On Radar Deception, As Motivation For Control Of Constrained Systems

This thesis studies the control algorithms used by a team of ECAVs (Electronic Combat Air Vehicle) to deceive a network of radars to detect a phantom track. Each ECAV has the electronic capability of intercepting the radar waves, and introducing an appropriate time delay before transmitting it back, and deceiving the radar into seeing a spurious target beyond its actual position. On the other hand, to avoid the errors and increase the reliability, have a complete coverage in various atmosphere conditions, and confronting the effort of the belligerent intruders to delude the sentinel and enter the area usually a network of radars are deployed to guard the region. However, a team of cooperating ECAVs could exploit this arrangement and plans their trajectories in a way all the radars in the network vouch for seeing a single and coherent spurious track of a phantom. Since each station in the network confirms the other, the phantom track is considered valid. This problem serves as a motivating example in trajectory planning for the multi-agent system in highly constrained operation conditions. The given control command to each agent should be a viable one in the agent limited capabilities, and also drives it in a cumulative action to keep the formation. In this thesis, three different approaches to devise a trajectory for each agent is studied, and the difficulties for deploying each one are addressed. In the first one, a command center has all information about the state of the agents, and in every step decides about the control each agent should apply. This method is very effective and robust, but needs a reliable communication. In the second method, each agent decides on its own control, and the members of the group just communicate and agree on the range of control they like to apply on the phantom. Although in this method much less data needs to communicate between the agents, it is very sensitive to the disturbances and miscalculations, and could be easily fell apart or come to a state with no feasible solution to continue. In the third method a differential geometric approach to the problem is studied. This method has a very strong backbone, and minimizes the communication needed to a binary one. However, less data provided to the agents about the system, more sensitive and infirm the system is when it faced with imperfectionalities. In this thesis, an object oriented program is developed in the Matlab software area to simulate all these three control strategies in a scalable fashion. Object oriented programming is a naturally suitable method to simulate a multi-agent system. It gives the flexibility to make the code more iv close to a real scenario with defining each agent as a separated and independent identity. The main objective is to understand the nature of the constrained dynamic problems, and examine various solutions in different situations. Using the flexibility of this code, we could simulate several scenarios, and incorporate various conditions on the system. Also, we could have a close look at each agent to observe its behavior in these situations. In this way we will gain a good insight of the system which could be used in designing of the agents for specific missions

DRONE DELIVERY OF CBNRECy – DEW WEAPONS Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD)

Drone Delivery of CBNRECy – DEW Weapons: Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD) is our sixth textbook in a series covering the world of UASs and UUVs. Our textbook takes on a whole new purview for UAS / CUAS/ UUV (drones) – how they can be used to deploy Weapons of Mass Destruction and Deception against CBRNE and civilian targets of opportunity. We are concerned with the future use of these inexpensive devices and their availability to maleficent actors. Our work suggests that UASs in air and underwater UUVs will be the future of military and civilian terrorist operations. UAS / UUVs can deliver a huge punch for a low investment and minimize human casualties.https://newprairiepress.org/ebooks/1046/thumbnail.jp

Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) 2019 Annual Report

Prepared for: Dr. Brian Bingham, CRUSER DirectorThe Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This 2019 annual report summarizes CRUSER activities in its eighth year of operations and highlights future plans.Deputy Undersecretary of the Navy PPOIOffice of Naval Research (ONR)Approved for public release; distribution is unlimited

Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) 2019 Annual Report

Prepared for: Dr. Brian Bingham, CRUSER DirectorThe Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This 2019 annual report summarizes CRUSER activities in its eighth year of operations and highlights future plans.Deputy Undersecretary of the Navy PPOIOffice of Naval Research (ONR)Approved for public release; distribution is unlimited

Virtual Motion Camouflage Based Nonlinear Constrained Optimal Trajectory Design Method

Nonlinear constrained optimal trajectory control is an important and fundamental area of research that continues to advance in numerous fields. Many attempts have been made to present new methods that can solve for optimal trajectories more efficiently or to improve the overall performance of existing techniques. This research presents a recently developed bio-inspired method called the Virtual Motion Camouflage (VMC) method that offers a means of quickly finding, within a defined but varying search space, the optimal trajectory that is equal or close to the optimal solution. The research starts with the polynomial-based VMC method, which works within a search space that is defined by a selected and fixed polynomial type virtual prey motion. Next will be presented a means of improving the solution’s optimality by using a sequential based form of VMC, where the search space is adjusted by adjusting the polynomial prey trajectory after a solution is obtained. After the search space is adjusted, an optimization is performed in the new search space to find a solution closer to the global space optimal solution, and further adjustments are made as desired. Finally, a B-spline augmented VMC method is presented, in which a B-spline curve represents the prey motion and will allow the search space to be optimized together with the solution trajectory. It is shown that (1) the polynomial based VMC method will significantly reduce the overall problem dimension, which in practice will significantly reduce the computational cost associated with solving nonlinear constrained optimal trajectory problems; (2) the sequential VMC method will improve the solution optimality by sequentially refining certain parameters, such as the prey motion; and (3) the B-spline augmented VMC method will improve the solution iv optimality without sacrificing the CPU time much as compared with the polynomial based approach. Several simulation scenarios, including the Breakwell problem, the phantom track problem, the minimum-time mobile robot obstacle avoidance problem, and the Snell’s river problem are simulated to demonstrate the capabilities of the various forms of the VMC algorithm. The capabilities of the B-spline augmented VMC method are also shown in a hardware demonstration using a mobile robot obstacle avoidance testbed

