A high payload aerial platform for infrastructure repair and manufacturing

The use of aerial robots in construction is an area of general interest in the robotics community. Autonomous aerial systems have the potential to improve safety, efficiency and sustainability of industrial construction and repair processes. Several solutions have been deployed in this domain focusing on problems in aerial manipulation and control using existing aerial platforms which are not specialised for the specific challenges in operating on a construction site. This paper presents a new compact, high thrust aerial platform that can act as a modular, application agnostic base for demonstrating a wide variety of capabilities. The platform has been built and tested flying both with manual controls and autonomously in a motion tracking arena while carrying a payload of up to 7.3 kg with a maximum flight time between 10–34 mins (payload dependent). In the future, this platform will be combined with vision based tracking sensors, manipulators and other hardware to operate in and interact with an outdoor environment. Future applications may include manipulation of heavy objects, deposition of material and navigating confined spaces

An aerial parallel manipulator with shared compliance

Accessing and interacting with difficult to reach surfaces at various orientations is of interest within a variety of industrial contexts. Thus far, the predominant robotic solution to such a problem has been to leverage the maneuverability of a fully actuated, omnidirectional aerial manipulator. Such an approach, however, requires a specialised system with a high relative degree of complexity, thus reducing platform endurance and real-world applicability. The work here presents a new aerial system composed of a parallel manipulator and conventional, underactuated multirotor flying base to demonstrate interaction with vertical and non-vertical surfaces. Our solution enables compliance to external disturbance on both subsystems, the manipulator and flying base, independently with a goal of improved overall system performance when interacting with surfaces. To achieve this behaviour, an admittance control strategy is implemented on various layers of the flying base's dynamics together with torque limits imposed on the manipulator actuators. Experimental evaluations show that the proposed system is compliant to external perturbations while allowing for differing interaction behaviours as compliance parameters of each subsystem are altered. Such capabilities enable an adjustable form of dexterity in completing sensor installation, inspection and aerial physical interaction tasks. A video of our system interacting with various surfaces can be found here: https://youtu.be/38neGb8-lXg

Forest drones for environmental sensing and nature conservation

Protecting our nature and biodiversity is essential. For this purpose, remote sensing robotic platforms are increasingly explored to collect spatial and temporal data. However, there is still little attention on leveraging aerial robots to interact with trees for sample collection and targeted countermeasure deployment. In this study, we propose platforms and methodology that offer the use of aerial robots in the forests to conduct various tasks including leaf sample collection, visual sensing of forest topology and autonomous sensor placement. With the developed virtual reality (VR) interface, we show that remote environmental sensing, detection of plant pathogens, and sample collection are viable tasks that can be achieved by the proposed platforms. In this context, physical and visual sensing approaches as well as various aerial robots are introduced and discussed for forest applications

SCAMP:standardised, concentrated, additional macronutrients, parenteral nutrition in very preterm infants: a phase IV randomised, controlled exploratory study of macronutrient intake, growth and other aspects of neonatal care

<p>Abstract</p> <p>Background</p> <p>Infants born <29 weeks gestation are at high risk of neurocognitive disability. Early postnatal growth failure, particularly head growth, is an important and potentially reversible risk factor for impaired neurodevelopmental outcome. Inadequate nutrition is a major factor in this postnatal growth failure, optimal protein and calorie (macronutrient) intakes are rarely achieved, especially in the first week. Infants <29 weeks are dependent on parenteral nutrition for the bulk of their nutrient needs for the first 2-3 weeks of life to allow gut adaptation to milk digestion. The prescription, formulation and administration of neonatal parenteral nutrition is critical to achieving optimal protein and calorie intake but has received little scientific evaluation. Current neonatal parenteral nutrition regimens often rely on individualised prescription to manage the labile, unpredictable biochemical and metabolic control characteristic of the early neonatal period. Individualised prescription frequently fails to translate into optimal macronutrient delivery. We have previously shown that a standardised, concentrated neonatal parenteral nutrition regimen can optimise macronutrient intake.</p> <p>Methods</p> <p>We propose a single centre, randomised controlled exploratory trial of two standardised, concentrated neonatal parenteral nutrition regimens comparing a standard macronutrient content (maximum protein 2.8 g/kg/day; lipid 2.8 g/kg/day, dextrose 10%) with a higher macronutrient content (maximum protein 3.8 g/kg/day; lipid 3.8 g/kg/day, dextrose 12%) over the first 28 days of life. 150 infants 24-28 completed weeks gestation and birthweight <1200 g will be recruited. The primary outcome will be head growth velocity in the first 28 days of life. Secondary outcomes will include a) auxological data between birth and 36 weeks corrected gestational age b) actual macronutrient intake in first 28 days c) biomarkers of biochemical and metabolic tolerance d) infection biomarkers and other intravascular line complications e) incidence of major complications of prematurity including mortality f) neurodevelopmental outcome at 2 years corrected gestational age</p> <p>Trial registration</p> <p>Current controlled trials: <a href="http://www.controlled-trials.com/ISRCTN76597892">ISRCTN76597892</a>; EudraCT Number: 2008-008899-14</p

Cardiopulmonary exercise testing and cardiopulmonary morbidity in patients undergoing major head and neck surgery

