Abstract: A ground-aware drone flight planning and operation system is provided. The system may comprise a semantic map, a localization system, and a perception system. The semantic map may comprise information about ground events in a geographic area where an unmanned aerial vehicle (UAV) may operate. The localization system may localize the UAV and assist in determining nearby ground events using the semantic map. The perception system may determine real-time ground events in the vicinity of the UAV. A computerized flight planner may generate a flight path based on the localization and perception data.

Abstract: An improved apparatus and method for measuring the concentration of carbon dioxide in respiratory gases. The apparatus is a non-dispersive gas analyzer attached in series with the respiratory airway which is universally compatible with any host system. The analyzer includes a housing which supports a sample cell containing the respiratory gases, and which contains an infrared radiation source encased in shock absorbing material, means for directing the radiation into a collimated beam path through the sample cell, means for splitting the beam path and directing it towards a pair of infrared detectors for measuring the amount of absorption of carbon dioxide in the sample cell. The analyzer is further improved by the use of two heating servos, one for regulating the temperature of the sample cell windows in order to inhibit condensation build-up and one for regulating the ambient temperature surrounding the detectors so as to ensure more accurate measurements.