MODELLING VIRTUAL ENVIRONMENT FOR ADVANCED NAVAL SIMULATION

This thesis proposes a new virtual simulation environment designed as element of an interoperable federation of simulator to support the investigation of complex scenarios over the Extended Maritime Framework (EMF). Extended Maritime Framework is six spaces environment (Underwater, Water surface, Ground, Air, Space, and Cyberspace) where parties involved in Joint Naval Operations act. The amount of unmanned vehicles involved in the simulation arise the importance of the Communication modelling, thus the relevance of Cyberspace. The research is applied to complex cases (one applied to deep waters and one to coast and littoral protection) as examples to validate this approach; these cases involve different kind of traditional assets (e.g. satellites, helicopters, ships, submarines, underwater sensor infrastructure, etc.) interact dynamically and collaborate with new autonomous systems (i.e. AUV, Gliders, USV and UAV). The use of virtual simulation is devoted to support validation of new concepts and investigation of collaborative engineering solutions by providing a virtual representation of the current situation; this approach support the creation of dynamic interoperable immersive framework that could support training for Man in the Loop, education and tactical decision introducing the Man on the Loop concepts. The research and development of the Autonomous Underwater Vehicles requires continuous testing so a time effective approach can result a very useful tool. In this context the simulation can be useful to better understand the behaviour of Unmanned Vehicles and to avoid useless experimentations and their costs finding problems before doing them. This research project proposes the creation of a virtual environment with the aim to see and understand a Joint Naval Scenario. The study will be focusing especially on the integration of Autonomous Systems with traditional assets; the proposed simulation deals especially with collaborative operation involving different types of Autonomous Underwater Vehicles (AUV), Unmanned Surface Vehicles (USV) and UAV (Unmanned Aerial Vehicle). The author develops an interoperable virtual simulation devoted to present the overall situation for supervision considering also the sensor capabilities, communications and mission effectiveness that results dependent of the different asset interaction over a complex heterogeneous network. The aim of this research is to develop a flexible virtual simulation solution as crucial element of an HLA federation able to address the complexity of Extended Maritime Framework (EMF). Indeed this new generation of marine interoperable simulation is a strategic advantage for investigating the problems related to the operational use of autonomous systems and to finding new ways to use them respect to different scenarios. The research deal with the creation of two scenarios, one related to military operations and another one on coastal and littoral protection where the virtual simulation propose the overall situation and allows to navigate into the virtual world considering the complex physics affecting movement, perception, interaction and communication. By this approach, it becomes evident the capability to identify, by experimental analysis within the virtual world, the new solutions in terms of engineering and technological configuration of the different systems and vehicles as well as new operational models and tactics to address the specific mission environment. The case of study is a maritime scenario with a representation of heterogeneous network frameworks that involves multiple vehicles both naval and aerial including AUVs, USVs, gliders, helicopter, ships, submarines, satellite, buoys and sensors. For the sake of clarity aerial communications will be represented divided from underwater ones. A connection point for the latter will be set on the keel line of surface vessels representing communication happening via acoustic modem. To represent limits in underwater communications, underwater signals have been considerably slowed down in order to have a more realistic comparison with aerial ones. A maximum communication distance is set, beyond which no communication can take place. To ensure interoperability the HLA Standard (IEEE 1516 evolved) is adopted to federate other simulators so to allow its extensibility for other case studies. Two different scenarios are modelled in 3D visualization: Open Water and Port Protection. The first one aims to simulate interactions between traditional assets in Extended Maritime Framework (EMF) such as satellite, navy ships, submarines, NATO Research Vessels (NRVs), helicopters, with new generation unmanned assets as AUV, Gliders, UAV, USV and the mutual advantage the subjects involved in the scenario can have; in other word, the increase in persistence, interoperability and efficacy. The second scenario models the behaviour of unmanned assets, an AUV and an USV, patrolling a harbour to find possible threats. This aims to develop an algorithm to lead patrolling path toward an optimum, guaranteeing a high probability of success in the safest way reducing human involvement in the scenario. End users of the simulation face a graphical 3D representation of the scenario where assets would be represented. He can moves in the scenario through a Free Camera in Graphic User Interface (GUI) configured to entitle users to move around the scene and observe the 3D sea scenario. In this way, players are able to move freely in the synthetic environment in order to choose the best perspective of the scene. The work is intended to provide a valid tool to evaluate the defencelessness of on-shore and offshore critical infrastructures that could includes the use of new technologies to take care of security best and preserve themselves against disasters both on economical and environmental ones

