Analysis and optimization of trajectories for Ballistic Missiles Interception

Intercontinental Ballistic Missiles are capable of placing a nuclear warhead at more than 5,000 km away from its launching base. With the lethal power of a nuclear warhead a whole city could be wiped out by a single weapon causing millions of deaths. This means that the threat posed to any country from a single ICBM captured by a terrorist group or launched by a 'rogue' state is huge. This threat is increasing as more countries are achieving nuclear and advanced launcher capabilities. In order to suppress or at least reduce this threat the United States created the National Missile Defense System which involved, among other systems, the development of long-range interceptors whose aim is to destroy incoming ballistic missiles in their midcourse phase. The Ballistic Missile Defense is a high-profile topic that has been the focus of political controversy lately when the U.S. decided to expand the Ballistic Missile system to Europe, with the opposition of Russia. However the technical characteristics of this system are mostly unknown by the general public. The Interception of an ICBM using a long range Interceptor Missile as intended within the Ground-Based Missile Defense System by the American National Missile Defense (NMD) implies a series of problems of incredible complexity: - The incoming missile has to be detected almost immediately after launch. - The incoming missile has to be tracked along its trajectory with a great accuracy. - The Interceptor Missile has to implement a fast and accurate guidance algorithm in order to reach the incoming missile as soon as possible. - The Kinetic Kill Vehicle deployed by the interceptor boost vehicle has to be able to detect the reentry vehicle once it has been deployed by ICBM, when it offers a very low infrared signature, in order to perform a final rendezvous manoeuvre. - The Kinetic Kill Vehicle has to be able to discriminate the reentry vehicle from the surrounding debris and decoys. - The Kinetic Kill Vehicle has to be able to implement an accurate guidance algorithm in order to perform a kinetic interception (direct collision) of the reentry vehicle, at relative speeds of more than 10 km/s. All these problems are being dealt simultaneously by the Ground-Based Missile Defense System that is developing very complex and expensive sensors, communications and control centers and long-range interceptors (Ground-Based Interceptor Missile) including a Kinetic Kill Vehicle. Among all the technical challenges involved in this interception scenario, this thesis focuses on the algorithms required for the guidance of the Interceptor Missile and the Kinetic Kill Vehicle in order to perform the direct collision with the ICBM. The involved guidance algorithms are deeply analysed in this thesis in part III where conventional guidance strategies are reviewed and optimal guidance algorithms are developed for this interception problem. The generation of a realistic simulation of the interception scenario between an ICBM and a Ground Based Interceptor designed to destroy it was considered as necessary in order to be able to compare different guidance strategies with meaningful results. As a consequence, a highly representative simulator for an ICBM and a Kill Vehicle has been implemented, as detailed in part II, and the generation of these simulators has also become one of the purposes of this thesis. In summary, the main purposes of this thesis are: - To develop a highly representative simulator of an interception scenario between an ICBM and a Kill Vehicle launched from a Ground Based Interceptor. -To analyse the main existing guidance algorithms both for the ascent phase and the terminal phase of the missiles. Novel conclusions of these analyses are obtained. - To develop original optimal guidance algorithms for the interception problem. - To compare the results obtained using the different guidance strategies, assess the behaviour of the optimal guidance algorithms, and analyse the feasibility of the Ballistic Missile Defense system in terms of guidance (part IV). As a secondary objective, a general overview of the state of the art in terms of ballistic missiles and anti-ballistic missile defence is provided (part I).

