Design and Autonomous Stabilization of a Ballistically Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically launched, autonomously stabilizing multirotor prototype (SQUID, Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision based, active stabilization, confirming the ability of the multirotor to autonomously stabilize after a ballistic launch in a GPS denied environment.Comment: Accepted to 2020 International Conference on Robotics and Automatio

Using Simulation and Domain Adaptation to Improve Efficiency of Deep Robotic Grasping

Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data for which ground-truth annotations are generated automatically. Unfortunately, models trained purely on simulated data often fail to generalize to the real world. We study how randomized simulated environments and domain adaptation methods can be extended to train a grasping system to grasp novel objects from raw monocular RGB images. We extensively evaluate our approaches with a total of more than 25,000 physical test grasps, studying a range of simulation conditions and domain adaptation methods, including a novel extension of pixel-level domain adaptation that we term the GraspGAN. We show that, by using synthetic data and domain adaptation, we are able to reduce the number of real-world samples needed to achieve a given level of performance by up to 50 times, using only randomly generated simulated objects. We also show that by using only unlabeled real-world data and our GraspGAN methodology, we obtain real-world grasping performance without any real-world labels that is similar to that achieved with 939,777 labeled real-world samples.Comment: 9 pages, 5 figures, 3 table

Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autonomously-stabilizing multirotor prototype (SQUID - Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision-based, active stabilization, confirming the multirotor’s ability to autonomously stabilize after a ballistic launch in a GPS-denied environment

Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autonomously-stabilizing multirotor prototype (SQUID - Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision-based, active stabilization, confirming the multirotor’s ability to autonomously stabilize after a ballistic launch in a GPS-denied environment

The Grizzly, February 24, 2005

Spring Break Closing Information • Board of Trustees Meet to Discuss Issues on Campus • Fundraising Facts: Numbers Increase for Airband and Tsunami Relief Effort • Negro Spirituals Celebrate Black History Month • The Face in the Mirror: A Groundbreaking New Play for Ursinus • Competing Condoms: Consumer Reports Rates the Efficacy of Various Brands • Opinions: On the Look-out for a Boat Anchor?; Does UC Give Enough Charitable Support? • Wrestlers Grapple Conferences and Nationals • Bears Clinch Playoff Berthhttps://digitalcommons.ursinus.edu/grizzlynews/1579/thumbnail.jp

Influence of N-donor bases and the solvent in oxodiperoxomolybdenum catalysed olefin epoxidation with hydrogen peroxide in ionic liquids

Biphasic catalytic olefin epoxidation systems consisting of oxodiperoxomolybdenum catalysts in 1- n -alkyl-3-methylimidazolium hexafluorophosphate ionic liquid (IL) media with aqueous hydrogen peroxide oxidant were optimised by tuning the molecular structure of the IL and employing N -heterocyclic donor base additives to inhibit hydrolysis and enhance the activity of the catalyst. The latter study was only made possible by the solubilising properties of the IL media. Of the bases investigated, pyrazoles were identified as the most efficient additive species and the best results were obtained using 3,5-dimethylpyrazole. Immobilisation of the catalyst in the IL allowed for very efficient catalyst recycling. Finally, the compound [MoO(O 2 ) 2 (3-Mepz) 2 ](3-Mepz = 3-methylpyrazole) was characterised and its structure determined by X-ray crystallography

The Grizzly, August 31, 2006

Rebirth of Zack\u27s • Internet Outage on Campus • Changes to Parking on Campus • Class of 2010 Moves In • Sex at Ursinus • Getting to Know Ursinus • Local Dining Delights • Experiencing the Journey • Opinions: Save the Moderates; Opinions Editors Opinions on Opinions; Election Projections • Talent and Experience Lead Bears Into 2006 Season • Field Hockey Looks to Continue Dominance in CChttps://digitalcommons.ursinus.edu/grizzlynews/1715/thumbnail.jp

The Grizzly, September 1, 2005

Class of 2009 Arrives on Campus • Residence Life Office Hires Three New RDs • Construction Projects Underway • CIE Continues to Attract Attention • Kaleidoscope: Perfect Combination of Style and Function • Left Side of the Hallway, Slow Down • For Sexual Health, Ursinus Students Need Not Look Far • If We Knew Then, What We Know Now: Tips for Freshmen from Experienced Classmates • Opinions: A Day at Citizen\u27s Bank Park; Three Decent Reasons for Approving John Roberts (A Democrat\u27s Opinion); Marching with the Penguins; How to Build a Stronger Facebook Profile • Bears Look to Bounce Back in 2005 • Field Hockey Looks to Defend Title on New Fieldhttps://digitalcommons.ursinus.edu/grizzlynews/1586/thumbnail.jp