WorldWideScience

Sample records for all terrain vehicles

  1. 75 FR 5767 - All Terrain Vehicle Chinese Language Webinar; Meeting

    Science.gov (United States)

    2010-02-04

    ... COMMISSION All Terrain Vehicle Chinese Language Webinar; Meeting AGENCY: Consumer Product Safety Commission... Terrain Vehicle Chinese Language Webinar. The webinar will focus on CPSC's requirements for ATV's... February 4, 2010 at 6:00 am Eastern Standard Time. Location: The meeting will be held live via...

  2. Lunar All-Terrain Utility Vehicle for EVA Project

    Data.gov (United States)

    National Aeronautics and Space Administration — ProtoInnovations, LLC proposes to develop a new type of planetary rover called a Lunar All-terrain Utility Vehicle ("Lunar ATV") to assist extra-vehicular activities...

  3. Lunar All-Terrain Utility Vehicle for EVA Project

    Data.gov (United States)

    National Aeronautics and Space Administration — ProtoInnovations, LLC proposes to develop a new type of planetary rover called a Lunar All-terrain Utility Vehicle ("LATUV") to assist extra-vehicular activities in...

  4. Musculoskeletal Symptoms among Drivers of All-Terrain Vehicles

    Science.gov (United States)

    REHN, B.; BERGDAHL, I. A.; AHLGREN, C.; FROM, C.; JÄRVHOLM, B.; LUNDSTRÖM, R.; NILSSON, T.; SUNDELIN, G.

    2002-05-01

    The aim of this cross-sectional study was to characterize the risk of experiencing musculoskeletal symptoms in the region of the neck, shoulders and upper and lower back for professional drivers of various categories of all-terrain vehicles and to assess the association between symptoms and duration of exposure to whole-body vibration (WBV) and shock from driving all-terrain vehicles. The study group consisted of 215 drivers of forest machines, 137 drivers of snowmobiles and 79 drivers of snowgroomers and a control group of 167 men randomly selected from the general population. The subjects were all from one of the four most northern counties in Sweden and they were all men. Musculoskeletal symptoms were assessed by use of a standardized questionnaire. In addition, the questionnaire held items about the driving time with all-terrain vehicles and a subjective estimation of exposure to unpleasant movements (shock, jolt, irregular sway). The job strain was measured according to Karasek's demands/control model. The prevalence ratios were adjusted for age, smoking and job strain. Among drivers, significantly increased prevalence ratios within the range of 1∂5-2·9 were revealed for symptoms from the neck-shoulder and thoracic regions during the previous year. None of the driver categories had a statistically significantly increased risk of low back pain. Forest vehicles were those most reported to cause unpleasant movements. In conclusion, drivers of all-terrain vehicles exhibit an increased risk of symptoms of musculoskeletal disorders in the neck-shoulder and thoracic regions. The increased risk is suggested to be related to physical factors such as exposure to whole-body vibration (WBV) and shock, static overload or extreme body postures. However, since symptoms of low back pain were not significantly increased, it appears that factors other than WBV would explain the occurrence of symptoms in the group of all-terrain drivers.

  5. All-terrain vehicle injuries in central Wisconsin: a continuing problem.

    Science.gov (United States)

    Stueland, D; Aldrich, R

    1991-06-01

    All-terrain vehicles (ATVs) have become well recognized as associated with injuries. This recognition has resulted in attempts at education and regulation to reduce the number and severity of injuries and number of deaths. The Marshfield Clinic and St. Joseph's Hospital surveyed all-terrain vehicle accidents in the Emergency Department in 1985 and again in 1988 and followed these patients for at least 1 year after the injury. Between the two dates, extensive educational and legislative activity had taken place. The actual number of all-terrain vehicle accidents had increased. The characteristics of victims who were involved in all-terrain vehicle accidents did not change. The actual number of accidents associated with three-wheeled ATVs did not appreciably decrease but the number of accidents associated with four-wheeled ATVs did increase. To date, it is not clear that legislative and educational activities are effective in reducing the number of ATV accidents or in changing the pattern of the accidents.

  6. All-Terrain Vehicle Safety and Use Patterns in Central Illinois Youth

    Science.gov (United States)

    Hafner, John W.; Hough, Scott M.; Getz, Marjorie A.; Whitehurst, Yvette; Pearl, Richard H.

    2010-01-01

    Context: All-terrain vehicles' (ATVs) popularity and associated injuries among children are increasing in the United States. Currently, most known ATV use pattern data are obtained from injured youth and little documented data exist characterizing the typical ATV use patterns and safety practices among American children in general. Purpose: To…

  7. Analysis of Steering Knuckle of All Terrain Vehicles (ATV) Using Finite Element Analysis

    Science.gov (United States)

    Dusane, S. V.; Dipke, M. K.; Kumbhalkar, M. A.

    2016-09-01

    Steering knuckle is the most stress sustaining and critical component of All Terrain Vehicle (ATV). Steering knuckle is the pivot point of the steering and suspension system, which allows the front wheels to turn and also allow the movement of suspension arms motion. The light weight and high strength component is always in demanding for racecar application. Lightweight and optimized design of steering knuckle is proposed to use for a BAJA SAE INDIA off road racecar. Due to the failure in knuckle in terrain vehicle after some instances, it has to be modified for better performance. The 3D CAD model created by using CATIA V5 and static as well as model analysis carried out in ANSYS 12 to understand its behavior under operating conditions. All test for frame was carried out on aluminum alloys 6061-T6 & for spindle EN8. The paper discusses the FE analysis of existing and modified Steering Knuckle.

  8. Design And Development Of Roll Cage For An All-Terrain Vehicle

    Directory of Open Access Journals (Sweden)

    Khelan Chaudhari

    2013-12-01

    Full Text Available The study aims to design, develop and fabricate a roll cage for an All-Terrain Vehicle (ATV in accordance with the rulebook of BAJA 2013 given by SAE. A roll cage is a skeleton of an ATV. The roll cage not only forms the structural base but also a 3-D shell surrounding the occupant which protects the occupant in case of impact and roll over incidents. The roll cage also adds to the aesthetics of a vehicle. The design and development comprises of material selection, chassis and frame design, cross section determination, determining strength requirements of roll cage, stress analysis and simulations to test the ATV against failure. Finally the roll cage is fabricated as per the tools and techniques available in the workshop.

