System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

A complex system for control of swarms of micro aerial vehicles (MAV), in literature also called as unmanned aerial vehicles (UAV) or unmanned aerial systems (UAS), stabilized via an onboard visual relative localization is described in this paper. The main purpose of this work is to verify the possibility of self-stabilization of multi-MAV groups without an external global positioning system. This approach enables the deployment of MAV swarms outside laboratory conditions, and it may be considered an enabling technique for utilizing fleets of MAVs in real-world scenarios. The proposed visual-based stabilization approach has been designed for numerous different multi-UAV robotic applications (leader-follower UAV formation stabilization, UAV swarm stabilization and deployment in surveillance scenarios, cooperative UAV sensory measurement) in this paper. Deployment of the system in real-world scenarios truthfully verifies its operational constraints, given by limited onboard sensing suites and processing capabilities. The performance of the presented approach (MAV control, motion planning, MAV stabilization, and trajectory planning) in multi-MAV applications has been validated by experimental results in indoor as well as in challenging outdoor environments (e.g., in windy conditions and in a former pit mine)

The need to research refractory breathlessness

High-quality research is needed to improve quality of life for people with chronic refractory breathlessness in COP

The STRANDS Project:long-term autonomy in everyday environments

Thanks to the efforts of the robotics and autonomous systems community, robots are becoming ever more capable. There is also an increasing demand from end-users for autonomous service robots that can operate in real environments for extended periods. In the STRANDS project we are tackling this demand head-on by integrating state-of-the-art artificial intelligence and robotics research into mobile service robots, and deploying these systems for long-term installations in security and care environments. Over four deployments, our robots have been operational for a combined duration of 104 days autonomously performing end-user defined tasks, covering 116km in the process. In this article we describe the approach we have used to enable long-term autonomous operation in everyday environments, and how our robots are able to use their long run times to improve their own performance

Influence of batch-to-batch material variations on grindability of a medium‑carbon steel

This study addresses the influence of material variations on the grindability of crankshaft steel. Most previous studies on the effect of material microstructure on grindability involve comparisons of significantly different steel grades. This study, in contrast, is focused on batch-to-batch grindability variations for one steel grade, a scenario frequently occurring in industry where batches from different steel makers are fed into a production line. For this purpose, a batch made of recycled steel and a batch made of ore-based steel were compared with regards to microstructure and grindability under identical grinding and dressing conditions. Although both batches met the same material specifications, microstructural variations were identified in terms of grain size and micro-constituents (inclusions, carbonitrides). While specific grinding energy, residual stress and full-width at half-maximum profiles of ground surfaces were the same for both batches, the recycled batch showed different and unfavorable variation in wheel wear and Barkhausen noise (BN) response. Larger fractions of oxide inclusions and larger grain sizes (affected by carbonitrides) were present in the recycled batch, which were the likely reasons for the differences in wheel wear and BN response, respectively. These findings may aid grindability improvement by steel-grade adjustments, e.g. modification of the distribution and type of inclusions and/or amount of elements forming carbonitrides. Furthermore, the results highlight the importance of understanding and controlling material microstructure, as existing in-line quality by BN control may not always be able to correctly indicate surface integrity, which could lead to misinterpretations (e.g. false part-rejection on the assumption of grinding burn)

PLOS ONE / Neuronal correlates of cognitive function in patients with childhood cerebellar tumor lesions

While it has been shown that cerebellar tumor lesions have an impact on cognitive functions, the extent to which they shape distant neuronal pathways is still largely undescribed. Thus, the present neuroimaging study was designed to investigate different aspects of cognitive function and their neuronal correlates in patients after childhood cerebellar tumor surgery. An alertness task, a working memory task and an incompatibility task were performed by 11 patients after childhood cerebellar tumor surgery and 17 healthy controls. Neuronal correlates as reflected by alterations in functional networks during tasks were assessed using group independent component analysis. We were able to identify eight networks involved during task performance: default mode network, precuneus, anterior salience network, executive control network, visual network, auditory and sensorimotor network and a cerebellar network. For the most ‘basic cognitive tasks, a weaker task-modulation of default mode network, left executive control network and the cerebellar network was observed in patients compared to controls. Results for higher-order tasks are in line with a partial restoration of networks responsible for higher-order task execution. Our results provide tentative evidence that the synchronicity of brain activity in patients was at least partially restored in the course of neuroplastic reorganization, particularly for networks related to higher-order cognitive processes. The complex activation patterns underline the importance of testing several cognitive functions to assess the specificity of cognitive deficits and neuronal reorganization processes after brain lesions.(VLID)487281

Main brain regions comprised in the component maps.

<p>Top brain regions included in the component maps as classified by AAL (automatic anatomic labelling) atlas (<a href="http://www.gin.cnrs.fr/AAL?lang=en" target="_blank">http://www.gin.cnrs.fr/AAL?lang=en</a>) [<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0180200#pone.0180200.ref036" target="_blank">36</a>]. Labelling was conducted on binary masks consisting of the overlapping regions of the three tasks (component maps of each task FDR-thresholded at p_FDR < .001, <i>k</i> = 100). Please note that therefore no voxel intensity information is provided.</p