| Institute for Brain and Neural Systems |
06-Oct-2009 |
55 pages |
| Authors:
Leon N Cooper; BROWN UNIV PROVIDENCE RI
|
 | Detection and identification of partially occluded targets in complex scenes becomes an increasingly important task in light of the latest developments in urban warfare. The construction of a system that can automatically identify selected targets or direct soldiers attention to the locations that may contain suspicious activity can be of great use not only as a tool that can reduce the cognitive workload of the soldier but also as a ... |
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| Active Range of Motion with Individual Protective Equipment: Self-Contained Breathing Apparatus and Levels B and A Configurations |
Oct-2009 |
29 pages |
| Authors:
David M Caretti; EDGEWOOD CHEMICAL BIOLOGICAL CENTER ABERDEEN PROVING GROUND MD RESEARCH AND TECHNOLOGY DIR
|
| The purpose of this investigation was to quantify active range of motion (AROM) of individuals performing head, upper body, and leg movements with and without personal protective equipment with a focus on Levels B and A protection categories. Fifteen volunteers aged 33 +/- 6 yr (mean +/- SD) completed head, upper body, and lower body exercises to assess AROM under the following conditions of individual protective equipment (IPE) wear: no ... |
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| Non-Invasive Monitoring of Intra-Abdominal Bleeding Rate Using Electrical Impedance Tomography |
Sep-2009 |
61 pages |
| Authors:
Rossalind Sadleir; Edward A Ross; FLORIDA UNIV GAINESVILLE
|
| Electrical Impedance Tomography (EIT) may be useful in continuous non-invasive monitoring of suspected abdominal bleeding in battlefield casualties subsequent to blunt trauma. We are developing a novel EIT system involving an electrode array applied only to the anterior abdomen. We believe this will speed this method's path to practical use. Much of the work in the revised Statement of Work has been completed. A no cost extension was granted to ... |
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| An Information-Centric Approach to Autonomous Trajectory Planning Utilizing Optimal Control Techniques |
Sep-2009 |
296 pages |
| Authors:
Michael A Hurni; NAVAL POSTGRADUATE SCHOOL MONTEREY CA DEPT OF MECHANICAL AND ASTRONAUTICAL ENGINEERING
|
| This work introduces a new information-centric pseudospectral optimal control-based algorithm for autonomous trajectory planning and control of unmanned ground vehicles with real-time information updates. It begins with a comprehensive study and comparison of the various path planning methods currently in use. It then provides an analysis of the optimal control method, including vehicle and obstacle modeling techniques, several different problem formulations, and a number of important insights on unmanned ground ... |
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| Radio Frequency Signal Reception Via Distributed Wirelessly Networked Sensors Under Random Motion |
Sep-2009 |
292 pages |
| Authors:
William A Lintz; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| This research investigates the reception of radio frequency signals using wirelessly networked autonomous sensor nodes under random motion. Emphasis is placed on investigating effects of random motion on sensor array beamforming. Novel techniques to conduct array operations in spite of the node motion are offered. Conflicting priorities of energy consumption and array operational requirements are addressed to demonstrate performance of the proposed solutions. The issues of node management in a ... |
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| A Review of Methods for Moving Boundary Problems |
Jul-2009 |
27 pages |
| Authors:
C E Kees; M W Farthing; R C Berger; T C Lackey; ENGINEER RESEARCH AND DEVELOPMENT CENTER VICKSBURG MS COASTAL AND HYDRAULICS LAB
|
| State-of-the-art numerical methods for solving moving boundary problems arising from multiphase flow and fluid-structure interaction modeling are reviewed. The emphasis of the review is on robust methods that do not require the mesh to conform to the moving boundary. The impetus for this review is the Coastal and Hydraulics Laboratory's mission in navigation. Accurately predicting the effect of a vessel on a waterway and the vessel motion are required to ... |
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| Influence of Structural Flexibility on Flapping Wing Propulsion |
