A Biomimetic, Energy-Harvesting, Obstacle-Avoiding, Path-Planning Algorithm for Uavs" (2016)

Total Page:16

File Type:pdf, Size:1020Kb

A Biomimetic, Energy-Harvesting, Obstacle-Avoiding, Path-Planning Algorithm for Uavs Dissertations and Theses 2016 A Biomimetic, Energy-Harvesting, Obstacle-Avoiding, Path- Planning Algorithm for UAVs Snorri Gudmundsson Follow this and additional works at: https://commons.erau.edu/edt Part of the Automotive Engineering Commons, and the Mechanical Engineering Commons Scholarly Commons Citation Gudmundsson, Snorri, "A Biomimetic, Energy-Harvesting, Obstacle-Avoiding, Path-Planning Algorithm for UAVs" (2016). Dissertations and Theses. 306. https://commons.erau.edu/edt/306 This Dissertation - Open Access is brought to you for free and open access by Scholarly Commons. It has been accepted for inclusion in Dissertations and Theses by an authorized administrator of Scholarly Commons. For more information, please contact [email protected]. A BIOMIMETIC, ENERGY-HARVESTING, OBSTACLE-AVOIDING, PATH-PLANNING ALGORITHM FOR UAVs A DISSERTATION SUBMITTED TO THE DEPARTMENT OF MECHANICAL ENGINEERING AND THE COMMITTEE ON GRADUATE STUDIES OF EMBRY-RIDDLE AERONAUTICAL UNIVERSITY IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF DOCTOR OF PHILOSOPHY Snorri Gudmundsson 2016 © Copyright by Snorri Gudmundsson, 2016 All Rights Reserved ii THIS PAGE INTENTIONALLY LEFT BLANK iv ABSTRACT This dissertation presents two new approaches to energy harvesting for Unmanned Aerial Vehicles (UAV). One method is based on the Potential Flow Method (PFM); the other method seeds a wind-field map based on updraft peak analysis and then applies a variant of the Bellman-Ford algorithm to find the minimum-cost path. Both methods are enhanced by taking into account the performance characteristics of the aircraft using advanced performance theory. The combined approach yields five possible trajectories from which the one with the minimum energy cost is selected. The dissertation concludes by using the developed theory and modeling tools to simulate the flight paths of two small Unmanned Aerial Vehicles (sUAV) in the 500 kg and 250 kg class. The results show that, in mountainous regions, substantial energy can be recovered, depending on topography and wind characteristics. For the examples presented, as much as 50% of the energy was recovered for a complex, multi-heading, multi-altitude, 170 km mission in an average wind speed of 9 m/s. The algorithms constitute a Generic Intelligent Control Algorithm (GICA) for autonomous unmanned aerial vehicles that enables an extraction of atmospheric energy while completing a mission trajectory. At the same time, the algorithm automatically adjusts the flight path in order to avoid obstacles, in a fashion not unlike what one would expect from living organisms, such as birds and insects. This multi-disciplinary approach renders the approach biomimetic, i.e. it constitutes a synthetic system that “mimics the formation and function of biological mechanisms and processes.” v ACKNOWLEDGMENTS It would have been impossible to complete this work without the help of my dissertation committee. First, I would like to express my appreciation to Dr. Charles Reinholtz, the Chair of the ERAU Mechanical Engineering department. Serving as the PhD committee chair, Dr. Reinholtz’ friendly and helpful demeanor was not just exemplary, but made the long winding road toward my PhD considerably less bumpy. I am also greatly indebted to both Dr. Sergey Drakunov and Dr. Vladimir Golubev. Dr. Drakunov was the committee’s first advisor, but also mentored me in the pursuit of my goal. His expertise in mathematics and control theory was crucial in helping me evaluate the merits of the research presented in this dissertation. I am very grateful for his continuous encouragement of the research presented in this work. Dr. Golubev joined the committee later, but immediately became instrumental in pushing me to publish a portion of the work in conference and journal papers. He provided me with key guidance in those areas, something for which I am very thankful. In the capacity of his research background, Dr. Golubev also offered many insightful ideas that were incorporated in the dissertation. Additionally, I express my great appreciation and thanks to my committee members, Dr. Patrick Currier and Dr. Eric Coyle, both from the ERAU Mechanical Engineering department. I was heartened by the realization that each expressed a deep interest in the problem presented in my research. Their strong understanding of trajectory planning and obstacle avoidance theory helped cement these key areas in the dissertation. Words cannot express my gratitude for your support in making this dissertation a reality. Finally, I want to express my gratitude to the former and current chairs of ERAU’s Aerospace Engineering department, Dr. Habib Eslami and Dr. Tasos Lyrintzis. I also want to express my most sincere thanks to the current Dean of the College of Engineering, Dr. Maj Mirmirani, for extending the opportunity to complete my PhD in Mechanical Engineering. vi DEDICATION I decided long ago that, should I ever complete a degree of PhD, I would dedicate my dissertation to three individuals who profoundly impacted my life and approach to aviation. All three were pilots and, sadly, have passed on. First, there is the late Guðmundur Daði Ágústsson (1956-2016), a fellow Icelander, who first introduced me to the operation of real aircraft by inviting me, an eager teenage aircraft enthusiast, on countless flying trips in the mid 1970s. The exposure to real aircraft was enhanced by the myriad of questions regarding aviation that