Evolving Philosophies on Autonomous Obstacle/Collision Avoidance of Unmanned Aerial Vehicles

Much of the benefits of deploying unmanned aerial vehicles can be derived from autonomous missions. For such missions, however, sense-and-avoid capability (i.e., the ability to detect potential collisions and avoid them) is a critical requirement. Collision avoidance can be broadly classified into global and local path-planning algorithms, both of which need to be addressed in a successful mission. Whereas global path planning (which is mainly done offline) broadly lays out a path that reaches the goal point, local collision-avoidance algorithms, which are usually fast, reactive, and carried out online, ensure safety of the vehicle from unexpected and unforeseen obstacles/collisions. Even though many techniques for both global and local collision avoidance have been proposed in the recent literature, there is a great interest around the globe to solve this important problem comprehensively and efficiently and such techniques are still evolving. This paper presents a brief overview of a few promising and evolving ideas on collision avoidance for unmanned aerial vehicles, with a preferential bias toward local collision avoidance.

An appraisal of electric automobile power sources

Road transportation, as an important requirement of modern society, is presently hindered by restrictions in emission legislations as well as the availability of petroleum fuels, and as a consequence, the fuel cost. For nearly 270 years, we burned our fossil cache and have come to within a generation of exhausting the liquid part of it. Besides, to reduce the greenhouse gases, and to obey the environmental laws of most countries, it would be necessary to replace a significant number of the petroleum-fueled internal-combustion-engine vehicles (ICEVs) with electric cars in the near future. In this article, we briefly describe the merits and demerits of various proposed electrochemical systems for electric cars, namely the storage batteries, fuel cells and electrochemical supercapacitors, and determine the power and energy requirements of a modern car. We conclude that a viable electric car could be operated with a 50 kW polymer-electrolyte fuel cell stack to provide power for cruising and climbing, coupled in parallel with a 30 kW supercapacitor and/or battery bank to deliver additional short-term burst-power during acceleration.

A comparative study of Pt/CeO2 catalysts for catalytic partial oxidation of methane to syngas for application in fuel cell electric vehicles

In the framework of a project aimed at developing a reliable hydrogen generator for mobile polymer electrolyte fuel cells (PEFCs), particular emphasis has been addressed to the analysis of catalysts able to assure high activity and stability in transient operations (frequent start-up and shut-down cycles). In this paper, the catalytic performance of 1 at.% Pt/ceria samples prepared by coprecipitation, impregnation and combustion, has been evaluated in the partial oxidation of methane. Methane conversion and hydrogen selectivity of 96 and 99%, respectively, associated with high stability during 100h of reaction under operative conditions (start-up and shut-down cycles), have been obtained. (C) 2002 Elsevier Science B.V. All rights reserved.

The promise of fuel cell-based automobiles

Fuel cell-based automobiles have gained attention in the last few years due to growing public concern about urban air pollution and consequent environmental problems. From an analysis of the power and energy requirements of a modern car, it is estimated that a base sustainable power of ca. 50 kW supplemented with short bursts up to 80 kW will suffice in most driving requirements. The energy demand depends greatly on driving characteristics but under normal usage is expected to be 200 Wh/km. The advantages and disadvantages of candidate fuel-cell systems and various fuels are considered together with the issue of whether the fuel should be converted directly in the fuel cell or should be reformed to hydrogen onboard the vehicle. For fuel cell vehicles to compete successfully with conventional internal-combustion engine vehicles, it appears that direct conversion fuel cells using probably hydrogen, but possibly methanol, are the only realistic contenders for road transportation applications. Among the available fuel cell technologies, polymer-electrolyte fuel cells directly fueled with hydrogen appear to be the best option for powering fuel cell vehicles as there is every prospect that these will exceed the performance of the internal-combustion engine vehicles but for their first cost. A target cost of $ 50/kW would be mandatory to make polymer-electrolyte fuel cells competitive with the internal combustion engines and can only be achieved with design changes that would substantially reduce the quantity of materials used. At present, prominent car manufacturers are deploying important research and development efforts to develop fuel cell vehicles and are projecting to start production by 2005.

