MAV Localization in Large-Scale Environments: A Decoupled Optimization/Filtering Approach.

Developing new sensor fusion algorithms has become indispensable to tackle the daunting problem of GPS-aided micro aerial vehicle (MAV) localization in large-scale landscapes. Sensor fusion should guarantee high-accuracy estimation with the least amount of system delay. Towards this goal, we propose a linear optimal state estimation approach for the MAV to avoid complicated and high-latency calculations and an immediate metric-scale recovery paradigm that uses low-rate noisy GPS measurements when available. Our proposed strategy shows how the vision sensor can quickly bootstrap a pose that has been arbitrarily scaled and recovered from various drifts that affect vision-based algorithms. We can consider the camera as a "black-box" pose estimator thanks to our proposed optimization/filtering-based methodology. This maintains the sensor fusion algorithm's computational complexity and makes it suitable for MAV's long-term operations in expansive areas. Due to the limited global tracking and localization data from the GPS sensors, our proposal on MAV's localization solution considers the sensor measurement uncertainty constraints under such circumstances. Extensive quantitative and qualitative analyses utilizing real-world and large-scale MAV sequences demonstrate the higher performance of our technique in comparison to most recent state-of-the-art algorithms in terms of trajectory estimation accuracy and system latency.

Immunological characteristics of MAV/06 strain of varicella-zoster virus vaccine in an animal model.

BACKGROUND: Varicella-zoster virus (VZV) is a pathogen that causes chickenpox and shingles in humans. Different types of the varicella vaccines derived from the Oka and MAV/06 strains are commercially available worldwide. Although the MAV/06 vaccine was introduced in 1990s, little was known about immunological characteristics. RESULTS: Here, we evaluated B and T cell immune response in animals inoculated with the Oka and MAV/06 vaccines as well as a new formulation of the MAV/06 vaccine. A variety of test methods were applied to evaluate T and B cell immune response. Plaque reduction neutralization test (PRNT) and fluorescent antibody to membrane antigen (FAMA) assay were conducted to measure the MAV/06 vaccine-induced antibody activity against various VZVs. Glycoprotein enzyme-linked immunosorbent assay (gpELISA) was used to compare the degree of the antibody responses induced by the two available commercial VZV vaccines and the MAV/06 vaccine. Interferon-gamma enzyme-linked immunosorbent spot (IFN-γ ELISpot) assays and cytokine bead array (CBA) assays were conducted to investigate T cell immune responses. Antibodies induced by MAV/06 vaccination showed immunogenicity against a variety of varicella-zoster virus and cross-reactivity among the virus clades. CONCLUSIONS: It is indicating the similarity of the antibody responses induced by commercial varicella vaccines and the MAV/06 vaccine. Moreover, VZV-specific T cell immune response from MAV/06 vaccination was increased via Th1 cell response. MAV/06 varicella vaccine induced both humoral and cellular immune response via Th1 cell mediated response.

GPS-Free, Error Tolerant Path Planning for Swarms of Micro Aerial Vehicles with Quality Amplification ‡.

We present an error tolerant path planning algorithm for Micro Aerial Vehicle (MAV) swarms. We assume navigation without GPS-like techniques. The MAVs find their path using sensors and cameras, identifying and following a series of visual landmarks. The visual landmarks lead the MAVs towards their destination. MAVs are assumed to be unaware of the terrain and locations of the landmarks. They hold a priori information about landmarks, whose interpretation is prone to errors. Errors are of two types, recognition or advice. Recognition errors follow from misinterpretation of sensed data or a priori information, or confusion of objects, e.g., due to faulty sensors. Advice errors are consequences of outdated or wrong information about landmarks, e.g., due to weather conditions. Our path planning algorithm is cooperative. MAVs communicate and exchange information wirelessly, to minimize the number of recognition and advice errors. Hence, the quality of the navigation decision process is amplified. Our solution successfully achieves an adaptive error tolerant navigation system. Quality amplification is parameterized with respect to the number of MAVs. We validate our approach with theoretical proofs and numeric simulations.

