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This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to the lack of sufficient situational awareness, mostly caused by stationary and limited field-of-view and lack of depth perception from the robot’s onboard camera. The emerging state of the practice is to use two robots, a primary and a secondary that acts as a visual assistant to overcome the perceptual limitations of the onboard sensors by providing an external viewpoint. However, problems exist when using a tele-operated visual assistant: extra manpower, manually chosen suboptimal viewpoint, and extra teamwork demand between primary and secondary operators. In this work, we use an autonomous tethered aerial visual assistant to replace the secondary robot and operator, reducing the human-robot ratio from 2:2 to 1:2. This visual assistant is able to autonomously navigate through unstructured or confined spaces in a risk-aware manner, while continuously maintaining good viewpoint quality to increase the primary operator’s situational awareness. With the proposed co-robots team, tele-operation missions in nuclear operations, bomb squad, disaster robots, and other domains with novel tasks or highly occluded environments could benefit from reduced manpower and teamwork demand, along with improved visual assistance quality based on trustworthy risk-aware motion in cluttered environments. 

The storage of granular materials is a critical process in industry, which has driven research into flow in silos. Varying material properties, such as particle size, can cause segregation of mixtures. This work seeks to elucidate the effects of size differences and determine how using a flow-correcting insert mitigates segregation during silo discharge. A rotating table was used to collect mustard seeds discharged from a three-dimensional (3D)-printed silo. This was loaded with bidisperse mixtures of varying proportions. A 3D-printed biconical insert was suspended near the hopper exit to assess its effect on the flow. Samples were analysed to determine the mass fractions of small particle species. The experiments without the insert resulted in patterns consistent with segregation. Introducing the insert into the silo eliminated the observed segregation during discharge. Discrete element method simulations of silo discharge were performed with and without the insert. These results mirrored the physical experiment and, when complimented with coarse graining analysis, explained the effect of the insert. Most of the segregation occurs at the grain–air free surface and is driven by large velocity gradients. In the silo with an insert, the velocity gradient at the free surface is greatly reduced, hence, so is the degree of segregation. 

Abstract Extensive vertical deformation (>4.5 m) observed at Sierra Negra volcano Galápagos, Ecuador, between 1992 and the 2005 eruption led scientists to hypothesize that repeated faulting events relieved magma chamber overpressure and prevented eruption. To better understand the catalyst of the 2005 eruption, thermomechanical models are used to track the stress state and stability of the magma storage system during the 1992–2005 inflation events. Numerical experiments indicate that the host rock surrounding the Sierra Negra reservoir remained in compression with minimal changes in overpressure (~10 MPa) leading up to the 2005 eruption. The lack of tensile failure and minimal overpressure accumulation likely inhibited dike initiation and accommodated the significant inflation without the need for pressure relief through shallow trapdoor faulting events. The models indicate that static stress transfer due to the M_w5.4 earthquake 3 hr prior to the eruption most likely triggered tensile failure and catalyzed the 2005 eruption.