Efficient Wireless Drone Charging Pad for Any Landing Position and Orientation

A wireless charging pad for drones based on resonant magnetic technology to recharge the internal battery is presented. The goal of the study was to design a robust, reliable and efficient charging station where a drone can land to automatically recharge its battery. The components of the wireless power transfer (WPT) system on board the drone must be compact and light in order not to alter the payload of the drone. In this study, the non-planar receiving coil of the WPT system is integrated into the drone’s landing gear while the transmitting pad is designed to be efficient for any landing point and orientation of the drone in the charging pad area. To meet these requirements, power transmission is accomplished by an array of planar coils integrated into the ground base station. The configuration of the WPT coil system, including a three-dimensional receiving coil and a multicoil transmitter, is deeply analyzed to evaluate the performance of the WPT, considering potential lateral misalignment and rotation of the receiving coil due to imprecise drone landing. According to the proposed configuration, the battery of a light drone (2 kg in weight and 0.5 kg in payload) is recharged in less than an hour, with an efficiency always greater than 75%.

Safety and Feasibility of Intravascular Ultrasound-Guided Robotic

PurposePrevious studies have demonstrated the benefit of intravascular ultrasound (IVUS)-guided percutaneous coronary intervention (PCI) for preventing longitudinal geographic miss (LGM). However, it is yet unclear whether IVUS guidance is useful for robotic PCI (R-PCI). This retrospective observational study sought to compare expected stent landing positions between IVUS and angiography.MethodsA total of 58 consecutive patients with stable angina who underwent IVUS-guided R-PCI was enrolled. The stent landing position was angiographically marked using a balloon marker before stenting followed by measurements of the expected stent length using balloon pullback. Subsequently, pre-stenting IVUS was performed to determine stent landing. All pre-PCI IVUS images were assessed for lesion length and percent plaque volume (%PV) using both IVUS and angiographic marking. LGM was defined as a residual %PV > 50% at either the distal or proximal stent edge, any stent edge dissection, and/or additional stent deployment immediately after stenting. Major adverse cardiac events were assessed at the 6-month follow-up.ResultsThe included patients, 41 of whom were male, had an average age of 67.1 ± 10.1 years. IVUS guidance had significantly longer lesion lengths compared to angiographic marking. Based on IVUS-guided stent deployment, 9 cases exhibited LGM immediately after stenting. IVUS-marked landing points had a significantly smaller %PV and significantly larger LA compared to those for angiography. No adverse cardiac events were noted during the 6-month follow-up.ConclusionIVUS-guided R-PCI was safe and may be better at preventing LGM compared to angiography-guided R-PCI.

Fixational Eye Movements Depend on Task and Target

Human fixational eye movements are so small and precise that they require high-speed, accurate tools to fully reveal their properties and functional roles. Where the fixated image lands on the retina and how it moves for different levels of visually demanding tasks is the subject of the current study. An Adaptive Optics Scanning Laser Ophthalmoscope (AOSLO) was used to image, track and present Maltese cross, disk, concentric circles, Vernier and tumbling-E letter fixation targets to healthy subjects. During these different passive (static) or active (discriminating) fixation tasks under natural eye motion, the landing position of the target on the retina was tracked in space and time over the retinal image directly. We computed both the eye motion and the exact trajectory of the fixated target's motion over the retina. We confirmed that compared to passive fixation, active tasks elicited a partial inhibition of microsaccades, leading to longer drifts periods compensated by larger corrective saccades. Consequently the fixation stability during active tasks was larger overall than during passive tasks. The preferred retinal locus of fixation was the same for each task and did not coincide with the location of the peak cone density.

EXPRESS: Eye Movement Patterns to Social and Non-social Cues in Early Deaf Adults

Previous research on covert orienting to the periphery suggested that early profound deaf adults were less susceptible to uninformative gaze cues, though were equally or more affected by non-social arrow cues. The aim of the present work was to investigate whether spontaneous eye movement behaviour helps explain the reduced impact of the social cue in deaf adults. We tracked the gaze of 25 early profound deaf and 25 age-matched hearing observers performing a peripheral discrimination task with uninformative central cues (gaze vs. arrow), stimulus-onset asynchrony (250 vs. 750 ms) and cue-validity (valid vs. invalid) as within-subject factors. In both groups, the cue-effect on RT was comparable for the two cues, although deaf observers responded significantly slower than hearing controls. While deaf and hearing observers eye movement pattern looked similar when the cue was presented in isolation, deaf participants made significantly eye movements than hearing controls once the discrimination target appeared. Notably, further analysis of eye movements in the deaf group revealed that independent of cue-type, cue-validity affected saccade landing position, while latency was not modulated by these factors. Saccade landing position was also strongly related to the magnitude of the validity effect on RT, such that the greater the difference in saccade landing position between invalid and valid trials, the greater the difference in manual RT between invalid and valid trials. This work suggests that the contribution of overt selection in central cueing of attention is more prominent in deaf adults and helps determine the manual performance, irrespective of cue-type.

Saccades along spatial neural circuit discontinuities

Saccades are realized by six extraocular muscles that define the final reference frame for eyeball rotations. However, upstream of the nuclei innervating the eye muscles, eye movement commands are represented in two-dimensional retinocentric coordinates, as is the case in the superior colliculus (SC). In such spatial coordinates, the horizontal and vertical visual field meridians, relative to the line of sight, are associated with neural tissue discontinuities due to routing of binocular retinal outputs when forming retinotopic sensory-motor maps. At the level of the SC, a functional discontinuity along the horizontal meridian was additionally discovered, beyond the structural vertical discontinuity associated with hemifield lateralization. How do such neural circuit discontinuities influence purely cardinal saccades? Using thousands of saccades from 3 rhesus macaque monkeys and 14 human subjects, we show how the likelihood of purely horizontal or vertical saccades is infinitesimally small, nulling a discontinuity problem. This does not mean that saccades are sloppy. On the contrary, saccades exhibit remarkable direction and amplitude corrections to account for small initial eye position deviations due to fixational variability: “purely” cardinal saccades can deviate, with an orthogonal component of as little as 0.03 deg, to correct for tiny target position deviations from initial eye position. In humans, probing perceptual target localization additionally revealed that saccades show different biases from perception when targets deviate slightly from purely cardinal directions. These results demonstrate a new functional role for fixational eye movements in visually-guided behavior, and they motivate further neurophysiological investigations of saccade trajectory control in the brainstem.New and NoteworthyPurely cardinal saccades are often characterized as being straight. We show how a small amount of curvature is inevitable, alleviating an implementational problem of dealing with neural circuit discontinuities in the representations of the visual meridians. The small curvature functionally corrects for minute variability in initial eye position due to fixational eye movements. Saccades are far from sloppy; they deviate by as little as <1% of the total vector size to adjust their landing position.