| Joint Collaborative Technology Experiment |
17-Apr-2009 |
15 pages |
| Authors:
Brian Skibba; Gary N Dion; Randy J Shirts; Danies Class; Rodney Brown; John Messamore; See Yee; Donny Ciccimaro; Michael Wills; Jeff Wit; Thomas Denewiler; Nicholas Stroumtsos; Gary S Anselmo; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
 | Use of unmanned systems is rapidly growing within the military and civilian sectors in a variety of roles including reconnaissance, surveillance, explosive ordinance disposal (EOD), and force-protection and perimeter security. As utilization of these systems grows at an ever increasing rate, the need for unmanned systems teaming and inter-system collaboration becomes apparent. Collaboration provides a means of enhancing individual system capabilities through relevant data exchange that contributes to cooperative behaviors ... |
|
| Test Results of Autonomous Behaviors for Urban Environment Exploration |
Apr-2009 |
16 pages |
| Authors:
H R Everett; G Ahuja; B Sights; D Fellars; G Pacis Kogut; E Rius; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| Under various collaborative efforts with other government labs, private industry, and academia, SPAWAR Systems Center Pacific (SSC Pacific) is developing and testing advanced autonomous behaviors for navigation, mapping, and exploration in various indoor and outdoor settings. As part of the Urban Environment Exploration project, SSC Pacific is maturing those technologies and sensor payload configurations that enable man-portable robots to effectively operate within the challenging conditions of urban environments. For example, ... |
|
| Micro-Scale Flapping Wings for the Advancement of Flying MEMS |
Mar-2009 |
139 pages |
| Authors:
Nicholas R Coleman; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING AND MANAGEMENT
|
| This research presents conceptual micro air vehicles (MAV) with total dimensions less than one millimeter. The effort sought to advance understanding of MAV at sub-millimeter dimensions by fabricating and testing micro scale flapping wings. The biomimetic wings derived from three different insects; the dragonfly, house fly, and butterfly, were selected based off of their natural attributes. The fabricated wings utilize a thermal bimorph structure consisting of polysilicon and gold which ... |
|
| The VTD Bugbot - Version 1 Summary |
Mar-2009 |
10 pages |
| Authors:
Justin Shumaker; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD VEHICLE TECHNOLOGY DIRECTORATE
|
| Presented is an overview of the work accomplished toward the development of a fully autonomous mesoscale hexapod robotic system. A circuit board and mobility system were developed in-house during the summer of 2008 to serve as the first generation of this platform. Much of the attention for this project has been focused on designing the system to be lightweight, small, and computationally capable of autonomous behavior using state-of-the-art embedded electronics ... |
|
| Testing of Unmanned Ground Vehicle (UGV) Systems |
12-Feb-2009 |
39 pages |
| Authors:
ABERDEEN TEST CENTER MD
|
| This TOP describes a systematic approach to safety and performance testing of Unmanned Ground Vehicles (UGVs). The objective is to ensure that the design of each UGV includes positive measures to enhance system safety, and that hazards which could reduce system safety are eliminated or controlled to an acceptable level of risk. |
|
| Multi-Scale Biomimetic Adhesives |
10-Feb-2009 |
16 pages |
| Authors:
Kimberly L Turner; CALIFORNIA UNIV REGENTS SANTA BARBARA OFFICE OF RESEARCH
|
| Over the life of this grant, significant technical contributions have been made. When this grant commenced, we were at the very beginnings of building a hierarchical gecko-inspired adhesive. Since that point, we have developed hierarchical synthetic adhesive has been developed which utilizes milli/micro/nanofabrication to build active adhesive devices. In addition, in the final year of the grant, the adhesive was made actively reversible, and we were able (with additional funds ... |
|
| Cooperative Wall-climbing Robots in 3D Environments for Surveillance and Target Tracking |
08-Feb-2009 |
20 pages |
| Authors:
Zhigang Zhu; Jizhong Xiao; CITY COLL OF THE CITY UNIV OF NEW YORK
|
| In the final reporting period, we have produced several variant wall-climbing robot prototypes for building inspection and window cleaning tasks. We also conducted theoretical research on multi-robot coordination, swarming robotics, and 3D map construction in constrained 3D space involving City-Climber robots. We have developed a 3D simulation software and conducted real experiments to verify the theoretical results. We are negotiating with Hasbro Inc. for licensing the City-Climber technology in toy ... |
|
| Human Bioresponse to Low-Frequency Underwater Sound |
02-Feb-2009 |
240 pages |
| Authors:
Mark F Hamilton; Sarah L Gourlie; Paul A Waters; TEXAS UNIV AT AUSTIN APPLIED RESEARCH LABS
|
| A technical summary of work completed under contract N00014-06-1-0299, entitled Human Bioresponse to Low-Frequency Underwater Sound, is given. Preliminary research such as the development of two micromechanical models of lung tissue and the calculation of elastic constants based upon such models is described. Progress made in the development of a lumped-element model of the human body and its internal organs is discussed. Master's theses completed under this contract are attached. ... |
|
| Nanoscale Transport Optimization |
04-Dec-2008 |
33 pages |
| Authors:
Lisa M Weiland; PITTSBURGH UNIV PA
|
| A generalized modeling tool has been created that facilitates virtual design of active material systems utilizing nanoscale transport. The construct is bio-mimetic in that the stochastic nature of biological transport proteins is utilized as the basis for transport phenomena. The transport response is then coupled to host response (for instance, elastic deformation of the supporting membrane) via finite element analysis. The advantages of this construct are (1) biological transport phenomena ... |
|
| Multi-Robot Systems in Military Domains (Les Systemes Multi-Robots Dans les Domaines Militaires) |
Dec-2008 |
116 pages |
| Authors:
NATO RESEARCH AND TECHNOLOGY ORGANIZATION NEUILLY-SUR-SEINE (FRANCE)
|
| IST-032/RTG-014 aim was to consider the potential of modern multi-robot systems for the use in military domains. There has been substantial interest in the use of MRS for a variety of military purposes. A better understanding of human computer and/or robot interaction requirements and development of techniques for evaluating the effectiveness of MRS to meet military purposes will provide military users with a basis for determining their requirements for this ... |
|
| Study of Wide Field of View Optical Systems Based on Animal Eyes |
01-Sep-2008 |
38 pages |
| Authors:
Duncan Moore; ROCHESTER UNIV NY INST OF OPTICS
|
| The study examines the compound eye and its potential role as a wide field of view optical system. A prototype system based on the apposition compound eye is designed and built. An alternative design based on the neural superposition compound eye is also presented. The effects of incorporating gradient index lenses into the system are also examined, as well as potential manufacturing methods. |
|
| Information Fusion for Hypothesis Generation under Uncertain and Partial Information Access Situation |
21-Jul-2008 |
83 pages |
| Authors:
Hiroaki Kitano; ZMP INC TOKYO (JAPAN)
|
| The challenge for most artificial systems that operate autonomously in the real world environment is how to cope with dynamic environment with limited, uncertain, and noisy information. Artificial intelligence and intelligent robotics research has been trying to solve such a problem by either improving accuracy of recognition systems or by integrating multiple source of information. In addition, architectural issues has been discussed on whether classical Sense-Model-Plan-Act architecture or the subsumption ... |
|
| Effective Motion Tracking Using Known and Learned Actuation Models |
06-Jun-2008 |
137 pages |
| Authors:
Yang Gu; CARNEGIE-MELLON UNIV PITTSBURGH PA SCHOOL OF COMPUTER SCIENCE
|
| Robots need to track objects. We consider tasks where robots actuate on the target that is visually tracked. Object tracking efficiency completely depends on the accuracy of the motion model and of the sensory information. The motion model of the target becomes particularly complex in the presence of multiple agents acting on a mobile target. We assume that the tracked object is actuated by a team of agents, composing of ... |