Energy-insensitive Guidance of Solid Motor Propelled Long Range Flight Vehicles Using MPSP and Dynamic Inversion

A energy-insensitive explicit guidance design is proposed in this paper by appending newlydeveloped nonlinear model predictive static programming technique with dynamic inversion, which render a closed form solution of the necessary guidance command update. The closed form nature of the proposed optimal guidance scheme suppressed the computational difficulties, and facilitate realtime solution. The guidance law is successfully verified in a solid motor propelled long range flight vehicle, for which developing an effective guidance law is more difficult as compared to a liquid engine propelled vehicle, mainly because of the absence of thrust cutoff facility. The scheme guides the vehicle appropriately so that it completes the mission within a tight error bound assuming that the starting point of the second stage to be a deterministic point beyond the atmosphere. The simulation results demonstrate its ability to intercept the target, even with an uncertainty of greater than 10% in the burnout time

A Hybrid Energy-insensitive Explicit Guidance Scheme for Long Range Flight Vehicles with Solid Motors

Combining the newly developed nonlinear model predictive static programming technique with null range direction concept, a novel explicit energy-insensitive guidance design method is presented in this paper for long range flight vehicles, which leads to a closed form solution of the necessary guidance command update. Owing to the closed form nature, it does not lead to computational difficulties and the proposed optimal guidance algorithm can be implemented online. The guidance law is verified in a solid motor propelled long range flight vehicle, for which coming up with an effective guidance law is more difficult as compared to a liquid engine propelled vehicle (mainly because of the absence of thrust cutoff facility). Assuming the starting point of the second stage to be a deterministic point beyond the atmosphere, the scheme guides the vehicle properly so that it completes the mission within a tight error bound. The simulation results demonstrate its ability to intercept the target, even with an uncertainty of greater than 10% in burnout time.

Classification of road damage due to earthquakes

Earthquakes cause massive road damage which in turn causes adverse effects on the society. Previous studies have quantified the damage caused to residential and commercial buildings; however, not many studies have been conducted to quantify road damage caused by earthquakes. In this study, an attempt has been made to propose a new scale to classify and quantify the road damage due to earthquakes based on the data collected from major earthquakes in the past. The proposed classification for road damage due to earthquake is called as road damage scale (RDS). Earthquake details such as magnitude, distance of road damage from the epicenter, focal depth, and photographs of damaged roads have been collected from various sources with reported modified Mercalli intensity (MMI). The widely used MMI scale is found to be inadequate to clearly define the road damage. The proposed RDS is applied to various reported road damage and reclassified as per RDS. The correlation between RDS and earthquake parameters of magnitude, epicenter distance, hypocenter distance, and combination of magnitude with epicenter and hypocenter distance has been studied using available data. It is observed that the proposed RDS correlates well with the available earthquake data when compared with the MMI scale. Among several correlations, correlation between RDS and combination of magnitude and epicenter distance is appropriate. Summary of these correlations, their limitations, and the applicability of the proposed scale to forecast road damages and to carry out vulnerability analysis in urban areas is presented in the paper.

Road to Royalty - Transition of Potential Queen to Queen in the Primitively Eusocial Wasp Ropalidia marginata

Ropalidia marginata, a primitively eusocial wasp, is different from typical primitively eusocial species in having docile queens who cannot be using dominance to maintain reproductive monopoly and instead appear to use a pheromone from the Dufour's gland to do so. When a docile queen is removed from her colony, one of the workers (potential queen, PQ) becomes highly aggressive, and if the queen is not returned, gradually loses her aggression and becomes the new docile queen within a few days. We hypothesized that the decrease in aggression of the PQ with time since queen removal should be correlated with her change in ovaries and pheromone profile. Because the Dufour's gland hydrocarbon composition in R.marginata can be correlated with fertility, this also gave us an opportunity to test whether PQ is different from workers in her Dufour's gland hydrocarbons. In this study, we therefore trace the road to royalty in R.marginata, that is, the transition of the PQ during queen establishment, in terms of her ovaries, aggression, and Dufour's gland hydrocarbons. Our study focuses on queen establishment, which is important for understanding how reproductive conflict can be manifested and resolved.

On the height of fall of dropping mass in SASW measurements for asphaltic road pavements

A number of spectral analysis of surface waves (SASW) tests were performed on asphaltic road pavements by dropping a metallic 6.5 kg sphere, from a height (H) ranging from 1 to 3 m. Various combinations of source to first receiver distance (S) and receiver spacing (X) were employed. By increasing the height of the fall of the dropping mass, the maximum wavelength (lambda(max)), up to which the shear wave velocity profile can be predicted with the usage of the SASW measurements, was found to increase continuously. The height of fall of the dropping mass also seems to affect the admissible range of the wavelength for given combinations of X and S. Irrespective of different chosen combinations of S, X and H, a unique combined dispersion curve was generated in all the cases for a given pavement site as long as the threshold minimum value of the coherence function is greater than 0.90.