| Long-Term Clock Behavior of GPS IIR Satellites |
01-Nov-2007 |
|
| Authors:
Marvin Epstein; Todd Dass; John Rajan; Paul Gilmour; ITT CORP CLIFTON NJ SPACE SYSTEMS DIV
|
 | The ITT-developed GPS IIR satellite payloads have been on orbit since 1997, and have proven to be the best family of clocks in the GPS constellation. At this time, there is a substantial recorded history of clock behavior, including over 60 clock years of space operation. The age of the oldest clock is over 9 years. A review of the record shows a number of significant characteristics that were not ... |
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| Ensemble Time in GNSS - Performance Requirements and Algorithm Tests |
01-Nov-2007 |
|
| Authors:
Alexandre Moudrak; Mattgias Suess; E Frolova; GERMAN AEROSPACE CENTER (DLR) OBERPFAFFENHOFEN (GERMANY)
|
| Any Global Navigation Satellite System (GNSS) relies on a highly stable and reliable System Time that has to meet high-performance requirements to enable GNSS services suitable for navigation and timing communities. The challenge is to guarantee this high performance continuously. The Kalman filter algorithm implemented in GPS, called the GPS Composite Clock, is a mature method to generate such a highly robust System Time. The algorithm estimates the time offsets ... |
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| Single Sensor Scheduling for Multi-Site Surveillance (PREPRINT) |
NOV 2007 |
26 pages |
| Authors:
David E. Jeffcoat; Mesut Yavuz; AIR FORCE RESEARCH LAB EGLIN AFB FL MUNITIONS DIRECTORATE
|
 | This paper is concerned with scheduling a single sensor to visit a number of sites with possibly time-variant dynamics. The paper motivates and presents a mathematical model for a sensor scheduling problem arising in the context of military operations research. The contributions made in the paper include the development and comparison of both deterministic and stochastic sensor scheduling methods. Results obtained in the paper show that the proposed heuristic methods ... |
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| Integration of Enhanced Propagation, Environmental Variability, and Network Performance Models into the InfraMAP Software Toolkit |
NOV 2007 |
69 pages |
| Authors:
David Norris; ROBERT GIBSON; BBN TECHNOLOGIES ARLINGTON VA
|
| Enhancements to the infrasound software tool kit, InfraMAp, have been integrated in three main areas: propagation modeling, environmental variability modeling, and stochastic localization techniques. All new model functionality is included in a next-generation release of the tool kit. The modeling advances improve propagation predictions and understanding of environmental effects, and they have been used to evaluate the localization performance and confidence bounds of operational infrasonic networks. New propagation modeling features ... |
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| A MURI Center for Intelligent Biomimetic Image Processing and Classification |
NOV 2007 |
36 pages |
| Authors:
Stephen Grossberg; BOSTON UNIV MA DEPT OF COGNITIVE AND NEURAL SYSTEMS
|
| Senior faculty coordinate small teams of faculty/student researchers on projects to develop the unified SMartVlSlON system. Biological modeling projects --discover fundamental organizational principles and mechanisms that enable the brain to adapt in real-time to unexpected environmental challenges, translate them into mathematical models, and use the models to quantitatively simulate large brain and behavioral data bases about vision, object recognition, and tracking. These models have introduced two revolutionary new paradigms into ... |
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| Handheld UXO Sensor Improvements to Facilitate UXO/Clutter Discrimination. Volume 2: Signal Processing for Handheld UXO Improvements |
Nov-2007 |
126 pages |
| Authors:
Thomas Bell; Stacy L Tantum; Leslie M Collins; SCIENCE APPLICATIONS INTERNATIONAL CORP (SAIC) CARY NC
|
| The goal of this work is to develop robust algorithms to precisely determine the position of a handheld UXO sensor as it is swept above a suspected UXO object. It is critical that the sensor position be known precisely because research results have established that one of the most important factors in using UXO sensor data to characterize buried targets is precise knowledge of the sensor location and attitude while ... |
