Search Strategies for Multiple UAV Search and Destroy Missions

Multiple UAVs are deployed to carry out a search and destroy mission in a bounded region. The UAVs have limited sensor range and can carry limited resources which reduce with use. The UAVs perform a search task to detect targets. When a target is detected which requires different type and quantities of resources to completely destroy, then a team of UAVs called as a coalition is formed to attack the target. The coalition members have to modify their route to attack the target, in the process, the search task is affected, as search and destroy tasks are coupled. The performance of the mission is a function of the search and the task allocation strategies. Therefore, for a given task allocation strategy, we need to devise search strategies that are efficient. In this paper, we propose three different search strategies namely; random search strategy, lanes based search strategy and grid based search strategy and analyze their performance through Monte-Carlo simulations. The results show that the grid based search strategy performs the best but with high information overhead.

Genetic algorithms: a survey

Genetic algorithms provide an alternative to traditional optimization techniques by using directed random searches to locate optimal solutions in complex landscapes. We introduce the art and science of genetic algorithms and survey current issues in GA theory and practice. We do not present a detailed study, instead, we offer a quick guide into the labyrinth of GA research. First, we draw the analogy between genetic algorithms and the search processes in nature. Then we describe the genetic algorithm that Holland introduced in 1975 and the workings of GAs. After a survey of techniques proposed as improvements to Holland's GA and of some radically different approaches, we survey the advances in GA theory related to modeling, dynamics, and deception

Heterogeneous permanganate oxidations: Synthesis of medium ring keto-lactones via substituent directed oxidative cyclisation

Homoallyl alcohols 4a-b and 5a-b undergo smooth oxidative cyclisation to give the corresponding ring enlarged keto-lactones under heterogeneous permanganate oxidation conditions.

Hydrogen-bond-directed self-assembly of D-(+)-dibenzoyltartaric acid and 4-aminopyridine: optical nonlinearities and stoichiometry-dependent novel structural features

Attempts to prepare hydrogen-bond-directed nonlinear optical materials from a 1:1 molar mixture Of D-(+)-dibenzoyltartaric acid (DBT, I) and 4-aminopyridine (4-AP, II) resulted in two salts of different stoichiometry. One of them crystallizes in an unusual 1.5:1 (acid:base) monohydrate salt form III while the other one crystallizes as 1:1 (acid:base) salt IV. Crystal structures of both of the salts were determined from single-crystal X-ray diffraction data. The salt III crystallizes in a monoclinic space group C2 with a = 30.339(l), b = 7.881(2), c = 14.355(1) angstrom, beta = 97.48(1)degrees, V = 3403.1(9) angstrom3, Z = 4, R(w) = 0.058, R(w)= 0.058. The salt IV also crystallizes in a monoclinic space group P2(1) with a = 7.500(1), b = 14.968(2), c = 10.370(1) angstrom, beta = 102.67(1)degrees, V = 1135.9(2) angstrom3, Z = 2, R = 0.043, R(w) = 0.043. Interestingly, two DBT molecules with distinctly different conformation are present in the same crystal lattice of salt III. Extensive hydrogen-bonding interactions are found in both of the salts, and both of them show SHG intensity 1.4-1.6 times that of urea.

Frontier Based Multiple Goal Search in Unknown Environments

We present a frontier based algorithm for searching multiple goals in a fully unknown environment, with only information about the regions where the goals are most likely to be located. Our algorithm chooses an ``active goal'' from the ``active goal list'' generated by running a Traveling Salesman Problem (Tsp) routine with the given centroid locations of the goal regions. We use the concept of ``goal switching'' which helps not only in reaching more number of goals in given time, but also prevents unnecessary search around the goals that are not accessible (surrounded by walls). The simulation study shows that our algorithm outperforms Multi-Heuristic LRTA* (MELRTA*) which is a significant representative of multiple goal search approaches in an unknown environment, especially in environments with wall like obstacles.