Innovative Solutions for Navigation and Mission Management of Unmanned Aircraft Systems

The last decades have witnessed a significant increase in Unmanned Aircraft Systems (UAS) of all shapes and sizes. UAS are finding many new applications in supporting several human activities, offering solutions to many dirty, dull, and dangerous missions, carried out by military and civilian users. However, limited access to the airspace is the principal barrier to the realization of the full potential that can be derived from UAS capabilities. The aim of this thesis is to support the safe integration of UAS operations, taking into account both the user's requirements and flight regulations. The main technical and operational issues, considered among the principal inhibitors to the integration and wide-spread acceptance of UAS, are identified and two solutions for safe UAS operations are proposed: A. Improving navigation performance of UAS by exploiting low-cost sensors. To enhance the performance of the low-cost and light-weight integrated navigation system based on Global Navigation Satellite System (GNSS) and Micro Electro-Mechanical Systems (MEMS) inertial sensors, an efficient calibration method for MEMS inertial sensors is required. Two solutions are proposed: 1) The innovative Thermal Compensated Zero Velocity Update (TCZUPT) filter, which embeds the compensation of thermal effect on bias in the filter itself and uses Back-Propagation Neural Networks to build the calibration function. Experimental results show that the TCZUPT filter is faster than the traditional ZUPT filter in mapping significant bias variations and presents better performance in the overall testing period. Moreover, no calibration pre-processing stage is required to keep measurement drift under control, improving the accuracy, reliability, and maintainability of the processing software; 2) A redundant configuration of consumer grade inertial sensors to obtain a self-calibration of typical inertial sensors biases. The result is a significant reduction of uncertainty in attitude determination. In conclusion, both methods improve dead-reckoning performance for handling intermittent GNSS coverage. B. Proposing novel solutions for mission management to support the Unmanned Traffic Management (UTM) system in monitoring and coordinating the operations of a large number of UAS. Two solutions are proposed: 1) A trajectory prediction tool for small UAS, based on Learning Vector Quantization (LVQ) Neural Networks. By exploiting flight data collected when the UAS executes a pre-assigned flight path, the tool is able to predict the time taken to fly generic trajectory elements. Moreover, being self-adaptive in constructing a mathematical model, LVQ Neural Networks allow creating different models for the different UAS types in several environmental conditions; 2) A software tool aimed at supporting standardized procedures for decision-making process to identify UAS/payload configurations suitable for any type of mission that can be authorized standing flight regulations. The proposed methods improve the management and safe operation of large-scale UAS missions, speeding up the flight authorization process by the UTM system and supporting the increasing level of autonomy in UAS operations

Low Intensity Conflict: Contemporary Approaches and Strategic Thinking

Low Intensity Conflict (LIC) is a significant feature of the contemporary world and it is a particular challenge to the armed forces of many states which are involved is such conflict, or are likely to become so. This thesis is not concerned with how such difficult conflict situations arise. Rather it is concerned with how, from the point of view of the state, they may be contained and ultimately brought to a satisfactory resolution. The work is thus concerned with the practicalities of ending LIC. More specifically, the purpose of this research is to establish a framework of doctrinal and military principles applicable to the prevention and resolution of LIC. The principles of this thesis are based in numerous historical examples of LIC and six in depth case studies. These distilled principles are analysed in two central chapters, and are then applied in two latter defence force chapters so as to ensure there practicality and resilience. Numerous defence academics and military practitioners have been consulted in the production of this thesis; their contribution has further reinforced the functionality of the principles examined in this research. The research illustrates the criticality of a holistic approach to LIC. The function of this approach is to guarantee the stability of the sovereign state, by unifying civil, police, intelligence and military services. The effectiveness of the military elements must also be ensured, as military force is central to the suppression of LIC. Consequently, the research makes strategic and operational prescriptions, so as to improve the capability of defence forces that are concerned with preventing or resolving LIC

Eagles, ravens, and other birds of prey: a history of USAF Suppression of Enemy Air Defense doctrine, 1973-1991

