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.

Organometallic chemistry of diphosphazanes .13. Palladium complexes of unsymmetrical diphosphazanes Ph(2)PN(Pr-i)PYY'

Unsymmetrical diphosphazanes Ph(2)PN(Pr-i)PYY' [YY' = O2C12H8 (L(1)), O2C20H12 (L(2)); Y = Ph and Y' = OC6H4Br-4 (L(3)), OC(6)H(4)Me-4 (L(4)), OC(6)H(3)Me(2)-3,5 (L(5)), N(2)C(3)HMe(2)-3,5 (L(6))] react with cis-[PdCl2(COD)] (COD = cycloocta-1,5-diene) giving the chelate complexes of the type cis-[PdCl2{eta(2)-Ph(2)PN(Pr-i)PYY'}] [YY' = O2C12H8 (1), O2C20H12 (2), Y = Ph and Y' = OC6H4Br-4 (3), OC(6)H(4)Me-4 (4), OC(6)H(3)Me(2)-3,5 (5), N(2)C(3)HMe(2)-3,5 (6)]. The P-N bond in 3 and 5 undergoes a facile cleavage in methanol solution to give cis-[PdCl2{eta(1)Ph(2)P(OMe)}{eta(1)-PhP(NHPri)(Y')}] [Y' = OC6H4Br-4 (7), OC(6)H(3)Me(2)-3,5 (8)]. Reactions of Pd-2(dba)(3) . CHCl3 (dba = dibenzylideneacetone) with the diphosphazanes Ph(2)PN(Pr-i)PPhY' [Y' = OC(6)H(4)Me-4 (L(4)), N(2)C(3)HMe(2)-3,5 (L(6)), N2C3H3 (L(7))] in the presence of MeI yields cis-[PdI2{eta(2)-Ph(2)PN(Pr-i)PPhMe}] (9); the P-O or P-N(pyrazolyl) bond of the starting ligands is cleaved and a p-C(Me) bond is formed. An analogous oxidative addition reaction in the presence of Ph(2)PN(Pr-i)PPh(2) (L(8)) yields cis-[PdI(Me)(eta(2)-L(8))] (10) and cis-[PdI2(eta 2-L(8))] (11). The structures of 8 and 9 have been determined by X-ray diffraction. Copyright (C) 1996 Elsevier Science Ltd

Three dimensional PN based impact angle control for higher speed nonmaneuvering targets

Terminal impact angle control is crucial for enhancement of warhead effectiveness. In the literature, this problem has been addressed in the context of targets with lower speeds than the interceptor. However, in the current defence scenario, targets of much higher speed than the interceptor is a reality. This paper presents a generic proportional navigation (PN) based guidance law, that uses the standard PN and novel Retro-PN guidance laws based on the initial engagement geometry and terminal engagement requirements, for three dimensional engagement scenario against higher speed nonmaneuvering targets to control terminal impact angle. Results are obtained on the set of achievable impact angles and conditions on the navigation constant to achieve them. Simulation results are given to support the theoretical findings.

Biased PN based impact angle constrained guidance using a nonlinear engagement model

Impact angle constrained guidance laws are important in many applications such as guidance of torpedoes, anti-ballistic missiles and reentry vehicles. In this paper, we design a guidance law which is capable of achieving a wide range of impact angles. Biased proportional navigation guidance uses a bias term in addition to the basic PN command to satisfy additional constraints. Angle constrained BPNG (ACBPNG) uses small angle approximations to derive the bias term for impact angle requirement. We design a modified ACBPNG (MACBPNG) where the required bias term is derived in a closed form considering non-linear equations of motion. Simulations are carried out for a wide range of impact angle requirements. We also analyze capturability from different initial positions and also the launch angles possible at each initial position. The performance of the proposed law is compared with an existing law.

Capturability Analysis of a 3-D Retro-PN Guidance Law for Higher Speed Nonmaneuvering Targets

This brief presents the capturability analysis of a 3-D Retro-proportional navigation (Retro-PN) guidance law, which uses a negative navigation constant (as against the usual positive one), for intercepting targets having higher speeds than interceptors. This modification makes it possible to achieve collision conditions that were inaccessible to the standard PN law. A modified polar coordinate system, that makes the model more compact, is used in this brief for capturability analysis. In addition to the ratio of the target to interceptor speeds, the directional cosines of the interceptor, and target velocity vectors play a crucial role in the capturability. The existence of nontrivial capture zone of the Retro-PN guidance law and necessary and sufficient conditions, for capturing the target in finite time, are presented. A sufficient condition on the navigation constant is derived to ensure finiteness of the line-of-sight turn rate. The results are more extensive than those available for 2-D engagements, which can be obtained as special cases of this brief. Simulation results are given to support the analytical results.