Research on Adaptive Multi-Source Information Fault-Tolerant Navigation Method Based on No-Reference System Diagnosis.

In order to obtain accurate and optimized navigation sensor information, it is necessary to study information fusion and fault diagnosis with high reliability, high precision and high autonomy, and then to propose a rapid and accurate intelligent decision-making scheme based on multi-source and heterogeneous navigation information. In view of the existing fault-tolerant navigation federated filter structure, the method of assuming the reference system (inertial navigation system) to be fault-free and then diagnosing the measuring sensor fault is generally adopted. Considering that the structure of the filter can't detect and isolate the faults of the inertial navigation system, the performance of the MEMS inertial navigation system declines due to complex environments resulting from vibrations and temperature changes; additionally, external interference may lead to the direct failure of the MEMS inertial device. Therefore, this paper studies a fault-tolerant navigation method based on a no-reference system. For the sensor sub-system of a custom micro air vehicle (MAV), a fault detection method based on a reference-free system is proposed. Based on the fault type analysis, some improvements have been made to the existing residual chi-square detection method, and an interactive residual fault detection method with distributed states is proposed. On this basis, aiming at the characteristics of a reference-free system, the weight distribution scheme of the reference system and the tested systems are studied, and a self-regulation filter fusion and fault detection method based on reference-free system is designed.

A Novel Energy Harvester for Powering Small UAVs: Performance Analysis, Model Validation and Flight Results.

The proposed work aims at exploring and developing new strategies to extend mission parameters (measured as travel distance and mission duration (MD)) of a new class of unmanned vehicles, named Micro Air Vehicles (MAVs). In this paper, a new analytical model, identifying all factors, which determine the MAV power consumption, is presented. Starting from the new model, the design of a nanoarray energy harvester, based on plasmonics nano-antenna technology is proposed. The preliminary study was based on a 22,066,058 22,066,058 × 62,800-dipole rectenna array producing an output power level of 84.14 mW, and an energy value of 2572 J under a power density of 100 mW/cm² and a resonant frequency of 350 THz as input conditions. The preliminary analytical results show a possible recharge of an ultra-fast rechargeable battery on board of a MAV and an MD improvement of 16.30 min.

An Onboard Vision-Based System for Autonomous Landing of a Low-Cost Quadrotor on a Novel Landing Pad.

In this paper, an onboard vision-based system for the autonomous landing of a low-cost quadrotor is presented. A novel landing pad with different optical markers sizes is carefully designed to be robustly recognized at different distances. To provide reliable pose information in a GPS (Global Positioning System)-denied environment, a vision algorithm for real-time landing pad recognition and pose estimation is implemented. The dynamic model of the quadrotor is established and a system scheme for autonomous landing control is presented. A series of autonomous flights have been successfully performed, and a video of the experiment is available online. The efficiency and accuracy of the presented vision-based system is demonstrated by using its position and attitude estimates as control inputs for the autonomous landing of a self-customized quadrotor.

Time-of-Travel Methods for Measuring Optical Flow on Board a Micro Flying Robot.

For use in autonomous micro air vehicles, visual sensors must not only be small, lightweight and insensitive to light variations; on-board autopilots also require fast and accurate optical flow measurements over a wide range of speeds. Using an auto-adaptive bio-inspired Michaelis-Menten Auto-adaptive Pixel (M 2 APix) analog silicon retina, in this article, we present comparative tests of two optical flow calculation algorithms operating under lighting conditions from 6 × 10 - 7 to 1 . 6 × 10 - 2 W·cm - 2 (i.e., from 0.2 to 12,000 lux for human vision). Contrast "time of travel" between two adjacent light-sensitive pixels was determined by thresholding and by cross-correlating the two pixels' signals, with measurement frequency up to 5 kHz for the 10 local motion sensors of the M 2 APix sensor. While both algorithms adequately measured optical flow between 25 ∘ /s and 1000 ∘ /s, thresholding gave rise to a lower precision, especially due to a larger number of outliers at higher speeds. Compared to thresholding, cross-correlation also allowed for a higher rate of optical flow output (99 Hz and 1195 Hz, respectively) but required substantially more computational resources.