Layered Tabu Search Algorithm for Large-MIMO Detection and a Lower Bound on ML Performance

In this paper, we are concerned with low-complexity detection in large multiple-input multiple-output (MIMO) systems with tens of transmit/receive antennas. Our new contributions in this paper are two-fold. First, we propose a low-complexity algorithm for large-MIMO detection based on a layered low-complexity local neighborhood search. Second, we obtain a lower bound on the maximum-likelihood (ML) bit error performance using the local neighborhood search. The advantages of the proposed ML lower bound are i) it is easily obtained for MIMO systems with large number of antennas because of the inherent low complexity of the search algorithm, ii) it is tight at moderate-to-high SNRs, and iii) it can be tightened at low SNRs by increasing the number of symbols in the neighborhood definition. Interestingly, the proposed detection algorithm based on the layered local search achieves bit error performances which are quite close to this lower bound for large number of antennas and higher-order QAM. For e. g., in a 32 x 32 V-BLAST MIMO system, the proposed detection algorithm performs close to within 1.7 dB of the proposed ML lower bound at 10(-3) BER for 16-QAM (128 bps/Hz), and close to within 4.5 dB of the bound for 64-QAM (192 bps/Hz).

Multiple UAV Coalitions for a Search and Prosecute Mission

Unmanned aerial vehicles (UAVs) have the potential to carry resources in support of search and prosecute operations. Often to completely prosecute a target, UAVs may have to simultaneously attack the target with various resources with different capacities. However, the UAVs are capable of carrying only limited resources in small quantities, hence, a group of UAVs (coalition) needs to be assigned that satisfies the target resource requirement. The assigned coalition must be such that it minimizes the target prosecution delay and the size of the coalition. The problem of forming coalitions is computationally intensive due to the combinatorial nature of the problem, but for real-time applications computationally cheap solutions are required. In this paper, we propose decentralized sub-optimal (polynomial time) and decentralized optimal coalition formation algorithms that generate coalitions for a single target with low computational complexity. We compare the performance of the proposed algorithms to that of a global optimal solution for which we need to solve a centralized combinatorial optimization problem. This problem is computationally intensive because the solution has to (a) provide a coalition for each target, (b) design a sequence in which targets need to be prosecuted, and (c) take into account reduction of UAV resources with usage. To solve this problem we use the Particle Swarm Optimization (PSO) technique. Through simulations, we study the performance of the proposed algorithms in terms of mission performance, complexity of the algorithms and the time taken to form the coalition. The simulation results show that the solution provided by the proposed algorithms is close to the global optimal solution and requires far less computational resources.

Automated Multi-Agent Search Using Centroidal Voronoi Configuration

This paper addresses the problem of automated multiagent search in an unknown environment. Autonomous agents equipped with sensors carry out a search operation in a search space, where the uncertainty, or lack of information about the environment, is known a priori as an uncertainty density distribution function. The agents are deployed in the search space to maximize single step search effectiveness. The centroidal Voronoi configuration, which achieves a locally optimal deployment, forms the basis for the proposed sequential deploy and search strategy. It is shown that with the proposed control law the agent trajectories converge in a globally asymptotic manner to the centroidal Voronoi configuration. Simulation experiments are provided to validate the strategy. Note to Practitioners-In this paper, searching an unknown region to gather information about it is modeled as a problem of using search as a means of reducing information uncertainty about the region. Moreover, multiple automated searchers or agents are used to carry out this operation optimally. This problem has many applications in search and surveillance operations using several autonomous UAVs or mobile robots. The concept of agents converging to the centroid of their Voronoi cells, weighted with the uncertainty density, is used to design a search strategy named as sequential deploy and search. Finally, the performance of the strategy is validated using simulations.

Template directed asymmetric synthesis of the 1,1?-binaphthol unit

An oxidative binaphthol coupling with 65% yield and 65% selectivity has been accomplished using 7-deoxycholic acid as a chiral template.

Unwinding of heterologous DNA by RecA protein during the search for homologous sequences