we bounced between us, many of which we were unable to answer. More than anything, this experience reinforced my determination to seek a scientific understanding of the physics of flying. Second, there is the late Colonel USMC, Robert Overmyer (1936-1996). I worked with Col. Overmyer as a flight test engineer early in my career, during the development of the Cirrus SR20 aircraft. It is impossible to describe the honor of having an opportunity to work with such an experienced aviator. Col. Overmyer was hands down the best pilot with whom I ever had the opportunity to fly. Not only had he flown all the century-series fighters and contemporary fighters in the US arsenal, he also had two space shuttle missions under his belt (STS-5 and STS-51B), as a first officer and pilot-in-command. In spite of this experience, he was both modest and amicable. Tragically, Col. Overmyer died on March 22 nd 1996 in the crash of an experimental aircraft he was flight testing. Third, there is the late Major Scott Anderson (1965-1999), described in Wikipedia as “… a late 20th- century American polymath: Air National Guard F-16 pilot, instructor pilot, general aviation test pilot, Flight Operations Officer, engineer, inventor, musician, football player, outdoor adventurist, and award winning author.” I worked with Maj. Anderson, also as a flight test engineer, during the development of the Cirrus SR20, from 1996-1999. He had taken over Col. Overmyer’s position. He was an extremely capable individual, with a perpetual smile that would light up a room. Sadly, Maj. Anderson died while performing a routine flight test on the first production example of the SR20 on March 23 rd 1999. vii TABLE OF CONTENTS 1. Introduction ........................................................................................................................1 1. 1 The Focus of the Dissertation ................................................................................................... 2 1. 2 Nature’s Extraordinary Machines ............................................................................................. 4 1. 3 Fundamentals of Soaring Flight .............................................................................................. 10 1.3.1. Sailplane Fundamentals .................................................................................................. 11 1.3.2. Operation of Sailplanes .................................................................................................. 12 1.3.3. Sailplane Airfoils ............................................................................................................. 14 1. 4 Software Development .......................................................................................................... 16 1. 5 Features of the GICA .............................................................................................................. 18 1.5.1. Basic Operation of the GICA............................................................................................ 18 1.5.2. Application of GICA in Large Aircraft ............................................................................... 21 2. A Survey of Literature........................................................................................................23 2.1 Path Planning and Obstacle Avoidance Algorithms ................................................................. 23 2.2 Gliding Flight .......................................................................................................................... 28 2.3 Atmospheric Modeling ........................................................................................................... 30 2.4 Energy Harvesting .................................................................................................................. 36 3. A Survey of Automation Technology for sUAVs ................................................................49 3.1 UAV Technology ..................................................................................................................... 51 3.2
Recommended publications
  • Soaring Weather
    Chapter 16 SOARING WEATHER While horse racing may be the "Sport of Kings," of the craft depends on the weather and the skill soaring may be considered the "King of Sports." of the pilot. Forward thrust comes from gliding Soaring bears the relationship to flying that sailing downward relative to the air the same as thrust bears to power boating. Soaring has made notable is developed in a power-off glide by a conven­ contributions to meteorology. For example, soar­ tional aircraft. Therefore, to gain or maintain ing pilots have probed thunderstorms and moun­ altitude, the soaring pilot must rely on upward tain waves with findings that have made flying motion of the air. safer for all pilots. However, soaring is primarily To a sailplane pilot, "lift" means the rate of recreational. climb he can achieve in an up-current, while "sink" A sailplane must have auxiliary power to be­ denotes his rate of descent in a downdraft or in come airborne such as a winch, a ground tow, or neutral air. "Zero sink" means that upward cur­ a tow by a powered aircraft. Once the sailcraft is rents are just strong enough to enable him to hold airborne and the tow cable released, performance altitude but not to climb. Sailplanes are highly 171 r efficient machines; a sink rate of a mere 2 feet per second. There is no point in trying to soar until second provides an airspeed of about 40 knots, and weather conditions favor vertical speeds greater a sink rate of 6 feet per second gives an airspeed than the minimum sink rate of the aircraft.