Cardiopulmonary exercise testing (CPET) is used as a risk stratification tool for patients undergoing major surgery. In this study, we investigated the role of CPET in predicting day five cardiopulmonary morbidity in patients undergoing head and neck surgery. This observational cohort study included 230 adults. We recorded preoperative CPET variables and day five postoperative cardiopulmonary morbidity. Full data from 187 patients were analysed; 43 patients either had incomplete data sets or declined surgery/CPET. One hundred and nineteen patients (63.6%) developed cardiopulmonary morbidity at day five. Increased preoperative heart rate and duration of surgery were independently associated with day five cardiopulmonary morbidity. Those with such morbidity also had lower peak V̇O2 11.4 (IQR 8.4-18.0) vs 16.0 (IQR 14.0-19.7) ml.kg-1.min-1, P<0.0001 and V̇O2 at AT 10.6 (IQR 9.1-13.1) vs 11.5 (IQR 10.5-13.0) ml.kg-1.min-1, p=0.03. Logistic regression model containing peak V̇O2 and duration of surgery demonstrated that increased peak V̇O2 was associated with a reduction in the likelihood of cardiopulmonary complications OR 0.92 (95%CI 0.87 to 0.96), p=0.001. The area under the receiver operating characteristic curve for this model was 0.75(95%CI 0.68 to 0.82), p<0.0001, 64% sensitivity, 81% specificity. CPET can help to predict day five cardiopulmonary morbidity in the patients undergoing head and neck surgery. A model containing peak V̇O2 allowed identification of those with such complications

Complexity in decision making: Determining university library opening hours

Making decisions on academic library opening hours is complex with many pressures on managers. This research surveys senior academic library managers from the UK, using a questionnaire to reveal views on library opening hours, the decision making process, and the pressures which influenced their decisions. A variety of factors were found, in particular satisfying undergraduate demands. The research also revealed the sources of information important in making decisions on opening hours and the influence of ‘political’ issues in the decision making process. Some institutions remove complexity by utilising 24/7 opening, though this is not an option for many

Murine B Cell Development and Antibody Responses to Model Antigens Are Not Impaired in the Absence of the TNF Receptor GITR

The Glucocorticoid-Induced Tumor necrosis factor Receptor GITR, a member of the tumor necrosis factor receptor superfamily, has been shown to be important in modulating immune responses in the context of T cell immunity. B lymphocytes also express GITR, but a role of GITR in humoral immunity has not been fully explored. To address this question, we performed studies to determine the kinetics of GITR expression on naïve and stimulated B cells and the capacity of B cells to develop and mount antibody responses in GITR−/− mice. Results of our studies indicate that all mature B cells express GITR on the cell surface, albeit at different levels. Expression of GITR on naïve mature B cells is upregulated by BCR signaling, but is counteracted by helper T cell-related factors and other inflammatory signals in vitro. In line with these findings, expression of GITR on germinal center and memory B cells is lower than that on naïve B cells. However, the expression of GITR is strongly upregulated in plasma cells. Despite these differences in GITR expression, the absence of GITR has no effect on T cell-dependent and T cell-independent antibody responses to model antigens in GITR−/− mice, or on B cell activation and proliferation in vitro. GITR deficiency manifests only with a slight reduction of mature B cell numbers and increased turnover of naïve B cells, suggesting that GITR slightly contributes to mature B cell homeostasis. Overall, our data indicate that GITR does not play a significant role in B cell development and antibody responses to T-dependent and independent model antigens within the context of a GITR-deficient genetic background

Chirality of Matter Shows Up via Spin Excitations

Right- and left-handed circularly polarized light interact differently with electronic charges in chiral materials. This asymmetry generates the natural circular dichroism and gyrotropy, also known as the optical activity. Here we demonstrate that optical activity is not a privilege of the electronic charge excitations but it can also emerge for the spin excitations in magnetic matter. The square-lattice antiferromagnet Ba$_2$CoGe$_2$O$_7$ offers an ideal arena to test this idea, since it can be transformed to a chiral form by application of external magnetic fields. As a direct proof of the field-induced chiral state, we observed large optical activity when the light is in resonance with spin excitations at sub-terahertz frequencies. In addition, we found that the magnetochiral effect, the absorption difference for the light beams propagating parallel and anti-parallel to the applied magnetic field, has an exceptionally large amplitude close to 100%. All these features are ascribed to the magnetoelectric nature of spin excitations as they interact both with the electric and magnetic components of light

Biomass and Burning Characteristics of Sugar Pine Cones

We investigated the physical and burning characteristics of sugar pine (Pinus lambertiana Douglas) cones and their contribution to woody surface fuel loadings. Field sampling was conducted at the Yosemite Forest Dynamics Plot (YFDP), a 25.6 ha mapped study plot in Yosemite National Park, California, USA. We developed a classification system to describe sugar pine cones of different sizes and decay conditions, and examined differences among cone classes in biomass, bulk density, flame length, burning time, consumption, and relative contribution to surface fuel loads. Sugar pine cones comprised 601 kg ha-1 of surface fuels. Mature cones comprised 54% of cone biomass, and aborted juvenile cones accounted for 44%. Cone biomass, diameter, and bulk density differed among cone condition classes, as did burning characteristics (one-way ANOVA, P \u3c 0.001 in all cases). Flame lengths ranged from 5 cm to 94 cm for juvenile cones, and 71 cm to 150 cm for mature cones. Our results showed that the developmental stage at which sugar pine cones become surface fuels determines their potential contribution to surface fire behavior in Sierra Nevada mixed-conifer forests. Sugar pine cones burn with greater flame lengths and flame times than the cones of other North American fire-tolerant pine species studied to date, indicating that cones augment the surface fire regime of sugar pine forests, and likely do so to a greater degree than do cones of other pine species