Flight dynamics and stability of kites in steady and unsteady wind conditions

The flight dynamics and stability of a kite with a single main line flying in steady and unsteady wind conditions are discussed. A simple dynamic model with five degrees of freedom is derived with the aid of Lagrangian formulation, which explicitly avoids any constraint force in the equations of motion. The longitudinal and lateral–directional modes and stability of the steady flight under constant wind conditions are analyzed by using both numerical and analytical methods. Taking advantage of the appearance of small dimensionless parameters in the model, useful analytical formulas for stable-designed kites are found. Under nonsteady wind-velocity conditions, the equilibrium state disappears and periodic orbits occur. The kite stability and an interesting resonance phenomenon are explored with the aid of a numerical method based on Floquet theory.

A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles

This research on odometry based GPS-denied navigation on multirotor Unmanned Aerial Vehicles is focused among the interactions between the odometry sensors and the navigation controller. More precisely, we present a controller architecture that allows to specify a speed specified flight envelope where the quality of the odometry measurements is guaranteed. The controller utilizes a simple point mass kinematic model, described by a set of configurable parameters, to generate a complying speed plan. For experimental testing, we have used down-facing camera optical-flow as odometry measurement. This work is a continuation of prior research to outdoors environments using an AR Drone 2.0 vehicle, as it provides reliable optical flow on a wide range of flying conditions and floor textures. Our experiments show that the architecture is realiable for outdoors flight on altitudes lower than 9 m. A prior version of our code was utilized to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012. The code will be released as an open-source ROS stack hosted on GitHub.

Evaluation of mission planning strategies of a robotic aerial vehicle for the AIRC international competition

The International Aerial Robotics Competition (IARC) is an important event where teams from universities design flying autonomous vehicles to overcome the last challenges in the field. The goal of the Seventh Mission proposed by the IARC is to guide several mobile ground robots to a target area. The scenario is complex and not determinist due to the random behavior of the ground robots movement. The UAV must select efficient strategies to complete the mission. The goal of this work has been evaluating different alternative mission planning strategies of a UAV for this competition. The Mission Planner component is in charge of taking the UAV decisions. Different strategies have been developed and evaluated for the component, achieving a better performance Mission Planner and valuable knowledge about the mission. For this purpose, it was necessary to develop a simulator to evaluate the different strategies. The simulator was built as an improvement of an existing previous version.

A General Purpose Configurable Navigation Controller for Micro Aerial Multirotor Vehicles

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results. A navigation controller is proposed featuring a set of configurable parameters that allow, for instance, to have a configuration setup for fast trajectory following, and another to soften the control laws and make the vehicle navigation more precise and slow whenever necessary. The proposed controller has been successfully implemented in two different multirotor platforms with similar sensoring capabilities showing the openness and tolerance of the approach. This research is focused around the Computer Vision Group's objective of applying multirotor vehicles to civilian service applications. The presented work was implemented to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012, gaining two awards: the Special Award on "Best Automatic Performance - IMAV 2012" and the second overall prize in the participating category "Indoor Flight Dynamics - Rotary Wing MAV". Most of the code related to the present work is available as two open-source projects hosted in GitHub.

Aplicación de nuevas tecnologías en la Arqueología de la Guerra Civil Española: Los Yesares, Pinto (Madrid. Application of new technologies in archeology of the Civil War:The Yesares, Pinto (Madrid.

ABSTRACT: The surveys carried out in the municipality of Pinto (Madrid) have enabled us to locate various structural remains linked to the military operations that took place around the capital during the Spanish Civil War (1936-1939). In order to identify and record them, surveys were complemented with the use of GPS and air photographs from different time periods. Afterwards, and in collaboration with researchers from various universities, further methods aimed at generating a complete special representation of the area were applied directly to one of the sites which produced the best results, known as "los Yesares". These methods include topographic mapping that resulted in cartographic material at different scales, the photographic recording with flying Unmanned Aerial Vehicles, and the use of land scanners and GPS-corrected photogrammetrics with which to obtain 3D models.

Cancellation zone in supersonic lifting wing theory

BASING their work on a linear theory, Evvard1 and Krasilshchikova2'3 independently developed an expression that yields the perturbation generated by a thiri lifting wing of arbitrary planform flying at supersonic speed on a point placed on the wing plane inside its planform,1 or both on and above the wing plane.2 This point must be influenced by two leading edges, one supersonic and the other partially subsonic. Although these authors followed different approaches, their methods concur in showing the existence of a perfectly defined cancellation zone. In this Note, the Evvard approach is generalized to the case solved by Krasilshchikova. Circumventing the latter's lengthy and somewhat complex approach, Evvard's simple method seems to be useful at least for educational purposes.

