Pub Date : 2011-01-03DOI: 10.1504/IJIDSS.2011.037805
M. Seto
A knowledge-based agent was designed and validated to optimally re-distribute control authority in a torpedo-shaped autonomous underwater vehicle (AUV). The objective is greater fault tolerance in AUVs on long deployments when an AUV is unexpectedly underactuated from a jammed control fin. The optimisation is achieved through a genetic algorithm (GA) that evaluates solutions based on a full non-linear analysis of the AUV dynamics and control. The AUV dynamics, hydrodynamics, and control have to be well known ahead of time. The agent is implemented on-board the AUV to provide timely re-assignment of the fin control authority (gains), underway, and consequently the mission can continue or a potential vehicle loss averted. The effectiveness of the agent is assessed through a parametric analysis that compares the response of the unexpectedly underactuated AUV with its initial gains against the optimised gains. The agent’s greatest impact is in the event of a bow fin jam as the remaining three planes cannot de...
{"title":"An agent to optimally re-distribute control in an underactuated AUV","authors":"M. Seto","doi":"10.1504/IJIDSS.2011.037805","DOIUrl":"https://doi.org/10.1504/IJIDSS.2011.037805","url":null,"abstract":"A knowledge-based agent was designed and validated to optimally re-distribute control authority in a torpedo-shaped autonomous underwater vehicle (AUV). The objective is greater fault tolerance in AUVs on long deployments when an AUV is unexpectedly underactuated from a jammed control fin. The optimisation is achieved through a genetic algorithm (GA) that evaluates solutions based on a full non-linear analysis of the AUV dynamics and control. The AUV dynamics, hydrodynamics, and control have to be well known ahead of time. The agent is implemented on-board the AUV to provide timely re-assignment of the fin control authority (gains), underway, and consequently the mission can continue or a potential vehicle loss averted. The effectiveness of the agent is assessed through a parametric analysis that compares the response of the unexpectedly underactuated AUV with its initial gains against the optimised gains. The agent’s greatest impact is in the event of a bow fin jam as the remaining three planes cannot de...","PeriodicalId":311979,"journal":{"name":"Int. J. Intell. Def. Support Syst.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114715934","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-01-03DOI: 10.1504/IJIDSS.2011.037807
B. Beckman, J. Collier, David Mackay, S. Monckton, M. Trentini, F. Wong, P. Bilodeau
Unmanned systems are designed to reduce risk and magnify the impact of manned forces. Expanding unmanned involvement in military operations will require greater vehicle autonomy and the adoption of new concepts of operations. This paper discusses the technical challenges of unmanned systems in support of dismounted operations and research efforts by Defence R&D Canada to support unmanned vehicles in this role. New projects have been formulated to address these technical challenges.
{"title":"Towards unmanned systems for dismounted operations in the Canadian Forces","authors":"B. Beckman, J. Collier, David Mackay, S. Monckton, M. Trentini, F. Wong, P. Bilodeau","doi":"10.1504/IJIDSS.2011.037807","DOIUrl":"https://doi.org/10.1504/IJIDSS.2011.037807","url":null,"abstract":"Unmanned systems are designed to reduce risk and magnify the impact of manned forces. Expanding unmanned involvement in military operations will require greater vehicle autonomy and the adoption of new concepts of operations. This paper discusses the technical challenges of unmanned systems in support of dismounted operations and research efforts by Defence R&D Canada to support unmanned vehicles in this role. New projects have been formulated to address these technical challenges.","PeriodicalId":311979,"journal":{"name":"Int. J. Intell. Def. Support Syst.","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128253775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-01-03DOI: 10.1504/IJIDSS.2011.037809
R. Mullen, S. Barman, Paolo Remagnino, D. Monekosso
A swarm robotics approach is adopted in designing a fully autonomous multi-robot-based solution to the problem of locating generic targets within a given search space. A proof of concept system is developed and tested within a 3D simulation environment. A series of laboratory experiments are carried out to assess the performance of the system with respect to the given task of localising and monitoring generic targets, with reference to a counter IED scenario. Further experiments are carried out to evaluate the robustness to robot failure and scalability of the system.