|
| FY06 NRL DoD High Performance Computing Modernization Program Annual Reports |
31 OCT 2007 |
124 pages |
| Authors:
Portia A. Shingler; Beth A. Howell; NAVAL RESEARCH LAB WASHINGTON DC CENTER FOR COMPUTATIONAL SCIENCE
|
| This book is a compilation of reports on all the work accomplished by NRL scientists and engineers and their collaborators using the DoD High Performance Computing Modernization Program's (HPCMP) resources for fiscal year 2006. The reports encompass work performed by researchers at all three NRL sites: Washington, DC; Stennis Space Center, Mississippi; and Monterey, California. These reports are categorized according to the primary Computational Technology Area (CTA) as specified by ... |
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| The Application and Impact of Data Conversion Research and Analysis Techniques in Support of Homeland Security |
31-Oct-2007 |
14 pages |
| Authors:
Teresa Walker; Ayman Wasfy; HAMPTON UNIV VA
|
| The aim of this project is to develop a system that integrates comprehensive technical data packages on critical facilities for access and use by first responders and response planners and trainers. During the period of performance we created ERVE, the Emergency Responders Virtual Environment. The system seamlessly integrates 2D and 3D models of facilities, virtual reality, knowledge management, geographic information systems, live camera feeds, chemical plume modeling, emergency text-messaging notification, ... |
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| Bandit: Technologies for Proximity Operations of Teams of Sub-10Kg Spacecraft |
16 OCT 2007 |
13 pages |
| Authors:
Michael A. Swartwout; WASHINGTON UNIV ST LOUIS MO DEPT OF SYSTEMS MECHANICAL AND AEROSPACE ENGINEERING
|
| This work was pursued as a supplement to an existing University Nanosat-4 activity (the Akoya/Bandit mission at Washington University). The objective of this work was to develop control theory for operating the 3-kg free-flying Bandit spacecraft, as expressed by two goals: improve the fidelity and performance of our 3DOF hardware testbed and 6DOF simulator; develop, test and evaluate two methods for autonomous multi-vehicle control (behavior-based and waypoint/autopilot) Control theory was ... |
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| Micro-PSYPRE (Psi m sub x): Toward Computing the Future |
05 OCT 2007 |
29 pages |
| Authors:
Selmer Bringsjord; Micah Clark; Trevor Housten; Konstantine Arkoudas; RENSSELAER POLYTECHNIC INST TROY NY
|
| The acute desire, on the part of the United States, to engage in Effects-Based Operations (or, for short, EBO; see e.g. Deptula 2001, Davis 2001) is here to stay. The name may of course change (and that's why we refer generically to computing the future), but the desire to determine what the future will bring, not just with respect to the physical effects of physical attack, but also with respect ... |
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| Computational Methods for Design, Control and Optimization |
01 OCT 2007 |
17 pages |
| Authors:
J. T. Borggaard; J. A. Burns; E. M. Cliff; T. Iliescu; VIRGINIA POLYTECHNIC INST AND STATE UNIV BLACKSBURG INTERDISCIPLINARY CENTER FOR APPLIED MATHEMATICS
|
| This work is a preliminary step in the development of general computational tools for large scale Riccati equations that arise in a variety of control and estimation problems. The results imply that, even when the Riccati equations are used for applications such as weather prediction, control theory concepts provide the basic information about the type of approximation schemes that produce mesh independence. |
|
| Engine Test Cell Aeroacoustics and Recommendations |
OCT 2007 |
115 pages |
| Authors:
Christopher Tam; FLORIDA STATE UNIV TALLAHASSEE DEPT OF MATHEMATICS
|
| Ground testing of turbojet engines in test cells necessarily involves very high acoustic amplitudes, often enough and severe enough that testing is interrupted and facility hardware and test articles are damaged. The acoustic response of test cells containing energetic jets is poorly understood and generally unpredictable. Nevertheless, there is a clear need to be able to predict deleterious acoustic events in advance of facility entry. A predictive capability would permit ... |
