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This paper introduces a novel approach to enhance the docking mechanism of sensor packages deployed on bridges using unmanned aerial vehicles (UAVs). The current electropermanent magnet (EPM) system faces challenges in achieving efficient and stable docking due to factors such as airflow, GPS stabilization, and the time required for EPM activation. To address these issues, a biased EPM design is proposed, utilizing additional permanent magnets to achieve neutral buoyancy during UAV deployment. This design optimally balances the weight of the drone and sensor package, providing advantages such as improved stability against external factors and reduced pilot fatigue. Experimental results demonstrate the feasibility of the proposed design, indicating enhanced hold force and an extended range for efficient docking. 

Wildfires are increasing in size, frequency, and intensity, releasing increased amounts of contaminants, including magnetic particles, into the surrounding environment. The aim of this paper is to develop a sensing method for the detection and quantification of magnetic particles (MPs) in fire ash and fire runoff using a compact Time-Domain Nuclear Magnetic Resonance (TD-NMR) system. The system is made up of custom NMR electronics with a compact and rugged permanent magnet array designed to enable future deployment as an in situ sensor. A signal-to-noise ratio of 25 dB was measured for a single scan, and sufficient data can be acquired in one minute. A linear relationship with an R 2 value of 0.9699 was established between transverse relaxation rates and MP concentrations in ash samples. This was validated by testing known dilutions of pure magnetite particles and showing that they fit within the same linear curve. The developed approach was then applied to detect MPs in surface water, where changes in the relaxation rates as high as 400% were observed before and after a wildfire event. MPs were removed from the surface water using a magnetic particle separator to confirm that observed changes were solely due to the presence of MPs. The compact NMR system can be used as a simple and rapid approach to track and quantify the concentrations of magnetic particles released from fire ashes and also from other sources such as discharges from coal ash and other combustion ashes.