Quadcopter drone formation control via onboard visual perception

Quadcopter drone formation control is an important capability for fields like area surveillance, search and rescue, agriculture, and reconnaissance. Of particular interest is formation control in environments where radio communications and/or GPS may be either denied or not sufficiently accurate for the desired application. To address this, we focus on vision as the sensing modality. We train an Hourglass Convolutional Neural Network (CNN) to discriminate between quadcopter pixels and non-quadcopter pixels in a live video feed and use it to guide a formation of quadcopters. The CNN outputs "heatmaps" - pixel-by-pixel likelihood estimates of the presence of a quadcopter. These heatmaps suffer from short-lived false detections. To mitigate these, we apply a version of the Siamese networks technique on consecutive frames for clutter mitigation and to promote temporal smoothness in the heatmaps. The heatmaps give an estimate of the range and bearing to the other quadcopter(s), which we use to calculate flight control commands and maintain the desired formation. We implement the algorithm on a single-board computer (ODROID XU4) with a standard webcam mounted to a quadcopter drone. Flight tests in a motion capture volume demonstrate successful formation control with two quadcopters in a leader-follower setup

Intravital Multiphoton Microscopy with Fluorescent Bile Salts in Rats as an In Vivo Biomarker for Hepatobiliary Transport Inhibition

The bile salt export pump (BSEP) is expressed at the canalicular domain of hepatocytes, where it mediates the elimination of monovalent bile salts into the bile. Inhibition of BSEP is considered a susceptibility factor for drug-induced liver injury that often goes undetected during nonclinical testing. Although in vitro assays exist for screening BSEP inhibition, a reliable and specific method for confirming Bsep inhibition in vivo would be a valuable follow up to a BSEP screening strategy, helping to put a translatable context around in vitro inhibition data, incorporating processes such as metabolism, protein binding, and other exposure properties that are lacking in most in vitro BSEP models. Here, we describe studies in which methods of quantitative intravital microscopy were used to identify dose-dependent effects of two known BSEP/Bsep inhibitors, 2-[4-[4-(butylcarbamoyl)-2-[(2,4-dichlorophenyl)sulfonylamino]phenoxy]-3-methoxyphenyl]acetic acid (AMG-009) and bosentan, on hepatocellular transport of the fluorescent bile salts cholylglycyl amidofluorescein and cholyl-lysyl-fluorescein in rats. Results of these studies demonstrate that the intravital microscopy approach is capable of detecting Bsep inhibition at drug doses well below those found to increase serum bile acid levels, and also indicate that basolateral efflux transporters play a significant role in preventing cytosolic accumulation of bile acids under conditions of Bsep inhibition in rats. Studies of this kind can both improve our understanding of exposures needed to inhibit Bsep in vivo and provide unique insights into drug effects in ways that can improve our ability interpret animal studies for the prediction of human drug hepatotoxicity

Using quantitative intravital multiphoton microscopy to dissect hepatic transport in rats

Hepatic solute transport is a complex process whose disruption is associated with liver disease and drug-induced liver injury. Intravital multiphoton fluorescence excitation microscopy provides the spatial and temporal resolution necessary to characterize hepatic transport at the level of individual hepatocytes in vivo and thus to identify the mechanisms and cellular consequences of cholestasis. Here we present an overview of the use of fluorescence microscopy for studies of hepatic transport in living animals, and describe how we have combined methods of intravital microscopy and digital image analysis to dissect the effects of drugs and pathological conditions on the function of hepatic transporters in vivo

Working With the Wave Equation in Aeroacoustics: The Pleasures of Generalized Functions

The theme of this paper is the applications of generalized function (GF) theory to the wave equation in aeroacoustics. We start with a tutorial on GFs with particular emphasis on viewing functions as continuous linear functionals. We next define operations on GFs. The operation of interest to us in this paper is generalized differentiation. We give many applications of generalized differentiation, particularly for the wave equation. We discuss the use of GFs in finding Green s function and some subtleties that only GF theory can clarify without ambiguities. We show how the knowledge of the Green s function of an operator L in a given domain D can allow us to solve a whole range of problems with operator L for domains situated within D by the imbedding method. We will show how we can use the imbedding method to find the Kirchhoff formulas for stationary and moving surfaces with ease and elegance without the use of the four-dimensional Green s theorem, which is commonly done. Other subjects covered are why the derivatives in conservation laws should be viewed as generalized derivatives and what are the consequences of doing this. In particular we show how we can imbed a problem in a larger domain for the identical differential equation for which the Green s function is known. The primary purpose of this paper is to convince the readers that GF theory is absolutely essential in aeroacoustics because of its powerful operational properties. Furthermore, learning the subject and using it can be fun

A simple approach for measuring FRET in fluorescent biosensors using two-photon microscopy