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| Objectively Assessing Underwater Image Quality for the Purpose of Automated Restoration |
OCT 2007 |
8 pages |
| Authors:
Weilin Hou; Alan D. Wiedemann; NAVAL RESEARCH LAB STENNIS SPACE CENTER MS OCEANOGRAPHY DIV
|
| To automatically enhance and restore images, especially those taken from underwater environments where scattering and absorption by the medium strongly influence the imaging results even within short distances, it is critical to have access to an objective measure of the quality of images obtained. This contribution presents an approach to measure the sharpness of an image based on the weighted gray-scale-angle (GSA) of detected edges. Images are first decomposed by ... |
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| Automated Underwater Image Restoration and Retrieval of Related Optical Properties |
OCT 2007 |
5 pages |
| Authors:
Weilin Hou; Deric J. Gray; Alan D. Weidemann; Georges R. Fournier; J. L. Forand; NAVAL RESEARCH LAB STENNIS SPACE CENTER MS OCEANOGRAPHY DIV
|
| This study is aimed at establishing a framework to restore underwater imagery to the best possible level, working with both simulated and field-measured data. Using this framework, the traditional image restoration approach is extended by incorporating underwater optical properties into the system response function, specifically the point spread function (PSF) in the spatial domain and the modulation transfer function (MTF) in the frequency domain. Due to the intensity variations involved ... |
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| Training Wayfinding: Natural Movement in Mixed Reality |
OCT 2007 |
70 pages |
| Authors:
Ruthann Savage; ARMY RESEARCH INST FOR THE BEHAVIORAL AND SOCIAL SCIENCES ORLANDO FL
|
| This report describes an experiment that investigated a prototype mixed reality (MR) system, utilizing the Battlefield Augmented Reality System (BARS), for training wayfinding. BARS is a mobile augmented reality system that uses a head mounted display (HMD) and a wireless system that tracks the users' head position and orientation. In this application a graphic representation of an office space was used as a virtual environment (VE), through which users walked ... |
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| Hybrid Discriminative/Class-Specific Classifiers for Narrow-Band Signals |
Oct-2007 |
38 pages |
| Authors:
Paul M Baggenstoss; Brian F Harrison; NAVAL UNDERSEA WARFARE CENTER DIV NEWPORT RI DEPT OF SENSORS AND SONAR SYSTEMS
|
| The class-specific (CS) method of signal classification operates by computing low-dimensional feature sets defined for each signal class of interest. By computing separate feature sets tailored to each class, i.e., class-specific features, the CS method avoids estimating probability distributions in a high-dimension feature space common to all classes. Building a CS classifier amounts to designing feature extraction modules for each class of interest. In this paper we present the design ... |
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| Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms onto an Unmanned Underwater Vehicle (UUV) |
Oct-2007 |
9 pages |
| Authors:
Paul Miller; Vladimir Djapic; J A Farrell; Rich Arrieta; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA UNMANNED MARITIME VEHICLE LAB
|
| UUVs equipped with high-level control software have a variety of potential applications for Anti-Terrorism/Force Protection (ATFP) objectives. Desirable vehicle control capabilities include the ability to drive at very low, controllable speeds, the ability to maintain a set distance and attitude (pitch and roll) relative to some surface for optimal sensor (both sonar and video) effectiveness, and the ability for the operator to intervene to change the mission activities. Moreover, a ... |
|
| Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms onto an Unmanned Underwater Vehicle (UUV) |
Oct-2007 |
9 pages |
| Authors:
Paul Miller; Vladimir Djapic; J A Farrell; Rich Arrieta; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA UNMANNED MARITIME VEHICLE LAB
|