Mycobacterium avium MAV2052 protein induces apoptosis in murine macrophage cells through Toll-like receptor 4.

Mycobacterium avium and its sonic extracts induce apoptosis in macrophages. However, little is known about the M. avium components regulating macrophage apoptosis. In this study, using multidimensional fractionation, we identified MAV2052 protein, which induced macrophage apoptosis in M. avium culture filtrates. The recombinant MAV2052 induced macrophage apoptosis in a caspase-dependent manner. The loss of mitochondrial transmembrane potential (ΔΨm), mitochondrial translocation of Bax, and release of cytochrome c from mitochondria were observed in macrophages treated with MAV2052. Further, reactive oxygen species (ROS) production was required for the apoptosis induced by MAV2052. In addition, ROS and mitogen-activated protein kinases were involved in MAV2052-mediated TNF-α and IL-6 production. ROS-mediated activation of apoptosis signal-regulating kinase 1 (ASK1)-JNK pathway was a major signaling pathway for MAV2052-induced apoptosis. Moreover, MAV2052 bound to Toll-like receptor (TLR) 4 molecule and MAV2052-induced ROS production, ΔΨm loss, and apoptosis were all significantly reduced in TLR4(-/-) macrophages. Altogether, our results suggest that MAV2052 induces apoptotic cell death through TLR4 dependent ROS production and JNK pathway in murine macrophages.

A Primer on Autonomous Aerial Vehicle Design.

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

Maneuvering Characteristics of Bilateral Amplitude-Asymmetric Flapping Motion Based on a Bat-Inspired Flexible Wing.

Flapping-wing micro air vehicles (FWMAVs) have gained much attention from researchers due to their exceptional performance at low Reynolds numbers. However, the limited understanding of active aerodynamic modulation in flying creatures has hindered their maneuverability from reaching that of their biological counterparts. In this article, experimental investigations were conducted to examine the effect of the bilateral amplitude asymmetry of flexible flapping wings. A reduced bionic model featuring bat-like wings is built, and a dimensionless number ΔΦ* is introduced to scale the degree of bilateral amplitude asymmetry in flapping motion. The experimental results suggest that the bilateral amplitude-asymmetric flapping motion primarily induces maneuvering control forces of coupling roll moment and yaw moment. Also, roll moment and yaw moment have a good linear relationship. To achieve more efficient maneuvers based on this asymmetric motion, it is advisable to maintain ΔΦ* within the range of 0 to 0.4. The magnitude of passive pitching deformation during the downstroke is significantly greater than that during the upstroke. The phase of the peak of the passive pitching angle advances with the increase in flapping amplitude, while the valleys lag. And the proportion of pronation and supination in passive pitching motion cannot be adjusted by changing the flapping amplitude. These findings have important practical relevance for regulating turning maneuvers based on amplitude asymmetry and help to understand the active aerodynamic modulation mechanism through asymmetric wing kinematics.

Effect and Mechanism of Mycobacterium avium MAV-5183 on Apoptosis of Mouse Ana-1 Macrophages.