{"title":"Towards autonomous robot swarms for multi-target localisation and monitoring with applications to counter IED operations","authors":"R. Mullen, S. Barman, Paolo Remagnino, D. Monekosso","doi":"10.1504/IJIDSS.2011.037809","DOIUrl":"https://doi.org/10.1504/IJIDSS.2011.037809","url":null,"abstract":"A swarm robotics approach is adopted in designing a fully autonomous multi-robot-based solution to the problem of locating generic targets within a given search space. A proof of concept system is developed and tested within a 3D simulation environment. A series of laboratory experiments are carried out to assess the performance of the system with respect to the given task of localising and monitoring generic targets, with reference to a counter IED scenario. Further experiments are carried out to evaluate the robustness to robot failure and scalability of the system.","PeriodicalId":311979,"journal":{"name":"Int. J. Intell. Def. Support Syst.","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127435876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-01-03DOI: 10.1504/IJIDSS.2011.037808
Balazs Janko, C. Turner, K. Cave-Ayland, Martyn K. Pittuck, Sebastian O. H. Madgwick, W. Harwin
Coordinating aerial and ground based robotic platforms together with sensor payloads is described and some results are presented on the deployment of these robots in an urban environment for reconnaissance, in particular to find military threats. This work was done with the aim of competing in the UK MOD Grand Challenge competition in August 2008. This paper reviews the structure, control, coordination and integration of the robotic platforms for this event.
{"title":"A multiple robot solution for urban reconnaissance","authors":"Balazs Janko, C. Turner, K. Cave-Ayland, Martyn K. Pittuck, Sebastian O. H. Madgwick, W. Harwin","doi":"10.1504/IJIDSS.2011.037808","DOIUrl":"https://doi.org/10.1504/IJIDSS.2011.037808","url":null,"abstract":"Coordinating aerial and ground based robotic platforms together with sensor payloads is described and some results are presented on the deployment of these robots in an urban environment for reconnaissance, in particular to find military threats. This work was done with the aim of competing in the UK MOD Grand Challenge competition in August 2008. This paper reviews the structure, control, coordination and integration of the robotic platforms for this event.","PeriodicalId":311979,"journal":{"name":"Int. J. Intell. Def. Support Syst.","volume":"187 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116184667","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-11-24DOI: 10.1504/IJIDSS.2010.037095
E. Paulo
The operation of US and Allied military forces freely and safely across the world's oceans remains a paramount goal of the US Navy, often to be carried out through the deployment of a carrier strike group (CSG). This paper examines the need for an improved anti-submarine warfare (ASW) system to protect a CSG, focusing on the design of an ASW system that is able to thwart an attack through effective, timely, and precise engagement based on the use of tactically significant detection, localisation, tracking and classification of threat submarines. This effort results in the development of system functions and objectives, appropriate metrics, an operational concept, several competing physical architectural alternatives, and conduct of trade-off analysis regarding system performance. Primarily, the focus is on the operational performance of the competing physical architectures, which is defined as the need to detect and defeat an enemy submarine during a typical CSG mission. Potential ASW and CSG components are described, as well as an assessment of several alternative ASW systems within the CSG system of systems, a brief operational concept, and the specifics of the performance modelling effort to include results.
{"title":"Analysing system of systems performance of a carrier strike group conducting anti-submarine warfare","authors":"E. Paulo","doi":"10.1504/IJIDSS.2010.037095","DOIUrl":"https://doi.org/10.1504/IJIDSS.2010.037095","url":null,"abstract":"The operation of US and Allied military forces freely and safely across the world's oceans remains a paramount goal of the US Navy, often to be carried out through the deployment of a carrier strike group (CSG). This paper examines the need for an improved anti-submarine warfare (ASW) system to protect a CSG, focusing on the design of an ASW system that is able to thwart an attack through effective, timely, and precise engagement based on the use of tactically significant detection, localisation, tracking and classification of threat submarines. This effort results in the development of system functions and objectives, appropriate metrics, an operational concept, several competing physical architectural alternatives, and conduct of trade-off analysis regarding system performance. Primarily, the focus is on the operational performance of the competing physical architectures, which is defined as the need to detect and defeat an enemy submarine during a typical CSG mission. Potential ASW and CSG components are described, as well as an assessment of several alternative ASW systems within the CSG system of systems, a brief operational concept, and the specifics of the performance modelling effort to include results.","PeriodicalId":311979,"journal":{"name":"Int. J. Intell. Def. Support Syst.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122485414","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-11-24DOI: 10.1504/IJIDSS.2010.037092
B. Pincombe, A. Pincombe
To aid with Australian Army deployment planning we propose a flexible deployment concept developed using adversarial scenario analysis. This novel technique begins with a simple scenario and a core strategy. Iteratively, the scenario is modified to defeat the existing strategy and the strategy is altered to cope. This process results in the deployed force being structured as a set of cohesive functional teams that provide emotional support to their members, suffer stress at different rates and are able to be rotated independently of each other. An accumulator model of deployment stress is assumed and continuous time-in-theatre is minimised subject to realistic constraints. The concept is focused on stable long term commitments to small wars, insurgencies and peacekeeping operations within four time-zones of the deployment source and with forward bases near usable airfields. To plan specific deployments, the same process could be expanded upon with appropriate detail.
