Capturability of Augmented Pure Proportional Navigation Guidance Against Time-Varying Target Maneuvers

This paper proposes a variation of the pure proportional navigation guidance law, called augmented pure proportional navigation, to account for target maneuvers, in a realistic nonlinear engagement geometry, and presents its capturability analysis. These results are in contrast to most work in the literature on augmented proportional navigation laws that consider a linearized geometry imposed upon the true proportional navigation guidance law. Because pure proportional navigation guidance law is closer to a realistic implementation of proportional navigation than true proportional navigation law, and any engagement process is predominantly nonlinear, the results obtained in this paper are more realistic than any available in the literature. Sufficient conditions on speed ratio, navigation gain, and augmentation parameter for capturability, and boundedness of lateral acceleration, against targets executing piecewise continuous maneuvers with time, are obtained. Further, based on a priori knowledge of the maximum maneuver capability of the target, a significant simplification of the guidance law is proposed in this paper. The proposed guidance law is also shown to require a shorter time of interception than standard pure proportional navigation and augmented proportional navigation. To remove chattering in the interceptor maneuver at the end phase of the engagement, a hybrid guidance law using augmented pure proportional navigation and pure proportional navigation is also proposed. Finally, the guaranteed capture zones of standard and augmented pure proportional navigation guidance laws against maneuvering targets are analyzed and compared in the normalized relative velocity space. It is shown that the guaranteed capture zone expands significantly when augmented pure proportional navigation is used instead of pure proportional navigation. Simulation results are given to support the theoretical findings.

An integrated estimation/guidance approach for seeker-less interceptors

This paper addresses the problem of intercepting highly maneuverable threats using seeker-less interceptors that operate in the command guidance mode. These systems are more prone to estimation errors than standard seeker-based systems. In this paper, an integrated estimation/guidance (IEG) algorithm, which combines interactive multiple model (IMM) estimator with differential game guidance law (DGL), is proposed for seeker-less interception. In this interception scenario, the target performs an evasive bang-bang maneuver, while the sensor has noisy measurements and the interceptor is subject to acceleration bound. The IMM serves as a basis for the synthesis of efficient filters for tracking maneuvering targets and reducing estimation errors. The proposed game-based guidance law for two-dimensional interception, later extended to three-dimensional interception scenarios, is used to improve the endgame performance of the command-guided seeker-less interceptor. The IMM scheme and an optimal selection of filters, to cater to various maneuvers that are expected during the endgame, are also described. Furthermore, a chatter removal algorithm is introduced, thus modifying the differential game guidance law (modified DGL). A comparison between modified DGL guidance law and conventional proportional navigation guidance law demonstrates significant improvement in miss distance in a pursuer-evader scenario. Simulation results are also presented for varying flight path angle errors. A numerical study is provided which demonstrates the performance of the combined interactive multiple model with game-based guidance law (IMM/DGL). Simulation study is also carried out for combined IMM and modified DGL (IMM/modified DGL) which exhibits the superior performance and viability of the algorithm reducing the chattering phenomenon. The results are illustrated by an extensive Monte Carlo simulation study in the presence of estimation errors.

Independent Positioning of Magnetic Nanomotors

There is considerable interest in powering and maneuvering nanostructures remotely in fluidic media using noninvasive fuel-free methods, for which small homogeneous magnetic fields are ideally suited. Current strategies include helical propulsion of chiral nanostructures, cilia-like motion of flexible filaments, and surface assisted translation of asymmetric colloidal doublets and magnetic nanorods, in all of which the individual structures are moved in a particular direction that is completely tied to the characteristics of the driving fields. As we show in this paper, when we use appropriate magnetic field configurations and actuation time scales, it is possible to maneuver geometrically identical nanostructures in different directions, and subsequently position them at arbitrary locations with respect to each other. The method reported here requires proximity of the nanomotors to a solid surface, and could be useful in applications that require remote and independent control over individual components in microfluidic environments.

Models and algorithms for tracking of maneuvering objects using variable rate particle filters

Standard algorithms in tracking and other state-space models assume identical and synchronous sampling rates for the state and measurement processes. However, real trajectories of objects are typically characterized by prolonged smooth sections, with sharp, but infrequent, changes. Thus, a more parsimonious representation of a target trajectory may be obtained by direct modeling of maneuver times in the state process, independently from the observation times. This is achieved by assuming the state arrival times to follow a random process, typically specified as Markovian, so that state points may be allocated along the trajectory according to the degree of variation observed. The resulting variable dimension state inference problem is solved by developing an efficient variable rate particle filtering algorithm to recursively update the posterior distribution of the state sequence as new data becomes available. The methodology is quite general and can be applied across many models where dynamic model uncertainty occurs on-line. Specific models are proposed for the dynamics of a moving object under internal forcing, expressed in terms of the intrinsic dynamics of the object. The performance of the algorithms with these dynamical models is demonstrated on several challenging maneuvering target tracking problems in clutter. © 2006 IEEE.

