Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly incorporate sensors like cameras and Light Detection Rangings (LiDARs), the performance of which may degrade presence aerosol particles. Thus, there is a need fusing acquired data from these with Radio (RADARs) can penetrate through such Overall, this will improve localization collision avoidance algorithms under...

Finding food is a vital skill and constant task for any animal, associative learning of food-predicting cues gives an advantage in this daily struggle. The strength the associations between depends on number parameters, such as salience cue, reward joint cue-food experiences. We investigate what impact odour-sugar memory has microbehaviour Drosophila melanogaster larvae. find that larvae form stronger memories with increasing concentrations sugar or odour, these manifest themselves...

ABSTRACT Avoiding associatively learned predictors of danger is crucial for survival. Aversive memories can, however, become counter-adaptive when they are overly generalized to harmless cues and contexts. In a fruit fly odor–electric shock associative memory paradigm, we found that avoidance lost its specificity the trained odor became general novel odors within day training. We discuss possible neural circuit mechanisms this effect highlight parallelism over-generalization fear behavior...

In this article, the problem of an online autonomous aerial inspection, specifically for discontinuous and distributed objects is presented. The proposed approach imposes view culling photogrammetric constraints based on a geometrically modelled three-dimensional pyramid, cone to filter surfaces by desired observation angle, framework-integrated passive collision-avoidance scheme with object under dynamically enveloping bounding-box region map visited surfaces. Furthermore, inspect-explore...

Abstract This paper highlights the significance of maintaining and enhancing situational awareness in Urban Search Rescue (USAR) missions. It focuses specifically on investigating capabilities Unmanned Aerial Vehicles (UAV) equipped with limited sensing onboard computational resources to perform visual inspections apriori unknown fractured collapsed structures unfamiliar environments. The proposed approach, referred as First Look Inspect-Explore (FLIE), employs a flexible bifurcated behavior...

In this work, we present an autonomous inspection framework for remote sensing tasks in active open-pit mines. Specifically, the contributions are focused towards developing a methodology where initial approximate operator-defined plan is exploited by online view-planner to predict path that can adapt changes current mine-face morphology caused route mining activities. The proposed leverages instantaneous 3D LiDAR and localization measurements coupled with modelled sensor footprint...

In this article, we present the Layered Semantic Graphs (LSG), a novel actionable hierarchical scene graph, fully integrated with multi-modal mission planner, FLIE: A First-Look based Inspection and Exploration planner. The novelty of work stems from aiming to address task maintaining an intuitive multi-resolution representation, while simultaneously offering tractable foundation for planning understanding during ongoing inspection apriori unknown targets-of-interest in environment. proposed...

This article presents xFLIE, a fully integrated 3D hierarchical scene graph based autonomous inspection architecture. Specifically, we present tightly-coupled solution of incremental Layered Semantic Graphs (LSG) construction and real-time exploitation by multi-modal autonomy, First-Look Inspection Exploration (FLIE) planner, to address the task apriori unknown semantic targets interest in environments. work aims challenge maintaining, addition or as an alternative volumetric models,...

Dysfunction in the endolysosome, a late endosomal to lysosomal degradative intracellular compartment, is an early hallmark of some neurodegenerative diseases, particular Alzheimer's disease. However, subtle morphological changes compartments affected neurons are difficult quantify quickly and reliably, making this phenotype inaccessible as either diagnostic marker, or read-out for drug screening.We present method automatic detection fluorescently labeled endolysosomes degenerative situ. The...

With the ever-growing number of space debris in orbit, need to prevent further pollution is becoming more and apparent. Refueling, servicing, inspection deorbiting spacecraft are some example missions that require precise navigation docking space. Having multiple, collaborating robots handling these tasks can greatly increase efficiency mission terms time cost. This article will introduce a modern efficient control architecture for satellites on collaborative missions. The proposed uses...

In this article we propose a novel offline, model-based aerial visual inspection scheme for geometrically fractured large objects, based on fully autonomous Unmanned Aerial Ve-hicles (UAV s), while specifically targeting the case of constrained environments. The proposed framework enables safe and collision free mission, guaranteeing complete object interest. employs First - Look approach to generate viewpoints satisfying specific photogrammetric requirements, as well spatial constraints...

This article aims to present an experimental evaluation of offline, geometry-aware aerial visual inspection framework, specifically in constrained environment, established for geometrically fractured objects, by employing autonomous unmanned vehicle (UAV), equipped with on-board sensors. Based on a model-centric approach, the proposed generates viewpoints around object, subject augmented static bounds prevent collisions. The novel framework inspection, presented this article, mitigate...

In this article, a 3D visual coverage problem of an asteroid by establishing stereo-visual based sensor from monocular cameras is considered. The are individually mounted on two small low-thrust spacecraft, which maintained in tight stereo formation using nonlinear model predictive control scheme to maintain overlapping field-of-view and specific baseline distance. proposed algorithm adopts leader-follower architecture define the relative pose between spacecraft. However, asteroids provide...

In this article, we propose the implementation of a Nonlinear Moving Horizon Estimation (NMHE) framework to estimate exogenous disturbances acting on spacecraft for autonomous navigation around Small Celestial Bodies (SCBs). The estimation is coupled with Model Predictive Control (NMPC) promote robust operations in Space. NMHE based disturbance formulates finite horizon optimization problem, while incorporating lumped as an additional augmented state vector. Next, estimated utilized by NMPC...

With the ever growing number of space debris in orbit, need to prevent further population is becoming more and apparent. Refueling, servicing, inspection deorbiting spacecraft are some example missions that require precise navigation docking space. Having multiple, collaborating robots handling these tasks can greatly increase efficiency mission terms time cost. This article will introduce a modern efficient control architecture for satellites on collaborative missions. The proposed uses...

Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly incorporate sensors like cameras and Light Detection Rangings (LiDARs), the performance of which may degrade presence aerosol particles. Thus, there is a need fusing acquired data from these with Radio (RADARs) can penetrate through such Overall, this will improve localization collision avoidance algorithms under...

The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil mission related the field rescue robotics. Predominantly, problem visual inspection urban structures dealt with view-planning being addressed by map-based approaches. In this article, we propose novel approach towards effective use Micro Aerial Vehicles (MAVs) for obtaining 3-D shape structure objects utilizing map-independent planning framework. undertaken via bifurcated...

The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil mission related the field rescue robotics. Predominantly, problem visual inspection urban structures dealt with view-planning being addressed by map-based approaches. In this article, we propose novel approach towards effective use Micro Aerial Vehicles (MAVs) for obtaining 3-D shape structure objects utilizing map-independent planning framework. undertaken via bifurcated...