  9. Conversion and control of an all-terrain vehicle for use as an autonomous mobile robot

    Science.gov (United States)

    Jacob, John S.; Gunderson, Robert W.; Fullmer, R. R.

    1998-08-01

    A systematic approach to ground vehicle automation is presented, combining low-level controls, trajectory generation and closed-loop path correction in an integrated system. Development of cooperative robotics for precision agriculture at Utah State University required the automation of a full-scale motorized vehicle. The Triton Predator 8- wheeled skid-steering all-terrain vehicle was selected for the project based on its ability to maneuver precisely and the simplicity of controlling the hydrostatic drivetrain. Low-level control was achieved by fitting an actuator on the engine throttle, actuators for the left and right drive controls, encoders on the left and right drive shafts to measure wheel speeds, and a signal pick-off on the alternator for measuring engine speed. Closed loop control maintains a desired engine speed and tracks left and right wheel speeds commands. A trajectory generator produces the wheel speed commands needed to steer the vehicle through a predetermined set of map coordinates. A planar trajectory through the points is computed by fitting a 2D cubic spline over each path segment while enforcing initial and final orientation constraints at segment endpoints. Acceleration and velocity profiles are computed for each trajectory segment, with the velocity over each segment dependent on turning radius. Left and right wheel speed setpoints are obtained by combining velocity and path curvature for each low-level timestep. The path correction algorithm uses GPS position and compass orientation information to adjust the wheel speed setpoints according to the 'crosstrack' and 'downtrack' errors and heading error. Nonlinear models of the engine and the skid-steering vehicle/ground interaction were developed for testing the integrated system in simulation. These test lead to several key design improvements which assisted final implementation on the vehicle.

  10. Progress report on Bertelsen research and development of an air cushion crawler all-terrain vehicle

    Science.gov (United States)

    Bertelsen, W. R.

    1987-06-01

    The ACV is an exceptional amphibian but it is not, nor is any other existing craft, an all-terrain vehicle (ATV). Using the best elements of the ACV in an air-cushion crawler tractor, a true ATV can be attained. A conventional crawler drive train will propel two tracks as pressurized, propulsive pontoons. The key to a successful ATV is in perfecting efficient, durable, sliding seals to allow the belt to move in its orbit around the track unit and maintain its internal pressure. After deriving the adequate seal, a 12 inch wide x 86 inch long endless rubber belt was fitted bilateral seals and slide plates with internal guide wheels fore and aft with a 21 inch wheel base. From this approximately one-quarter scale model, full-scale air track crawlers, true ATVs, of any size and capacity can be produced.

  11. 75 FR 52616 - Third Party Testing for Certain Children's Products; Youth All-Terrain Vehicles: Requirements for...

    Science.gov (United States)

    2010-08-27

    ...+ ATV is intended primarily for children age 12 or younger, which would necessitate the third party... COMMISSION 16 CFR Part 1420 Third Party Testing for Certain Children's Products; Youth All- Terrain Vehicles: Requirements for Accreditation of Third Party Conformity Assessment Bodies AGENCY: Consumer Product...

  12. A Trial of an All-Terrain Vehicle Safety Education Video in a Community-Based Hunter Education Program

    Science.gov (United States)

    Williams, Robert S.; Graham, James; Helmkamp, James C.; Dick, Rhonda; Thompson, Tonya; Aitken, Mary E.

    2011-01-01

    Purpose: All-terrain vehicle (ATV) injury is an increasingly serious problem, particularly among rural youth. There have been repeated calls for ATV safety education, but little study regarding optimal methods or content for such education. The purpose of this study was to determine if an ATV safety video was effective in increasing ATV safety…

  13. Off-road vehicle fatalities: A comparison of all-terrain vehicle and snowmobile accidents in Sweden

    Directory of Open Access Journals (Sweden)

    Torfinn Gustafsson

    2013-07-01

    Full Text Available This study investigates accident fatalities involving two types of off-road vehicles: snowmobiles and all-terrain vehicles (ATVs. All snowmobile fatalities in Sweden from the 2006/2007 season through the 2011/2012 season, and all ATV fatalities from 2007 through 2012, were retrospectively examined. A total of 107 fatalities—57 snowmobile-related and 50 ATV-related—were found. Most deaths occurred on weekends (71% of the snowmobile-related and 72% of the ATV-related. A majority of the fatalities were males (91% and 94%, with the largest share in the age group 40–49 years (19% and 24%. The most common causes of death were blunt trauma (56% and 66%, drowning (30% vs 6%, and traumatic asphyxia (9% vs 14%. Among victims who were tested (95% vs 92%, a very high share was found to be inebriated (59% vs 61%, and mean blood alcohol concentration was also high (1.9 vs 1.7 g/l. Forty-seven percent of snowmobile-related fatalities and 48% of ATV-related fatalities had a blood alcohol concentration above 1.0 g/l. This means that there was a very strong association between off-road vehicle fatalities and drunken riding; steps to prevent riding while intoxicated seem to be the most important preventive measure. Automatic measures such as alcolocks are probably the most effective. The obvious at-risk group to target is middle-aged men with high alcohol consumption.

  14. A cross-sectional examination of the physical fitness and selected health attributes of recreational all-terrain vehicle riders and off-road motorcyclists.