Jun-2009 |
180 pages |
| Authors:
Aaron M McClung; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| The influence of structural deformations on the aerodynamic response of a flapping wing configuration was examined using Navier-Stokes based simulation. Two deformation modes, torsion and bending, were considered for an elastic axis along the leading edge of the wing. Both deformation modes influence the velocity and acceleration profile of the wing surface, altering the unsteady aerodynamic phenomena produced by the dynamic wing motion. The spanwise feathering rotation, or torsional response, ... |
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| An Examination of the MH-60S Common Cockpit from a Design Methodology and Acquisitions Standpoint |
Jun-2009 |
137 pages |
| Authors:
Peter A Corrao; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Over the last two decades, cockpits have migrated from the traditional analog gauges of moving dials to computer displays representing an assortment of flight data. To keep in stride with this modernization trend, the U.S. Navy determined that the newest rotary-wing fleet aircraft, the MH-60S and MH-60R, would incorporate these advanced cockpit designs. This program was named Common Cockpit. Using structured interviews with current Navy MH-60S pilots, and analysis of ... |
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| Control Authority of a Mortar Using Internal Translating Mass Control |
Jun-2009 |
28 pages |
| Authors:
Ilmars Celmins; Jonathan Rogers; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD WEAPONS AND MATERIALS RESEARCH DIRECTORATE
|
| This report examines the control authority of an 81-mm mortar projectile equipped with an internal translating mass. The translating mass undergoes controlled motion within the projectile body, resulting in a lateral mass center offset that creates a drag-induced moment. This moment can be utilized to guide the round to a target. Several example studies demonstrate basic control authority characteristics, while trade studies examine the effect of projectile static stability as ... |
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| Application of the Backward-Smoothing Extended Kalman Filter to Attitude Estimation and Prediction using Radar Observations |
Jun-2009 |
|
| Authors:
Kyle C Volpe; MASSACHUSETTS INST OF TECH CAMBRIDGE
|
 | The Lincoln Attitude Estimation System (LAES), a new tool being developed for the Space Situational Awareness Group (SSAG) at MIT Lincoln Laboratory, integrates several existing hardware and software systems, with a backward-smoothing extended Kalman filter (BSEKF). LAES is intended to determine the rotational motion of a freely tumbling spacecraft from a sequence of discrete-time radar images. The raw range-Doppler returns are collected using a ground-based sensor, which is owned and ... |
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| Virtual Coaching Agent for Team Training |
Mar-2009 |
58 pages |
| Authors:
Norman I Badler; Ben Sunshine-Hill; Catherine Stocker; PENNSYLVANIA UNIV PHILADELPHIA CENTER FOR HUMAN MODELING AND SIMULATION
|
| This effort focused on investigating the design and evaluation of an interactive software model to support technical training, as well as for use as an on-the-job task aide. The overarching goals of this research project were to: 1) Utilize motion capture technology to capture the instructional experience of a course instructor for use in the development of a virtual training environment; 2) Provide a mechanism for storing, archiving and efficiently ... |
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| Time-Frequency Analysis of a Moving Human Doppler Signature |
Feb-2009 |
34 pages |
| Authors:
Traian Dogaru; Calvin Le; Getachew Kirose; ARMY RESEARCH LAB ADELPHI MD SENSORS AND ELECTRON DEVICES DIRECTORATE
|
| In this report we analyze the Doppler signature of a moving human with the purpose of finding temporal change patterns that would allow detection and classification of movers. The analysis is based on computer models that simulate the operation of a pulse-Doppler radar. We start with an animated human mesh in walking motion and compute the frame-by-frame radar return using electromagnetic solvers such as the Finite Difference Time Domain (FDTD). ... |
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| Simultaneous Planning and Control for Autonomous Ground Vehicles |
