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The chapter explores the phenomenon of ocean-to-land globalization, a shift in global production that increasingly relocates industrial activities to aquatic surfaces while consumption remains land-based. It argues that advances in radiocommunication and radionavigation technologies since the mid-twentieth century were critical enablers of this transformation. By dramatically reducing communication and transport costs, these technologies removed the geo-ontological association of marine regions as remote peripheries to terrestrial centers of production. From a cybernetic viewpoint, extending human audiovisual senses through radiocommunication and radionavigation technologies—including radio telegraphs, radiophones, communication satellites, Decca, or GPS—enabled offshore production sites—such as oil rigs, salmon farms, and rocket launch platforms—to function similarly to terrestrial centers. The post-WWII civilian proliferation of such technologies was the essential enabler for reconceptualizing industrialized marine regions and their artificial islands as inhabited spaces and as new production centers in ocean-to-land globalization.
Global Navigation Satellite Systems (GNSS) face Common-Mode Errors (CMEs) such as atmospheric delays. While techniques like Differential GNSS (DGNSS) or Precise Point Positioning (PPP) mitigate these errors, Real-Time PPP (RT-PPP) emerges as a promising solution for smart cities and Connected Autonomous Vehicles (CAVs) by enhancing accuracy without reference stations. In Latin America, RT-PPP users benefit from Global Ionospheric Models (GIMs) from the International GNSS Service (IGS) and Vertical Total Electron Content (VTEC) maps from the University of La Plata (MAGN). This work comprehensively compares these products via simulated RT processing, focusing on Single-Frequency (SF) Real-Time Single Point Positioning (RT-SPP), which is crucial for low-cost GNSS-equipped CAV applications. Results demonstrate that MAGN predicts VTEC better across Latin America, showing a 46% average improvement. Consequently, MAGN-based RT-SPP achieves 67% and 21% higher horizontal and total positioning accuracies compared to IGS-based RT-SPP across various test scenarios using extensive observation data.
What is the physics behind getting a spacecraft to the nearest stars? What science can it do when it gets there? How can it send back data over enormous distances? Drawing on established physics, Coryn Bailer-Jones explores the various challenges of getting an uncrewed spacecraft to a nearby star within a human lifetime. In addition to propulsion methods such as nuclear rockets and laser sails, this book examines critical issues such as navigation, communication, and the interstellar medium. Starting from fundamental concepts, readers will learn how a broad spectrum of physics – ranging from relativity to optics, and thermodynamics to astronomy – can be applied to address this demanding problem. Assuming some familiarity with basic physics, this volume is a comprehensive and self-contained introduction to interstellar travel, and an indispensable guide for studying the literature on deep space exploration. This title is also available as open access on Cambridge Core.
To fulfil its mission, a spacecraft needs to know where it is and how fast it is moving. This is the goal of navigation. Here we look first at how navigation is done for spacecraft in the solar system, using internal measurements as well as artificial signals sent from the Earth acting as navigation beacons. The latter has some relation to the concept of global navigation satellite systems such as GPS, which we also take a brief look at. At interstellar distances, signals from the Earth would be too weak and take too long to arrive, so interstellar spacecraft will have to navigate autonomously. We will see how this can be done using measurements of the positions or radial velocities of stars, by exploiting aberration and parallax, or by timing pulses from neutron stars.
Natalie Klein, University of New South Wales, Sydney,Kate Purcell, University of New South Wales, Sydney,Jack McNally, University of New South Wales, Sydney
In this chapter, early efforts at legal codification relevant to submarines are seen in the work of learned societies, such as the Institut de Droit International and the International Law Association, as well as in discussions leading to the conventions adopted at the two Hague Peace Conferences. However, submarines were not specifically addressed but fell within a category of belligerent warships; an early proposal to ban submarines as weapons being unsuccessful. Discussions at this time concerned passage in territorial waters and straits, and particularly the rights and duties of belligerents and neutrals. International law on navigational rights in territorial waters was unsettled as World War I began. The critical role of submarines during World War I prompted States to adopt laws that specifically addressed submarines, including requirements to surface in the territorial sea. The chapter reflects on these emergent laws regulating submarines in both times of war and peace.
