Team NimbRo at MBZIRC 2017: Fast landing on a moving target and treasure hunting with a team of micro aerial vehicles

The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 has defined ambitious new benchmarks to advance the state‐of‐the‐art in autonomous operation of ground‐based and flying robots. This study covers our approaches to solve the two challenges that involved micro aerial vehicles (MAV). Challenge 1 required reliable target perception, fast trajectory planning, and stable control of an MAV to land on a moving vehicle. Challenge 3 demanded a team of MAVs to perform a search and transportation task, coined “Treasure Hunt,” which required mission planning and multirobot coordination as well as adaptive control to account for the additional object weight. We describe our base MAV setup and the challenge‐specific extensions, cover the camera‐based perception, explain control and trajectory‐planning in detail, and elaborate on mission planning and team coordination. We evaluated our systems in simulation as well as with real‐robot experiments during the competition in Abu Dhabi. With our system, we—as part of the larger team NimbRo—won the MBZIRC Grand Challenge and achieved a third place in both subchallenges involving flying robots.     

Selective voltammetric determination of electroactive neuromodulating species in biological samples using iron(II) phthalocyanine modified multi-wall carbon nanotubes paste electrode

Iron(II) phthalocyanine (FePc) modified multi-wall carbon nanotubes paste electrodes (MWCNTPEs) were used as voltammetric sensors to selectively detect dopamine (DA) in the presence of serotonin (5-HT). The electrochemical behavior of DA at the new modified electrode was investigated using CV. The enhanced current response of DA indicates that FePc modification of the MWCNTPE surface results in a high catalytic activity for the redox reaction of DA. Differential pulse voltammetry was applied in detection of DA and 5-HT at FePc-MWCNTPE. The method parameters were optimized. Detection limit of 2.05 × 10⁻⁷ M was obtained for DA by using the electrocatalytic oxidation signal corresponding to the Fe^II/Fe^III redox process. The separation between the peak potentials of DA and 5-HT is 170 mV which is large enough for the simultaneously, selective determination of the two chemical species in their mixtures. There was no electrochemical response for ascorbic acid (AA) added in the sample. The monoamine neurotransmitter measuring method has been tested in analyzing deproteinized serum samples.     

Extreme simplification and rendering of point sets using algebraic multigrid

We present a novel approach for extreme simplification of point set models, in the context of real-time rendering. Point sets are often rendered using simple point primitives, such as oriented discs. However, this requires using many primitives to render even moderately simple shapes. Often, one wishes to render a simplified model using only a few primitives, thus trading accuracy for simplicity. For this goal, we propose a more complex primitive, called a splat, that is able to approximate larger and more complex surface areas than oriented discs. We construct our primitive by decomposing the model into quasi-flat regions, using an efficient algebraic multigrid algorithm. Next, we encode these regions into splats implemented as planar support polygons textured with color and transparency information and render the splats using a special blending algorithm. Our approach combines the advantages of mesh-less point-based techniques with traditional polygon-based techniques. We demonstrate our method on various models.     

Evolutionary algorithms for continuous-space optimisation

From a global viewpoint, evolutionary algorithms (EAs) working on continuous search-spaces can be regarded as homogeneous Markov chains (MCs) with discrete time and continuous state. We analyse from this viewpoint the (1?+?1)EA on the inclined plane fitness landscape, and derive a closed-form expression for the probability of occupancy of an arbitrary target zone, at an arbitrary iteration of the EA. For the hitting-time of an arbitrary target zone, we provide lower and upper bounds, as well as an asymptotic limit. Discretization leads to an MC with discrete time, whose simple structure is exploited to carry out efficient numerical investigations of the theoretical results obtained. The numerical results thoroughly confirm the theoretical ones, and also suggest various conjectures which go beyond the theory.     

