Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments

Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight sensing and computing. Although the planning methodologies vary from platform to platform, many algorithms adopt a hierarchical planning architecture where a slow, low-fidelity global planner guides a fast, high-fidelity local planner. However, in unknown environments, this approach can lead to erratic or unstable behavior due to the interaction between the global planner, whose solution is changing constantly, and the local planner; a consequence of not capturing higher-order dynamics in the global plan. This work proposes a planning framework in which multi-fidelity models are used to reduce the discrepancy between the local and global planner. Our approach uses high-, medium-, and low-fidelity models to compose a path that captures higher-order dynamics while remaining computationally tractable. In addition, we address the interaction between a fast planner and a slower mapper by considering the sensor data not yet fused into the map during the collision check. This novel mapping and planning framework for agile flights is validated in simulation and hardware experiments, showing replanning times of 5-40 ms in cluttered environments.Comment: ICRA 201

The Vascular Flora of the Potomac River Watershed of King George County, Virginia

The results of two floristic studies of King George County, Virginia, are combined into an annotated checklist. Field work was initiated in 1983-84 with a study of Caledon Natural Area, a 2,500-acre tract with 3.5 miles of frontage on the Potomac River. Collecting resumed in 1991 and 1992 to include other portions of the county drained by the Potomac River. The study area contains a wide variety of habitats including dry upland woods, mesic ravines, low elevation river flats, beaches, swamps, marshes, and creeks; creeks and marshes include both brackish and freshwater environments. The Potomac River watershed of King George County harbors a diverse assemblage of plants; the checklist includes documentation for 918 species of vascular plants classified in 466 genera and 130 families. This total includes 418 species that at the time of collection were the first records of occurrence in King George County

Wind Speed and Direction Detection by Means of Solid-state Anemometers Embedded on Small Quadcopters

This work describes the application of a compact, MEMS-based, 2D anemometer to the estimation of a quadrotor's airspeed. Correcting for the vehicle's ground speed provided by internal GPS and inertial units allows this low cost, mobile platform to provide local wind speed estimates. A series of initial, bench-top tests were performed to characterize and calibrate the sensor, which is an improved version of a recently proposed and novel device. Additional full-scale wind tunnel experiments were performed with the sensor mounted on a fixed quadrotor to test the effect of the propellers on the sensor's performance. Keywords: wind sensor; quadcopter; MEMS; UA

Histiocytoid cardiomyopathy and microphthalmia with linear skin defects syndrome: phenotypes linked by truncating variants in NDUFB11

Variants in NDUFB11, which encodes a structural component of complex I of the mitochondrial respiratory chain (MRC), were recently independently reported to cause histiocytoid cardiomyopathy (histiocytoid CM) and microphthalmia with linear skin defects syndrome (MLS syndrome). Here we report an additional case of histiocytoid CM, which carries a de novo nonsense variant in NDUFB11 (ENST00000276062.8: c.262C > T; p.[Arg88*]) identified using whole-exome sequencing (WES) of a family trio. An identical variant has been previously reported in association with MLS syndrome. The case we describe here lacked the diagnostic features of MLS syndrome, but a detailed clinical comparison of the two cases revealed significant phenotypic overlap. Heterozygous variants in HCCS (which encodes an important mitochondrially targeted protein) and COX7B, which, like NDUFB11, encodes a protein of the MRC, have also previously been identified in MLS syndrome including a case with features of both MLS syndrome and histiocytoid CM. However, a systematic review of WES data from previously published histiocytoid CM cases, alongside four additional cases presented here for the first time, did not identify any variants in these genes. We conclude that NDUFB11 variants play a role in the pathogenesis of both histiocytoid CM and MLS and that these disorders are allelic (genetically related)

Mutations in Complement Regulatory Proteins Predispose to Preeclampsia: A Genetic Analysis of the PROMISSE Cohort

Jane Salmon and colleagues studied 250 pregnant patients with SLE and/or antiphospholipid antibodies and found an association of risk variants in complement regulatory proteins in patients who developed preeclampsia, as well as in preeclampsia patients lacking autoimmune disease

Effectiveness of primary care psychological therapy services for the treatment of depression and anxiety in people living with dementia: Evidence from national healthcare records in England

BACKGROUND: Depression and anxiety are common and deleterious in people living with dementia (PLWD). It is currently unknown whether routinely provided psychological therapy can help reduce these symptoms in PLWD. This study aimed to investigate improvements in depression and anxiety symptoms over the course of therapy offered in primary care psychological therapy services in PLWD and to compare outcomes to people without dementia. METHODS: National data from Improving Access to Psychological Therapies services (IAPT) across England linked with Hospital Episode Statistics data, the Mental Health Services Dataset, and HES-ONS mortality data were used to identify 1,549 PLWD who completed a course of psychological treatment in IAPT between 2012-2019 and a propensity score matched control group without identified dementia. Outcome measures included pre-post intervention changes in depression (PHQ-9) and anxiety (GAD-7) symptoms and therapy outcomes (reliable improvement, recovery, deterioration). FINDINGS: Symptoms of depression (t(1548)=31·05, p<·001) and anxiety (t(1548)=30·31, p<·001) improved in PLWD over the course of psychological therapy with large effect sizes (depression: d=-0·83; anxiety: d=-0·80). However, PLWD were less likely to reliably improve (OR=·75, 95%CI[·63,·88], p<·001) or recover (OR=·75, 95%CI[·64,·88], p=·001), and more likely to deteriorate (OR=1·35, 95%CI[1·03,1·78], p=·029) than a matched control sample without dementia. INTERPRETATION: Psychological therapy may be beneficial for PLWD with depression or anxiety, but it is currently not as effective as for people without dementia. More research is needed to improve access to psychological therapies and to understand this discrepancy and how therapies can be adapted to further improve outcomes. FUNDING: This work was supported by the Alzheimer's Society

Mapping SF-36 onto the EQ-5D index: how reliable is the relationship?

<p>Abstract</p> <p>Background</p> <p>Mapping from health status measures onto generic preference-based measures is becoming a common solution when health state utility values are not directly available for economic evaluation. However the accuracy and reliability of the models employed is largely untested, and there is little evidence of their suitability in patient datasets. This paper examines whether mapping approaches are reliable and accurate in terms of their predictions for a large and varied UK patient dataset.</p> <p>Methods</p> <p>SF-36 dimension scores are mapped onto the EQ-5D index using a number of different model specifications. The predicted EQ-5D scores for subsets of the sample are compared across inpatient and outpatient settings and medical conditions. This paper compares the results to those obtained from existing mapping functions.</p> <p>Results</p> <p>The model including SF-36 dimensions, squared and interaction terms estimated using random effects GLS has the most accurate predictions of all models estimated here and existing mapping functions as indicated by MAE (0.127) and MSE (0.030). Mean absolute error in predictions by EQ-5D utility range increases with severity for our models (0.085 to 0.34) and for existing mapping functions (0.123 to 0.272).</p> <p>Conclusion</p> <p>Our results suggest that models mapping the SF-36 onto the EQ-5D have similar predictions across inpatient and outpatient setting and medical conditions. However, the models overpredict for more severe EQ-5D states; this problem is also present in the existing mapping functions.</p