A high payload aerial platform for infrastructure repair and manufacturing

The use of aerial robots in construction is an area of general interest in the robotics community. Autonomous aerial systems have the potential to improve safety, efficiency and sustainability of industrial construction and repair processes. Several solutions have been deployed in this domain focusing on problems in aerial manipulation and control using existing aerial platforms which are not specialised for the specific challenges in operating on a construction site. This paper presents a new compact, high thrust aerial platform that can act as a modular, application agnostic base for demonstrating a wide variety of capabilities. The platform has been built and tested flying both with manual controls and autonomously in a motion tracking arena while carrying a payload of up to 7.3 kg with a maximum flight time between 10–34 mins (payload dependent). In the future, this platform will be combined with vision based tracking sensors, manipulators and other hardware to operate in and interact with an outdoor environment. Future applications may include manipulation of heavy objects, deposition of material and navigating confined spaces

An aerial parallel manipulator with shared compliance

Accessing and interacting with difficult to reach surfaces at various orientations is of interest within a variety of industrial contexts. Thus far, the predominant robotic solution to such a problem has been to leverage the maneuverability of a fully actuated, omnidirectional aerial manipulator. Such an approach, however, requires a specialised system with a high relative degree of complexity, thus reducing platform endurance and real-world applicability. The work here presents a new aerial system composed of a parallel manipulator and conventional, underactuated multirotor flying base to demonstrate interaction with vertical and non-vertical surfaces. Our solution enables compliance to external disturbance on both subsystems, the manipulator and flying base, independently with a goal of improved overall system performance when interacting with surfaces. To achieve this behaviour, an admittance control strategy is implemented on various layers of the flying base's dynamics together with torque limits imposed on the manipulator actuators. Experimental evaluations show that the proposed system is compliant to external perturbations while allowing for differing interaction behaviours as compliance parameters of each subsystem are altered. Such capabilities enable an adjustable form of dexterity in completing sensor installation, inspection and aerial physical interaction tasks. A video of our system interacting with various surfaces can be found here: https://youtu.be/38neGb8-lXg

Evaluating immersive teleoperation interfaces: coordinating robot radiation monitoring tasks in nuclear facilities

We present a virtual reality (VR) teleoperation interface for a ground-based robot, featuring dense 3D environment reconstruction and a low latency video stream, with which operators can immersively explore remote environments. At the UK Atomic Energy Authority's (UKAEA) Remote Applications in Challenging Environments (RACE) facility, we applied the interface in a user study where trained robotics operators completed simulated nuclear monitoring and decommissioning style tasks to compare VR and traditional teleoperation interface designs. We found that operators in the VR condition took longer to complete the experiment, had reduced collisions, and rated the generated 3D map with higher importance when compared to non-VR operators. Additional physiological data suggested that VR operators had a lower objective cognitive workload during the experiment but also experienced increased physical demand. Overall the presented results show that VR interfaces may benefit work patterns in teleoperation tasks within the nuclear industry, but further work is needed to investigate how such interfaces can be integrated into real world decommissioning workflows

Evaluating Immersive Teleoperation Interfaces: Coordinating Robot Radiation Monitoring Tasks in Nuclear Facilities

We present a virtual reality (VR) teleoperation interface for a ground-based robot, featuring dense 3D environment reconstruction and a low latency video stream, with which operators can immersively explore remote environments. At the UK Atomic Energy Authority's (UKAEA) Remote Applications in Challenging Environments (RACE) facility, we applied the interface in a user study where trained robotics operators completed simulated nuclear monitoring and decommissioning style tasks to compare VR and traditional teleoperation interface designs. We found that operators in the VR condition took longer to complete the experiment, had reduced collisions, and rated the generated 3D map with higher importance when compared to non-VR operators. Additional physiological data suggested that VR operators had a lower objective cognitive workload during the experiment but also experienced increased physical demand. Overall the presented results show that VR interfaces may benefit work patterns in teleoperation tasks within the nuclear industry, but further work is needed to investigate how such interfaces can be integrated into real world decommissioning workflows

Learning tethered perching for aerial robots

Aerial robots have a wide range of applications, such as collecting data in hard-to-reach areas. This requires the longest possible operation time. However, because currently available commercial batteries have limited specific energy of roughly 300 W h kg -1 , a drone's flight time is a bottleneck for sustainable long-term data collection. Inspired by birds in nature, a possible approach to tackle this challenge is to perch drones on trees, and environmental or man-made structures, to save energy whilst in operation. In this paper, we propose an algorithm to automatically generate trajectories for a drone to perch on a tree branch, using the proposed tethered perching mechanism with a pendulum-like structure. This enables a drone to perform an energy-optimised, controlled 180° flip to safely disarm upside down. To fine-tune a set of reachable trajectories, a soft actor critic-based reinforcement algorithm is used. Our experimental results show the feasibility of the set of trajectories with successful perching. Our findings demonstrate that the proposed approach enables energy-efficient landing for long-term data collection tasks