{"title":"Scoping a flexible deployment framework using adversarial scenario analysis","authors":"B. Pincombe, A. Pincombe","doi":"10.1504/IJIDSS.2010.037092","DOIUrl":"https://doi.org/10.1504/IJIDSS.2010.037092","url":null,"abstract":"To aid with Australian Army deployment planning we propose a flexible deployment concept developed using adversarial scenario analysis. This novel technique begins with a simple scenario and a core strategy. Iteratively, the scenario is modified to defeat the existing strategy and the strategy is altered to cope. This process results in the deployed force being structured as a set of cohesive functional teams that provide emotional support to their members, suffer stress at different rates and are able to be rotated independently of each other. An accumulator model of deployment stress is assumed and continuous time-in-theatre is minimised subject to realistic constraints. The concept is focused on stable long term commitments to small wars, insurgencies and peacekeeping operations within four time-zones of the deployment source and with forward bases near usable airfields. To plan specific deployments, the same process could be expanded upon with appropriate detail.","PeriodicalId":311979,"journal":{"name":"Int. J. Intell. Def. Support Syst.","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123068241","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-11-24DOI: 10.1504/IJIDSS.2010.037089
M. Nadrljanski, R. Bozic, V. Batinica
Modern business operations of maritime companies impose the necessity of taking into consideration the risk factor; where the management is obliged to take account of it and to learn how to manage risk. Risk can be generally defined as a combination of probabilities for an event to happen causing consequences that arise from that event. In any business activity there are possible events which represent opportunities or threats to success. The focus of an effective risk management should be directed to its identification and handling of identified risks. Effective management increases the probability of success and reduces at the same time the probability both of failures and of uncertainty. When strategic risk management is applied, the organisation can balance its exposure to risk and enjoy more certainty when accepting risk which is necessary to create new services, business models and new ways of competition in the world market.
{"title":"Methods of risk management in maritime activities as a function of sustainable development","authors":"M. Nadrljanski, R. Bozic, V. Batinica","doi":"10.1504/IJIDSS.2010.037089","DOIUrl":"https://doi.org/10.1504/IJIDSS.2010.037089","url":null,"abstract":"Modern business operations of maritime companies impose the necessity of taking into consideration the risk factor; where the management is obliged to take account of it and to learn how to manage risk. Risk can be generally defined as a combination of probabilities for an event to happen causing consequences that arise from that event. In any business activity there are possible events which represent opportunities or threats to success. The focus of an effective risk management should be directed to its identification and handling of identified risks. Effective management increases the probability of success and reduces at the same time the probability both of failures and of uncertainty. When strategic risk management is applied, the organisation can balance its exposure to risk and enjoy more certainty when accepting risk which is necessary to create new services, business models and new ways of competition in the world market.","PeriodicalId":311979,"journal":{"name":"Int. J. Intell. Def. Support Syst.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125871434","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-11-24DOI: 10.1504/IJIDSS.2010.037094
R. Grasso, M. Cococcioni, M. Rixen, C. Trees, A. Baldacci
This paper describes a generic decision support architecture (DSA) for supporting maritime operations. The system's core is a decision support tool (DST), consisting of a risk assessment framework aimed at computing risks related to each action that can be performed on the maritime operation under consideration. In particular, the risks are computed for each action and for each class describing the forecasted condition of the environment (favourable, marginal, and unfavourable), according to their posterior probabilities. A fuzzy classifier is used to estimate such probabilities, starting from the forecast of the environmental variables affecting the operation. A distinctive feature of the implemented DSA is its flexibility: many different types of operations can be handled (amphibious landing, autonomous underwater vehicle (AUV) recovery, etc.) with no architectural change. The architecture has been tested both on synthetic data and on real data, the latter collected during two cruises carried out in Adriatic Sea and Ligurian Sea.