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Part II
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Contemporary International Law of Submarines
Natalie Klein, University of New South Wales, Sydney,Kate Purcell, University of New South Wales, Sydney,Jack McNally, University of New South Wales, Sydney
In this chapter, we assess the international law regulation of the newest forms of submarines, underwater maritime autonomous vehicles (UMAVs) and ask what changes for States’ rights and duties when an autonomous vehicle operates uncrewed and underwater. A core issue has been whether UMAVs are ships or not and we address differences emerging for floats and gliders particularly. Whether uncrewed submarines are ships or not has implications for navigational rights and duties. We also consider questions emerging under the law of armed conflict and distinctions for autonomous maritime systems (such as mines and torpedos). While State-owned and operated UMAVs are a primary focus, we also consider the international laws applying to the use of UMAVs by terrorists or criminals seeking to smuggle goods. This chapter concludes Part II of the book and brings together the key questions that remain to be answered in regulating submarines in international law.
Much work on the archaeology of nautical mobility across the Mediterranean Sea draws on calculations of land visibility that were formulated in 1901 and that have received relatively little critical evaluation. Here, the authors trace the use of this map in archaeology, providing a critique of 2D coastal visibility analyses and presenting a new analysis to quantify coastal visibility in angular terms. The resulting multidimensional visibility datasets (available as online supplementary material) form the basis for an updated coastal visibility map for the Mediterranean Sea, offering a platform for the exploration of more nuanced questions about seafaring and navigation.
Submarines in International Law is the first book to explore both the legal history and the contemporary regulation of submarine operations in varied areas of international law. The analysis demonstrates the instances where submarines influenced the development of the law of the sea and the law of armed conflict, as well as highlighting where international law needs to give greater account for submarines in existing bodies of law-including international marine environmental law, the law on the use of force, navigational safety rules, transnational criminal law and international cultural heritage law. Submarine operations range from military and defence uses, to supporting research and commercial seabed industries, to ocean tourism and smuggling of illicit goods. International law regulates all these activities to varying degrees. While submarines may strive to be evasive objects in the ocean, this book demonstrates why they cannot and should not elude the reach of international law.
Ships rely on Global Navigation Satellite System (GNSS), like the NAVSTAR Global Positioning Systems (GPS), for safe navigation and precise Position, Navigation, and Time (PNT). Based on satellite input, PNT enable shipboard receivers to determine location with precision. As a primary PNT source, GNSS must be accurate and protected from manipulation to ensure safe ship operations. While some GNSS interference is unintentional, threat from State and non-state actors persist. Over the past 20 years, cyberattacks on international shipping by rogue States like China, Iran, and Russia and state-sponsored hackers have increased, threatening maritime safety by disrupting navigation and communication equipment. The proliferation of GNSS interference poses a strategic threat, to global navigation safety, civilian finances, logistics, and communication. This chapter discusses GNSS threats and how States can mitigate jamming and spoofing. It examines efforts by the International Maritime Organization and shipping industry to address these threats and review United States measures to protect its maritime transportation system from cyberattacks. No single solution addresses all GNSS vulnerabilities but combining alternatives can augment GNSS and ensure resilience for critical maritime PNT operations. Regular risk assessments identify vulnerabilities and prioritize mitigation. A clear incident response plan supports cyberattacks, minimizing damage, and expedite recovery.
This study presents a bespoke hardware platform for indoor navigation, featuring a quadrotor equipped with an FZ3 card incorporating the AMD (formerly Xilinx) Zynq UltraScale+ ZU3EG MPSoC as the onboard computer. A core component of this platform is a field programmable gate array (FPGA) module specifically designed to efficiently compute Delaunay triangulations, enabling enhanced spatial awareness and real-time surface reconstruction. The onboard computer communicates with the flight controller, inertial measurement unit (IMU), ultra-wideband (UWB) localisation system, stereo camera, light detection and ranging (LiDAR) and ultrasonic sensors via robotic operating system (ROS) 2. The primary objective is to develop a cost-effective, modular unmanned aerial vehicle (UAV) system that can be adapted for a range of indoor navigation applications. The modular design supports different onboard computer platforms and sensor configurations, allowing researchers to easily customise the system for various experiments. By providing a practical framework for precise indoor navigation, this platform addresses the limitations of simulated, simplified laboratory setups, accelerating prototyping and supporting the deployment of UAVs in complex real-world environments. This work explores the UAV’s hardware architecture, the implementation of the Delaunay triangulation core on the FPGA system-on-chip (SoC), the ROS 2-based communication system and includes a detailed mass analysis and power estimation.
