Closed-Loop Control of Constrained Flapping Wing Micro Air Vehicles

Micro air vehicles are vehicles with a maximum dimension of 15 cm or less, so they are ideal in confined spaces such as indoors, urban canyons, and caves. Considerable research has been invested in the areas of unsteady and low Reynolds number aerodynamics, as well as techniques to fabricate small scale prototypes. Control of these vehicles has been less studied, and most control techniques proposed have only been implemented within simulations without concern for power requirements, sensors and observers, or actual hardware demonstrations. In this work, power requirements while using a piezo-driven, resonant flapping wing control scheme, Bi-harmonic Amplitude and Bias Modulation, were studied. In addition, the power efficiency versus flapping frequency was studied and shown to be maximized while flapping at the piezo-driven system\u27s resonance. Then prototype hardware of varying designs was used to capture the impact of a specific component of the flapping wing micro air vehicle, the passive rotation joint. Finally, closed-loop control of different constrained configurations was demonstrated using the resonant flapping Bi-harmonic Amplitude and Bias Modulation scheme with the optimized hardware. This work is important in the development and understanding of eventual free-flight capable flapping wing micro air vehicle

Passive Rotation Joint Design Considerations for Lift and Thrust Generation for a Biomimetic Flapping Wing

Maximizing the available lift and thrust force is important for designing efficient flapping wing micro air vehicles. Research to date showed the passive rotation joint between the wing and four-bar linkage is an important design aspect. Two key hinge parameters are the angle of attack stop and passive rotation joint stiffness. In this work these design parameters were independently varied. Their impact on lift and thrust force generation, and the ratio of the first and second system resonance frequencies were measured and compared through experiments utilizing prototype hardware of varying design. The prototype hardware and flapping wing controller is based on previous work, focused on using biomimetic wings combined with a design that only requires two piezoelectric actuators, and will be briefly reviewed. The angle of attack stops tested were 30°, 40°, 45°, 50°, and 60°. Five different passive rotation joints were tested of varying stiffness. Optimal angle of attack stops and passive rotation joint designs were found from the experimental results and combined into a best design, which was tested and compared to the optimal results from the independent designs. Results show that while individual selection of angle stop and passive rotation joint stiffness can be optimized, the intersection between the two precludes simply choosing the best of both as the best combined

TABADO: "Evaluation of a smoking cessation program among Adolescents in Vocational Training Centers": Study protocol

<p>Abstract</p> <p>Background</p> <p>Most of the efforts to reduce teenagers' tobacco addiction have focused on smoking prevention and little on smoking cessation. A smoking cessation program (TABADO study), associating pharmacologic and cognitive-behavioural strategy, on a particularly vulnerable population (vocational trainees), was developed. This study aims to evaluate the efficacy of the program which was offered to all smokers in a population aged 15 to 20 years in Vocational Training Centers (VTC). This paper presents the TABADO study protocol.</p> <p>Methods</p> <p>The study is quasi-experimental, prospective, evaluative and comparative and takes place during the 2 years of vocational training. The final population will be composed of 2000 trainees entering a VTC in Lorraine, France, during the 2008-2009 period. The intervention group (1000 trainees) benefited from the TABADO program while no specific intervention took place in the "control" group (1000 trainees) other than the treatment and education services usually available. Our primary outcome will be the tobacco abstinence rate at 12 months.</p> <p>Discussion</p> <p>If the program proves effective, it will be a new tool in the action against smoking in populations that have been seldom targeted until now. In addition, the approach could be expanded to other young subjects from socially disadvantaged backgrounds in the context of a public health policy against smoking among adolescents.</p> <p>Trial registration</p> <p>Clinical trial identification number is NTC00973570.</p

Improved reference genome uncovers novel sex-linked regions in the Guppy (Poecilia reticulata)

This is the author accepted manuscript. The final version is available on open access from Oxford University Press via the DOI in this recordData availability: Population genomics data are available on ENA: Study: PRJEB10680 PCR-free data are available on ENA: Study PRJEB36450 Genome assembly is available on ENA ID: PRJEB36704; ERP119926 All scripts and pipelines are available on github: https://github.com/bfrasercommits/guppy_genomeTheory predicts that the sexes can achieve greater fitness if loci with sexually antagonistic polymorphisms become linked to the sex determining loci, and this can favour the spread of reduced recombination around sex determining regions. Given that sex-linked regions are frequently repetitive and highly heterozygous, few complete Y chromosome assemblies are available to test these ideas. The guppy system (Poecilia reticulata) has long been invoked as an example of sex chromosome formation resulting from sexual conflict. Early genetics studies revealed that male colour patterning genes are mostly but not entirely Y-linked, and that X-linkage may be most common in low predation populations. More recent population genomic studies of guppies have reached varying conclusions about the size and placement of the Y-linked region. However, this previous work used a reference genome assembled from short-read sequences from a female guppy. Here, we present a new guppy reference genome assembly from a male, using long-read PacBio single-molecule real-time sequencing (SMRT) and chromosome contact information. Our new assembly sequences across repeat- and GC-rich regions and thus closes gaps and corrects mis-assemblies found in the short-read female-derived guppy genome. Using this improved reference genome, we then employed broad population sampling to detect sex differences across the genome. We identified two small regions that showed consistent male-specific signals. Moreover, our results help reconcile the contradictory conclusions put forth by past population genomic studies of the guppy sex chromosome. Our results are consistent with a small Y-specific region and rare recombination in male guppies.Max Planck SocietyEuropean Research Council (ERC)Natural Environment Research Council (NERC

