Minimization of Fuel Consumption of A Swarm Of Spacecraft Through A Genetic Algorithm Approach

As humanity moves closer to forming realis-tic paths toward space exploration beyond that what we have already accomplished, multiple new chal-lenges have presented themselves. Traditional large spacecraft prove to be unfeasible both logistically and economically for missions where a single prob-lem can completely halt operations, especially given that higher reward missions are also of higher risk. A possible alternative to large craft is using a swarm of smaller craft made to accomplish the same goals while mitigating some of the drawbacks large craft face. Rockets, space shuttles, and satellites all prove to be too large to navigate areas of space dense with obstacles. Smaller craft on the scale of one meter in a large swarm would navigate these regions. Due to the decentralized nature of a swarm, any problems faced by one craft do not necessarily affect the oth-ers, allowing the swarm to stay operational despite some crafts becoming compromised. This feature means that a problem or miscalculation that could completely derail an entire mission in the context of a large spacecraft would not do the same to a swarm. In the context of exploring dense and/or extreme en-vironments in space, many logistic and economic problems faced by large craft due to their size and centralized nature will not affect a swarm. With an ac-curate mathematical model of the swarm dynamics from Benet et al.[1], a genetic algorithm’s metaheuristic method is utilized[2] to find optimal pa-rameters that yield a minimal fuel consumption value for a given trajectory/mission objective. From this approach, the total fuel consumption was cut in half while retaining desirable characteristics of the trajec-tory such as collision avoidance and final formation constraints, giving us a similar course that accom-plishes the same goal of transporting craft around objects and disturbances while also minimizing eco-nomic losses.

The increase in directional stability of the wheel tractor when driving on non-horizontal support surface

The aim of the study is to prevent the machine´s withdrawal from the technological trajec-tory in conditions of the slope agriculture. The object of study is the process of wheel tractor´s withdrawal of a given course in the mode of operation on sloping areas of the support surface. The results of theoretical studies of the power balance in the process of interaction between the tread elements with an inclined supporting surface are given. The functional relationship of pow-er given on the tractorexchange rate stability and configurational, geometric parameters of the tread´s working elements of the wheel mover.

Pemberdayaan Nelayan Lokal Indonesia Untuk Mengatasi Penyelundupan di Batam

AbstrakMengontrol laut berjuta kilometer persegi membuat Indonesia memiliki batas maritim besar. Dibutuhkan sumber daya yang sangat besar untuk mengontrol perbatasan maritim secara optimal. Pengawasan untuk memastikan perbatasan tidak digunakan sebagai lintasan perdagangan gelap, perdagangan narkotika, dan penyelundupan senjata. Sayangnya, Indonesia belum memiliki kekuatan pokok minimum untuk mengontrol batas-batasnya. Sumber daya yang terbatas tercermin dalam Direktorat Jenderal Bea dan Cukai (DJBC) Kantor Batam, Kepulauan Riau. Agen avant garde dalam pencegahan penyelundupan tidak memiliki cukup tenaga dan kapal untuk rutin berpatroli di sekitar Batam, kota per-batasan yang terletak di Indonesia, dan perbatasan Malaysia-Singapura. Akibatnya, Batam menjadi salah satu pintu masuk dan keluar dari berbagai selundupan. Oleh karena itu, keterlibatan aktor-aktor non-negara untuk menjadi salah satu alternatif untuk mengatasi penyelundupan. Salah satu aktor negara di Batam adalah pelaut Indonesia lokal yang memiliki lebih banyak orang dan kapal dari DJBC.Kata-kata kunci: penyelundupan, keamanan maritime, manajemen perbatasan, actor non Negara, pelaut local AbstractControl million of square kilometres ocean making Indonesia has enormous maritime boundaries. It takes enormous resources to control the maritime border optimally. Supervision, apropos, to ensure the border is not used as the trajec-tory of illicit trade, narcotic trafficking, and arms smuggling. Unfortunately, Indonesia hasn�t had minimum essential force to control her boundaries yet. Limited resources was reflected in Directorate General of Custom and Excise (DGCE) Office Batam, Riau Islands. Avant garde agent in smuggling prevention does not have enough personnel and ships to routinely patrol around Batam, border city located in Indonesia, Malaysia and Singapore boundaries. Conse-quently, Batam become one of the entrances and exits of various contraband. . Therefore, the involvement of non-state actors to be one alternative to overcome smuggling. One state actors in Batam is a local Indonesian seafarer who has more people and boats than DJBC.Keywords : smuggling, maritime security, boundaries management, non-state actors, local fisheries

Range image generator including robot motion

The system here described has the capability of generating range images that include robot motion. The system has two main modules, the motion and the image generator. Motion is modeled using a Bezier's curve method. To compute a range value corresponding to a pixel image, the robot position in the coordinated system is obtained from trajec-tory generation. In this way, distortion is produced in the image, or sequence of images, as a consequence of motion. The obtained range images represent scenes perceived by the robot from a specific location or during a specified dis-placement in a very “real” view.

Environmental Scarcity and Conflict: A Contrary Case from Lake Victoria

The thesis that environmental scarcity leads to violent conflict in many parts of the developing world has become ascendant in the literature and has gained much publicity in policy circles in the last decade. According to students of environmental scarcity and conflict, the most conflict-prone renewable resource is fresh water. Indeed, Lake Victoria (the world's second largest fresh water lake, shared by three African countries and affecting or affected by nine others in the basin) exhibits the conditions one would expect, based on the literature, to pro duce conflict, and sooner rather than later. However, based on research includ ing fieldwork conducted in June-July 2000, our findings indicate that while en vironmental degradation is evident in the magnitude expected to trigger conflict, violent conflict has not occurred. This paper seeks to explain why this is so, which may suggest how developing nations can avert the supposed trajec tory into violent conflict.