{"title":"A generic decision support architecture for maritime operations","authors":"R. Grasso, M. Cococcioni, M. Rixen, C. Trees, A. Baldacci","doi":"10.1504/IJIDSS.2010.037094","DOIUrl":"https://doi.org/10.1504/IJIDSS.2010.037094","url":null,"abstract":"This paper describes a generic decision support architecture (DSA) for supporting maritime operations. The system's core is a decision support tool (DST), consisting of a risk assessment framework aimed at computing risks related to each action that can be performed on the maritime operation under consideration. In particular, the risks are computed for each action and for each class describing the forecasted condition of the environment (favourable, marginal, and unfavourable), according to their posterior probabilities. A fuzzy classifier is used to estimate such probabilities, starting from the forecast of the environmental variables affecting the operation. A distinctive feature of the implemented DSA is its flexibility: many different types of operations can be handled (amphibious landing, autonomous underwater vehicle (AUV) recovery, etc.) with no architectural change. The architecture has been tested both on synthetic data and on real data, the latter collected during two cruises carried out in Adriatic Sea and Ligurian Sea.","PeriodicalId":311979,"journal":{"name":"Int. J. Intell. Def. Support Syst.","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131759593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-11-24DOI: 10.1504/IJIDSS.2010.037090
Nur Afande Ali Hussain, Ting Ming Chung, M. Arshad, R. Mohd-Mokhtar, M. Z. Abdullah
Underwater gliders are a type of autonomous underwater vehicles that glide by controlling their buoyancy and attitude using internal actuators. By changing the vehicle's buoyancy intermittently, vertical motion can be achieved. Characteristic of glider motions include upward and downward in a saw tooth pattern, turning and gliding in a vertical spiral motion glides without using thrusters or propellers. This paper presents the development of the USM underwater glider as the first prototype for shallow water applications. The prototype development involves vehicle concept design using Solidworks™, vehicle simulations by computational fluid dynamics (CFD) and MATLAB Simulink™ as stage of the design process. Once the prototype fabrication and system integration are completed, it will be tested for vehicle's modelling and controller development using the system identification approach and will be compared with the proven glider's control model.
{"title":"Design of an underwater glider platform for shallow-water applications","authors":"Nur Afande Ali Hussain, Ting Ming Chung, M. Arshad, R. Mohd-Mokhtar, M. Z. Abdullah","doi":"10.1504/IJIDSS.2010.037090","DOIUrl":"https://doi.org/10.1504/IJIDSS.2010.037090","url":null,"abstract":"Underwater gliders are a type of autonomous underwater vehicles that glide by controlling their buoyancy and attitude using internal actuators. By changing the vehicle's buoyancy intermittently, vertical motion can be achieved. Characteristic of glider motions include upward and downward in a saw tooth pattern, turning and gliding in a vertical spiral motion glides without using thrusters or propellers. This paper presents the development of the USM underwater glider as the first prototype for shallow water applications. The prototype development involves vehicle concept design using Solidworks™, vehicle simulations by computational fluid dynamics (CFD) and MATLAB Simulink™ as stage of the design process. Once the prototype fabrication and system integration are completed, it will be tested for vehicle's modelling and controller development using the system identification approach and will be compared with the proven glider's control model.","PeriodicalId":311979,"journal":{"name":"Int. J. Intell. Def. Support Syst.","volume":"16 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133232273","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-11-24DOI: 10.1504/IJIDSS.2010.037093
A. E. Wildegger-Gaissmaier, Ninh T. Duong, Rebecca J. Goins
Hardware-in-the-loop (HWIL) simulation can be a cost effective and validated way to assess the performance of missiles. Current experimental practise for HWIL simulations favours the use of Monte Carlo methods. There are often a significant number of interrelated factors that may affect the outcome of a missile/target engagement. Proper consideration of all factors can lead to a large test matrix with associated large resource demands. There is a need to develop a methodology to reduce the number of simulations required and still achieve a statistically significant result. In this regard, the selection of the sample size or the number of replications required for each experimental condition based on scientific methods is important. This paper discusses ways to establish sample size and confidence levels for the results. The paper also discusses factorial design applied to HWIL simulations; in particular, how factorial design aids the analysis of factor effects and interactions.
{"title":"Experimental design methodology for hardware-in-the-loop missile performance simulations","authors":"A. E. Wildegger-Gaissmaier, Ninh T. Duong, Rebecca J. Goins","doi":"10.1504/IJIDSS.2010.037093","DOIUrl":"https://doi.org/10.1504/IJIDSS.2010.037093","url":null,"abstract":"Hardware-in-the-loop (HWIL) simulation can be a cost effective and validated way to assess the performance of missiles. Current experimental practise for HWIL simulations favours the use of Monte Carlo methods. There are often a significant number of interrelated factors that may affect the outcome of a missile/target engagement. Proper consideration of all factors can lead to a large test matrix with associated large resource demands. There is a need to develop a methodology to reduce the number of simulations required and still achieve a statistically significant result. In this regard, the selection of the sample size or the number of replications required for each experimental condition based on scientific methods is important. This paper discusses ways to establish sample size and confidence levels for the results. The paper also discusses factorial design applied to HWIL simulations; in particular, how factorial design aids the analysis of factor effects and interactions.","PeriodicalId":311979,"journal":{"name":"Int. J. Intell. Def. Support Syst.","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124041345","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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