This article offers a detailed analysis of a Kachchhi-Gujarati manuscript chart of the southern Red Sea and Gulf of Aden dating probably from the eighteenth or early nineteenth centuries and held at the Royal Geographical Society–Institute of British Geographers in London (mr Asia S.4.). The origins and possible dating of the manuscript are examined. Astronomical data inscribed on the chart, establishing latitude and providing sailing directions, are identified, interpreted, and projected. Its Devanagari toponyms are transcribed and identified with real-world locations. Coastal profiles and unnamed features representing significant navigational landmarks are individuated. Islamic buildings depicted on the chart are identified as specific regional mosque-shrines. The presence of Ottoman and other regional polities are inferred. The place of the chart within an early modern tradition of western-Indian navigational manuscripts and a wider Indian Ocean tradition is explored. Our analysis establishes the chart as a detailed and highly practical navigational work—countering earlier scholarly denigrations of its accuracy. In contrast, we show it to be one of the most detailed surviving indigenous navigational charts produced in an Indian Ocean tradition.
For Sultan Alau’ddin, the ruler of Gowa on South Sulawesi between 1596 and 1639, the freedom of the seas was paramount. His kingdom, centred on the city of Makassar, was ideally situated as a maritime crossroads between the Java Sea and the spice islands of Maluku. International traders, including Chinese, Malay, and European ships, frequented Makassar’s harbour, profiting from the policies of open navigation sanctioned by the sultan. Yet in 1615, another maritime power that recently had become active in the area, the Dutch East India Company (VOC), sought to undermine Makassar’s position by establishing a monopoly on the spice trade. When the conflict escalated, Sultan Alau’ddin sent a message to the Company’s governor-general and strongly repudiated Dutch attempts to restrict navigation and trade in the area: ‘God made the land and the sea; the land He divided among men and the sea He gave in common.
Informative path planning (IPP) is one of key applications for unmanned aerial vehicles. It can be applied to terrain monitoring problems, which are to find the static targets from bird’s eye view. In this research, the proposed algorithm generates the cost-benefit spanning tree (CBST) to boost the IPP performance. The CBST is able to generate different tree structures based on different parameters. The proofs show that the theoretical guarantees depend on the tree structures (e.g., minimal spanning tree and shortest path tree). The simulations and experiments demonstrate that the proposed method outperforms the benchmark approaches.
In basic neuropsychopharmacological research, some biobehavioural phenomena — e.g., population migration and navigation over long distances — are rarely considered because the most commonly used laboratory animals show little or no evidence of these phenomena. Nevertheless, they can be also relevant for the mechanism of human psychic aberrations. An annual migration is seen in migratory birds, certain marine mammals and several ungulates. For migratory birds, the time of departure is determined by the length of the photoperiod and is much less changeable than the chosen route. When navigating, migratory birds also use the direction and strength of the field lines of the Earth’s magnetic field. Because humans also seem to exhibit a certain sensitivity to the Earth’s magnetic field, the regulation in birds could also provide hints for research on human well-being. Some bird species have such highly developed cognitive abilities that this is considered proof of the possession of consciousness. Therefore, some birds may be suitable as experimental animals in neurobiological models for cognitive functions and for making the world of thought accessible. The dorsal diencephalic conduction system (DDCS) in humans is difficult to study due to its small size and complex architecture, but it is relatively well developed in more primitive vertebrates. For research into the primary interactions between the DDCS and the rest of the brain, the lamprey can be used as laboratory animal. There is manifold evidence that the DDCS along with forebrain and upper brainstem is of functional relevance and the significance of the DDCS in cortical-controlled networks could then be investigated in birds and verified in humans.
Chapter 3 argues that Tokugawa Japan exerted an important influence on the way global geographers mapped and conceptualized what is known today as “the Pacific.” It shows how the ocean has been the object of diverging metageographical categorizations in different cultural and political contexts in Japan, Asia, and Oceania. Over the Tokugawa period, its meanings changed radically in Japan. In fact, even decades after the issue of maritime prohibitions, in 1675, the Tokugawa shogunate successfully explored and mapped the then-uninhabited Bonin Islands. For Japanese intellectuals, the subsequent “discovery” of the Pacific coincided with an intellectual emancipation from the continent, as Hayashi Shihei’s late-eighteenth century works illustrate. Concepts and geographical data created in the process were highly classified, yet they were among the first Japanese texts to be translated in Europe in the early nineteenth century, where they entered globalizing geographical discourses. Like the malleable category of Nan’yō or “the South Sea,” some metageographical categories remained politically distinct until the twentieth century.