| UUVs equipped with high-level control software have a variety of potential applications for Anti-Terrorism/Force Protection (ATFP) objectives. Desirable vehicle control capabilities include the ability to drive at very low, controllable speeds, the ability to maintain a set distance and attitude (pitch and roll) relative to some surface for optimal sensor (both sonar and video) effectiveness, and the ability for the operator to intervene to change the mission activities. Moreover, a ... |
|
| Coordinated Autonomy for Persistent Presence in Harbor and Riverine Environments |
30-Sep-2007 |
14 pages |
| Authors:
A J Healey; A Monarrez; T D Masek; K M Squire; K D Jones; V Dobrokhodov; W Baer; S P Kragelund; M Kolsch; I I Kaminer; D P Horner; B D Wring; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
|
| In FY 2007 the Naval Postgraduate School (NPS) teamed with Virginia Tech (VT) to conduct fundamental research and experimentation aimed at enabling coordinated autonomous operations by teams of heterogeneous (land, sea, air) vehicles. The primary goal of this research is to develop tools for vehicle-to-vehicle cueing and distributed sensing for shared situational awareness. A long-term goal for this research is persistent area surveillance of harbor and riverine environments by a ... |
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| Multi-Camera, High-Speed Imaging System for Kinematics Data Collection |
21 SEP 2007 |
14 pages |
| Authors:
Jason Geder; William C. Sandberg; Ravi Ramamurti; NAVAL RESEARCH LAB WASHINGTON DC
|
| A two-camera system was devised and created to determine the kinematics of flapping fin and flapping wing vehicles. Each camera is set up to capture triggered, high-speed (up to 10,000 frames per second) images of the appendage in a test environment. Using direct linear transforms, each camera is calibrated to convert image coordinates to an alternate coordinate system. Points of interest on the appendage are selected from each camera image ... |
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| The 15th Annual Intelligent Ground Vehicle Competition: Intelligent Ground Robots Created by Intelligent Students |
09 SEP 2007 |
16 pages |
| Authors:
Bernard L. Theisen; TACOM RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI
|
| The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus ... |
|
| An Algorithm-Independent Analysis of the Quality of Images Produced Using Multi-Frame Blind Deconvolution Algorithms--Conference Proceedings (Postprint) |
01-Sep-2007 |
10 pages |
| Authors:
Charles Matson; Alim Haji; AIR FORCE RESEARCH LAB KIRTLAND AFB NM DIRECTED ENERGY DIRECTORATE
|
| Multi-frame blind deconvolution (MFBD) algorithms can be used to generate a deblurred image of an object from a sequence of short-exposure and atmospherically-blurred images of the object by jointly estimating the common object and all the blurring functions. In this paper we present fundamental limits (Cramer-Rao lower bounds) to the quality of restored images generated with MFBD algorithms. We show that image restorations are less noisy when using a Zemike-based ... |
|
| I2AT: The Information and Interpretation Analysis Toolkit |
SEP 2007 |
58 pages |
| Authors:
Dan Hunter; James Melhuish; Andy Seidel; Jorge Tierno; BAE SYSTEMS ADVANCED INFORMATION TECHNOLOGIES INC BURLINGTON MA
|
| BAE Advanced Information Technologies (AIT) has developed an Information Interpretation and Analysis Toolkit (I2AT) that provides a set of analytic capabilities that fit within and augment a knowledge management system. The I2AT tool will address the challenge of effectively analyzing vast amounts of information with limited analyst manpower by focusing analyst attention on available pieces of information that produce significant changes in the assessment of the situation and identifying additional ... |
|
| Learning Adversary Modeling from Games |
SEP 2007 |
97 pages |
| Authors:
Paul Avellino; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Since ancient times, adversary modeling has been used during wargaming exercises in which military leaders have recreated past battles or simulated future battles in order to educate military professionals. Although the technology today is much different, adversary modeling still serves the same goals to help military professionals learn tactics from past successes and mistakes. In the computer age, highly accurate models and simulations of the enemy can be created. However, ... |
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| MAJIC: A Java Application for Controlling Multiple, Heterogeneous Robotic Agents |