Genetically encoded fluorescent protein (FP)-based biosensor probes are useful tools for monitoring cellular events in living cells and tissues. Because these probes were developed for one-photon excitation approaches, their broad two-photon excitation (2PE) and poorly understood photobleaching characteristics have made their implementation in studies using two-photon laser-scanning microscopy (TPLSM) challenging. Here we describe a protocol that simplifies the use of Förster resonance energy transfer (FRET)-based biosensors in TPLSM. First, the TPLSM system is evaluated and optimized using FRET standards expressed in living cells, which enables the determination of spectral bleed-through (SBT) and the confirmation of FRET measurements from the known standards. Next, we describe how to apply the approach experimentally using a modified version of the A kinase activity reporter (AKAR) protein kinase A (PKA) biosensor as an example—first in cells in culture and then in hepatocytes in the liver of living mice. The microscopic imaging can be accomplished in a day in laboratories that routinely use TPLSM

O’ Brien Center

poster abstractThe O’Brien Center for Advanced Renal Microscopy and Analysis is based around the Indiana Center for Biological Microscopy in Indianapolis (ICBM), and is supported by partnerships with Purdue University and the University of North Carolina. The Center acts as a national resource for investigators to apply state-of-the-art techniques in fluorescence microscopy to research in kidney biology and pathophysiology. Investigators have access to four microscope systems capable of multiphoton and confocal imaging and optimized for intravital imaging studies on rodents. Point-scanning and spinning-disk confocal systems are also available. Training and assistance with development of imaging protocols are available from expert staff at the ICBM. The Center emphasizes development of new and improved methods for imaging the kidney and seeks to disseminate these innovations as widely as possible amongst renal investigators. Currently, the Center is (1) developing new software for rendering, segmentation, analysis and stabilization of three-dimensional data from live imaging experiments; (2) developing new fluorescent probes and delivery methods optimized for intravital imaging studies in the kidney; and (3) exploring methods to increase the reach of multiphoton imaging in the kidney. Funding is available through the Center’s O’Brien Fellows Program to support short visits (one-two weeks) to Indianapolis for data collection, development of imaging protocols to address particular questions and for training in fluorescence microscopy and image analysis. The Center also offers instructional workshops in fluorescence microscopy and intravital imaging every two years. Current information about how to access the resources available through the Center is available at http://medicine.iupui.edu/nephrology/obrien

Segmentation of fluorescence microscopy images using three dimensional active contours with inhomogeneity correction

Image segmentation is an important step in the quantitative analysis of fluorescence microscopy data. Since fluorescence microscopy volumes suffer from intensity inhomogeneity, low image contrast and limited depth resolution, poor edge details, and irregular structure shape, segmentation still remains a challenging problem. This paper describes a nuclei segmentation method for fluorescence microscopy based on the use of three dimensional (3D) active contours with inhomogeneity correction. The correction information utilizes 3D volume information while addressing intensity inhomogeneity across vertical and horizontal directions. Experimental results demonstrate that the proposed method achieves better performance than other reported methods

Functional characterization of the \u3ci\u3eArabidopsis thaliana\u3c/i\u3e orthologue of Tsc13p, the enoyl reductase of the yeast microsomal fatty acid elongating system

The protein encoded by the Arabidopsis At3g55360 gene was selected as a candidate for the enoyl reductase of the microsomal elongase system based on its homology to the Tsc13p protein of S. cerevisiae. The studies presented here demonstrate that heterologous expression of At3g55360 functionally complements the temperature-sensitive phenotype of a yeast tsc13 mutant that is deficient in enoyl reductase activity. Furthermore, AtTSC13 is shown to interact physically with the Elo2p and Elo3p components of the yeast elongase complex. At3g55360 apparently encodes the sole enoyl reductase activity associated with microsomal fatty acid elongation in Arabidopsis. Consistent with this conclusion, AtTSC13 is ubiquitously expressed in Arabidopsis

The Effects of Industry Sponsorship on Comparator Selection in Trial Registrations for Neuropsychiatric Conditions in Children

Pediatric populations continue to be understudied in clinical drug trials despite the increasing use of pharmacotherapy in children, particularly with psychotropic drugs. Most pertinent to the clinical selection of drug interventions are trials directly comparing drugs against other drugs. The aim was to measure the prevalence of active drug comparators in neuropsychiatric drug trials in children and identify the effects of funding source on comparator selection. We analyzed the selection of drugs and drug comparisons in clinical trials registered between January 2006 and May 2012. Completed and ongoing interventional trials examining treatments for six neuropsychiatric conditions in children were included. Networks of drug comparisons for each condition were constructed using information about the trial study arms. Of 421 eligible trial registrations, 228 (63,699 participants) were drug trials addressing ADHD (106 trials), autism spectrum disorders (47), unipolar depression (16), seizure disorders (38), migraines and other headaches (15), or schizophrenia (11). Active drug comparators were used in only 11.0% of drug trials while 44.7% used a placebo control and 44.3% no drug or placebo comparator. Even among conditions with well-established pharmacotherapeutic options, almost all drug interventions were compared to a placebo. Active comparisons were more common among trials without industry funding (17% vs. 8%, p=0.04). Trials with industry funding differed from non-industry trials in terms of the drugs studied and the comparators selected. For 73% (61/84) of drugs and 90% (19/21) of unique comparisons, trials were funded exclusively by either industry or non-industry. We found that industry and non-industry differed when choosing comparators and active drug comparators were rare for both groups. This gap in pediatric research activity limits the evidence available to clinicians treating children and suggests a need to reassess the design and funding of pediatric trials in order to optimize the information derived from pediatric participation in clinical trials