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.     

Experimental study on the PRE-X vehicle focusing on the transitional shock-wave/boundary-layer interactions

This article is devoted to the experimental works carried out in the R2Ch blow-down wind tunnel in the framework of the atmospheric re-entry PRE-X demonstrator program and to the fundamental studies performed on a hollow cylinder-flare relative to crucial problem of the transitional shock-wave/boundary-layer interaction.Shock-wave/boundary-layer interactions in hypersonic flows may have major consequences on thermal loads, especially if the shock is strong enough to induce separation. The heat-flux density levels in the interaction region strongly depend on the nature, laminar or turbulent of the boundary-layer. Special attention should be paid to transitional interactions, which are likely to exist at altitude where the Mach number is high and the density low.The wide Reynolds number range achievable in the R2Ch facility and reliable heat-flux measurements by infrared thermography have allowed to investigate the viscous interaction on the deflected flaps of the demonstrator model and to point out the laminar-to-turbulent boundary-layer natural and forced transition, in the light of the in-depth analysis of results obtained from the hollow cylinder-flare study.     

Cometary Refractory Grains: Interstellar and Nebular Sources

Comets are heterogeneous mixtures of interstellar and nebular materials. The degree of mixing of interstellar sources and nebular sources at different nuclear size scales holds the promise of revealing how cometary particles, cometesimals, and cometary nuclei accreted. We can ascribe cometary materials to interstellar and nebular sources and see how comets probe planet-forming process in our protoplanetary disk. Comets and cometary IDPs contain carbonaceous matter that appears to be either similar to poorly-graphitized (amorphous) carbon, a likely ISM source, or highly labile complex organics, with possible ISM or outer disk heritage. The oxygen fugacity of the solar nebula depends on the dynamical interplay between the inward migration of carbon-rich grains and of icy (water-rich) grains. Inside the water dissociation line, OH^? reacts with carbon to form CO or CO₂, consuming available oxygen and contributing to the canonical low oxygen fugacity. Alternatively, the influx of water vapor and/or oxygen rich dust grains from outer (cooler) disk regions can raise the oxygen fugacity. Low oxygen fugacity of the canonical solar nebula favors the condensation of Mg-rich crystalline silicates and Fe-metal, or the annealing of Fe-Mg amorphous silicates into Mg-rich crystals and Fe-metal via Fe-reduction. High oxygen fugacity nebular conditions favors the condensation of Fe-bearing to Fe-rich crystalline silicates. In the ISM, Fe-Mg amorphous silicates are prevalent, in stark contrast to Mg-rich crystalline silicates that are rare. Hence, cometary Mg-rich crystalline silicates formed in the hot, inner regions of the canonical solar nebula and they are the touchstone for models of the outward radial transport of nebular grains to the comet-forming zone. Stardust samples are dominated by Mg-rich crystalline silicates but also contain abundant Fe-bearing and Fe-rich crystalline silicates that are too large (?0.1 μm) to be annealed Fe-Mg amorphous silicates. By comparison with asteroids, the Stardust Fe-bearing and Fe-rich crystalline silicates suggests partial aqueous alteration in comet nuclei. However, aqueous alteration transforms Fe-rich olivine to phyllosilicates before Mg-rich olivine, and Stardust has Mg-rich and Fe-rich olivine and no phyllosilicates. Hence, we look to a nebular source for the moderately Fe-rich to nearly pure-Fe crystalline silicates. Primitive matrices have Mg-Fe silicates but no phyllosilicates, supporting the idea that Mg-Fe silicates but not phyllosilicates are products of water-rich shocks. Chondrule-formation is a late stage process in our protoplanetary disk. Stardust samples show comet 81P/Wild 2 formed at least as late to incorporate a few chondrules, requiring radial transport of chondrules out to perhaps >20 AU. By similar radial transport mechanisms, collisional fragments of aqueously altered asteroids, in particular achondrites that formed earlier than chondrules, might reach the comet-forming zones. However, Stardust samples do not have phyllosilicates and chondrules are rare. Hence, the nebular refractory grains in comet 81P/Wild 2, as well as other comets, appear to be pre-accretionary with respect to asteroid parent bodies. By discussing nebular pathways for the formation of Fe-rich crystalline silicates, and also phyllosilicates and carbonates, we put forth the view that comets contain both the interstellar ingredients for and the products of nebular transmutation.     

Exoplanet Transit Spectroscopy and Photometry

Photometry and spectroscopy of extrasolar planets provides information about their atmospheres and surfaces. From extrasolar planet spectra and photometry we can infer the composition and temperature of the atmospheres as well as the presence of molecular species, including biosignature gases or surface features. So far photometry has been published for three different transiting hot Jupiters (gas giant planets in short-period orbits), opening the era of comparative exoplanetology.     

Turbulence in the region 80–120 km

Measurements of turbulent energy dissipation rates and eddy diffusion coefficients have been collated, and mean height profiles of fundamental turbulence parameters in the region 80–120 km are presented.     

Systems integration, user interface design, and tower air trafficcontrol

Tower air traffic control is currently performed using several unintegrated systems. While each of these systems supports performing an isolated task, the compilation of tools presents a number of challenges. This paper reports ways in which the Tower Control Computer Complex (TCCC) will support and enhance user management of numerous systems. Areas that will be notably improved include the consistency in the user interface of the air traffic control toolset, the task of manually integrating tools and information, toolset alert management, and toolset organization and administration     

Hydrocarbons in terrestrial samples and the Orgueil meteorite

Meteorites contain extraterrestrial carbonaceous materials. The Alais, Orgueil, Tonk, and Ivuna meteorites resemble in their carbon, free sulfur, and non-metamorphosed mineral contents, densities, and general appearances certain organic-rich terrestrial sediments. Structural and isotopic determinations of carbon compounds in the Orgueil chondrite indicate that these compounds are primarily indigenous. Physically and chemically the benzene extractable carbonaceous materials from the Orgueil and certain near-surface terrestrial sediments are similar. Mass spectrometric type analyses of the alkanes from an Orgueil fragment, terrestrial sediments and organisms are statistically indistinguishable at the 95 per cent confidence level. Theoretical considerations and experimental data are presented, and these permit an assessment of the potential and reliability of hydrocarbons as biological indicators. Based on the production and preservation or organic substances in terrestrial environments, alkanes in the Alais, Orgueil, Tonk, and Ivuna (Type I) carbonaceous chondrites could retain the best evidence of organisms that may have lived on a parent body of meteorites.A portion of the research reported in this article was supported by the National Aeronautics and Space Administration under Contract No. NASw 508.