|
| Biomimetic Oscillating Foil Propulsion to Enhance Underwater Vehicle Agility and Maneuverability |
Jun-2008 |
|
| Authors:
Stephen C Licht; WOODS HOLE OCEANOGRAPHIC INSTITUTION MA
|
 | Inspired by the swimming abilities of marine animals, this theses presents Finnegan the RoboTurtle, an autonomous underwater vehicle (AUV) powered entirely by four flapping foils. Biomimetic actuation is shown to produce dramatic improvements in AUV maneuvering at cruising speeds, while simultaneously allowing for agility at low speeds. Using control algorithms linear in the modified Rodrigues parameters to support large angle maneuvers, the vehicle is successfully controlled in banded and twisting ... |
|
| Advancing Autonomy on Man Portable Robots |
14-May-2008 |
17 pages |
| Authors:
Brandon Sights; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
|
| Stochastic Simulation of Biomolecular Reaction Networks Using the Biomolecular Network Simulator Software |
01-Feb-2008 |
69 pages |
| Authors:
Brent Foy; John Frazier; Yaroslav Chusak; HUMAN EFFECTIVENESS DIRECTORATE WRIGHT-PATTERSON AFB OH APPLIED BIOTECHNOLOGY BRANCH
|
| We developed a software package, the Biomolecular Network Simulator (BNS), to simulate the stochastic behavior of complex biomolecular reaction networks on single and multi-processor computing systems. The software uses either exact or approximate stochastic simulation algorithms for generating Monte Carlo trajectories that describe the time evolution of the behavior of biomolecular reaction networks. This software uses a combination of MATLAB and C-coded functions and can be run on either single ... |
|
| In-Situ Air Sparaing: Engineering and Design |
31-Jan-2008 |
193 pages |
| Authors:
CORPS OF ENGINEERS WASHINGTON DC
|
| In-situ air sparging (IAS) is a rapidly emerging remediation technology for treatment of contaminants in saturated zone soils and groundwater. Injection below the water table of air, pure oxygen, or other gases may result in removal of contaminants by volatilization or bioremediation. Less commonly, IAS can be used to immobilize contaminants through chemical changes such as precipitation. This Engineer Manual (EM) provides guidance for evaluation of the feasibility and applicability ... |
|
| Biomineralized 3-D Nanoparticle Assemblies with Micro-to-Nanoscale Features and Tailored Chemistries |
07-Jan-2008 |
30 pages |
| Authors:
Ken H Sandhage; Jennifer A Lewis; GEORGIA INST OF TECH ATLANTA SCHOOL OF MATERIALS SCIENCE AND ENGINEERING
|
| This collaborative research project has focused on the integrated use of robust biomimetic or biological silica assembly processes with shape-preserving chemical conversion reactions to produce freestanding 3-D structures with selectable microscale morphologies, nanoscale features, and tailored, non-silica chemistries. Biomimetic 3-D silica structures have been synthesized through Direct-Write Assembly using polyamine-based inks, followed by templated conformal silicification. With proper selection of ink composition and silicification conditions, robust silica structures were formed ... |
|
| Can a Difference in Molecular Weights Cause an Eruption in a Driven Flow of Self-Organizing Immiscible System? |
Jan-2008 |
7 pages |
| Authors:
Ras Pandey; Joseph Gettrust; NAVAL RESEARCH LAB STENNIS SPACE CENTER MS MARINE GEOACOUSTICS DIV
|
| Driven flow of a non-equilibrium non-conservative (NENC) system with a mixture of immiscible particles [A, B of molecular weight M(A), M(B)) exhibits self-organizing patterns (segregation, phase-separation, etc.) in steady-state. The flow response (v) of mass flux density (j) to bias (H), v = (partial derivative)j/(partial derivative)H in steady-state is found to be sensitive to molecular weight ratio (alpha = M(B)/(M(A)). While the flux density (j) responds lineally to bias for ... |
|
| Bio-Inspired Organic/Inorganic Hybrid Electronic and Photonic Materials and Structures |
31 DEC 2007 |
10 pages |
| Authors:
