ARDEA—An MAV with skills for future planetary missions

We introduce a prototype flying platform for planetary exploration: autonomous robot design for extraterrestrial applications (ARDEA). Communication with unmanned missions beyond Earth orbit suffers from time delay, thus a key criterion for robotic exploration is a robot's ability to perform tasks without human intervention. For autonomous operation, all computations should be done on‐board and Global Navigation Satellite System (GNSS) should not be relied on for navigation purposes. Given these objectives ARDEA is equipped with two pairs of wide‐angle stereo cameras and an inertial measurement unit (IMU) for robust visual‐inertial navigation and time‐efficient, omni‐directional 3D mapping. The four cameras cover a $240^{°}$ vertical field of view, enabling the system to operate in confined environments such as caves formed by lava tubes. The captured images are split into several pinhole cameras, which are used for simultaneously running visual odometries. The stereo output is used for simultaneous localization and mapping, 3D map generation and collision‐free motion planning. To operate the vehicle efficiently for a variety of missions, ARDEA's capabilities have been modularized into skills which can be assembled to fulfill a mission's objectives. These skills are defined generically so that they are independent of the robot configuration, making the approach suitable for different heterogeneous robotic teams. The diverse skill set also makes the micro aerial vehicle (MAV) useful for any task where autonomous exploration is needed. For example terrestrial search and rescue missions where visual navigation in GNSS‐denied indoor environments is crucial, such as partially collapsed man‐made structures like buildings or tunnels. We have demonstrated the robustness of our system in indoor and outdoor field tests.     

Structure–Transport Correlation Reveals Anisotropic Charge Transport in Coupled PbS Nanocrystal Superlattices

The assembly of colloidal semiconductive nanocrystals into highly ordered superlattices predicts novel structure-related properties by design. However, those structure–property relationships, such as charge transport depending on the structure or even directions of the superlattice, have remained unrevealed so far. Here, electric transport measurements and X-ray nanodiffraction are performed on self-assembled lead sulfide nanocrystal superlattices to investigate direction-dependent charge carrier transport in microscopic domains of these materials. By angular X-ray cross-correlation analysis, the structure and orientation of individual superlattices is determined, which are directly correlated with the electronic properties of the same microdomains. By that, strong evidence for the effect of superlattice crystallinity on the electric conductivity is found. Further, anisotropic charge transport in highly ordered monocrystalline domains is revealed, which is attributed to the dominant effect of shortest interparticle distance. This implies that transport anisotropy should be a general feature of weakly coupled nanocrystal superlattices.     

A Probabilistic Steering Parameter Model for Deterministic Motion Planning Algorithms

The simulation of two‐dimensional human locomotion in a bird's eye perspective is a key technology for various domains to realistically predict walk paths. The generated trajectories, however, are frequently deviating from reality due to the usage of simplifying assumptions. For instance, common deterministic motion planning algorithms predominantly utilize a set of static steering parameters (e.g. maximum acceleration or velocity of the agent) to simulate the walking behaviour of a person. This procedure neglects important influence factors, which have a significant impact on the spatio‐temporal characteristics of the finally resulting motion—such as the operator's physical conditions or the probabilistic nature of the human locomotor system. In overcome this drawback, this paper presents an approach to derive probabilistic motion models from a database of captured human motions. Although being initially designed for industrial purposes, this method can be applied to a wide range of use cases while considering an arbitrary number of dependencies (input) and steering parameters (output). To underline its applicability, a probabilistic steering parameter model is implemented, which models velocity, angular velocity and acceleration as a function of the travel distances, path curvature and height of a respective person. Finally, the technical performance and advantages of this model are demonstrated within an evaluation.     

Assessment of aging of Zr---2.5Nb pressure tubes in CANDU reactors

In modern CANDU^™ nuclear generating stations, pressure tubes of cold-worked Zr---2.5Nb material are used in the reactor core to contain the fuel bundles and the heavy water (D₂O) coolant. The pressure tubes operate at an internal pressure of about 10 MPa and temperatures ranging from about 250°C at the inlet to about 310°C at the outlet. Over the expected 30 year lifetime of these tubes they will be subjected to a total fluence of approximately 3 × 10²⁶ n m⁻². In addition, these tubes gradually pick up deuterium as a result of a slow corrosion process. When the hydrogen plus deuterium concentration in the tubes exceeds the hydrogen-deuterium solvus, the tubes are susceptible to a crack initiation and propagation process called delayed hydride cracking (DHC). If undetected, such a cracking mechanism could lead to unstable rupture of the pressure tube. A fitness-for-service methodology has been developed which assures that this will not happen. A key element in this methodology is the acquisition of data and understanding—from surveillance and accelerated aging testing—to assess and predict changes in the DHC initiation threshold, the DHC velocity and the fracture toughness (critical crack length) as a function of service time. The most recent results of the DHC and fracture toughness properties of CANDU pressure tubes as a function of time in service are presented and used to suggest procedures for mitigation and life extension of the pressure tubes.     

Effect of Heat Treatments on the Wetting Behavior of Bismuth-Rich Intergranular Phases in ZnO:Bi:Co Varistors

The effect of annealing on the wetting behavior of Bi-rich intergranular phases in ZnO:Bi:Co varistors was studied. The intergranular phase exhibits temperature-dependent grain-boundary wetting, with an average equilibrium dihedral angle of 0° at 1140°C and over 55° at 610°C. The temperature-dependent wetting may be related to the temperature dependence of the ZnO concentration in the Bi₂O₃ liquid phase. The effect of the intergranular phase distribation on the electrical properties of ZnO varistors is discussed.     

Prognostic value of the pattern electroretinogram in cases of tumors affecting the optic pathway

The crystal structures of RCC1 and the Sec7 domain of human Arno, nucleotide exchange factors for the Ras-related GTPases Ran and ARF, reveal two very different folds, the former a seven-bladed beta-propeller, the latter a capped right-handed superhelix. Both are also unrelated to the folds of Mss4 and elongation factor Ts, nucleotide exchange factors for Rab and elongation factor Tu.