. Experimental tests have helped to tune the control parameters determined by simulation. The performance of the whole architecture has been validated through a variety of practical applications. Autonomous take off, hovering and landing, target surveillance, trajectory tracking and suspended payload transportation are just some of the applications carried out employing the real-time control architecture proposed in this thesis

Exploiting Heterogeneity in Networks of Aerial and Ground Robotic Agents

By taking advantage of complementary communication technologies, distinct sensing functionalities and varied motion dynamics present in a heterogeneous multi-robotic network, it is possible to accomplish a main mission objective by assigning specialized sub-tasks to specific members of a robotic team. An adequate selection of the team members and an effective coordination are some of the challenges to fully exploit the unique capabilities that these types of systems can offer. Motivated by real world applications, we focus on a multi-robotic network consisting off aerial and ground agents which has the potential to provide critical support to humans in complex settings. For instance, aerial robotic relays are capable of transporting small ground mobile sensors to expand the communication range and the situational awareness of first responders in hazardous environments. In the first part of this dissertation, we extend work on manipulation of cable-suspended loads using aerial robots by solving the problem of lifting the cable-suspended load from the ground before proceeding to transport it. Since the suspended load-quadrotor system experiences switching conditions during this critical maneuver, we define a hybrid system and show that it is differentially-flat. This property facilitates the design of a nonlinear controller which tracks a waypoint-based trajectory associated with the discrete states of the hybrid system. In addition, we address the case of unknown payload mass by combining a least-squares estimation method with the designed controller. Second, we focus on the coordination of a heterogeneous team formed by a group of ground mobile sensors and a flying communication router which is deployed to sense areas of interest in a cluttered environment. Using potential field methods, we propose a controller for the coordinated mobility of the team to guarantee inter-robot and obstacle collision avoidance as well as connectivity maintenance among the ground agents while the main goal of sensing is carried out. For the case of the aerial communications relays, we combine antenna diversity with reinforcement learning to dynamically re-locate these relays so that the received signal strength is maintained above a desired threshold. Motivated by the recent interest of combining radio frequency and optical wireless communications, we envision the implementation of an optical link between micro-scale aerial and ground robots. This type of link requires maintaining a sufficient relative transmitter-receiver position for reliable communications. In the third part of this thesis, we tackle this problem. Based on the link model, we define a connectivity cone where a minimum transmission rate is guaranteed. For example, the aerial robot has to track the ground vehicle to stay inside this cone. The control must be robust to noisy measurements. Thus, we use particle filters to obtain a better estimation of the receiver position and we design a control algorithm for the flying robot to enhance the transmission rate. Also, we consider the problem of pairing a ground sensor with an aerial vehicle, both equipped with a hybrid radio-frequency/optical wireless communication system. A challenge is positioning the flying robot within optical range when the sensor location is unknown. Thus, we take advantage of the hybrid communication scheme by developing a control strategy that uses the radio signal to guide the aerial platform to the ground sensor. Once the optical-based signal strength has achieved a certain threshold, the robot hovers within optical range. Finally, we investigate the problem of building an alliance of agents with different skills in order to satisfy the requirements imposed by a given task. We find this alliance, known also as a coalition, by using a bipartite graph in which edges represent the relation between agent capabilities and required resources for task execution. Using this graph, we build a coalition whose total capability resources can satisfy the task resource requirements. Also, we study the heterogeneity of the formed coalition to analyze how it is affected for instance by the amount of capability resources present in the agents

NXY-059 for the treatment of acute stroke: pooled analysis of the SAINT I and II trials

<p><b>Background and Purpose:</b> In animal models of acute ischemic stroke (AIS), the free radical-trapping agent NXY-059 showed promise as a neuroprotectant. SAINT I and II were randomized, placebo-controlled, double-blind trials to investigate the efficacy of NXY-059 in patients with AIS.</p> <p><b>Methods:</b> Patients with AIS received an infusion of intravenous NXY-059 or placebo within 6 hours from the onset of stroke symptoms. A pooled individual patient analysis was prespecified to assess the overall efficacy and to examine subgroups. The primary end point was the distribution of disability scores measured on the modified Rankin scale (mRS) at 90 days. Neurologic and activities of daily living scores were investigated as secondary end points. We also evaluated whether treatment with NXY-059 would reduce alteplase-related intracranial hemorrhages. Finally, we evaluated possible predictors of good or poor outcome.</p> <p><b>Results:</b> An intent-to-treat efficacy analysis was based on 5028 patients. Baseline parameters and prognostic factors were well balanced between treatment groups. The distribution of scores on the mRS was not different in the group treated with NXY-059 (n = 2438) compared with the placebo group (n = 2456): odds ratio for limiting disability = 1.02; 95% CI, 0.92 to 1.13 (P = 0.682, Cochran-Mantel-Haenszel test). Comparisons at each level of the mRS confirmed an absence of benefit. There was no evidence of efficacy in prespecified subgroups or from the secondary outcome analyses. Mortality was equal in the 2 groups (16.7% vs 16.5%), and adverse event rates were similar. Among patients treated with alteplase, there was no decrease in rates of symptomatic or asymptomatic hemorrhage associated with NXY-059 treatment versus placebo. Subgroup analyses identified National Institutes of Health Stroke Scale score, age, markers of inflammation, blood glucose, and right-sided infarct as predictors of poor outcome.</p> <p><b>Conclusions:</b> NXY-059 is ineffective for treatment of AIS within 6 hours of symptom onset. This is also true for subgroups and the prevention of alteplase-associated hemorrhage.</p&gt

