Carnegie Mellon Team Tartan: Mission-level Robustness with Rapidly Deployed Autonomous Aerial Vehicles in the MBZIRC 2020

For robotics systems to be used in high risk, real-world situations, they have to be quickly deployable and robust to environmental changes, under-performing hardware, and mission subtask failures. Robots are often designed to consider a single sequence of mission events, with complex algorithms lowering individual subtask failure rates under some critical constraints. Our approach is to leverage common techniques in vision and control and encode robustness into mission structure through outcome monitoring and recovery strategies, aided by a system infrastructure that allows for quick mission deployments under tight time constraints and no central communication. We also detail lessons in rapid field robotics development and testing. Systems were developed and evaluated through real-robot experiments at an outdoor test site in Pittsburgh, Pennsylvania, USA, as well as in the 2020 Mohamed Bin Zayed International Robotics Challenge. All competition trials were completed in fully autonomous mode without RTK-GPS. Our system led to 4th place in Challenge 2 and 7th place in the Grand Challenge, and achievements like popping five balloons (Challenge 1), successfully picking and placing a block (Challenge 2), and dispensing the most water autonomously with a UAV of all teams onto an outdoor, real fire (Challenge 3).Comment: 28 pages, 26 figures. To appear in Field Robotics, Special Issues on MBZIRC 202

Modeling plasticity and dysplasia of pancreatic ductal organoids derived from human pluripotent stem cells

Personalized in vitro models for dysplasia and carcinogenesis in the pancreas have been constrained by insufficient differentiation of human pluripotent stem cells (hPSCs) into the exocrine pancreatic lineage. Here, we differentiate hPSCs into pancreatic duct-like organoids (PDLOs) with morphological, transcriptional, proteomic, and functional characteristics of human pancreatic ducts, further maturing upon transplantation into mice. PDLOs are generated from hPSCs inducibly expressing oncogenic GNAS, KRAS, or KRAS with genetic covariance of lost CDKN2A and from induced hPSCs derived from a McCune-Albright patient. Each oncogene causes a specific growth, structural, and molecular phenotype in vitro. While transplanted PDLOs with oncogenic KRAS alone form heterogenous dysplastic lesions or cancer, KRAS with CDKN2A loss develop dedifferentiated pancreatic ductal adenocarcinomas. In contrast, transplanted PDLOs with mutant GNAS lead to intraductal papillary mucinous neoplasia-like structures. Conclusively, PDLOs enable in vitro and in vivo studies of pancreatic plasticity, dysplasia, and cancer formation from a genetically defined background

Scube—Concept and Implementation of a Self-balancing, Autonomous Mobility Device for Personal Transport

Public transportation (PT) systems suffer from disutility compared to private transportation due to the inability to provide passengers with a door-to-door service, referred to as the first/last mile problem. Personal mobility devices (PMDs) are thought to improve PT service quality by closing this first/last mile gap. However, current PMDs are generally driven manually by the rider and require a learning phase for safe vehicle operation. Additionally, most PMDs require a standing riding position and are not easily accessible to elderly people or persons with disabilities. In this paper, the concept of an autonomously operating mobility device is introduced. The visionary concept is designed as an on-demand transportation service which transports people for short to medium distances and increases the accessibility to public transport. The device is envisioned to be operated as a larger fleet and does not belong to an individual person. The vehicle features an electric powertrain and a one-axle self-balancing design with a small footprint. It provides one seat for a passenger and a tilt mechanism that is designed to improve the ride comfort and safety at horizontal curves. An affordable 3D-camera system is used for autonomous localization and navigation. For the evaluation and demonstration of the concept, a functional prototype is implemented. Document type: Articl

Human BDNF/TrkB variants impair hippocampal synaptogenesis and associate with neurobehavioural abnormalities

Abstract: Brain-derived neurotrophic factor (BDNF) signals through its high affinity receptor Tropomyosin receptor kinase-B (TrkB) to regulate neuronal development, synapse formation and plasticity. In rodents, genetic disruption of Bdnf and TrkB leads to weight gain and a spectrum of neurobehavioural phenotypes. Here, we functionally characterised a de novo missense variant in BDNF and seven rare variants in TrkB identified in a large cohort of people with severe, childhood-onset obesity. In cells, the E183K BDNF variant resulted in impaired processing and secretion of the mature peptide. Multiple variants in the kinase domain and one variant in the extracellular domain of TrkB led to a loss of function through multiple signalling pathways, impaired neurite outgrowth and dominantly inhibited glutamatergic synaptogenesis in hippocampal neurons. BDNF/TrkB variant carriers exhibited learning difficulties, impaired memory, hyperactivity, stereotyped and sometimes, maladaptive behaviours. In conclusion, human loss of function BDNF/TrkB variants that impair hippocampal synaptogenesis may contribute to a spectrum of neurobehavioural disorders

