Design of a Ballistically-Launched Foldable Multirotor

The operation of multirotors in crowded environments requires a highly reliable takeoff method, as failures during takeoff can damage more valuable assets nearby. The addition of a ballistic launch system imposes a deterministic path for the multirotor to prevent collisions with its environment, as well as increases the multirotor’s range of operation and allows deployment from an unsteady platform. In addition, outfitting planetary rovers or entry vehicles with such deployable multirotors has the potential to greatly extend the data collection capabilities of a mission. A proof-of-concept multirotor aircraft has been developed, capable of transitioning from a ballistic launch configuration to a fully controllable flight configuration in midair after launch. The transition is accomplished via passive unfolding of the multirotor arms, triggered by a nichrome burn wire release mechanism. The design is 3D printable, launches from a three-inch diameter barrel, and has sufficient thrust to carry a significant payload. The system has been fabricated and field tested from a moving vehicle up to 50mph to successfully demonstrate the feasibility of the concept and experimentally validate the design’s aerodynamic stability and deployment reliability

Design and Autonomous Stabilization of a Ballistically Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically launched, autonomously stabilizing multirotor prototype (SQUID, Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision based, active stabilization, confirming the ability of the multirotor to autonomously stabilize after a ballistic launch in a GPS denied environment.Comment: Accepted to 2020 International Conference on Robotics and Automatio

Изменение представления о цели брака в современных духовных учебных заведениях

The report is one example of the changing attitudes in the national spiritual education. Briefly describes the main provisions of the philosophy of the marriage of the outstanding Russian canonist of the twentieth century — S. V. Troitsky, his methodological principles of the study of this problem. Focuses on the indirect influence of searches of Russian religious philosophy of the early twentieth century setting to change teaching in theological schoolsВ докладе рассматривается один из примеров смены установок в отечественном духовном образовании. Кратко раскрываются основные положения философии брака выдающегося русского канониста ХХ в. — С. В. Троицкого, его методологические принципы в исследовании данной проблемы. Акцентируется внимание на опосредованном влиянии поисков русской религиозной философии начала ХХ в. на смене установок преподавания в духовных учебных заведения

Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autonomously-stabilizing multirotor prototype (SQUID - Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision-based, active stabilization, confirming the multirotor’s ability to autonomously stabilize after a ballistic launch in a GPS-denied environment

Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autonomously-stabilizing multirotor prototype (SQUID - Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision-based, active stabilization, confirming the multirotor’s ability to autonomously stabilize after a ballistic launch in a GPS-denied environment

Sankofa Urbanism: retrieval, resilience, and cultural heritage in cities through time

One frequently cited principle that underlies the current move toward sustainability in urban planning and policy is, “long-term vision, incorporating awareness of the past and looking way into the future.” We name this “Sankofa Urbanism,” from the Ghanaian symbol and proverb that suggests, “it is not wrong to reach back for that which you have forgotten.” Planners and policy-makers have sought to build in cultural heritage as an important feature of “nature-based solutions” for cities. We argue that retrievals from the past in multiple forms can strengthen the integration of biodiversity preservation, community place-making and urban sustainability initiatives. We present a case for broader examination of how the past, along with diverse forms of ancestral environmental knowledge, is deployed to design and realize sustainability plans. We also call for deeper consideration of how urban planning leverages the evidence of archeology and history. The paper features a case study from our work in the Chicago region where heritage-based activities have been developed as solutions to contemporary urban environmental problems

Controlled release from zein matrices: Interplay of drug hydrophobicity and pH

Purpose: In earlier studies, the corn protein zein is found to be suitable as a sustained release agent, yet the range of drugs for which zein has been studied remains small. Here, zein is used as a sole excipient for drugs differing in hydrophobicity and isoelectric point: indomethacin, paracetamol and ranitidine. Methods: Caplets were prepared by hot-melt extrusion (HME) and injection moulding (IM). Each of the three model drugs were tested on two drug loadings in various dissolution media. The physical state of the drug, microstructure and hydration behaviour were investigated to build up understanding for the release behaviour from zein based matrix for drug delivery. Results: Drug crystallinity of the caplets increases with drug hydrophobicity. For ranitidine and indomethacin, swelling rates, swelling capacity and release rates were pH dependent as a consequence of the presence of charged groups on the drug molecules. Both hydration rates and release rates could be approached by existing models. Conclusion: Both the drug state as pH dependant electrostatic interactions are hypothesised to influence release kinetics. Both factors can potentially be used factors influencing release kinetics release, thereby broadening the horizon for zein as a tuneable release agent