El miedo en la guerra griega antigua y su conceptualización en las fuentes : una introducción

Abstract: Fear is commonly regarded as a natural emotion in war, present as well in ancient Greek warfare. Greek literary sources occasionally emphasize the emotions connected to the contemporary experience of combat from a primarily narrative perspective. This paper will offer an introduction to the Greek notion and conceptualization of fear in the classical period and its relationship with war, intending to achieve a better understanding of its role in the literary sources and, ultimately, its relevance in Greek culture and warfare.

Cerebral hemodynamics during graded Valsalva maneuvers

The Valsalva maneuver (VM) produces large and abrupt changes in mean arterial pressure (MAP) that challenge cerebral blood flow and oxygenation. We examined the effect of VM intensity on middle cerebral artery blood velocity (MCAv) and cortical oxygenation responses during (phases I-III) and following (phase IV) a VM. Healthy participants (n = 20 mean +/- SD: 27 +/- 7 years) completed 30 and 90% of their maximal VM mouth pressure for 10 s (order randomized) whilst standing. Beat-to-beat MCAv, cerebral oxygenation (NIRS) and MAP across the different phases of the VM are reported as the difference from standing baseline. There were significant interaction (phase * intensity) effects for MCAv, total oxygenation index (TOI) and MAP (all P < 0.01). MCAv decreased during phases II and III (P < 0.01), with the greatest decrease during phase III (-5 +/- 8 and -19 +/- 15 cm.s(-1) for 30 and 90% VM, respectively). This pattern was also evident in TOI (phase III: -1 +/- 1 and -5 +/- 4%, both P < 0.05). Phase IV increased MCAv (22 +/- 15 and 34 +/- 23 cm.s(-1)), MAP (15 +/- 14 and 24 +/- 17 mm Hg) and TOI (5 +/- 6 and 7 +/- 5%) relative to baseline (all P < 0.05). Cerebral autoregulation, indexed, as the % MCAv/%MAP ratio, showed a phase effect only (P < 0.001), with the least regulation during phase IV (2.4 +/- 3.0 and 3.2 +/- 2.9). These data illustrate that an intense VM profoundly affects cerebral hemodynamics, with a reactive hyperemia occurring during phase IV following modest ischemia during phases II and III.

Projeto de redes neurais para determinar os ganhos PID de um sistema de posicionamento dinâmico de uma embarcação.

As sintonias dos Controladores PID existentes em um Sistema de Posicionamento Dinâmico, utilizado em embarcações e plataformas a fim de manter uma posição fixa em alto-mar ou de realizar determinada manobra, sempre tem sido um desafio a ser vencido. Trata-se de uma tarefa demorada, dependente das condições ambientais e com um elevado custo financeiro, uma vez que as horas dedicadas do profissional habilitado são caras. Além disso, a embarcação deve-se manter estabilizada durante o período de tempo no qual determinada função é realizada, como por exemplo, perfuração, abastecimento, ou lançamento de dutos. Foi utilizado um software para simular o posicionamento de uma embarcação em alto-mar sob diversas condições de vento e correnteza, com o qual foi possível verificar a influência da sintonia dos parâmetros PID do Controlador no desempenho do sistema de controle. O Sistema dinâmico abordado possui um comportamento não linear e sujeito a fortes distúrbios não medidos, o que são apenas alguns exemplos de questões avaliadas deste trabalho. Neste contexto, foram projetadas Redes Neurais com o intuito de aprimorar a técnica utilizada para determinar os ganhos de um dos Controladores PID de um Sistema de Posicionamento Dinâmico. Os melhores resultados foram obtidos através da avaliação de desempenho de diversas simulações de Redes Neurais que revelam a viabilidade da implementação da sintonia automática de Controladores em Sistemas de Posicionamento Dinâmico.

Estudio de la precisión en el cálculo de la profundidad del pecho a partir de la eceleración durante la reanimación cardiopulmonar realizada en un tren en movimiento.

