Design and Implementation of Intelligent EOD System Based on Six-Rotor UAV

Explosive ordnance disposal (EOD) robots can replace humans that work in hazardous environments to ensure worker safety. Thus, they have been widely developed and deployed. However, existing EOD robots have some limitations in environmental adaptation, such as a single function, slow action speed, and limited vision. To overcome these shortcomings and solve the uncertain problem of bomb disposal on the firing range, we have developed an intelligent bomb disposal system that integrates autonomous unmanned aerial vehicle (UAV) navigation, deep learning, and other technologies. For the hardware structure of the system, we design an actuator constructed by a winch device and a mechanical gripper to grasp the unexploded ordnance (UXO), which is equipped under the six-rotor UAV. The integrated dual-vision Pan-Tilt-Zoom (PTZ) pod is applied in the system to monitor and photograph the deployment site for dropping live munitions. For the software structure of the system, the ground station exploits the YOLOv5 algorithm to detect the grenade targets for real-time video and accurately locate the landing point of the grenade. The operator remotely controls the UAV to grasp, transfer, and destroy grenades. Experiments on explosives defusal are performed, and the results show that our system is feasible with high recognition accuracy and strong maneuverability. Compared with the traditional mode of explosives defusal, the system can provide decision-makers with accurate information on the location of the grenade and at the same time better mitigate the potential casualties in the explosive demolition process.

The DESIGN AND DEVELOPMENT OF EFFECTIVE DISTANCE MEASUREMENT ON BOLAWRAP EQUIPMENT PERSONNEL IN PERFORMING TASKS

- Various threats that occur in the field are a problem for individuals who are faced with human rights law where personnel must make decisions quickly and accurately, the innovation of the Bola wrap weapon can paralyze the enemy without injuring the enemy by firing Kevlar ropes to bind the enemy unable to move optimally. The researcher used the experimental method to get the results that confirm the causal relationship between the variables designed, research and develop a basic circuit by determining the effective firing range of the Bola wrap, we use the Sharp Gp2y0a710k0f sensor as an effective sensor measuring distance with a maximum range of 550 cm, the distance detected by the Sharp Gp2y0a710k0f sensor. will be processed by Arduino nano as a programming controller whose output will be displayed on the Oled LCD according to the Sharp Gp2y0a710k0f sensor in the form of a light emitting diode (LED) as an indicator, the solenoid will open the trigger with an effective firing range, and laser as a point shot. From the target, the Bola wrap weapon uses 9mm caliber munitions as a Kevlar rope projectile amplifier to bind enemies or rebels, from the results of the research it can open a predetermined lock between a range of 200 cm - 500 cm which is displayed on the Oled LCD, and the green indicator light and the Solenoid are open. The trigger will help optimally in shooting Bola wrap to paralyze enemies or rebels from moving optimally, Bola wrap weapons are used as personnel equipment in carrying out the main tasks of achieving TNI tasks effectively and optimally.

Synaptic Interactions in Scorpion Peg Sensilla Appear to Maintain Chemosensory Neurons within Dynamic Firing Range

Scorpions have elaborate chemo-tactile organs called pectines on their ventral mesosoma. The teeth of the comb-like pectines support thousands of minute projections called peg sensilla (a.k.a. “pegs”), each containing approximately 10 chemosensory neurons. Males use pectines to detect pheromones released by females, and both sexes apparently use pectines to find prey and navigate to home retreats. Electrophysiological recordings from pegs of Paruroctonus utahensis reveal three spontaneously active cells (A1, A2, and B), which appear to interact synaptically. We made long-term extracellular recordings from the bases of peg sensilla and used a combination of conditional cross-interval and conditional interspike-interval analyses to assess the temporal dynamics of the A and B spike trains. Like previous studies, we found that A cells are inhibited by B cells for tens of milliseconds. However, after normalizing our records, we also found clear evidence that the A cells excite the B cells. This simple local circuit appears to maintain the A cells in a dynamic firing range and may have important implications for tracking pheromonal trails and sensing substrate chemistry for navigation.

Indigenous spirituality surrounding Serianthes trees in Micronesia: Traditional practice, conservation, and resistance

Spiritual connections to the natural world are fundamental to Micronesian worldviews. Structured interviews gathered ethnoecological information about Serianthes. The kosmos-corpus-praxis conceptual framework analyzed spirituality surrounding this leguminous tree and its connection with Indigenous cosmology, traditional knowledge, and practices. We can summarize the results as follows: (a) interspecies relationships expressed through rituals and oral history guide ethnobotanical practices in Belau (Palau) and Wa’ab (Yap); (b) the tree is critically endangered on Guåhan (Guam) and Luta (Rota). In Luta, the tree is celebrated as a flagship species for endangered plant recovery, while the last Guåhan tree has become a rallying point for spiritual resistance when its habitat became threatened by military plans to construct a firing range; (c) spirituality is a fundamental value for island communities; and (d) traditional knowledge holders and scholars strive to work together toward a co-production of knowledge, using spirituality as a fundamental principle toward respectful and sustainable biocultural conservation.

