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Abstract-In this paper, we present extensive advances in live-fly field experimentation capabilities of large numbers of fixed-wing aerial robots, and highlight both the enabling technologies as well as the challenges addressed in such largescale flight operations. We showcase results from recent field tests, including the autonomous launch, flight, and landing of 50 UAVs, which illuminate numerous operational lessons learned and generate rich multi-UAV datasets. We detail the design and open architecture of the testbed, which intentionally leverages low-cost and open-source components, aimed at promoting continued advances and alignment of multi-robot systems research and practice.

The coordination number of the pore network of a mesoporous solid can be determined from its nitrogen adsorption and desorption isotherms, using an analysis method based on percolation theory. However, measurement of these isotherms is time-consuming and problematical very close to the bulk condensation pressure of nitrogen. In this paper, we demonstrate that mercury intrusion and nitrogen desorption share the same mechanism so that the mercury intrusion curve can be used in place of the nitrogen desorption isotherm in the connectivity analysis.

Nitrogen sorption is a commonly used experimental technique for the characterization of solids that are primarily mesoporous. The standard nitrogen adsorption experiment can also detect pores at the lower end of the macropore range, up to perhaps 3000 or 4000 Å. However, some solids of industrial importance contain macropores beyond the size range probed by the standard nitrogen adsorption experiment. In this work, a modified experimental method is used to obtain a more complete characterization of the solid. The experiment involves the bulk condensation of nitrogen in the sample tube after completing the adsorption isotherm and before measurement of the desorption isotherm. Modifications to existing pore size distribution and connectivity analyses are proposed to incorporate data from the experimental desorption isotherms. These modified analyses enable an improved estimate for the pore size distribution and a lower bound on the mean coordination number of the pore network to be obtained for these samples.