Robust Reinforcement Learning Algorithm for Vision-based Ship Landing of UAVs

This paper addresses the problem of developing an algorithm for autonomous ship landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs), using only a monocular camera in the UAV for tracking and localization. Ship landing is a challenging task due to the small landing space, six degrees of freedom ship deck motion, limited visual references for localization, and adversarial environmental conditions such as wind gusts. We first develop a computer vision algorithm which estimates the relative position of the UAV with respect to a horizon reference bar on the landing platform using the image stream from a monocular vision camera on the UAV. Our approach is motivated by the actual ship landing procedure followed by the Navy helicopter pilots in tracking the horizon reference bar as a visual cue. We then develop a robust reinforcement learning (RL) algorithm for controlling the UAV towards the landing platform even in the presence of adversarial environmental conditions such as wind gusts. We demonstrate the superior performance of our algorithm compared to a benchmark nonlinear PID control approach, both in the simulation experiments using the Gazebo environment and in the real-world setting using a Parrot ANAFI quad-rotor and sub-scale ship platform undergoing 6 degrees of freedom (DOF) deck motion

Intelligent Vision-based Autonomous Ship Landing of VTOL UAVs

The paper discusses an intelligent vision-based control solution for autonomous tracking and landing of Vertical Take-Off and Landing (VTOL) capable Unmanned Aerial Vehicles (UAVs) on ships without utilizing GPS signal. The central idea involves automating the Navy helicopter ship landing procedure where the pilot utilizes the ship as the visual reference for long-range tracking; however, refers to a standardized visual cue installed on most Navy ships called the "horizon bar" for the final approach and landing phases. This idea is implemented using a uniquely designed nonlinear controller integrated with machine vision. The vision system utilizes machine learning-based object detection for long-range ship tracking and classical computer vision for the estimation of aircraft relative position and orientation utilizing the horizon bar during the final approach and landing phases. The nonlinear controller operates based on the information estimated by the vision system and has demonstrated robust tracking performance even in the presence of uncertainties. The developed autonomous ship landing system was implemented on a quad-rotor UAV equipped with an onboard camera, and approach and landing were successfully demonstrated on a moving deck, which imitates realistic ship deck motions. Extensive simulations and flight tests were conducted to demonstrate vertical landing safety, tracking capability, and landing accuracy

Rapid Irreversible Transcriptional Reprogramming in Human Stem Cells Accompanied by Discordance between Replication Timing and Chromatin Compartment

The temporal order of DNA replication is regulated during development and is highly correlated with gene expression, histone modifications and 3D genome architecture. We tracked changes in replication timing, gene expression, and chromatin conformation capture (Hi-C) A/B compartments over the first two cell cycles during differentiation of human embryonic stem cells to definitive endoderm. Remarkably, transcriptional programs were irreversibly reprogrammed within the first cell cycle and were largely but not universally coordinated with replication timing changes. Moreover, changes in A/B compartment and several histone modifications that normally correlate strongly with replication timing showed weak correlation during the early cell cycles of differentiation but showed increased alignment in later differentiation stages and in terminally differentiated cell lines. Thus, epigenetic cell fate transitions during early differentiation can occur despite dynamic and discordant changes in otherwise highly correlated genomic properties

Murine esBAF chromatin remodeling complex subunits BAF250a and Brg1 are necessary to maintain and reprogram pluripotency-specific replication timing of select replication domains

Background: Cellular differentiation and reprogramming are accompanied by changes in replication timing and 3D organization of large-scale (400 to 800 Kb) chromosomal domains (‘replication domains’), but few gene products have been identified whose disruption affects these properties. Results: Here we show that deletion of esBAF chromatin-remodeling complex components BAF250a and Brg1, but not BAF53a, disrupts replication timing at specific replication domains. Also, BAF250a-deficient fibroblasts reprogrammed to a pluripotency-like state failed to reprogram replication timing in many of these same domains. About half of the replication domains affected by Brg1 loss were also affected by BAF250a loss, but a much larger set of domains was affected by BAF250a loss. esBAF binding in the affected replication domains was dependent upon BAF250a but, most affected domains did not contain genes whose transcription was affected by loss of esBAF. Conclusions: Loss of specific esBAF complex subunits alters replication timing of select replication domains in pluripotent cells

