A Reactive Inverse PN Algorithm for Collision Avoidance among Multiple Unmanned Aerial Vehicles

While performing a mission, multiple Unmanned Aerial Vehicles (UAVs) need to avoid each other to prevent collisions among them. In this paper, we design a collision avoidance algorithm to resolve the conflict among UAVs that are on a collision course while flying to heir respective destinations. The collision avoidance algorithm consist of each UAV that is on a collision course reactively executing a maneuver that will, as in `inverse' Proportional Navigation (PN), increase Line of Sight (LOS) rate between them, resulting in a `pulling out' of collision course. The algorithm is tested for high density traffic scenarios as well as for robustness in the presence of noise.

Role of information and communication in redefining unmanned aerial vehicle autonomous control levels

Autonomous mission control, unlike automatic mission control which is generally pre-programmed to execute an intended mission, is guided by the philosophy of carrying out a complete mission on its own through online sensing, information processing, and control reconfiguration. A crucial cornerstone of this philosophy is the capability of intelligence and of information sharing between unmanned aerial vehicles (UAVs) or with a central controller through secured communication links. Though several mission control algorithms, for single and multiple UAVs, have been discussed in the literature, they lack a clear definition of the various autonomous mission control levels. In the conventional system, the ground pilot issues the flight and mission control command to a UAV through a command data link and the UAV transmits intelligence information, back to the ground pilot through a communication link. Thus, the success of the mission depends entirely on the information flow through a secured communication link between ground pilot and the UAV In the past, mission success depended on the continuous interaction of ground pilot with a single UAV, while present day applications are attempting to define mission success through efficient interaction of ground pilot with multiple UAVs. However, the current trend in UAV applications is expected to lead to a futuristic scenario where mission success would depend only on interaction among UAV groups with no interaction with any ground entity. However, to reach this capability level, it is necessary to first understand the various levels of autonomy and the crucial role that information and communication plays in making these autonomy levels possible. This article presents a detailed framework of UAV autonomous mission control levels in the context of information flow and communication between UAVs and UAV groups for each level of autonomy.

A split cassette attachment for recording all the reflections on the upper level Weissenberg photographs either as elongated or as contracted spots

A split-cassette arrangement has been incorporated in the Weissenberg camera for recording all reflections on the upper level photographs either as elongated or as contracted spots. This arrangement employs two semicylindrical cassettes which are separated by a horizontal plane. These half-cassettes are translated in opposite directions. A suitable split-cassette attachment has been constructed for the Unicam Weissenberg goniometer S-35 The subject of 'displaced-film' Weissenberg photograph is also discussed.

Evolving Philosophies on Autonomous Obstacle/Collision Avoidance of Unmanned Aerial Vehicles

Much of the benefits of deploying unmanned aerial vehicles can be derived from autonomous missions. For such missions, however, sense-and-avoid capability (i.e., the ability to detect potential collisions and avoid them) is a critical requirement. Collision avoidance can be broadly classified into global and local path-planning algorithms, both of which need to be addressed in a successful mission. Whereas global path planning (which is mainly done offline) broadly lays out a path that reaches the goal point, local collision-avoidance algorithms, which are usually fast, reactive, and carried out online, ensure safety of the vehicle from unexpected and unforeseen obstacles/collisions. Even though many techniques for both global and local collision avoidance have been proposed in the recent literature, there is a great interest around the globe to solve this important problem comprehensively and efficiently and such techniques are still evolving. This paper presents a brief overview of a few promising and evolving ideas on collision avoidance for unmanned aerial vehicles, with a preferential bias toward local collision avoidance.

Realistic coherent phantom track generation by a group of electronic combat aerial vehicles

We consider the problem of generating a realistic coherent phantom track by a group of ECAVs (Electronic Combat Aerial Vehicles) to deceive a radar network. The phantom track considered is the trajectory of a missile guided by proportional navigation. Sufficient conditions for the existence of feasible ECAV trajectories to generate the phantom track is presented. The line-of-sight guidance law is used to control the ECAVs for practical implementation. A performance index is developed to assess the performance of the ECAVS. Simulation results for single and multiple ECAVs generating the coherent phantom track are presented.

Successful data recovery from oscillation photographs containing strong polycrystalline diffraction rings from an unknown small-molecule contaminant: preliminary structure solution of Salmonella typhimurium pyridoxal kinase (PdxK)

Pyridoxal kinase (PdxK; EC 2.7.1.35) belongs to the phosphotransferase family of enzymes and catalyzes the conversion of the three active forms of vitamin B-6, pyridoxine, pyridoxal and pyridoxamine, to their phosphorylated forms and thereby plays a key role in pyridoxal 5 `-phosphate salvage. In the present study, pyridoxal kinase from Salmonella typhimurium was cloned and overexpressed in Escherichia coli, purified using Ni-NTA affinity chromatography and crystallized. X-ray diffraction data were collected to 2.6 angstrom resolution at 100 K. The crystal belonged to the primitive orthorhombic space group P2(1)2(1)2(1), with unitcell parameters a = 65.11, b = 72.89, c = 107.52 angstrom. The data quality obtained by routine processing was poor owing to the presence of strong diffraction rings caused by a polycrystalline material of an unknown small molecule in all oscillation images. Excluding the reflections close to powder/polycrystalline rings provided data of sufficient quality for structure determination. A preliminary structure solution has been obtained by molecular replacement with the Phaser program in the CCP4 suite using E. coli pyridoxal kinase (PDB entry 2ddm) as the phasing model. Further refinement and analysis of the structure are likely to provide valuable insights into catalysis by pyridoxal kinases.

Sliding Mode Control-Based Autopilots for Leaderless Consensus of Unmanned Aerial Vehicles

In this brief, decentralized sliding mode controllers that enable a connected and leaderless swarm of unmanned aerial vehicles (UAVs) to reach a consensus in altitude and heading angle are presented. In addition, sliding mode control-based autopilot designs to control those states for which consensus is not required are also presented. By equipping each UAV with this combination of controllers, it can autonomously decide on being a member of the swarm or fly independently. The controllers are designed using a coupled nonlinear dynamic model, derived for the YF-22 aircraft, where the aerodynamic forces and moments are linear functions of the states and inputs.