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.     

Enhanced antibacterial effect of silver nanoparticles obtained by electrochemical synthesis in poly(amide-hydroxyurethane) media

In the present study, we report enhanced antimicrobial properties of 29 and 23 nm silver nanoparticles (Ag NPs) obtained by electrochemical synthesis in poly(amide-hydroxyurethane) media. Antibacterial activity assessed by disk diffusion method indicates that silver nanoparticles produced inhibition zones for both Escherichia coli and Staphylococcus aureus depending on silver concentration. The bacterial growth curve performed in the presence of silver nanoparticles showed a stronger antibacterial effect at lower concentrations than those described in the earlier reports. The effect was both dose and size dependent and was more pronounced against Gram negative bacteria than Gram positive one. The smallest Ag NPs used had a bactericidal effect resulting in killing E. coli cells. Scanning electron microscopy analysis indicated major damage and morphology changes of the silver nanoparticles treated bacterial cells. The major mechanism responsible for the antibacterial effect probably consists in clusters formation and nanoparticles anchorage to the bacterial cell surface.     

When do procedural fairness and outcome fairness interact to influence employees’ work attitudes and behaviors? The moderating effect of uncertainty.

Prior research has shown that procedural fairness interacts with outcome fairness to influence employees’ work attitudes (e.g., organizational commitment) and behaviors (e.g., job performance, organizational citizenship behavior), such that employees’ tendencies to respond more positively to higher procedural fairness are stronger when outcome fairness is relatively low. In the present studies, we posited that people’s uncertainty about their standing as organizational members would have a moderating influence on this interactive relationship between procedural fairness and outcome fairness, in that the interactive relationship was expected to be more pronounced when uncertainty was high. Using different operationalizations of uncertainty of standing (i.e., length of tenure as a proxy, along with self-reports and coworkers’ reports), we found support for this hypothesis in 4 field studies spanning 3 different countries. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

The role of authority power in explaining procedural fairness effects.

Building on fairness heuristic theory, fairness theory, and trust development models, we argue that unfairly enacted procedures decrease followers' trust in the authority particularly when authorities have high power over their followers. Moreover, we expected trust to mediate procedural fairness effects on followers' attitudes (authorities' legitimacy and charisma attributed to authorities) and organizational citizenship behavior. Procedural fairness effects on these variables, as mediated by trust, should therefore also be stronger when authority power is high. The results of a single- and multisource field study and a laboratory experiment supported these predictions. These studies support the role of authority power as a theoretically and practically relevant moderator of procedural fairness effects and show that its effectiveness is explained through trust in authorities. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Sampling Archimedean copulas

The challenge of efficiently sampling exchangeable and nested Archimedean copulas is addressed. Specific focus is put on large dimensions, where methods involving generator derivatives are not applicable. Additionally, new conditions under which Archimedean copulas can be mixed to construct nested Archimedean copulas are presented. Moreover, for some Archimedean families, direct sampling algorithms are given. For other families, sampling algorithms based on numerical inversion of Laplace transforms are suggested. For this purpose, the Fixed Talbot, Gaver Stehfest, Gaver Wynn rho, and Laguerre series algorithm are compared in terms of precision and runtime. Examples are given, including both exchangeable and nested Archimedean copulas.     

Deconvolution Combined with Digital Colocalization Analysis to Study the Spatial Distribution of Tight and Adherens Junction Proteins

The relative spatial distribution of proteins was investigated with immunofluorescent methods by confocal laser scanning microscopy and digital image restoration. For confocal data sets recorded with a voxel dimension of 50 × 50 × 150 nm noise and blur can be decreased and the resolution in the z-axis increased by applying the maximum likelihood estimation algorithm of the Huygens software. This approach was successfully applied to the study of tight and adherens junctions in relation to the actin cytoskeleton in Madin Darby Canine Kidney cells. Colocalization analysis was done for pairs of probes using a histogram-based method. F-actin, occludin, zonula occludens 1, and E-cadherin were included in the study. Double-labeled preparations were used. The combination of deconvolution with the colocalization of confocal data sets offers a powerful tool to investigate the spatial arrangement of proteins.     

Thermal and electrical behavior of polyimide/silica hybrid thin films

Silica‐containing polyimide films were prepared by sol‐gel technique using a poly(amic acid) and tetraethoxysilane. The poly(amic acid) was synthesized by solution polycondensation reaction of 4,4′‐oxydiphthalic anhydride with 2,6‐bis(3‐aminophenoxy)benzene and an aminosilane coupling agent, 3‐aminopropyltriethoxysilane. The properties of these films, such as water vapors sorption capacity, dynamic contact angles and contact angle hysteresis, thermal, and electrical behavior have been evaluated with respect to their structure. The polymer films exhibited good thermal stability having the initial decomposition temperature above 450°C, glass transition temperature in the range of 223?228°C, and low‐dielectric constant in the range of 2.64?3.16. Two subglass transitions, γ and β, were evidenced by dynamic mechanical analysis and dielectric spectroscopy. The surface morphology and the roughness were investigated by atomic force microscopy and scanning electron microscopy. POLYM. ENG. SCI., 2010. © 2009 Society of Plastics Engineers     

Increase of regression speed of combustion through oxidizer doping

This paper presents an innovative method to increase the regression speed of a solid fuel grain by using oxidizer doping. The results obtained on a propulsion application showing the performance parameters as an output of a numerical model are provided. Two models are given that predict the regression speed increase for embedding wires and for oxidizer doping with a factor of ～2 to 3. Also, it is shown that this increase of the regression speed by using a low oxidizer doping percentage, which is based on the assumption that at a higher doping rate the combustion instabilities, can lead to detonations. Next, a thermochemical model for the combustion within the oxidizer doping model is afforded. For this model, the burn is assumed to take place around the surface of each of the oxidizer particles, being composed of two different burning processes: one is the burning on the surface of the solid fuel grain and the other is the burning between the solid fuel and the solid oxidizer. For a non-doped fuel grain, the burning takes place only on the surface of the fuel grain. Finally, a potential application of such propulsion units to small satellite launchers is presented, and a case study of such a vehicle intended to place a 50 kg payload on a low earth orbit (300 to 500 km altitude) is described. The modelling proposed is based on the assumption that the use of solid methane makes this launcher environmentally friendly.     

Electrochemical characterization of electrolytes for lithium-ion batteries based on lithium difluoromono(oxalato)borate

The salt lithium difluoromono(oxalato)borate (LiDFOB) showed some promising results for lithium-ion-cells. It was synthesized via a new synthetic route that avoids chloride impurities. Here we report the properties of its solutions (solvent blend ethylene carbonate/diethyl carbonate (3:7, mass ratio), including its conductivity, cationic transference number, hydrolysis, Al-current collector corrosion-protection ability and its cycling performance with some electrode materials. Some Al-corrosion studies were also performed with the help of our recently developed computer controlled impedance scanning electrochemical quartz crystal microbalance (EQCM) that proofed to be a useful tool for battery material investigations.