Online world modeling and path planning for an unmanned helicopter

Mission scenarios beyond line of sight or with limited ground control station access require capabilities for autonomous safe navigation and necessitate a continuous extension of existing and potentially outdated information about obstacles. The presented approach is a novel synthesis of techniques for 3D environment perception and global path planning. A locally bounded sensor fusion approach is used to extract sparse obstacles for global incremental path planning in an anytime fashion. During the flight, a stereo camera checks the field of view along the flight path ahead by analyzing depth images. A 3D occupancy grid is built incrementally. To reduce the high data rate and storage demands of grid-type maps, an approximated polygonal world model is created. For a compacted representation, it uses prisms and ground planes. This enables the system to constantly renew and update its knowledge about obstacles. An incremental heuristic path planner uses both a-priori information as well as incremental obstacle updates to assure a collision-free path at any time. Mapping results from flight tests show the functionality of onboard world modeling from real sensor data. Path planning feasibility is demonstrated within a simulation environment considering world model changes inside the vehicle’s field of view.     

Betriebsinformatik und Wirtschaftsinformatik als notwendige anwendungsbezogene Ergänzung einer allgemeinen Informatik – Vorschläge zur Verbesserung der akademischen Ausbildung auf dem Gebiet der automatisierten Datenverarbeitung in der Bundesrepublik Deutschland

Zusammenfassung  Nachdruck eines Aufsatzes aus elektronische datenverarbeitung 11(11)1969:544–548. This article is also available in English via and : Grochla E (2008) Corporate Information Systems Engineering and Business and Information Systems Engineering as a Necessary Application-Oriented Extension of General Computer Science – Proposals for Enhancing Academic Education in the Field of Automated Data Processing in the Federal Republic of Germany. Bus Inf Syst Eng. doi .

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Thermal conductivity of Grafoil from 0.2 to 3 K

The thermal conductivity of compressed exfoliated graphite was measured in the directions parallel (K ) and normal (K ) to the rolling plane, in the temperature range of 0.2–3 K. The temperature dependence was determined in both cases. ForK=aT ^b in the temperature range of 0.2–0.7 K we get values forb of 0.95 forK and 1.6 forK ; in the range 0.7–2 K we get 1.6 forK and 2.1 forK ; and in the range 2–3 K we get 1.9 forK . TheK temperature dependence forT<0.7 K is smaller than what would be expected. ForK , evaluations of lattice and electronic contributions show that below 0.7 K the thermal conductivity is basically electronic. Above 2 K, where results are found in the literature, our data are in good agreement with them.     

Two-dimensional pressure-temperature phase diagram and latent heats of neon adsorbed on exfoliated graphite

A two-dimensional pressure-temperature phase diagram was constructed for neon adsorbed on exfoliated graphite using the heat capacity data obtained in our laboratory for this system. The two-dimensional pressures at the triple and critical points were found to be _t=64×10^–6 N/m and _c=128×10^–6 N/m, respectively. From Clapeyron's equation and assuming an ideal behavior for the two-dimensional gas phase, the latent heat of sublimation was calculated as a function of temperature. The latent heat of vaporization was also calculated at the triple point and consequently the latent heat of fusion was found. The following values were obtained at the triple point:l _s/k=86 K,l _v/k=24 K, andl _f/k=62 K.     

Crystallographic and morphological characteristics of oxidation growth pits in wustite grown at 1200 °C

In situ oxidation of polycrystalline iron at 1200 °C and atm has revealed symmetrical square growth pits in the wustite scale. The pit walls are nominally oriented with the {110} planes of the wustite lattice but are dissociated into macro- and microledges consisting of {100}-type planes. Such growth pits intrude into the wustite scale at the gas/oxide interface, and at the oxide/metal interface small oxide nodules intrude into the metal. After sufficiently long oxidation times at 1200 °C, rate control should shift from oxidant arrival to cation volume diffusion, and pits are then destabilized and a planar morphology is achieved.     

Polychlorierte Biphenyle (PCB) in Lebensmitteln

Zusammenfassung Im Rahmen eines koordinierten Forschungsprogramms des BMFT wurde eine orientierende Studie an möglichst repräsentativen Stichproben durchgeführt. Trotz relativ großer Streubreiten zeichnen sich die Bereiche der wichtigsten Lebensmittelgruppen deutlich voneinander ab mit Mittelwerten um 0,005 /g für fettarme pflanzliche Grundnahrungsmittel, um 0,05 /g für pflanzliche Nahrungsfette, um 0,3 /g für Milch-, Käse und Butterfette, um 0,15 /g für sonstige Nahrungsfette von Landtieren, um 0,03 /g für Hühnereier und um 10 /g für Fischfett. Wichtet man die Gehalte entsprechend der durchschnittlichen Diät in der BRD, so ergibt sich eine tägliche PCB-Aufnahme von rund 29 aus tierischen Fetten und rund 6 aus den übrigen Lebensmitteln. Die Gesamtaufnahme von ca. 35 g pro Tag und capita entspricht etwa dem Wert, der von der WHO als ADI-Wert für HCB (Hexachlorbenzol) in Aussicht genommen wurde.

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Polychlorinated biphenyls (PCB) in foodThe situation in the Federal Republic of Germany

Summary In a coordinated research program of the Federal Ministry of Research and Technology (BMFT), a screening study was carried out with representative samples. In spite of rather large ranges of PCB concentrations, the most important food-stuffs show clearly defined clusters with mean values of approx. 0.005 /g in low fat food components of plant origin such as cereals or potatoes, approx. 0.05 /g in vegetable fats, approx. 0.3 /g in fat from milk, butter and cheese, approx. 0.15 gg/g in animal fat, approx. 0.03 in chicken eggs and approx. 10 /g in fish fat. Considering the mean diet in the FRG, a daily PCB intake of about 29 g from animal fat and of 6 from the other food-stuffs results. The total intake of about 35 g per day and capita is almost the same as the figure conditionally suggested by the WHO as the acceptable daily HCB (hexachlorobenzene) intake.