Exposure To Lead-Free Frangible Firing Emissions Containing Copper And Ultrafine Particulates Leads To Increased Oxidative Stress In Firing Range Instructors

Background: Since the introduction of copper based, lead-free frangible (LFF) ammunition to Air Force small arms firing ranges, instructors have reported symptoms including chest tightness, respiratory irritation, and metallic taste. These symptoms have been reported despite measurements determining that instructor exposure does not exceed established occupational exposure limits (OELs). The disconnect between reported symptoms and exposure limits may be due to a limited understanding of LFF firing byproducts and subsequent health effects. A comprehensive characterization of exposure to instructors was completed, including ventilation system evaluation, personal monitoring, symptom tracking, and biomarker analysis, at both a partially enclosed and fully enclosed range. Results: Instructors reported symptoms more frequently after M4 rifle classes compared to classes firing only the M9 pistol. Ventilation measurements demonstrated that airflow velocities at the firing line were highly variable and often outside established standards at both ranges. Personal breathing zone air monitoring showed exposure to carbon monoxide, ultrafine particulate, and metals. In general, exposure to instructors was higher at the partially enclosed range compared to the fully enclosed range. Copper measured in the breathing zone of instructors, on rare occasions, approached OELs for copper fume (0.1 mg/m³). Peak carbon monoxide concentrations were 4-5 times higher at the partially enclosed range compared to the enclosed range and occasionally exceeded the ceiling limit (125 ppm). Biological monitoring showed that lung function was maintained in instructors despite respiratory symptoms. However, urinary oxidative stress biomarkers and urinary copper measurements were increased in instructors compared to control groups.Conclusions: Consistent with prior work, this study demonstrates that symptoms still occurred despite exposures below OELs. Routine monitoring of symptoms, urinary metals, and oxidative stress biomarkers can help identify instructors who are particularly affected by exposures. These results can assist in assigning alternative work to reduce exposure and protect instructor health. Further, a longitudinal study is needed to determine the long-term health consequences of LFF firing emissions exposure.

ОСОБЛИВОСТІ ВИЗНАЧЕННЯ ВИТРАТИ СНАРЯДІВ І СПОСОБУ ОБСТРІЛУ КОЛОН ПРОТИВНИКА

Columns, which are highly maneuverable targets and any other targets, return the damage to the opponents. As a result of the shelling, the enemy column was informed about the systematic study and deployment of its reserves, management violations, and unfavorable conditions were created for the use of effective types of fire by other means of destruction. The result of artillery fire reveals a mathematical combination of irreversible damage and delay time of the enemy column or Woz, which is characterized by damage to the group counteracting due to the delayed columns and the adjustment of its irreversible damage.The article consists of the following sections:1. Indicators of effectiveness during the defeat of enemy columns;2. The dependence of the consumption of shells and the method of firing at the target on the conditions of the fire task;3. Dependence of projectile consumption on the required level of firing efficiency;4. The dependence of the consumption of shells on the method of determining the installations for firing on the defeat and the size of the group target;5. The dependence of the consumption of shells on the number of fire means used to hit the target, and the firing range;6. Dependence of projectile consumption on the characteristics of the impressive action of ammunition and the method of firing at the target;7. The dependence of the method of firing at the target from various factors.In the article mathematical dependences for definition of indicators of efficiency of defeat of columns, expense of shells, a way of firing of columns are considered. The probability of covering a column on the basis of the law of uniform scattering is considered. The sizes of zones of uniform scattering on the basis of a dispersion of the most favorable scattering are received.The article shows the dependences of the cost of shells and the method of firing at the target from the conditions of the fire task, based on the requirements of achieving a given degree of damage (the required level of efficiency). The issues of the dependence of projectile consumption on the required level of the rate of effectiveness of firing at the damage, and the method of determining the installations for firing at the damage and the size of the group target. The questions of dependence of shell consumption on the conditions of the fire task are considered.

External ballistics howitzer projectile

In this scientific work, the team of authors presents a mathematical model for studying the dynamics of the motion of a projectile in the air, fired from cannon. One of the main problems of external ballistics is to determine the magnitude of the force of the air resistance to the movement of the projectile. Usually in studies, a discrete relationship between the magnitude of the force of resistance and projectile velocity has been established. However, to improve the accuracy of firing, it is necessary to determine the functional dependence of air resistance on projectile velocity, deterministic and non-deterministic factors. The authors, when processing the results of landfill studies, which are presented in the tables of firing, found that the magnitude of the force of air resistance to the movement of the projectile depends not only on its speed but also on acceleration Based on this, the functional dependence of the force of air resistance is described separately during the movement of the projectile with the following velocities: supersonic (stage I); subsonic - with negative acceleration (stage II); subsonic with positive acceleration (stage III). To determine the coefficients of functional dependences, it is proposed to use inverse dynamics problems. Boundary conditions were considered - the full horizontal range of the projectile, depending on the specific angle of impact, obtained from the results of landfill research and given in the firing tables. Under the condition of a certain functional dependence of the force of counter-air resistance, taking into account the weight of the projectile and the Carioles’ force, as a result of this work is obtained the system of differential equations, which describes the motion of the projectile in air. The initial conditions for the first stage were taken the initial velocity of the projectile and zero (original) coordinates; for the second stage - the value of the kinematic parameters of the projectile at a time when its speed became equal to the speed of sound in the air; for the third stage - the value of the kinematic parameters of the projectile at the time when its velocity began to increase. By solving the system of differential equations, using the appropriate software, can be determined the impact of projectile charge and air temperatures, atmospheric pressure, changes in projectile mass and its initial velocity on the kinematic parameters of projectile motion. In addition, it allows you to automate the process of determining the aiming angle (it is better to ask the gunners the correctness of this concept) depending on the firing range, taking into account the above factors. Also, in the work on the basis of the method proposed by the authors, the is carried out comparison of the kinematic parameters of the projectile with the results given in the firing tables. They indicate minor differences when shooting at short distances, but when shooting at long distances - these differences increase, as the results in the tables of shootings are quite approximate.