Trajectory Generation and Control for Quadrotors

This thesis presents contributions to the state-of-the-art in quadrotor control, payload transportation with single and multiple quadrotors, and trajectory generation for single and multiple quadrotors. In Ch. 2 we describe a controller capable of handling large roll and pitch angles that enables a quadrotor to follow trajectories requiring large accelerations and also recover from extreme initial conditions. In Ch. 3 we describe a method that allows teams of quadrotors to work together to carry payloads that they could not carry individually. In Ch. 4 we discuss an online parameter estimation method for quadrotors transporting payloads which enables a quadrotor to use its dynamics in order to learn about the payload it is carrying and also adapt its control law in order to improve tracking performance. In Ch. 5 we present a trajectory generation method that enables quadrotors to fly through narrow gaps at various orientations and perch on inclined surfaces. Chapter 6 discusses a method for generating dynamically optimal trajectories through a series of predefined waypoints and safe corridors and Ch. 7 extends that method to enable heterogeneous quadrotor teams to quickly rearrange formations and avoid a small number of obstacles

Control of Locomotion with Shape-Changing Wheels

We present a novel approach to controlling the locomotion of a wheel by changing its shape, leading to applications to the synthesis and closed-loop control of gaits for modular robots. A dynamic model of a planar, continuous deformable ellipse in contact with a ground surface is derived. We present two alternative approaches to controlling this system and a method for mapping the gaits to a discrete rolling polygon. Mathematical models and dynamic simulation of the continuous approximation and the discrete n-body system, and experimental results obtained from a physical modular robot system illustrate the accuracy of the dynamic models and the validity of the approach

Control and planning for vehicles with uncertainty in dynamics

Abstract-This paper describes a motion planning algorithm that accounts for uncertainty in the dynamics of vehicles. This noise is a function of the type of controller employed on the vehicle and the characteristics of the terrain and can cause the robot to deviate from a planned trajectory and collide with obstacles. Our motion planning algorithm finds trajectories that balance the trade-off between conventional performance measures such as time and energy versus safety. The key is a characterization of the vehicle's ability to follow planned paths, which allows the algorithm to explicitly calculate probabilities of successful traversal for different trajectory segments. We illustrate the method with a six-legged Rhex-like robot by experimentally characterizing different gaits (controllers) on different terrains and demonstrating the hexapod navigating a multi-terrain environment

Robust Onboard Visual SLAM for Autonomous MAVs

Abstract. This paper presents a visual simultaneous localization and mapping (SLAM) system consisting of a robust visual odometry and an efficient back-end with loop closure detection and pose-graph optimization. Robustness of the visual odometry is achieved by utilizing dual cameras pointing different directions with no overlap in their respective fields of view mounted on an micro aerial vehicle (MAV). The theory behind this dual-camera visual odometry can be easily ex-tended to applications with multiple cameras. The back-end of the SLAM system maintains a keyframe-based global map, which is used for loop closure detec-tion. An adaptive-window pose-graph optimization method is proposed to refine keyframe poses of the global map and thus correct pose drift that is inherent in the visual odometry. The position of each map point is then refined implicitly due to its relative representation to its source keyframe. We demonstrate the efficiency of the proposed visual SLAM algorithm for applications onboard MAVs in ex-periments with both autonomous and manual flights. The pose tracking results are compared with the ground truth data provided by an external tracking system.

Extracellular Vesicles from Pseudomonas aeruginosa Suppress MHC-Related Molecules in Human Lung Macrophages

Pseudomonas aeruginosa, a Gram-negative bacterium, is one of the most common pathogens colonizing the lungs of cystic fibrosis patients. P. aeruginosa secrete extracellular vesicles (EVs) that contain LPS and other virulence factors that modulate the host\u27s innate immune response, leading to an increased local proinflammatory response and reduced pathogen clearance, resulting in chronic infection and ultimately poor patient outcomes. Lung macrophages are the first line of defense in the airway innate immune response to pathogens. Proper host response to bacterial infection requires communication between APC and T cells, ultimately leading to pathogen clearance. In this study, we investigate whether EVs secreted from P. aeruginosa alter MHC Ag expression in lung macrophages, thereby potentially contributing to decreased pathogen clearance. Primary lung macrophages from human subjects were collected via bronchoalveolar lavage and exposed to EVs isolated from P. aeruginosa in vitro. Gene expression was measured with the NanoString nCounter gene expression assay. DNA methylation was measured with the EPIC array platform to assess changes in methylation. P. aeruginosa EVs suppress the expression of 11 different MHC-associated molecules in lung macrophages. Additionally, we show reduced DNA methylation in a regulatory region of gene complement factor B (CFB) as the possible driving mechanism of widespread MHC gene suppression. Our results demonstrate MHC molecule downregulation by P. aeruginosa-derived EVs in lung macrophages, which is consistent with an immune evasion strategy employed by a prokaryote in a host-pathogen interaction, potentially leading to decreased pulmonary bacterial clearance

An Assessment of the Effectiveness of High Definition Cameras as Remote Monitoring Tools for Dolphin Ecology Studies.