Alex K-Y. Jen; Mehmet Sarikaya; David Ginger; WASHINGTON UNIV SEATTLE DEPT OF MATERIALS SCIENCE AND ENGINEERING
|
| The goal of this project was to use DNA and protein as templates to assemble nanoparticles and functional molecules for photonic and electronic applications such as plasmon-enhanced fluorescence and surface-enhanced Raman scattering (SERS) (Fig. 1). Towards this goal, we have utilized both genetic and materials engineering tools. We have followed the molecular biomimetic approach in the assembly of nanoparticles. We have developed protocols using involving biological attachment of nanoparticles and ... |
|
| The Implementation and Testing of a Robotic Arm on an Autonomous Vehicle |
DEC 2007 |
51 pages |
| Authors:
Hyun Il Jun; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| An articulated arm with three degrees of freedom is implemented and tested on an autonomous robot. Kinematic equations of motion for the arm are modeled and tested. A communication architecture is successfully implemented for wireless manual control of the arm. Visual and thermal cues are realized with an onboard camera and a collocated thermal sensor. Future work suggests investigations for full autonomous arm control without manual operator intervention based on ... |
|
| Nerve Muscle Interface for Prosthetic Feedback Control Proof of Concept in a Tissue Co-Culture System |
01-Nov-2007 |
9 pages |
| Authors:
Mark Tommerdahl; Robert Dennis; NORTH CAROLINA UNIV AT CHAPEL HILL
|
| The objective of the proposed work was to demonstrate that bi-directional communication via synthetic electrode arrays can be established between engineered tissues in cell culture (muscle and nerve) and that this communication can be exploited to control a remotely located robotic actuator. Specific applications of this technology will include peripheral nerve interfaces for the neurally based feedback control of human prosthetic devices, and the control of remote actuators and robotic ... |
|
| Biofouling and Design of a Biomimetic Hull-Grooming Tool |
14-Sep-2007 |
38 pages |
| Authors:
Nikita Kohli; NAVAL SURFACE WARFARE CENTER CARDEROCK DIV BETHESDA MD
|
| Biofouling, the accumulation of biological detritus on a hard substrate, has plagued the United Navy. Fouling causes increased hydrodynamic drag, resulting in increased fuel consumption and decreased speed and range. The purpose of this investigation was to research the formation of fouling, mechanisms of prevention, and tools for its removal. The Navy currently uses a copper-based antifouling coating that releases copper into the water, killing the fouling organisms. There is ... |
|
| Fuel-Powered Artificial Muscles for the Robotic Soldier |
01-Sep-2007 |
|
| Authors:
Ray Baughman; TEXAS UNIV AT DALLAS RICHARDSON
|
| Two types of novel actuators that are powered by high-energy-density fuels (hydrogen, methanol, or formic acid fuel combined with air or oxygen) have been experimentally demonstrated in this program. The first type uses a carbon nanotube electrode that simultaneously functions as a muscle, a fuel cell electrode and a supercapacitor electrode. The result is a muscle that converts the chemical energy in the fuel to electrical energy and can use ... |
|
| Entrapment of Enzymes and Carbon Nanotubes in Biologically Synthesized Silica: Glucose Oxidase-catalyzed Direct Electron Transfer, Preprint |
AUG 2007 |
24 pages |
| Authors:
Dmitri Invitski; Kateryna Artyuskova; Rosalba A. Rincon; Plamen Atanassov; Heather R. Luckarift; Glenn R. Johnson; NEW MEXICO UNIV ALBUQUERQUE DEPT OF CHEMICAL AND NUCLEAR ENGINEERING
|
| This work demonstrates a new approach for building bio-inorganic interfaces by integrating biomimetically-derived silica with single-walled carbon nanotubes to create a conductive matrix for immobilization of enzymes. Such a strategy not only allows simple integration into bio-devices but presents an opportunity to intimately interface an enzyme and manifest direct electron transfer features. Biologically-templated silica/carbon nanotube/enzyme composites were evaluated electrochemically and characterized by means of X-ray photoelectron spectroscopy. Voltammetry of the ... |
|
| Assessment of Stereoscopic Display Systems for Assisting in Route Clearance Manipulation Planning Tasks |
