UAV Grouping and Coordination Tactics for Ground Attack Missions

Grouping and coordination tactics for ground attack missions by a heterogeneous mix of reconnaissance, enemy suppression, and attack unmanned aerial vehicles (UAVs) is presented. Dubins' paths are used to determine the optimal number of attack UAVs and their positional and heading freedoms, as functions of weapon seeker range and field of view. A generic battlefield scenario with layered defense is created and the tactics are evaluated on a Group Flyer simulation platform for both nominal and off-nominal conditions.

Rendezvous of Multiple UAVs with Collision Avoidance Using Consensus

This paper addresses the problem of multiple unmanned aerial vehicle (UAV) rendezvous when the UAVs have to perform maneuvers to avoid collisions with other UAVs. The proposed solution consists of using velocity control and a wandering maneuver, if needed, of the UAVs based on a consensus among them on the estimated time of arrival at the point of the rendezvous. This algorithm, with a slight modification is shown to be useful in tracking stationary or slowly moving targets with a standoff distance. The proposed algorithm is simple and computationally efficient. The simulation results demonstrate the efficacy of the proposed approach. DOI: 10.1061/(ASCE)AS.1943-5525.0000145. (C) 2012 American Society of Civil Engineers.

Heterogeneous locational optimisation using a generalised Voronoi partition

In this paper a generalisation of the Voronoi partition is used for locational optimisation of facilities having different service capabilities and limited range or reach. The facilities can be stationary, such as base stations in a cellular network, hospitals, schools, etc., or mobile units, such as multiple unmanned aerial vehicles, automated guided vehicles, etc., carrying sensors, or mobile units carrying relief personnel and materials. An objective function for optimal deployment of the facilities is formulated, and its critical points are determined. The locally optimal deployment is shown to be a generalised centroidal Voronoi configuration in which the facilities are located at the centroids of the corresponding generalised Voronoi cells. The problem is formulated for more general mobile facilities, and formal results on the stability, convergence and spatial distribution of the proposed control laws responsible for the motion of the agents carrying facilities, under some constraints on the agents' speed and limit on the sensor range, are provided. The theoretical results are supported with illustrative simulation results.

Optimal trajectory planning for path convergence in three-dimensional space

This article addresses the problem of determining the shortest path that connects a given initial configuration (position, heading angle, and flight path angle) to a given rectilinear or a circular path in three-dimensional space for a constant speed and turn-rate constrained aerial vehicle. The final path is assumed to be located relatively far from the starting point. Due to its simplicity and low computational requirements the algorithm can be implemented on a fixed-wing type unmanned air vehicle in real time in missions where the final path may change dynamically. As wind has a very significant effect on the flight of small aerial vehicles, the method of optimal path planning is extended to meet the same objective in the presence of wind comparable to the speed of the aerial vehicles. But, if the path to be followed is closer to the initial point, an off-line method based on multiple shooting, in combination with a direct transcription technique, is used to obtain the optimal solution. Optimal paths are generated for a variety of cases to show the efficiency of the algorithm. Simulations are presented to demonstrate tracking results using a 6-degrees-of-freedom model of an unmanned air vehicle.

Cooperative Communication of UAV to Perform Multi-task Using Nature Inspired Techniques

In this paper, the approach for assigning cooperative communication of Uninhabited Aerial Vehicles (UAV) to perform multiple tasks on multiple targets is posed as a combinatorial optimization problem. The multiple task such as classification, attack and verification of target using UAV is employed using nature inspired techniques such as Artificial Immune System (AIS), Particle Swarm Optimization (PSO) and Virtual Bee Algorithm (VBA). The nature inspired techniques have an advantage over classical combinatorial optimization methods like prohibitive computational complexity to solve this NP-hard problem. Using the algorithms we find the best sequence in which to attack and destroy the targets while minimizing the total distance traveled or the maximum distance traveled by an UAV. The performance analysis of the UAV to classify, attack and verify the target is evaluated using AIS, PSO and VBA.

