Analysis and Control of a Variable-Pitch Quadrotor for Agile Flight

Fixed-pitch quadrotors are popular research and hobby platforms largely due to their mechanical simplicity relative to other hovering aircraft. This simplicity, however, places fundamental limits on the achievable actuator bandwidth and the possible flight maneuvers. This paper shows that many of these limitations can be overcome by utilizing variable-pitch propellers on a quadrotor. A detailed analysis of the potential benefits of variable-pitch propellers over fixed-pitch propellers for a quadrotor is presented. This analysis is supported with experimental testing to show that variable-pitch propellers, in addition to allowing for generation of reverse thrust, substantially increase the maximum rate of thrust change. A nonlinear, quaternion-based control algorithm for controlling the quadrotor is also presented with an accompanying trajectory generation method that finds polynomial minimum-time paths based on actuator saturation levels. The control law and trajectory generation algorithms are implemented on a custom variable-pitch quadrotor. Several flight tests are shown, which highlight the benefits of a variable-pitch quadrotor over a standard fixed-pitch quadrotor for performing aggressive and aerobatic maneuvers.National Science Foundation (U.S.) (0645960

Efficient reinforcement learning for robots using informative simulated priors

Autonomous learning through interaction with the physical world is a promising approach to designing controllers and decision-making policies for robots. Unfortunately, learning on robots is often difficult due to the large number of samples needed for many learning algorithms. Simulators are one way to decrease the samples needed from the robot by incorporating prior knowledge of the dynamics into the learning algorithm. In this paper we present a novel method for transferring data from a simulator to a robot, using simulated data as a prior for real-world learning. A Bayesian nonparametric prior is learned from a potentially black-box simulator. The mean of this function is used as a prior for the Probabilistic Inference for Learning Control (PILCO) algorithm. The simulated prior improves the convergence rate and performance of PILCO by directing the policy search in areas of the state-space that have not yet been observed by the robot. Simulated and hardware results show the benefits of using the prior knowledge in the learning framework

Design and control of an autonomous variable-pitch quadrotor helicopter

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2012.Cataloged from department-submitted PDF version of thesis. This electronic version was submitted and approved by the author's academic department as part of an electronic thesis pilot project. The certified thesis is available in the Institute Archives and Special Collections.Includes bibliographical references (p. 101-106).The aerospace community, particularly in academia, has seen a recent rise in the popularity of fixed-pitch quadrotor helicopters. The fixed-pitch quadrotor is popular largely because of its mechanical simplicity relative to other hovering aircraft. This simplicity, however, places fundamental limits on the achievable actuator bandwidth and the types of maneuvers possible to fly. This thesis explores the extent to which the addition of variable-pitch propellers to a quadrotor helicopter overcomes these limitations. A detailed analysis of the potential benefits of variable-pitch propellers over fixed-pitch propellers for a quadrotor is presented. This analysis is supported with experimental testing to show that variable-pitch propellers, in addition to allowing for efficient generation of negative thrust, substantially increase the maximum rate of thrust change. A nonlinear, quaternion-based control algorithm is presented for controlling the quadrotor. An accompanying trajectory generation method is detailed with an optimization routine for finding minimum-time paths through waypoints. The control law and trajectory generation algorithms are implemented in simulation and on a custom variable-pitch quadrotor. The quadrotor attitude control is performed on the vehicle using a custom autopilot. Position and attitude measurements are made with an off-board motion capture system. Several flight tests are shown with a particular emphasis on the benefits of a variable-pitch qaudrotor over a standard fixed-pitch quadrotor for performing aggressive and aerobatics maneuvers. To the best of the author's knowledge, this work marks the first documented, autonomous variable-pitch quadrotor built for agile and aggressive flight.by Mark Johnson Cutler.S.M

Lightweight infrared sensing for relative navigation of quadrotors

A lightweight solution for estimating position and velocity relative to a known marker is presented. The marker consists of three infrared (IR) LEDs in a fixed pattern. Using an IR camera with a 100 Hz update rate, the range and bearing to the marker are calculated. This information is then fused with inertial sensor information to produce state estimates at 1 kHz using a sigma point Kalman filter. The computation takes place on a 14 gram custom autopilot, yielding a lightweight system for generating high-rate relative state information. The estimation scheme is compared to data recorded with a motion capture system.National Science Foundation (U.S.) (Graduate Research Fellowship under Grant No. 0645960

