Visual route following for tiny autonomous robots.

Navigation is an essential capability for autonomous robots. In particular, visual navigation has been a major research topic in robotics because cameras are lightweight, power-efficient sensors that provide rich information on the environment. However, the main challenge of visual navigation is that it requires substantial computational power and memory for visual processing and storage of the results. As of yet, this has precluded its use on small, extremely resource-constrained robots such as lightweight drones. Inspired by the parsimony of natural intelligence, we propose an insect-inspired approach toward visual navigation that is specifically aimed at extremely resource-restricted robots. It is a route-following approach in which a robot's outbound trajectory is stored as a collection of highly compressed panoramic images together with their spatial relationships as measured with odometry. During the inbound journey, the robot uses a combination of odometry and visual homing to return to the stored locations, with visual homing preventing the buildup of odometric drift. A main advancement of the proposed strategy is that the number of stored compressed images is minimized by spacing them apart as far as the accuracy of odometry allows. To demonstrate the suitability for small systems, we implemented the strategy on a tiny 56-gram drone. The drone could successfully follow routes up to 100 meters with a trajectory representation that consumed less than 20 bytes per meter. The presented method forms a substantial step toward the autonomous visual navigation of tiny robots, facilitating their more widespread application.

Nitrilium ions - synthesis and applications.

Nitrilium ions have been well-established in organic chemistry for many decades, but recent developments show them to be far more versatile than hitherto recognized. They are known as stable salts, can be generated in situ, or are present as transient intermediates. We provide a succinct, but comprehensive review on the synthesis, stability, and reactivity of nitrilium ions as synthons for imines, their use in the synthesis of a large spectrum of heterocycles, and their reactions with transition metal complexes. By offering this overview, we aim for a renewed focus on readily accessible and simple to use nitrilium ions as valuable reagents for the synthesis of organic compounds.

Iminophosphanes: Synthesis, Rhodium Complexes, and Ruthenium(II)-Catalyzed Hydration of Nitriles.

Highly stable iminophosphanes, obtained from alkylating nitriles and reaction of the resulting nitrilium ions with secondary phosphanes, were explored as tunable P-monodentate and 1,3-P,N bidentate ligands in rhodium complexes. X-ray crystal structures are reported for both κ1 and κ2 complexes with the counterion in one of them being an unusual anionic coordination polymer of silver triflate. The iminophosphane-based ruthenium(II)-catalyzed hydration of benzonitrile in 1,2-dimethoxyethane (180 °C, 3 h) and water (100 °C, 24 h) and under solvent free conditions (180 °C, 3 h) results in all cases in the selective formation of benzamide with yields of up to 96%, thereby outperforming by far the reactions in which the common 2-pyridyldiphenylphosphane is used as the 1,3-P,N ligand.

Tris(pyrazolyl)phosphines with copper(i): from monomers to polymers.

The parent tris(pyrazolyl)phosphine and its 3,5-Me2, 3-Ph, and 3-t-Bu derivatives have been prepared by a simple procedure and show modest Lewis basicity of the phosphorus apex as was established by the magnitude of the (1)JP,Se coupling constant of the phosphine selenides. Because of the chelating properties of both the N- and P-sites, neutral phosphorus-centered scorpion ligands allow coordination modes that are unavailable to the abundantly used anionic tris(pyrazolyl)borate scorpionates as we established for Cu(I)-complexation. The substituted P-scorpion ligands only allow for N-coordination, as the P-apex is presumably less accessible. Two X-ray crystal structures were obtained for the Cu-complex of tris(3,5-dimethylpyrazolyl)-phosphine with acetonitrile and triphenylphosphine in the fourth coordination site. The parent P-scorpion ligand can chelate with both its pyrazolyl groups and its P-apex with the product depending on the ratio in which it is mixed with the Cu(I) complex. Reacting two equivalents of the ligand with [Cu(MeCN)4][PF6] resulted in a complex in which Cu is coordinated to the three pyrazolyl groups of one ligand and to the P-apex of the other ligand as confirmed by an X-ray crystal structure determination and a DFT computational analysis. Reacting the ligand and the Cu(I) complex in an equimolar ratio resulted in a remarkable one-dimensional P-scorpion coordination polymer for which a single crystal X-ray structure could be determined. A detailed analysis of the structural features is presented.

Synthesis and Coordination Chemistry of Iminophosphanes.

Iminophosphanes are a new group of 1,3-P,N-ligands, readily obtainable from secondary phosphanes and nitrilium ions, having a tunable N-donor site by means of varying the imine substituents. These ligands give, in high yields, monodentate gold complexes and bidentate rhodium and iridium complexes. Crystal structures are reported for both the ligands and the complexes.

Base-stabilized nitrilium ions as convenient imine synthons.

A simple and efficient methodology is presented for the synthesis of a wide range of substituted imines. It is based on stabilizing readily available, but thermally labile, N-alkylnitrilium triflates with pyridine or DMAP to moderately air-stable adducts. These base-stabilized imine synthons react conveniently with phosphorus- and nitrogen-based nucleophiles to amidines and phosphaamidines.

Post-tsunami relocation of fisher settlements in South Asia: evidence from the Coromandel Coast, India.

The tsunami that struck the coasts of India on 26 December 2004 resulted in the large-scale destruction of fisher habitations. The post-tsunami rehabilitation effort in Tamil Nadu was directed towards relocating fisher settlements in the interior. This paper discusses the outcomes of a study on the social effects of relocation in a sample of nine communities along the Coromandel Coast. It concludes that, although the participation of fishing communities in house design and in allocation procedures has been limited, many fisher households are satisfied with the quality of the facilities. The distance of the new settlements to the shore, however, is regarded as an impediment to engaging in the fishing profession, and many fishers are actually moving back to their old locations. This raises questions as to the direction of coastal zone policy in India, as well as to the weight accorded to safety (and other coastal development interests) vis-à-vis the livelihood needs of fishers.

Crystal structure of tert-butyl-N-phenyl-carbonitrilium tetra-chlorido-aluminate.

In the title compound, (C11H14N)[AlCl4], the nitrilium (systematic name: 2,2-dimethyl-N-phenyl-propane-nitrilium) ion adopts a slightly distorted linear configuration [C-N C = 178.87 (16) and N C-C = 179.13 (17)°]. In the crystal, while there are no inter-molecular hydrogen bonds, pairs of nitrilium ions are linked through π-π inter-actions [inter-centroid distance = 3.8091 (13) Å].

Facile synthesis of phosphaamidines and phosphaamidinates using nitrilium ions as an imine synthon.

Readily accessible nitrilium triflates are convenient imine building blocks for the expedient synthesis of a novel class of 1,3-P,N ligands as demonstrated for the reaction with primary phosphanes. This procedure allows variation of all substituents. X-ray crystal structures are reported for nitrilium ions, phosphaamidines, and three phosphaamidinate complexes. The lithium phosphaamidinate is N coordinated and its reaction with [AuCl(tht)] (tht = tetrahydrothiophene) gives a unique P-bridged gold trimer, while a P,N-bidentate complex results from [{RhCl(cod)}2]. The nitrilium ion methodology allows extension of the 1,3-P,N motive to bis(imino)phosphanes, which are the neutral phosphorus analogues of the valuable ß-diketiminate ligand.