Doctor of PhilosophyDepartment of HistoryDonald J. MrozekDuring the Cold War, the United States’ foreign policy relied heavily on its ability to project military power. More often than not, the central component of force projection rested on the United States military’s effectiveness in employing air power both by establishing air superiority and through accurate delivery of ordnance. As the primary service tasked with conducting aerial warfare, the United States Air Force (USAF) was expected to maintain this capability either to achieve deterrence or, when necessary, to military action. In January 1973, the USAF seemed incapable of performing the latter task due to the North Vietnamese Integrated Air Defense System’s (NV-IAD’s) effectiveness in Operation Rolling Thunder and its successor, Operation Linebacker. Eighteen years later, Air Force aircraft spearheaded the Coalition’s air attack on the Iraqi Integrated Air Defense System (I-IADS) in January 1991. Considered by many to be the most effective air defense system outside the Soviet Union’s, the I-IADS was expected to exact heavy casualties from the allied forces. Instead, in less than twenty days, the USAF’s dominance was so complete that politicians, analysts and military historians quickly proclaimed a “Revolution in Military Affairs” (RMA). The majority of the current historiography credits advances in precision-guided munitions (PGMs), airframes, and computer technology as the impetus for the RMA. Others have claimed that the USAF’s training methodology and construction of advanced training sites such as the Red Flag complex at Nellis Air Force Base were the primary drivers for the Air Force’s success. While acknowledging the role all of these factors played, this dissertation also demonstrates the key role played by the development of Suppression of Enemy Air Defense (SEAD) doctrine from January 1973 through August 1991. In the aftermath of the American war in Vietnam, the Air Force considered defense suppression a tactical task that was secondary to the primary mission of putting ordnance on target. At the end of Desert Storm, proponents of the Air Force’s SEAD doctrine had convincing evidence that an enemy IADS was not just an ancillary weapons array, but functioned a critical national system just like manufacturing, government, or the people’s will. The process by which this viewpoint changed had effects on the development of the United States Air Force’s Cold War conventional capability in general, and the development of training methods, electronic warfare platforms, and modern airframes specifically

Unmanned Vehicle Systems & Operations on Air, Sea, Land

Unmanned Vehicle Systems & Operations On Air, Sea, Land is our fourth textbook in a series covering the world of Unmanned Aircraft Systems (UAS) and Counter Unmanned Aircraft Systems (CUAS). (Nichols R. K., 2018) (Nichols R. K., et al., 2019) (Nichols R. , et al., 2020)The authors have expanded their purview beyond UAS / CUAS systems. Our title shows our concern for growth and unique cyber security unmanned vehicle technology and operations for unmanned vehicles in all theaters: Air, Sea and Land – especially maritime cybersecurity and China proliferation issues. Topics include: Information Advances, Remote ID, and Extreme Persistence ISR; Unmanned Aerial Vehicles & How They Can Augment Mesonet Weather Tower Data Collection; Tour de Drones for the Discerning Palate; Underwater Autonomous Navigation & other UUV Advances; Autonomous Maritime Asymmetric Systems; UUV Integrated Autonomous Missions & Drone Management; Principles of Naval Architecture Applied to UUV’s; Unmanned Logistics Operating Safely and Efficiently Across Multiple Domains; Chinese Advances in Stealth UAV Penetration Path Planning in Combat Environment; UAS, the Fourth Amendment and Privacy; UV & Disinformation / Misinformation Channels; Chinese UAS Proliferation along New Silk Road Sea / Land Routes; Automaton, AI, Law, Ethics, Crossing the Machine – Human Barrier and Maritime Cybersecurity.Unmanned Vehicle Systems are an integral part of the US national critical infrastructure The authors have endeavored to bring a breadth and quality of information to the reader that is unparalleled in the unclassified sphere. Unmanned Vehicle (UV) Systems & Operations On Air, Sea, Land discusses state-of-the-art technology / issues facing U.S. UV system researchers / designers / manufacturers / testers. We trust our newest look at Unmanned Vehicles in Air, Sea, and Land will enrich our students and readers understanding of the purview of this wonderful technology we call UV.https://newprairiepress.org/ebooks/1035/thumbnail.jp

Airpower as a Part of American Foreign Policy: The Importance of Military Strategy

Airpower has a seductive nature to it. Technology promises to be able to destroy or seriously damage an enemy military’s capabilities without serious risk to American forces. Moreover, these knights of the sky have an aura of power with the ability to destroy important pieces of military equipment or infrastructure. Airpower may seem like a niche topic of international relations or American foreign policy, but it represents the opening move of war. Gaining air superiority is the first step in any American engagement as it allows the rest of American military might to be brought to bear. It is also a selective form of engagement. It allows the United States, or any nation-state, to attack only a limited part of an enemy state. It represents the option to engage in a limited war or the opening salvo of a war among major powers. Because it represents an attractive form of intervention, particularly from an American perspective, it needs thorough examination. Any use of American military force has the potential to drastically alter the international arena, so its use ought to be part of a carefully examined strategy that does not merely rely on the destructive power of bombs or cruise missiles