Echo-delay resolution in sonar images of the big brown bat, Eptesicus fuscus

Echolocating big brown bats (Eptesicus fuscus) broadcast ultrasonic frequency-modulated (FM) biosonar sounds (20–100 kHz frequencies; 10–50 μs periods) and perceive target range from echo delay. Knowing the acuity for delay resolution is essential to understand how bats process echoes because they perceive target shape and texture from the delay separation of multiple reflections. Bats can separately perceive the delays of two concurrent electronically generated echoes arriving as little as 2 μs apart, thus resolving reflecting points as close together as 0.3 mm in range (two-point threshold). This two-point resolution is roughly five times smaller than the shortest periods in the bat’s sounds. Because the bat’s broadcasts are 2,000–4,500 μs long, the echoes themselves overlap and interfere with each other, to merge together into a single sound whose spectrum is shaped by their mutual interference depending on the size of the time separation. To separately perceive the delays of overlapping echoes, the bat has to recover information about their very small delay separation that was transferred into the spectrum when the two echoes interfered with each other, thus explicitly reconstructing the range profile of targets from the echo spectrum. However, the bat’s 2-μs resolution limit is so short that the available spectral cues are extremely limited. Resolution of delay seems overly sharp just for interception of flying insects, which suggests that the bat’s biosonar images are of higher quality to suit a wider variety of orientation tasks, and that biosonar echo processing is correspondingly more sophisticated than has been suspected.

The interphotoreceptor retinoid binding protein gene in therian mammals: Implications for higher level relationships and evidence for loss of function in the marsupial mole

The subclass Theria of Mammalia includes marsupials (infraclass Metatheria) and placentals (infraclass Eutheria). Within each group, interordinal relationships remain unclear. One limitation of many studies is incomplete ordinal representation. Here, we analyze DNA sequences for part of exon 1 of the interphotoreceptor retinoid binding protein gene, including 10 that are newly reported, for representatives of all therian orders. Among placentals, the most robust clades are Cetartiodactyla, Paenungulata, and an expanded African clade that includes paenungulates, tubulidentates, and macroscelideans. Anagalida, Archonta, Altungulata, Hyracoidea + Perissodactyla, Ungulata, and the “flying primate” hypothesis are rejected by statistical tests. Among marsupials, the most robust clade includes all orders except Didelphimorphia. The phylogenetic placement of the monito del monte and the marsupial mole remains unclear. However, the marsupial mole sequence contains three frameshift indels and numerous stop codons in all three reading frames. Given that the interphotoreceptor retinoid binding protein gene is a single-copy gene that functions in the visual cycle and that the marsupial mole is blind with degenerate eyes, this finding suggests that phenotypic degeneration of the eyes is accompanied by parallel changes at the molecular level as a result of relaxed selective constraints.

Common endocrine and genetic mechanisms of behavioral development in male and worker honey bees and the evolution of division of labor.

Temporal polyethism is a highly derived form of behavioral development displayed by social insects. Hormonal and genetic mechanisms regulating temporal polyethism in worker honey bees have been identified, but the evolution of these mechanisms is not well understood. We performed three experiments with male honey bees (drones) to investigate how mechanisms regulating temporal polyethism may have evolved because, relative to workers, drones display an intriguing combination of similarities and differences in behavioral development. We report that behavioral development in drones is regulated by mechanisms common to workers. In experiment 1, drones treated with the juvenile hormone (JH) analog methoprene started flying at significantly younger ages than did control drones, as is the case for workers. In experiment 2, there was an age-related increase in JH associated with the onset of drone flight, as in workers. In experiment 3, drones derived from workers with fast rates of behavioral development themselves started flying at younger ages than drones derived from workers with slower rates of behavioral development. These results suggest that endocrine and genetic mechanisms associated with temporal polyethism did not evolve strictly within the context of worker social behavior.

Reproductive cooperation between queens and their mated workers: the complex life history of an ant with a valuable nest.