Feb-2009 |
160 pages |
| Authors:
Thomas C Galluzzo; FLORIDA UNIV GAINESVILLE MECHANICAL AND AEROSPACE ENGINEERING
|
| Motion planning and control for autonomous vehicles are complex tasks that must be done in order for a ground robot to operate in a cluttered environment. This dissertation presents the theory, implementation, and test results for some new and novel Receding Horizon Control (RHC) techniques that allow these tasks to be unified into one. The first new method is called Heuristic Receding Horizon Control (HRHC), and uses a modified A* ... |
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| An Open-Path Obstacle Avoidance Algorithm Using Scanning Laser Range Data |
Feb-2009 |
20 pages |
| Authors:
Von; Raymond Wahlde; Nathan Wiedenman; Wesley A Brown; Cezarina Viqueira; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD
|
| The Open-Path Area algorithm described searches a region scanned by a laser range finder for the most open path that will allow a robot of a specified width to move the furthest distance. Range data are mapped into an array space in which the column indices are the beam numbers and the rows are the range values divided into an arbitrary number of bins. The path to be searched is ... |
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| Atmospheric Laser and Infrared Transmission Model |
Jan-2009 |
45 pages |
| Authors:
David A Lee; Hemm; Robert V Jr; LOGISTICS MANAGEMENT INST (LMI) MCLEAN VA
|
| This report describes the 2008 version of the Atmospheric Laser and Infrared Transmission (ALIRT) model developed by LMI for the Tactical Air Division of the Office of the Secretary of Defense, Program Analysis and Evaluation. ALIRT is a physical optics model that implements a method for calculating the peak and average fluence delivered to an airborne or ground-based target from a laser weapon on an airborne platform, when the beam ... |
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| A Computational Framework Based on Variational LES Method for the Multi-Disciplinary Analysis of MAVS With Flapping Wings |
Dec-2008 |
8 pages |
| Authors:
Charbel Farhat; Ajaykumar Rajasekharan; STANFORD UNIV CA DEPT OF MECHANICAL ENGINEERING
|
| In this paper the three level formulation of a variational multi-scale (VMS) large eddy simulation (LES) method for compressible flow computations is extended for applications involving moving/deforming grids. A consistent method to improve the VMS-LES constant dynamically as the flow develops (dynamic VMS-LES) is also extended for dynamic grid applications. Two applications of VMS-LES for the simulation of separated flow over moving NACA-0012 extruded airfoil is then presented. The first ... |
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| Achieving Increased Mobility and Autonomy for Ground Vehicles Over Rough Terrain |
Dec-2008 |
9 pages |
| Authors:
Panagiotis Tsiotras; Raghvendra V Cowlagi; GEORGIA INST OF TECH ATLANTA SCHOOL OF AEROSPACE ENGINEERING
|
| We summarize some recent results on modeling and control of ground vehicles navigating in high-speed over rough terrain. We start with the modeling of expert race (rally) driving techniques, and we then propose a new graph-search method to bridge the gap between the path-planning and trajectory generation layers in the motion planning control hierarchy. The latter result is of independent theoretical interest, as it can be applied to any graph ... |
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| Simulations of Simple Nanomachines in Carbon Nanotude Bundles Based on Chirality |
Dec-2008 |
8 pages |
| Authors:
D L Majure; R W Haskins; N J Lee; C R Welch; C F Cornwell; ENGINEER RESEARCH AND DEVELOPMENT CENTER VICKSBURG MS
|
| Single-walled carbon nanotubes (CNTs) have been studied extensively since their discovery and identification by Iijima in 1993. Their impressive mechanical, electrical, and thermal properties have created new fields of study, and the benefits of this research are just beginning to be realized. One potential use of CNTs is as a foundation for nanomachines. Another possible use, one that takes advantage of their mechanical properties, is the synthesis of high-strength, low-weight ... |
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| Network Science and Crowd Behavior Metrics |
Dec-2008 |
9 pages |
| Authors:
Kenneth Yagrich; Elizabeth Mezzacappa; Gordon Cooke; ARMY ARMAMENT RESEARCH DEVELOPMENT AND ENGINEERING CENTER PICATINNY ARSENAL NJ TARGET BEHAVIORAL RESPONSE LAB
