The ETH‐MAV Team in the MBZ International Robotics Challenge

This study describes the hardware and software systems of the Micro Aerial Vehicle (MAV) platforms used by the ETH Zurich team in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). The aim was to develop robust outdoor platforms with the autonomous capabilities required for the competition, by applying and integrating knowledge from various fields, including computer vision, sensor fusion, optimal control, and probabilistic robotics. This paper presents the major components and structures of the system architectures and reports on experimental findings for the MAV‐based challenges in the competition. Main highlights include securing the second place both in the individual search, pick, and place the task of Challenge 3 and the Grand Challenge, with autonomous landing executed in less than 1 min and a visual servoing success rate of over for object pickups.     

Gene Discovery in Gelsemium Highlights Conserved Gene Clusters in Monoterpene Indole Alkaloid Biosynthesis

Genome mining is a routine technique in microbes for discovering biosynthetic pathways. In plants, however, genomic information is not commonly used to identify novel biosynthesis genes. Here, we present the genome of the medicinal plant and oxindole monoterpene indole alkaloid (MIA) producer Gelsemium sempervirens (Gelsemiaceae). A gene cluster from Catharanthus roseus, which is utilized at least six enzymatic steps downstream from the last common intermediate shared between the two plant alkaloid types, is found in G. sempervirens, although the corresponding enzymes act on entirely different substrates. This study provides insights into the common genomic context of MIA pathways and is an important milestone in the further elucidation of the Gelsemium oxindole alkaloid pathway.     

Surveillance for the masses: the political and legal landscape of the UK Investigatory Powers Bill

In March 2016, the UK Government put the Investigatory Powers Bill before Parliament. The new law, if enacted, will considerably increase the powers of law enforcement and security services regarding mass data retention, mass surveillance and mass hacking. This raises considerable concerns not just about the content of the Bill and its impact on privacy, but also about the method of its enactment and the ever diminishing parliamentary and judicial scrutiny of surveillance legislation in the UK.     

Solubility of Natural Gas in Diesel Fuel

The solubility of commercially available natural gas in commercially available diesel fuel at room temperature and defined pressure is investigated experimentally. The gas phase is considered to be pure methane. The use of Henry's law to model the solubility is discussed. Solubility is given in terms of the mole fraction and the volumetric mass concentration of dissolved gas and the corresponding Henry's coefficients. The solubility is compared to that of pure methane in pure hexadecane, which is similar to diesel fuel with respect to the mean carbon number.     

Compatibility of the Support System Consisting of Yielding Elements and Shotcrete Lining in Highly Faulted Grounds

The design procedure is made for a mine shaft where permanent underground facilities are interconnected. The highly faulted grounds were identified using empirical and semi-empirical theories. Furthermore, the behavior types are presented. This paper presents excavation and support methods in such ground conditions and the calculations results show that the installation of the yielding elements have an effect on support elements and prevent shotcrete damage during the curing stage. Different numerical analyses carried out showed that, with the yielding elements installed, the total displacements increase but the final axial force reduces, and therefore, the characteristic compressive strength of shotcrete is not exceeded. The calculation results of ground loads and displacements on the designed support system are presented with a 3D numerical geo-mechanical model adopted for highly faulted ground surrounding deeper complex underground structures.