[Es]Las guías de resucitación recomiendan el uso de dispositivos de feedback para mejorar la calidad de las compresiones torácicas. Estos sistemas calculan la profundidad y frecuencia de las compresiones torácicas e informan al rescatador para que, si es necesario, éste corrija su maniobra para ajustarse a los valores recomendados por las guías. La mayoría de estos dispositivos integran la aceleración dos veces para estimar la profundidad de compresión. Sin embargo, cuando la reanimación cardiopulmonar se realiza en vehículos en movimiento, como por ejemplo un tren de larga distancia, los sistemas que utilizan la señal de aceleración pueden verse afectados por las aceleraciones generadas por el propio tren. En este trabajo se estudia la precisión en el cálculo de la profundidad del pecho, a partir de la señal de aceleración, cuando la reanimación cardiopulmonar es realizada en un tren en movimiento. Este análisis permitirá determinar si los sistemas de feedback basados en la aceleración son aptos para ser utilizados en un tren de larga distancia.

Integração regional no leste asiático: ASEAN, ASEAN+3 e a disputa pela liderança regional

A presente dissertação tem como objetivo analisar as relações internacionais no Leste Asiático tendo como foco principal a pesquisa do fenômeno da integração regional e da disputa pela liderança na região através dos mecanismos de integração, por suas principais potências locais, China e Japão. A Associação dos Países do Sudeste Asiático (ASEAN) e seu desdobramento estrutural, a ASEAN+3 que inclui os dez países membros da associação além dos três países mais influentes do Nordeste Asiático, China, Japão e Coréia do Sul, são o objeto da pesquisa, uma vez que por serem os principais mecanismos de integração da região, estão mais sujeitos a vivenciar a concorrência chinesa e japonesa pelo papel de principal ator e líder regional. A crescente importância dos mecanismos de integração do Leste Asiático decorrente da maior integração que vem adquirindo, uma integração com particularidades únicas e bem distintas da União Europeia, traz o aumento da representatividade da região no mundo e de seus países membros dentro da região. Este tipo de destaque adquirido por este padrão de arcabouço regional, que proporciona crescimento das trocas comerciais na região e de seu desenvolvimento, passou a atrair as potências regionais por se constituir em um importante e interessante instrumento de política regional. Os Estados japonês e chinês possuem problemas históricos de longa data, o que traz maior desconfiança e instabilidade para a região, e aumenta a competição entre os dois atores por maior influência nos grupos de integração regional, acreditando ser possível através desta manobra alcançar a liderança regional. Deste modo, o que esta dissertação pretende mostrar é: a forma como japoneses e chineses se utilizam dos mecanismos de integração regional com a ASEAN e a ASEAN+3 em evidência para perpetuar sua política na região como forma de alcançar o poder; apresentar quais os objetivos, benefícios e interesses em se tornar o líder regional; e apontar qual país tem maior potencial em se tornar líder e através de que tipo de liderança.

Trajetórias de reformas e mudanças institucionais na semiperiferia : abertura financeira e capacidades estatais no Brasil e India

A presente tese se empenha na análise comparada de corte polanyiano da trajetória de liberalização econômica do Brasil e Índia. O objetivo é compreender os padrões de mudança institucional que organizam as reformas orientadas para o mercado. Para isso empregou uma análise que combina modelos de coalizão de interesse, dependência de trajetória e comunidades epistêmicas empregados de forma interdependente para entender as adaptações ao cenário de globalização financeira. Os mecanismos de fertilização mútua dessas variáveis causais desempenham um papel analítico crucial porque permitiu escapar de modelos monocausais que tendem a ficar presos a explicações que sobredeterminam exclusivamente restrições externas, padrões institucionais domésticos ou legados institucionais estatais. Ao empregar esse instrumento, a tese procura mostrar as diferenças no grau de liberdade das capacidades estatais entre Brasil e Índia no contexto das reformas e as semelhanças em termos da estratégia incremental das reformas.

Construction and Operation of a Two-place Diver's Sled

Fisheries gear researchers have employed scuba diver-operated sleds to evaluate towed fishing systems since the early 1950's. One of the earliest sled designs was a converted Stokes litter in which two divers sat tandem with the forward diver operating the diving controls (Sand, 1956). The litter was relatively easy to maneuver and provided a comfortable platform for observing operational fishing gear. However, the use of underwater photographic equipment to document gear performance was difficult due to the limited mobility of the observer-cameraman.

