Western governments are calling on Russia to reverse its decision to pull out of a UN-brokered grain deal, a move that undermines efforts to ease a global food crisis, with Ukraine saying Moscow had planned the move well in advance. The Turkey and UN-brokered deal was signed between Russia and Ukraine in July under which Moscow allowed the grain ships to leave Ukrainian Black Sea ports. The agreement has already allowed more than 9 million tonnes of Ukrainian grain to be exported and was due to be renewed on November 19. Moscow suspended its participation in the deal on Saturday, effectively blocking shipments from Ukraine, one of the world's top grain exporters, in response to what it called a major Ukrainian drone attack earlier in the day on its Black Sea Fleet headquarters near the port of Sevastopol in Russian-annexed Crimea. "Russia's decision to suspend participation in the Black Sea deal puts at risk the main export route of much needed grain and fertilisers to address the global food crisis caused by its war against Ukraine," European Union foreign policy chief Josep Borrell said on Twitter on Sunday.

Russia on Saturday suspended participation in a U.N.-brokered Black Sea grain deal after what it said was a major Ukrainian drone attack on its fleet in Crimea, dealing a blow to attempts to ease the global food crisis. U.S. President Joe Biden denounced the move as "purely outrageous" and said it would increase starvation. This could be due to a conflict with your ad-blocking or security software. Please add japantimes.co.jp and piano.io to your list of allowed sites. If this does not resolve the issue or you are unable to add the domains to your allowlist, please see this support page.

Fox News contributor Mike Pompeo joined'America Reports' to discuss Putin alleging Ukraine will use a'dirty bomb' in the war and the latest on Hunter Biden's business dealings. Russia announced it is withdrawing from the UN-facilitated Black Sea grain export agreement after an attack on its naval forces in Sevastopol, Crimea. "We've seen the reports from the Russian Federation regarding the suspension of their participation in the Black Sea Grain Initiative following an attack on the Russian Black Sea Fleet," Stéphane Dujarric, spokesman for the U.N. Secretary General, said in a press release Saturday morning. "We are in touch with the Russian authorities on this matter." "It is vital that all parties refrain from any action that would imperil the Black Sea Grain Initiative which is a critical humanitarian effort that is clearly having a positive impact on access to food for millions of people around the world," Dujarric added.

British navy personnel planted explosives and blew up the Nord Stream gas pipelines last month, Russia's defence ministry says, a claim London called false and designed to distract from Moscow's military failures in Ukraine. Russia did not give evidence for its allegation that a leading NATO member had sabotaged critical Russian infrastructure amid the worst crisis in relations between the West and Moscow since the depths of the Cold War. The Russian ministry alleged "British specialists" from the same unit that directed Ukrainian drone attacks on ships from the Russian Black Sea fleet in Crimea earlier on Saturday were responsible for the Nord Stream pipeline sabotage. "According to available information, representatives of this unit of the British Navy took part in the planning, provision and implementation of a terrorist attack in the Baltic Sea on September 26 this year – blowing up the Nord Stream 1 and Nord Stream 2 gas pipelines," the ministry said. The United Kingdom denied the accusation.

"In the course of repelling a terrorist attack on the outer roadstead of Sevastopol, the use of naval weapons and naval aviation of the Black Sea Fleet destroyed four marine unmanned vehicles, three more devices were destroyed on the internal roadstead," a statement from the ministry read.

Autonomous underwater vehicles (AUVs) are employed for marine applications and can operate in deep underwater environments beyond human reach. A standard solution for the autonomous navigation problem can be obtained by fusing the inertial navigation system and the Doppler velocity log sensor (DVL). The latter measures four beam velocities to estimate the vehicle's velocity vector. In real-world scenarios, the DVL may receive less than three beam velocities if the AUV operates in complex underwater environments. In such conditions, the vehicle's velocity vector could not be estimated leading to a navigation solution drift and in some situations the AUV is required to abort the mission and return to the surface. To circumvent such a situation, in this paper we propose a deep learning framework, LiBeamsNet, that utilizes the inertial data and the partial beam velocities to regress the missing beams in two missing beams scenarios. Once all the beams are obtained, the vehicle's velocity vector can be estimated. The approach performance was validated by sea experiments in the Mediterranean Sea. The results show up to 7.2% speed error in the vehicle's velocity vector estimation in a scenario that otherwise could not provide an estimate.

In Ukraine's port city of Odessa, residents have recently found themselves hiding not from the thunder of rocket attacks but from the whir of buzzing Iranian drones in the sky. The machines have been playing an important role since Russia invaded seven months ago -- forming part of reconnaissance operations, missile firings or bomb drops. Awakened with a start on Saturday morning by a roar from the sky, Maryna Kondratieva ran to hide in the cellar with her two young children, fearing the worst. "I understand now that everything can change in five minutes," Kondratieva, who lives in a well-to-do part of the city and whose terrace overlooks the Black Sea, told AFP. Odessa -- the'capital' of the southwest and Ukraine's main port -- had seemed largely safe from Moscow, whose troops failed to take it at the beginning of the war.

The attack on the Black Sea fleet in Sevastopol is the latest in a string of strikes against Russia.

A drone has been shot down over the headquarters of Russia's Black Sea Fleet in annexed Crimea, a local official said, in the second attempted strike on the command in Sevastopol in less than a month. "The drone was shot down just above the fleet headquarters" in the city of Sevastopol, city Governor Mikhail Razvojaev wrote on Telegram on Saturday, blaming the attempt on Ukrainian forces. "It fell on the roof and caught fire," he said, adding that there was no significant damage or victim. The first reported attack came on July 31, when a presumed Ukrainian drone attacked the Black Sea Fleet on Russia's Navy Day, wounding five people. Russia also reported Ukrainian drone attacks late on Friday.

Seawater has a pH of about 8.2, although it can vary between 7.5 and 8.5 depending on local salinity, and is estimated to have declined on average by 0.1 since the industrial era. This downward trend associated with increasing CO2 levels in the atmosphere is a matter of concern because of the possible negative consequences for marine organisms, especially calcifiers (corals, shellfish …). A team of Spanish researchers conducted a study to assess the seasonal variability of pH. Entitled " pH trends and seasonal cycle in the coastal Balearic Sea reconstructed through machine learning", it was published in the journal Natureon July 28. Susana Flecha, Àlex Giménez-Romero, Joaquín Tintoré, Fiz F. Pérez, Iris E. Hendriks, Manuel A. Matías, Eva Alou-Font are the authors of this study, which aims to study the variability of the PH of the Balearic coastal area through deep learning.