A lightweight autonomous MAV for indoor search and rescue

Micro Aerial Vehicles (MAVs) have great potentials to be applied for indoor search and rescue missions. In this paper, we propose a modular lightweight design of an autonomous MAV with integrated hardware and software. The MAV is equipped with the 2D laser scanner, camera, mission computer and flight controller, running all the computation onboard in real time. The onboard perception system includes a laser‐based SLAM module and a custom‐designed visual detection module. A dual Kalman filter design provides robust state estimation by multiple sensor fusion. Specifically, the fusion module provides robust altitude measurement in the circumstance of surface changing. In addition, indoor‐outdoor transition is explicitly handled by the fusion module. In order to efficiently navigate through obstacles and adapt to multiple tasks, a task tree‐based mission planning method is seamlessly integrated with path planning and control modules. The MAV is capable of searching and rescuing victims from unknown indoor environments effectively. It was validated by our award‐winning performance at the 2017 International Micro Air Vehicle Competition (IMAV 2017), held in Toulouse, France. The performance video is available on https://youtu.be/8H19ppS_VXM .     

Context-Based Path Prediction for Targets with Switching Dynamics

International Journal of Computer Vision - Anticipating future situations from streaming sensor data is a key perception challenge for mobile robotics and automated vehicles. We address the problem...     

Uncertainty of Analytic Measurements: Classical and New Approaches to Estimation

Measurement Techniques - A comparative analysis of the results of estimation of measurement uncertainty is conducted. The results are obtained by a method described in the Handbook on the...     

Evaluation of Intellectual Property Objects in the Nanoindustry Field

Russian Microelectronics - The recently developed nanomaterials and their production technologies as intellectual property objects (IPOs) are considered. The role of the informational-analytical...     

A Light Weight Secure Communication Scheme for Wireless Sensor Networks

Wireless Personal Communications - The majority of security systems for wireless sensor networks are based on symmetric encryption. The main open issue for these approaches concerns the...     

Characterization of Aluminum Foam Impact Response

Strength of Materials - The paper addresses the investigation of high-strain rate compressive behavior of Al foams subjected to impact at the intermediate striking velocity ranged from 40 to...     

Damage mechanism at different transpassive potentials of solution-annealed 316 and 316l stainless steels

Electrochemical impedance spectroscopy (EIS), anodic polarization and scanning electron microscopy techniques were used to investigate the damage mechanism in the transpassive potential region of AISI ...     

Potentiometric sensors with plastized poly(vinyl chloride) membranes selective to penicillin antibiotics: Properties and applications

Potentiometric sensors with plasticized poly(vinyl chloride) membranes based on β-lactam–tetraalkylammonium ion associates sensitive to penicillin antibiotics are proposed. The physicochemical characteristics (solubility product constants and dissociation constants) of active membrane components and the electrode, transport, and selective properties of the membranes of liquidand solid-contact sensors have been studied. The quantitative characteristics of membrane transport (penetrability, ion flux, and transport rate) have been evaluated. The main charge carriers in the membranes and at the membrane/solution interface have been determined from the membrane transport characteristics. The potentiometric sensors are shown to be applicable to the determination of penicillin antibiotics in biological fluids (blood serum and oral fluid) from patients with urinary tract infection.