    Science.gov (United States)

    Burr, Jamie F; Jamnik, Veronica; Gledhill, Norman

    2010-11-01

    The aims of this study were: (1) to characterize selected fitness and health attributes of two types of habitual recreational off-road vehicle riders - off-road motorcyclists and all-terrain vehicle riders; (2) to explore differences among riders in terms of vehicle type, age, and gender; and (3) to compare the fitness and health of riders to population norms and clinical health standards. Canadian off-road riders (n = 141) of both sexes aged 16 years and over were recruited through local and national off-road riding organizations. Anthropometry, fitness, and health measures of off-road motorcycle and all-terrain vehicle riders were compared with population norms, health standards, and physical activity guidelines. Off-road motorcycle riders had above average aerobic fitness (79th percentile), while all-terrain vehicle riders were lower than average (40th percentile). All riders had a healthy blood lipid profile and a low incidence of the metabolic syndrome (12.9%) compared with members of the general population. Off-road motorcycle riders had healthier body composition and fitness than all-terrain vehicle riders; however, the body composition of off-road motorcycle riders was no healthier than that of the general population and all-terrain vehicle riders were worse than the general population. Off-road motorcycle riders had healthier anthropometry and fitness than all-terrain vehicle riders and thus fewer health risk factors for future disease, demonstrating that the physiological profiles of off-road riders are dependent on vehicle type.

  15. Neuromusculoskeletal disorders in the neck and upper extremities among drivers of all-terrain vehicles – a case series

    Directory of Open Access Journals (Sweden)

    Nilsson Tohr

    2004-01-01

    Full Text Available Abstract Background The purpose of this study was to investigate whether professional drivers of all-terrain vehicles (ATVs with neck pain have a different array of neuromusculoskeletal disorders in the neck and upper extremities than a referent group with neck pain from the general population. It is hypothesized that exposure to shock-type vibration and unfavorable working postures in ATVs have the capacity to cause peripheral nervous lesions. Methods This study was based on a case series analyzed according to a case-case comparison design. The study population consisted of 60 male subjects, including professional drivers of forest machines (n = 15, snowmobiles (n = 15, snowgroomers (n = 15 and referents from the general population (n = 15 all of whom had reported neck pain in a questionnaire and underwent an extensive physical examination of the neck and upper extremities. Based on symptom history, symptoms and signs, and in some cases chemical, electroneurographical and radiological findings, subjects were classified as having a nociceptive or neuropathic disorder or a mix of these types. Results The occurrence of asymmetrical and focal neuropathies (peripheral nervous lesion, pure or in a mix with a nociceptive disorder was common among cases in the ATV driver groups (47%–79%. This contrasted with the referents that were less often classified as having asymmetrical and focal neuropathy (27%, but instead had more nociceptive disorders. The difference was most pronounced among drivers of snowgroomers, while drivers of forest machines were more frequently classified as having a nociceptive disorder originating in the muscles. Conclusion This study found a high prevalence of assymetrical and focal neuropathies among drivers with pain in the neck, operating various ATVs. It seems as if exposure to shock-type whole-body vibration (WBV and appurtenant unfavorable postures in ATVs may be associated to peripheral nervous lesions.

  16. 新型全地形车操纵稳定性评价分析%Evaluation of New All-terrain Vehicle Handling Stability

    Institute of Scientific and Technical Information of China (English)

    黄泽好; 徐文强; 孙章栋; 陈卫东

    2012-01-01

    以某四轮全地形车的实车模型为基础,设计新型三轮全地形车。基于Adams建立全地形车动力学模型,借鉴汽车操纵稳定性试验方法,对该新型全地形车进行稳态回转、角阶跃输入和蛇行试验操纵稳定性仿真和评价。结果表明:新型全地形车总评分为77.9,原型全地形车总评分为75.4;新型全地形车在以上3种试验中操纵稳定性均优于原型全地形车。%A new model of three wheel of all terrain vehicles(ATV) is designed based on the modifi- cation of an old model of all terrain vehicles. Then using the software ADAMS, we build a multi-body- dynamics model of all terrain vehicles, and d cedure for automobiles for analyzing handling procedures for automobiles, steady static circ raw lessons from the controllability and stability test pro- stability based on the controllability and stability testing ular simulation, steering wheel angle step input simula- tion and snake steer roll simulation and evaluation. The results show that the new ATV' s total score is 77.9 or in while the prototype ATV' s total score is 75.4. The new ATV in the above three tests is superi- handling stability to the prototype ATV

  17. 40 CFR 1051.107 - What are the exhaust emission standards for all-terrain vehicles (ATVs) and offroad utility...

    Science.gov (United States)

    2010-07-01

    ... powered by the following fuels: (1) Natural gas-fueled ATVs: NMHC emissions. (2) Alcohol-fueled ATVs: THCE... operating life from advertisements or other marketing materials for any vehicles in the engine family....

  18. Single-Frame Terrain Mapping Software for Robotic Vehicles

    Science.gov (United States)

    Rankin, Arturo L.

    2011-01-01

    This software is a component in an unmanned ground vehicle (UGV) perception system that builds compact, single-frame terrain maps for distribution to other systems, such as a world model or an operator control unit, over a local area network (LAN). Each cell in the map encodes an elevation value, terrain classification, object classification, terrain traversability, terrain roughness, and a confidence value into four bytes of memory. The input to this software component is a range image (from a lidar or stereo vision system), and optionally a terrain classification image and an object classification image, both registered to the range image. The single-frame terrain map generates estimates of the support surface elevation, ground cover elevation, and minimum canopy elevation; generates terrain traversability cost; detects low overhangs and high-density obstacles; and can perform geometry-based terrain classification (ground, ground cover, unknown). A new origin is automatically selected for each single-frame terrain map in global coordinates such that it coincides with the corner of a world map cell. That way, single-frame terrain maps correctly line up with the world map, facilitating the merging of map data into the world map. Instead of using 32 bits to store the floating-point elevation for a map cell, the vehicle elevation is assigned to the map origin elevation and reports the change in elevation (from the origin elevation) in terms of the number of discrete steps. The single-frame terrain map elevation resolution is 2 cm. At that resolution, terrain elevation from 20.5 to 20.5 m (with respect to the vehicle's elevation) is encoded into 11 bits. For each four-byte map cell, bits are assigned to encode elevation, terrain roughness, terrain classification, object classification, terrain traversability cost, and a confidence value. The vehicle s current position and orientation, the map origin, and the map cell resolution are all included in a header for each

