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The problem of finding a minimal-time path for an aeroplane travelling in a wind flow has a simple formulation in terms of analogue gravity. This paper gives an elementary explanation with equations and some numerical solutions.
This paper employs Geometric Algebra (GA) tools to model the dynamics of objects in 3-dimensional space, serving as a proof of concept to facilitate control design for trajectory tracking in underactuated systems. For control purposes, the…
The prevalence of bacteria in the atmosphere has been well established in relevant literature, suggesting that airborne bacteria can influence atmospheric characteristics including the development of clouds. Studies have also demonstrated…
In this paper, we present a methodology for constructing data-driven maneuver generation models for agile aircraft that can generalize across a wide range of trim conditions and aircraft model parameters. Maneuver generation models play a…
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…
Measuring gravity from an aircraft is essential in geodesy, geophysics and exploration. Today, only relative sensors are available for airborne gravimetry. This is a major drawback because of the calibration and drift estimation procedures…
Wavefield travel time tomography is used for a variety of purposes in acoustics, geophysics and non-destructive testing. Since the problem is non-linear, assessing uncertainty in the results requires many forward evaluations. It is…
This paper presents an adaptive autopilot for fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive autopilot is constructed by augmenting the autopilot architecture with adaptive control laws that are…
A drift mode accelerometer is a precision device that overcomes the much of the acceleration noise and readout dynamic range limitations of traditional electrostatic accelerometers. It has the potential of achieving acceleration noise…
Aircraft-based surveying to collect airborne electromagnetic data is a key method to image large swaths of the Earth's surface in pursuit of better knowledge of aquifer systems. Despite many years of advancements, 3D inversion still poses…
Recent advances with space navigation technologies developed by NASA in space-based atomic clocks and pulsar X-ray navigation combined with past successes in autonomous navigation using optical imaging, brings to the forefront the need to…
This paper is related to our previous works [1][2] on the error estimate of the averaging technique, for systems with one fast angular variable. In the cited references, a general method (of mixed analytical and numerical type) has been…
Future NASA lander missions to icy moons will require completely automated, accurate, and data efficient calibration methods for the robot manipulator arms that sample icy terrains in the lander's vicinity. To support this need, this paper…
Respiratory ailments are increasing globally at an alarming rate and are currently one of the leading factors of death and infirmity worldwide. Among respiratory diseases, those linked to poor air quality and pollutants are increasing at a…
Expensive ultrasonic anemometers are usually required to measure wind speed accurately. The aim of this work is to overcome the loss of accuracy of a low cost hot-wire anemometer caused by the changes of air temperature, by means of a…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
The aerial environment in the operating domain of small-scale natural and artificial flapping wing fliers is highly complex, unsteady and generally turbulent. Considering flapping flight in an unsteady wind environment with a periodically…
Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior information on the environment and cannot assume the regular order…
New UAV technologies and the NewSpace era are transforming Earth Observation missions and data acquisition. Numerous small platforms generate large data volume, straining bandwidth and requiring onboard decision-making to transmit…
This paper presents an initial work on assessment of gait normality in which the human body motion is represented by a sequence of enhanced depth maps. The input data is provided by a system consisting of a Time-of-Flight (ToF) depth camera…