SEP 2007 |
157 pages |
| Authors:
Gregory P. Ball; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Current capability to command and control a team of heterogeneous robotic agents is limited by proprietary command formats and operating systems. A specific challenge in this context is the specification, the programming, and the testing of software for such a wide variety of mobile robot teams. This work explores the applicability of an application program interface (API), called the Multi-Agent Java Interface Controller (MAJIC), that supports command, control, and coordination ... |
|
| Using Knowledge Value Added (KVA) for Evaluating Cryptologic it Capabilities: Trial Implementation |
SEP 2007 |
85 pages |
| Authors:
III Lambeth Ira D.; Hubert N. Clapp; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Program managers throughout the DoD are faced with technology portfolio management problems. Critical to these efforts is the need to track the performance of the technology on a routine, ongoing basis. This thesis focuses on solving this general problem in the specific context of the United States Navy's Cryptologic Carry-On Program (CCOP). This study provides a demonstration of how a software suite that monitors process performance can be implemented to ... |
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| Effectiveness Evaluation of Force Protection Training Using Computer-Based Instruction and X3d Simulation |
SEP 2007 |
188 pages |
| Authors:
Wilfredo Cruzbaez; NAVAL POSTGRADUATE SCHOOL MONTEREY CA GRADUATE SCHOOL OF OPERATIONAL AND INFORMATION SCIENCES
|
| Due to growing operational constraints accelerated by the Global War on Terror, the United States Navy is looking for alternative methods of training to maintain its force in a high status of readiness. Updates in technology over the last decade have prompted Navy officials to take the initiative to update its training technologies. Computer-Based Instruction provides alternative means of training so that the training of war-fighters can be accomplished efficiently ... |
|
| Techniques for Automatically Generating Biographical Summaries from News Articles |
SEP 2007 |
211 pages |
| Authors:
Matthew W. Esparza; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| The work of manually creating a biographical summary from multiple information sources is both time-intensive and detail-oriented. Automating the task is also non-trivial because of the many natural language processing (NLP) areas that must be used to efficiently extract the relevant facts. Yet, no study has been done to determine how powerful a biographical summarization system must be to achieve the basic goal of filling slots in a biography template. ... |
|
| Fusion of Multiple Sensor Types in Computer Vision Systems |
SEP 2007 |
107 pages |
| Authors:
Jr Mayo Donald R.; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| This research provides an analysis of several approaches to the fusion of multiple dissimilar sensors to supplement simple color vision detection and recognition. Nonvisible sensor systems can enhance computer vision systems. The study investigates the use of thermal infrared (IR) sensors in combination with color data for object detection and recognition. The authors analyze several types of high-level and low-level sensor fusion to compare error rates with raw color and ... |
|
| Autonomous Coordination and Online Motion Modeling for Mobile Robots |
SEP 2007 |
87 pages |
| Authors:
Eric J. Sjoberg; NAVAL POSTGRADUATE SCHOOL MONTEREY CA DEPT OF COMPUTER SCIENCE
|
| Robots are rapidly becoming more involved in everyday military operations. As robots become more capable, their tasks will increase to include such roles as exploring enemy controlled buildings and caves. The goal of this thesis is to explore methodologies that allow robots to operate more autonomously. The first goal is to develop an algorithm that allows groups of robots to construct controlled formations with only local information. Experiments investigate the ... |
|
| Complexity and Chaos - State-of-the-Art; List of Works, Experts, Organizations, Projects, Journals, Conferences and Tools |
SEP 2007 |
|
| Authors:
Mario Couture; DEFENCE RESEARCH AND DEVELOPMENT CANADA VALCARTIER (QUEBEC)
|
