Background Esophageal adenocarcinoma (EAC) is a rarely curable disease and rapidly rising worldwide in incidence. Barret's esophagus (BE) high-grade dysplasia (HGD) are considered major risk factors for invasive adenocarcinoma. In the current study, unbiased global metabolic profiling methods were applied to serum samples from patients with EAC, BE HGD, healthy individuals, order identify metabolite based biomarkers associated early stages of EAC goal improving prognostication....

Designing a hummingbird-inspired, at-scale, tail-less flapping-wing micro aerial vehicle (FWMAV) is challenging task in order to achieve animallike flight performance under the constraints of size, weight, power, and actuation limitations. It even more design such with pair independently controlled wings equipped total only two actuators. This article details systematic solution for optimization prototyping FWMAVs. The proposed covers complete system models analysis wing-actuation dynamics,...

Achieving resonance in flapping wings has been recognized as one of the most important principles to enhance power efficiency, lift generation, and flight control performance high-frequency wing micro air vehicles (MAVs). Most work on development such have attempted achieve resonance. However, theoretical understanding its effects response energetics motion lagged behind, leading suboptimal design decisions misinterpretations experimental results. In this work, we systematically model...

Biological studies show that hummingbirds can perform extreme aerobatic maneuvers during fast escape. Given a sudden looming visual stimulus at hover, hummingbird initiates backward translation coupled with 180-degree yaw turn, which is followed by instant posture stabilization in just under 10 wingbeats. Consider the wingbeat frequency of 40Hz, this aggressive maneuver carried out 0.2 seconds. Inspired hummingbirds' near-maximal performance such maneuvers, we developed flight control...

Insects and hummingbirds exhibit extraordinary flight performance can simultaneously master seemingly conflicting goals: stable hovering aggressive maneuvering, which are unmatched by conventional small scale man-made vehicles. Flapping Wing Micro Air Vehicles (FWMAVs) hold great promise for closing this gap. However, design control of such systems remain challenging. Here, we present an open source high fidelity dynamic simulation FWMAVs. The simulator serves as a testbed the design,...

Abstract Recently, intelligent detection methods utilizing two-dimensional (2D) images and deep learning algorithms have been extensively employed in quality assessment for solder joints after wave soldering processes. However, 2D susceptible to ambient light lacking depth information representation cannot accurately identify key factors such as joint volume, height, shape consistency, increasing the false rate of defects. To address issue, a novel farthest point sample-based two-stage...

Wings of flying animals can not only generate lift and control torques but also sense their surroundings. Such dual functions sensing actuation coupled in one element are particularly useful for small sized bio-inspired robotic flyers, whose weight, size, power under stringent constraint. In this work, we present the first flapping-wing robot using its flapping wings environmental perception navigation tight space, without need any visual feedback. As test platform, introduce Purdu...

Unlike conventional aerial vehicles of fixed or rotary wings, realtime on-board attitude estimation insect hummingbird scale Flapping Wing Micro Aerial Vehicles (FWMAVs) is very challenging due to the severe instantaneous oscillations (approximately ten times gravity on our platform) induced by high-frequency wing flapping. In this work, we present a novel sensor fusion algorithm for FWMAVs. The proposed with adaptive model-based compensation both sensing drift and aerodynamic forces...

The prominent maneuverability of flapping flight is enabled by rapid and significant changes in aerodynamic forces, which a result surprisingly subtle precise wing kinematics. high sensitivity forces to kinematic demands instantaneous control the trajectories, especially presence various types uncertainties. In this work, we first present dynamic model pair direct-motor-driven wings while taking into consideration parameter uncertainties external disturbances. We then an Adaptive Robust...

Achieving resonance in flapping wings has been recognized as one of the most important principles to enhance power efficiency, lift generation, and flight control performance high-frequency wing micro air vehicles (MAVs). Most work on development such have attempted achieve resonance. However, theoretical understanding its effects response energetics motion lagged behind, leading sub-optimal design decisions misinterpretations experimental results. In this work, we systematically model...

Biological studies show that hummingbirds can perform extreme aerobatic maneuvers during fast escape. Given a sudden looming visual stimulus at hover, hummingbird initiates backward translation coupled with 180-degree yaw turn, which is followed by instant posture stabilization in just under 10 wingbeats. Consider the wingbeat frequency of 40Hz, this aggressive maneuver carried out 0.2 seconds. Inspired hummingbirds' near-maximal performance such maneuvers, we developed flight control...

Wings of flying animals can not only generate lift and control torques but also sense their surroundings. Such dual functions sensing actuation coupled in one element are particularly useful for small sized bio-inspired robotic flyers, whose weight, size, power under stringent constraint. In this work, we present the first flapping-wing robot using its flapping wings environmental perception navigation tight space, without need any visual feedback. As test platform, introduce Purdue...

Insects and hummingbirds exhibit extraordinary flight capabilities can simultaneously master seemingly conflicting goals: stable hovering aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air Vehicles (FWMAVs) hold great promise for closing this performance gap. However, design control of such systems remain challenging due to various constraints. Here, we present an open source high fidelity dynamic simulation FWMAVs serve as a testbed the design,...

We present a method for generating, predicting, and using spatiotemporal occupancy grid maps (SOGM), which embed future semantic information of real dynamic scenes. an autolabeling process that creates SOGMs from noisy navigation data. use 3-D–2-D feedforward architecture, trained to predict the time steps SOGMs, given 3-D Lidar frames as input. Our pipeline is entirely self-supervised, thus enabling lifelong learning robots. The network composed back-end extracts rich features enables...

In the field of deep point cloud understanding, KPConv is a unique architecture that uses kernel points to locate convolutional weights in space, instead relying on Multi-Layer Perceptron (MLP) encodings. While it initially achieved success, has since been surpassed by recent MLP networks employ updated designs and training strategies. Building upon principle, we present two novel designs: KPConvD (depthwise KPConv), lighter design enables use deeper architectures, KPConvX, an innovative...

In recent years, the application prospect of urban logistics unmanned aerial vehicles has attracted extensive attention. The high-density operation UAVs requires autonomous separation maintenance capability. To achieve maintenance, it is necessary to conduct track prediction and formulate required accordingly. Based on target level safety requirements for UAV operation, aiming at ability considering accuracy prediction, a method calculate between proposed. This study consists two parts....

A household robot should be able to navigate target objects without requiring users first annotate everything in their home. Most current approaches object navigation do not test on real robots and rely solely reconstructed scans of houses expensively labeled semantic 3D meshes. In this work, our goal is build an agent that builds self-supervised models the world via exploration, same as a child might - thus we (1) eschew expense mesh (2) enable in-situ finetuning world. We identify strong...