Abstract-In this paper we present the design and development of the IONS (Indoor Outdoor Navigation and Surveillance), a versatile, low-cost, power autonomous, statically stable quadruped robot. The robot has unique compliant wheeled-leg limb design that enables it to climb up and descend stairs of various riser heights. It is designed for statically stable walking, turning, climbing and descending gaits using minimal terrain sensing and simple clock driven open-loop control mechanism. It is equally effective in indoor as well as outdoor settings. Its salient features include auto-alignment of the body while climbing stairs, distinction between stairs and obstacles, collision avoidance etc. The robot is controlled using a web based user interface under ubiquitous Wi-Fi network. The operator use live video feed streamed from on-board camera mounted on the robot platform for gait regulation. On-board system keeps track of signal strength, detects communication failure and sends health status report of the robot to the operator console at regular intervals.

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Flush air data sensing system (FADS) forms a mission-critical subsystem in re-entry vehicles. It makes use of surface pressure measurements from the nose cap of the vehicle for deriving air data parameters such as angle of attack, angle of sideslip, Mach number, etc. of the vehicle. These parameters are used by the flight control and guidance systems, and also assist in the overall mission management. The overall system engineering of FADS, including selection of pressure transducers, tubing size, port geometry, FADS algorithm and associated processing electronics along with the integration scheme is addressed in this article. Details of the qualification tests carried out in wind tunnel for end-to-end verification of the entire FADS system are covered in brief. Majority of the tests were carried out in a low-speed wind tunnel at a wind speed of 65 m/s (Mach number 0.2). The flight performance of FADS is also discussed in this article.