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 .     

Rare-earth free sensitizer in NaLuCrF4:Er upconversion material

Upconversion phosphors are known as a material system that can convert near-infrared light into visible/ultraviolet emissions by sequentially absorbing multiple photons. The studies on upconversion materials often use two rare earth (RE) ions as a sensitizer-activator pair. We investigated the influences on luminescence intensity depending on Cr-doping content (x) of hexagonal NaLu_0.98–xCr_xF₄Er_0.02 (x = 0–0.9) upconversion material by substituting Lu³⁺ ions with Cr³⁺in the absence of Gd³⁺. The change in upconversion luminescence intensity appears with saddle-like shape. We suggest that Cr³⁺ ions play the dual role as a constituent in host lattice and a sensitizer in the upconversion process. Optimal conditions for gaining the strongest upconversion emission correspond to x = 0.3–0.5, where there are effective energy transfers between Cr³⁺ and Er³⁺ ions and CrEr dimers. Apart from these values, the emission intensity decreases rapidly which can be ascribed to the absence of multiple-photon absorption for the case of low Cr³⁺ contents, and to the coupling between Cr³⁺ and/or Er³⁺ ions for the case of high Cr³⁺ contents. Magnetization and electron-spin-resonant measurements were performed to understand the correlation between the optical and magnetic properties.     

Continuation methods for approximate large scale object sequencing

Machine Learning - We propose a set of highly scalable algorithms for the combinatorial data analysis problem of seriating similarity matrices. Seriation consists of finding a permutation of data...     

Overview of Physical and Chemical,Operational Properties of Nitrous Oxide Used as a Propellant for Low-thrust Rocket Engines

The results of a system analysis of the efficiency of nitrous oxide(N_2O) as a propellant component for small space vehicles(SSV) were presented. A criterion for mass efficiency of the SSV propulsion system(PS) is determined. The current global state-of-the-art of SSV PSs is shown. The application field of nitrous oxide in SSV PSs is calculated and mass efficiency of N_2O application is quantitatively determined. An overview of physical and chemical as well as operational properties of nitrous oxide as a promising, non-toxic component of rocket propellant is provided. Main physical and chemical constants of gaseous and liquid nitrous oxide; chemical properties of N_2O, thermal stability of N_2O, catalytic decomposition of N_2O, a mechanism of decomposition of N_2O, catalysts for decomposition of N_2O, ballast additives to N_2O, application of nitrous oxide, nitrous oxide as a rocket propellant, production of nitrous oxide, toxicity of nitrous oxide, fire hazard of N_2O, requirements to equipment when handling N_2O; storage and transportation of N_2O are considered. It is demonstrated that nitrous oxide is a chemical compound meeting the requirements to rocket propellants, including those related to the environmental friendliness of propellants. With 75 references.     

Parameter estimation for a morphochemical reaction-diffusion model of electrochemical pattern formation

The process of electrodeposition can be described in terms of a reaction-diffusion partial differential equation (PDE) system that models the dynamics of the morphology profile and the chemical composition. Here we fit such a model to the different patterns present in a range of electrodeposited and electrochemically modified alloys using PDE constrained optimization. Experiments with simulated data show how the parameter space of the model can be divided into zones corresponding to the different physical patterns by examining the structure of an appropriate cost function. We then use real data to demonstrate how numerical optimization of the cost function can allow the model to fit the rich variety of patterns arising in experiments. The computational technique developed provides a potential tool for tuning experimental parameters to produce desired patterns.     

Universities through the eyes of bibliographic databases: a retroactive growth comparison of Google Scholar,Scopus and Web of Science

Scientometrics - The purpose of this study is to ascertain the suitability of GS’s url-based method as a valid approximation of universities’ academic output measures, taking into...     

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...     

RLPAS: Reinforcement Learning-based Proactive Auto-Scaler for Resource Provisioning in Cloud Environment

Mobile Networks and Applications - Public cloud system offers Infrastructure-as-a-Service (IaaS) to deliver the computational resources on demand. Resource requirements of a cloud environment are...