AUG 2007 |
29 pages |
| Authors:
Andrew S. Bodenhamer; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
|
| This study was conducted to objectively compare how the use of a three-dimensional (3-D) or two-dimensional (2-D) visual display affects manipulation planning performance in a spatial perception task relevant to the operation of the Buffalo vehicle manipulator arm. Portions of the results are also generalizable to any tele-operated precision manipulation task. The task evaluated involves judging the position of the Buffalo arm relative to targets and obstacles as seen in ... |
|
| Bird's Eye View: Is the Common Remotely Operated Weapons Station an Improvement over a Traditionally Manned Weapon |
15 JUN 2007 |
82 pages |
| Authors:
Krista M. Hoffman; ARMY COMMAND AND GENERAL STAFF COLL FORT LEAVENWORTH KS
|
| This thesis compares a traditional M2 machine gun with an M2 mounted on the Common Remotely Operated Weapon Station (CROWS). CROWS is a remotely operated weapons platform primarily mounted on the Army's M1114 Up-Armored High Mobility Multipurpose Wheeled Vehicle (HMMWV). The problem is whether this state of the art weapon system is an improvement over a traditionally manned weapon in combat. To address the problem the thesis analyzed the benefits ... |
|
| Tutorial on Agent-based Modeling and Simulation |
01-Jun-2007 |
60 pages |
| Authors:
Michael J North; Charles M Macal; ARGONNE NATIONAL LAB IL
|
| Tutorial on Agent-based Modeling and Simulation * PRESENTATION GOALS -- How to think about agent-based modeling and simulation (ABMS) and agents -- How to do ABMS -- Explain how ABMS is Useful, Usable, and Used! * OUTLINE -- Background: What it is and where did ABMS come from? -- Applications of Agent-Based Models -- How to do Agent-Based Modeling. |
|
| Applications of Nanotechnology in Biomimetics and Biocatalysts |
01 MAY 2007 |
3 pages |
| Authors:
Chung-Yuan Mou; NATIONAL TAIWAN UNIV TAIPEI
|
| The objectives of the proposed research are to synthesize model compounds to mimic enzymes and to evaluate enzymatic activities and the stabilities of metal reactive centers and biocatalysts encapsulated in the nanochannels of MCM-41 and other mesoporous materials. The following spectroscopic techniques to characterize the materials and to elucidate the reaction mechanism: XRD, FT-IR, UV-visible, EPR and EXAFS have been applied. Efforts in the first six months of this study ... |
|
| An Artificial Immune System-Inspired Multiobjective Evolutionary Algorithm with Application to the Detection of Distributed Computer Network Intrusions |
MAR 2007 |
224 pages |
| Authors:
Charles R. Haag; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| Today's predominantly-employed signature-based intrusion detection systems are reactive in nature and storage-limited. Their operation depends upon catching an instance of an intrusion or virus after a potentially successful attack, performing post-mortem analysis on that instance and encoding it into a signature that is stored in its anomaly database. The time required to perform these tasks provides a window of vulnerability to DoD computer systems. Further, because of the current maximum ... |
|
| Development of Odor Sensor to Recognize Partial Structures of Chemical Substances |
25 FEB 2007 |
8 pages |
| Authors:
Kiyoshi Toko; KYUSHU UNIV FUKUOKA (JAPAN)
|
| The aim of this research is to develop an odor sensor information system that can resolve molecular information into the information of partial structures, the so-called artificial olfactory epithelium. Furthermore an attempt was made to quantify odor using molecular information. |
|
| Stochastic Mapping for Chemical Plume Source Localization With Application to Autonomous Hydrothermal Vent Discovery |
FEB 2007 |
|
| Authors:
Michael V. Jakuba; WOODS HOLE OCEANOGRAPHIC INSTITUTION MA
|
| This thesis presents a stochastic mapping framework for autonomous robotic chemical plume source localization in environments with multiple sources. Potential applications for robotic chemical plume source localization include pollution and environmental monitoring, chemical plant safety, search and rescue, anti-terrorism, narcotics control, explosive ordinance removal, and hydrothermal vent prospecting. Turbulent flows make the spatial relationship between the detectable manifestation of a chemical plume source, the plume itself, and the location of ... |
