From the Black Mountain to Waziristan, being an account of the border countries and the more turbulent of the tribes controlled by the North-west frontier province, and of our military relations with them in the past.

Mode of access: Internet.

Reconnaissance for uranium in the Huallanca District, Dos de Mayo Province, Department of Huanuco, Peru /

In cooperation with the Junta de Control de Energía Atómica del Peru.

Northwest corner of Diagonal [Diag] with top of fencepost

Daybook, image #36

From top of Lit. Bldg. construction tower

View of Natural Science, Chemistry and Gyms. On verso: Neg by Percy Failing Dale Williams

From the top of the stairs : [an autobiography] /

"An Atlantic Monthly Press Book."

Enabling Leg-Based Guidance on Top of Waypoint-Based Autopilots for UAS

This paper presents a methodology to extend the guidance functionalities of Commercial Off-The-Shelf autopilots currently available for Unmanned Aircraft Systems (UAS). Providing that most autopilots only support elemental waypoint-based guidance, this technique allows the aircraft to follow leg-based flight plans without needing to modify the internal control algorithms of the autopilot. It is discussed how to provide Direct to Fix, Track to Fix and Hold to Fix path terminators (along with Fly-Over and Fly-By waypoints) to basic autopilots able to natively execute only a limited set of legs. Preliminary results show the feasibility of the proposal with flight simulations that used a flexible and reconfigurable UAS architecture specifically designed to avoid dependencies with a single or particular autopilot solution.