An ecological characterization of the marine resources of Vieques, Puerto Rico Part II: Field studies of habitats, nutrients, contaminants, fish, and benthic communities

Since the 1940s, portions of the Island of Vieques, Puerto Rico have been used by the United States Navy (USN) as an ammunition support detachment and bombing and maneuver training range. In April 2001, the USN began phasing out military activities on the island and transferring military property to the U.S. Department of the Interior, the Municipality of Vieques, and the Puerto Rico Conservation Trust. A small number of studies have been commissioned by the USN in the past few decades to assess selected components of the coral reef ecosystem surrounding the island; however, these studies were generally of limited geographic scope and short duration. The National Oceanic and Atmospheric Administration’s (NOAA) National Centers for Coastal Ocean Science (NCCOS), in consultation with NOAA’s Office of Response and Restoration (OR&R) and other local and regional experts, conducted a more comprehensive characterization of coral reef ecosystems, contaminants, and nutrient distribution patterns around Vieques. This work was conducted using many of the same protocols as ongoing monitoring work underway elsewhere in the U.S. Caribbean and has enabled comparisons among coral reef ecosystems in Vieques and other locations in the region. This characterization of Vieques’ marine ecosystems consists of a two part series. First, available information on reefs, fish, birds, seagrasses, turtles, mangroves, climate, geology, currents, and human uses from previous studies was gathered and integrated into a single document comprising Part I of this two part series (Bauer et al. 2008). For Part II of the series, presented in this document, new field studies were conducted to fill data gaps identified in previous studies, to provide an island-wide characterization, and to establish baseline values for the distribution of habitats, nutrients, contaminants, fish, and benthic communities. An important objective underlying this suite of studies was to quantify any differences in the marine areas adjacent to the former and current land-use zoning around Vieques. Specifically of interest was the possibility that either Naval (e.g., practice bombing, munitions storage) or civilian activities (e.g., sewage pollutants, overfishing) could have a negative impact on adjacent marine resources. Measuring conditions at this time and so recently after the land transfer was essential because present conditions are likely to be reflective of past land-use practices. In addition, the assessment will establish benchmark conditions that can be influenced by the potentially dramatic future changes in land-use practices as Vieques considers its development. This report is organized into seven chapters that represent a suite of interrelated studies. Chapter 1 provides a short introduction to the island setting, the former and current land-use zoning, and how the land zoning was used to spatially stratify much of the sampling. Chapter 2 is focused on benthic mapping and provides the methods, accuracy assessment, and results of newly created benthic maps for Vieques. Chapter 3 presents the results of new surveys of fish, marine debris, and reef communities on hardbottom habitats around the island. Chapter 4 presents results of flora and fauna surveys in selected bays and lagoons. Chapter 5 examines the distribution of nutrients in lagoons, inshore, and offshore waters around the island. Chapter 6 is focused on the distribution of chemical contaminants in sediments and corals. Chapter 7 is a brief summary discussion that highlights key findings of the entire suite of studies.

Avaliação dos consumos de materiais estratégicos para a conservação dos engenhos de pesca artesanal de Moçambique e Estudos de constituiçāo tipologia e distribuiçāo de alguns engenhos de pesca artesanal de Moçambique

This technical report comprises two different studies in terms of their conclusions, but based on the same field surveys: “Yearly consumption evaluation of the strategic materials for the artisanal fisheries of Mozambique” and “Constitution, typology and distribution studies of the Mozambican artisanal fishing gears”. In the first of the above studies, the amount of the materials found in each gear, the number of such gears and the wear factor “r” are subject to a computed data processing, producing the following outputs: list of materials demanded in each Mozambican fishing relevant province; list of materials demanded in the whole Mozambican territory. In the second study the observed gears constitutions are analysed and differences and similitudes among them are searched. The details of maneuver and productivity are referred as well. Attention is drawn to the fact that observations did not take place on the whole Mozambican territory, even not in the most representative but in some considerably important fishing centers with reasonable safety and connection facilities. About the first study, when it was not possible to reach such considerably important centers the determination of the approximate picture of them has been achieved by verbal information of people knowing them very well and by the sources referred here in after. Concerning the second study inferences have not been made. Although a limited number of samples has been collected, the accuracy of it has been checked by inquiry. Speculations have been developed only on observed cases. The surveys have been made by a team, assigned by the directors of UD-PPE and Equipesca, under author’s coordination.

Implementation of trailer steering control on a multi-unit vehicle at high speeds

A high-speed path-following controller for long combination vehicles (LCVs) was designed and implemented on a test vehicle consisting of a rigid truck towing a dolly and a semitrailer. The vehicle was driven through a 3.5 m wide lane change maneuver at 80 km/h. The axles of the dolly and trailer were steered actively by electrically-controlled hydraulic actuators. Substantial performance benefits were recorded compared with the unsteered vehicle. For the best controller weightings, performance improvements relative to unsteered case were: lateral tracking error 75% reduction, rearward amplification (RA) of lateral acceleration 18% reduction, and RA of yaw rate 37% reduction. This represents a substantial improvement in stability margins. The system was found to work well in conjunction with the braking-based stability control system of the towing vehicle with no negative interaction effects being observed. In all cases, the stability control system and the steering system improved the yaw stability of the combination. © 2014 by ASME.