To investigate the effects and mechanisms of Mycobacterium avium MAV-5183 protein on apoptosis in mouse Ana-1 macrophages. A pET-21a-MAV-5183 recombinant plasmid was constructed. The recombinant MAV-5183 protein was cloned, expressed, purified, and identified using an anti-His-tagged antibody. Rabbits were immunized to obtain antiserum, and its potency and immunoreactivity were assessed through WB. Mouse Ana-1 macrophages were incubated with varying concentrations of MAV-5183 protein. Flow cytometry, following ANNEXIN V-FITC/PI double staining, detected apoptosis. Western Blot analysis was conducted to identify apoptosis-related molecules Caspase-9/8/3 and vesicle-related molecules ASC, NLRP3, and Cleaved-casp1. ELISA measured TNF-α and IL-6 levels in the culture supernatant. LDH activity and ROS levels were analyzed separately. RT-qPCR measured mRNA levels of Caspase-9/8/3, ASC, NLRP3, Caspase-1, IL-1ß, Bax, MAPK-p38, Bcl-2, TNF-α, and IL-6. MAV-5183 protein was successfully cloned, purified, and identified. In in vitro studies on Ana-1 macrophages, MAV-5183 protein increased the expression of Caspase-9/8/3, ASC, NLRP3 (P < 0.01), induced ROS secretion (P < 0.05), and promoted inflammatory cytokine secretion (TNF-α, IL-6, P < 0.0001); however, it did not significantly affect LDH (P > 0.05). MAV-5183 also induced apoptosis in Ana-1 macrophages (P < 0.05). RT-qPCR results indicated a significant increase in mRNA expression of Caspase-9/8/3, ASC, NLRP3, TNF-α, IL-6, MAPK-p38, and pro-apoptotic factor Bax (P < 0.01), with no significant effect on Bcl-2 and IL-1ß mRNA (P > 0.05). The data indicate that MAV-5183 induces macrophage apoptosis through a caspase-dependent pathway and promotes inflammatory cytokine secretion via ROS.

Validation of behavioral measures of social cognition in individuals diagnosed with schizophrenia.

Schizophrenia, a complex neuropsychiatric disorder, manifests severe impairments in social cognition, notably in Theory of Mind (ToM), empathy, and emotion recognition, which significantly influence social competence and overall functioning. These aspects are crucial for prognosis in individuals diagnosed with schizophrenia (SZ). This study validates a comics strip paradigm for ToM and empathy assessment, the Montreal Affective Voices (MAV) for measuring emotion recognition, and a Go-NoGo task for inhibition control estimation in individuals diagnosed with SZ, comparing their performance with healthy controls. SZ participants exhibited diminished abilities in the comics strip task, especially in ToM and empathy conditions, alongside challenges in identifying emotions from vocal cues in MAV. They responded slower and tended to be less accurate in the Go-NoGo task. The validated behavioral battery addresses the limitations of previous measures and emerges as a promising tool for future investigations into the neural systems underlying social cognition in schizophrenia. Such insights can lead to the development of long-needed treatment for negative symptoms and social dysfunctions in schizophrenia.

Uterine venous malformations in the puerperium: 2 Atypical cases and literature review.

Uterine arteriovenous malformations (AVMs) is a rare but high-risk cause of uterine bleeding. The clinical management of this condition is challenging, as the ultrasound picture can sometimes be unambiguously interpreted. Moreover, in the puerperium in which acquired AVMs are most frequently formed, it is necessary to discuss the correct management in a multidisciplinary and personalized manner. We present two cases of AVMs developing in the puerperium, both with a vaginal delivery and spontaneous and complete secondment. The symptom of onset was an episode of bright red blood loss in the puerperium, on the 14th and 21st postpartum days, respectively. Transvaginal ultrasound showed a hypervascularized lesion in the myometrium with turbulent vascular flow, confirmed by transabdominal ultrasound and angiography. To date, there are no guidelines on the management of MAVs. In our cases we opted for a conservative approach, in order to preserve the fertility of the patient. These experiences reported have the purpose of enriching a literature still sparse on the subject and in the future to be able to represent a fulcrum for official recommendations.

Safety of Interchanging the Live Attenuated MAV/06 Strain and OKA Strain Varicella Vaccines in Children.