|
| ARDEC's Target Behavioral Response Laboratory is currently conducting research on methods for crowd laboratory experiments, specifically crowd behavior metrics. Crowd metrics based on topological data were derived using motion capture methods. Sociometrics were based on coded videotaped communications. The preliminary results suggest that these crowd metrics, including those produced by network science methods, should be considered for further study. The results also suggest that crowd metrics, rather than only weapon ... |
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| Qualification Testing of the C-5 Mated Tire/Wheel Shipping Crate |
15-Sep-2008 |
29 pages |
| Authors:
Michael R Harff; AIR FORCE PACKAGING TECHNOLOGY AND ENGINEERING FACILITY WRIGHT-PATTERSON AFB OH
|
| The Air Force Packaging Technology Engineering Facility (AFPTEF) was tasked to perform qualification testing of a shipping cradle, in support of Air Mobility Command and Dover TMF. Testing was performed in accordance with ASTM D4169, Distribution Cycle 18, for level B packaging (assurance level II). AFPTEF found that the initial cradle design prevented the tire/wheel assembly from rolling (forward-aft motion); however, reinforcement of the cradle was necessary to prevent side-to-side ... |
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| Direct Detection of the Close Companion of Polaris With the Hubble Space Telescope |
01-Sep-2008 |
11 pages |
| Authors:
Margarita Karovska; Edmund Nelan; Giuseppe Bono; Dimitar Sasselov; Nancy R Evans; Gail H Schaefer; Howard E Bond; Brian D Mason6; NAVAL OBSERVATORY WASHINGTON DC
|
| Polaris, the nearest and brightest classical Cepheid, is a single-lined spectroscopic binary with an orbital period of 30 yr. Using the High Resolution Channel of the Advanced Camera for Surveys on board the Hubble Space Telescope (HST) at a wavelength of <2255 , we have directly detected the faint companion at a separation of 0".17. A second HST observation 1.04 yr later confirms orbital motion in a retrograde direction. By ... |
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| Small Boat and Swarm Defense: A Gap Study |
01-Sep-2008 |
87 pages |
| Authors:
Andre Tiwari; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| United States Naval forces conducting straits transits face a host of unique force protection challenges. Traffic density is often high, with many ferries, fishing and pleasure boats, and large cargo ships maneuvering in a small area. Although the Rules of Engagement (ROE) will generally designate query and warning ranges, International law and freedom of navigation allow vessels to operate in very close proximity to warships. Small vessels are often difficult ... |
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| Using Motion Capture to Determine Marksmanship Shooting Profiles: Teaching Soldiers to Shoot Better Faster |
01-Sep-2008 |
131 pages |
| Authors:
William L Platte; Johnny J Powers; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| How can the U.S. Army teach soldiers marksmanship skills faster and sustain those skills between live fire training periods? Virtual marksmanship trainers are currently used to provide the means to teach basic and advanced marksmanship skills, monitor performance progress from novice to expert, and maintain marksmanship skills. Our research was focused on the use of virtual marksmanship trainers to explore various training method enhancements based on recent studies of complex ... |
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| Mobility-Dependent Motion Planning for High Speed Robotic Vehicles |
25-Jul-2008 |
73 pages |
| Authors:
Karl Iagnemma; MASSACHUSETTS INST OF TECH CAMBRIDGE DEPT OF MECHANICAL ENGINEERING
|
| The ultimate objective of this work is to design planning and control architectures that enable autonomous vehicles to operate in open terrain without sacrificing speed and maneuverability. To this end, we develop mobility metrics for UGVs operating off-road at high-speed regimes, explore optimal algorithms to derive optimal paths for UGVs, and propose a framework for motion planning. |
|
| Inflatable Causeway (MOSES) Demonstration |
Jul-2008 |
34 pages |
| Authors:
Brenton Mallen; Benjamin Testerman; NAVAL SURFACE WARFARE CENTER CARDEROCK DIV BETHESDA MD SHIP SYSTEMS INTEGRATION AND DESIGN DEPARTMENT
|