Additional outcomes and subgroup analyses of NXY-059 for acute ischemic stroke in the SAINT I trial

<p><b>Background and Purpose:</b> NXY-059 is a free radical-trapping neuroprotectant demonstrated to reduce disability from ischemic stroke. We conducted analyses on additional end points and sensitivity analyses to confirm our findings.</p> <p><b>Methods:</b> We randomized 1722 patients with acute ischemic stroke to a 72-hour infusion of placebo or intravenous NXY-059 within 6 hours of stroke onset. The primary outcome was disability at 90 days, as measured by the modified Rankin Scale (mRS), a 6-point scale ranging from 0 (no residual symptoms) to 5 (bed-bound, requiring constant care). Additional and exploratory analyses included mRS at 7 and 30 days; subgroup interactions with final mRS; assessments of activities of daily living by Barthel index; and National Institutes of Health Stroke Scale (NIHSS) neurological scores at 7 and 90 days.</p> <p><b>Results:</b> NXY-059 significantly improved the distribution of the mRS disability score compared with placebo at 7, 30, and 90 days (Cochran-Mantel-Haenszel test P=0.002, 0.004, 0.038, respectively; 90-day common odds ratio 1.20; 95% CI, 1.01 to 1.42). The benefit was not attributable to any specific baseline characteristic, stratification variable or subgroup interaction. Neurological scores were improved at 7 days (odds ratio [OR], 1.46; 95% CI, 1.13, 1.89; P=0.003) and the Barthel index was improved at 7 and 30 days (OR, 1.55; 95% CI, 1.22, 1.98; P<0.0001; OR, 1.27; 95% CI, 1.01, 1.59; P=0.02).</p> <p><b>Conclusions:</b> NXY-059 within 6 hours of acute ischemic stroke significantly reduced disability. Benefit on neurological scores and activities of daily living was detectable early but not significant at 90 days; however, our trial was underpowered to measure effects on the neurological examination. The benefit on disability is not confounded by interactions and is supported by other outcome measures.</p&gt

Noninvasive Brain Stimulation and Noninvasive Peripheral Stimulation for Neglect Syndrome Following Acquired Brain Injury

OBJECTIVE: Hemispatial neglect is a frequent condition usually following nondominant hemispheric brain injury. It strongly affects rehabilitation strategies and everyday life activities. It is associated with behavioral and cognitive disability with a strong impact on patient's life. METHODS: We reviewed the published literature on the use of noninvasive brain stimulation, including repetitive transcranial magnetic stimulation (rTMS) and transcranial direct current stimulation (tDCS), and of noninvasive peripheral muscle stimulation, as therapeutic strategies for rehabilitation of neglect after acquired brain injury, such as in stroke or in traumatic injuries. The studies were grouped as controlled or uncontrolled studies in each stimulation techniques. RESULTS: Thirty-four studies were identified and 16 on rTMS, 10 on tDCS, and 8 on vibration. All studies were conducted in adult patients who suffered a stroke, except for one that was conducted in a patient suffering traumatic acquired brain injury and another that was conducted in a patient with brain tumor. In spite of significant variability in treatment protocols, patients' features and assessment of neglect, improvement was reported in almost all studies with no side-effects. CONCLUSIONS: Noninvasive brain stimulation and neuromuscular vibration are promising therapeutic neuromodulatory approaches for neglect. Further randomized-controlled studies are needed to corroborate their effectiveness as separate and combined techniques

Current approaches used in epidemiologic studies to examine short-term multipollutant air pollution exposures

Air pollution epidemiology traditionally focuses on the relationship between individual air pollutants and health outcomes (e.g., mortality). To account for potential copollutant confounding, individual pollutant associations are often estimated by adjusting or controlling for other pollutants in the mixture. Recently, the need to characterize the relationship between health outcomes and the larger multipollutant mixture has been emphasized in an attempt to better protect public health and inform more sustainable air quality management decisions

A randomised feasibility study of serial magnetic resonance imaging to reduce treatment times in Charcot neuroarthropathy in people with diabetes (CADOM): A protocol

