Using the Cross-Entropy Method for Control Optimization: A Case Study of See-and-Avoid on Unmanned Aerial Vehicles

This paper presents an adaptation of the Cross-Entropy (CE) method to optimize fuzzy logic controllers. The CE is a recently developed optimization method based on a general Monte-Carlo approach to combinatorial and continuous multi-extremal optimization and importance sampling. This work shows the application of this optimization method to optimize the inputs gains, the location and size of the different membership functions' sets of each variable, as well as the weight of each rule from the rule's base of a fuzzy logic controller (FLC). The control system approach presented in this work was designed to command the orientation of an unmanned aerial vehicle (UAV) to modify its trajectory for avoiding collisions. An onboard looking forward camera was used to sense the environment of the UAV. The information extracted by the image processing algorithm is the only input of the fuzzy control approach to avoid the collision with a predefined object. Real tests with a quadrotor have been done to corroborate the improved behavior of the optimized controllers at different stages of the optimization process.

Aplicación de nuevas tecnologías en la Arqueología de la Guerra Civil Española: Los Yesares, Pinto (Madrid. Application of new technologies in archeology of the Civil War:The Yesares, Pinto (Madrid.

ABSTRACT: The surveys carried out in the municipality of Pinto (Madrid) have enabled us to locate various structural remains linked to the military operations that took place around the capital during the Spanish Civil War (1936-1939). In order to identify and record them, surveys were complemented with the use of GPS and air photographs from different time periods. Afterwards, and in collaboration with researchers from various universities, further methods aimed at generating a complete special representation of the area were applied directly to one of the sites which produced the best results, known as "los Yesares". These methods include topographic mapping that resulted in cartographic material at different scales, the photographic recording with flying Unmanned Aerial Vehicles, and the use of land scanners and GPS-corrected photogrammetrics with which to obtain 3D models.

