Downwash-Aware Trajectory Planning for Large Quadrotor Teams

We describe a method for formation-change trajectory planning for large quadrotor teams in obstacle-rich environments. Our method decomposes the planning problem into two stages: a discrete planner operating on a graph representation of the workspace, and a continuous refinement that converts the non-smooth graph plan into a set of C^k-continuous trajectories, locally optimizing an integral-squared-derivative cost. We account for the downwash effect, allowing safe flight in dense formations. We demonstrate the computational efficiency in simulation with up to 200 robots and the physical plausibility with an experiment with 32 nano-quadrotors. Our approach can compute safe and smooth trajectories for hundreds of quadrotors in dense environments with obstacles in a few minutes.Comment: 8 page

Dynamics of ultrathin V-oxide layers on Rh(111) in catalytic oxidation of ammonia and CO

Catalytic oxidation of ammonia and CO has been studied in the 10(-4) mbar range using a catalyst prepared by depositing ultra-thin vanadium oxide layers on Rh(111) (thetaV approximately 0.2 MLE). Using photoemission electron microscopy (PEEM) as a spatially resolving method, we observe that upon heating in an atmosphere of NH3 and O2 the spatial homogeneity of the VOx layer is removed at 800 K and a pattern consisting of macroscopic stripes develops; at elevated temperatures this pattern transforms into a pattern of circular VOx islands. Under reaction conditions the neighboring VOx islands become attracted by each other and coalesce. Similar processes of pattern formation and island coalescence are observed in catalytic CO oxidation. Reoxidation of the reduced VOx catalyst proceeds via surface diffusion of oxygen adsorbed onto Rh(111). A pattern consisting of macroscopic circular VOx islands can also be obtained by heating a Rh(111)/VOx catalyst in pure O2

Variations in Respiratory Excretion of Carbon Dioxide Can Be Used to Calculate Pulmonary Blood Flow

Background: A non-invasive means of measuring pulmonary blood flow (PBF) would have numerous benefits in medicine. Traditionally, respiratory-based methods require breathing maneuvers, partial rebreathing, or foreign gas mixing because exhaled CO2 volume on a per-breath basis does not accurately represent alveolar exchange of CO2. We hypothesized that if the dilutional effect of the functional residual capacity was accounted for, the relationship between the calculated volume of CO2 removed per breath and the alveolar partial pressure of CO2 would be reversely linear. Methods: A computer model was developed that uses variable tidal breathing to calculate CO2 removal per breath at the level of the alveoli. We iterated estimates for functional residual capacity to create the best linear fit of alveolar CO2 pressure and CO2 elimination for 10 minutes of breathing and incorporated the volume of CO2 elimination into the Fick equation to calculate PBF. Results: The relationship between alveolar pressure of CO2 and CO2 elimination produced an R2 = 0.83. The optimal functional residual capacity differed from the “actual” capacity by 0.25 L (8.3%). The repeatability coefficient leveled at 0.09 at 10 breaths and the difference between the PBF calculated by the model and the preset blood flow was 0.62 ± 0.53 L/minute. Conclusions: With variations in tidal breathing, a linear relationship exists between alveolar CO2 pressure and CO2 elimination. Existing technology may be used to calculate CO2 elimination during quiet breathing and might therefore be used to accurately calculate PBF in humans with healthy lungs

Post- and peritraumatic stress in disaster survivors: An explorative study about the influence of individual and event characteristics across different types of disasters

Background: Examination of existing research on posttraumatic adjustment after disasters suggests that survivors’ posttraumatic stress levels might be better understood by investigating the influence of the characteristics of the event experienced on how people thought and felt, during the event as well as afterwards. Objective: To compare survivors’ perceived post- and peritraumatic emotional and cognitive reactions across different types of disasters. Additionally, to investigate individual and event characteristics. Design: In a European multi-centre study, 102 survivors of different disasters terror attack, flood, fire and collapse of a building were interviewed about their responses during the event. Survivors’ perceived posttraumatic stress levels were assessed with the Impact of Event Scale-Revised (IES-R). Peritraumatic emotional stress and risk perception were rated retrospectively. Influences of individual characteristics, such as socio-demographic data, and event characteristics, such as time and exposure factors, on post- and peritraumatic outcomes were analyzed. Results: Levels of reported post- and peritraumatic outcomes differed significantly between types of disasters. Type of disaster was a significant predictor of all three outcome variables but the factors gender, education, time since event, injuries and fatalities were only significant for certain outcomes. Conclusion: Results support the hypothesis that there are differences in perceived post- and peritraumatic emotional and cognitive reactions after experiencing different types of disasters. However, it should be noted that these findings were not only explained by the type of disaster itself but also by individual and event characteristics. As the study followed an explorative approach, further research paths are discussed to better understand the relationships between variables

