Concept development of installation technology for rainforest audio monitoring devices

Rainforest deforestation is the second largest anthropogenic source of greenhouse gas emission into the atmosphere, after the burning of fossil fuels. Up to 90 per cent of tropical rainforest deforestation is conducted illegally. Rainforest Connection endeavour to reduce this number through the installation of up-recycled Audio Monitoring Devices installed high in the trees of the forest. The presented work aims to assist Rainforest Connection in their mission through the application of concept development methods for the enhancement of installation operations performed in the field. Due to the nature of the company a premium is placed on immediately implementable techniques. In response, both incremental improvements to current operations, through the adoption of industry techniques and commercially available equipment, and novel generated solutions are provided. The paper recommends the employment of extendable carbon fibre poles for the installation of the Audio Monitoring Devices as a novel solution and identifies a path forward for further development of the installation technique. The adaption of commercial telescopic carbon fibre poles from the window washing industry repre-sents an additional tool for field operations that has the potential to save hours per temporarily installed device; while providing an immediate pathway for field trials in Ecuador at a low investment cost. A segment carbon fibre pole is recommended for future development of high elevation, permanent installations performed from the ground

High Altitude Ballooning Operations During the 2017 Solar Eclipse

A total solar eclipse provides an opportunity to observe, quantify, and conduct experiments involving a number of unique meteorological and environmental conditions and phenomena, and the means to develop a more detailed understanding of the atmospheric variables at play during a rarely observed cosmic occurrence. High altitude ballooning is particularly suited for collecting data during an eclipse, although a number of logistical and procedural challenges are associated with launching during totality. The members of the University of Maryland, College Park Balloon Payload Program, funded by the Maryland Space Grant Consortium, traveled to South Carolina to launch a number of experimental and observational payloads during the total eclipse of August 21, 2017. This paper describes the balloon flight, launch procedures, associated challenges, and payload data, thereby providing a window into the variety of valuable engineering design expertise and hands-on skills developed through this student-run initiative. Keywords: solar eclipse, totality, high altitude ballooning, atmosphere, nearspac

Development of a co-axial tri-rotor UAV.

This paper discusses the initial design requirements and development of a Small Unmanned Aerial Vehicle (SUAV), sometimes referred to as a Miniature Aerial Vehicle (MAV) or Micro Unmanned Aerial Vehicle (μUAV) as the backdrop to an entry for the MoD Grand Challenge Event 2008 (MoD GC 2008). A review of 61 SUAVs has been undertaken together with the development of a methodology for evaluation, review and rating against specific design criteria. This analysis concludes with a list of the top ten systems currently available which have been found to be best suited to the particular requirements of operating in the cluttered urban environment. Finally, we present a novel design of Co-Axial Tri-Rotor UAV (named HALO™) which has been developed by the i-Spy team at Middlesex University as our entry to the MoD GC 2008

A MODULAR DESIGN OF A WALL-CLIMBING ROBOT AND ITS MECHATRONICS CONTROLLER

<p>ENGLISH ABSTRACT: The modular design of a wall-climbing robot, implementing two articulated legs per module (biped robotic modules), is presented in this paper. Modular design improves a wall-climbing robot’s manoeuvrability and flexibility during surface changes or while walking on uneven surfaces. The design of the articulated legs uses four motors to control the posture of the vacuum cups, achieving the best possible contact with the surface. Each leg can contain more than five sensors for effective feedback control, and additional sensors such as gyros, CCD sensors, etc, can be fitted on a module, depending on the robot’s application. As the number of modules used in the design of the robot is increased, the number of actuators and sensors increases exponentially. A distributed mechatronics controller of such systems is presented.</p><p>AFRIKAANSE OPSOMMING: Modulêre ontwerp van 'n muurklim-robot met twee geskarnierde bene per module (twee-benige robotmodules) word in hierdie artikel weergegee. Modulêre ontwerp verbeter die muurklim-robot se beweeglikheid en aanpasbaarheid tydens veranderings in die loopvlak of terwyl dit loop op ongelyke oppervlaktes. Ontwerp van geskarnierde bene implementeer vier motors wat die oriëntasie van vakuumsuigdoppe beheer om die bes moontlike kontak met die loopvlak te handhaaf. Elke been kan meer as vyf sensors hê vir doeltreffende terugvoerbeheer, en bykomende sensors soos giroskope, CCD sensors, ens. kan by 'n module gevoeg word soos die toepassing van die robot dit mag vereis. Soos die aantal modules wat in die ontwerp van die robot gebruik word, toeneem, neem die aantal aktiveerders en sensors eksponensiëel toe. 'n Verdeelde megatroniese beheerder van sulke stelsels word aangebied.</p&gt

Marine Vessel Inspection as a Novel Field for Service Robotics: A Contribution to Systems, Control Methods and Semantic Perception Algorithms.

