Dynamic Motion Planning for Aerial Surveillance on a Fixed-Wing UAV

We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and updating environment. A Voronoi bias is introduced in the probabilistic roadmap building phase to identify certain critical milestones for maximal surveillance of the search space. A kinematically feasible but coarse tour connecting these milestones is generated by the global path planner. A local path planner then generates smooth motion primitives between consecutive nodes of the global path based on UAV as a Dubins vehicle and taking into account any impending obstacles. A Markov Decision Process (MDP) models the control policy for the UAV and determines the optimal action to be undertaken for evading the obstacles in the vicinity with minimal deviation from current path. The efficacy of the proposed algorithm is evaluated in an updating simulation environment with dynamic and static obstacles.Comment: Accepted at International Conference on Unmanned Aircraft Systems 201

An analysis of Qatar and Dubai’s Currency Board (1966-1973)

Abstract. We first analyze the orthodoxy of the Qatar and Dubai Currency Board (1966-1973) through analysis of legislation and statistical tests based on balance sheet data. We then compare an analysis of economic factors such as wage growth, inflation rate, etc. during the currency board period to the post-currency board period. We also provide the history of the currency board’s issue of notes. A companion spreadsheet workbook shows the board’s note issue, balance sheet, and other data in machine-readable form.Keywords. Qatar, Dubai, currency board.JEL. E59, N25

High-level Cryptographic Abstractions

The interfaces exposed by commonly used cryptographic libraries are clumsy, complicated, and assume an understanding of cryptographic algorithms. The challenge is to design high-level abstractions that require minimum knowledge and effort to use while also allowing maximum control when needed. This paper proposes such high-level abstractions consisting of simple cryptographic primitives and full declarative configuration. These abstractions can be implemented on top of any cryptographic library in any language. We have implemented these abstractions in Python, and used them to write a wide variety of well-known security protocols, including Signal, Kerberos, and TLS. We show that programs using our abstractions are much smaller and easier to write than using low-level libraries, where size of security protocols implemented is reduced by about a third on average. We show our implementation incurs a small overhead, less than 5 microseconds for shared key operations and less than 341 microseconds (< 1%) for public key operations. We also show our abstractions are safe against main types of cryptographic misuse reported in the literature