COMPUTATIONAL MODELING OF A MULTI-LAYERED PIEZO-COMPOSITE BEAM MADE UP OF MFC

The Variational Asymptotic Method (VAM) is used for modeling a coupled non-linear electromechanical problem finding applications in aircrafts and Micro Aerial Vehicle (MAV) development. VAM coupled with geometrically exact kinematics forms a powerful tool for analyzing a complex nonlinear phenomena as shown previously by many in the literature 3 - 7] for various challenging problems like modeling of an initially twisted helicopter rotor blades, matrix crack propagation in a composite, modeling of hyper elastic plates and various multi-physics problems. The problem consists of design and analysis of a piezocomposite laminate applied with electrical voltage(s) which can induce direct and planar distributed shear stresses and strains in the structure. The deformations are large and conventional beam theories are inappropriate for the analysis. The behavior of an elastic body is completely understood by its energy. This energy must be integrated over the cross-sectional area to obtain the 1-D behavior as is typical in a beam analysis. VAM can be used efficiently to approximate 3-D strain energy as closely as possible. To perform this simplification, VAM makes use of thickness to width, width to length, width multiplied by initial twist and strain as small parameters embedded in the problem definition and provides a way to approach the exact solution asymptotically. In this work, above mentioned electromechanical problem is modeled using VAM which breaks down the 3-D elasticity problem into two parts, namely a 2-D non-linear cross-sectional analysis and a 1-D non-linear analysis, along the reference curve. The recovery relations obtained as a by-product in the cross-sectional analysis earlier are used to obtain 3-D stresses, displacements and velocity contours. The piezo-composite laminate which is chosen for an initial phase of computational modeling is made up of commercially available Macro Fiber Composites (MFCs) stacked together in an arbitrary lay-up and applied with electrical voltages for actuation. The expressions of sectional forces and moments as obtained from cross-sectional analysis in closed-form show the electro-mechanical coupling and relative contribution of electric field in individual layers of the piezo-composite laminate. The spatial and temporal constitutive law as obtained from the cross-sectional analysis are substituted into 1-D fully intrinsic, geometrically exact equilibrium equations of motion and 1-D intrinsic kinematical equations to solve for all 1-D generalized variables as function of time and an along the reference curve co-ordinate, x(1).

Biological application of multi-component nanowires in hybrid devices powered by F-1-ATPase motors

In this paper, construction of hybrid device by integrating nanowires with F1-ATPase motors is described. The nickel nanowires and multi-segment nanowires, including gold and nickel, were fabricated by electrochemical deposition in nanoporous templates. The nickel nanowires functionalized by biotinylated peptide can be assembled directly onto F1-ATPase motors to act as the propellers. If the multicomponent nanowires, including gold and nickel, were selectively functionalized by the thiol group modified ssDNA and the synthetic peptide, respectively, the biotinylated F1- ATPase motors can be attached to the biotinylated peptide on nickel segment of the nanowires. Then, the multi-component nanowires can also be used as the propellers, and one may observe the rotations of the multi-component nanowires driven by F1-ATPase motors. Therefore, introduction of multiple segments along the length of a nanowire can lead to a variety of multiple chemical functionalities, which can be selectively bound to cells and special biomolecules. This method provides an insight for the construction of other hybrid devices with its controlling arrangement of different biomolecule on designed nanometer scale structures.

无人机编队飞行技术的研究现状与展望

无人机编队飞行是无人机及其应用技术发展研究的新热点。在分析无人机编队飞行特点的基础上,阐述了无人机编队飞行原理与方法的研究现状,并展望了其今后的主要应用前景。

分布式多无人机编队飞行的阵形保持策略

设计了一种仅采用相对位置偏差状态进行多无人机编队阵形保持的分布式保持策略.首先,分析多无人机编队的特点及其阵形保持问题,提出其阵形保持策略的要求,然后设计一种采用局部阵形状态制定的阵形保持策略.该保持策略从非一致性的冗余状态中进行简洁的处理,判断阵形的保持状态,采取相应的保持机制.最后,应用于几个多无人机编队飞行的例子,仿真结果验证了该保持策略的可行性.

