-Results from the most extensive study of the time-evolving dust structure around the prototype "Pinwheel" nebula WR 104 are presented. Encompassing 11 epochs in three near-infrared filter bandpasses, a homogeneous imaging data set spanning more than 6 years (or 10 orbits) is presented. Data were obtained from the highly successful Keck Aperture Masking Experiment, which can recover high fidelity images at extremely high angular resolutions, revealing the geometry of the plume with unprecedented precision. Inferred properties for the (unresolved) underlying binary and wind system are orbital period 241.5±0.5 days and angular outflow velocity of 0.28±0.02 mas/day. An optically thin cavity of angular size 13.3 ± 1.4 mas was found to lie between the central binary and the onset of the spiral dust plume. Rotational motion of the wind system induced by the binary orbit is found to have important ramifications: entanglement of the winds results in strong shock activity far downstream from the nose of the bowshock. The far greater fraction of the winds participating in the collision may play a key role in gas compression and the nucleation of dust at large radii from the central binary and shock stagnation point. Investigation of the effects of radiative braking pointed towards significant modifications of the simple hydrostatic colliding wind geometry, extending the relevance of this phenomena to wider binary systems than previously considered. Limits placed on the maximum allowed orbital eccentricity of e < ∼ 0.06 argue strongly for a prehistory of tidal circularization in this system. Finally we discuss the implications of Earth's polar (i < ∼ 16 • ) vantage point onto a system likely to host supernova explosions at future epochs.

In this paper, we present a path planner for low-altitude terrain coverage in known environments with unmanned rotary-wing micro aerial vehicles (MAVs). Airborne systems can assist humanitarian demining by surveying suspected hazardous areas (SHAs) with cameras, ground-penetrating synthetic aperture radar (GPSAR), and metal detectors. Most available coverage planner implementations for MAVs do not consider obstacles and thus cannot be deployed in obstructed environments. We describe an open source framework to perform coverage planning in polygon flight corridors with obstacles. Our planner extends boustrophedon coverage planning by optimizing over different sweep combinations to find the optimal sweep path, and considers obstacles during transition flights between cells. We evaluate the path planner on 320 synthetic maps and show that it is able to solve realistic planning instances fast enough to run in the field. The planner achieves 14 % lower path costs than a conventional coverage planner. We validate the planner on a real platform where we show low-altitude coverage over a sloped terrain with trees.

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