Forest drones for environmental sensing and nature conservation

Protecting our nature and biodiversity is essential. For this purpose, remote sensing robotic platforms are increasingly explored to collect spatial and temporal data. However, there is still little attention on leveraging aerial robots to interact with trees for sample collection and targeted countermeasure deployment. In this study, we propose platforms and methodology that offer the use of aerial robots in the forests to conduct various tasks including leaf sample collection, visual sensing of forest topology and autonomous sensor placement. With the developed virtual reality (VR) interface, we show that remote environmental sensing, detection of plant pathogens, and sample collection are viable tasks that can be achieved by the proposed platforms. In this context, physical and visual sensing approaches as well as various aerial robots are introduced and discussed for forest applications

Standards for European training requirements in interventional neuroradiology: Guidelines by the Division of Neuroradiology/Section of Radiology European Union of Medical Specialists (UEMS), in cooperation with the Division of Interventional Radiology/UEMS, the European Society of Neuroradiology (ESNR), and the European Society of Minimally Invasive Neurological Therapy (ESMINT)

This document sets out standards for training in Interventional Neuroradiology (INR) in Europe. These standards have been developed by a working group of the European Society of Neuroradiology (ESNR) and the European Society of Minimally Invasive Neurological Therapy (ESMINT) on the initiative and under the umbrella of the Division of Neuroradiology/Section of Radiology of the European Union of Medical Specialists (UEMS)

Probable nonradial g-mode pulsation in early A-type stars

A survey for line profile variability in early A-type stars has been performed in order to detect nonradial pulsation signatures. The star HR 6139, with spectral type A2V and estimated T_eff=8800 K, shows evident line profile variations that can be explained by oscillations in prograde g-modes. This feature and the known photometric variability are similar to those observed in the Slowly Pulsating B-type stars. However HR 6139 is much cooler than the cool border of the instability strip of such variables, and it is hotter than the blue edge of the delta Scuti instability strip. There are indications of a tiny variability also in other four objects, whose nature is not yet clear.Comment: 4 pages, 5 figures; accepted for publication in A&A (letter

European Multicenter Study for the Evaluation of a Dual-Layer Flow-Diverting Stent for Treatment of Wide-Neck Intracranial Aneurysms: The European Flow-Redirection Intraluminal Device Study

BACKGROUND AND PURPOSE: Endoluminal reconstruction with flow-diverting stents represents a widely accepted technique for the treatment of complex intracranial aneurysms. This European registry study analyzed the initial experience of 15 neurovascular centers with the Flow-Redirection Intraluminal Device (FRED) system. MATERIALS AND METHODS: Consecutive patients with intracranial aneurysms treated with the FRED between February 2012 and March 2015 were retrospectively reviewed. Complications and adverse events, transient and permanent morbidity, mortality, and occlusion rates were evaluated. RESULTS: During the defined study period, 579 aneurysms in 531 patients (median age, 54 years;range, 13-86 years) were treated with the FRED. Seven percent of patients were treated in the acute phase (3 days) of aneurysm rupture. The median aneurysm size was 7.6 mm (range, 1-36.6 mm), and the median neck size 4.5 mm (range, 1-30 mm). Angiographic follow-up of >3 months was available for 516 (89.1%) aneurysms. There was progressive occlusion witnessed with time, with complete occlusion in 18 (20%) aneurysms followed for up to 90 14 days, 141 (82.5%) for 180 +/- 20 days, 116 (91.3%) for 1 year +/- 24 days, and 122 (95.3%) aneurysms followed for >1 year. Transient and permanent morbidity occurred in 3.2% and 0.8% of procedures, respectively. The overall mortality rate was 1.5%. CONCLUSIONS: This retrospective study in real-world patients demonstrated the safety and efficacy of the FRED for the treatment of intracranial aneurysms. In most cases, treatment with a single FRED resulted in complete angiographic occlusion at 1 year

Vibrational Spectra of a Mechanosensitive Channel

We report the simulated vibrational spectra of a mechanosensitive membrane channel in different gating states. Our results show that while linear absorption is insensitive to structural differences, linear dichroism and sum-frequency generation spectroscopies are sensitive to the orientation of the transmembrane helices, which is changing during the opening process. Linear dichroism cannot distinguish an intermediate structure from the closed structure, but sum-frequency generation can. In addition, we find that two-dimensional infrared spectroscopy can be used to distinguish all three investigated gating states of the mechanosensitive membrane channel.