Abstract: An on-board navigation system for an unmanned aircraft system (UAS) operating in an unknown environment. A point-cloud sensor system generates point cloud data representing the unknown environment. An on-board processing system processes the point cloud data to generate both a 2-D occupancy grid and a 3-D voxel map, with the 2-D occupancy grid having cells with known (seen) and unknown data. Additional processing determines an amount of known-to-unknown (transitional) data in each cell, thereby determining unexplored regions. A cost is assigned to each unexplored region, based at least in part on the amount of transitional data in cells of the region. The unexplored regions are then sorted based on their costs, thereby determining an optimal region to explore. The 3-D voxel map is used to find a safe area within the optimal region where the UAS may fly. A flight path to the optimal region is then calculated.

Abstract: Compositions, methods and apparatuses for reducing or eliminating malodors from indoor air are described. The method utilizes vapor phase hydrogen peroxide (VPHP) generated from either evaporation from an aqueous-based liquid composition or sublimation from a solid hydrogen peroxide-containing compound. VPHP engages a media coated with at least one transitional metal element or compound, which acts as an oxidation catalyst, in the presence of air that contains malodorous compounds to provide increased efficacy of malodor molecule oxidation. The apparatus can employ a disposable porous non-woven filter pad coated with one or more transition metal compounds, and a solid source of VPHP. Malodor-containing air engages the pad in the presence of the VPHP to effectively oxidize the malodorants. The apparatus can also include a mechanism to provide color change(s) in the presence of VPHP to indicate whether the device contains VPHP or not.

Abstract: Compositions, methods and apparatuses for reducing or eliminating malodors from indoor air are described. A method is provided for the reduction or elimination of malodors from indoor air using vapor phase hydrogen peroxide generated from either evaporation from a pH neutral to mildly acidic aqueous-based liquid composition or sublimation from a solid composition containing at least one pH neutral to mildly acidic solid hydrogen peroxide-containing compound. The vapor phase hydrogen peroxide (VPHP) engages a media coated with at least one transitional metal element or compound in the presence of air that contains malodorous compounds. The combination of the vapor phase hydrogen peroxide and the transitional metal compound, which acts as an oxidation catalyst, provides increased efficacy of malodor molecule oxidation.