Estudio, ensamblaje, caracterización y ensayos de dos modelos reales de RPA

Un dron o un RPA (del inglés, Remote Piloted Aircraft) es un vehículo aéreo no tripulado capaz de despegar, volar y aterrizar de forma autónoma, semiautónoma o manual, siempre con control remoto. Además, toda aeronave de estas características debe ser capaz de mantener un nivel de vuelo controlado y sostenido. A lo largo de los años, estos aparatos han ido evolución tanto en aplicaciones como en su estética y características físicas, siempre impulsado por los requerimientos militares en cada momento. Gracias a este desarrollo, hoy en día los drones son uno más en la sociedad y desempeñan tareas que para cualquier ser humano serían peligrosas o difíciles de llevar a cabo. Debido a la reciente proliferación de los RPA, los gobiernos de los distintos países se han visto obligados a redactar nuevas leyes y/o modificar las ya existentes en relación a los diferentes usos del espacio aéreo para promover la convivencia de estas aeronaves con el resto de vehículos aéreos. El objeto principal de este proyecto es ensamblar, caracterizar y configurar dos modelos reales de dron: el DJI F450 y el TAROT t810. Para conseguir un montaje apropiado a las aplicaciones posteriores que se les va a dar, antes de su construcción se ha realizado un estudio individualizado en detalle de cada una de las partes y módulos que componen estos vehículos. Adicionalmente, se ha investigado acerca de los distintos tipos de sistemas de transmisión de control remoto, vídeo y telemetría, sin dejar de lado las baterías que impulsarán al aparato durante sus vuelos. De este modo, es sabido que los RPA están compuestos por distintos módulos operativos: los principales, todo aquel módulo para que el aparato pueda volar, y los complementarios, que son aquellos que dotan a cada aeronave de características adicionales y personalizadas que lo hacen apto para diferentes usos. A lo largo de este proyecto se han instalado y probado diferentes módulos adicionales en cada uno de los drones, además de estar ambos constituidos por distintos bloques principales, incluyendo el controlador principal: NAZA-M Lite instalado en el dron DJI F450 y NAZA-M V2 incorporado en el TAROT t810. De esta forma se ha podido establecer una comparativa real acerca del comportamiento de éstos, tanto de forma conjunta como de ambos controladores individualmente. Tras la evaluación experimental obtenida tras diversas pruebas de vuelo, se puede concluir que ambos modelos de controladores se ajustan a las necesidades demandadas por el proyecto y sus futuras aplicaciones, siendo más apropiada la elección del modelo M Lite por motivos estrictamente económicos, ya que su comportamiento en entornos recreativos es similar al modelo M V2. ABSTRACT. A drone or RPA (Remote Piloted Aircraft) is an unmanned aerial vehicle that is able to take off, to fly and to land autonomously, semi-autonomously or manually, always connected via remote control. In addition, these aircrafts must be able to keep a controlled and sustained flight level. Over the years, the applications for these devices have evolved as much as their aesthetics and physical features both boosted by the military needs along time. Thanks to this development, nowadays drones are part of our society, executing tasks potentially dangerous or difficult to complete by humans. Due to the recent proliferation of RPA, governments worldwide have been forced to draft legislation and/or modify the existing ones about the different uses of the aerial space to promote the cohabitation of these aircrafts with the rest of the aerial vehicles. The main objective of this project is to assemble, to characterize and to set-up two real drone models: DJI F450 and TAROT t810. Before constructing the vehicles, a detailed study of each part and module that composes them has been carried out, in order to get an appropriate structure for their expected uses. Additionally, the different kinds of remote control, video and telemetry transmission systems have been investigated, including the batteries that will power the aircrafts during their flights. RPA are made of several operative modules: main modules, i.e. those which make the aircraft fly, and complementary modules, that customize each aircraft and equip them with additional features, making them suitable for a particular use. Along this project, several complementary modules for each drone have been installed and tested. Furthermore, both are built from different main units, including the main controller: NAZA-M Lite installed on DJI F450 and NAZA-M V2 on board of TAROT t810. This way, it has been possible to establish an accurate comparison, related to the performance of both models, not only jointly but individually as well. After several flight tests and an experimental evaluation, it can be concluded that both main controller models are suitable for the requirements fixed for the project and the future applications, being more appropriate to choose the M Lite model strictly due to economic reasons, as its performance in recreational environment is similar to the M V2.

Heat shock fusion proteins as vehicles for antigen delivery into the major histocompatibility complex class I presentation pathway

Mice immunized with heat shock proteins (hsps) isolated from mouse tumor cells (donor cells) produce CD8 cytotoxic T lymphocytes (CTL) that recognize donor cell peptides in association with the major histocompatibility complex (MHC) class I proteins of the responding mouse. The CTL are induced apparently because peptides noncovalently associated with the isolated hsp molecules can enter the MHC class I antigen processing pathway of professional antigen-presenting cells. Using a recombinant heat shock fusion protein with a large fragment of ovalbumin covalently linked to mycobacterial hsp70, we show here that when the soluble fusion protein was injected without adjuvant into H-2b mice, CTL were produced that recognized an ovalbumin-derived peptide, SIINFEKL, in association with Kb. The peptide is known to arise from natural processing of ovalbumin in H-2b mouse cells, and CTL from the ovalbumin-hsp70-immunized mice and a highly effective CTL clone (4G3) raised against ovalbumin-expressing EL4 tumor cells (EG7-OVA) were equally effective in terms of the concentration of SIINFEKL required for half-maximal lysis in a CTL assay. The mice were also protected against lethal challenge with ovalbumin-expressing melanoma tumor cells. Because large protein fragments or whole proteins serving as fusion partners can be cleaved into short peptides in the MHC class I processing pathway, hsp fusion proteins of the type described here are promising candidates for vaccines aimed at eliciting CD8 CTL in populations of MHC-disparate individuals.

Military and government applications of human-machine communication by voice.