  19. Terrain aided navigation for autonomous underwater vehicles with coarse maps

    Science.gov (United States)

    Zhou, Ling; Cheng, Xianghong; Zhu, Yixian

    2016-09-01

    Terrain aided navigation (TAN) is a form of geophysical localization technique for autonomous underwater vehicles (AUVs) operating in GPS-denied environments. TAN performance on sensor-rich AUVs has been evaluated in sea trials. However, many challenges remain before TAN can be successfully implemented on sensor-limited AUVs, especially with coarse maps. To improve TAN performance over coarse maps, a Gaussian process (GP) is proposed for the modeling of bathymetric terrain and integrated into the particle filter (GP-PF). GP is applied to provide not only the bathymetric value prediction through learning a set of bathymetric data from coarse maps but also the variance of the prediction. As a measurement update, calculated on bathymetric deviation is performed through the PF to obtain absolute and bounded positioning accuracy. Through the analysis of TAN performance on experimental data for two different terrains with map resolutions of 10-50 m, both the ability of the proposed model to represent the actual bathymetric terrain with accuracy and the effect of the GP-PF for TAN on sensor-limited systems in suited terrain are demonstrated. The experiment results further verify that there is an inverse relationship between the coarseness of the map and the overall TAN accuracy in rough terrains, but there is hardly any relationship between them in relatively flat terrains.

  20. All-terrain self-leveling wheelchair.

    Science.gov (United States)

    Schofield, Andrew; Barrett, Steven

    2014-01-01

    Limited mobility is something that affects approximately 6.8 million Americans. Approximately 1.7 million are using wheelchairs or scooters of some kind to enhance mobility. Everyday obstacles present a challenge to those in a wheelchair. Also, outdoor environments such as campsites, lakes, or even grass fields provide additional challenges for those with limited mobility. This project provides a solution to some of the limitations faced by those in wheelchairs. The wheels and tires of the wheelchair allow navigation through most terrains such as grass, gravel, and sand. Furthermore, as a wheelchair climbs or descends a hill it becomes unstable and the user risks tipping the wheelchair causing injury or even death. The self-leveling wheelchair uses an accelerometer to determine its angle of inclination and depending on user interface choices will display the angle or raise the seat with linear actuators to keep the seat level. This will keep the center of gravity towards the front of the chair when going up a hill and towards the back of the chair when going down a hill. This enhanced stability will give the user the confidence and ability to go places where most traditional wheelchairs can not. The chair has the ability to self-level at up to 45 degree and can provide a manual lift of 6 inches. The design presented in this report is patent pending.

  1. Autonomous terrain characterization and modelling for dynamic control of unmanned vehicles

    Science.gov (United States)

    Talukder, A.; Manduchi, R.; Castano, R.; Owens, K.; Matthies, L.; Castano, A.; Hogg, R.

    2002-01-01

    This end-to-end obstacle negotiation system is envisioned to be useful in optimized path planning and vehicle navigation in terrain conditions cluttered with vegetation, bushes, rocks, etc. Results on natural terrain with various natural materials are presented.

  2. Navigation and Hazard Avoidance for High-Speed Unmanned Ground Vehicles in Rough Terrain

    Science.gov (United States)

    2008-07-07

    Potential Field Navigation of High Speed Vehicles on Rough Terrain,” Robotica , Vol. 25, No. 4, pp 409-424, July 2007 Udengaard, M., and Iagnemma, K...Navigation of Unmanned Ground Vehicles on Uneven Terrain using Potential Fields," to appear in Robotica , 2007 [16] Spenko, M., Kuroda, Y., Dubowsky, S

  3. PRIMUS: autonomous navigation in open terrain with a tracked vehicle

    Science.gov (United States)

    Schaub, Guenter W.; Pfaendner, Alfred H.; Schaefer, Christoph

    2004-09-01

    The German experimental robotics program PRIMUS (PRogram for Intelligent Mobile Unmanned Systems) is focused on solutions for autonomous driving in unknown open terrain, over several project phases under specific realization aspects for more than 12 years. The main task of the program is to develop algorithms for a high degree of autonomous navigation skills with off-the-shelf available hardware/sensor technology and to integrate this into military vehicles. For obstacle detection a Dornier-3D-LADAR is integrated on a tracked vehicle "Digitized WIESEL 2". For road-following a digital video camera and a visual perception module from the Universitaet der Bundeswehr Munchen (UBM) has been integrated. This paper gives an overview of the PRIMUS program with a focus on the last program phase D (2001 - 2003). This includes the system architecture, the description of the modes of operation and the technology development with the focus on obstacle avoidance and obstacle classification using a 3-D LADAR. A collection of experimental results and a short look at the next steps in the German robotics program will conclude the paper.

  4. Real-Time Flight Planning Solution of Unmanned Aerial Vehicle Spatial Trajectory in Complex Terrain

    Directory of Open Access Journals (Sweden)

    L. Tan’

    2015-01-01

    Full Text Available Currently, there is a tendency in the world that the unmanned aerial vehicles (UAVs are beginning to be widely used in civilian areas. With the rapid development of the UAV, capable of moving in complicated terrain, the task of planning a real-time flight route is becoming more relevant and attractive.Combining control methods of predictive models with and mixed integer linear programming can improve the efficiency of solving the problem of flight route planning in real time. In order to plan the optimal spatial trajectory of UAV when flying in difficult terrain (houses, mountains, etc., in this paper, a novel approach to real-time three-dimensional trajectory planning for unmanned aerial vehicles (UAV was represented under conditions of complex mountainous terrain, which can be built on the model of predictive control (MPC. Local terrain around UAV, which was modeled by triangulated irregular network (TIN method as well as logical and continuous variables describing obstacle-avoidance are known within the limit detection radius.However, taking into account the functional characteristics of the UAV, it is necessary to further treat smooth trajectory in its true time to receive the real-time permissible threedimensional trajectory. This article has been selected an algorithm for the serial connection of radius segments to smooth the planned route of flight of the UAV.In the final part through the simulation results of the algorithm we have shown, using this algorithm, that the UAV successfully avoids all obstacles in real-time. This algorithm fully takes into account the limits on the maneuvering capabilities of the UAV, and it is proved that our algorithm is efficiently applied when the UAV moves in unknown environments, or in a situation of gradual obstacle detection in real flight.

