Autonomous landing at unprepared sites by a full-scale helicopter

Helicopters are valuable since they can land at unprepared sites; however, current unmanned helicopters are unable to select or validate landing zones (LZs) and approach paths. For operation in unknown terrain it is necessary to assess the safety of a LZ. In this paper, we describe a lidar-based perception system that enables a full-scale autonomous helicopter to identify and land in previously unmapped terrain with no human input.We describe the problem, real-time algorithms, perception hardware, and results. Our approach has extended the state of the art in terrain assessment by incorporating not only plane fitting, but by also considering factors such as terrain/skid interaction, rotor and tail clearance, wind direction, clear approach/abort paths, and ground paths.In results from urban and natural environments we were able to successfully classify LZs from point cloud maps. We also present results from 8 successful landing experiments with varying ground clutter and approach directions. The helicopter selected its own landing site, approaches, and then proceeds to land. To our knowledge, these experiments were the first demonstration of a full-scale autonomous helicopter that selected its own landing zones and landed.     

Maximum margin Bayesian network classifiers

We present a maximum margin parameter learning algorithm for Bayesian network classifiers using a conjugate gradient (CG) method for optimization. In contrast to previous approaches, we maintain the normalization constraints on the parameters of the Bayesian network during optimization, i.e., the probabilistic interpretation of the model is not lost. This enables us to handle missing features in discriminatively optimized Bayesian networks. In experiments, we compare the classification performance of maximum margin parameter learning to conditional likelihood and maximum likelihood learning approaches. Discriminative parameter learning significantly outperforms generative maximum likelihood estimation for naive Bayes and tree augmented naive Bayes structures on all considered data sets. Furthermore, maximizing the margin dominates the conditional likelihood approach in terms of classification performance in most cases. We provide results for a recently proposed maximum margin optimization approach based on convex relaxation. While the classification results are highly similar, our CG-based optimization is computationally up to orders of magnitude faster. Margin-optimized Bayesian network classifiers achieve classification performance comparable to support vector machines (SVMs) using fewer parameters. Moreover, we show that unanticipated missing feature values during classification can be easily processed by discriminatively optimized Bayesian network classifiers, a case where discriminative classifiers usually require mechanisms to complete unknown feature values in the data first.     

Numerical simulation of hypervelocity impact on CFRP/Al HC SP spacecraft structures causing penetration and fragment ejection

A representative carbon fiber reinforced plastic/aluminum honeycomb sandwich panel (CFRP/Al HC SP) spacecraft structure has been modeled in the hydrocode AUTODYN using the state-of-the-art ADAMMO material model [Riedel W, Harwick W, White D, Clegg R. Advanced material damage models for numerical simulation codes. ESA CR(P) 4397, 2003] to study the performance of the structure during impact events that cause perforation and fragment ejection. A new procedure combining a series of existing theoretical methods has been developed and applied to derive a full set of coarse material data. The data set has been implemented in AUTODYN, and the results of the numerical simulation have been compared to experimental impact test data. For impact tests performed near the structural ballistic limit, quantitatively accurate results were obtained over a range of impact velocities and angles. A further increase in the projectile size resulted in significant destruction of the sandwich panel front face-sheet and diversion from the experimental damage measurements. Inspection of the numerical model has shown non-localized propagation of inter-laminar delaminations, possibly caused by an under-prediction of the laminate dynamic inter-laminar tensile strength. The effects of the delamination propagation occur over an extended time scale and were not found to affect the state and trends of the fragment cloud ejected into the satellite interior. Accordingly, experimental trends of fragment cloud dispersion have been qualitatively reproduced.     

A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots

This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from data, along with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach.     

Regional Process Modeling for Design for Environment

This research is an effort towards providing higher level Design for Environment (DFE) tools for a broad industrial region. Issues ranging from the levels immediately above existing design tools, to the envisioned highest level for a broad geographical region are discussed. A tool for the regional planning of the DFE activities is proposed, considering a model construction based on material flows across the industry. The Multi-Lifecycle approach is supported by organizing the input/output flows for industries, potentially utilizing waste material, side products and recycling. Capitalizing on the conceptual integration of the design and process activities, an Abstract Design Environment is used for the design of the basically process oriented material flow tool. Within the context, the relations among design, process and flow-modeling concepts are discussed.     

Bayesian Landmark Learning for Mobile Robot Localization

To operate successfully in indoor environments, mobile robots must be able to localize themselves. Most current localization algorithms lack flexibility, autonomy, and often optimality, since they rely on a human to determine what aspects of the sensor data to use in localization (e.g., what landmarks to use). This paper describes a learning algorithm, called BaLL, that enables mobile robots to learn what features/landmarks are best suited for localization, and also to train artificial neural networks for extracting them from the sensor data. A rigorous Bayesian analysis of probabilistic localization is presented, which produces a rational argument for evaluating features, for selecting them optimally, and for training the networks that approximate the optimal solution. In a systematic experimental study, BaLL outperforms two other recent approaches to mobile robot localization.     