This paper describes a range of opportunities for military and government applications of human-machine communication by voice, based on visits and contacts with numerous user organizations in the United States. The applications include some that appear to be feasible by careful integration of current state-of-the-art technology and others that will require a varying mix of advances in speech technology and in integration of the technology into applications environments. Applications that are described include (1) speech recognition and synthesis for mobile command and control; (2) speech processing for a portable multifunction soldier's computer; (3) speech- and language-based technology for naval combat team tactical training; (4) speech technology for command and control on a carrier flight deck; (5) control of auxiliary systems, and alert and warning generation, in fighter aircraft and helicopters; and (6) voice check-in, report entry, and communication for law enforcement agents or special forces. A phased approach for transfer of the technology into applications is advocated, where integration of applications systems is pursued in parallel with advanced research to meet future needs.

The Japan –US Military Alliance and the Asia-Pacific Challenges: Prospects for Deep Changes

In the last fifteen years a fundamental shift in the strategic balance in Asia – Pacific has taking place. The article aims at discussing the difficulties the Japan-US military Alliance has adaptating to this new regional strategic environment. It also explains the new strategy that President Obama´s Administration is trying to implement, initially called “Pivot to Asia” and later “Rebalance”. The article tries to show the challenges that this new strategy implies for both Japan and the United States, enumerating different scenarios some of them not very likely and highlighting on the contrary the possibility of a more assertive and military independent Japan.

A Meta-Analysis of the Effectiveness of Military and Veterans Affairs (VA) Combat-Related PTSD Programs

A meta-analysis was conducted to examine the effectiveness of 55 treatment outcomes reported by military and Veterans Affairs (VA) treatment centers for combat-related posttraumatic stress disorder (PTSD). The analysis includes 46 tested treatment outcomes derived from 21 psychotherapy studies, and nine tested treatment outcomes derived from seven pharmacotherapy studies, which were obtained through PsychINFO and PsychARTICLES database searches, as well as a reference search. Analysis of all treatment outcomes suggested a statistically significant, and meaningful, decrease in PTSD symptoms between baseline and post-treatment time points, t(54) = 9.27, p < .001, d = 0.35. Additionally, analysis of outcomes between psychotherapy and pharmacotherapy treatments resulted in statistically significant differences in PTSD assessment scores at post-test, indicating a greater degree of change for psychotherapy than for pharmacotherapy.

Arranjos de sensores orientados à missão para a geração automática de mapas temáticos em VANTs

O uso de veículos aéreos não tripulados (VANTs) tem se tornado cada vez mais comum, principalmente em aplicações de uso civil. No cenário militar, o uso de VANTs tem focado o cumprimento de missões específicas que podem ser divididas em duas grandes categorias: sensoriamento remoto e transporte de material de emprego militar. Este trabalho se concentra na categoria do sensoriamento remoto. O trabalho foca a definição de um modelo e uma arquitetura de referência para o desenvolvimento de sensores inteligentes orientados a missões específicas. O principal objetivo destas missões é a geração de mapas temáticos. Neste trabalho são investigados processos e mecanismos que possibilitem a geração desta categoria de mapas. Neste sentido, o conceito de MOSA (Mission Oriented Sensor Array) é proposto e modelado. Como estudos de caso dos conceitos apresentados são propostos dois sistemas de mapeamento automático de fontes sonoras, um para o caso civil e outro para o caso militar. Essas fontes podem ter origem no ruído gerado por grandes animais (inclusive humanos), por motores de combustão interna de veículos ou por atividade de artilharia (incluindo caçadores). Os MOSAs modelados para esta aplicação são baseados na integração de dados provenientes de um sensor de imageamento termal e uma rede de sensores acústicos em solo. A integração das informações de posicionamento providas pelos sensores utilizados, em uma base cartográfica única, é um dos aspectos importantes tratados neste trabalho. As principais contribuições do trabalho são a proposta de sistemas MOSA, incluindo conceitos, modelos, arquitetura e a implementação de referência representada pelo sistema de mapeamento automático de fontes sonoras.