  5. Slip-based terrain estimation with a skid-steer vehicle

    Science.gov (United States)

    Reina, Giulio; Galati, Rocco

    2016-10-01

    In this paper, a novel approach for online terrain characterisation is presented using a skid-steer vehicle. In the context of this research, terrain characterisation refers to the estimation of physical parameters that affects the terrain ability to support vehicular motion. These parameters are inferred from the modelling of the kinematic and dynamic behaviour of a skid-steer vehicle that reveals the underlying relationships governing the vehicle-terrain interaction. The concept of slip track is introduced as a measure of the slippage experienced by the vehicle during turning motion. The proposed terrain estimation system includes common onboard sensors, that is, wheel encoders, electrical current sensors and yaw rate gyroscope. Using these components, the system can characterise terrain online during normal vehicle operations. Experimental results obtained from different surfaces are presented to validate the system in the field showing its effectiveness and potential benefits to implement adaptive driving assistance systems or to automatically update the parameters of onboard control and planning algorithms.

  6. Terrain mapping and control of unmanned aerial vehicles

    Science.gov (United States)

    Kang, Yeonsik

    In this thesis, methods for terrain mapping and control of unmanned aerial vehicles (UAVs) are proposed. First, robust obstacle detection and tracking algorithm are introduced to eliminate the clutter noise uncorrelated with the real obstacle. This is an important problem since most types of sensor measurements are vulnerable to noise. In order to eliminate such noise, a Kalman filter-based interacting multiple model (IMM) algorithm is employed to effectively detect obstacles and estimate their positions precisely. Using the outcome of the IMM-based obstacle detection algorithm, a new method of building a probabilistic occupancy grid map is proposed based on Bayes rule in probability theory. Since the proposed map update law uses the outputs of the IMM-based obstacle detection algorithm, simultaneous tracking of moving targets and mapping of stationary obstacles are possible. This can be helpful especially in a noisy outdoor environment where different types of obstacles exist. Another feature of the algorithm is its capability to eliminate clutter noise as well as measurement noise. The proposed algorithm is simulated in Matlab using realistic sensor models. The results show close agreement with the layout of real obstacles. An efficient method called "quadtree" is used to process massive geographical information in a convenient manner. The algorithm is evaluated in a realistic simulation environment called RIPTIDE, which the NASA Ames Research Center developed to access the performance of complicated software for UAVs. Supposing that a UAV is equipped with abovementioned obstacle detection and mapping algorithm, the control problem of a small fixed-wing UAV is studied. A Nonlinear Model Predictive Control (NMPC is designed as a high level controller for the fixed-wing UAV using a kinematic model of the UAV. The kinematic model is employed because of the assumption that there exist low level controls on the UAV. The UAV dynamics are nonlinear with input

  7. Using acoustic sensor technologies to create a more terrain capable unmanned ground vehicle

    OpenAIRE

    Odedra, Sid; Prior, Stephen D.; Karamanoglu, Mehmet; Erbil, Mehmet Ali; Shen, Siu-Tsen; International Conference on Engineering Psychology and Cognitive Ergonomics

    2009-01-01

    Unmanned Ground Vehicle’s (UGV) have to cope with the most complex range of dynamic and variable obstacles and therefore need to be highly intelligent in order to cope with navigating in such a cluttered environment. When traversing over different terrains (whether it is a UGV or a commercial manned vehicle) different drive styles and configuration settings need to be selected in order to travel successfully over each terrain type. These settings are usually selected by a human operator in ma...

  8. Real-Time Identification of Wheel Terrain Interaction Models for Enhanced Autonomous Vehicle Mobility

    Science.gov (United States)

    2014-04-24

    capable instrumentation. • A system reliant on RTK GPS would not be very practical and we show it to be unnecessary. 7/6/2014 Vehicle - Ground...includes: – Moblility logs (post-processed RTK - GPS pose, wheel odometry) for 3 different terrain (grass, dirt, parking lot) on the LandTamer (6x6...Platform Retrofit 7/6/2014 Vehicle - Ground Model Identification 12 AVT GT1920C GigE Camera Pose System: Novatel OEMV-3 GPS Receiver + Honeywell

  9. An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles.

    Science.gov (United States)

    Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

    2017-03-25

    Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance.

  10. Terrain Aided Navigation for Remus Autonomous Underwater Vehicle

    Science.gov (United States)

    2014-06-01

    NAVIGATION FOR REMUS AUTONOMOUS UNDERWATER VEHICLE by Jacob T. Juriga June 2014 Thesis Advisor: Doug Horner Second Reader: Noel DuToit...2014 Author: Jacob T. Juriga Approved by: Doug Horner Thesis Advisor Noel Du Toit Second Reader Garth Hobson Chair...I would like to acknowledge my advisor, Dr. Doug Horner , for his guidance and assistance throughout this process. His help was very much appreciated

  11. Navigation of military and space unmanned ground vehicles in unstructured terrains

    Science.gov (United States)

    Lescoe, Paul; Lavery, David; Bedard, Roger

    1991-01-01

    Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

  12. A stochastic analysis of terrain evaluation variables for path selection. [roving vehicle navigation

    Science.gov (United States)

    Donohue, J. G.; Shen, C. N.

    1978-01-01

    A stochastic analysis was performed on the variables associated with the characteristics of the terrain encountered by a roving system with an autonomous navigation system. A laser rangefinder is employed to detect terrain features at ranges up to 75 m. Analytic expressions and a numerical scheme were developed to calculate the variance of data on these four variables: (1) body clearance, (2) in-path slope, (3) tilt slope, and (4) wheel deviation. The variance is due to noise in the range data. It was found that the standard deviation of these terrain variables is large enough to warrant the use of a safety margin to aid the roving vehicle in avoiding high risk areas.

