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The real-time indoor autonomous vehicle test environment (RAVEN) at MIT's Aerospace Controls Laboratory is home to a diverse fleet of aircraft, from a styrofoam and cellophane dragonfly to a set of quadrotor Draganflyer helicopters. The helicopters are used primarily for swarm and health management research. Alongside these machines is a set of more conventional aircraft designed to study autonomous aircraft flight control in constrained environments. The objectives of this work are to develop and validate flight control concepts for aggressive (aerobatic) maneuvers, and, in particular, to identify the sensor suites needed, and the likely limits of achievable performance. Our work is motivated by the future goals of flying micro (or nano) air vehicles in constrained (e.g., urban or indoors) environments.

This paper presents vehicle models and test flight results for an autonomous fixed-wing airplane that is designed to take-off, hover, transition to and from level-flight modes, and perch on a vertical landing platform in a highly space constrained environment. By enabling a fixed-wing UAV to achieve these feats, the speed and range of a fixed-wing aircraft in level flight are complimented by hover capabilities that were typically limited to rotorcraft. Flight and perch landing results are presented. This capability significantly eases support and maintenance of the vehicle. All of the flights presented in this paper are performed using the MIT Real-time Autonomous Vehicle indoor test ENvironment (RAVEN)., The original document contains color images.

This paper presents vehicle models and test flight results for an autonomous fixed-wing aircraft with the capability to take off, hover, transition to and from level-flight, and perch on a vertical landing platform. These maneuvers are all demonstrated in the highly space constrained environment of the Real-time indoor Autonomous Vehicle test ENvironment (RAVEN) at MIT. RAVEN promotes the rapid prototyping of UAV planning and control technologies by allowing the use of unmodified commercially available model aircraft for autonomous flight. Experimental results of several hover tests, transition maneuvers, and perch landings are presented. By enabling a fixed-wing UAV to achieve these feats, we demonstrate that the desirable speed and range performance of an autonomous fixed-wing aircraft in level flight can be complimented by hover capabilities that are typically limited to rotary-wing vehicles. This combination has the potential to significantly ease support and maintenance of operational autonomous vehicles., QC 20141111

Bio-geochemical samples (BGS) are roots of certain aquatic plants and mosses suitable for monitoring elements dissolved in stream water. The moose, a wild ruminant living in most parts of Sweden, represents higher trophic level and another manifestation of bioavailability. By analyzing BGS (n=33 600) and moose liver (n=2400), a systematic survey has been performedin the terrestrial environment of Sweden. Cu and Mo are essential elements for life, and their presence is especially important for the Cu-dependent processes in ruminants. The availability of Cu and Mo as monitored in BGS and moose was visualized in the form of maps and subjected to further statistical analysis. The medians, with lower and upper quartiles indicated as intervals, for the country as a whole were: moose liver, Cu=34 (20-59), Mo=0.82 (0.58-1.06) mg kg -1 wet weight; BGS, Cu=50 (35-77), Mo=9.0 (5.3-18.0) mg kg -1 dry weight. The ranges of medians for the 22 Swedish counties were: moose liver, Cu=(20-62), Mo=(0.54-1.18) mg kg -1 wet weight; BGS, Cu=(28-115), Mo=(5-47) mg kg -1 dry weight. The relationships between the counties and the connections between the monitoring variables were elucidated by principal component analysis (PCA). It was demonstrated that two monitoring systems could give divergent results. An unexpectedly strong negative correlation was found between the county medians for Cu in BGS and moose liver. A possible explanation, based on the interaction between Cu and Mo in moose, could not be verified.

A wasting, debilitating disease with uncertain aetiology, affecting moose (Alces alces americana) in Eastern North America has been reported repeatedly ever since the 1910s. Despite the intensive studies during 1930-1960s the cause of the sickness could not be established. In the 1960s a parasitic nematode (Parelaphostrongylus tenuis) was reported as constituting a probable explanation for the sickness, although several clinical and pathological signs remained unexplained. In Sweden, a moose disease with similar signs, has been shown to be caused by molybdenosis resulting from a nutritional imbalance. The findings of this investigation were applied in Nova Scotia to determine trace element concentrations in tissues from indigenous moose. Co deficiency was found in about half of the cases and the investigation was complemented by determining the vitamin B12 level, which proved nutritional Co/vitamin B12 deficiency, further verified by an increased MMA (methylmalonic acid) level in plasma. Deficiencies were found mainly in the Tobeatic and Cape Breton Highland regions. No indications of molybdenosis or other trace element disturbances were found in Nova Scotia. Otherwise, extremely high Cd levels (148 mg Cd/kg kidney wet wt., maximum) were found, though probably not contributing to the moose sickness. The Cd burden of moose on mainland Nova Scotia was more than 50% higher than that of moose in Huntville and Alonquin (Ontario, Canada) and five- to six-fold is higher than the highest Cd levels found in Sweden. To counteract the bio-geochemical effects of Co deficiency in the moose environment, provision of Co-containing salt licks is suggested.