Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments

Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight sensing and computing. Although the planning methodologies vary from platform to platform, many algorithms adopt a hierarchical planning architecture where a slow, low-fidelity global planner guides a fast, high-fidelity local planner. However, in unknown environments, this approach can lead to erratic or unstable behavior due to the interaction between the global planner, whose solution is changing constantly, and the local planner; a consequence of not capturing higher-order dynamics in the global plan. This work proposes a planning framework in which multi-fidelity models are used to reduce the discrepancy between the local and global planner. Our approach uses high-, medium-, and low-fidelity models to compose a path that captures higher-order dynamics while remaining computationally tractable. In addition, we address the interaction between a fast planner and a slower mapper by considering the sensor data not yet fused into the map during the collision check. This novel mapping and planning framework for agile flights is validated in simulation and hardware experiments, showing replanning times of 5-40 ms in cluttered environments.Comment: ICRA 201

Electromagnetic Fields of Separable Space-Times

Carter derived the forms of the metric and the vector potentials of the space-times in which the relativistic Schrodinger equation for the motion of a charged particle separates. Here we show that on each `spheroidal' surface a rotation rate exists such that relative to those rotating axes the electric and magnetic fields are parallel and orthogonal to the spheroid which is thus an equipotential in those axes. All the finite Carter separable systems without magnetic monopoles or gravomagnetic NUT monopoles have the same gyromagnetic ratio as the Dirac electron.Comment: 9 pages; accepted for publication in Class. Quantum Gra

Energy Expenditure and Muscular Recruitment Patterns of Riding a Novel Electrically Powered Skateboard

International Journal of Exercise Science 13(4): 1783-1793, 2020. Analysis of metabolic gas exchange and muscular output measures have enabled researchers to index activity intensity and energy expenditure for a myriad of exercises. However, there is no current research that investigates the physiological demands of riding electrically powered skateboards. The aim of this study was to measure the energetic cost and muscular trends of riding a novel electrically powered skateboard engineered to emulate snowboarding on dry-land. While riding the skateboard, eight participants (aged 21-37 years, 1 female) donned a portable breath-by-breath gas analyzer to measure energy expenditure (mean = 12.5, SD = 2 kcal/min), maximum heart rate (mean = 158, SD = 27 bpm), and metabolic equivalent (mean = 10.5, SD = 2 kcal/kg/h). By comparison, snowboarding has a metabolic equivalent (MET) of 8.0. Per the Compendium of Physical Activities guidelines, the predicted MET values for riding an electrically powered skateboard qualifies as vigorous-intensity activity. Four participants additionally wore a surface EMG embedded garment to record the percentage of maximum voluntary contraction (%MVC) of lower limb muscle groups. The inner quadriceps had the most pronounced mean peak muscle activation of 145%MVC during frontside and 164%MVC during frontside turns. EMG recordings showed 11.7%MVC higher utilization during backside turns compared to frontside turns while riding the electrically powered skateboard, which is similar to trends observed in alpine snowboarders. Therefore, electrically powered skateboards may be a promising technology for snowboarders and non-snowboarders alike to burn calories and increase physical activity year-round

Venous bullet embolism and subsequent endovascular retrieval – A case report and review of the literature

AbstractINTRODUCTIONVascular bullet embolism is a rare phenomenon with fewer than 200 cases reported in the literature.PRESENTATION OF CASEA 22 year-old male presented with a gunshot wound to the right lower quadrant. Imaging demonstrated a bullet lodged in his left lower quadrant. Upon operative exploration, a single hole was found in the right external iliac vein without injury into the left lower quadrant. The bullet was found to have migrated intravascularly from the right external to the left common iliac vein, and was subsequently removed endovascularly.DISCUSSIONBullet embolism occurs infrequently, with arterial more common than venous. Arterial embolization usually requires emergency operative intervention due to ischemia. While venous embolization is often asymptomatic, removal of the bullet is recommended to avoid delayed complications when possible.CONCLUSIONVenous bullet emboli should be removed endovascularly whenever technically possible