Analysis and optimization for a hexapod walking robot for planetary missions

La tecnología de las máquinas móviles autónomas ha sido objeto de una gran investigación y desarrollo en las últimas décadas. En muchas actividades y entornos, los robots pueden realizar operaciones que son duras, peligrosas o simplemente imposibles para los humanos. La exploración planetaria es un buen ejemplo de un entorno donde los robots son necesarios para realizar las tareas requeridas por los científicos. La reciente exploración de Marte con robots autónomos nos ha mostrado la capacidad de las nuevas tecnologías. Desde la invención de la rueda, que esta acertadamente considerado como el mayor invento en la historia del transporte humano, casi todos los vehículos para exploración planetaria han empleado las ruedas para su desplazamiento. Las nuevas misiones planetarias demandan maquinas cada vez mas complejas. En esta Tesis se propone un nuevo diseño de un robot con patas o maquina andante que ofrecerá claras ventajas en entornos extremos. Se demostrara que puede desplazarse en los terrenos donde los robots con ruedas son ineficientes, convirtiéndolo en una elección perfecta para misiones planetarias. Se presenta una reseña histórica de los principales misiones espaciales, en particular aquellos dirigidos a la exploración planetaria. A través de este estudio será posible analizar las desventajas de los robots con ruedas utilizados en misiones anteriores. El diseño propuesto de robot con patas será presentado como una alternativa para aquellas misiones donde los robots con ruedas puedan no ser la mejor opción. En esta tesis se presenta el diseño mecánico de un robot de seis patas capaz de soportar las grandes fuerzas y momentos derivadas del movimiento de avance. Una vez concluido el diseño mecánico es necesario realizar un análisis que permita entender el movimiento y comportamiento de una maquina de esta complejidad. Las ecuaciones de movimiento del robot serán validadas por dos métodos: cinemático y dinámico. Dos códigos Matlab® han sido desarrollados para resolver dichos sistemas de ecuaciones y han sido verificados por un tercer método, un modelo de elementos finitos, que también verifica el diseño mecánico. El robot con patas presentado, ha sido diseñado para la exploración planetaria en Marte. El comportamiento del robot durante sus desplazamientos será probado mediante un código de Matlab®, desarrollado para esta tesis, que permite modificar las trayectorias, el tipo de terreno, y el número y altura de los obstáculos. Estos terrenos y requisitos iniciales no han sido elegidos de forma aleatoria, si no que están basados en mi experiencia como miembro del equipo de MSL-NASA que opera un instrumento a bordo del rover Curiosity en Marte. El robot con patas desarrollado y fabricado por el Centro de Astrobiología (INTA-CSIC), esta basado en el diseño mecánico y análisis presentados en esta tesis. ABSTRACT The autonomous machines technology has undergone a major research and development during the last decades. In many activities and environments, robots can perform operations that are tought, dangerous or simply imposible to humans. Planetary exploration is a good example of such environment where robots are needed to perform the tasks required by the scientits. Recent Mars exploration based on autonomous vehicles has shown us the capacity of the new technologies. From the invention of the wheel, which is rightly regarded as the greatest invention in the history of human transportation, nearly all-planetary vehicles are based in wheeled locomotion, but new missions demand new types of machines due to the complex tasks needed to be performed. It will be proposed in this thesis a new design of a legged robot or walking machine, which may offer clear advantages in tough environments. This Thesis will show that the proposed walking machine can travel, were terrain difficulties make wheeled vehicles ineffective, making it a perfect choice for planetary mission. A historical background of the main space missions, in particular those aimed at planetary exploration will be presented. From this study the disadvantages found in the existing wheel rovers will be analysed. The legged robot designed will be introduced as an alternative were wheeled rovers could be no longer the best option for planetary exploration. This thesis introduces the mechanical design of a six-leg robot capable of withstanding high forces and moments due to the walking motion. Once the mechanical design is concluded, and in order to analyse a machine of this complexity an understanding of its movement and behaviour is mandatory. This movement equation will be validated by two methods: kinematics and dynamics. Two Matlab® codes have been developed to solve the systems of equations and validated by a third method, a finite element model, which also verifies the mechanical design. The legged robot presented has been designed for a Mars planetary exploration. The movement behaviour of the robot will be tested in a Matlab® code developed that allows to modify the trajectories, the type of terrain, number and height of obstacles. These terrains and initial requirements have not been chosen randomly, those are based on my experience as a member of the MSL NASA team, which operates an instrument on-board of the Curiosity rover in Mars. The walking robot developed and manufactured by the Center of Astrobiology (CAB) is based in the mechanical design and analysis that will be presented in this thesis.

