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.     

A comparative study of direct and indirect evaluation of piezoelectric properties of electrophoreticaly deposited (Ba,Ca) (Zr,Ti)O3 lead-free piezoceramics

The development and optimisation of piezoceramics are targeted usually to enhance their piezoelectric properties evaluated by both the direct or indirect measurement methods. The presented work aims to elaborate on the correlation of one direct (Berlincourt) and two indirect (convert and field-dependent) piezoelectric measurement methods on various material states. The role of the ceramic powder treatment by ball milling and electrophoretic deposition (EPD) technique on the determined electric properties as well as basic physical and mechanical properties of (Ba_0.85Ca_0.15) (Zr_0.1Ti_0.9)O₃ ceramics (BCZT) was investigated. It was found that the EPD technologically supported by milling allows obtaining thick and dense deposits (>2 mm). After sintering, the BCZT ceramics with a relative density of >95%, hardness in the range of 2.3–2.9 GPa and piezoelectric coefficients of d₃₃* = 940 pm/V, d_33(E=0) = 427 pm/V and d₃₃ = 364 pC/N can be achieved. Reported results also suggest that indirect (field-dependent) and direct (Berlincourt) measurements of the piezoelectric coefficients can be comparable at optimal poling conditions.     

Improved photon management in a photoelectrochemical cell with Nd-modified TiO2 thin film photoanode

Photon management involving particularly an up-conversion process is proposed as a relatively novel strategy for improving the efficiency of hydrogen generation in photoelectrochemical cells (PEC) with wide-band gap photoanodes. Optically active photoanode has been constructed by electrodeposition of titanium dioxide nanopowders containing Nd³⁺ ions, synthesized via a sol-gel method, onto ITO/TiO₂(thin film) substrates. Thin films of TiO₂ have been deposited by means of RF magnetron sputtering in an ultra-high-vacuum system. X-ray diffraction, scanning electron microscopy, UV-VIS-NIR spectrophotometry, and photoluminescence have been applied to assess the properties of photoanodes. In experiments involving photon-assisted water splitting, an external up-converter containing Yb³⁺/Er³⁺ rare-earth ions has been used. Photocurrent as a function of voltage (V_B) under illumination with white light is relatively high (280 μA at V_B = 0 V) for pure TiO₂ thin films and it is not affected by the electrodeposition of TiO₂:Nd³⁺ powders. NIR-driven up-conversion with laser excitation at λ = 980 nm has been found responsible for a 13-fold increase in photocurrent at V_B = 0 V in the modified PEC configuration.     

Liquid Phase CO2-Analytics for Standardized Mass Transfer Characterization in Packed Columns

Mass transfer parameters are necessary for the design of absorption and desorption processes in packed columns. To determine the effective interfacial area and liquid side mass transfer parameters, CO₂ absorption and desorption are frequently used. Reliable analytics for concentration determination are essential to obtain correct results. In this work two methods of CO₂ liquid phase analysis are compared: first, the back titration of unreacted NaOH after prior precipitation of the bound CO₂; secondly, the inorganic carbon analysis with a commercial inorganic carbon analyzer.     

Distribution and identification of culturable airborne microorganisms in a Swiss milk processing facility

Airborne communities (mainly bacteria) were sampled and characterized (concentration levels and diversity) at 1 outdoor and 6 indoor sites within a Swiss dairy production facility. Air samples were collected on 2 sampling dates in different seasons, one in February and one in July 2012 using impaction bioaerosol samplers. After cultivation, isolates were identified by mass spectrometry (matrix-assisted laser desorption/ionization-time-of-flight) and molecular (sequencing of 16S rRNA and rpoB genes) methods. In general, total airborne particle loads and total bacterial counts were higher in winter than in summer, but remained constant within each indoor sampling site at both sampling times (February and July). Bacterial numbers were generally very low (<100 cfu/m³ of air) during the different steps of milk powder production. Elevated bacterial concentrations (with mean values of 391 ± 142 and 179 ± 33 cfu/m³ of air during winter and summer sampling, respectively; n = 15) occurred mainly in the “logistics area,” where products in closed tins are packed in secondary packaging material and prepared for shipping. However, total bacterial counts at the outdoor site varied, with a 5- to 6-fold higher concentration observed in winter compared with summer. Twenty-five gram-positive and gram-negative genera were identified as part of the airborne microflora, with Bacillus and Staphylococcus being the most frequent genera identified. Overall, the culturable microflora community showed a composition typical and representative for the specific location. Bacterial counts were highly correlated with total airborne particles in the size range 1 to 5 µm, indicating that a simple surveillance system based upon counting of airborne particles could be implemented. The data generated in this study could be used to evaluate the effectiveness of the dairy plant’s sanitation program and to identify potential sources of airborne contamination, resulting in increased food safety.     

Boolean-based fractional order SMC for switching systems: application to a DC-DC buck converter

The combination of sliding mode control and fractional order control (FOC) has received a considerable attention in the last years due to the advances and effectiveness of FOC solving robust control problems. This paper collects different methods to apply FOC in sliding mode problems through the use of fractional order surfaces and proposes a direct boolean control (BC) strategy based on this kind of surfaces. The application of BC is novel and takes advantage of avoiding the use of PWM. Simulation results for a DC-DC buck converter application are given to show the goodness of the proposed approach.     

Magnetic field-driven induction of ZENK in the trigeminal system of pigeons (Columba livia)

Magnetoreception remains one of the few unsolved mysteries in sensory biology. The upper beak, which is innervated by the ophthalmic branch of the trigeminal nerve (V1), has been suggested to contain magnetic sensors based on ferromagnetic structures. Recently, its existence in pigeons has been seriously challenged by studies suggesting that the previously described iron-accumulations are macrophages, not magnetosensitive nerve endings. This raised the fundamental question of whether V1 is involved in magnetoreception in pigeons at all. We exposed pigeons to either a constantly changing magnetic field (CMF), to a zero magnetic field providing no magnetic information, or to CMF conditions after V1 was cut bilaterally. Using immediate early genes as a marker of neuronal responsiveness, we report that the trigeminal brainstem nuclei of pigeons, which receive V1 input, are activated under CMF conditions and that this neuronal activation disappears if the magnetic stimuli are removed or if V1 is cut. Our data suggest that the trigeminal system in pigeons is involved in processing magnetic field information and that V1 transmits this information from currently unknown, V1-associated magnetosensors to the brain.     

Multiplex real-time PCR Method for the detection and quantification of DNA from the four transgenic soy traits DP-356043-5, DP-305423-1, MON 87701, and BPS-CV127-9 and lectin

According to the release of authorization, several new transgenic soy crops are expected to be present in the harvest of soy beans. In contrast to earlier times, methods for the detection of these transgenic crops are available already in advance. However, these methods are mainly still inefficient single real-time PCR methods. To increase the efficiency of product control, a multiplex quantitative real-time PCR system was developed and characterized for the four new transgenic soy traits DP-356043-5, DP-305423-1, MON 87701 and BPS-CV127-9. It showed amplification efficiency, correlation and sensitivity similar to the single PCR systems applied therein. To evaluate the robustness, an appropriate testing scheme was developed and applied for the first time on this multiplex real-time PCR system. It showed the robust amplification of all analytes also in case where conditions were varied. This system allows relative multiplex quantification and/or delta–delta Ct method quantification and proofed the applicability in routine.