| A lightweight, rapidly deployable causeway concept consisting of a pressurized water-filled bag and an air beam supported reservoir has been developed. Small scale prototypes of the bag and air beam systems were tested to demonstrate seakeeping characteristics of the causeway and the capability of the air beams to deploy the system.. The seakeeping tests were focused on roadway motions and the presence of green water on the roadway. |
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| Injury Reduction Effectiveness of Prescribing Running Shoes Based on Foot Shape in Basic Combat Training |
01-Jun-2008 |
101 pages |
| Authors:
Salima Darakjy; Keith G Hauret; Nakia Clemmons; Steve Tobler; Kelly Williams; Tyson Grier; Joseph J Knapik; David Swedler; Mark Lester; Steven H Bullock; ARMY CENTER FOR HEALTH PROMOTION AND PREVENTIVE MEDICINE ABERDEEN PROVING GROUND MD
|
| In Basic Combat Training (BCT) running shoes are prescribed based on plantar foot shape (reflecting longitudinal arch height). In response to a request from the Military Training Task Force of the Defense Safety Oversight Council this study examined whether or not this prescription technique influenced injury risk. After foot examinations BCT recruits in an experimental group (E, n=1,079 men, 456 women) were prescribed motion control stability or cushioned shoes for ... |
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| Sinusoidal Vertical Motion of a Sonobuoy Suspension: Experimental Data and a Theoretical Model |
Jun-2008 |
|
| Authors:
David M F Chapman; Dusko B A Kezele; DEFENCE RESEARCH AND DEVELOPMENT ATLANTIC DARTMOUTH (CANADA)
|
| To isolate its acoustic sensor from the large vertical motions of the buoy at the ocean surface, a typical sonobuoy employs a low-pass mechanical filter comprising a bungee cord (spring) and a damper disk (hydrodynamic added mass and damping). If the system were to behave as a driven simple harmonic oscillator, the transfer function of vertical motion would roll off at 40 dB/decade above resonance; however, experimental systems of this ... |
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| Internal Mass Motion for Spacecraft Dynamics and Control |
01 MAY 2008 |
5 pages |
| Authors:
Christopher D. Hall; VIRGINIA POLYTECHNIC INST BLACKSBURG
|
| We present a detailed description of the application of a noncanonical Hamiltonian formulation to the modeling, analysis, and simulation of the dynamics of gyrostat spacecraft with internal mass motion. The methods have been applied to the practical implementation of control of a three-dimensional air bearing spacecraft simulator. We also present the analysis of electrodynamic tether systems, including optimal control of a simplified model. |
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| Detection and Discrimination at the Intersection of Statistical Signal Processing and Machine Learning |
31-Mar-2008 |
14 pages |
| Authors:
Peyman Milanfar; CALIFORNIA UNIV SANTA CRUZ ELECTRICAL ENGINEERING DEPT
|
| This research program is aimed at developing a broad suite of techniques in detection, estimation, and reconstruction from images and video, which will help to advance the state of the art in automatic target recognition. |
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| Bedforms and Mine Burial in the Nearshore |
MAR 2008 |
8 pages |
| Authors:
Edith L. Gallagher; Rob Holman; FRANKLIN AND MARSHALL COLL LANCASTER PA BIOLOGY DEPT
|
| The threat of mines has an enormous impact on Naval operations. Methods exist for search and identification of proud mines, but the potential existence of buried mines is of considerable concern. This work will help to describe the process of mine burial owing to bottom bedform movement by quantifying the expected time scales and depths of disturbance of the natural bed in the nearshore. As waves work the sediments on ... |
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| Uncorrelated Track Avoidance |
MAR 2008 |
112 pages |
| Authors:
Darrell L. Grob; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING AND MANAGEMENT
|
| The purpose of this thesis is to examine what data requirements are necessary to avoid continual series of uncorrelated tracks when gathering observations. The constants of the motion for simple two-body motion for a satellite orbiting the Earth, known as the classical orbital elements do not remain constant due to zonal and sectoral harmonic variations in the Earth's gravitational field. There are other elements of the motion that should be ... |