The search for homologous sequences promoted by RecA protein in vitro involves a presynaptic filament and naked duplex DNA, the multiple contacts of which produce nucleoprotein networks or coaggregates. The single-stranded DNA within the presynaptic filaments, however, is extended to an axial spacing 1.5 times that of B-form DNA. To investigate this paradoxical difference between the spacing of bases in the RecA presynaptic filament versus the target duplex DNA, we explored the effect of heterologous contacts on the conformation of DNA, and vice versa. In the presence of wheat germ topoisomerase I, RecA presynaptic filaments induced a rapid, limited reduction in the linking number of heterologous circular duplex DNA. This limited unwinding of heterologous duplex DNA, termed heterologous unwinding, was detected within 30 seconds and reached a steady state within a few minutes. Presynaptic filaments that were formed in the presence of ATP?S and separated from free RecA protein by gel filtration also generated a ladder of topoisomers upon incubation with relaxed duplex DNA and topoisomerase. The inhibition of heterologous contacts by 60 mImage -NaCl or 5 mImage -ADP resulted in a corresponding decrease in heterologous unwinding. In reciprocal fashion, the stability or number of heterologous contacts with presynaptic filaments was inversely related to the linking number of circular duplex DNA. These observations show that heterologous contacts with the presynaptic filament cause a limited unwinding of the duplex DNA, and conversely that the ability of the DNA to unwind stabilizes transient heterologous contacts.

Hydrogen-Bond-Directed Nonlinear-Optical Organic Materials - Evidence For The Control Of 2nd-Harmonic Generation Activities From The X-Ray Crystal-Structures Of The Complexes Of L-Tartaric Acid With M-Anisidine and P-Toluidine

Several substituted anilines were converted to binary salts with L-tartaric acid. Second harmonic generation (SHG) activities of these salts were determined. The crystal packing in two structures, (i) m-anisidinium-L-tartrate monohydrate (i) and (ii) p-toluidinium-L-tartrate (2), studied using X-ray diffraction demonstrates that extensive hydrogen bonding steers the components into a framework which has a direct bearing on the SHG activity

Model studies directed towards the synthesis of functionalised chiral A-ring derivatives of taxanes

Model studies, starting from the monoterpene R-carvone, directed towards the synthesis of chiral A-ring derivatives of taxanes with oxygen functionalities at C-2, 9 and 13 carbon atoms as in taxol is described.

Combinatorial logic synthesis using technology directed decomposition

The aim of logic synthesis is to produce circuits which satisfy the given boolean function while meeting timing constraints and requiring the minimum silicon area. Logic synthesis involves two steps namely logic decomposition and technology mapping. Existing methods treat the two as separate operation. The traditional approach is to minimize the number of literals without considering the target technology during the decomposition phase. The decomposed expressions are then mapped on to the target technology to optimize the area, Timing optimization is carried out subsequently, A new approach which treats logic decomposition and technology maping as a single operation is presented. The logic decomposition is based on the parameters of the target technology. The area and timing optimization is carried out during logic decomposition phase itself. Results using MCNC circuits are presented to show that this method produces circuits which are 38% faster while requiring 14% increase in area.

Synthetic studies directed towards the potent cytotoxic natural product ottelione A: stereoselective construction of the complete framework

A stereoselective strategy for the rapid acquisition of the complete framework (dideoxyottelione A) of the promising cytotoxic agent ottelione A, with four contiguous stereogenic centres on a hydrindane skeleton and a sensitive 4-methylenecyclohex-2-enone functionality, from the readily available Diels-Alder adduct of 1,2,3,4-tetrachloro-5,5-dimethoxycyclopentadiene and norbornadiene, is delineated.

The complexity of certain incremental code generation problems

This paper looks at the complexity of four different incremental problems. The following are the problems considered: (1) Interval partitioning of a flow graph (2) Breadth first search (BFS) of a directed graph (3) Lexicographic depth first search (DFS) of a directed graph (4) Constructing the postorder listing of the nodes of a binary tree. The last problem arises out of the need for incrementally computing the Sethi-Ullman (SU) ordering [1] of the subtrees of a tree after it has undergone changes of a given type. These problems are among those that claimed our attention in the process of our designing algorithmic techniques for incremental code generation. BFS and DFS have certainly numerous other applications, but as far as our work is concerned, incremental code generation is the common thread linking these problems. The study of the complexity of these problems is done from two different perspectives. In [2] is given the theory of incremental relative lower bounds (IRLB). We use this theory to derive the IRLBs of the first three problems. Then we use the notion of a bounded incremental algorithm [4] to prove the unboundedness of the fourth problem with respect to the locally persistent model of computation. Possibly, the lower bound result for lexicographic DFS is the most interesting. In [5] the author considers lexicographic DFS to be a problem for which the incremental version may require the recomputation of the entire solution from scratch. In that sense, our IRLB result provides further evidence for this possibility with the proviso that the incremental DFS algorithms considered be ones that do not require too much of preprocessing.