"472 A.D. Britain's greatest king Arthur Pendragon is dead, killed by his evil nephew, Modred, and Mer'zail, the son of the wizard Merlin, prays in desperation for help. His kind, the wizards who served Arthur loyally and protected Britain during his reign, have been declared heretics by the leaders of the emerging faith, Christianity, and are being hunted down and killed by their armies. His prayer is answered by the Lady of the Lake, the keeper of the sword Excalibur. She gives him the sword and commands him to lead his people in a new world to which she will send them. In their new home, they take a new name for themselves: Zagi. After ruling an empire spanning a galaxy for 3,000 years, the Zagi are overthrown by a demon called Armeggon, and their salvation rests with Dra'Kain, the leader of an army of elite warriors, whose massive starship the Thermopylae is the one weapon that can defeat their enemy. His quest to destroy Armeggon will lead him to discover vast magical power within himself and his birthright as the true emperor of the Zagi"--Page 4 of cover.

Proceedings of the Nato Advanced Study Institute, held in Montreal, Canada, from 8 to 19 July 2002

Includes bibliographical references (p. [291]-298) and index.

This book discusses state estimation and control procedures for a low-cost unmanned aerial vehicle (UAV). The authors consider the use of robust adaptive Kalman filter algorithms and demonstrate their advantages over the optimal Kalman filter in the context of the difficult and varied environments in which UAVs may be employed. Fault detection and isolation (FDI) and data fusion for UAV air-data systems are also investigated, and control algorithms, including the classical, optimal, and fuzzy controllers, are given for the UAV. The performance of different control methods is investigated and the results compared. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles covers all the important issues for designing a guidance, navigation and control (GNC) system of a low-cost UAV. It proposes significant new approaches that can be exploited by GNC system designers in the future and also reviews the current literature. The state estimation, control and FDI methods are illustrated by examples and MATLAB® simulations. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles will be of interest to both researchers in academia and professional engineers in the aerospace industry. Graduate students may also find it useful, and some sections are suitable for an undergraduate readership.

Set in the more general context of tale telling by the descendants of Africans throughout the Americas and of recent scholarship in performance studies, these Saramaka tales are presented as a dramatic script. With the help of nearly forty photographs, readers become familiar not only with the characters in folktale-land, but also with the men and women who so imaginatively bring them to life. And because music complements narration in Saramaka just as it does elsewhere in Afro-America, more than fifty songs are presented here in musical notation.