  13. Determination of Terrain Serviceability of Military Vehicles by GIS Relief Analysis

    Directory of Open Access Journals (Sweden)

    Mladen Pahernik

    2006-11-01

    Full Text Available This paper analyses capabilities of terrain serviceability ofvehicles in regards to the ground features. Two key relief attributesrelated to the slope inclination are defined, as well as reliefforms quantitatively defined as deviations of height above sea-level. As the secondary attribute, the topographic wetness indexis estimated, which, in correlation with the drainage coefficientyields the wetness value index as an essential factor of passablenessin the conditions of harder and more intensive precipitations,that is to say, sudden snow melting. By application ofGIS analysis, based on the digital model of space heights alongthe Kupa River from Pisarovina to SiSinec, the values of primaryand secondary relief attributes have been calculated, andthe analysis of Landsat satellite images has been used to definethe values of vegetation cover. Based on these values and dataon the soil type, the layer of ground wetness has been estimated.Cross Country Mobility Program of ESRI company, withinGIS program package Arc View 3.3. has been used to set themarginal values of the defined relief parameters and to estimatethe levels of mobility for single vehicles in different terrain conditions.The comparison of the obtained results clearly indicatesa possible application of the defined data in the analysisof terrain serviceability of military vehicles, with regard to therelief features of the terrain. For full applicability of the model itis also necessary to define other attributes of mobility related tohydrographical, vegetation, pedological, anthropogenic andother ground features.

  14. Modelling of the optimal vehicle route in terrain in emergency situations using GIS data

    Science.gov (United States)

    Rybansky, M.

    2014-02-01

    Most navigation systems in transport are oriented towards the search for optimal paths (shortest or fastest), using vector GIS data. At the time of natural disasters and emergency situations is necessary to consider roads and terrain for transport. This article is focused on finding optimal routes in terrain, which contains a number of point, line and area obstacles. The most frequent point obstacles are trees in the forest. The paper analyzes the typical structure of tree stands in the forest, their characteristics in GIS databases, as well as dimensional parameters of vehicles moving in the forest. The quality of these data is a prerequisite for finding routes between point obstacles. Searching for the fastest or shortest route of the vehicle described in this article is based on the use of the relationship between the Delaunay triangulation and Voronoi graph, the application of Dijkstra's algorithm and the optimization of fractional line. The above-mentioned methods are also exploitable for searching for the shortest route of movement among line obstructions and area obstructions, such route can be apprehended as the joining of points defining impassable terrain. In such a case, the condition must be met that the distance of terminal points of joins has to be adjusted to the extent that it will be shorter than a vehicle width increased by safe margin.

  15. 77 FR 51731 - All-Terrain Vehicle Safety Summit

    Science.gov (United States)

    2012-08-27

    ... Innovations Topic Areas 1. State Legislation: Effecting Change Suggested topics: How to effect change; what works, what doesn't? Successes and failures with other outdoor products 2. ATV Training: Reaching the... discussion focusing on new innovations in ATV safety will allow stakeholders to work together to...

  16. 77 FR 12197 - Standard for All-Terrain Vehicles

    Science.gov (United States)

    2012-02-29

    ... Nancy A. Nord and Robert S. Adler voted for the rule. Commissioner Ann M. Northup abstained from voting..._locations.html . * * * * * Dated: February 16, 2012. Todd A. Stevenson, Secretary, U.S. Consumer...

  17. Control and learning for intelligent mobility of unmanned ground vehicles in complex terrains

    Science.gov (United States)

    Trentini, M.; Beckman, B.; Digney, B.

    2005-05-01

    The Autonomous Intelligent Systems program at Defence R&D Canada-Suffield envisions autonomous systems contributing to decisive operations in the urban battle space. Creating effective intelligence for these systems demands advances in perception, world representation, navigation, and learning. In the land environment, these scientific areas have garnered much attention, while largely ignoring the problem of locomotion in complex terrain. This is a gap in robotics research, where sophisticated algorithms are needed to coordinate and control robotic locomotion in unknown, highly complex environments. Unlike traditional control problems, intuitive and systematic control tools for robotic locomotion do not readily exist thus limiting their practical application. This paper addresses the mobility problem for unmanned ground vehicles, defined here as the autonomous maneuverability of unmanned ground vehicles in unknown, highly complex environments. It discusses the progress and future direction of intelligent mobility research at Defence R&D Canada-Suffield and presents the research tools, topics and plans to address this critical research gap.

  18. Numerical Simulation and Experimental Research on Air Pattern and Temperature Distribution Inside Compartment of All-Terrain Emergency Ambulance Vehicle%全地形履带式卫生急救车车厢内气流组织及温度分布的数值模拟与试验研究

    Institute of Scientific and Technical Information of China (English)

    赵秀国; 徐新喜; 刘亚军; 崔向东

    2011-01-01

    运用计算流体动力学方法,对全地形履带式卫生急救车车厢内的气流组织和温度分布进行了数值模拟,分析了车厢内气流组织形式和温度分布规律,同时将数值模拟结果与试验结果进行了对比分析,验证了数值模拟结果的准确性。结果表明:在人员活动的绝大部分区域内气流速度分布在0.5 m/s以下,仅在空调送风口射流区域内,气流速度较高,整个车厢内气流速度分布较均匀;车厢内垂直方向和前后方向上不存在明显的温度梯度,整个车厢内温度分布均匀性较好,温度分布在27.5℃左右,温差较小;车厢内人员的舒适性较好,能够满足相关医学作业要求。%The air pattern and the temperature distribution inside the compartment of all-terrain emergency ambulance vehicle are simulated by the technique of computational fluid dynamics(CFD),the air pattern and the temperature distribu-tion are analysed and the simulation result are compared with experimental result.The results show that the air velocity is under 0.5 m/s in the most zone of person activity and the air velocity is distributed uniformly in compartment.The high air velocity exists in the jet zone of the air conditioning.The obvious temperature gradient doesn’t exist in the vertical plane and the anteroposterior of the compartment.The temperature distribution in the compartment is quite uniform and the tempera-ture is almost at 27.5℃ with little temperature difference.The human thermal comfort is good in the compartment and the environment in the compartment can satisfy requirements of the medical operation.