Mapping of continuous floristic gradients in grasslands using hyperspectral imagery

Transitions between plant species assemblages are often continuous with the form of the transition dependent on the ‘slope’ of environmental gradients and on the style of self-organization in vegetation. Image segmentation can present misleading or even erroneous results if applied to continuous spatial changes in vegetation. Even methods that allow for multiple-class memberships of pixels presuppose the existence of ideal types of species assemblages that constitute mixtures—an assumption that does not fit the case of continua where any section of a gradient is as ‘pure’ as any other section like in modulations of grassland species composition.Thus, we attempted to spatially model floristic gradients in Bavarian meadows by extrapolating axes of an unconstrained ordination of species data. The models were based on high-resolution hyperspectral airborne imagery. We further modelled the distribution of plant functional response types (Ellenberg indicator values) and the cover values of selected species. The models were made with partial least squares (PLS) regression analyses. The realistic utility of the regression models was evaluated by full leave-one-out cross-validation.The modelled floristic gradients showed a considerable agreement with ground-based observations of floristic gradients (R²=0.71 and 0.66 for the first two axes of ordination). Apart from mapping the most important continuous floristic differences, we mapped gradients in the appearance of plant functional response groups as represented by averaged Ellenberg indicator values for soil pH (R²=0.76), water supply (R²=0.66) and nutrient supply (R²=0.75), while models for the cover of single species were weak.Compared to many other vegetation attributes, plant species composition is difficult to detect with remote sensing techniques. This is partly caused by a lack of compatibility between methods of vegetation ecology and remote sensing. We believe that the present study has the potential to increase compatibility as neither spectral nor vegetation information gets lost by a classifying step.     

Selecting a Cost-Effective Test Case Prioritization Technique

Regression testing is an expensive testing process used to validate modified software and detect whether new faults have been introduced into previously tested code. To reduce the cost of regression testing, software testers may prioritize their test cases so that those which are more important, by some measure, are run earlier in the regression testing process. One goal of prioritization is to increase a test suite's rate of fault detection. Previous empirical studies have shown that several prioritization techniques can significantly improve rate of fault detection, but these studies have also shown that the effectiveness of these techniques varies considerably across various attributes of the program, test suites, and modifications being considered. This variation makes it difficult for a practitioner to choose an appropriate prioritization technique for a given testing scenario. To address this problem, we analyze the fault detection rates that result from applying several different prioritization techniques to several programs and modified versions. The results of our analyses provide insights into which types of prioritization techniques are and are not appropriate under specific testing scenarios, and the conditions under which they are or are not appropriate. Our analysis approach can also be used by other researchers or practitioners to determine the prioritization techniques appropriate to other workloads.     

A 2 MV Van de Graaff accelerator as a tool for planetary and impact physics research

Investigating the dynamical and physical properties of cosmic dust can reveal a great deal of information about both the dust and its many sources. Over recent years, several spacecraft (e.g., Cassini, Stardust, Galileo, and Ulysses) have successfully characterised interstellar, interplanetary, and circumplanetary dust using a variety of techniques, including in situ analyses and sample return. Charge, mass, and velocity measurements of the dust are performed either directly (induced charge signals) or indirectly (mass and velocity from impact ionisation signals or crater morphology) and constrain the dynamical parameters of the dust grains. Dust compositional information may be obtained via either time-of-flight mass spectrometry of the impact plasma or direct sample return. The accurate and reliable interpretation of collected spacecraft data requires a comprehensive programme of terrestrial instrument calibration. This process involves accelerating suitable solar system analogue dust particles to hypervelocity speeds in the laboratory, an activity performed at the Max Planck Institut fu?r Kernphysik in Heidelberg, Germany. Here, a 2 MV Van de Graaff accelerator electrostatically accelerates charged micron and submicron-sized dust particles to speeds up to 80 km s(-1). Recent advances in dust production and processing have allowed solar system analogue dust particles (silicates and other minerals) to be coated with a thin conductive shell, enabling them to be charged and accelerated. Refinements and upgrades to the beam line instrumentation and electronics now allow for the reliable selection of particles at velocities of 1-80 km s(-1) and with diameters of between 0.05 μm and 5 μm. This ability to select particles for subsequent impact studies based on their charges, masses, or velocities is provided by a particle selection unit (PSU). The PSU contains a field programmable gate array, capable of monitoring in real time the particles' speeds and charges, and is controlled remotely by a custom, platform independent, software package. The new control instrumentation and electronics, together with the wide range of accelerable particle types, allow the controlled investigation of hypervelocity impact phenomena across a hitherto unobtainable range of impact parameters.