Candidate Conservation Agreements to Minimize Military Conflicts with Wildlife Laws: The Gopher Tortoise (Gopherus polyphemus)

The proposed Endangered Species Act listing of the gopher tortoise has the potential to impact the military mission at installations in the southeastern United States. Candidate Conservation Agreements with the U.S. Fish and Wildlife Service could be a tool to promote conservation and potentially preclude listing. This project identified military activities that could be affected and determined that military natural resources managers are unsure if such an agreement would prevent impacts to the military mission or impose the same restrictions as federal listing. This project found that if a gopher tortoise Candidate Conservation Agreement can be developed such that it benefits the species as well as the military, it should be used as a model for other species.

Balancing Wetland Management with the Military: Using Special Area Management Plans (SAMPs) to protect wetlands on U.S. Air Force Installations

U.S. Air Force installations by virtue of their isolation and often remote locations provide protection to critical habitats that would otherwise be susceptible to development and other stressors. While Air Force activities may not always compliment environmental protection, a balance between environmental protection and Air Force requirements must be achieved to minimize conflict. Special Area Management Plans (SAMPs) are a possible solution in the quest to balance conservation with mission requirements. Beale Air Force Base, California is the first military installation to pursue implementation of a SAMP. This project found that SAMP implementation could be a tool to successfully balance conservation efforts with military requirements on other Air Force installations; however, further education on the SAMP process would be required.

PCDD/F Emissions from Light-Duty Diesel Vehicles Operated under Highway Conditions and a Diesel-Engine Based Power Generator

PCDD/F emissions from three light-duty diesel vehicles–two vans and a passenger car–have been measured in on-road conditions. We propose a new methodology for small vehicles: a sample of exhaust gas is collected by means of equipment based on United States Environmental Protection Agency (U.S. EPA) method 23A for stationary stack emissions. The concentrations of O2, CO, CO2, NO, NO2 and SO2 have also been measured. Six tests were carried out at 90-100 km/h on a route 100 km long. Two additional tests were done during the first 10 minutes and the following 60 minutes of the run to assess the effect of the engine temperature on PCDD/F emissions. The emission factors obtained for the vans varied from 1800 to 8400 pg I-TEQ/Nm3 for a 2004 model year van and 490-580 pg I-TEQ/Nm3 for a 2006 model year van. Regarding the passenger car, one run was done in the presence of a catalyst and another without, obtaining emission factors (330-880 pg I-TEQ/Nm3) comparable to those of the modern van. Two other tests were carried out on a power generator leading to emission factors ranging from 31 to 78 pg I-TEQ/Nm3. All the results are discussed and compared with literature.

Rehabilitating, repairing and restoring against demolishing, tearing down and destroying: the recovery of the military fort for the Santa Pola town museum

This communication develops the process of interventions of the Renaissance fortress of a new plant built in 1554–57 in Santa Pola. It is one of the earliest examples built with reference to military architecture theoretical treaties (XV–XVI) and best preserved. The study runs its own story from its initial military use, through the use of civil equipment until the final cultural and Museum Center. First, the project of Italian origin is examined and its use as barracks for troops for a duration of three centuries (1557–1850), pointing out the architectural constants of war machinery in a defense position and its origin as a rainwater collector and cistern: a perfect square with two bastions in which a plan of the uprising is preserved (1778). Secondly, we study the changes in the mentioned architecture throughout a century and a half (1850–1990) after its change of ownership (from the state to the municipality), and as a result of the new use as a city hall and public endowment: a market and health and leisure centre, which meant the demolition of defensive elements and the opening up to the outside of the inner parade ground. And thirdly, the new transfer of the municipal offices brings in the beginning of a project of transformations (1990–2015) that retrieves the demolished elements at the same time as it assigns the entire fort for a cultural centre: exhibition, research and history museum, promoting the identity between the citizens and the building which stands in the foundations of their city. The conclusions take us through an interesting route that goes from the approach of defensive tactics, its use as administrative headquarters to the current cultural policy of preservation. In addition, all the known plans of the fort are recovered (of military, civil and cultural use), some unpublished, as well as the project of the North wing that has guided the last operation and which has been set as a pattern of reference.