Background Charcot neuroarthropathy is a complication of peripheral neuropathy associated with diabetes which most frequently affects the lower limb. It can cause fractures and dislocations within the foot, which may progress to deformity and ulceration. Recommended treatment is immobilisation and offloading, with a below knee non-removable cast or boot. Duration of treatment varies from six months to more than one year. Small observational studies suggest that repeated assessment with Magnetic Resonance Imaging improves decision making about when to stop treatment, but this has not been tested in clinical trials. This study aims to explore the feasibility of using serial Magnetic Resonance Imaging without contrast in the monitoring of Charcot neuroarthropathy to reduce duration of immobilisation of the foot. A nested qualitative study aims to explore participants’ lived experience of Charcot neuroarthropathy and of taking part in the feasibility study. Methods We will undertake a two arm, open study, and randomise 60 people with a suspected or confirmed diagnosis of Charcot neuroarthropathy from five NHS, secondary care multidisciplinary Diabetic Foot Clinics across England. Participants will be randomised 1:1 to receive Magnetic Resonance Imaging at baseline and remission up to 12 months, with repeated foot temperature measurements and x-rays (standard care plus), or standard care plus with additional three-monthly Magnetic Resonance Imaging until remission up to 12 months (intervention). Time to confirmed remission of Charcot neuroarthropathy with off-loading treatment (days) and its variance will be used to inform sample size in a full-scale trial. We will look for opportunities to improve the protocols for monitoring techniques and the clinical, patient centred, and health economic measures used in a future study. For the nested qualitative study, we will invite a purposive sample of 10-14 people able to offer maximally varying experiences from the feasibility study to take part in semi-structured interviews to be analysed using thematic analysis. Discussion The study will inform the decision whether to proceed to a full-scale trial. It will also allow deeper understanding of the lived experience of Charcot neuroarthropathy, and factors that contribute to engagement in management and contribute to the development of more effective patient centred strategies. Trial registration ISRCTN, ISRCTN, 74101606. Registered on 6 November 2017, http://www.isrctn.com/ISRCTN74101606?q=CADom&filters=&sort=&offset=1&totalResults=1&page=1&pageSize=10&searchType=basic-searc

Can colour vision re-evolve? Variation in the X-linked opsin locus of cathemeral Azara’s owl monkeys (Aotus azarae azarae)

Background: Do evolutionary specializations lead to evolutionary constraint? This appears plausible, particularly when specialization leads to loss of complex adaptations. In the owl monkey lineage, nocturnality clearly arose from a diurnal ancestor. This behavioural shift was accompanied by morphological changes in the eye and orbit and complete loss of colour vision via missense mutations in the gene encoding the short-wave sensitive visual pigment (SWS opsin). Interestingly, at least one subspecies of owl monkey, Azara’s owl monkey (Aotus azarae azarae), has regained activity in daylight. Given that all primate species that are active in daylight, including primarily diurnal species and species that are active during both day and night, have at least dichromatic colour vision, it seems reasonable to propose that dichromacy would be adaptive in A. a. azarae. With a disabled SWS opsin, the main avenue available for Azara’s owl monkeys to re-evolve colour vision is via a polymorphism in the intact X-linked opsin locus, which commonly occurs in other New World monkeys. To examine this possibility we assayed variation in the X-linked opsin of A. a. azarae, focusing on the three exons (3, 4 and 5) that control spectral sensitivity. Results: We found low opsin genetic variation on a population level, and no differences at the three main sites that lead to variation in spectral sensitivity in the opsins of other New World monkeys. Two rare alleles with single amino acid variants are segregating in the population, but previous functional studies indicate that these are unlikely to affect spectral sensitivity. Conclusions: Genetic constraint on the re-evolution of colour vision is likely operating in Azara’s owl monkey, which may affect the niche that this subspecies is able to occupy

Scaling laws in annealed LiCoOx films

The surface morphology evolution due to the annealing process of LiCoOx thin films deposited by rf sputtering is studied by means of an atomic force microscope. Linear relationships were observed in log-log plots of interface width versus window length, as predicted by scaling laws. For as-grown films, only one growth exponent ais evidenced. For annealed films two different slopes alpha(1) and alpha(2) were observed, indicating distinct growth dynamics in the system. The roughness exponent for the as-grown film and the internal morphology of the crystalline grains for the annealed films can be described by a diffusional process. The macrostructure shows characteristics of a Kardar-Parisi-Zhang system [M. Kardar, G. Parisi, Y. C. Zhang, Phys. Rev. Lett. 56, 889 (1986); J. Krim and G. Palasantzas, Int. J. Mod. Phys. B 9, 599 (1995)]. An activation energy E-d = (0.11 +/-0.01) eV is determined for the diffusion process. (C) 1999 American Institute of Physics. [S0003-6951(99)02212-3].74121683168