Background Current near-infrared spectroscopy (NIRS)-based systems for continuous flap monitoring are highly sensitive for detecting malperfusion. However, the clinical utility and user experience are limited by the wired connection between the sensor and bedside console. This wire leads to instability of the flap-sensor interface and may cause false alarms. Methods We present a novel wearable wireless NIRS sensor for continuous fasciocutaneous free flap monitoring. This waterproof silicone-encapsulated Bluetooth-enabled device contains two light-emitting diodes and two photodetectors in addition to a battery sufficient for 5 days of uninterrupted function. This novel device was compared with a ViOptix T.Ox monitor in a porcine rectus abdominus myocutaneous flap model of arterial and venous occlusions. Results Devices were tested in four flaps using three animals. Both devices produced very similar tissue oxygen saturation (StO 2) tracings throughout the vascular clamping events, with obvious and parallel changes occurring on arterial clamping, arterial release, venous clamping, and venous release. Small interdevice variations in absolute StO 2 value readings and magnitude of change were observed. The normalized cross-correlation at zero lag describing correspondence between the novel NIRS and T.Ox devices was >0.99 in each trial. Conclusion The wireless NIRS flap monitor is capable of detecting StO 2 changes resultant from arterial vascular occlusive events. In this porcine flap model, the functionality of this novel sensor closely mirrored that of the T.Ox wired platform. This device is waterproof, highly adhesive, skin conforming, and has sufficient battery life to function for 5 days. Clinical testing is necessary to determine if this wireless functionality translates into fewer false-positive alarms and a better user experience.

Optimal control holds great potential to improve a variety of robotic applications. The application of optimal control on-board limited platforms has been severely hindered by the large computational requirements of current state of the art implementations. In this work, we make use of a deep neural network to directly map the robot states to control actions. The network is trained offline to imitate the optimal control computed by a time consuming direct nonlinear method. A mixture of time optimality and power optimality is considered with a continuation parameter used to select the predominance of each objective. We apply our networks (termed GCNets) to aggressive quadrotor control, first in simulation and then in the real world. We give insight into the factors that influence the 'reality gap' between the quadrotor model used by the offline optimal control method and the real quadrotor. Furthermore, we explain how we set up the model and the control structure on-board of the real quadrotor to successfully close this gap and perform time-optimal maneuvers in the real world. Finally, GCNet's performance is compared to state-of-the-art differential-flatness-based optimal control methods. We show, in the experiments, that GCNets lead to significantly faster trajectory execution due to, in part, the less restrictive nature of the allowed state-to-input mappings.

Drone racing is becoming a popular sport where human pilots have to control their drones to fly at high speed through complex environments and pass a number of gates in a pre-defined sequence. In this paper, we develop an autonomous system for drones to race fully autonomously using only onboard resources. Instead of commonly used visual navigation methods, such as simultaneous localization and mapping and visual inertial odometry, which are computationally expensive for micro aerial vehicles (MAVs), we developed the highly efficient snake gate detection algorithm for visual navigation, which can detect the gate at 20 HZ on a Parrot Bebop drone. Then, with the gate detection result, we developed a robust pose estimation algorithm which has better tolerance to detection noise than a state-of-the-art perspective-n-point method. During the race, sometimes the gates are not in the drone's field of view. For this case, a state prediction-based feed-forward control strategy is developed to steer the drone to fly to the next gate. Experiments show that the drone can fly a half-circle with 1.5 m radius within 2 s with only 30cm error at the end of the circle without any position feedback. Finally, the whole system is tested in a complex environment (a showroom in the faculty of Aerospace Engineering, TU Delft). The result shows that the drone can complete the track of 15 gates with a speed of 1.5m∕s which is faster than the speeds exhibited at the 2016 and 2017 IROS autonomous drone races.

