Abstract: Embodiments provide a computer-implemented method of controlling a swarm of agents to perform actions, and agents configured accordingly. The method comprises providing (202) data for performing Reinforcement Learning in each agent in the swarm. Each of the agents uses the provided data to execute (204) at least one learning episode to train a respective state-action selector, and uses its trained state-action selector to select and perform an action (220). The training comprises each of the agents using its respective state-action selector to select (306) a fictitious action it would perform itself in the current joint states and to select a fictitious action the other agents would perform in the current joint states, and using the selected fictitious actions to update (308-312, 208-216) values in the state-action selector of each of the agents.

Abstract: A watercraft system (10) comprising a pressure hull module (100) having a longitudinal axis (114) which extends between an aft end (116) and a forward end (118) of the watercraft system (10), and which defines a first interface element (112). The system further comprises a bridge fin module system (200) which extends from the pressure hull module (100) in a direction away from the longitudinal axis (114). The bridge fin module system (200) comprises a first bridge fin sub-module (210) which defines a second interface element (222) configured to be coupled and uncoupled from the first interface element (112); the first bridge fin sub-module (210) extending from the second interface element (222) to terminate at a third interface element (232) the bridge fin module system (200) further comprises a second bridge fin sub-module (220) which defines a fourth interface element (242) configured to be coupled and uncoupled from the third interface element (232).

Abstract: According to the present disclosure there is provided an active acoustic control system for controlling an acoustic signal propagating along a propagation path, the system comprising: an active control unit configured to: receive information from a first sensor arrangement, the information related to the acoustic signal propagating along the propagation path; generate a control signal for controlling the acoustic signal based on the information from the first sensor arrangement, by being arranged to independently control: a first control source arrangement for generating a first control signal to control a first component of the acoustic signal; and a second control source arrangement for generating a second control signal to control a second component of the acoustic signal.

Abstract: According to the present disclosure there is provided an active acoustic control system for controlling an acoustic signal propagating along a propagation path, the system comprising: an active control unit configured to: receive information from a first sensor arrangement, the information related to the acoustic signal propagating along the propagation path; generate a control signal for controlling the acoustic signal based on the information from the first sensor arrangement, by being arranged to control: a first control source arrangement comprising a finite 2D array of first control sources for generating a first control signal for controlling a first component of the acoustic signal.

Abstract: A strain wave-type gearbox comprises: a flex spline component; an outer circular spline component; and a wave generator component, wherein the wave generator component is configured for adjustment of at least one dimension of the wave generator component, to cause engagement and disengagement of the flex spline component and the outer circular spline component. A drive arrangement for manipulating a vehicle control surface comprises: a first drive; a second drive; an output member for connecting to the vehicle control surface; first engaging means for selectively engaging and disengaging the first drive and the output member; and second engaging means for selectively engaging and disengaging the second drive and the output member, wherein the first engaging means comprises a strain wave-type gearbox.

Abstract: A blast attenuation device (100, 1100) for a gun tube (10). The blast attenuation device (100, 1100) has a first wall section (102, 1102) which defines a first chamber (104, 1104), which extends from an inlet end (106, 1106) having an inlet aperture (108, 1108) to an outlet end (110, 1100) having an outlet aperture (112, 1112). The blast attenuation device (100, 1100) also has a second wall section (122, 1122) which defines a second chamber (124, 1124), which extends from an inlet end (126, 1126) having an inlet aperture (128, 1128) to an outlet end (130, 1130) having an outlet aperture (132, 1132).

Abstract: A drive arrangement for manipulating a vehicle control surface, comprises: a first drive; a second drive; an output member for connecting to the vehicle control surface; first engaging means for selectively engaging and disengaging the first drive and the output member; and second engaging means for selectively engaging and disengaging the second drive and the output member, wherein the first engaging means comprises a first epicyclic gearbox.

Abstract: A drive arrangement for manipulating a vehicle control surface, comprises: a first drive; a second drive; an output member for connecting to the vehicle control surface; first engaging means for selectively engaging and disengaging the first drive and the output member, and second engaging means for selectively engaging and disengaging the second drive and the output member.

Abstract: A door assembly for a payload bay (10) having an opening (12), the door assembly comprising at least one door (20, 220). The at least one door comprises: a panel section (22, 222) having a first end (24, 224) and a second end (26, 226); and a first mounting member (30, 230) arranged orthogonally to the panel section at the first end and having a first engagement feature (31, 231) having a rotational axis (18, 218) about which the panel section is arranged to rotate. The engagement feature is arranged to engage with a first fixing member (16, 216) on one side of the payload bay to rotatably couple the panel section to the payload bay. The at least one door is arranged to translate between a closed configuration, in which the panel section is arranged in the same plane as the opening, and an open configuration, in which the panel section is arranged at at least 90 degrees to the plane of the opening, by rotating about the rotational axis.

Abstract: A display system (100) for displaying on a least two different types of display a view of an environment in a real world situation, the system comprising: a first display (200) of a first type; a second display (202) of a second type which is different from the first type; a control system (100, 108) for controlling how information is to be displayed between the first display (200) and the second display (202) and configured to: determine (500) there is available symbology relating to the real world situation; determine (502) a positionally correct location the symbology would occupy if visible; determine (504) that at least one of the first display (200) and the second display (202) are displaying a view that corresponds with the positionally correct location of where the symbology, or portions of the symbology, would occupy if visible; cause (512) the symbology, or portions of the symbology, to be displayed, in the positionally correct location in the at least one of the first display (200) and the second d

Abstract: A heat engine system (100, 1100). The heat engine system (100, 1100) comprises a compressor (300) having an inlet (302) and an outlet (304), a heat source (400) having an inlet (402) and an outlet (404), and a turbine (500) having an inlet (502) and an outlet (504). The compressor (300), heat source (400) and turbine (500) define part of a working fluid flow circuit ( ). The heat engine system further comprises a housing (600) which is operable to be sealed to define a reservoir (602) in which the compressor (400), heat source (400), turbine (500) and working fluid flow circuit (700) are located. The working fluid flow circuit (700) further comprises a compressor-to-heat-source duct (800) which extends between the compressor outlet (304) and the heat source inlet (402), a heat-source-to-turbine duct (802) extends between the heat source outlet (404) and the turbine inlet (502), and a turbine-to-compressor duct (804) extends between the turbine outlet (504) and the compressor inlet (302).