Psychoactive substances and the political ecology of mental distress

The goal of this paper is to both understand and depathologize clinically significant mental distress related to criminalized contact with psychoactive biotic substances by employing a framework known as critical political ecology of health and disease from the subdiscipline of medical geography. The political ecology of disease framework joins disease ecology with the power-calculus of political economy and calls for situating health-related phenomena in their broad social and economic context, demonstrating how large-scale global processes are at work at the local level, and giving due attention to historical analysis in understanding the relevant human-environment relations. Critical approaches to the political ecology of health and disease have the potential to incorporate ever-broadening social, political, economic, and cultural factors to challenge traditional causes, definitions, and sociomedical understandings of disease. Inspired by the patient-centered medical diagnosis critiques in medical geography, this paper will use a critical political ecology of disease approach to challenge certain prevailing sociomedical interpretations of disease, or more specifically, mental disorder, found in the field of substance abuse diagnostics and the related American punitive public policy regimes of substance abuse prevention and control, with regards to the use of biotic substances. It will do this by first critically interrogating the concept of "substances" and grounding them in an ecological context, reviewing the history of both the development of modern substance control laws and modern substance abuse diagnostics, and understanding the biogeographic dimensions of such approaches. It closes with proposing a non-criminalizing public health approach for regulating human close contact with psychoactive substances using the example of cannabis use

Not All HIFT Classes Are Created Equal: Evaluating Energy Expenditure and Relative Intensity of a High-Intensity Functional Training Regimen

International Journal of Exercise Science 13(4): 1206-1216, 2020. The demand for efficient and effective exercises has grown in concert with increased attention to fitness as a determinant of overall health. While past studies have examined the benefits traditional conditioning exercises, there have been few investigations of high intensity functional training (HIFT). The aim of this study was to measure the energy expenditure and relative intensity from participation in a signature, 35-minute group-based HIFT regimen. During the HIFT session, 13 volunteers (aged 23-59 years, 6 females) donned a portable breath-by-breath gas analyzer and a heart rate monitor. Mean caloric expenditure (528 ± 62 kcal), maximum heart rate (172 ± 8 bpm), and metabolic equivalents (12.2 ± 1.4 kcal/kg/h) were characterized as a vigorous-intensity activity according to the Compendium of Physical Activities guidelines. Moreover, implementing this high energy expenditure session twice weekly may comport with Physical Activity Guidelines for Americans weekly physical activity recommendations. HIFT training may provide time-efficient exercise for those seeking exercise-related health benefits

\u3cem\u3eOAS1\u3c/em\u3e Polymorphisms Are Associated with Susceptibility to West Nile Encephalitis in Horses

West Nile virus, first identified within the United States in 1999, has since spread across the continental states and infected birds, humans and domestic animals, resulting in numerous deaths. Previous studies in mice identified the Oas1b gene, a member of the OAS/RNASEL innate immune system, as a determining factor for resistance to West Nile virus (WNV) infection. A recent case-control association study described mutations of human OAS1 associated with clinical susceptibility to WNV infection. Similar studies in horses, a particularly susceptible species, have been lacking, in part, because of the difficulty in collecting populations sufficiently homogenous in their infection and disease states. The equine OAS gene cluster most closely resembles the human cluster, with single copies of OAS1, OAS3 and OAS2 in the same orientation. With naturally occurring susceptible and resistant sub-populations to lethal West Nile encephalitis, we undertook a case-control association study to investigate whether, similar to humans (OAS1) and mice (Oas1b), equine OAS1 plays a role in resistance to severe WNV infection. We identified naturally occurring single nucleotide mutations in equine (Equus caballus) OAS1 and RNASEL genes and, using Fisher\u27s Exact test, we provide evidence that mutations in equine OAS1 contribute to host susceptibility. Virtually all of the associated OAS1 polymorphisms were located within the interferon-inducible promoter, suggesting that differences in OAS1 gene expression may determine the host\u27s ability to resist clinical manifestations associated with WNV infection

Oil Sands and the Keystone XL Pipeline: Background and Selected Environmental Issues

This report looks at concerns about the Keystone XL pipeline. These include the need for a Presidential Permit, as the pipeline crosses and international border. Additionally, the report discusses specific environmental issues that the Keystone XL proposal raises

The Clinical Frailty Scale : estimating the prevalence of frailty in older patients hospitalised with COVID-19. The COPE study

Acknowledgments: The COPE study collaborators.Peer reviewedPublisher PD