Modeling and Control of a Quadrotor UAV Equipped With a Flexible Arm in Vertical Plane

In the field of unmanned aerial vehicles (UAVs), aerial manipulations are receiving considerable attention because of their potential application to tasks such as pick and place, detection, and inspection. However, short flight endurance times and concerns about the safety to surroundings during interacting heavily limit the expansion of aerial manipulations in real implementations. To overcome these challenges, this paper focuses on a system in which a quadrotor UAV is equipped with a lightweight and flexible arm. Based on the infinite-dimensional dynamics, the mathematic model of system is described by a hybrid partial differential equation-ordinary differential equation (PDE-ODE). An easily implementable controller is derived from a Lyapunov functional construction related to the energy of the system. The proposed controller ensures global Lyapunov stability for nonlinear system and local asymptotic stability for the linearized system. Further, it is shown that the proposed controller realizes stable motion of the aerial manipulator as well as vibration control of the flexible arm. Finally, numerical simulations are conducted to investigate the validity of the proposed controller

Decentralized navigation and collision avoidance for robotic swarm with heterogeneous abilities

This paper proposes a decentralized navigation method with collision avoidance for a robotic swarm whose individuals possess heterogeneous abilities, such as sensing range and maximum speed. In this method, each agent distributedly constructs and maintains a local directed connection with another agent using only local information, which is relative distance. Moreover, all agents always maintain some distance from other agents to avoid collision. As a result, one leader robot can guide an entire swarm of robots to their destination, and the other robots can follow the leader while maintaining connectivity and not colliding with others. We prove the above mathematically, and we demonstrate the validity of the proposed method by numerical simulation and experimentation

Characterization of Highly Pathogenic Avian Influenza Virus A(H5N6), Japan, November 2016

Highly pathogenic avian influenza viruses (HPAIVs) A(H5N6) were concurrently introduced into several distant regions of Japan in November 2016. These viruses were classified into the genetic clade 2.3.4.4c and were genetically closely related to H5N6 HPAIVs recently isolated in South Korea and China. In addition, these HPAIVs showed further antigenic drift

Neoadjuvant chemotherapy with docetaxel, nedaplatin, and fluorouracil for resectable esophageal cancer : A phase II study

Cisplatin plus 5‐fluorouracil is regarded as standard neoadjuvant chemotherapy for esophageal squamous cell carcinoma (ESCC) in Japan, but the prognosis remains poor. We have previously described how definitive chemoradiotherapy with docetaxel, nedaplatin, and 5‐fluorouracil (DNF) led to a very high response rate and promising survival times. We therefore undertook a phase II trial to evaluate the feasibility and efficacy of neoadjuvant DNF. The study included patients with clinical stage Ib‐III ESCC. Chemotherapy consisted of i.v. docetaxel (30 mg/m2) and nedaplatin (50 mg/m2) on days 1 and 8, and a continuous infusion of 5‐fluorouracil (400 mg/m2/day) on days 1‐5 and 8‐12, every 3 weeks. After three courses of chemotherapy, esophagectomy was carried out. The primary end‐point was the completion rate of the protocol treatment. Twenty‐eight patients were enrolled (cStage Ib/II/III, 2/3/23) and all received at least two cycles of chemotherapy. Twenty‐five patients underwent surgery, all of whom achieved an R0 resection, leading to a completion rate of 89.3%. The overall response rate was 87.0%. A pathological complete response was confirmed in eight (32.0%) cases. Grade 3/4 adverse events included leukopenia (32.1%), neutropenia (39.3%), febrile neutropenia (10.7%), thrombocytopenia (10.7%), and diarrhea (14.3%), but were manageable. Treatment‐related deaths and major surgical complications did not occur. Estimated 2‐year progression‐free and overall survival rates were 70.4% and 77.2%, respectively. Thus, DNF therapy was well tolerated and deemed feasible, with a strong tumor response in a neoadjuvant setting for ESCC. This trial is registered with the University Hospital Medical Information Network (UMIN ID: 000014305)

Targeting Notch-1 positive acute leukemia cells by novel fucose-bound liposomes carrying daunorubicin

Complete remission by induction therapy in acute myelogenous leukemia (AML) can be achieved due to improvements in supportive and optimized therapy. However, more than 20% of patients will still need to undergo salvage therapy, and most will have a poor prognosis. Determining the specificity of drugs to leukemia cells is important since this will maximize the dose of chemotherapeutic agents that can be administered to AML patients. In turn, this would be expected to lead to reduced drug toxicity and its increased efficacy. We targeted Notch-1 positive AML cells utilizing fucose-bound liposomes, since activation of Notch-1 is required for O-fucosylation. Herein, we report that intravenously injected, L-fucose-bound liposomes containing daunorubicin can be successfully delivered to AML cells that express fucosylated antigens. This resulted in efficient tumor growth inhibition in tumor-bearing mice and decreased proliferation of AML patient-derived leukemia cells. Thus, biological targeting by fucose-bound liposomes that takes advantage of the intrinsic characteristics of AML cells could be a promising new strategy for Notch-1 positive-AML treatment

A dehydrated space-weathered skin cloaking the hydrated interior of Ryugu

Without a protective atmosphere, space-exposed surfaces of airless Solar System bodies gradually experience an alteration in composition, structure and optical properties through a collective process called space weathering. The return of samples from near-Earth asteroid (162173) Ryugu by Hayabusa2 provides the first opportunity for laboratory study of space-weathering signatures on the most abundant type of inner solar system body: a C-type asteroid, composed of materials largely unchanged since the formation of the Solar System. Weathered Ryugu grains show areas of surface amorphization and partial melting of phyllosilicates, in which reduction from Fe3+ to Fe2+ and dehydration developed. Space weathering probably contributed to dehydration by dehydroxylation of Ryugu surface phyllosilicates that had already lost interlayer water molecules and to weakening of the 2.7 µm hydroxyl (–OH) band in reflectance spectra. For C-type asteroids in general, this indicates that a weak 2.7 µm band can signify space-weathering-induced surface dehydration, rather than bulk volatile loss

Distributed formation for robotic swarms considering their crossing motion

This paper discusses formation problem for robotic swarms when multiple robotic swarms cross one another's path. To realize the crossing motion, collision avoidance between agents is an important issue, with the potential to cause a general mix-up of formation during the crossing motion. To realize an orderly and well-organized crossing motion with the least mix-up, as well as collision avoidance, we propose a distributed controller. This well-organized crossing motion can realize visually appealing and highly entertaining robotic mass games. This paper proposes a distributed controller using the gradient of the cost functions about the formation maintenance, collision avoidance, and tracking to the desired trajectory. We then prove that we can achieve a well-organized crossing motion of multiple robotic swarms under several assumptions. Finally, experimental and numerical simulations are carried out to investigate whether the well-organized crossing motion can be achieved

Formation Control of Multiagent System Based on Higher Order Partial Differential Equations

We propose a method of controlling the formation in a multiagent system using partial differential equations (PDEs). In this method, the behavior of the entire multiagent system is modeled by second-order or higher order PDEs. We also propose a boundary controller that exponentially stabilizes the PDE model. By discretizing the PDE model under the proposed controller, the follower agents’ control laws can be derived. Moreover, the boundary controller corresponds to the leader agents’ control laws. The use of higher order PDEs leads to the generation of various formations that cannot be generated by using lower order PDEs. Finally, we conduct numerical simulations and experiments to validate the proposed method