The development of direct extrusion-injection moulded zein matrices as novel oral controlled drug delivery systems

Purpose: To evaluate the potential of zein as a sole excipient for controlled release formulations prepared by hot melt extrusion. Methods: Physical mixtures of zein, water and crystalline paracetamol were hot melt extruded (HME) at 80°C and injection moulded (IM) into caplet forms. HME-IM Caplets were characterised using differential scanning calorimetry, ATR-FTIR spectroscopy, scanning electron microscopy and powder X-ray diffraction. Hydration and drug release kinetics of the caplets were investigated and fitted to a diffusion model. Results: For the formulations with lower drug loadings, the drug was found to be in the non-crystalline state, while for the ones with higher drug loadings paracetamol is mostly crystalline. Release was found to be largely independent of drug loading but strongly dependent upon device dimensions, and predominately governed by a Fickian diffusion mechanism, while the hydration kinetics shows the features of Case II diffusion. Conclusions: In this study a prototype controlled release caplet formulation using zein as the sole excipient was successfully prepared using direct HME-IM processing. The results demonstrated the unique advantage of the hot melt extruded zein formulations on the tuneability of drug release rate by alternating the device dimensions

Rodent damage to rice crops is not affected by the water‑saving technique, alternate wetting and drying

Rice farmers in Southeast Asia are hesitant to adopt the water-saving technology, alternate wetting and drying (AWD), for fear the practice will lead to increased rodent pest activity, consequently exacerbating yield loss. We examined the effects of AWD on the population dynamics, habitat use and damage levels inflicted on rice crops by the most important rodent pest of rice in Indonesia and the Philippines, Rattus argentiventer and R. tanezumi, respectively. Rice crop damage levels were not affected by the water management scheme employed. Rodent activity in rice fields was not influenced by water level. Both species tended to use the rice paddies over bunds regardless of water level, indicating that something other than water affects their habitat use, and we argue it is likely that the perceived risk of predation is the primary factor driving habitat use. Activity levels and damage inflicted by rodent pests on rice were not correlated. AWD had no effect on breeding and population dynamics of these species. Breeding of R. argentiventer is tied to the growth stages of rice, while available resource dictates breeding by R. tanezumi. Our findings clearly indicate that rice farmers in both Indonesia and the Philippines have no cause to reject AWD based on concerns that AWD would exacerbate crop losses by rodents. Given AWD is being promoted as a climate-smart technology for rice production in Asia and Africa, we strongly recommend its adoption without concerns that it would aggravate rodent pest impacts in lowland irrigated rice cropping systems

NEXMIF encephalopathy:an X-linked disorder with male and female phenotypic patterns

Purpose Pathogenic variants in the X-linked gene NEXMIF (previously KIAA2022) are associated with intellectual disability (ID), autism spectrum disorder, and epilepsy. We aimed to delineate the female and male phenotypic spectrum of NEXMIF encephalopathy. Methods Through an international collaboration, we analyzed the phenotypes and genotypes of 87 patients with NEXMIF encephalopathy. Results Sixty-three females and 24 males (46 new patients) with NEXMIF encephalopathy were studied, with 30 novel variants. Phenotypic features included developmental delay/ID in 86/87 (99%), seizures in 71/86 (83%) and multiple comorbidities. Generalized seizures predominated including myoclonic seizures and absence seizures (both 46/70, 66%), absence with eyelid myoclonia (17/70, 24%), and atonic seizures (30/70, 43%). Males had more severe developmental impairment; females had epilepsy more frequently, and varied from unaffected to severely affected. All NEXMIF pathogenic variants led to a premature stop codon or were deleterious structural variants. Most arose de novo, although X-linked segregation occurred for both sexes. Somatic mosaicism occurred in two males and a family with suspected parental mosaicism. Conclusion NEXMIF encephalopathy is an X-linked, generalized developmental and epileptic encephalopathy characterized by myoclonic-atonic epilepsy overlapping with eyelid myoclonia with absence. Some patients have developmental encephalopathy without epilepsy. Males have more severe developmental impairment. NEXMIF encephalopathy arises due to loss-of-function variants