Objective To identify common genetic variants associated with the presence of brain microbleeds (BMBs).MethodsWe performed genome-wide association studies in 11 population-based cohort studies and 3 case-control or case-only stroke cohorts. Genotypes were imputed to the Haplotype Reference Consortium or 1000 Genomes reference panel. BMBs were rated on susceptibility-weighted or T2*-weighted gradient echo MRI sequences, and further classified as lobar or mixed (including strictly deep and infratentorial, possibly with lobar BMB). In a subset, we assessed the effects of APOE ϵ2 and ϵ4 alleles on BMB counts. We also related previously identified cerebral small vessel disease variants to BMBs.ResultsBMBs were detected in 3,556 of the 25,862 participants, of which 2,179 were strictly lobar and 1,293 mixed. One locus in the APOE region reached genome-wide significance for its association with BMB (lead single nucleotide polymorphism rs769449; odds ratio [OR]any BMB [95% confidence interval (CI)] 1.33 [1.21-1.45]; p = 2.5 × 10-10). APOE ϵ4 alleles were associated with strictly lobar (OR [95% CI] 1.34 [1.19-1.50]; p = 1.0 × 10-6) but not with mixed BMB counts (OR [95% CI] 1.04 [0.86-1.25]; p = 0.68). APOE ϵ2 alleles did not show associations with BMB counts. Variants previously related to deep intracerebral hemorrhage and lacunar stroke, and a risk score of cerebral white matter hyperintensity variants, were associated with BMB.ConclusionsGenetic variants in the APOE region are associated with the presence of BMB, most likely due to the APOE ϵ4 allele count related to a higher number of strictly lobar BMBs. Genetic predisposition to small vessel disease confers risk of BMB, indicating genetic overlap with other cerebral small vessel disease markers.

Drone racing is becoming a popular e-sport all over the world, and beating the best human drone race pilots has quickly become a new major challenge for artificial intelligence and robotics. In this paper, we propose a novel sensor fusion method called visual model-predictive localization (VML). Within a small time window, VML approximates the error between the model prediction position and the visual measurements as a linear function. Once the parameters of the function are estimated by the RANSAC algorithm, this error model can be used to compensate the prediction in the future. In this way, outliers can be handled efficiently and the vision delay can also be compensated efficiently. Theoretical analysis and simulation results show the clear advantage compared with Kalman filtering when dealing with the occasional large outliers and vision delays that occur in fast drone racing. Flight tests are performed on a tiny racing quadrotor named “Trashcan,” which was equipped with a Jevois smart camera for a total of 72 g. An average speed of 2 m/s is achieved while the maximum speed is 2.6 m/s. To the best of our knowledge, this flying platform is currently the smallest autonomous racing drone in the world, while still being one of the fastest autonomous racing drones.

High-speed flight in GPS-denied environments is currently an important frontier in the research on autonomous flight of micro air vehicles. Autonomous drone races stimulate the advances in this area by representing a very challenging case with tight turns, texture-less floors, and dynamic spectators around the track. These properties hamper the use of standard visual odometry approaches and imply that the micro air vehicles will have to bridge considerable time intervals without position feedback. To this end, we propose an approach to trajectory estimation for drone racing that is computationally efficient and yet able to accurately estimate a micro air vehicle’s state (including biases) and parameters based on sparse, noisy observations of racing gates. The key concept of the approach is to optimize unknown and difficult-to-observe state variables so that the observations of the racing gates best fit with the known control inputs, estimated attitudes, and the quadrotor dynamics and aerodynamics during a time window. It is shown that a gradient-descent implementation of the proposed approach converges ∼4 times quicker to (approximately) correct bias values than a state-of-the-art 15-state extended Kalman filter. Moreover, it reaches a higher accuracy, as the predicted end-point of an open-loop turn is on average only ∼20 cm away from the actual end-point, while the extended Kalman filter and the gradient descent method with kinematic model only reach an accuracy of ∼50 cm. Although the approach is applied here to drone racing, it generalizes to other settings in which a micro air vehicle may only have sparse access to velocity and/or position measurements.