Using acoustic sensor technologies to create a more terrain capable unmanned ground vehicle

Unmanned Ground Vehicle’s (UGV) have to cope with the most complex range of dynamic and variable obstacles and therefore need to be highly intelligent in order to cope with navigating in such a cluttered environment. When traversing over different terrains (whether it is a UGV or a commercial manned vehicle) different drive styles and configuration settings need to be selected in order to travel successfully over each terrain type. These settings are usually selected by a human operator in manned systems on what they assume the ground conditions to be, but how can an autonomous UGV ‘sense’ these changes in terrain or ground conditions? This paper will investigate noncontact acoustic sensor technologies and how they can be used to detect different terrain types by listening to the interaction between the wheel and the terrain. The results can then be used to create a terrain classification list for the system so in future missions it can use the sensor technology to identify the terrain type it is trying to traverse, which creating a more autonomous and terrain capable vehicle. The technology would also benefit commercial driver assistive technologie

Design and development of a pole climbing surveillance robot

The cost of installing, monitoring and servicing a fixed camera system can be high and not all areas are in need of constant surveying. The increase in crime in urban areas emphasizes the need for a more effective and efficient surveillance system, as a result could lead to fewer crimes. A temporary surveillance unit which is able to climb to gain an elevated view has great potential for both military and civilian application. This paper highlights how the patent pending climbing robotic system (PC-101) was developed to be used by London’s Metropolitan Police Forensic Department for analysing outdoor crime scenes especially that related to car accidents. When cars are involved in accidents in the Metropolitan area, depending on the scale of the incident, the road generally has to be shut off to traffic if there are serious casualties. Elevated images are required for cases which may be taken to court, which then the images are then used as evidence, therefore regulations on the quality and perspectives of the image have to be met. By climbing a range of existing street furniture such as street lamp post, a temporary platform eliminates the use of larger special vehicle which struggles to get to the crime scene as well as cuts down the duration of the road closure. 98% of London street lamps in the Metropolitan area are constructed out of steel structures which make the use of magnetic wheels for locomotion an ideal solution to the climbing problem. Once remote controlled to the top of the lamp post, the PC-101 makes use of its actuated camera arm/gimbal to take the required shot, which can be seen on the ground control unit. A surveillance tool of this sort can be used for many applications which include crowd/riot control, crime scene investigations, monitoring hostile environments and even the monitoring of nature within urban environment

Developing a low-cost beer dispensing robotic system for the service industry

As the prices of commercially available electronic and mechanical components decrease, manufacturers such as Devantech and Revolution Education have made encoded motor controller systems and microcontrollers very accessible to engineers and designers. This has made it possible to design sophisticated robotic and mechatronic systems very rapidly and at relatively low cost. A recent project in the Autonomous Systems Lab at Middlesex University, UK was to design and build a small, automated, robotic bartender based around the 5 litre Heineken 'Draughtkeg' system, which is capable of patrolling a bar and dispensing beer when signalled to by a customer. Because the system was designed as a commercial product, design constraints focused on keeping the build cost down, and so electronic components were sourced from outside companies and interfaced with a bespoke chassis and custom mechanical parts designed and manufactured on site at the University. All the programming was conducted using the proprietary BASIC language, which is freely available from the PicAXE supplier at no cost. This paper will discuss the restrictions involved in building a robot chassis around 'off-theshelf' components, and the issues arising from making the human-machine interaction intuitive whilst only using low-cost ultrasonic sensors. Programming issues will also be discussed, such as the control of accuracy when interfacing a PicAXE microcontroller with a Devantech MD25 Motor Controller board. Public live testing of the system was conducted at the Kinetica Art Fair 2010 event in London and has since been picked up by websites such as Engadget.com and many others. Feedback on the system will be described, as well as the refinements made as a result of these test

Investigating the use of unmanned plant machinery on construction sites

The UK Construction Sector has been estimated to contribute 8% of the UK’s GDP [1]. The worldwide recession has forced construction companies to introduce and adopt cost saving measures to increase productivity. Several robotic building systems are in development for the Construction Sector such as the PERI’s Automatic Climbing System [2] and Brokk’s remote-controlled demolition machines [3], but there has been little implementation on live sites. Construction sites by their very nature are dynamically changing environments, so if human input was removed entirely, a robot would need a high level of awareness of the current state of the building project in order to navigate and carry out its task

Remarks on the diachronic reconstruction of intonational patterns in Romance with special attention to Occitan as a bridge language

This paper approaches Romance intonation from a diachronic point of view. The position that is adopted is that this is an area open to investigation. Comparative techniques can be fruitfully employed for investigating the evolution and diversification of the intonational patterns of the Romance languages. The focus of the paper is on Occitan. This is an important bridge language whose study may elucidate how French diverged prosodically from the systems found in Ibero and Italo-Romance. It is argued that, since Occitan was retained contrasts in the position of wordaccent (lexical stress), any prosodic features that French shares with Occitan are logically independent from the lack of contrastive accent in French