Body mass index and risk of non-alcoholic fatty liver disease: two electronic health record prospective studies

Context: The relationship between rising body mass index (BMI) and prospective risk of non-alcoholic fatty liver disease (NAFLD) / non-alcoholic steatohepatitis (NASH) is virtually absent. Objective: Determine the extent of the association between BMI and risk of future NAFLD diagnosis, stratifying by sex and diabetes. Design: Two prospective studies using Humedica and THIN with 1.54 and 4.96 years of follow-up respectively. Setting: Electronic health record databases Participants: Patients with had a recorded BMI measurement between 15–60kg/m2, and smoking status, and one year of active status prior to baseline BMI. Patients with a diagnosis or history of chronic diseases were excluded. Interventions: None Main Outcome Measure: Recorded diagnosis of NAFLD/NASH during follow-up (Humedica ICD-9 code 571.8, and read codes for NAFLD and NASH in THIN). Results: Hazard ratios (HR) were calculated across BMI categories using BMI of 20–22.5kg/m2 as the reference category, adjusting for age, sex and smoking status. Risk of recorded NAFLD/NASH increased linearly with BMI and was approximately 5-fold higher in Humedica (HR=4.78, 95% CI 4.17–5.47) and 9-fold higher in THIN (HR=8.93, 7.11–11.23) at a BMI of 30–32.5 kg/m2 rising to around 10-fold higher in Humedica (HR=9.80, 8.49–11.32) and 14-fold higher in THIN (HR=14.32, 11.04–18.57) in the 37.5–40 kg/m2 BMI category. Risk of NAFLD/NASH was approximately 50% higher in men, and approximately double in those with diabetes. Conclusions: These data quantify the consistent and strong relationships between BMI and prospectively recorded diagnoses of NAFLD/NASH and emphasize the importance of weight reduction strategies for prevention and management of NAFLD

Long-term impact on healthcare resource utilization of statin treatment, and its cost effectiveness in the primary prevention of cardiovascular disease: a record linkage study

Aims: To assess the impact on healthcare resource utilization, costs, and quality of life over 15 years from 5 years of statin use in men without a history of myocardial infarction in the West of Scotland Coronary Prevention Study (WOSCOPS).<p></p> Methods: Six thousand five hundred and ninety-five participants aged 45–54 years were randomized to 5 years treatment with pravastatin (40 mg) or placebo. Linkage to routinely collected health records extended follow-up for secondary healthcare resource utilization to 15 years. The following new results are reported: cause-specific first and recurrent cardiovascular hospital admissions including myocardial infarction, heart failure, stroke, coronary revascularization and angiography; non-cardiovascular hospitalization; days in hospital; quality-adjusted life years (QALYs); costs of pravastatin treatment, treatment safety monitoring, and hospital admissions.<p></p> Results: Five years treatment of 1000 patients with pravastatin (40 mg/day) saved the NHS £710 000 (P < 0.001), including the cost of pravastatin and lipid and safety monitoring, and gained 136 QALYs (P = 0.017) over the 15-year period. Benefits per 1000 subjects, attributable to prevention of cardiovascular events, included 163 fewer admissions and a saving of 1836 days in hospital, with fewer admissions for myocardial infarction, stroke, heart failure and coronary revascularization. There was no excess in non-cardiovascular admissions or costs (or in admissions associated with diabetes or its complications) and no evidence of heterogeneity of effect over sub-groups defined by baseline cardiovascular risk.<p></p> Conclusion: Five years' primary prevention treatment of middle-aged men with a statin significantly reduces healthcare resource utilization, is cost saving, and increases QALYs. Treatment of even younger, lower risk individuals is likely to be cost-effective.<p></p&gt

A eukaryote assemblage intercalated with Marinoan glacial deposits in South Australia

Video of digital X-ray tomographs (µCT) in longitudinal plane through cylinder of siltstone, maximum diameter seen (left to right when viewing movie) is 5.4m

Analytic and Gevrey Hypoellipticity for Perturbed Sums of Squares Operators

We prove a couple of results concerning pseudodifferential perturbations of differential operators being sums of squares of vector fields and satisfying H\"ormander's condition. The first is on the minimal Gevrey regularity: if a sum of squares with analytic coefficients is perturbed with a pseudodifferential operator of order strictly less than its subelliptic index it still has the Gevrey minimal regularity. We also prove a statement concerning real analytic hypoellipticity for the same type of pseudodifferential perturbations, provided the operator satisfies to some extra conditions (see Theorem 1.2 below) that ensure the analytic hypoellipticity