Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight

Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners focus on the core problems. To this end, we present Agilicious, a codesigned hardware and software framework tailored to autonomous, agile quadrotor flight. It is completely open source and open hardware and supports both model-based and neural network–based controllers. Also, it provides high thrust-to-weight and torque-to-inertia ratios for agility, onboard vision sensors, graphics processing unit (GPU)–accelerated compute hardware for real-time perception and neural network inference, a real-time flight controller, and a versatile software stack. In contrast to existing frameworks, Agilicious offers a unique combination of flexible software stack and high-performance hardware. We compare Agilicious with prior works and demonstrate it on different agile tasks, using both model-based and neural network–based controllers. Our demonstrators include trajectory tracking at up to 5g and 70 kilometers per hour in a motion capture system, and vision-based acrobatic flight and obstacle avoidance in both structured and unstructured environments using solely onboard perception. Last, we demonstrate its use for hardware-in-the-loop simulation in virtual reality environments. Because of its versatility, we believe that Agilicious supports the next generation of scientific and industrial quadrotor research

Identification of methylated deoxyadenosines in vertebrates reveals diversity in DNA modifications.

Methylation of cytosine deoxynucleotides generates 5-methylcytosine (m(5)dC), a well-established epigenetic mark. However, in higher eukaryotes much less is known about modifications affecting other deoxynucleotides. Here, we report the detection of N(6)-methyldeoxyadenosine (m(6)dA) in vertebrate DNA, specifically in Xenopus laevis but also in other species including mouse and human. Our methylome analysis reveals that m(6)dA is widely distributed across the eukaryotic genome and is present in different cell types but is commonly depleted from gene exons. Thus, direct DNA modifications might be more widespread than previously thought.M.J.K. was supported by the Long-Term Human Frontiers Fellowship (LT000149/2010-L), the Medical Research Council grant (G1001690), and by the Isaac Newton Trust Fellowship (R G76588). The work was sponsored by the Biotechnology and Biological Sciences Research Council grant BB/M022994/1 (J.B.G. and M.J.K.). The Gurdon laboratory is funded by the grant 101050/Z/13/Z (J.B.G.) from the Wellcome Trust, and is supported by the Gurdon Institute core grants, namely by the Wellcome Trust Core Grant (092096/Z/10/Z) and by the Cancer Research UK Grant (C6946/A14492). C.R.B. and G.E.A. are funded by the Wellcome Trust Core Grant. We are grateful to D. Simpson and R. Jones-Green for preparing X. laevis eggs and oocytes, F. Miller for providing us with M. musculus tissue, T. Dyl for X. laevis eggs and D. rerio samples, and to Gurdon laboratory members for their critical comments. We thank U. Ruether for providing us with M. musculus kidney DNA (Entwicklungs- und Molekularbiologie der Tiere, Heinrich Heine Universitaet Duesseldorf, Germany). We also thank J. Ahringer, S. Jackson, A. Bannister and T. Kouzarides for critical input and advice, M. Sciacovelli and E. Gaude for suggestions.This is the author accepted manuscript. The final version is available from Nature Publishing Group via http://dx.doi.org/10.1038/nsmb.314

Deficient Dopamine D2 Receptor Function Causes Renal Inflammation Independently of High Blood Pressure

Renal dopamine receptors participate in the regulation of blood pressure. Genetic factors, including polymorphisms of the dopamine D2 receptor gene (DRD2) are associated with essential hypertension, but the mechanisms of their contribution are incompletely understood. Mice lacking Drd2 (D2−/−) have elevated blood pressure, increased renal expression of inflammatory factors, and renal injury. We tested the hypothesis that decreased dopamine D2 receptor (D2R) function increases vulnerability to renal inflammation independently of blood pressure, is an immediate cause of renal injury, and contributes to the subsequent development of hypertension. In D2−/− mice, treatment with apocynin normalized blood pressure and decreased oxidative stress, but did not affect the expression of inflammatory factors. In mouse RPTCs Drd2 silencing increased the expression of TNFα and MCP-1, while treatment with a D2R agonist abolished the angiotensin II-induced increase in TNF-α and MCP-1. In uni-nephrectomized wild-type mice, selective Drd2 silencing by subcapsular infusion of Drd2 siRNA into the remaining kidney produced the same increase in renal cytokines/chemokines that occurs after Drd2 deletion, increased the expression of markers of renal injury, and increased blood pressure. Moreover, in mice with two intact kidneys, short-term Drd2 silencing in one kidney, leaving the other kidney undisturbed, induced inflammatory factors and markers of renal injury in the treated kidney without increasing blood pressure. Our results demonstrate that the impact of decreased D2R function on renal inflammation is a primary effect, not necessarily associated with enhanced oxidant activity, or blood pressure; renal damage is the cause, not the result, of hypertension. Deficient renal D2R function may be of clinical relevance since common polymorphisms of the human DRD2 gene result in decreased D2R expression and function

Global patient outcomes after elective surgery: prospective cohort study in 27 low-, middle- and high-income countries.