Phylogeny of genes for secretion NTPases: Identification of the widespread tadA subfamily and development of a diagnostic key for gene classification

Macromolecular transport systems in bacteria currently are classified by function and sequence comparisons into five basic types. In this classification system, type II and type IV secretion systems both possess members of a superfamily of genes for putative NTP hydrolase (NTPase) proteins that are strikingly similar in structure, function, and sequence. These include VirB11, TrbB, TraG, GspE, PilB, PilT, and ComG1. The predicted protein product of tadA, a recently discovered gene required for tenacious adherence of Actinobacillus actinomycetemcomitans, also has significant sequence similarity to members of this superfamily and to several unclassified and uncharacterized gene products of both Archaea and Bacteria. To understand the relationship of tadA and tadA-like genes to those encoding the putative NTPases of type II/IV secretion, we used a phylogenetic approach to obtain a genealogy of 148 NTPase genes and reconstruct a scenario of gene superfamily evolution. In this phylogeny, clear distinctions can be made between type II and type IV families and their constituent subfamilies. In addition, the subgroup containing tadA constitutes a novel and extremely widespread subfamily of the family encompassing all putative NTPases of type IV secretion systems. We report diagnostic amino acid residue positions for each major monophyletic family and subfamily in the phylogenetic tree, and we propose an easy method for precisely classifying and naming putative NTPase genes based on phylogeny. This molecular key-based method can be applied to other gene superfamilies and represents a valuable tool for genome analysis.

Mitochondrial Single-stranded DNA-binding Protein Is Required for Mitochondrial DNA Replication and Development in Drosophila melanogaster

The discovery that several inherited human diseases are caused by mtDNA depletion has led to an increased interest in the replication and maintenance of mtDNA. We have isolated a new mutant in the lopo (low power) gene from Drosophila melanogaster affecting the mitochondrial single-stranded DNA-binding protein (mtSSB), which is one of the key components in mtDNA replication and maintenance. lopo1 mutants die late in the third instar before completion of metamorphosis because of a failure in cell proliferation. Molecular, histochemical, and physiological experiments show a drastic decrease in mtDNA content that is coupled with the loss of respiration in these mutants. However, the number and morphology of mitochondria are not greatly affected. Immunocytochemical analysis shows that mtSSB is expressed in all tissues but is highly enriched in proliferating tissues and in the developing oocyte. lopo1 is the first mtSSB mutant in higher eukaryotes, and its analysis demonstrates the essential function of this gene in development, providing an excellent model to study mitochondrial biogenesis in animals.

The synthesis, discovery, and development of a highly promising class of microtubule stabilization agents: Curative effects of desoxyepothilones B and F against human tumor xenografts in nude mice

We have evaluated two synthetic epothilone analogues lacking the 12,13-epoxide functionality, 12,13-desoxyepothilone B (dEpoB), and 12,13-desoxyepothilone F (dEpoF). The concentrations required for 50% growth inhibition (IC50) for a variety of anticancer agents were measured in CCRF-CEM/VBL1000 cells (2,048-fold resistance to vinblastine). By using dEpoB, dEpoF, aza-EpoB, and paclitaxel, the IC50 values were 0.029, 0.092, 2.99, and 5.17 μM, respectively. These values represent 4-, 33.5-, 1,423- and 3,133-fold resistance, respectively, when compared with the corresponding IC50 in the parent [nonmultiple drug-resistant (MDR)] CCRF-CEM cells. We then produced MDR human lung carcinoma A549 cells by continuous exposure of the tumor cells to sublethal concentrations of dEpoB (1.8 yr), vinblastine (1.2 yr), and paclitaxel (1.8 yr). This continued exposure led to the development of 2.1-, 4,848-, and 2,553-fold resistance to each drug, respectively. The therapeutic effect of dEpoB and paclitaxel was also compared in vivo in a mouse model by using various tumor xenografts. dEpoB is much more effective in reducing tumor sizes in all MDR tumors tested. Analysis of dEpoF, an analog possessing greater aqueous solubility than dEpoB, showed curative effects similar to dEpoB against K562, CCRF-CEM, and MX-1 xenografts. These results indicate that dEpoB and dEpoF are efficacious antitumor agents with both a broad chemotherapeutic spectrum and wide safety margins.