The University Defence Research Collaboration In Signal Processing

This chapter describes the development of algorithms for automatic detection of anomalies from multi-dimensional, undersampled and incomplete datasets. The challenge in this work is to identify and classify behaviours as normal or abnormal, safe or threatening, from an irregular and often heterogeneous sensor network. Many defence and civilian applications can be modelled as complex networks of interconnected nodes with unknown or uncertain spatio-temporal relations. The behavior of such heterogeneous networks can exhibit dynamic properties, reflecting evolution in both network structure (new nodes appearing and existing nodes disappearing), as well as inter-node relations. The UDRC work has addressed not only the detection of anomalies, but also the identification of their nature and their statistical characteristics. Normal patterns and changes in behavior have been incorporated to provide an acceptable balance between true positive rate, false positive rate, performance and computational cost. Data quality measures have been used to ensure the models of normality are not corrupted by unreliable and ambiguous data. The context for the activity of each node in complex networks offers an even more efficient anomaly detection mechanism. This has allowed the development of efficient approaches which not only detect anomalies but which also go on to classify their behaviour

The relative performance and consequences of protecting crowded places from vehicle borne improvised explosive devices

Crowded places have been the target of terrorist attacks for many years. Their inherent nature has resulted in a vulnerability to a range of attacks, most notably the threat of vehicle-borne improvised explosive devices (VBIEDs). Government agendas have been seeking to reduce the extent of this vulnerability, by encouraging those who are responsible for the design, construction and operation of such places to incorporate counter-terrorism measures (CTMs) into their designs, and where necessary, retro-fit them into existing places. However, little is known about what measures can be used, as well as their performance and consequences. The aim of the research is therefore to identify the aforementioned range of measures through the development of a typology that also examines their relative performance and consequences for a range of scenarios, in order to inform key decision makers who are responsible for the protection of crowded places. Through the use of a qualitative research strategy and respective research methods, interviews, site visits and document analysis were carried out in both the UK and in the USA. A total of 47 participants were recruited for the research, with the collection of data spanning 16 months. A preliminary study was undertaken that determined a range of influences on whether crowded places are protected, as well as influences on the value of CTMs themselves. A theoretical framework was developed to capture and understand those influences. Conventional data analysis methods and internal validation techniques were used to subject the data to methodological rigour, ensuring the validity and reliability of the research. While the negative consequences of incorporating CTMs can be profound, every CTM that can be used has additional benefits; measures can be incorporated at no cost and can even generate revenue; and designing-in CTMs has a number of advantages over retro-fitting them. This research s contribution to knowledge in relation to methodology, empiricism, theory, industry, and policy has resulted in the creation of a significant amount of guidance for key decision makers who are responsible for the design, construction and operation of crowded places, as well as providing data on the benefits that can be gained from incorporating mitigative measures that is of interest to those who have a role to play in the design, construction and operation of the built environment more broadly. Recommendations for further research posit that greater understanding is needed in relation to the specific monetary costs of CTMs themselves, the experience of users of protected places, the implications of invisible CTMs, and the need for research into the assessment and incorporation of proportionality into the built environment. Practical recommendations put forward the need for clarification of legislation in relation to duties of care, the dissemination of the incentives to protect, and benefits of protecting, crowded places, the need for further debate and transparency regarding proportionality and what constitutes proportionate design, and the need to encourage greater engagement between stakeholders and the means through which this can occur. The research posits that legislative requirements encompassing the mitigation of terrorist attacks are apparent, and that therefore, organisations should incorporate CTMs into vulnerable places, yet as previously indicated, such CTMs do not have to cost anything

Seeing the City Digitally

This book explores what's happening to ways of seeing urban spaces in the contemporary moment, when so many of the technologies through which cities are visualised are digital. Cities have always been pictured, in many media and for many different purposes. This edited collection explores how that picturing is changing in an era of digital visual culture. Analogue visual technologies like film cameras were understood as creating some sort of a trace of the real city. Digital visual technologies, in contrast, harvest and process digital data to create images that are constantly refreshed, modified and circulated. Each of the chapters in this volume examines a different example of this processual visuality is reconfiguring the spatial and temporal organisation of urban life

Birthing pains: How cyborgs refigure medical bodies, technologies, and objectives

Cyborgs are polymorphic and not yet visibly different from humans in part because cyborgic technologies have just been developed, in part because we are not trained to see how the post human arises. The birth of cyborgs alters the core of medicine from disease-containment and death-assessment to enhancement of function and image, to transgression of previous natural bounds as established by the possibility of space and oceanic travel. Cyborgs, as postmodern/ posthuman products of medicine, make visible the current shift in the construction of medical bodies, technologies, and objectives. Medical bodies have been determined by a conception of patienthood or diseased body. The connection of body and disease as distinct species happened in the medical enclosure: the hospital-clinic, during mid-late 19th century. In the hospital-clinic, the medical body has been clearly mapped in terms of disease identity or malfunction, and it has encountered medical technologies used to aid in diagnosis. The patient-doctor relationship has shifted because of the revolution in instrumentation at the turn of the century. Another shift can be discerned, as it is again mirrored in the relations of doctor-patient, as it has been re-structured through cyberspace and expert systems. Clearly, the revolution or scientification of medicine has been fueled by the tuberculosis crisis as it challenged medical and political institutions. A similar crisis has occurred with AIDS: is cyborg-technology the fulfillment of the modem dream of immortality and total control in the face of the epidemic? An easy answer to such question cannot be produced. Cyborgs are a product of the meeting of natural and human sciences through cybernetics. Their existence and proliferation destabilize assumptions at the philosophical foundations of knowledge and medicine as well as our conceptions of identity and rights, through an unsettling of the connection between community-individuality, of the distinction between private and public domains