BACKGROUND: As global initiatives increase patient access to surgical treatments, there remains a need to understand the adverse effects of surgery and define appropriate levels of perioperative care. METHODS: We designed a prospective international 7-day cohort study of outcomes following elective adult inpatient surgery in 27 countries. The primary outcome was in-hospital complications. Secondary outcomes were death following a complication (failure to rescue) and death in hospital. Process measures were admission to critical care immediately after surgery or to treat a complication and duration of hospital stay. A single definition of critical care was used for all countries. RESULTS: A total of 474 hospitals in 19 high-, 7 middle- and 1 low-income country were included in the primary analysis. Data included 44 814 patients with a median hospital stay of 4 (range 2-7) days. A total of 7508 patients (16.8%) developed one or more postoperative complication and 207 died (0.5%). The overall mortality among patients who developed complications was 2.8%. Mortality following complications ranged from 2.4% for pulmonary embolism to 43.9% for cardiac arrest. A total of 4360 (9.7%) patients were admitted to a critical care unit as routine immediately after surgery, of whom 2198 (50.4%) developed a complication, with 105 (2.4%) deaths. A total of 1233 patients (16.4%) were admitted to a critical care unit to treat complications, with 119 (9.7%) deaths. Despite lower baseline risk, outcomes were similar in low- and middle-income compared with high-income countries. CONCLUSIONS: Poor patient outcomes are common after inpatient surgery. Global initiatives to increase access to surgical treatments should also address the need for safe perioperative care. STUDY REGISTRATION: ISRCTN5181700

Fault-Tolerance and Error Recovery in an Autonomous Robot with Distributed Controlled Components

Most of the existing autonomous robot systems have a centralized hierarchical control architecture. In such robot systems, all planning, execution control, and monitoring tasks are performed by a single control unit on a defined level. In case of an error that occurs during the execution, this central control unit has the complete knowledge about the past executed actions and is able to reason on the error situation. Besides the centralized control architectures, distributed and decentralized control architectures have been developed to overcome some problems with the centralized systems. Because of the missing overall control, error recovery is more difficult than in centralized systems. This paper presents concepts to obtain fault-tolerance behaviour and error recovery in a distributed controlled robot system. As an example for such a robot system, the Karlsruhe Autonomous Mobile Robot KAMRO is considered that is being developed at IPR. Many experiments were performed with the former..

Task Description, Decomposition, and Allocation in a Distributed Autonomous Multi-Agent Robot System

In this paper a new intelligent control architecture for autonomous multi-robot systems is presented. Furthermore, the paper deals with task description, task distribution, task allocation and coordination of the system components. The main advantage of the new control architecture is the distributed execution of tasks or subtasks by components of the multi-robot system. The components are able to build teams dynamically thereby avoiding the bottle neck problem of the information flow in centralized controlled architectures. To achieve to distributed organized control architectures, the detailed investigation of communication and cooperation between components is imperative. The described intelligent control architecture is to replace the former control architecture of the autonomous robot KAMRO. 1. Introduction During the past few years, the need for large scale and complex systems has become obvious. They are necessary to intelligently carry out tasks in the area of transportation,..

A Developmental Switch in the Response of DRG Neurons to ETS Transcription Factor Signaling

Two ETS transcription factors of the Pea3 subfamily are induced in subpopulations of dorsal root ganglion (DRG) sensory and spinal motor neurons by target-derived factors. Their expression controls late aspects of neuronal differentiation such as target invasion and branching. Here, we show that the late onset of ETS gene expression is an essential requirement for normal sensory neuron differentiation. We provide genetic evidence in the mouse that precocious ETS expression in DRG sensory neurons perturbs axonal projections, the acquisition of terminal differentiation markers, and their dependence on neurotrophic support. Together, our findings indicate that DRG sensory neurons exhibit a temporal developmental switch that can be revealed by distinct responses to ETS transcription factor signaling at sequential steps of neuronal maturation

KANTRA - A Natural Language Interface for Intelligent Robots

The future use of advanced technical systems, for example robots in the area of service and maintenance, will lead to high demands for interaction between man-machine and machine-man to make these systems more easily accessible for human operators. On that account, natural language could be an efficient means to use robots in a more flexible manner. First, it is possible to convey information in a varying degree of condensation, on the other hand, communication can be performed on different levels of abstraction in an application-specific way. In order to fully exploit the capabilities of a natural language access, a dialogue-based approach will be used. In this article, we want to report about the joint efforts of the University of Karlsruhe and the University of the Saarland in providing natural language access to the autonomous mobile two-arm robot KAMRO which is being developed at IPR. A closer view at the description of the interface architecture will be given. It is documented ho..

Modified Clover Technique Using Automated Suture Placement and Securing Technology in a Passive Beating Heart Model

Tricuspid regurgitation (TR) is a prevalent finding in echocardiography and in case of severe disease is associated with impaired patient outcome. Clover repair offers a surgical solution that can be applied for the treatment of primary and secondary TR. An ex vivo passive beating porcine heart model was created to test a modified clover technique using automated suturing devices and to compare this approach to standard ring annuloplasty. Secondary TR was induced in 10 porcine hearts and the backflow of fluid was assessed. The primary endpoint of this study was regurgitant volume measured in mL at the site right atrial cannula. The baseline regurgitation was 43.3 ± 10.8 mL. The mean regurgitant volume was significantly reduced after all repair procedures to 22.2 ± 5.9 mL with isolated ring annuloplasty, 12 ± 3.9 mL with the modified clover, and 7.6 ± 3.4 mL with the combined procedure (p < 0.0001). The modified clover technique shows how to effectively reduce TR in an ex vivo model. This method may be suitable to facilitate tricuspid repair, especially for totally endoscopic valve surgery