Effects of Anacetrapib in Patients with Atherosclerotic Vascular Disease

BACKGROUND: Patients with atherosclerotic vascular disease remain at high risk for cardiovascular events despite effective statin-based treatment of low-density lipoprotein (LDL) cholesterol levels. The inhibition of cholesteryl ester transfer protein (CETP) by anacetrapib reduces LDL cholesterol levels and increases high-density lipoprotein (HDL) cholesterol levels. However, trials of other CETP inhibitors have shown neutral or adverse effects on cardiovascular outcomes. METHODS: We conducted a randomized, double-blind, placebo-controlled trial involving 30,449 adults with atherosclerotic vascular disease who were receiving intensive atorvastatin therapy and who had a mean LDL cholesterol level of 61 mg per deciliter (1.58 mmol per liter), a mean non-HDL cholesterol level of 92 mg per deciliter (2.38 mmol per liter), and a mean HDL cholesterol level of 40 mg per deciliter (1.03 mmol per liter). The patients were assigned to receive either 100 mg of anacetrapib once daily (15,225 patients) or matching placebo (15,224 patients). The primary outcome was the first major coronary event, a composite of coronary death, myocardial infarction, or coronary revascularization. RESULTS: During the median follow-up period of 4.1 years, the primary outcome occurred in significantly fewer patients in the anacetrapib group than in the placebo group (1640 of 15,225 patients [10.8%] vs. 1803 of 15,224 patients [11.8%]; rate ratio, 0.91; 95% confidence interval, 0.85 to 0.97; P=0.004). The relative difference in risk was similar across multiple prespecified subgroups. At the trial midpoint, the mean level of HDL cholesterol was higher by 43 mg per deciliter (1.12 mmol per liter) in the anacetrapib group than in the placebo group (a relative difference of 104%), and the mean level of non-HDL cholesterol was lower by 17 mg per deciliter (0.44 mmol per liter), a relative difference of -18%. There were no significant between-group differences in the risk of death, cancer, or other serious adverse events. CONCLUSIONS: Among patients with atherosclerotic vascular disease who were receiving intensive statin therapy, the use of anacetrapib resulted in a lower incidence of major coronary events than the use of placebo. (Funded by Merck and others; Current Controlled Trials number, ISRCTN48678192 ; ClinicalTrials.gov number, NCT01252953 ; and EudraCT number, 2010-023467-18 .)

Closed-loop control of constrained flapping wing micro air vehicles

Micro air vehicles have a maximum dimension of 15 cm or less, which makes them ideal in confined spaces such as indoors, urban canyons, and caves. Flapping wing micro air vehicles have an additional advantage over fixed wing or rotary wing micro air vehicles in that the flapping motion mimics birds and insects, thus concealing their appearance while also providing benefits of unsteady aerodynamics. Considerable research has been invested in the areas of unsteady and low Reynolds number aerodynamics, as well as techniques to fabricate small scale prototypes. Control of these vehicles has been less studied, and most control techniques proposed have only been implemented within simulations without concern for power requirements, sensors and observers, or actual hardware demonstrations. In this work, power requirements while using a piezo-driven, resonant flapping wing control scheme, Bi-harmonic Amplitude and Bias Modulation, were studied. In addition, the power efficiency versus flapping frequency was studied and shown to be maximized while flapping at the piezo-driven system's resonance. Then prototype hardware of varying designs were used to capture the impact of a specific component of the flapping wing micro air vehicle, the passive rotation joint. The passive rotation joint was optimized through a range of different angle of attack stops and rotation joint stiffness to maximize lift and thrust force development. Optical tracking software was then developed to provide feedback information for use in closed-loop control experiments. Finally, closed-loop control of different constrained configurations were demonstrated using the resonant flapping Bi-harmonic Amplitude and Bias Modulation scheme with the optimized hardware. This work is important in the development and understanding of eventual free-flight capable flapping wing micro air vehicles

Development of an instrument for measuring clinicians' power perceptions in the workplace

We report on the development of an instrument to measure clinicians' perceptions of their personal power in the workplace in relation to resistance to computerized physician order entry (CPOE). The instrument is based on French and Raven's six bases of social power and uses a semantic differential methodology. A measurement study was conducted to determine the reliability and validity of the survey. The survey was administered online and distributed via a URL by email to 19 physicians, nurses, and health unit coordinators from a university hospital. Acceptable reliability was achieved by removing or moving some semantic differential word pairs used to represent the six power bases (alpha range from 0.76 to 0.89). The Semantic Differential Power Perception (SDPP) survey validity was tested against an already validated instrument and found to be acceptable (correlation range from 0.51 to 0.81). The SDPP survey instrument was determined to be both reliable and valid. © 2008 Elsevier Inc. All rights reserved