Using natural features for vision based navigation of an indoor-VTOL MAV

The use of natural features for vision based navigation of an indoor Vertical-Take-Off-and-Landing (VTOL) Micro Aerial Vehicle (MAV) named Air-Quad is presented. Air-Quad is a small four-rotor helicopter developed at the ITE.Such a helicopter needs reliable attitude information. The measurements of the used MEMS gyroscopes and accelerometers are corrupted by strong noise. To be useful, the MEMS sensors have to be part of an integrated navigation system with aiding through complementary sensors like GPS or the computer vision module presented here.In the computer vision module, feature points are detected and tracked through the image sequence. The relative rotation and translation of the camera are estimated using the two-dimensional motion of the feature points.The three-dimensional points in the scene are modeled with the image coordinates of their first sighting and their inverse depths. Only these inverse depths are estimated for the feature points. An efficient sparse bundle adjustment algorithm is used to improve the estimation of the scene structure and the navigation solution.It is shown that the use of the computer vision module greatly improves the navigation solution compared to a solution based only on MEMS sensors.     

Immobilization induces a very rapid increase in osteoclast activity

We studied in a randomized, strictly controlled cross-over design, the effects of 6 days 6 degrees head-down tilt bed rest (HDT) in eight male healthy subjects in our metabolic ward. The study consisted of two periods (phases) of 11 days each in order to allow for the test subjects being their own controls. Both study phases were identical with respect to environmental conditions, study protocol and diet. Two days before arriving in the metabolic ward the subjects started with a diet. The diet was continued in the metabolic ward. The metabolic ward period (1l days) was divided into three parts: 4 ambulatory days, 6 days either HDT or control and 1 recovery day. Continuous urine collection started on the first day in the metabolic ward to analyze calcium excretion and bone resorption markers. On the 2nd ambulatory day in the metabolic ward and on the 5th day in HDT or control blood was drawn to analyze serum calcium, parathyroid hormone, and bone formation markers. Urinary calcium excretion was, as early as the first day in immobilization, increased (p<0.01). CTX- and NTX-excretion stayed unchanged in the first 24 h in HDT compared to the control. But already on the 2nd day of immobilization, both bone resorption markers significantly increased. We conclude from these results--pronounced rise of bone resorption markers--that already 24 h of immobilization induce a significant rise in osteoclast activity in healthy subjects. Thus, it appears possible to use short-term bed rest studies as a first step for the development of countermeasures to immobilization.     

Adaptive path planning for VTOL-UAVs

This describes the development of path planning algorithms of a small unmanned four-rotor helicopter. A powerful simulation environment of the whole UAV system - including the characteristics of the important ranging sensors for collision avoidance was developed. This is essential for developing, testing, and verifying of the algorithms. Different collision avoidance strategies for VTOL-UAVs are presented. Enhancements and miniaturization will offer more powerful sensor technologies regarding size, range, and power in the future. Very promising are improvements of sensor modules and new technologies like three-dimensional LASER range-finder, PMD sensors, RADAR range-rmnder, and stereo camera tracking system. Because of the general high level simulation tool introduced herein they can he easily validated and tested without the need and effort of a real hardware implementation. The results showed that adaptive path planning, including collision avoidance, is already applicable on-board small UAV vehicles. With the mentioned new sensor technologies and more calculation power, further improvements like advanced collision notice and global path planning on-board small UAVs are attainable.