Rapid transfer of controllers between UAVs using learning-based adaptive control

Commonly used Proportional-Integral-Derivative based UAV flight controllers are often seen to provide adequate trajectory-tracking performance, but only after extensive tuning. The gains of these controllers are tuned to particular platforms, which makes transferring controllers from one UAV to other time-intensive. This paper formulates the problem of control-transfer from a source system to a transfer system and proposes a solution that leverages well-studied techniques in adaptive control. It is shown that concurrent learning adaptive controllers improve the trajectory tracking performance of a quadrotor with the baseline linear controller directly imported from another quadrotor whose inertial characteristics and throttle mapping are very different. Extensive flight-testing, using indoor quadrotor platforms operated in MIT's RAVEN environment, is used to validate the method.United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N000141110688

Escherichia coli Bacteriocins: Antimicrobial Efficacy and Prevalence among Isolates from Patients with Bacteraemia

Bacteriocins are antimicrobial peptides generally active against bacteria closely related to the producer. Escherichia coli produces two types of bacteriocins, colicins and microcins. The in vitro efficacy of isolated colicins E1, E6, E7, K and M, was assessed against Escherichia coli strains from patients with bacteraemia of urinary tract origin. Colicin E7 was most effective, as only 13% of the tested strains were resistant. On the other hand, 32%, 33%, 43% and 53% of the tested strains exhibited resistance to colicins E6, K, M and E1. Moreover, the inhibitory activity of individual colicins E1, E6, E7, K and M and combinations of colicins K, M, E7 and E1, E6, E7, K, M were followed in liquid broth for 24 hours. Resistance against individual colicins developed after 9 hours of treatment. On the contrary, resistance development against the combined action of 5 colicins was not observed. One hundred and five E. coli strains from patients with bacteraemia were screened by PCR for the presence of 5 colicins and 7 microcins. Sixty-six percent of the strains encoded at least one bacteriocin, 43% one or more colicins, and 54% one or more microcins. Microcins were found to co-occur with toxins, siderophores, adhesins and with the Toll/Interleukin-1 receptor domain-containing protein involved in suppression of innate immunity, and were significantly more prevalent among strains from non-immunocompromised patients. In addition, microcins were highly prevalent among non-multidrug-resistant strains compared to multidrug-resistant strains. Our results indicate that microcins contribute to virulence of E. coli instigating bacteraemia of urinary tract origin

Formation of dense partonic matter in relativistic nucleus-nucleus collisions at RHIC: Experimental evaluation by the PHENIX collaboration

Extensive experimental data from high-energy nucleus-nucleus collisions were recorded using the PHENIX detector at the Relativistic Heavy Ion Collider (RHIC). The comprehensive set of measurements from the first three years of RHIC operation includes charged particle multiplicities, transverse energy, yield ratios and spectra of identified hadrons in a wide range of transverse momenta (p_T), elliptic flow, two-particle correlations, non-statistical fluctuations, and suppression of particle production at high p_T. The results are examined with an emphasis on implications for the formation of a new state of dense matter. We find that the state of matter created at RHIC cannot be described in terms of ordinary color neutral hadrons.Comment: 510 authors, 127 pages text, 56 figures, 1 tables, LaTeX. Submitted to Nuclear Physics A as a regular article; v3 has minor changes in response to referee comments. Plain text data tables for the points plotted in figures for this and previous PHENIX publications are (or will be) publicly available at http://www.phenix.bnl.gov/papers.htm

Participatory Development of a 3D Telemedicine system during Covid: the future of remote consultations

Background: The Covid pandemic brought the need for more realistic remote consultations into focus. 2D telemedicine solutions fail to replicate the fluency or authenticity of in-person consultations. This research reports on an international collaboration on the participatory development and first validated clinical use of a novel, real-time 360-degree 3D Telemedicine system worldwide. Development of the system - leveraging Microsoft's HoloportationTM communication technology – commenced at Canniesburn Plastic Surgery Unit, Glasgow in March 2020. Methods: Research followed VR CORE guidelines on development of Digital Health trials, placing patients at the heart of the development process. This consisted of three separate studies - a clinician feedback study (23 clinicians, Nov-Dec 2020), a patient feedback study (26 patients, Jul-Oct 2021), and a cohort study focusing on safety and reliability (40 patients, Oct 2021 - Mar 2022). “Lose, Keep and Change” feedback prompts were used to engage patients in the development process and guide incremental improvements. Results: Participatory testing demonstrated improved patient metrics with 3D in comparison to 2D Telemedicine, including validated measures of satisfaction (p<0.0001), realism or ‘presence’ (Single Item Presence scale, p<0.0001), and quality (Telehealth Usability Questionnaire, p=0.0002). Safety and clinical concordance (95%) of 3D Telemedicine with a face-to-face consultation were equivalent or exceeded estimates for 2D Telemedicine. Conclusions: One of the ultimate goals of telemedicine is for the quality of remote consultations to get closer to the experience of face-to-face consultations. These data provide the first evidence that HoloportationTM communication technology brings 3D telemedicine closer to this goal than a 2D equivalent