Securing the Everyday City: The Emerging Geographies of Counter-Terrorism

This thesis investigates the presence of counter-terrorist security within the everyday life of cities. It emerges from, and contributes to, ongoing debates concerning the place of security in contemporary urbanism, and discussions regarding the increased saturation of urban spaces with a diverse range of security interventions. Drawing on this work, this thesis argues that in order to better understand the urban geographies of security, instead of exclusively conceiving security as only imposed on urban spaces, we must ask how processes of securing cities are ʻlivedʼ. In doing so this study responds to the lack of attention to the complex relations between processes of security and lived everyday urban life. This thesis explores the neglected everyday life of security through a case study of an emerging form of counter-terrorist security apparatus within cities in the UK, examining the broadening of the National Security Strategy of the United Kingdom and the continuing development of CONTEST, the United Kingdomʼs counter-terrorist strategy. Taking London as a named example, the study concentrates on the security interventions of two research sites, the Southbank and Bankside area of the South Bank, and the Victoria Line of the London Underground, to examine how security addresses the everyday life of the city and how such practices are experienced as part of lived everyday urban life. In sum, this thesis focuses, first, on the processes through which the everyday city is secured and, second, it draws attention to and describes how those processes of securing are encountered and enacted, as they become part of the everyday life of cities

Seeing the City Digitally

This book explores what's happening to ways of seeing urban spaces in the contemporary moment, when so many of the technologies through which cities are visualised are digital. Cities have always been pictured, in many media and for many different purposes. This edited collection explores how that picturing is changing in an era of digital visual culture. Analogue visual technologies like film cameras were understood as creating some sort of a trace of the real city. Digital visual technologies, in contrast, harvest and process digital data to create images that are constantly refreshed, modified and circulated. Each of the chapters in this volume examines a different example of this processual visuality is reconfiguring the spatial and temporal organisation of urban life

Context Exploitation in Data Fusion

Complex and dynamic environments constitute a challenge for existing tracking algorithms. For this reason, modern solutions are trying to utilize any available information which could help to constrain, improve or explain the measurements. So called Context Information (CI) is understood as information that surrounds an element of interest, whose knowledge may help understanding the (estimated) situation and also in reacting to that situation. However, context discovery and exploitation are still largely unexplored research topics. Until now, the context has been extensively exploited as a parameter in system and measurement models which led to the development of numerous approaches for the linear or non-linear constrained estimation and target tracking. More specifically, the spatial or static context is the most common source of the ambient information, i.e. features, utilized for recursive enhancement of the state variables either in the prediction or the measurement update of the filters. In the case of multiple model estimators, context can not only be related to the state but also to a certain mode of the filter. Common practice for multiple model scenarios is to represent states and context as a joint distribution of Gaussian mixtures. These approaches are commonly referred as the join tracking and classification. Alternatively, the usefulness of context was also demonstrated in aiding the measurement data association. Process of formulating a hypothesis, which assigns a particular measurement to the track, is traditionally governed by the empirical knowledge of the noise characteristics of sensors and operating environment, i.e. probability of detection, false alarm, clutter noise, which can be further enhanced by conditioning on context. We believe that interactions between the environment and the object could be classified into actions, activities and intents, and formed into structured graphs with contextual links translated into arcs. By learning the environment model we will be able to make prediction on the target\u2019s future actions based on its past observation. Probability of target future action could be utilized in the fusion process to adjust tracker confidence on measurements. By incorporating contextual knowledge of the environment, in the form of a likelihood function, in the filter measurement update step, we have been able to reduce uncertainties of the tracking solution and improve the consistency of the track. The promising results demonstrate that the fusion of CI brings a significant performance improvement in comparison to the regular tracking approaches

COMPARATIVE CASE STUDY: EXPEDITIONARY FIGHTING VEHICLE AND AMPHIBIOUS COMBAT VEHICLE

The Marine Corps Expeditionary Fighting Vehicle (EFV) program cost taxpayers over $3 billion from inception to cancellation. The Amphibious Combat Vehicle (ACV) attempts to replace the Amphibious Assault Vehicle (AAV) and pick up where the EFV left off. A program comparison can be used to learn from previous management mistakes and prevent failures of this magnitude. By analyzing the two amphibious vehicle programs, I assess pertinent successes and failures against the model with available program management tools, including decision science principles. This report compares key junctures in both programs' life cycles and offers recommendations for future amphibious combat vehicle acquisition. The conclusion reveals that unbalanced cost and schedule increases overpowered the EFV performance goal, leading to cancellation. As a result, the ACV shows less performance but at a lower cost in comparison. Through research, acquisition professionals can better understand the importance of oversight, find solutions, and effectively equip themselves to manage major defense weapon systems.ARPMajor, United States Marine CorpsApproved for public release. Distribution is unlimited