DNA analysis and diagnostics on oligonucleotide microchips.

We present a further development in the technology of sequencing by hybridization to oligonucleotide microchips (SHOM) and its application to diagnostics for genetic diseases. A robot has been constructed to manufacture sequencing "microchips." The microchip is an array of oligonucleotides immobilized into gel elements fixed on a glass plate. Hybridization of the microchip with fluorescently labeled DNA was monitored in real time simultaneously for all microchip elements with a two-wavelength fluorescent microscope equipped with a charge-coupled device camera. SHOM has been used to detect beta-thalassemia mutations in patients by hybridizing PCR-amplified DNA with the microchips. A contiguous stacking hybridization technique has been applied for the detection of mutations; it can simplify medical diagnostics and enhance its reliability. The use of multicolor monitoring of contiguous stacking hybridization is suggested for large-scale diagnostics and gene polymorphism studies. Other applications of the SHOM technology are discussed.

An Investigation of Ozone Related Data and Development of a Model to Evaluate Ozone Episodes for Exceptional Event Criteria

The EPA promulgated the Exceptional Events Rule codifying guidance regarding exclusion of monitoring data from compliance decisions due to uncontrollable natural or exceptional events. This capstone examines documentation systems utilized by agencies requesting data be excluded from compliance decisions due to exceptional events. A screening tool is developed to determine whether an event would meet exceptional event criteria. New data sources are available to enhance analysis but evaluation shows many are unusable in their current form. The EPA and States must collaborate to develop consistent evaluation methodologies documenting exceptional events to improve the efficiency and effectiveness of the new rule. To utilize newer sophisticated data, consistent, user-friendly translation systems must be developed.

Regional government and the "New Europe"

Introduction. Regional government in contemporary western Europe corresponds to a type of society and economy variously labeled "post-industrial", "post-bourgeois" or merely "the New Europe."l This New Europe evolved historically from the interconnected strands of capitalism; industrialism and pluralistic democracy. It resembles in many respects the type of economy and society familiar to us in North America. Regional government in such a society is thus merely an adaptation on the scale of half a continent of forms of social and economic organization which evolved historically at the national level. Regional government in the New Europe is the institutional and political recognition that societies have changed dramatically since 1945, so dramatically that they cannot be adequately described in the doctrines and ideologies made familiar by nineteenth and early twentieth century political thought. Hence the New Europe and its regional government is the future of that part of history which has also been aptly described as "the end of ideology."

Banking Sector Soundness, Innovation, and Development: Emerging Europe and South Asia. ACES Working Papers, 2012

While most academic and practitioner researchers agree that a country’s commercial banking sector’s soundness is a very significant indicator of a country’s financial market health, there is considerably less agreement and substantial confusion surrounding what constitutes a healthy bank in the aftermath of 2007+ financial crisis. Global banks’ balance sheets, corporate governance, management compensation and bonuses, toxic assets, and risky behavior are all under scrutiny as academics and regulators alike are trying to quantify what are “healthy, safe and good practices” for these various elements of banking. The current need to quantify, measure, evaluate, and compare is driven by the desire to spot troubled banks, “bad and risky” behavior, and prevent real damage and contagion in the financial markets, investors, and tax payers as it did in the recent crisis. Moreover, future financial crisis has taken on a new urgency as vast amounts of capital flows (over $1 trillion) are being redirected to emerging markets. This study differs from existing methods in the literature as it entail designing, constructing, and validating a critical dimension of financial innovation in respect to the eight developing countries in the South Asia region as well as eight countries in emerging Europe at the country level for the period 2001 – 2008, with regional and systemic differentials taken into account. Preliminary findings reveal that higher stages of payment systems development have generated efficiency gains by reducing the settlement risk and improving financial intermediation; such efficiency gains are viewed as positive financial innovations and positively impact the banking soundness. Potential EU candidate countries: Albania; Montenegro; Serbia

Innovation and Development in the Age of Climate Change Adaptation: Open or Closed?