Measurement and modelling of noise-power-distance curves of a fixed-wing UAV

This paper presents an investigation into the noise produced by an unmanned aerial vehicle (UAV). The platform used, `Spotter', is a fixed-wing, light UAV comprising a 4-meter wingspan. Spotter was originally designed to perform long-endurance, all-weather patrol missions in coastal and maritime environments. This vehicle has been continuously upgraded and is now used in a broader range of applications. Increasing demand by research and industrial partners, as well as the UK Civil Certification Authority (CAA) has led to a survey of the Spotter's in-flight noise footprint. The CAA Operating Safety Case of this platform is currently being updated and the major findings are presented in the paper. Preliminary results were obtained in flight tests performed at the Draycot Aerodrome over two expeditions in the summer of 2021, in the UK. A series of flyovers, takeoff and landing operations were measured. Flyovers were performed at constant altitude at series of power settings, incrementing from low to maximum power output. These measurements are then used to generate Noise-Power-Distance curves for the Spotter UAV. Static directivity characteristics of the dual propeller setup were also measured, with intent of feeding into future airport exposure studies

Comparison of the efficacy of once- and twice-daily colchicine dosage in pediatric patients with familial Mediterranean fever - a randomized controlled noninferiority trial

Background: In this study, we examined the efficacy and safety of a once-daily dosage schema of colchicine compared with a twice-daily dosage schema in pediatric patients with familial Mediterranean fever (FMF). Methods: In this 24-week, multicenter, randomized controlled noninferiority trial, pediatric patients newly diagnosed with FMF carrying a homozygous or compound heterozygous mutation and not receiving any treatment were included. Patients were randomly assigned using a block randomization method to receive treatment with a once- or twice-daily dosage. Clinical and laboratory characteristics and medication side effects were recorded and compared between groups. The study was carried out in compliance with Good Clinical Practice and the Consolidated Standards for Reporting of Trials (CONSORT) statement. Results: A total of 92 patients were selected, and 79 patients completed the study. There were 42 patients in the once-daily dosage group and 37 in the twice-daily dosage group. The results indicated that the once-daily dosage was not inferior to the twice-daily dosage regarding decrease in attack frequency and duration as well as improvement in clinical findings and Mor severity scores. Alterations in laboratory findings indicating inflammation, such as erythrocyte sedimentation rate, C-reactive protein, and serum amyloid A, were similar in both groups. The rates of drug side effects were similar between the once- and twice-daily dosage groups, implying comparable safety of colchicine, with the exception of diarrhea, which was slightly higher in the once-daily dosage group. Conclusions: Using colchicine with either a once- or twice-daily dosage provides similar clinical and laboratory improvements. Considering both efficacy and safety, colchicine can be prescribed with a once-daily dosage. Trial Registration ID: ClinicalTrials.gov identifier NCT02602028. Registered 5 November 2015

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 (?UAV) 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 200

Reconfigurable unmanned aerial vehicles.

Unmanned Aerial Vehicles (UAVs) have been developing dramatically due to wars and miniaturisation of technology, which has made the UAV industry a very lucrative business. Research organisations have been funded by various research committees or military groups to push UAV developments at a very fast pace. Although these UAVs are high in capability, they are limited to a single use application or mission. This paper will analyse current UAV systems to determine how the use of a novel reconfigurable UAV could benefit the end user

Improving the perching capability of a vertical take-off and landing unmanned vehicle through reconfiguration

Landing on lighting columns like nature’s birds is a desirable capability which can only extend the uses of unmanned aerial systems. This thesis investigates what the most effective form of perching on existing street furniture with a VTOL UAV and how the perch site can be recognised using low cost off the shelf sensors. Additionally to this, the UAV in question will have to execute the perch without relying on GPS data. The work conducted here covers an extensive design review which selects a bird claw like gripper to sustain the perch. In order for the UAV to know where it is in relation to the perch site without relying on GPS data, a Raspberry Pi and PiCamera were used to detect common features which are found on top of a lighting column. Using a search and perch algorithm which was developed specifically for the task of perching on lamp post projection brackets, the on-board microprocessor controlled the UAV over the perch site and gradually descended into the perch position. The perched position and approach was also tested to ensure the perching element could cope with various weather conditions. The testing was conducted in a wind tunnel with the UAV mounted in various perched positions and the moment the UAV would slip, the wind speed were measured and analysed which highlighted an interesting prediction method. During the perching development the addition of a gantry style test-rig was also developed to ease the algorithm development with minimal incidents. The final result is a search and perch algorithm which is initiated when the VTOL UAV is within the vicinity of a lamp post at which point the on-board vision processing and control system takes over, removing the burden from the UAV operator to ensure a collision free perch