Visual pose estimation for shipboard landing of autonomous parafoils
This paper outlines an investigation into the use of a simple, focal-plane imaging sensor for guidance of an autonomous parafoil system for approach and landing on a moving platform such as a ship underway. The perspective-projective transformation between an object in a three-dimensional world and an image on a two-dimensional plane is analyzed and then formulated using a homogeneous coordinate system. The estimation problem is addressed; specifically, the challenge of dealing with the out-of-frame condition due to parafoil oscillation as it approaches the target. A dual-mode Kalman estimation-scheme is proposed that suspends measurement when the target is out-of-frame, and incorporates a two-view measurement when the target reenters the frame.
Development and Testing of the Miniature Aerial Delivery System Snowflake
Proceedings of the 20th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar, Seattle, WA, May 4-7, 2009.
Adsorption of immunoglobulin Y in supermacroporous continuous cryogel with immobilized Cu(2+) ions.
The influence of temperature, pH and ionic strength on the adsorption of Immunoglobulin Y (IgY) in IDA-Cu(2+) cryogel system was studied by batch equilibrium measurements. The adsorptive equilibrium data were obtained at 17 and 27°C, pH 5.0 and 6.5, and at ionic strength of 50 and 200mmolL(-1) NaCl. Langmuir, Freundlich and Langmuir-Freundlich models were fitted to equilibrium data, while the enthalpy of adsorption of IgY in IDA-Cu(2+) cryogel system was calculated through Van't Hoff analysis. The binding of IgY on cryogel was stronger at 27°C and lowest pH and ionic strength values, with apparent maximum adsorption capacity of 27mgg(-1). The adsorption of protein in the resin was spontaneous in all analyzed cases. The results provide valuable information to enable the improvement of IgY purification processes.