  19. Validation of the AMC-71 Mobility Model. Appendix A: Vehicle Data. Appendix B: Location and Description of Test Sites. Appendix C: Definitions of Terrain Terms and Procedures Used to Collect Terrain Data for Validation Tests. Appendix D: Basic Terrain Data

    Science.gov (United States)

    1976-03-01

    and 4. The soil was a silty sand; the B4 scattercd clumps of desert vegetation ranged from small shrubs tc large cacti . Terrain surface slope was 0.6...LST). Distance between obstacles that cross the entire terrain unit and have a somewhat regular pattern, such as row crops or rice-field dikes. b...which a vehicle will have to pass, such as row crops or rice-field dikes, and the pitch motion will usually be excited in striking the obstacle at

  20. GPS/Reduced IMU with a Local Terrain Predictor in Land Vehicle Navigation

    Directory of Open Access Journals (Sweden)

    Debo Sun

    2008-01-01

    Full Text Available In order to reduce the cost and volume of land vehicle navigation (LVN systems, a “reduced” inertial measurement unit (IMU consisting of only one vertical gyro and two or three accelerometers is generally used and is often integrated with other sensors. Since there are no horizontal gyros in a reduced IMU, the pitch and roll cannot be calculated or observed directly from the inertial data, and the navigation performance is thus affected by local terrain variations. In this work, a reduced IMU is integrated with global positioning system (GPS data and a novel local terrain predictor (LTP algorithm. The latter is used primarily to help estimate the pitch and roll of the reduced IMU system and thus to improve the navigation performance. In this paper, two reduced IMU configurations and two grades of IMUs are investigated using field data. Test results show that the LTP is valid. Specifically, inclusion of the LTP provides more than an 80% horizontal velocity improvement relative to the case when the LTP is not used in a GPS/reduced IMU configuration.

  1. A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

    Energy Technology Data Exchange (ETDEWEB)

    Klarer, P.

    1994-03-01

    The design of a multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER) is described. The control system design attempts to ameliorate some of the problems noted by some researchers when implementing subsumption or behavioral control systems, particularly with regard to multiple processor systems and real-time operations. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules by taking advantage of intertask communications channels, and by implementing each behavior module and each interconnection node as a stand-alone task. The potential advantages of this approach over those previously described in the field are discussed. An implementation of the architecture is planned for a prototype Robotic All Terrain Lunar Exploration Rover (RATLER) currently under development, and is briefly described.

  2. Methane emissions measurements of natural gas components using a utility terrain vehicle and portable methane quantification system

    Science.gov (United States)

    Johnson, Derek; Heltzel, Robert

    2016-11-01

    Greenhouse Gas (GHG) emissions are a growing problem in the United States (US). Methane (CH4) is a potent GHG produced by several stages of the natural gas sector. Current scrutiny focuses on the natural gas boom associated with unconventional shale gas; however, focus should still be given to conventional wells and outdated equipment. In an attempt to quantify these emissions, researchers modified an off-road utility terrain vehicle (UTV) to include a Full Flow Sampling system (FFS) for methane quantification. GHG emissions were measured from non-producing and remote low throughput natural gas components in the Marcellus region. Site audits were conducted at eleven locations and leaks were identified and quantified at seven locations including at a low throughput conventional gas and oil well, two out-of-service gathering compressors, a conventional natural gas well, a coalbed methane well, and two conventional and operating gathering compressors. No leaks were detected at the four remaining sites, all of which were coal bed methane wells. The total methane emissions rate from all sources measured was 5.3 ± 0.23 kg/hr, at a minimum.

  3. A Tire Model for Off-Highway Vehicle Simulation on Short Wave Irregular Terrain

    DEFF Research Database (Denmark)

    Langer, Thomas Heegaard; Kristensen, Lars B; Mouritsen, Ole Ø.

    2010-01-01

    Manufacturers of construction machinery are challenged in several ways concerning dynamic loads. Considering off-highway dump trucks that travel through high amplitude short wave irregular terrain with considerable speed two aspects concerning dynamics are important. The first is the legal requir...

  4. Analysis of terrain map matching using multisensing techniques for applications to autonomous vehicle navigation

    Science.gov (United States)

    Page, Lance; Shen, C. N.

    1991-01-01

    This paper describes skyline-based terrain matching, a new method for locating the vantage point of laser range-finding measurements on a global map previously prepared by satellite or aerial mapping. Skylines can be extracted from the range-finding measurements and modelled from the global map, and are represented in parametric, cylindrical form with azimuth angle as the independent variable. The three translational parameters of the vantage point are determined with a three-dimensional matching of these two sets of skylines.

  5. Terrain perception for robot navigation

    Science.gov (United States)

    Karlsen, Robert E.; Witus, Gary

    2007-04-01

    This paper presents a method to forecast terrain trafficability from visual appearance. During training, the system identifies a set of image chips (or exemplars) that span the range of terrain appearance. Each chip is assigned a vector tag of vehicle-terrain interaction characteristics that are obtained from simple performance models and on-board sensors, as the vehicle traverses the terrain. The system uses the exemplars to segment images into regions, based on visual similarity to the terrain patches observed during training, and assigns the appropriate vehicle-terrain interaction tag to them. This methodology will therefore allow the online forecasting of vehicle performance on upcoming terrain. Currently, the system uses a fuzzy c-means clustering algorithm for training. In this paper, we explore a number of different features for characterizing the visual appearance of the terrain and measure their effect on the prediction of vehicle performance.

  6. Real-time adaptive off-road vehicle navigation and terrain classification

    Science.gov (United States)

    Muller, Urs A.; Jackel, Lawrence D.; LeCun, Yann; Flepp, Beat

    2013-05-01

    We are developing a complete, self-contained autonomous navigation system for mobile robots that learns quickly, uses commodity components, and has the added benefit of emitting no radiation signature. It builds on the au­tonomous navigation technology developed by Net-Scale and New York University during the Defense Advanced Research Projects Agency (DARPA) Learning Applied to Ground Robots (LAGR) program and takes advantage of recent scientific advancements achieved during the DARPA Deep Learning program. In this paper we will present our approach and algorithms, show results from our vision system, discuss lessons learned from the past, and present our plans for further advancing vehicle autonomy.