| This report is a starting point reference for the search of information on Complexity Theory, chaos and complex systems. This document aims at assembling a number of references to relevant books, papers, experts and organizations as well as tools that are directly or indirectly related to Complexity Theory and complex systems. Many abstracts and additional comments are added to each reference for completeness. This document is the first of a ... |
|
| A Survey of Terrain Modeling Technologies and Techniques |
Sep-2007 |
153 pages |
| Authors:
Nick Gorkavyi; Jerry Snyder; J D Lashlee; ENGINEER RESEARCH AND DEVELOPMENT CENTER ALEXANDRIA VA TOPOGRAPHIC ENGINEERING CENTER
|
| Test planning, rehearsal, and distributed test events for Future Combat System (FCS) require rapid generation of high-fidelity synthetic environments. These environments consist of high resolution synthetic scenes of test and training images, which use high and low resolution digital terrain surface models, 2-D and 3-D smiace objects and other geospatial data to replicate site conditions. The largest component of developing synthetic 3-D scenes is the commercially available Interferometric Synthetic Aperture ... |
|
| Design Of An Omnidirectional Mobile Robot For Rough Terrain |
Sep-2007 |
|
| Authors:
Karl Iagnemma; Martin Udengaard; MASSACHUSETTS INST OF TECH CAMBRIDGE
|
| An omnidirectional mobile robot is able, kinematically, to move in any planar direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional robots have considered the case of motion on flat, smooth terrain. This paper presents design constraints and guidelines for designing an omnidirectional mobile robot propelled by active split offset casters to be driven in rough terrain. Geometric constraints on wheel and linkage sizes are ... |
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| Conversion and Verification Procedure for Goal-Based Control Programs |
15 AUG 2007 |
19 pages |
| Authors:
Julia M. Braman; Richard M. Murray; CALIFORNIA INST OF TECH PASADENA MATERIALS AND PROCESSES SIMULATION CENTER
|
| Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System, developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper, a method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbolic ... |
|
| Xenon Formal Security Policy Model |
14 AUG 2007 |
31 pages |
| Authors:
John McDermott; James Kirby; Myong Kang; Bruce Montrose; NAVAL RESEARCH LAB WASHINGTON DC CENTER FOR HIGH ASSURANCE COMPUTING SYSTEMS (CHACS)
|
| Xenon is a high-assurance virtual machine monitor based on the Xen open-source hypervisor. We model the Xenon high-assurance virtual machine monitor's security policy as a conditional non-interference policy, using an event-based paradigm and the Communicating Sequential Processes (CSP) formalism. Our single model formally describes not only the separation of information flow but also the sharing. We also present our strategy for showing correspondence between this model and the Xenon interface. ... |
|
| Masking a Compact AES S-box |
07 AUG 2007 |
25 pages |
| Authors:
David Canright; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| When the Advanced Encryption Standard (AES) is implemented in hardware or software, it may be vulnerable to side-channel attacks such as differential power analysis. One countermeasure against such attacks is adding a random mask to the data; this randomizes the statistics of the calculation at the cost of computing mask corrections. The single nonlinear step in each round of the AES algorithm is called the S-box, which involves the greatest ... |
|
| Natural Language Dialogue for Intelligent Tutoring Systems |
02 AUG 2007 |
15 pages |
| Authors:
Barbara Di Eugenio; ILLINOIS UNIV AT CHICAGO
|
| We study tutorial dialogue with two aims: understanding what promotes learning in one on one tutoring; developing language interfaces to Intelligent Tutoring Systems (ITSs). We worked in three different domains. Our work comprises: linguistic analysis, data mining, computational modeling (e.g., discourse planning) implementation, and empirical evaluation with human subjects. Our results show that interfaces developed on the basis of the tutorial dialogue analysis engender significantly more learning than other types ... |
|
| Extensible 3D (X3D) Earth Technical Requirements Workshop Summary Report |
01 AUG 2007 |
156 pages |
| Authors:
Don Brutzman; Amela Sadagic; Terry Norbraten; NAVAL POSTGRADUATE SCHOOL MONTEREY CA MODELING VIRTUAL ENVIRONMENTS AND SIMULATION
|
| The initial X3D Earth Technical Requirement Workshop called together leading experts to determine a broad set of technical requirements that will be necessary to construct an X3D Earth. This workshop was held 14-15 November 2006 at the Naval Postgraduate School (NPS) in Monterey, California, USA. The main goal in the creation of an Extensible 3D (X3D) Earth will be achieved by Web3D Consortium members who are preparing to build a ... |
|
| Discrimination of Objects Within Polarimetric Using Principal Component and Cluster Analysis |
AUG 2007 |
30 pages |
| Authors:
Melvin Felton; Kristan P. Gurton; David Ligon; Adrienne Raglin; ARMY RESEARCH LAB ADELPHI MD COMPUTATIONAL AND INFORMATION SCIENCES DIRECTORATE
|
| We apply two multivariate image analysis techniques to several sets of spatially coincident, long-wave infrared (LWIR), polarimetric images to improve target contrast and/or aid in the identification of certain object features not present in the original image set. Principal component analysis (PCA) was used to obtain new representations of the scene that highlight target features based upon the variance of the variables used in the analysis. We show a representation ... |
|
| A Description on the Second Dataset of the U.S. Army Research Laboratory Force Protection Surveillance System |
AUG 2007 |
28 pages |
| Authors:
Alex L. Chan; ARMY RESEARCH LAB ADELPHI MD
|
| This memorandum report provides a concise description on the second set of moving target image data, collected by the Image Processing Branch (AMSRD-ARL-SE-SE) of the U.S. Army Research Laboratory (ARL), for a force protection project. We describe the sensor and setting of this data collection effort, the purpose and content of this dataset, as well as the ground-truthing tool developed and used for this dataset. With these detail descriptions, we ... |
|
| 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 ... |
|
| Effects of Tactile Alerts on Concurrent Performance of the Gunner's and Robotic Operator's Tasks in a Simulated Mounted Environment |
AUG 2007 |
40 pages |
| Authors:
Jessie Y. Chen; Peter I. Terrence; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
|
| In this study, we simulated a generic mounted environment and conducted an experiment to examine the performance and workload of the combined position of gunner and robotics operator. More specifically, we compared the performance and workload of the operator when his/her gunnery tasks were assisted by the aided target recognition (ATR) capabilities (delivered through tactile cueing or a combination of tactile and visual cueing) versus when the gunnery task was ... |
|
| Simulating a Bilateral Teleoperation System Using Matlab and SIMULINK |
AUG 2007 |
14 pages |
| Authors:
Marc Alise; Rodney G. Roberts; Daniel W. Repperger; AIR FORCE RESEARCH LAB WRIGHT-PATTERSON AFB OH HUMAN EFFECTIVENESS DIRECTORATE
|
| Teleoperation provides a human-machine interface that allows an operator to control machines at a large distance. It has recently been the subject of a significant amount of research in the robotics community. Teleoperation can also provide an instructor with an excellent motivating example for a control systems course where it can serve as a platform for introducing several key controls issues such as noise compensation and time delay. Computer packages ... |
|
| PACERS: Platoon Aid for Collective Employment of Robotic Systems |
AUG 2007 |
48 pages |
| Authors:
Paula J. Durlach; ARMY RESEARCH INST FIELD UNIT ORLANDO FL
|
| This report presents guidance to help train platoons equipped with organic unmanned systems. The Army currently is supplying platoons with both prototype and commercially available unmanned systems to evaluate military utility and to develop tactics, techniques, and procedures; however, the training provided prior to these experiments focuses almost entirely on individual operator training. While different unmanned systems require different detailed procedures, there are certain aspects of operation applicable across systems, ... |
|
| Free LittleDog!: Towards Completely Untethered Operation of the LittleDog Quadruped |
AUG 2007 |
67 pages |
| Authors:
Michael N. Dille; CARNEGIE-MELLON UNIV PITTSBURGH PA SCHOOL OF COMPUTER SCIENCE