    [Show full text]
  • Could Uavs Improve New Zealand's Maritime Security?
    Copyright is owned by the Author of the thesis. Permission is given for a copy to be downloaded by an individual for the purpose of research and private study only. The thesis may not be reproduced elsewhere without the permission of the Author. Could UAVs improve New Zealand’s Maritime Security? 149.800 Master of Philosophy Thesis Massey University Centre for Defence Studies Supervisor: Dr John Moremon By: Brian Oliver Due date: 28 Feb 2009 TABLE OF CONTENTS List of Figures ......................................................................................... iv Glossary .................................................................................................. v Abstract ................................................................................................ viii Introduction ............................................................................................ 1 Chapter 1: New Zealand's Maritime Environment ................................. 6 The Political Backdrop .................................................................... 10 Findings of the Maritime Patrol Review .......................................... 12 Maritime Forces Review ................................................................. 18 The current state of maritime surveillance ..................................... 19 The National Maritime Coordination Centre ................................... 23 Chapter 2: The Value of New Zealand's Maritime Environment ......... 29 Oil and gas production in New Zealand ........................................
    [Show full text]
  • Assessment of the Equivalent Level of Safety Requirements for Small Uavs
    ASSESSMENT OF THE EQUIVALENT LEVEL OF SAFETY REQUIREMENTS FOR SMALL UNMANNED AERIAL VEHICLES by © Jonathan D. Stevenson, B.Eng., M.Eng. A Doctoral Thesis submitted to the School of Graduate Studies In partial fulfillment of the requirements for the degree of Doctor of Philosophy Faculty of Engineering and Applied Science Memorial University of Newfoundland June 2015 St. John’s Newfoundland and Labrador ABSTRACT The research described in this thesis was a concentrated effort to assess the Equivalent Level of Safety (ELOS) of small Unmanned Aerial Vehicles (UAVs), in terms of the requirements needed for the small UAV to be considered at least as safe as equivalent manned aircraft operating in the same airspace. However, the concept of ELOS is often quoted without any scientific basis, or without proof that manned aircraft themselves could be considered safe. This is especially true when the recognized limitations of the see-and-avoid principle is considered, which has led to tragic consequences over the past several decades. The primary contribution of this research is an initial attempt to establish quantifiable standards related to the ELOS of small UAVs in non-segregated airspace. A secondary contribution is the development of an improved method for automatically testing Detect, Sense and Avoid (DSA) systems through the use of two UAVs flying a synchronized aerial maneuver algorithm. ii ACKNOWLEDGEMENTS The author was supported financially through the National Sciences and Research Council of Canada, including the generous granting of a Canadian Graduate Scholarship. RAVEN flight operations of the Aerosonde UAV would not have been possible without the financial support from the Atlantic Canada Opportunity Agency and our industrial partner, Provincial Aerospace Limited (PAL).
    [Show full text]
  • Can Technology Protect Airplanes from the New
    CANDRONES TECHNOLOGY PROTECT AIRPLANES FROM THE IN NEW THREAT? A BUSY SKY IT’S EXACTLY 3:45 A.M. on a blustery and unseasonably cold Tuesday morning in May when an armed How can we military guard wearing a bulletproof vest waves me through the west entrance of Edwards Air Force ensure drones Base. On a typical weekday at this hour, almost everyone here would be asleep. But this isn’t a typical don’t collide with weekday. I’m in a briefing room with some two dozen researchers—mostly aerospace and computer airliners? NASA software engineers, along with three Air Force pilots certified to fly drones—at NASA’s Armstrong Flight and the FAA are Research Center, which is located on this Southern California mili- working to find BY MICHAEL BEHAR tary base. We’re guzzling coffee and chomping doughnuts while Dan the best collision Sternberg, a NASA operations engineer and former F/A-18 Hornet test avoidance pilot, leads the meeting, ticking through the day’s flight plan. systems for UAVs The Armstrong team is here to evaluate how so-called “detect-and-avoid” technologies designed for in the United collision avoidance can prevent drones, or unmanned aerial vehicles (UAVs), from smashing into other States, soon to aircraft. Today’s schedule involves a series of 24 head-on passes—when two aircraft face off on a near-col- number in the PHOTO ILLUSTRATION BY THÉO; DRONE: ALEXEY YUZHAKOV/SHUTTERSTOCK.COM; AIRLINER: KOSMOS111/SHUTTERSTOCK.COM YUZHAKOV/SHUTTERSTOCK.COM; THÉO; ALEXEY DRONE: BY ILLUSTRATION PHOTO lision course—between a General Atomics MQ-9 drone named Ikhana and two piloted, or “intruder” millions.