InSAR validation based on GNSS measurements in Bucharest

This research aims to complex validate radar displacement products over Bucharest based on Global Navigation Satellite System or GNSS. Validation was represented by the comparison of the recent TerraSAR-X (TSX) displacement results with field GNSS data. For this purpose, 24 and 27 high-resolution images acquired from the TSX satellite between 2011 and 2014 were processed by Permanent Scatterer Inteferometry (PSI) and Small BASeline Subset (SBAS) – interferometric techniques using synthetic aperture radar (SAR) images. The images were selected from a larger pool of SAR images, after consulting weather databases, which helped eliminate the images acquired under adverse weather conditions. GNSS locations were cross-checked on high-resolution optical images and 21 ground points (including three permanent stations) were selected. All these points were (1) characterized by high coherence on radar images; (2) were on the ground; (3) were situated in large vacant spaces; and (4) far away from radar obstacles such as trees. A major challenge in achieving the research goal was to overcome the lack of permanent stations at the ground level within the area of Bucharest. Instead of permanent stations, our team designed and installed forced centring systems that remained stable over time, eliminating the instalment errors of GNSS receivers. The line-of-site (LOS) components derived from GNSS data have been compared with those of the SAR scatterers closest to the GNSS markers (never coinciding). For each location, the vertical reading was projected in the LOS of the SAR sensor. These readings were compared with the displacement values determined at the locations of permanent scatterers (PSs) within 100 m from the GNSS nodes, by eliminating all scatterers on buildings. The comparison has shown a good agreement.     

Adaptive observer design for discrete time LTV systems

In this paper, the discrete-time exponential forgetting factor observer is specialised for the joint estimation of state and parameters, leading to an adaptive observer in which the decay rates of the estimation errors for the two distinct objects can be quasi-separated. The effectiveness of the observer is demonstrated through numerical simulation.     

A qualitative computational study of mass transfer in upward bubble train flow through square and rectangular mini-channels

In this paper we present a new method for numerical simulation of conjugate mass transfer of a dilute species with resistance in both phases and an arbitrary equilibrium distribution coefficient. The method is based on the volume-of-fluid technique and accounts for the concentration jump at the interface by transforming the discontinuous physical concentration field into a continuous numerical one. The method is validated by several test problems and is used to investigate the mass transfer in upward bubble train flow within square and rectangular channels. Computations are performed for a single flow unit cell and a channel hydraulic diameter of 2 mm. The simulations consider the transfer of a dilute species from the dispersed gas into the continuous liquid phase. Optionally, the mass transfer is accompanied by a first-order homogeneous chemical reaction in the liquid phase or a first-order heterogeneous reaction at the channel walls. The results of this numerical study are qualitative in nature. First, because periodic boundary conditions in axial direction are not only used for the velocity field but also for the concentration field and second, because the species diffusivity in the liquid phase is arbitrarily increased so that the liquid phase Schmidt number is 0.8 and the thickness of the concentration and momentum boundary layer is similar. Two different equilibrium distribution coefficients are considered, one where the mass transfer is from high to low concentration, and one where it is vice versa. The numerical study focuses on the influence of the unit cell length, liquid slug length and channel aspect ratio on mass transfer. It is found that for the exposure times investigated the liquid film between the bubble and the wall is saturated and the mass transfer occurs by the major part through the bubble front and rear so that short unit cells are more efficient for mass transfer. Similar observations are made for the homogeneous reaction and for the heterogeneous reaction when the reaction is slow. In case of a fast heterogeneous reaction and when the main resistance to mass transfer is in the gas phase, it appears that for square channels long unit cells are more efficient, while large aspect ratio rectangular channels are more efficient than square channels, suggesting that for these conditions they might be more appropriate for use in monolithic catalysts.     

Cavitation bubble dynamics in non‐Newtonian fluids

Cavitation phenomena play important roles in many areas of science and engineering. The most interesting effect of the non‐Newtonian properties of the liquid is the reduction of cavitation damage and noise. This article reviews experimental and theoretical efforts to understand such phenomena. Two major areas of research are described, namely the dynamics of cavitation bubbles oscillating in a liquid of infinite extent, and the behavior of bubbles collapsing near rigid walls. POLYM. ENG. SCI., 2009. © 2008 Society of Plastics Engineers