|
| The LittleDog robot is a 12 degree-of-freedom quadruped developed by Boston Dynamics and selected for use in the DARPA Learning Locomotion program, in which machine learning is applied to develop controllers capable of navigating rocky terrain. Presently, it is typically constrained to operate within wireless range of a host desktop computer and within a fixed workspace surrounded by a motion capture system that globally localizes the robot and specially marked ... |
|
| AWACS Dialogue Training System (DTS) Evaluation |
AUG 2007 |
65 pages |
| Authors:
Michael W. Haas; Michael Salyer; Lawrence J. Hettinger; NORTHROP GRUMMAN INFORMATION TECHNOLOGY FAIRBORN OH
|
| The objective of this task was to evaluate the features of the AWACS Dialogue Training System. The intent of this system is to reduce the number of personnel resources currently devoted to supporting AWACS WD training. A series of questionnaires were developed to collect information from participants. The results of this evaluation are intended to help inform AETC about the maturity and readiness of the AWACS-Dialogue Training System to support ... |
|
| Development and Characterization of Novel Volumetric Acquisition Orbits with an Application Specific Emission Tomograph for Improved Breast Cancer Detection |
AUG 2007 |
17 pages |
| Authors:
Kristy Perez; Caryl N. Brzymialkiewicz; DUKE UNIV DURHAM NC
|
| The overall goal of this work was to develop, implement, and evaluate novel three-dimensional acquisition orbits for a dedicated emission mammotomography system. The system can revolve around a pendant, uncompressed breast with fully three dimensional orbital trajectories, which allow for chest wall and axillary imaging. Further optimization and characterization of the system's flexible trajectories and resulting reconstructed images continues. Upon the recommendations from this and prior work, one patient study ... |
|
| On-Line Trajectory Optimization for Autonomous Air Vehicles |
31-Jul-2007 |
91 pages |
| Authors:
Anthony Calise; Eric Johnson; Shannon Twigg; Tobias Ries; Bong-Jun Yang; J E Corban; GUIDED SYSTEMS TECHNOLOGIES MCDONOUGH GA
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| Successful operation of next-generation unmanned air vehicles will demand a high level of autonomy. Autonomous low-level operation in a complex environment dictates a need for onboard, robust, reliable and efficient trajectory optimization. In this report, we develop and demonstrate an innovative combination of traditional analytical and numerical solution procedures to produce efficient, robust and reliable means for nonlinear flight path optimization in the presence of time-varying obstacles and threats. The ... |
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| Application of Cortical Processing Theory to Acoustical Analysis |
27 JUL 2007 |
30 pages |
| Authors:
Oded Ghitza; SENSIMETRICS CORP SOMERVILLE MA
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| We developed a computational model of diphone perception based on salient properties of peripheral and central auditory processing. The model comprises an efferent-inspired closed-loop model of the auditory periphery (PAM) connected to a template-matching circuit (TMC). Robustness against background noise is provided principally by the signal processing performed by the PAM, while insensitivity to time-scale variations is provided by properties of the TMC. The PAM parameters were determined in isolation ... |
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| Correlation Based Testing for Passive Sonar Picture Rationalization |
10 JUL 2007 |
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| Authors:
Garfield R. Mellema; DEFENCE RESEARCH AND DEVELOPMENT ATLANTIC DARTMOUTH (CANADA)
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| Modern passive sonar systems employ a high degree of automation to produce a track-level sonar picture. Further refinement of the track-level information is normally performed by a human operator. Providing automated assistance would reduce the operator's workload and is a key enabler for semi and fully automated sonar systems. The nature of the signals emitted by targets and of the underwater environment typically results in each target being represented by ... |
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Cybernetics
