Design of a Ballistically-Launched Foldable Multirotor

The operation of multirotors in crowded environments requires a highly reliable takeoff method, as failures during takeoff can damage more valuable assets nearby. The addition of a ballistic launch system imposes a deterministic path for the multirotor to prevent collisions with its environment, as well as increases the multirotor’s range of operation and allows deployment from an unsteady platform. In addition, outfitting planetary rovers or entry vehicles with such deployable multirotors has the potential to greatly extend the data collection capabilities of a mission. A proof-of-concept multirotor aircraft has been developed, capable of transitioning from a ballistic launch configuration to a fully controllable flight configuration in midair after launch. The transition is accomplished via passive unfolding of the multirotor arms, triggered by a nichrome burn wire release mechanism. The design is 3D printable, launches from a three-inch diameter barrel, and has sufficient thrust to carry a significant payload. The system has been fabricated and field tested from a moving vehicle up to 50mph to successfully demonstrate the feasibility of the concept and experimentally validate the design’s aerodynamic stability and deployment reliability

Design and Autonomous Stabilization of a Ballistically Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically launched, autonomously stabilizing multirotor prototype (SQUID, Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision based, active stabilization, confirming the ability of the multirotor to autonomously stabilize after a ballistic launch in a GPS denied environment.Comment: Accepted to 2020 International Conference on Robotics and Automatio

Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autonomously-stabilizing multirotor prototype (SQUID - Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision-based, active stabilization, confirming the multirotor’s ability to autonomously stabilize after a ballistic launch in a GPS-denied environment

Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autonomously-stabilizing multirotor prototype (SQUID - Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision-based, active stabilization, confirming the multirotor’s ability to autonomously stabilize after a ballistic launch in a GPS-denied environment

Motion training on a validated mechanical ERCP simulator improves novice endoscopist performance of selective cannulation: a multicenter trial

Background and study aims Current data show that traditional training methods in endoscopic retrograde cholangiopancreatography (ERCP) fall short of producing competent trainees. We aimed to evaluate whether a novel approach to simulator-based training might improve the learning curve for novice endoscopists training in ERCP.Methods We conducted a multicenter, randomized controlled trial using a validated mechanical simulator (the Bokoski-Costamagna trainer). Trainees with no experience in ERCP received either standard cannulation training or motion training before undergoing standard cannulation training on the mechanical simulator. Trainees were timed and graded on their performance in selective cannulation of four different papilla configurations.Results Thirty-six trainees (16 in the motion training group, 20 in the standard group) performed 720 timed attempts at cannulating the bile duct on the simulator. Successful cannulation was achieved in 698 of 720 attempts (96.9%), with no significant difference between the two study groups ( P =0.37). Trainees in the motion training group had significantly lower median cannulation times compared to the standard group (36 vs. 48 seconds, P =0.001) and better technical performance on the first papilla type ( P =0.013).Conclusions Our findings suggest that motion training could be an innovative method aimed at accelerating the learning curve of novice trainees in the early phase of their training. Future studies are needed to establish its role in ERCP training programs

12th WINFOCUS world congress on ultrasound in emergency and critical care.

10.1186/s13089-016-0046-8Crit Ultrasound J8Suppl 112-complete