Adaptation of an commercially available stabilised R/C helicopter to a fully autonomous surveillance UAV

This paper presents the development of an autonomous surveillance UAV that competed in the Ministry of Defence Grand Challenge 2008. In order to focus on higher-level mission control, the UAV is built upon an existing commercially available stabilised R/C helicopter platform. The hardware architecture is developed to allow for non-invasion integration with the existing stabilised platform, and to enable to the distributed processing of closed loop control and mission goals. The resulting control system proved highly successful and was capable of flying within 40knott gusts. The software and safety architectures were key to the success of the research and also hold the potential for use in the development of more complex system comprising of multiple UAVs.

Tin–osmium cluster formation with a monomeric tin(II) alkyl: the formation, crystal structure and reactivity of [Os3(µ-H)SnR(CO)10], a formal stannyne complex of the osmium triangle {R = C(SiMe3)2C5H4N-2}

The monomeric tin(II) species SnR2{R = C(SiMe3)2C5H4N-2} reacts with [Os3(H)2(CO)10] in hexane to give [Os3(µ-H)SnR(CO)10]1 quantitatively; 1 is the first formal stannyne complex of the triosmium nucleus, in which the picoline nitrogen is coordinated to the tin atom, and which is itself also reactive, being a potential precursor to high nuclearity SnOs clusters.

The molecular structure of hexamethyldigermane determined by gas-phase electron diffraction with theoretical calculations for (CH3)3M-M(CH3)3 Where M = C, Si, and Ge

Gas-phase electron diffraction (GED) data together with results from ab initio molecular orbital calculations (HF and MP2/6-311+G(d,p)) have been used to determine the structure of hexamethyldigermane ((CH3)3Ge-Ge(CH3)3). The equilibrium symmetry is D3d, but the molecule has a very low-frequency, largeamplitude, torsional mode (φCGeGeC) that lowers the thermal average symmetry. The effect of this largeamplitude mode on the interatomic distances was described by a dynamic model which consisted of a set of pseudoconformers spaced at even intervals. The amount of each pseudoconformer was obtained from the ab initio calculations (HF/6-311+G(d,p)). The results for the principal distances (ra) and angles (∠h1) obtained from the combined GED/ab initio (with estimated 1σ uncertainties) are r(Ge-Ge) ) 2.417(2) Å, r(Ge-C) ) 1.956(1) Å, r(C-H) ) 1.097(5) Å, ∠GeGeC ) 110.5(2)°, and ∠GeCH ) 108.8(6)°. Theoretical calculations were performed for the related molecules ((CH3)3Si-Si(CH3)3 and (CH3)3C-C(CH3)3).

Leaching of nitrate from cropped rainfed terraces in the mid-hills of Nepal

Intensification of crop production in the mid-hills of Nepal has led to concerns that nitrogen loss by leaching may increase. This study estimated the amount of N leached during two years from rainfed terraces (bari-land) at three locations in Nepal. Maize or upland rice grown in the monsoon season was given either no nutrient inputs or inputs via either nitrogen fertilizer or farmyard manure. Nitrate concentration in soil solution was measured regularly with porous ceramic cup samplers and drainage estimated from a simple soil water balance. Estimated losses of nitrogen by leaching ranged from 0 to 63.5 kg N ha(-1) depending on location and the form of nitrogen applied. Losses from plots receiving no nutrient inputs were generally small (range: 0-35 kg N ha(-1)) and losses from plots where nitrogen was applied as manure (range: 2-41 kg N ha(-1)) were typically half those from plots with nitrogen applied as fertilizer. Losses during the post-monsoon crops of finger millet were small (typically <5% of total loss) although losses from the one site with blackgram were larger (about 13%). The highest concentrations of nitrate in solution were measured early in the season as the monsoon rains began and immediately following fertilizer applications. Leaching losses are likely to be minimised if manure is applied as a basal nutrient dressing followed by fertilizer nitrogen later in the season.

Radar scattering by aggregate snowflakes

The radar scattering properties of realistic aggregate snowflakes have been calculated using the Rayleigh-Gans theory. We find that the effect of the snowflake geometry on the scattering may be described in terms of a single universal function, which depends only on the overall shape of the aggregate and not the geometry or size of the pristine ice crystals which compose the flake. This function is well approximated by a simple analytic expression at small sizes; for larger snowflakes we fit a curve to Our numerical data. We then demonstrate how this allows a characteristic snowflake radius to be derived from dual wavelength radar measurements without knowledge of the pristine crystal size or habit, while at the same time showing that this detail is crucial to using such data to estimate ice water content. We also show that the 'effective radius'. characterizing the ratio of particle volume to projected area, cannot be inferred from dual wavelength radar data for aggregates. Finally, we consider the errors involved in approximating snowflakes by 'air-ice spheres', and show that for small enough aggregates the predicted dual wavelength ratio typically agrees to within a few percent, provided some care is taken in choosing the radius of the sphere and the dielectric constant of the air-ice mixture; at larger sizes the radar becomes more sensitive to particle shape, and the errors associated with the sphere model are found to increase accordingly.

The modelling of electrical current NDT methods and its application to weld testing

Discussion of the numerical modeling of NDT methods based on the potential drop and the disruption of power lines to describe the nature, importance and application of modeling. La 1ère partie est consacrée aux applications aux contrôles par courants de Foucault. The first part is devoted to applications for inspection by eddy currents.

Gaming and social interactions in the rehabilitation of brain injuries: a pilot study

Physical rehabilitation of brain injuries and strokes is a time consuming and costly process. Over the past decade several studies have emerged looking at the use of highly sophisticated technologies, such as robotics and virtual reality to tap into the needs of clinicians and patients. While such technologies can be a valuable tool to facilitate intensive movement practice in a motivating and engaging environment, success of therapy also depends on self-administered therapy beyond hospital stay. With the emergence of low-cost gaming consoles such as the Nintendo Wii, new opportunities arise for home-therapy paradigms centred on social interactions and values, which could reduce the sense of isolation and other depression related complications. In this paper we examine the potential, user acceptance and usability of an unmodified Nintendo Wii gaming console as a low-cost treatment alternative to complement current rehabilitation programmes.

Vibrational intensities VI: ethylene and its deutero-isotopes

Absolute intensity measurements have been made on the fundamental vibrations of ethylene and four of its deuteroisotopes. The bands were pressure broadened with nitrogen at 50 atmos, and the intensities were determined by the method of Wilson and Wells except that the observed optical density was integrated against logv rather than v. Normal coordinates have been calculated, and the intensities have been interpreted in terms of quantities (∂p/∂Si) giving the change in dipole moment with respect to each internal symmetry coordinate. Data from the different isotopic species have been used to eliminate ambiguities in the interpretation. Effective bond moments are calculated for each symmetry coordinate.