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| The Use of a Steering Shaping Function to Improve Human Performance in By-Wire Vehicles |
MAR 2008 |
34 pages |
| Authors:
Susan G. Hill; Jason S. Metcalfe; Kaleb McDowell; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
|
| The U.S. Army is examining evolutionary concepts for the command and control of military vehicles. Currently, there is a performance issue regarding vehicle control at higher speeds for some indirect vision, by-wire tactical vehicles. By-wire vehicles are those in which mechanical links between the driver and control devices are replaced by electronic or computerized signals. Specifically, an operator's ability to maintain reliable control of by-wire military vehicles while driving appears ... |
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| Investigation of 2-Dimensional Isotropy of Under-Ice Roughness in the Beaufort Gyre and Implications for Mixed Layer Ocean Turbulence |
MAR 2008 |
73 pages |
| Authors:
Timothy P. McGeehan; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| The two-dimensional (2D) spectral properties, including the degree of isotropy, of under-ice roughness in the Beaufort Gyre were investigated. Under-ice roughness plays an important role in turbulent ocean heat, salt, and momentum fluxes that determine the delicate balance between surface forcing and the ocean interior that sustains or reduces the perennial ice cover. Accurate characterization of this roughness is important for numerical modeling and prediction of the Arctic air-ice-ocean system, ... |
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| Entire Blow-Up Solutions of Semilinear Elliptic Equations and Systems |
MAR 2008 |
82 pages |
| Authors:
Jesse D. Peterson; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| We examine two problems concerning semilinear elliptic equations. We consider single equations of the form Deltau p(x)u(alpha) + q(x)u(Beta) for 0 < alpha is less than or equal to Beta is less than or equal to 1 and systems Deltau = p(|x|)f(v), Deltav = q(|x|)g(u), both in Euclidean n-space, n is greater than or equal to 3. These types of problems arise in steady state diffusion, the electric potential of ... |
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| Surface Deployment and Distribution Command Hawaii/Guam Shipping Agreement |
19 FEB 2008 |
37 pages |
| Authors:
OFFICE OF THE DEPUTY INSPECTOR GENERAL FOR AUDITING OF THE DEPARTMENT OF DEFENSE ARLINGTON VA
|
| We began this audit as a result of information obtained during our audit of United States Transportation Command Compliance with DoD Policy on the Use of Commercial Sealift, (DoD Inspector General Report No. D-2007-105, June 21, 2007). Specifically, we obtained information at the Military Surface Deployment and Distribution Command (SDDC) that indicated DoD is not obtaining the most economic rates for shipments between the West Coast of the United States ... |
|
| Bio-Gyros: Tunable Compliant Gryscopic Sensors |
10 JAN 2008 |
7 pages |
| Authors:
Thomas Daniel; WASHINGTON UNIV SEATTLE
|
| We examined the motion encoding characteristics of gyroscopic sensors implicated in the flight control systems of insects. These included antennae of moths and the halteres of large craneflies, two structures that encode the Coriolis forces associated with body rotations during aerial maneuvers in insects. Importantly, no prior research program has explored how the structural dynamics of such gyroscopes interact with motions to provide tunable encoding characteristics. Through both neurobiological and ... |
|
| On-line Adaptive Radiation Treatment of Prostate Cancer |
Jan-2008 |
53 pages |
| Authors:
Tiezhi Zhang; WILLIAM BEAUMONT HOSPITAL ROYAL OAK MI
|
| Organ motion is a major uncertainty in prostate cancer treatment. In this project, we are developing online adaptive treatment that can compensate organ motion in daily treatments. The specific aims of this project are to develop the key technical components for online adaptive treatment, which include parallel deformable image registration algorithm, parallel dose calculation and plan optimization algorithms. |
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| Physical Simulation for Probabilistic Motion Tracking |
2008 |
9 pages |
| Authors:
Marek Vondrak; Leonid Sigal; Odest C. Jenkins; BROWN UNIV PROVIDENCE RI DEPT OF COMPUTER SCIENCE