Two live attenuated varicella vaccine (VZV) strains have been mainly used across the globe: MAV/06 and OKA strains. We aimed to explore the safety of interchanging the two VZV strains for primary and booster immunizations. South Korea's vaccine adverse event reporting system (VAERS) was accessed and searched to find filed reports of all adverse events (AEs) following immunization with the second dose of the varicella vaccine. The electronic medical records were reviewed for all visits to the hospital following the second dose of the varicella vaccine. Of the total 406 study participants, 27.5% (n = 112) were in the MAV/06-MAV/06 group, 30.3% (n = 123) in the MAV/06-OKA, 17.5% (n = 71) in the OKA-MAV/06 group, and 24.6% (n = 100) in the OKA-OKA group. Mean age at immunization with the first dose was 1.10 (standard deviation [SD] ±0.34) years old, and second dose was 4.77 (SD ± 1.13) (p = 0.772 and 0.933, respectively). There were no filed reports of AEs following the second dose in the national VAERS. Hospital visit records showed a total of 10.3% (95% confidence interval [CI], 7.6-13.7) (n = 42) had recorded AEs following the 2nd administered dose; however, only 0.7% (95% CI, 0.2-2.4) (n = 3) were regarded as possibly vaccine related. Two patients in the MAV/06-OKA group were diagnosed with Henoch-Schonlein purpura after the second dose; however, both had also received the MMR vaccine on the same day. No safety signals associated with interchanging the MAV/06 and OKA strain live attenuated varicella vaccines were observed in this patient cohort of healthy children.

Earwig-inspired foldable origami wing for micro air vehicle gliding.

Foldable wings serve as an effective solution for reducing the size of micro air vehicles (MAVs) during non-flight phases, without compromising the gliding capacity provided by the wing area. Among insects, earwigs exhibit the highest folding ratio in their wings. Inspired by the intricate folding mechanism in earwig hindwings, we aimed to develop artificial wings with similar high-folding ratios. By leveraging an origami hinge, which is a compliant mechanism, we successfully designed and prototyped wings capable of opening and folding in the wind, which helps reduce the surface area by a factor of seven. The experimental evaluation involved measuring the lift force generated by the wings under Reynolds numbers less than 2.2 × 104. When in the open position, our foldable wings demonstrated increased lift force proportional to higher wind speeds. Properties such as wind responsiveness, efficient folding ratios, and practical feasibility highlight the potential of these wings for diverse applications in MAVs.

An at-scale tailless flapping wing hummingbird robot: II. Flight control in hovering and trajectory tracking.

Flight control such as stable hovering and trajectory tracking of tailless flapping-wing micro aerial vehicles is a challenging task. Given the constraint on actuation capability, flight control authority is limited beyond sufficient lift generation. In addition, the highly nonlinear and inherently unstable vehicle dynamics, unsteady aerodynamics, wing motion caused body oscillations, and mechanism asymmetries and imperfections due to fabrication process, all pose challenges to flight control. In this work, we propose a systematic onboard control method to address such challenges. In particular, with a systematic comparative study, a nonlinear flight controller incorporating parameter adaptation and robust control demonstrates the preferred performances. Such a controller is designed to address time-varying system uncertainty in flapping flight. The proposed controller is validated on a 12-g at-scale tailless hummingbird robot equipped with two actuators. Maneuver experiments have been successfully performed by the proposed hummingbird robot, including stable hovering, waypoint and trajectory tracking, and stabilization under severe wing asymmetries.

Tutorial. Surface electromyogram (sEMG) amplitude estimation: Best practices.

This tutorial intends to provide insight, instructions and "best practices" for those who are novices-including clinicians, engineers and non-engineers-in extracting electromyogram (EMG) amplitude from the bipolar surface EMG (sEMG) signal of voluntary contractions. A brief discussion of sEMG amplitude extraction from high density sEMG (HDsEMG) arrays and feature extraction from electrically elicited contractions is also provided. This tutorial attempts to present its main concepts in a straightforward manner that is accessible to novices in the field not possessing a wide range of technical background (if any) in this area. Surface EMG amplitude, also referred to as the sEMG envelope [often implemented as root mean square (RMS) sEMG or average rectified value (ARV) sEMG], quantifies the voltage variation of the sEMG signal and is grossly related to the overall neural excitation of the muscle and to peripheral parameters. The tutorial briefly reviews the physiological origin of the voluntary sEMG signal and sEMG recording, including electrode configurations, sEMG signal transduction, electronic conditioning and conversion by an analog-to-digital converter. These topics have been covered in greater detail in prior tutorials in this series. In depth descriptions of state-of-the-art methods for computing sEMG amplitude are then provided, including guidance on signal pre-conditioning, absolute value vs. square-law detection, selection of appropriate sEMG amplitude smoothing filters and attenuation of measurement noise. The tutorial provides a detailed list of best practices for sEMG amplitude estimation.

