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Autonomous aerial refueling is a key enabling technology for both manned and unmanned aircraft where extended flight duration or range are required. The results presented within this paper offer one potential vision-based sensing solution, together with a unique test environment. A hierarchical visual tracking algorithm based on direct methods is proposed and developed for the purposes of tracking a drogue during the capture stage of autonomous aerial refueling, and of estimating its 3D position. Intended to be applied in real time to a video stream from a single monocular camera mounted on the receiver aircraft, the algorithm is shown to be highly robust, and capable of tracking large, rapid drogue motions within the frame of reference. The proposed strategy has been tested using a complex robotic testbed and with actual flight hardware consisting of a full size probe and drogue. Results show that the vision tracking algorithm can detect and track the drogue at real-time frame rates of more than thirty frames per second, obtaining a robust position estimation even with strong motions and multiple occlusions of the drogue

The major nappe structures of the west Central Highlands of Scotland have been found to diverge from the upward facing Ossian-Geal Charn steep belt, trending NE-SW through the Ben Alder Forest. As the deep equivalent of the Loch Awe synclinal complex to the southwest, it more probably represents a root zone than the Tummel steep belt which is largely controlled by later deformational events. A structural synthesis of the west Central Highlands describes how the large elongated Drumochter-Dochard dome influences at least three subsequent phases of deformation.

Two regional-scale, recumbent folds control the structure of the Beinn Udlaidh area, Tyndrum, Perthshire. They reached their maximum development during D2, following the regional metamorphic peak, and are part of a stack of larger SE-facing recumbent folds formed during the ∼470 Ma Grampian Orogeny. The rocks belong to the Neoproterozoic–Lower Ordovician Dalradian Supergroup, and preserve a sedimentary transition between the Grampian Group and the overlying Appin Group. The latter occupies the core of the S-facing, recumbent Beinn Udlaidh Syncline (D2) which, with the underlying complementary Glen Lochy Anticline, is gently folded by a regional-scale structure, the Orchy Dome. The recumbent folds postdate an early fabric (S1), which is generally obliterated by the D2 imprint, but preserved as inclusion trails in regional metamorphic garnets, that are highly oblique to, and wrapped by, S2. It is concluded that the Dalradian rocks described here from below the Iltay Boundary Slide are in structural continuity with those of the Tay Nappe above, and that the Slide represents a structurally-modified disconformity between the Leven Schist (Appin Group) and the overlying Ben Lui Schist (Argyll Group). The Orchy Dome probably influenced the spatial distribution of minor intrusions and explosion vents of the lamprophyre suite.

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