Neurosurgery has always been at the forefront of adopting innovative technologies and this may easily be explained by the unique demands imposed on surgeons when operating in the brain and spine. Augmented reality (AR) has emerged as a promising technology in neurosurgery, aiming to link the digital and physical worlds to enhance clinical practice and education. This review explores the evolution of AR in neurosurgery, from a modest optical technology inception to a digitally enhanced plethora of mixed reality media, and how widespread adoption has been hindered by technical limitations. Various approaches to displaying AR as well as requirements for future-proof patient digital models are discussed. Challenges associated with updating models intra-operatively and the need for precise tracking of the physical environment are also reviewed. The chapter concludes with the authors’ vision for overcoming these technical hurdles, which will be essential for realizing the full potential of AR in neurosurgical practice.
Maritime safety faces growing challenges due to an expanding global fleet, tighter schedules, and increasingly complex stakeholder interactions. This study integrates multiple data sources to determine a more accurate representation of major marine accident causative factors in the United Kingdom. Logistic regression and data modelling are applied to Automatic Identification System data (2011–2017) and reported accidents from the Marine Accident Investigation Branch (2013–2019). Results show that larger vessels, daytime transits, service ships, winter conditions, and confined high-density areas such as ports impact accident likelihood. Interviews validate the data and emphasize the influence of port geometry and channel complexity. Among major UK ports, London, Plymouth and Milford Haven exhibit the highest accident-to-traffic densities. While maritime regulations and safety management systems in ports and vessels are seen as adequate by industry professionals, human factors require the greatest attention to improve maritime safety.
The path navigation of robot in an entirely known space is presented by various researchers in the recent times. The navigational complexity arises when a robot moves in a completely unknown and complex environment from one defined start to a designated desired location. As the success of the nature-inspired algorithms in the unclear navigational problem is better, therefore, an improved butterfly optimization algorithm (IBOA) to determine the optimal feasible path for a humanoid robot navigating through a platform cluttered with both known and unfamiliar barriers is presented in this study. The BOA is inspired by the food-gathering habits of butterflies, where the sense of smell is the vital parameter in the global optimal search. However, the performance of this technique in the complex environment is poor, as a result, the chances of being trapped in local minima are more. Hence, the BOA is improved by using a nonlinear weight reduction strategy in updating the position of the butterflies in every iteration. The simulation is carried out in the Webots platform by considering variable-legged robot, NAO, in an unfamiliar environment. The outcomes derived from the simulation and real assessments demonstrate the potential of the proposed technique and compare with other existing algorithms, which highlights the potential and efficacy of the proposed IBOA algorithm.
In this period, states strove for more control over their international trade routes. However, this was a matter of ideology and planning rather than a reality. Trades were still mainly supervised by chartered companies. States increasingly aimed to restrict exports of their colonial goods to other countries. However, their ‘mercantilist’ approaches did not yield the results that were expected. In attempts to reduce smuggling, private trade became acknowledged more. An aim of consolidating and perfecting colonial trade had more impact in Asia than in the Caribbean. There, geopolitical contexts as well as features of crops precluded strict control. Compared to the previous period, international trade law consisted mostly of treaty law. Some clauses, such as the most-favoured-nation clause, could be opted for in many treaties. Legal borrowing happened, for example, with regard to governance structures in colonial territories, but there was no harmonised law of international trade. Domestic legislation was combined with treaties. Ius gentium doctrine mainly focused on a right of trade. In the later eighteenth century, views of this type were combined with ideas of self-reliance of the economy. Over the course of the seventeenth and eighteenth centuries, financial markets had become a factor that policy-makers had to take into account. Because of the growing intertwining of state finance, colonial trade and speculation at stock markets, the risk of bubbles rose.
In the period of the Renaissance, trade became a matter of legislation and policy. Municipal governments and princes aimed to facilitate trade. International trade relations became increasingly supervised by states. This came in tandem with more treaties. From the middle of the fifteenth century onwards, specialized institutions were created and they increased control over foreign merchants. As a result of growing government intervention, the rules relating to trade were found in bylaws, charters and statutes. Besides those there were customs of trade, which were mostly local. New mercantile techniques, becoming widespread in this period, were maritime insurance, bills of exchange and partnerships of merchants. Insolvency became regulated in the sixteenth century. From the 1500s onwards, rights of hospitality for traders and a right of trade were developed in ius gentium writings. However, due to the mostly local customs and legislation, trade across European countries was far from harmonised. Gerald Malynes proposed a universal custom of trade, but he struggled with the combination of ius gentium ideas with the more factual customs of trade. His views nonetheless laid the basis for later categorisations of commercial law as being customary and transnational.