Sink the Bismarck (with luck?)

This paper describes a stochastic simulation of one of the key naval operations in World War II, and shows how the result of that operation might have differed considerably from the historical outcome. The simulation demonstrates that it is never possible to predict with confidence the results of military operations involving a few high‐value units.     

DETERMINING THE DEFENCE INDUSTRIAL BASE

This paper models the determination of the defence industrial base – the number of different military systems a country decides to maintain. High R&D costs means that few countries can afford to produce major weapons systems and the producers also import systems. Non‐producers rely on imports and we assume their demand is driven by regional arms races. Military capability is determined by the number of systems and the quantity and quality of each. We examine how the defence industrial base is influenced by military expenditures, R&D costs, export controls, the nature of regional arms races and a variety of other factors.     

COUNTRY SURVEY XX: DEFENCE SPENDING AND PEACEKEEPING IN URUGUAY

Uruguay is a country with a very unusual profile, since it has just 3.4 million inhabitants but is among the top ten troop contributors to the UN PKO (Peace Keeping Operations) and is the first contributor per capita. In 2002 and 2003 it was the seventh troop contributor to the UN, and by the end of 2005 it was eighth in the UN ranking. Uruguay has never had any imminent external threat to its security after its independence in 1828, and it has had no internal threat since the end of the urban guerrillas’ actions in the 1970s. The country has no defence industry, and has always had an all‐volunteer military service, which presently involves almost 1% of the total population, and about 2% of the labour force. The empirical evidence presented in this paper shows that, in the past decades, Uruguayan defence spending has been influenced mainly by internal factors, most of them of an economic nature. The high participation in PKO has not increased military expenditure and it has produced a positive impact on the country’s economy.     

An Empirical Analysis of the Arms Race Between South and North Korea

This study analyses an arms race between South and North Korea over the period 1963–2000. Despite the strategic importance of the Korean Peninsula, the arms race between South and North Korea has rarely been studied. In this study, the South–North arms race is empirically estimated using Richardson’s action–reaction model. The pattern of South–North arms race between the Cold War (1963–1989) and the post‐Cold War eras (1990–2000) as well as the existence of an arms race is examined comparing both countries’ defence spending, number of military personnel and tactical aircraft.     

EFFECTS OF MILITARY SPENDING ON THE PROFITABILITY OF SPANISH DEFENCE CONTRACTORS

The traditional view of the defence industry obtaining large profits from contracts with the Ministry of Defence relies on several assumptions. Among these are the use of such arrangements as an instrument of industrial policy, the strong market power enjoyed by prime contractors, and the inefficiency encouraged by the sector. The findings show that defence contracts have a positive effect on profits, as well as the prizes for innovation and the market power enjoyed by some defence subsectors.     

A PRODUCTIVITY AND EFFICIENCY ANALYSIS OF THE SECURITY AND DEFENCE TECHNOLOGICAL AND INDUSTRIAL BASE IN SPAIN

This study analyses the performance of the productivity of the main industrial subsectors composing the security and defence technological and industrial base (SDTIB) in Spain from 1996 to 2009. Accordingly, we have used the non-parametric data envelopment analysis and bootstrapping techniques to compute Malmquist productivity indexes that allow us to split productivity growth into efficiency change and technical progress. The results obtained show productivity improvement in the SDTIB as a whole due mainly to advances in technology and to a lesser extent to the contribution of technical efficiency. The bootstrap approach yields further evidence, as for many cases, productivity growth or decline, is not statistically significant. This is the first time a study of this kind has been carried out on the production process of this sector in Spain.     

Rent‐seeking models of international competition: An experimental investigation*

This paper experimentally tests a number of hypotheses that follow from models of international competition that are based on Tullock style rent‐seeking models. Specifically, we designed and performed experiments to see how variations in the degree of publicness in the prize as well as changes in the values assigned to the prize affect alliances in terms of individual nation contributions, total contributions, burden sharing, and the likelihood of winning the prize. While there was substantial variation in individual behavior, the results of the experiments generally conform to the theoretical predictions of the rent‐seeking model of international competition and alliances.     

Export controls,market structure and international coordination

We look at the different ways of aggregating the exports of dual use products to give the security perception of exporter countries and their consistency with the relevant export control regimes. Also, we analyze different models of export controls highlighting the role of the perception of security, market structure and competition between exporting firms in determining the existence of multiple equilibria and therefore, the need for coordination between countries in setting export controls.     

基于点云配准的室内移动机器人6自由度位姿估计

针对移动机器人在室内环境下难以获取GPS定位信息,仅靠自身惯导不能得到精确位姿的问题,提出了一种基于RGB-D传感器获取三维环境点云,对连续点云提取特征并进行配准的移动机器人6自由度位姿估计方法.首先通过RGB-D传感器获取环境深度图像,根据特征提取算法提取点云特征;然后以特征点为配准点,运用随机一致性采样(RANdom SAmple Consensus,RANSAC)算法对点云进行初配准,剔除部分错误匹配点,获得初始变换矩阵;最后采用改进的迭代最近点(Iterative Closet Point,ICP)算法进行精配准,获得点云间的最终变换矩阵,实现位姿估计.实验结果表明:该方法有效地提高了大规模点云配准效率,得到了较精确的位姿估计信息.