This cumulative thesis introduces a novel field for service robotics: the inspection of marine vessels using mobile inspection robots. In this thesis, three scientific contributions are provided and experimentally verified in the field of marine inspection, but are not limited to this type of application. The inspection scenario is merely a golden thread to combine the cumulative scientific results presented in this thesis. The first contribution is an adaptive, proprioceptive control approach for hybrid leg-wheel robots, such as the robot ASGUARD described in this thesis. The robot is able to deal with rough terrain and stairs, due to the control concept introduced in this thesis. The proposed system is a suitable platform to move inside the cargo holds of bulk carriers and to deliver visual data from inside the hold. Additionally, the proposed system also has stair climbing abilities, allowing the system to move between different decks. The robot adapts its gait pattern dynamically based on proprioceptive data received from the joint motors and based on the pitch and tilt angle of the robot's body during locomotion. The second major contribution of the thesis is an independent ship inspection system, consisting of a magnetic wall climbing robot for bulkhead inspection, a particle filter based localization method, and a spatial content management system (SCMS) for spatial inspection data representation and organization. The system described in this work was evaluated in several laboratory experiments and field trials on two different marine vessels in close collaboration with ship surveyors. The third scientific contribution of the thesis is a novel approach to structural classification using semantic perception approaches. By these methods, a structured environment can be semantically annotated, based on the spatial relationships between spatial entities and spatial features. This method was verified in the domain of indoor perception (logistics and household environment), for soil sample classification, and for the classification of the structural parts of a marine vessel. The proposed method allows the description of the structural parts of a cargo hold in order to localize the inspection robot or any detected damage. The algorithms proposed in this thesis are based on unorganized 3D point clouds, generated by a LIDAR within a ship's cargo hold. Two different semantic perception methods are proposed in this thesis. One approach is based on probabilistic constraint networks; the second approach is based on Fuzzy Description Logic and spatial reasoning using a spatial ontology about the environment

Engineering near-Earth asteroid resources using the orbital siphon effect

Exploitation of the resources available in space is one of the key challenges for future space exploration. Many of these resources have been recognized as potentially low-cost alternatives to those launched from Earth. In particular, near-Earth asteroids are among the easiest objects to reach and could provide resources such as water, liquid propellants electrolysed form water, semiconductors, and metals. Several studies have shown that a useful quantity of accessible resources may be available to be transferred into Earth orbit with transfer energies lower than that required to exploit material from the Moon. To address this problem, different scenarios can be envisaged to transfer material to Earth orbit or Halo orbits, such as transport of the entire asteroid or transport of mined material, the optimal choice depending on the particular asteroid of interest. A further possibility is in-situ manufacturing using asteroid resources, for example to assemble space-structures directly nearby the asteroid or to process water for propellants or life support. Motivated by this growing interest in asteroid resource exploitation, this thesis investigates a novel strategy to deliver a fraction of the asteroid mass into orbit about the asteroid or to escape. The analysis has its roots in the idea of leveraging the rotational kinetic energy of a rotating body to lift material, for example with the concept of the space elevator. The elevator is envisaged as a tethered structure to connect a mass in synchronous (or higher) orbit and the surface of the body. The tether is in equilibrium by the balance of centripetal and gravitational forces acting on it; the payload, i.e. mass extracted from the asteroid, is then lifted to the desired altitude along the tether and, if synchronous orbit is reached, the payload could increase its altitude without further work required. A direct evolution of the space elevator is the orbital siphon concept which is the foundation of this thesis. In this case, rather than a single payload ascending along the tether, a chain of tether-connected masses is envisaged, where the centrifugal-induced pull due to the body's spin can overcome the gravitational force on the payloads, eventually allowing payloads to escape. A chain of payloads can therefore be envisaged to provide a continuous mass flow from the surface of a rotating asteroid into orbit (siphon effect): new payloads are connected to the chain while the top payloads are removed and released into orbit, without the need for external work to be done. The siphon, as with the space elevator, can in principle be used as a payload-raising mechanism on any rotating body. However, contrary to the space elevator, the siphon does not require external work to lift asteroid material below synchronous altitude. In support of mining operations, the siphon can be used to raise mined material to a collecting/processing station in orbit around the asteroid or directly connected to the siphon. Alternatively, the siphon can be used to release material to escape, without the need to use propellant-based methods. This thesis therefore will investigate the dynamics of an orbital siphon anchored at an asteroid and examine a range of applications in the context of asteroid manipulation and resource exploitation. Long-term effects of the siphon operation are discussed, showing that this device allows a significant quantity of mass to be raised to orbit or to escape. It is shown that an optimal siphon length can be chosen, such that the extracted mass is maximised. Key variables, such as achievable mass flow rates, tension on the tethers, timescales and anchor forces are discussed. It is demonstrated that the oscillations of this device resulting from Coriolis forces are damped and the siphon will eventually align with the local vertical if mass is released to a collecting spacecraft connected at the top of the siphon. Moreover, it is proposed that the siphon dynamics could be leveraged to deliver resource payloads to stable equilibria about the asteroid, with a smaller delta-v than direct transfer from the surface, which may be beneficial in a long-term mining scenario. Effects of an irregular gravity field on the siphon dynamics are also examined, using polyhedral shape models of two candidate asteroids. The siphon effect is still generated for the candidate asteroids analysed, even with motion of the anchoring system on the asteroid surface, thus allowing the mining location to be moved without interrupting the flow of material to the collecting spacecraft. If a large quantity of material is released to escape, the siphon effect may also be exploited to induce a small variation to the heliocentric velocity of a potentially hazardous asteroid for impact risk mitigation. It is shown that typical delta-v on the order of 1 cm/s can be achieved within a time window of a decade. Finally, use of the orbital siphon to generate artificial cavities for habitats or storage of mined material is discussed