|
| Auditory Modeling as a Basis for Spectral Modulation Analysis with Application to Speaker Recognition |
31 JAN 2007 |
|
| Authors:
Tianyu T. Wang; Thomas F. Quatieri; MASSACHUSETTS INST OF TECH LEXINGTON LINCOLN LAB
|
| This report explores auditory modeling as a basis for robust automatic speaker verification. Specifically, we have developed feature-extraction front-ends that incorporate (1) time-varying, level-dependent filtering, (2) variations in analysis filter-bank size, and (3) nonlinear adaptation. Our methods are motivated both by a desire to better mimic auditory processing relative to traditional front-ends (e.g., the mel-cepstrum) as well as by reported gains in automatic speech recognition robustness exploiting similar principles. Traditional ... |
|
| Robotic Discovery of the Auditory Scene |
2007 |
7 pages |
| Authors:
E. Martinson; A. Schultz; GEORGIA INST OF TECH ATLANTA
|
| In this work, we describe an autonomous mobile robotic system for finding and investigating ambient noise sources in the environment. Motivated by the large negative effect of ambient noise sources on robot audition, the long-term goal is to provide awareness of the auditory scene to a robot, so that it may more effectively act to filter out the interference or re-position itself to increase the signal-to-noise ratio. Here, we concentrate ... |
|
| Heuristic Automation for Decluttering Tactical Displays |
2007 |
18 pages |
| Authors:
Mark St. John; Harvey S. Smallman; Daniel I. Manes; Bela A. Feher; Jeffrey G. Morrison; PACIFIC SCIENCE AND ENGINEERING GROUP INC SAN DIEGO CA
|
| Tactical displays can quickly become cluttered with large numbers of symbols that can compromise effective monitoring. Here, we studied how heuristic automation can aid users by intelligently "decluttering" the display. In a realistic simulated naval air defense task, 27 experienced U.S. Navy users monitored a cluttered airspace and executed defensive responses against significant threats. An algorithm continuously evaluated aircraft for their levels of threat and decluttered the less threatening ones ... |
|
| Real-Time Motion Planning and Safe Navigation in Dynamic Multi-Robot Environments |
15 DEC 2006 |
205 pages |
| Authors:
James R. Bruce; CARNEGIE-MELLON UNIV PITTSBURGH PA SCHOOL OF COMPUTER SCIENCE
|
| All mobile robots share the need to navigate, creating the problem of motion planning. In multi-robot domains with agents acting in parallel, highly complex and unpredictable dynamics can arise. This leads to the need for navigation calculations to be carried out within tight time constraints, so that they can be applied before the dynamics of the environment make the calculated answer obsolete. At the same time, we want the robots ... |
|
| Improvised Explosive Devise Placement Detection from a Semi-Autonomous Ground Vehicle |
DEC 2006 |
111 pages |
| Authors:
Benjamin D. Miller; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Improvised Explosive Devices (IED's) continue to kill and seriously injure military members throughout the Iraqi theatre. Autonomous Ground Vehicle (AGV) seeks to identify the human presence placing the IED and then report that contact to a unit of action. This research developed a semiautonomous platform that can navigate to waypoints, avoid obstacles, investigate possible threats and then detect motion that triggers a visual camera. The information is then relayed back ... |
|
| Adaptive Optoelectronic Eyes: Hybrid Sensor/Processor Architectures |
13 NOV 2006 |
126 pages |
| Authors:
Jr. Tanguay Armand R.; B. K. Jenkins; Christoph von der Malsburg; Bartlett Mel; Irving Biederman; John O'Brien; Anupam Madhukar; UNIVERSITY OF SOUTHERN CALIFORNIA LOS ANGELES
|