    [Show full text]
  • Integration of Unmanned Aerial Systems Into the US National Airspace System; The
    INTEGRATION OF UNMANNED AERIAL SYSTEMS INTO THE US NATIONAL AIRSPACE SYSTEM; THE RELATIONSHIP BETWEEN SAFETY RECORD AND CONCERNS By OMAR J. HAMILTON Bachelor of Arts University of Wisconsin-Madison Madison, WI 2001 Master of Science Southeastern Oklahoma State University Durant, OK 2004 Submitted to the Faculty of the Graduate College of the Oklahoma State University in partial fulfillment of the requirements for the Degree of DOCTOR OF EDUCATION December 2015 INTEGRATION OF UNMANNED AERIAL SYSTEMS INTO THE NATIONAL AIRSPACE SYSTEM; THE RELATIONSHIP BETWEEN SAFETY RECORD AND CONCERNS Dissertation Approved: Dr. Timm J. Bliss Dissertation Adviser Dr. Chad L. Depperschmidt Dr. Steven K. Marks Dr. James P. Key ii Name: OMAR J. HAMILTON Date of Degree: DECEMBER, 2015 Title of Study: INTEGRATION OF THE UNMANNED AERIAL SYSTEM INTO THE NATIONAL AIRSPACE SYSTEM; THE RELATIONSHIP BETWEEN SAFETY RECORD AND CONCERNS Major Field: APPLIED EDUCATIONAL STUDIES, AVIATION & SPACE Abstract: The purpose of this study was to discover if a relationship existed between the most common safety concerns and the most common UAS accidents with regards to the integration of the unmanned aerial system (UAS) into the National Airspace System (NAS). The study used a Mixed Method approach to find the most common causes of UAS accidents over a five-year period, the level of safety concerns and common concerns from UAS pilots and sensor operators. The quantitative data was derived from the Air Force, Navy and Army Safety Offices, while the qualitative data was derived from an online questionnaire and follow-up interviews of US Air Force UAS pilots and sensor operators. Review and observation of the data consisting of data comparison, was conducted to discover if there were any relationship between safety concerns and safety accidents.
    [Show full text]
  • Arctic Surveillance Civilian Commercial Aerial Surveillance Options for the Arctic
    Arctic Surveillance Civilian Commercial Aerial Surveillance Options for the Arctic Dan Brookes DRDC Ottawa Derek F. Scott VP Airborne Maritime Surveillance Division Provincial Aerospace Ltd (PAL) Pip Rudkin UAV Operations Manager PAL Airborne Maritime Surveillance Division Provincial Aerospace Ltd Defence R&D Canada – Ottawa Technical Report DRDC Ottawa TR 2013-142 November 2013 Arctic Surveillance Civilian Commercial Aerial Surveillance Options for the Arctic Dan Brookes DRDC Ottawa Derek F. Scott VP Airborne Maritime Surveillance Division Provincial Aerospace Ltd (PAL) Pip Rudkin UAV Operations Manager PAL Airborne Maritime Surveillance Division Provincial Aerospace Ltd Defence R&D Canada – Ottawa Technical Report DRDC Ottawa TR 2013-142 November 2013 Principal Author Original signed by Dan Brookes Dan Brookes Defence Scienist Approved by Original signed by Caroline Wilcox Caroline Wilcox Head, Space and ISR Applications Section Approved for release by Original signed by Chris McMillan Chris McMillan Chair, Document Review Panel This work was originally sponsored by ARP project 11HI01-Options for Northern Surveillance, and completed under the Northern Watch TDP project 15EJ01 © Her Majesty the Queen in Right of Canada, as represented by the Minister of National Defence, 2013 © Sa Majesté la Reine (en droit du Canada), telle que représentée par le ministre de la Défense nationale, 2013 Preface This report grew out of a study that was originally commissioned by DRDC with Provincial Aerospace Ltd (PAL) in early 2007. With the assistance of PAL’s experience and expertise, the aim was to explore the feasibility, logistics and costs of providing surveillance and reconnaissance (SR) capabilities in the Arctic using private commercial sources.