The life history of Harpegnathos saltator is exceptional among ants because both queens and workers reproduce sexually. Recently mated queens start new colonies alone, but later some of the offspring workers also become inseminated and take over the egg-laying role. This alternation seems associated with the existence of very complex underground nests, which are designed to survive floods. Longevity of ponerine queens is low (a consequence of limited caste dimorphism in this "primitive" subfamily), and upon the death of an H. saltator foundress, the nest represents a substantial investment. The queen's progeny should thus be strongly selected to retain the valuable nests. Unlike the flying queens, the workers copulate with males from their own colonies, and, thus, their offspring are expected to be highly related to the foundress. Colony fission appears not to occur because a daughter fragment would lack an adequate nest for protection. Thus, the annual production of queens in colonies with reproductive workers remains essential for the establishment of new colonies. This contrasts with various other ponerine species in which the queens no longer exist.

Isolation in Synchronized Drone Formations

This paper expands on a theoretical model that is used for aerial robots that are working cooperatively to complete a task. In certain situations, such as when multiple robots have catastrophic failures, the surviving robots could become isolated so that they never again communicate with another robot. We prove some properties about isolated robots flying in a grid formation, and we present an algorithm that determines how many robots need to fail to isolate at least one robot. Finally, we propose a strategy that eliminates the possibility of isolation altogether.

Effectiveness of three sampling methods to survey saproxylic beetle assemblages in Mediterranean woodland

The choice of sampling methods to survey saproxylic beetles is a key aspect to assessing conservation strategies for one of the most endangered assemblages in Europe. We evaluated the efficiency of three sampling methods: baited tube traps (TT), window traps in front of a hollow opening (WT), and emergence traps covering tree hollows (ET) to study richness and diversity of saproxylic beetle assemblages at species and family levels in Mediterranean woodlands. We also examined trap efficiency to report ecological diversity, and changes in the relative richness and abundance of species forming trophic guilds: xylophagous, saprophagous/saproxylophagous, xylomycetophagous, predators and commensals. WT and ET were similarly effective in reporting species richness and diversity at species and family levels, and provided an accurate profile of both the flying active and hollow-linked saproxylic beetle assemblages. WT and ET were the most complementary methods, together reporting more than 90 % of richness and diversity at both species and family levels. Diversity, richness and abundance of guilds were better characterized by ET, which indicates higher efficiency in outlining the ecological community of saproxylics that inhabit tree hollows. TT were the least effective method at both taxonomic levels, sampling a biased portion of the beetle assemblage attracted to trapping principles, however they could be used as a specific method for families such as Bostrichiidae, Biphyllidae, Melyridae, Mycetophagidae or Curculionidae Scolytinae species. Finally, ET and WT combination allows a better characterization of saproxylic assemblages in Mediterranean woodland, by recording species with different biology and linked to different microhabitat types.

Saproxylic Beetle Assemblage Selection as Determining Factor of Species Distributional Patterns: Implications for Conservation

The knowledge of the distributional patterns of saproxylic beetles is essential for conservation biology due to the relevance of this fauna in the maintenance of ecological processes and the endangerment of species. The complex community of saproxylic beetles is shaped by different assemblages that are composed of species linked by the microhabitats they use. We evaluate how different the species distribution patterns that are obtained can be, depending on the analyzed assemblage and to what extent these can affect conservation decisions. Beetles were sampled using hollow emergence and window traps in three protected areas of the Iberian Peninsula. Species richness, composition, and diversity turnover were analyzed for each sampling method and showed high variation depending on the analyzed assemblage. Beta diversity was clearly higher among forests for the assemblage captured using window traps. This method collects flying insects from different tree microhabitats and its captures are influenced by the forest structuring. Within forests, the assemblages captured by hollow emergence traps, which collect the fauna linked to tree hollows, showed the largest turnover of species, as they are influenced by the characteristics of each cavity. Moreover, the selection of the forest showing the highest species richness strongly depended on the studied assemblage. This study demonstrates that differences in the studied assemblages (group of species co-occurring in the same habitat) can also lead to significant differences in the identified patterns of species distribution and diversity turnover. This fact will be necessary to take into consideration when making decisions about conservation and management.

Annotated record of the detailed examination of Mn deposits from the H.M.S. Egeria, H.M.S. Fling Fish and H.M.S. Investigator expeditions in the Indian Ocean and Southern Seas

Captain Wharton, the Hydrographer of the Admiralty sent to the author a series of the deposit-samples collected in the Indian and Antarctic Oceans during the expeditions in 1887 of H.M.S. Flying Fish, H.M.S. Egeria and H.M.S. Investigator. These deposits were submitted to careful microscopical examination and chemical analysis.

The prehistory of aviation,

"Bibliographical references": p. 94.