Human BDNF/TrkB variants impair hippocampal synaptogenesis and associate with neurobehavioural abnormalities

Abstract: Brain-derived neurotrophic factor (BDNF) signals through its high affinity receptor Tropomyosin receptor kinase-B (TrkB) to regulate neuronal development, synapse formation and plasticity. In rodents, genetic disruption of Bdnf and TrkB leads to weight gain and a spectrum of neurobehavioural phenotypes. Here, we functionally characterised a de novo missense variant in BDNF and seven rare variants in TrkB identified in a large cohort of people with severe, childhood-onset obesity. In cells, the E183K BDNF variant resulted in impaired processing and secretion of the mature peptide. Multiple variants in the kinase domain and one variant in the extracellular domain of TrkB led to a loss of function through multiple signalling pathways, impaired neurite outgrowth and dominantly inhibited glutamatergic synaptogenesis in hippocampal neurons. BDNF/TrkB variant carriers exhibited learning difficulties, impaired memory, hyperactivity, stereotyped and sometimes, maladaptive behaviours. In conclusion, human loss of function BDNF/TrkB variants that impair hippocampal synaptogenesis may contribute to a spectrum of neurobehavioural disorders

Open innovation in sports management : the case of the FIFA museum in Zurich, Switzerland

The FIFA Museum in Zurich is a division of the Fédération Internationale de Football Association (FIFA) and has been opened in 2016 with the aspiration to become one of the key attractions, both in Zurich as well as in the association football context. As with many tourist attractions, staying on top of the game is a challenge. Unlike other museums, the FIFA Museum took an open innovation approach in developing their concept, especially for those parts that deal with visitor interactions. With the goal of being not only a football museum, but also an attractive and leading event location in Switzerland, event ideas were collected using a crowdsourcing approach, managed through a platform run by ATIZO. Through this community, the museum could design attractive event concepts, succeeded to increase visitor engagement and built a loyal base of innovators and future guests. This chapter describes the crowdsourcing methodology applied by the FIFA Museum, critically examines the process, advantages, and disadvantages of the methodology chosen, and concludes by giving recommendations for similar cases. The particular focus lies on the application of the crowdsourcing method in areas where a strong fan community can be involved in the development process, such as, e.g., in the association football context

Estimate e-Golf Battery State Using Diagnostic Data and a Digital Twin

Li-ion battery packs are the heart of modern electric vehicles. Due to their perishable nature, it is crucial to supervise them closely. In addition to on-board supervision over safety and range, insights into the battery’s degradation are also becoming increasingly important, not only for the vehicle manufacturers but also for vehicle users. The concept of digital twins has already emerged on the field of automotive technology, and can also help to digitalize the vehicle’s battery. In this work, we set up a data pipeline and digital battery twin to track the battery state, including State of charge (SOC) and State of Health (SOH). To achieve this goal, we reverse-engineer the diagnostics interface of a 2014 e-Golf to query for UDS messages containing both battery pack and cell-individual data. An OBD logger records the data with edge-processing capability. Pushing this data into the cloud twin system using IoT-technology, we can fit battery models to the data and infer for example, cell individual internal resistance from them. We find that the resistances of the cells differ by a magnitude of two. Furthermore, we propose an architecture for the battery twin in which the twin fleet shares resources like models by encapsulating them in Docker containers run on a cloud stack. By using web technology, we present the analyzed results on a web interface

80 nm InGaAs MOSFET w-band low noise amplifier

In this paper, an 80 nm InGaAs MOSFET W-band MMIC low noise amplifier (LNA) is presented. The technology uses 4" GaAs substrates with a molecular beam epitaxy (MBE) grown metamorphic buffer to realize the InGaAs/InAlAs device heterostructure. For a 2 × 20 μm gate width transistor a transit frequency fT of 226 GHz was extrapolated. The transistors show a low gm dispersion of only 2 %. A two-stage cascode configuration is used for the W-band LNA circuit, which was processed in MOSFET and HEMT technology for comparison. The MOSFET LNA achieves a linear gain of more than 18 dB in the frequency range from 71 to 103 GHz with an associated noise figure between 3.3 and 4.5 dB. To the best of the authors knowledge, this is the first reported InGaAs MOSFET millimeter-wave MMIC