Broughton Archipelago Clam Terrace Survey : final report

During a 1995 aerial video survey of the coastline of Johnstone Strait, an unusual shoreline feature was noted and termed “clam terraces” (inset) because of the terrace-type morphology and the apparent association with high clam productivity on the sandflats. Typical alongshore lengths of the terrace ridges are 20-50m, and across-shore widths are typically 20-40m. An area with an especially high density of clam terraces was noted in the Broughton Archipelago, between Broughton and Gilford Islands of southeastern Queen Charlotte Strait. Clam terraces in this area were inventoried from the aerial video imagery to quantify their distribution. The terraces accounted for over 14 km of shoreline and 365 clam terraces were documented. A three-day field survey by a coastal geomorphologist, archeologist and marine biologist was conducted to document the features and determine their origin. Nine clam terraces were surveyed. The field observations confirmed that: the ridges are comprised of boulder/cobblesized material, ridge crests are typically in the range of 1-1.5m above chart datum, sandflats are comprised almost entirely of shell fragments (barnacles and clams) and sandflats have very high shellfish production. There are an abundance of shell middens in the area (over 175) suggesting that the shellfish associated with the terraces were an important food source of aboriginal peoples. The origin of the ridges is unknown; they appear to be a relict feature in that they are not actively being modified by present-day processes. The ridges may be a relict sea-ice feature, although the mechanics of ridge formation is uncertain. Sand accumulates behind the ridge because the supply rate of the shell fragments exceeds the dispersal rate in these low energy environments. The high density areas of clam terraces correspond to high density areas of shell middens, and it is probable that the clam terraces were subjected to some degree of modification by aboriginal shellfish gatherers over the thousands of years of occupation in the region. (Document contains 39 pages)

The Foraging Ecology of the Mountain Long-Eared Bat Plecotus macrobullaris Revealed with DNA Mini-Barcodes

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Mapping and Distribution of Torpedograss and Evaluating the Effectiveness of Torpedograss Management Activities in Lake Okeechobee, Florida

Thousands of hectares of native plants and shallow open water habitat have been displaced in Lake Okeechobee’s marsh by the invasive exotic species torpedograss ( Panicum repens L.). The rate of torpedograss expansion, it’s areal distribution and the efficacy of herbicide treatments used to control torpedograss in the lake’s marsh were quantified using aerial color infra red (IR) photography.(PDF has 6 pages.)

Fotogrametría digital aplicada a la obtención de ortofotos y modelos digitales del entidades patrimoniales

[ES] Este proyecto contiene información obtenida en el siguiente trabajo de documentación geométrica de un elemento patrimonial:

客运架空索道系统动力特性分析方法

客运架空索道系统的固有频率与模态是衡量索道系统固有动力特性的重要指标，固有频率的大小直接关系到结构在各种不同的激励条件下是否会发生动力放大效应与共振。文中首先解决索道系统分析中的有限元建模问题，包括典型柔性索道的模型状态，然后利用ANSYS程序的子空间迭代法求出结构最低各阶的特征值与特征向量，并计算出三种工况下的前40阶固有频率与振动模态，为客运架空索道系统的动力特性分析提供有效的计算方法。

Mechanical and Chemical Control of Smooth Cordgrass in Waillapa Bay, Washington

We evaluated four methods to control smooth cordgrass (Spartina alterniflora Loisel), hereafter spartina, in Willapa Bay, Washington: mowing, mowing plus herbicide combination, herbicide only for clones, and aerial application of herbicide for meadows. (PDF has 7 pages.)