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Gliders can climb to substantial altitudes without employing any on-board energy resources but using proper piloting skills to utilize rising air currents called thermals. Recent experiments on small Unmanned Aerial Vehicles (UAVs) indicate a significant potential to increase both the flight velocity and the range of gliders by means of such maneuvers. In these experiments the velocity to approach a thermal has been recognized as a critical performance factor, and is chosen as the controlled variable. Accurate longitudinal controllers are required to track the optimal flight trajectories generated using path planning algorithms. These controllers are challenged by the presence of uncertain and time-varying aircraft dynamics, gust disturbances, and control actuator limitations.

A laboratory study was performed to assess the effectiveness of LNT+SCR systems for NOx control in lean exhaust. The effects of the catalyst system length and the spatial configuration of the LNT & SCR catalysts were evaluated for their effects on the NOx conversion, NH₃ yield, N₂O yield, and HC conversion. It was found that multi-zone catalyst architectures with four or eight alternating LNT and SCR catalyst zones had equivalent gross NOx conversion, lower NH₃ and N₂O yield, and significantly higher net conversion of NOx to N₂ than an all-LNT design or a standard LNT+SCR configuration, where all of the SCR volume is placed downstream of the LNT. The lower NH₃ emissions of the two multi-zone designs relative to the standard LNT+SCR design were attributed to the improved balance of NOx and NH₃ in the SCR zones.