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This paper focuses on a hardware-in-the-loop facility aimed at real-time testing of architectures and algorithms of multisensor sense and avoid systems. It was developed within a research project aimed at flight demonstration of autonomous non-cooperative collision avoidance for Unmanned Aircraft Systems. In this framework, an optionally piloted Very Light Aircraft was used as experimental platform. The flight system is based onmultiple-sensor data integration and it includes a Ka-band radar, four electrooptical sensors, and two dedicated processing units. The laboratory test system was developed with the primary aim of prototype validation before multi-sensor tracking and collision avoidance flight tests. System concept, hardware/software components, and operating modes are described in the paper. The facility has been built with a modular approach including both flight hardware and simulated systems and can work on the basis of experimentally tested or synthetically generated scenarios. Indeed, hybrid operating modes are also foreseen which enable performance assessment also in the case of alternative sensing architectures and flight scenarios that are hardly reproducible during flight tests. Real-time multisensor tracking results based on flight data are reported, which demonstrate reliability of the laboratory simulation while also showing the effectiveness of radar/electro-optical fusion in a non-cooperative collision avoidance architecture. [ABSTRACT FROM AUTHOR]

The use of 2-pyridinealdoxime (paoH)/N,N'-donor ligand (L-L) "blend" in cobalt chemistry has afforded two cationic mononuclear cobalt(III) complexes of the general type [Co(pao) 2 (L-L)] +, where L-L = 1,10-phenanthroline (phen) and III 2,2'-bipyridine (bpy). The CoCl2/paoH/L-L (1 : 2 : 1) reaction system in MeOH gives complexes [CoIII(pao) 2(phen)]Cl·2H2O (1·2H2O) and [CoIII (pao)2 (bpy)]Cl·1.5MeOH (2·1.5MeOH). The structures of the complexes were determined by single-crystal X-ray crystallography. The CoIII ions are six-coordinate, surrounded by three bidentate chelating ligands, that is, two pao- and one phen or bpy. The deprotonated oxygen atom of the pao- ligand remains uncoordinated and participates in hydrogen bonding with the solvate molecules. IR data of the complexes are discussed in terms of the nature of bonding and the known structures. [ABSTRACT FROM AUTHOR]