A Novel Inhibitor against the Biofilms of Non-Tuberculous Mycobacteria.

Non-tuberculous Mycobacteria (NTM), previously classified as environmental microbes, have emerged as opportunistic pathogens causing pulmonary infections in immunocompromised hosts. The formation of the biofilm empowers NTM pathogens to escape from the immune response and antibiotic action, leading to treatment failures. NF1001 is a novel thiopeptide antibiotic first-in-class compound with potent activity against planktonic/replicating and biofilm forms of various NTM species. It is potent against both drug-sensitive and -resistant NTM. It has demonstrated a concentration-dependent killing of replicating and intracellularly growing NTM, and has inhibited and reduced the viability of NTM in biofilms. Combination studies using standard-of-care (SoC) drugs for NTM exhibited synergetic/additive effects, but no antagonism against both planktonic and biofilm populations of Mycobacterium abscessus and Mycobacterium avium. In summary, the activity of NF1001 alone or in combination with SoC drugs projects NF1001 as a promising candidate for the treatment of difficult-to-treat NTM pulmonary diseases (NTM-PD) and cystic fibrosis (CF) in patients.

Numerical Simulations of the Effect of the Asymmetrical Bending of the Hindwings of a Hovering C. buqueti Bamboo Weevil with Respect to the Aerodynamic Characteristics.

The airfoil structure and folding pattern of the hindwings of a beetle provide new transformation paths for improvements in the aerodynamic performance and structural optimization of flapping-wing flying robots. However, the explanation for the aerodynamic mechanism of the asymmetrical bending of a real beetle's hindwings under aerodynamic loads originating from the ventral and dorsal sides is unclear. To address this gap in our understanding, a computational investigation into the aerodynamic characteristics of the flight ability of C. buqueti and the large folding ratio of their hindwings when hovering is carried out in this article. A three-dimensional (3D) pressure-based SST k-ω turbulence model with a biomimetic structure was used for the detailed analysis, and a refined polyhedral mesh was used for the simulations. The results show that the fluid around the hindwings forms a vortex ring consisting of a leading-edge vortex (LEV), wing-tip vortex (TV) and trailing-edge vortex (TEV). Approximately 61% of the total lift is generated during the downstroke, which may be closely related to the asymmetric bending of the hindwings when they are subjected to pressure load.

Embodied airflow sensing for improved in-gust flight of flapping wing MAVs.

Flapping wing micro aerial vehicles (FWMAVs) are known for their flight agility and maneuverability. These bio-inspired and lightweight flying robots still present limitations in their ability to fly in direct wind and gusts, as their stability is severely compromised in contrast with their biological counterparts. To this end, this work aims at making in-gust flight of flapping wing drones possible using an embodied airflow sensing approach combined with an adaptive control framework at the velocity and position control loops. At first, an extensive experimental campaign is conducted on a real FWMAV to generate a reliable and accurate model of the in-gust flight dynamics, which informs the design of the adaptive position and velocity controllers. With an extended experimental validation, this embodied airflow-sensing approach integrated with the adaptive controller reduces the root-mean-square errors along the wind direction by 25.15% when the drone is subject to frontal wind gusts of alternating speeds up to 2.4 m/s, compared to the case with a standard cascaded PID controller. The proposed sensing and control framework improve flight performance reliably and serve as the basis of future progress in the field of in-gust flight of lightweight FWMAVs.