Abstract: A reactor control system (100) for a nuclear fission reactor system comprising a nuclear reactor unit (300) having a reactor core (302) with a central axis (320) extending along the length of the reactor core (302). The nuclear reactor unit (300) comprises a first region (310) provided in the reactor core (302) and a second region (312) provided outside of the reactor core (302). The control system (100) comprises a control duct (200) having a first portion (210) configured to extend through the first region (310) and a second portion (220) configured to extend through the second region (312). The duct (200) is filled with a series of control units (400), each of the control units (400) configured to travel along the control duct (200).

Abstract: According to a first aspect of the invention, there is provided a programmable system for a munition, comprising: an electroacoustic transducer, arranged to receive an acoustic signal comprising data, and convert that signal into an electrical signal comprising data; a processor, arranged to receive and process the electrical signal comprising data, and to use that data in programming of the programmable system.

Abstract: A method and apparatus for predicting failure of an engineering asset based on real-time data. The system comprises a plurality of sensors for measuring data on the engineering asset. The method of predicting failure comprises receiving a data record comprising data on the engineering asset collected from the plurality of sensors at time t, generating, using a trained machine learning algorithm, a probability PF that the received data record indicates that the engineering asset is in a faulty state; determining what number of data records received in a look-back time Lt are indicative of the engineering asset being in a faulty state, wherein the look-back time Lt is a time period occurring before the time t at which the data record was collected; and predicting a probability of the engineering asset failing during a horizon time Ht, wherein the horizon time Ht is a time period after time t at which the data record was collected.

Abstract: An integrity monitor for monitoring integrity of image sensor data. The integrity monitor comprises an image sensor configured to generate image sensor data, wherein the image sensor data includes an image representative of a scene and a plurality of optically dark pixels in a predetermined position relative to the image. The integrity monitor further comprises a controller configured to: analyse (403) one or more characteristics of at least one of the plurality of optically dark pixels; and determine (405) a presence of a fault in the image sensor data based at least in part on the one or more characteristics of the at least one of the plurality of the optically dark pixels to be output to enable mitigation of the fault.

Abstract: A waveguide to expand image bearing light in at least one dimension is disclosed. The waveguide comprises: an input coupling region configured to couple and input image bearing light into the waveguide; and an output coupling region comprising at least a first microstructure to the expand image bearing light in the first dimension, and output the image bearing light. A first waist point of the image bearing light in a first axis is located at a different location in the waveguide than a second waist point of the image bearing light in a second axis in the waveguide, the second axis orthogonal to the first axis. FIG. 4b to be published with the application.

Abstract: In some examples, a method for generating a set of slot activation configurations for a holographic radial line slot antenna array comprising multiple slots defining a preconfigured slot pattern, each slot activation configuration defining a beam pattern for a signal to be emitted by the antenna, comprises generating a measure for the mutual coupling between the multiple slots in the presence of a signal to be applied to the antenna, the measure comprising a set of scattering parameters defining a scattering matrix for the antenna, using the measure for the mutual coupling, generating a set of impedance parameters for the array, controlling the resonance of at least one of the multiple slots by regulating a value of capacitance of a variable capacitance device provided across the slot, measuring a value for antenna gain of a beam pattern associated with the value of capacitance, selecting a final value of capacitance resulting in the highest measure of gain for the beam pattern, and selecting a slot activatio

Abstract: A fabrication system (100) for the manufacture of a support frame (10) for a pressure vessel (12). The support frame (10) is fabricated from a plurality of sub-elements (202, 204). The fabrication system comprises a jig assembly (300), a clamping system (400) mounted on the jig assembly (300) and the jig assembly (300) being rotatably mounted about a rotation axis (302), and extending out radially from the rotation axis (302) to an outer edge (304). A plurality of workstations (600, 602, 604) are arranged around the outer edge (304) of the jig assembly (300), located and configured to perform operations on the sub-elements (202, 204). The plurality of workstations (600, 602, 604) are mounted in a fixed position, the jig assembly (300) being rotatable about the rotation axis (302) relative to the workstations (600, 602, 604).

Abstract: A method of manufacturing an article is described. At S102, the method comprises obtaining a first layer having a first face and a reverse second face, wherein the first layer comprises and/or is a first metal and wherein the first metal is a heat treatable first aluminium alloy. At S104, the method comprises providing a second layer on the first face of the first layer by cold spraying particles comprising a second metal thereupon, wherein the second metal is a second aluminium alloy. At S106, the method comprises depositing a third layer on the second layer by additive friction stir deposition using a third metal, wherein the third metal is a third aluminium alloy.

Abstract: According to an aspect of the invention, there is provided a system for reducing water-entry shock for a projectile entering the water, the system comprising: a first component, the first component being moveable to a target region for which water-entry shock is to be reduced, and arranged to interact with the water, for reducing water-entry shock for a second component; a second component in the form of the projectile, arranged to enter the water in the region for which water-entry shock has been reduced by the first component, functionality of the second projectile component being triggered by the water.