| The goal of this research program was to develop novel algorithms, architectures, and hardware for a truly smart camera, with inherent capability for semi-autonomous object recognition as well as optimal image capture. In this research, we combined striking advances in the understanding of the mechanisms of biological vision systems with similar advances in hybrid electronic/photonic packaging technology, in order to develop adaptive, artificial, biologically-inspired vision systems. A key research program ... |
|
| NASA Extreme Environments Mission Operations 10 - Evaluation of Robotic and Sensor Technologies for Surgery in Extreme Environments |
NOV 2006 |
108 pages |
| Authors:
Timothy J. Broderick; CINCINNATI UNIV OH
|
| This final report covers the activities conducted by Dr. Timothy Broderick during his participation in planning and execution of the NASA Extreme Environment Mission Operation (NEEMO) 9 mission. The mission, held in collaboration with NASA, was conducted from April 3 - 20, 2006. Dr. Broderick served as an aquanaut aboard the Aquarius habitat, which is submerged off the coast of Key Largo, FL. During this mission, Dr. Broderick participated in ... |
|
| A Computing Cluster for Numerical Simulation |
23 OCT 2006 |
6 pages |
| Authors:
Ronald Fedkiw; STANFORD UNIV CA DEPT OF COMPUTER SCIENCE
|
| The acquired computing cluster is used in the development of novel techniques for computational fluid dynamics and continuum mechanics, with a focus on large Eulerian or Lagrangian discretizations. Applications that receive particular emphasis include the following: (1) simulation of discontinuous flows resulting from the interaction of several immiscible or chemically reacting phases; (2) adaptive discretizations of large fluid volumes that can resolve turbulent flows and the effects of highly variable ... |
|
| Establishing Tools for Computing Hybrids |
OCT 2006 |
39 pages |
| Authors:
Clare Thiem; Sunil Bhat; Thomas Blount; AIR FORCE RESEARCH LAB ROME NY INFORMATION DIRECTORATE
|
| Establishing Tools for Computing hybrids (ETCH) provides a starting point from which to explore how advanced computing technology, based upon biotechnology, might enable intelligent systems and provide new capabilities to the Air Force. Much effort was spent exploring published research to understand what others have accomplished, problems they encountered, the potential of the biotechnology to advance computing technology, and identifying potential paths on which to focus future research. Various computational ... |
|
| Simulation of Biomolecular Nanomechanical Systems |
OCT 2006 |
34 pages |
| Authors:
Arup K. Chakraborty; Arunava Majumdar; CALIFORNIA UNIV REGENTS BERKELEY
|
| This report documents results from the BioNEMS project. Computer simulation methods and theoretical tools that can be applied to guide the design of microdevices relying on the concept of translating biomolecular binding to mechanical forces were developed. These computational tools were applied, in synergy with experiments, to define the important factors that determine device performance. One important result is that molecular-level self assembly of probe molecules determines microdevice performance, and ... |
|
| Developing Autonomous Vehicles That Learn to Navigate by Mimicking Human Behavior |
28 SEP 2006 |
15 pages |
| Authors:
Dean B. Edwards; John Canning; Joel Alberts; IDAHO UNIV MOSCOW DEPT OF MECHANICAL ENGINEERING
|
| A program initiated by the Defense Advanced Research Project Agency (DARPA) called "Learning Applied to Ground Robots" (LAGR) is developing control algorithms that would allow a vehicle to safely travel cross-country. The University of Idaho with funding from the Office of Naval Research is participating in this program in which DARPA provided a vehicle having both sensors and supporting software for the sensors. We used the LAGR vehicle to help ... |
|
| Emulating the Fast-Start Swimming Performance of the Chain Pickerel (Esox niger) Using a Mechanical Fish Design |
01 SEP 2006 |
|
| Authors:
Matthew N. Watts; MASSACHUSETTS INST OF TECH CAMBRIDGE
|
| Mean maximum start-up accelerations and velocities achieved by the fast-start specialist, northern pike, are reported at 120 m/s sq and 4 m/s, respectively (Harper and Blake, 1990). In this thesis, a simple mechanical system was created to closely mimic the startle response that produces these extreme acceleration events. The system consisted of a thin metal beam covered by a urethane rubber fish body. The mechanical fish was held in curvature ... |