Change Adaptation: Open or Closed? Paper read at the Second African International Economic Law Network Conference, 7-8 March 2013, Wits School of Law, Johannesburg, South Africa. In a time of rapid convergence of technologies, goods, services, hardware, software, the traditional classifications that informed past treaties fail to remove legal uncertainty, or advance welfare and innovation. As a result, we turn our attention to the role and needs of the public domain at the interface of existing intellectual property rights and new modes of creation, production and distribution of goods and services. The concept of open culture would have it that knowledge should be spread freely and its growth should come from further developing existing works on the basis of sharing and collaboration without the shackles of intellectual property. Intellectual property clauses find their way into regional, multilateral, bilateral and free trade agreements more often than not, and can cause public discontent and incite unrest. Many of these intellectual property clauses raise the bar on protection beyond the clauses found in the WTO Agreement on Trade-Related Aspects of Intellectual Property Rights (TRIPS). In this paper we address the question of the protection and development of the public domain in service of open innovation in accord with Article 15 of the International Covenant on Economic, Social and Cultural Rights (ICESCR) in light of the Objectives (Article 7) and Principles (Article 8) set forth in TRIPS. Once areas of divergence and reinforcement between the intellectual property regime and human rights have been discussed, we will enter into options that allow for innovation and prosperity in the global south. We then conclude by discussing possible policy developments.

Physiology, growth and development of larval krill ''Euphausia superba'' in autumn and winter in the Lazarev Sea, Antarctica

The physiological condition of larval Antarctic krill was investigated during austral autumn 2004 and winter 2006 in the Lazarev Sea, to provide better understanding of a critical period of their life cycle. The condition of larvae was quantified in both seasons by determining their body length (BL), dry mass (DM), elemental- and biochemical composition, as well as stomach content analysis, and rates of metabolism and growth. Overall the larvae in autumn were in better condition under the ice than in open water, and for those under the ice there was a decrease in condition from autumn to winter. Thus growth rates of furcilia larvae in open water in autumn were similar to winter values under the ice (mean 0.008 mm/d), whereas autumn, under ice values were higher: 0.015 mm/d. Equivalent larval stages had up to 30% lower BL and 70% lower DM in winter compared to autumn, with mean oxygen consumption 44% lower (0.54 µl O2 DM/h). However, their ammonium excretion rates doubled (from 0.03-0.06 µg NH4 DM/h) so their mean O:N ratio was 46 in autumn and 15 in winter. Thus differing metabolic substrates were used between autumn and winter, suggesting a flexible overwintering strategy, as suggested for adults. The larvae were eating small copepods (Oithona spp.) and/or protozoans as well as autotrophic food under the ice. However, pelagic Chlorophyll a (Chl a) was a good predictor for growth in both seasons. The physics (current speed/ice topography) probably has a critical part to play in whether larval krill can exploit the food that may be associated with sea ice or be advected away from such suitable feeding habitat.

Agricultural policy analysis and planning : a summary of two recent analyses of A.I.D.-supported projects worldwide /

"August 1988."

Systems analysis and design guidelines for highway advisory radio. Executive summary. Final report.

Federal Highway Administration, Office of Research and Development, Washington, D.C.

Systems analysis and design guidelines for highway advisory. Final report.

Federal Highway Administration, Office of Research and Development, Washington, D.C.

Analysis and GC-MS characterization of toxaphene in fish and water /

Mode of access: Internet.