|
| Human motion tracking is an important problem in computer vision. Most prior approaches have concentrated on efficient inference algorithms and prior motion models; however, few can explicitly account for physical plausibility of recovered motion. The primary purpose of this work is to enforce physical plausibility in the tracking of a single articulated human subject. Towards this end, we propose a fullbody 3D physical simulation-based prior that explicitly incorporates motion control ... |
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| Algorithms for Data Sharing, Coordination, and Communication in Dynamic Network Settings |
03 DEC 2007 |
|
| Authors:
Nancy Lynch; MASSACHUSETTS INST OF TECH CAMBRIDGE
|
| This project developed many distributed algorithms and corresponding lower bounds for solving important problems in dynamic networks, focusing on mobile networks with wireless communication. Problems studied include data management, time synchronization, communication problems (broadcast, geocast, and point-to-point routing), distributed consensus, tracking, and motion coordination. Highlights include (1) The discovery of a fundamental limitation in capabilities for time synchronization in large networks. (2) The identification and development of the notion of ... |
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| Design, Construction and Testing of a Prototype Holonomic Autonomous Vehicle |
DEC 2007 |
211 pages |
| Authors:
Kirk N. Volland; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| United States Department of Defense (DoD) autonomous vehicle efforts have concentrated research in areas that support development of unmanned ground and air battlefield vehicles. Little attention has been paid to applying robotics to automate routine tasks. A robotic solution consisting of a prototype holonomic vehicle is proposed to search for, detect, and remove debris that could cause foreign object damage (FOD) to turbine-engine aircraft operated from ships. Holonomic, or omnidirectional, ... |
|
| A Summary of Eelgrass (Zostera marina) Reproductive Biology with an Emphasis on Seed Biology and Ecology from the Chesapeake Bay Region |
DEC 2007 |
12 pages |
| Authors:
Robert J. Orth; Scott R. Marion; Kenneth A. Moore; ENGINEER RESEARCH AND DEVELOPMENT CENTER VICKSBURG MS COASTAL AND HYDRAULICS LAB
|
| Interest in seagrass restoration is increasing worldwide as the value of seagrass ecosystems is recognized by scientists, managers and regulators (Orth et al. 2000, 2006b, 2006c). Seagrass transplanting projects have traditionally relied on adult plants (Fonseca et al. 1998) using a variety of manual and mechanical techniques (Fonseca et al. 1998, Fishman et al. 2004, Treat and Lewis 2006). However, most techniques using adult plants are laborintensive and time-consuming, requiring ... |
|
| Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations |
DEC 2007 |
281 pages |
| Authors:
Shawn B. McCamish; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| This research contributes to multiple spacecraft control by developing an autonomous distributed control algorithm for close proximity operations of multiple spacecraft systems, including rendezvous and docking scenarios. The proposed control algorithm combines the efficiency of the Linear Quadratic Regulator (LQR) and the robust collision avoidance capability of the Artificial Potential Function (APF) method. The LQR control effort serves as the attractive force toward goal positions, while the APF-based repulsive functions ... |
|
| Transport Imaging for the Study of Nanowires and Related Nanostructures |
DEC 2007 |
105 pages |
| Authors:
Ang G. Hwee; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| The goals of this thesis are to demonstrate the operation of a near-field scanning microscope (NSOM) inside a scanning electron microscope (SEM) to collect spatially resolved luminescence and to image transport on nano-scale structures particularly nanowires. The SEM is used to generate localized charge and the NSOM is used to observe the motion of the excess charge due to diffusion and/or drift via its recombination emission. This will allow direct ... |
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| Operating an Unmanned Aerial System from a Moving Platform |
01-Nov-2007 |
17 pages |
| Authors:
Guennadi S Antonov; Mark C Domogala; Wesley A Olson; AIR FORCE ACADEMY COLORADO SPRINGS CO INST FOR INFORMATION TECHNOLOGY APPLICATIONS