    [Show full text]
  • 19.3 Batteries
    19. Components of PV Systems 305 Efficiency of power converters For planning a PV system it is very important to know the efficiency of the power convert- ers. This efficiency of DC-DC and DC-AC converters is defined as P η = o , (19.20) Po + Pd i.e. the fraction of the output power Po to the sum of Po with the dissipated power Pd. For estimating the efficiency we thus must estimate the dissipated (lost) power, which can be seen as a sum of several components, Pd = PL + Pswitch + Pother, (19.21) i.e. the power lost in the inductor PL, the power lost in the switch, and other losses. PL is given as 2 PL = IL, rms RL, (19.22) where IL, rms is the mean current flowing through the inductor. The losses in the switch strongly depend on the type of switch that is used. Other losses are for example resistive losses in the circuitry in-between the switches. For a complete inverter unit it is convenient to define the efficiency as PAC ηinv = , (19.23) PDC which is the ratio of the output AC power to the DC input power. Figure 19.18 shows the efficiency of a commercially available inverter for different input voltages. As we can see, in general the lower the output power, the less efficient the inverter. This is due to the power consumed by the inverter (self-consumption) and the power to control the vari- ous semiconductor devices which is relatively high at low output power. This efficiency characteristic must be taken into account when planning a PV system.
    [Show full text]
  • Coordinated Searching and Target Identification Using Teams Of
    Coordinated Searching and Target Identi¯cation Using Teams of Autonomous Agents Christopher Lum A dissertation submitted in partial ful¯llment of the requirements for the degree of Doctor of Philosophy University of Washington 2009 Program Authorized to O®er Degree: Aeronautics & Astronautics University of Washington Graduate School This is to certify that I have examined this copy of a doctoral dissertation by Christopher Lum and have found that it is complete and satisfactory in all respects, and that any and all revisions required by the ¯nal examining committee have been made. Chair of the Supervisory Committee: Juris Vagners Reading Committee: Juris Vagners Rolf Rysdyk Dieter Fox Date: In presenting this dissertation in partial ful¯llment of the requirements for the doctoral degree at the University of Washington, I agree that the Library shall make its copies freely available for inspection. I further agree that extensive copying of this dissertation is allowable only for scholarly purposes, consistent with \fair use" as prescribed in the U.S. Copyright Law. Requests for copying or reproduction of this dissertation may be referred to Proquest Information and Learning, 300 North Zeeb Road, Ann Arbor, MI 48106-1346, 1-800-521-0600, to whom the author has granted \the right to reproduce and sell (a) copies of the manuscript in microform and/or (b) printed copies of the manuscript made from microform." Signature Date University of Washington Abstract Coordinated Searching and Target Identi¯cation Using Teams of Autonomous Agents Christopher Lum Chair of the Supervisory Committee: Professor Emeritus Juris Vagners Aeronautics & Astronautics Many modern autonomous systems actually require signi¯cant human involvement.
    [Show full text]
  • July 2000 on the INSIDE
    July 2000 WESTWIND Instructor Kenny Price and Student Eric Lentz (of Williams) with the coveted PASCO Egg ON THE INSIDE PASCO / SSA / Operations / Club Directory .......................................................................................... Page 2-3 Minisafetytips .......................................................................................................................................... Page 6 In Brief ..................................................................................................................................................... Page 6 Year 2000 Sawyer Award Features ........................................................................................................... Page 7 Flying the Electric Winch in Unterwossen ...................................................................................... Page 8 Air Sailing Sports Class Contest ....................................................................................................... Page 10 Air Sailing Sports Class Scores ............................................................................................................... Page 12 Year 2000 Sawyer Award ................................................................................................................... Page 13 A Guide for Submitting Photos to WestWind .................................................................................. Page 13 Classified Ads......................................................................................................................................