|
| Compression and Instrumented Indentation Measurements on Biomimetic Polymers |
SEP 2006 |
14 pages |
| Authors:
Thomas F. Juliano; Paul Moy; Tusit Weerasooriya; Mark R. VanLandingham; Aaron M. Forster; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD
|
| The mechanical response of living tissue is important to understanding the injury-risk associated with impact events. Unfortunately, currently used materials are not optimal surrogates and present several experimental challenges. Bulk measurement techniques, such as compression and shear tests, do not necessarily represent the type and rate of loading experienced in an actual impact event. Indentation testing may induce surface loading at stress states and strain rates not available to bulk ... |
|
| Biomimetics and the Application to Devices (Preprint) |
SEP 2006 |
9 pages |
| Authors:
Morley O. Stone; AIR FORCE RESEARCH LAB WRIGHT-PATTERSON AFB OH MATERIALS AND MANUFACTURING DIRECTORATE
|
| At first glance, imitating nature via biomimetics seems to be a straightforward proposition. For example, if one is a roboticist, just add legs to the platform instead of wheels. Unfortunately, and as often the case, the devil is in the details. This short synopsis will cover biomimetic examples of material synthesis, sensing and robotics. This overview will attempt to capture some lessons learned, some surprising and unanticipated insights, and some ... |
|
| Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms |
31 AUG 2006 |
|
| Authors:
Eric M. Schearer; CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
|
| This paper focuses on simulations of a dynamically stable mobile robot (Ballbot) with arms. The simulations are of Ballbot lifting its arms in various directions. A PD arm controller works independently of an LQR-designed balancing/station keeping controller. The PD controller drives the arms to follow desired trajectories. when the arms are raised, Ballbot assumes a leaning equilibrium (the physical equilibrium) as opposed to the standing equilibrium (body stands totally upright ... |
|
| New Architectures, Algorithms And Designs That Lead To Implemented Machine Reasoning Over Knowledge In Epistemic And Deontic Formats, In The Service Of Advanced Wargaming |
AUG 2006 |
48 pages |
| Authors:
Selmer Bringsjord; Konstantine Arkoudas; Yingrui Yang; RENSSELAER POLYTECHNIC INST TROY NY
|
| This effort investigated new architectures, algorithms, and designs to lead to: implemented machine reasoning over knowledge in expressive formats that include doxastic and deontic operators; understanding use of such implementations in a multi-agent setting; and implementation into other relevant DoD-related efforts. The RASCALS cognitive architecture has been developed further; new algorithms have been devised in mechanized epistemic and deontic logics; and the basic design for a logicist intelligent agent, callable ... |
|
| Perspectives on Retaining a DRDC Human Sciences Centre...in Toronto |
AUG 2006 |
|
| Authors:
Ira Jacobs; DEFENCE RESEARCH AND DEVELOPMENT TORONTO (CANADA)
|
| Defence R&D Canada (DRDC) is embarking on a central initiative to develop a comprehensive infrastructure strategy. A major objective of the initiative is to identify and justify the infrastructure required by DRDC to ensure that it remains a world leader in its Science & Technology activities. The strategy will include addressing issues such as the location of the research centres and the associated synergy that exists with industry and academia ... |
|
| A Biomimetic Algorithm for Flight Stabilization in Airborne Vehicles, Based on Dragonfly Ocellar Vision |
27 JUL 2006 |
45 pages |
| Authors:
Gert Stange; Josh van Kleef; Richard Berry; Robert Parker; AUSTRALIAN NATIONAL UNIV CANBERRA (AUSTRALIA) RESEARCH SCHOOL OF BIOLOGICAL SCIENCES
|
| This report covers research done on dragonfly eyes focused on understanding how dragonflies process attitude information. By understanding the anatomy of the dragonfly occeli, it can be concluded that they are simple lens eyes designed for attitude stabilization. |
|
Bionics