An Algorithmic Characterization of Polynomial Functions over Z(pn)

In this paper we consider polynomial representability of functions defined over , where p is a prime and n is a positive integer. Our aim is to provide an algorithmic characterization that (i) answers the decision problem: to determine whether a given function over is polynomially representable or not, and (ii) finds the polynomial if it is polynomially representable. The previous characterizations given by Kempner (Trans. Am. Math. Soc. 22(2):240-266, 1921) and Carlitz (Acta Arith. 9(1), 67-78, 1964) are existential in nature and only lead to an exhaustive search method, i.e. algorithm with complexity exponential in size of the input. Our characterization leads to an algorithm whose running time is linear in size of input. We also extend our result to the multivariate case.

Report on the physical, bacteriological and biochemical analyses of seawater samples collected off existing sewage outfalls in the Sierra Leone River Estuary

The studies reported were undertaken as part of a wide environmental feasibility study for the establishment of a modern sewage system in Freetown. The aim of this part of the study was to determine whether the hydrological regime of the Sierra Leone River Estuary would permit the large-scale introduction of sewage into the estuary without damaging the environment. The important factors were whether: 1) there would be sufficient dilution of the sewage; 2) fleatable particles or other substances would create significant adverse effects in the estuarine ecosystem. The outfall sites are described together with the sampling stations, methods and analyses. Results include: 1) T/S profiles; 2) chemical analysis of the water. A review of literature on the Sierra Leone River Estuary is included which provides information on the plankton, benthos and fisheries. Results suggest that at certain points where local circulations occur it would be inadvisable to locate untreated sewage outfalls. Such points are frequently observed in small embayments. These studies have been of short duration but the data can serve as baseline for more extended investigations which would give a more complete picture of the seasonal patterns in the estuary.

Survey of the shrimp stocks of the Sierra Leone inshore shelf : a summary report outlining objectives, observations and recommendations on the status of the Sierra Leone shrimp fishery

This report gives the species and catch-rates per hour of some commercial shrimp species caught in the course of a short survey of inshore shelf fishing grounds. Species seen in significant quantities were: Parapenneopsis atlantica, Parapenaeus longirostris, Penaeus kerathurus and Penaeus duorarum notialis

Studies on the condition factor of the Sierra Leone mangrove oyster (Crassostrea tulipa)

Sierra Leone is a tropical country where water temperatures are high throughout the year. Consequently the local oysters tend to spawn the year round, with one or two spawning peaks. The condition of such tropical oysters may not be as high as those oyesters in temperate countries since the stored glycogen is regularly utilized to form gonads. A high condition factor value indicates that the oysters have accumulated glycogen and or gonads, whereas a low condition factor value indicates that the oysters have spawned and are in the process of accumulating glycogen, which may later be utilized for gonad development. In oyster culture, condition factor studies may be supported by plankton and oyster spat settlement studies in the culture area. These studies give an indication of when oyster larvae and spat settlement are at their peak values. In Sierra Leone studies of the plankton and spat settlement are undertaken every week throughout the year. Conditions factor is obtained from the ratio weight of dry (oyster) meat x 1000/internal volume. Detailed condition factor values are shown in relation to salinity at two stations. Condition factor declines with reducing salinity, which principally occurs during the rainy season. The best times to collect spat are May to June and September to October

Synopses of research on shrimps: 1. The common shrimp species of Sierra Leone's coastal waters: their distribution, abundance and size composition

The authors present quantitative information on the shrimp resources of Sierra Leone waters. Four of the nine species present have been studied, of which Paenaeus duorarum notialis is dominant in the fishery. Synoptic surveys were undertaken in June 1977, and March 1978, to determine the abundance of the shrimp stock on the inshore shelf. The temperature-salinity-depth curves for the fishing ground show the existence of three water masses. The majority of fish caught were sciaenids, with some sparids also being taken. Detailed discussion of distribution and abundance of individual species of shrimp is given. The surveys have shown that the Banana Islands are the most productive shrimp grounds in the country, and the authors believe that they can support a viable shrimp industry for several years to come at present rates of exploitation

(Report of the) Institute of Marine Biology and Oceanography, Fourah Bay College, University of Sierra Leone

Details are given of the Institute and its activities, in particular the research projects being undertaken. These include studies on the marine molluscs of Sierra Leone, the cockle fishery, a preliminary investigation on the fouling organisms affecting the raft-cultured oyster populations, larval oyster ecology in relation to oyster culture, preliminary studies on the reproductive cycle of the mangrove oyster (Crassostrea tulipa), and catch composition of fishes taken by beach-seines at Lumley (Freetown). Records of the west African manatee (Trichechus senegalensis) are noted.