|
| While the Spatial Disorientation (SD) has long been recognized as an important causal factor in aviation incidents and accidents, it is only beginning to be recognized as a factor in Uninhabited Aerial Systems (UASs). As a first step towards better understanding the effects of control platform motion on manual UAV control Olson, DeLauer and Fale (2006) had 10 rated Air Force pilots fly a simulated UAV task (MS Flight Simulator) ... |
|
| Prostate Dose Escalation by Innovative Inverse Planning-Driven IMRT |
01-Nov-2007 |
223 pages |
| Authors:
Lei Xing; STANFORD UNIV CA
|
| The goal of this project is to develop innovative inverse planning techniques for prostate radiation therapy. In the last funding period significant progress has been made toward the goal of the project. In the past funding year, the PI group has contributed greatly to advance prostate radiation therapy techniques. A few important milestones have been achieved toward the goal of the project. These include: (i) Investigated intrafraction prostate motion and ... |
|
| Induced Forces and Moments of a Tumblehome Hullform (Model 5613) Undergoing Forced Roll in Waves |
NOV 2007 |
25 pages |
| Authors:
Anna M. Fullerton; Thomas C. Fu; Don C. Walker; James R. Rice; NAVAL SURFACE WARFARE CENTER CARDEROCK DIV BETHESDA MD HYDROMECHANICS DIRECTORATE
|
| Predictions of large amplitude roll motions and capsize events have proven to be difficult and include large uncertainty. A factor that contributes to the difficulty in predictions is a lack of knowledge of resultant forces and moments for large roll angles. The equations currently used by numerical models to predict forces and moments due to roll motion are based on experimental data performed within a small range of roll amplitudes. ... |
|
| Full-Field Vibration Measurement for Vibrothermography (Preprint) |
NOV 2007 |
8 pages |
| Authors:
Jeremy Renshaw; Stephen D. Holland; IOWA STATE UNIV AMES DEPT OF MATERIALS SCIENCE AND ENGINEERING
|
| Vibrothermography is a nondestructive technique for finding defects through vibration-induced heating imaged with an infrared camera. To model the crack heating process in vibrothermography, it is essential first to understand the vibration that causes heat generation. We describe a method for calculating internal motions from surface vibrometry measurements. A reciprocity integral and Gauss's law allow representation of internal motion by a surface integral of boundary motion times the Green's Function. ... |
|
| Effects of Different Camera Motions on the Error in Estimates of Epipolar Geometry between Two Dimensional Images in Order to Provide a Framework for Solutions to Vision Based Simultaneous Localization and Mapping (SLAM) |
SEP 2007 |
195 pages |
| Authors:
Michael C. MeVicker; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| This thesis explores the effect camera motion and feature tracking have on the estimations of an epipolar geometry at different stages of a 3D reconstruction and relates the findings to a framework for vision based Simultaneous Localization and Mapping (SLAM). Although there have been previous attempts to determine the quality of algorithms that calculate a fundamental matrix, both robust and linear, we have found no study that explores the relationship ... |
|
| Particle Motion Algorithm for Arbitrary Gyro-Frequencies |
SEP 2007 |
18 pages |
| Authors:
Jean-Luc Cambier; Oleg Batishchev; AIR FORCE RESEARCH LAB EDWARDS AFB CA PROPULSION DIRECTORATE
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| The transport of particles in a Particle-In-Cell (PIC) method is traditionally handled by a staggered algorithm, second-order accurate in time, originally developed by Boris [1-2]. The scheme is very efficient and although it is stable for time steps large compared to the cyclotron period ("gyro-period"), it ceases to be accurate in that case. In cases of strong applied magnetic field, this can impose an impractical time-step restriction. An alternative approach ... |
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| Design Of An Omnidirectional Mobile Robot For Rough Terrain |
Sep-2007 |
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| Authors:
Karl Iagnemma; Martin Udengaard; MASSACHUSETTS INST OF TECH CAMBRIDGE
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| 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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