Research involving marine mammals often requires costly field programs. This paper assessed whether the benefits of using cameras outweighs the implications of having personnel performing marine mammal detection in the field. The efficacy of video and still cameras to detect Indo-Pacific bottlenose dolphins (Tursiops aduncus) in the Fremantle Harbour (Western Australia) was evaluated, with consideration on how environmental conditions affect detectability. The cameras were set on a tower in the Fremantle Port channel and videos were perused at 1.75 times the normal speed. Images from the cameras were used to estimate position of dolphins at the water’s surface. Dolphin detections ranged from 5.6 m to 463.3 m for the video camera, and from 10.8 m to 347.8 m for the still camera. Detection range showed to be satisfactory when compared to distances at which dolphins would be detected by field observers. The relative effect of environmental conditions on detectability was considered by fitting a Generalised Estimation Equations (GEEs) model with Beaufort, level of glare and their interactions as predictors and a temporal auto-correlation structure. The best fit model indicated level of glare had an effect, with more intense periods of glare corresponding to lower occurrences of observed dolphins. However this effect was not large (-0.264) and the parameter estimate was associated with a large standard error (0.113).The limited field of view was the main restraint in that cameras can be only applied to detections of animals observed rather than counts of individuals. However, the use of cameras was effective for long term monitoring of occurrence of dolphins, outweighing the costs and reducing the health and safety risks to field personal. This study showed that cameras could be effectively implemented onshore for research such as studying changes in habitat use in response to development and construction activities

Ecological Niche Modeling of Three Species of Stenella Dolphins in the Caribbean Basin, With Application to the Seaflower Biosphere Reserve

Dolphins of the genus Stenella occur in pelagic waters of both tropical and warm-temperate oceans. Three species, the Atlantic spotted dolphin (Stenella frontalis), the pantropical spotted dolphin (S. attenuata), and the spinner dolphin (S. longirostris) are abundant worldwide, but in the Caribbean Basin they have been poorly studied and information on their distribution patterns is scarce. Specifically, in Colombia’s remote Seaflower Biosphere Reserve (SFBR) S. attenuata has been reported occasionally, but S. frontalis and S. longirostris have never been recorded before. To address this information gap, an ecological niche modeling approach was used to determine the potential distribution patterns of these three dolphin species in the region. Records of these species for the Caribbean Basin were compiled, including both published and unpublished data. Environmental information, including bathymetry, bathymetric slope, distance to shore, sea surface temperature, sea surface salinity, and chlorophyll-a concentration was gathered from public databases (MARSPEC and Bio-ORACLE) in raster format. The maximum entropy algorithm (Maxent) for modeling species’ geographic distributions with presence-only data was used. After filtering the data, 210 records of S. attenuata, 204 of S. frontalis, and 80 of S. longirostris were used to run models. The best configuration for each model was chosen based on the ΔAICc criterion. For all three species, the final ecological niche models returned AUC test values higher than 0.8, indicating satisfactory model performance. The resulting potential distribution maps suggested that areas closest to continental shorelines of the Caribbean Basin and surrounding islands had the highest environmental suitability for all species (>70%). All models reported high environmental suitability for S. attenuata and S. longirostris in the SFBR, mainly in the southernmost part surrounding San Andrés and Providence Archipelago. Assessment of niche overlap from the predictions of species distributions using the similarity statistic and pairwise map overlap indicated that S. frontalis and S. longirostris had niches slightly more similar in comparison to S. attenuata. As this was a first effort to fill a gap in our understanding of the distribution of species in the genus Stenella in the Caribbean Basin, further studies are necessary using both niche modeling and biological/ecological approaches

Towards a swarm of agile micro quadrotors

Abstract—We describe a prototype 73 gram, 21 cm diameter micro quadrotor with onboard attitude estimation and control that operates autonomously with an external localization system. We argue that the reduction in size leads to agility and the ability to operate in tight formations and provide experimental arguments in support of this claim. The robot is shown to be capable of 1850 ◦ /sec roll and pitch, performs a 360 ◦ flip in 0.4 seconds and exhibits a lateral step response of 1 body length in 1 second. We describe the architecture and algorithms to coordinate a team of quadrotors, organize them into groups and fly through known three-dimensional environments. We provide experimental results for a team of 20 micro quadrotors. I