    [Show full text]
  • DYNAMIC SOARING UAV GLIDERS by Jeffrey H. Koessler
    Dynamic Soaring UAV Gliders Item Type text; Electronic Dissertation Authors Koessler, Jeffrey H. Publisher The University of Arizona. Rights Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author. Download date 07/10/2021 13:32:45 Link to Item http://hdl.handle.net/10150/627980 DYNAMIC SOARING UAV GLIDERS by Jeffrey H. Koessler __________________________ Copyright © Jeffrey H. Koessler 2018 A Dissertation Submitted to the Faculty of the DEPARTMENT OF AEROSPACE & MECHANICAL ENGINEERING In Partial Fulfillment of the Requirements For the Degree of DOCTOR OF PHILOSOPHY WITH A MAJOR IN AEROSPACE ENGINEERING In the Graduate College THE UNIVERSITY OF ARIZONA 2018 THEUNIVERSITY OF ARIZONA GRADUATE COLLEGE Date: 01 May 2018 RIZONA 2 STATEMENT BY AUTHOR This dissertation has been submitted in partial fulfillment of the requirements for an advanced degree at the University of Arizona and is deposited in the University Library to be made available to borrowers under rules of the Library. Brief quotations from this dissertation are allowable without special permission, provided that an accurate acknowledgement of the source is made. Requests for permission for extended quotation from or reproduction of this manuscript in whole or in part may be granted by the copyright holder. SIGNED: Jeffrey H. Koessler 3 Acknowledgments This network of mentors, colleagues, friends, and family is simply amazing! Many thanks to... ...My advisor Prof. Fasel for enduring my arguments and crazy ideas about the dynamics of soaring.
    [Show full text]
  • MARITIME Security &Defence M
    June MARITIME 2021 a7.50 Security D 14974 E &Defence MSD From the Sea and Beyond ISSN 1617-7983 • Key Developments in... • Amphibious Warfare www.maritime-security-defence.com • • Asia‘s Power Balance MITTLER • European Submarines June 2021 • Port Security REPORT NAVAL GROUP DESIGNS, BUILDS AND MAINTAINS SUBMARINES AND SURFACE SHIPS ALL AROUND THE WORLD. Leveraging this unique expertise and our proven track-record in international cooperation, we are ready to build and foster partnerships with navies, industry and knowledge partners. Sovereignty, Innovation, Operational excellence : our common future will be made of challenges, passion & engagement. POWER AT SEA WWW.NAVAL-GROUP.COM - Design : Seenk Naval Group - Crédit photo : ©Naval Group, ©Marine Nationale, © Ewan Lebourdais NAVAL_GROUP_AP_2020_dual-GB_210x297.indd 1 28/05/2021 11:49 Editorial Hard Choices in the New Cold War Era The last decade has seen many of the foundations on which post-Cold War navies were constructed start to become eroded. The victory of the United States and its Western Allies in the unfought war with the Soviet Union heralded a new era in which navies could forsake many of the demands of Photo: author preparing for high intensity warfare. Helping to ensure the security of the maritime shipping networks that continue to dominate global trade and the vast resources of emerging EEZs from asymmetric challenges arguably became many navies’ primary raison d’être. Fleets became focused on collabora- tive global stabilisation far from home and structured their assets accordingly. Perhaps the most extreme example of this trend has been the German Navy’s F125 BADEN-WÜRTTEMBERG class frig- ates – hugely sophisticated and expensive ships designed to prevail only in lower threat environments.
    [Show full text]
  • Regional Responses to U.S.-China Competition in the Indo-Pacific: Indonesia
    Regional Responses to U.S.-China Competition in the Indo-Pacific Indonesia Jonah Blank C O R P O R A T I O N For more information on this publication, visit www.rand.org/t/RR4412z3 For more information on this series, visit www.rand.org/US-PRC-influence Library of Congress Cataloging-in-Publication Data is available for this publication. ISBN: 978-1-9774-0558-6 Published by the RAND Corporation, Santa Monica, Calif. © Copyright 2021 RAND Corporation R® is a registered trademark. Cover: globe: jcrosemann/GettyImages; flags: luzitanija/Adobe Stock Limited Print and Electronic Distribution Rights This document and trademark(s) contained herein are protected by law. This representation of RAND intellectual property is provided for noncommercial use only. Unauthorized posting of this publication online is prohibited. Permission is given to duplicate this document for personal use only, as long as it is unaltered and complete. Permission is required from RAND to reproduce, or reuse in another form, any of its research documents for commercial use. For information on reprint and linking permissions, please visit www.rand.org/pubs/permissions. The RAND Corporation is a research organization that develops solutions to public policy challenges to help make communities throughout the world safer and more secure, healthier and more prosperous. RAND is nonprofit, nonpartisan, and committed to the public interest. RAND’s publications do not necessarily reflect the opinions of its research clients and sponsors. Support RAND Make a tax-deductible charitable contribution at www.rand.org/giving/contribute www.rand.org Preface The U.S. Department of Defense’s (DoD’s) 2018 National Defense Strategy highlights the important role that U.S.
    [Show full text]