Nuclear architecture organized by Rif1 underpins the replication-timing program

DNA replication is temporally and spatially organized in all eukaryotes, yet the molecular control and biological function of the replication-timing program are unclear. Rif1 is required for normal genome-wide regulation of replication timing, but its molecular function is poorly understood. Here we show that in mouse embryonic stem cells, Rif1 coats late-replicating domains and, with Lamin B1, identifies most of the late-replicating genome. Rif1 is an essential determinant of replication timing of non-Lamin B1-bound late domains. We further demonstrate that Rif1 defines and restricts the interactions between replication-timing domains during the G1 phase, thereby revealing a function of Rif1 as organizer of nuclear architecture. Rif1 loss affects both number and replication-timing specificity of the interactions between replication-timing domains. In addition, during the S phase, Rif1 ensures that replication of interacting domains is temporally coordinated. In summary, our study identifies Rif1 as the molecular link between nuclear architecture and replication-timing establishment in mammals

List of constitutive and developmentally-regulated replication domains; human

published in Integrative detection and analysis of structural variation in cancer genomes.Dixon JR, Xu J, Dileep V, Zhan Y, Song F, Le VT, Yardımcı GG, Chakraborty A, Bann DV, Wang Y, Clark R, Zhang L, Yang H, Liu T, Iyyanki S, An L, Pool C, Sasaki T, Rivera-Mulia JC, Ozadam H, Lajoie BR, Kaul R, Buckley M, Lee K, Diegel M, Pezic D, Ernst C, Hadjur S, Odom DT, Stamatoyannopoulos JA, Broach JR, Hardison RC, Ay F, Noble WS, Dekker J, Gilbert DM, Yue F.Nat Genet. 2018 Oct;50(10):1388-1398. doi: 10.1038/s41588-018-0195-8. Epub 2018 Sep 10.PMID: 30202056</p

Quantification of risk factors for perinatal mortality and low birth weight in Ahmedabad, India

Low birth weight and perinatal mortality are major public health problems in India. The aim of the study was to quantify the socioeconomic, maternal biological, antenatal and intranatal risk factors for perinatal mortality and low birth weight in Ahmedabad, India. The study included surveillance of all births in three hospitals and a nested case control design. Information was collected on socioeconomic factors, demographic characteristics, past obstetric history, antenatal care, and intranatal factors on all perinatal deaths (451 stillbirths, 160 early neonatal deaths), a sample of low birth weight cases (644 preterm births and 673 IUGR) and controls (1465) over a period of one year. Anthropometric measurements were also collected. A population based survey of mothers (n=ll02) was also conducted in the city to assess selection bias in case control study and to estimate the population prevalence of different risk factors required for calculation of population attributable risk. The perinatal mortality rate was 79 per 1000 births in the three hospitals included in the study. (stillbirth rate 46.5 per 1000 and early neonatal mortality rate 32.5 per 1000). The proportion of births below 2.5 kg was about 30 %...Doctor of Philosoph

Three-dimensional chromatin organization in brain function and dysfunction

The three-dimensional (3D) organization of chromatin within the nucleus is now recognized as a bona fide epigenetic property influencing genome function, replication, and maintenance. In the recent years, several studies have revealed how 3D chromatin organization is associated with brain function and its emerging role in disorders of the brain. 3D chromatin organization plays a crucial role in the development of different cell types of the nervous system and some neuronal cell types have adapted unique modifications to this organization that deviates from all other cell types. In post-mitotic neurons, dynamic changes in chromatin interactions in response to neuronal activity underlie learning and memory formation. Finally, new evidence directly links 3D chromatin organization to several disorders of the brain. These recent findings position 3D chromatin organization as a fundamental regulatory mechanism poised to reveal the etiology of brain function and dysfunctions