  7. 76 FR 44289 - Amendment to Standard for All-Terrain Vehicles; Notice of Proposed Rulemaking

    Science.gov (United States)

    2011-07-25

    .... Moore, Nancy A. Nord and Robert S. Adler voted for the proposed rule. Commissioner Ann M. Northup... 19, 2011. Todd A. Stevenson, Secretary, U.S. Consumer Product Safety Commission. BILLING CODE...

  8. 36 CFR 327.2 - Vehicles.

    Science.gov (United States)

    2010-07-01

    ... 36 Parks, Forests, and Public Property 3 2010-07-01 2010-07-01 false Vehicles. 327.2 Section 327.2... Vehicles. (a) This section pertains to all vehicles, including, but not limited to, automobiles, trucks, motorcycles, mini-bikes, snowmobiles, dune buggies, all-terrain vehicles, and trailers, campers, bicycles,...

  9. DspaceOgreTerrain 3D Terrain Visualization Tool

    Science.gov (United States)

    Myint, Steven; Jain, Abhinandan; Pomerantz, Marc I.

    2012-01-01

    DspaceOgreTerrain is an extension to the DspaceOgre 3D visualization tool that supports real-time visualization of various terrain types, including digital elevation maps, planets, and meshes. DspaceOgreTerrain supports creating 3D representations of terrains and placing them in a scene graph. The 3D representations allow for a continuous level of detail, GPU-based rendering, and overlaying graphics like wheel tracks and shadows. It supports reading data from the SimScape terrain- modeling library. DspaceOgreTerrain solves the problem of displaying the results of simulations that involve very large terrains. In the past, it has been used to visualize simulations of vehicle traverses on Lunar and Martian terrains. These terrains were made up of billions of vertices and would not have been renderable in real-time without using a continuous level of detail rendering technique.

  10. Prediction of Vehicle Mobility on Large-Scale Soft-Soil Terrain Maps Using Physics-Based Simulation

    Science.gov (United States)

    2016-08-04

    suitable for mud and snow type materials. Then the governing equations of motion of both the vehicle and the soil particles are solved along with joint...The actual steady- state maximum vehicle speed in the desired travel direction is the speed-made-good and the rest of the vehicle mobility measures...are also extracted at this steady- state . If the vehicle follows the desired velocity profile then to reach its maximum speed the vehicle needs at

  11. 49 CFR 178.320 - General requirements applicable to all DOT specification cargo tank motor vehicles.

    Science.gov (United States)

    2010-10-01

    ...) Each cargo tank or cargo tank motor vehicle design type, including its required accident damage... specification cargo tank motor vehicles. 178.320 Section 178.320 Transportation Other Regulations Relating to... Transportation § 178.320 General requirements applicable to all DOT specification cargo tank motor vehicles....

  12. A Study of Torque Vectoring and Traction Control for an All-Wheel Drive Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Maharun Mui’nuddin

    2014-07-01

    Full Text Available Common vehicle always experience energy loss during cornering manoeuver. Thus, to ensure it did not happened especially at high speed, a study of torque vectoring and traction control need to be made since it can increase the traction control of tyres during cornering at high speed. The study of torque vectoring and traction control for an all-wheel drive electric vehicle was conducted by modelling an all-wheel drive electric vehicle (EV in ADAMS/Car software. In addition, an optimal control algorithm will be developed for best performance to minimize energy losses using MATLAB/Simulink software. Furthermore, to prove the effectiveness of the all-wheel drive electric, the torque and traction control simulation of the all-wheel drive electric vehicle will be compared with uncontrolled electric vehicle model. According to the result, torque vectoring and traction control of in-wheel motor in all wheel drive EV can help to increase the performance of the electric vehicle during cornering manoeuver. In conclusion, this study of torque vectoring and traction control for an all-wheel drive electric vehicle will help researchers to improve the design of the future electric vehicle in term of the vehicle performance during cornering manoeuvre.

  13. Enabling All-Access Mobility for Planetary Exploration Vehicles via Transformative Reconfiguration

    Science.gov (United States)

    Ferguson, Scott; Mazzoleni, Andre

    2016-01-01

    Effective large-scale exploration of planetary surfaces requires robotic vehicles capable of mobility across chaotic terrain. Characterized by a combination of ridges, cracks and valleys, the demands of this environment can cause spacecraft to experience significant reductions in operating footprint, performance, or even result in total system loss. Significantly increasing the scientific return of an interplanetary mission is facilitated by architectures capable of real-time configuration changes that go beyond that of active suspensions while concurrently meeting system, mass, power, and cost constraints. This Phase 1 report systematically explores how in-service architecture changes can expand system capabilities and mission opportunities. A foundation for concept generation is supplied by four Martian mission profiles spanning chasms, ice fields, craters and rocky terrain. A fifth mission profile centered on Near Earth Object exploration is also introduced. Concept generation is directed using four transformation principles - a taxonomy developed by the engineering design community to explain the cause of an architecture change and existing brainstorming techniques. This allowed early conceptual sketches of architecture changes to be organized by the principle driving the greatest increase in mission performance capability.

  14. Localization Based on Magnetic Markers for an All-Wheel Steering Vehicle

    Directory of Open Access Journals (Sweden)

    Yeun Sub Byun

    2016-11-01

    Full Text Available Real-time continuous localization is a key technology in the development of intelligent transportation systems. In these systems, it is very important to have accurate information about the position and heading angle of the vehicle at all times. The most widely implemented methods for positioning are the global positioning system (GPS, vision-based system, and magnetic marker system. Among these methods, the magnetic marker system is less vulnerable to indoor and outdoor environment conditions; moreover, it requires minimal maintenance expenses. In this paper, we present a position estimation scheme based on magnetic markers and odometry sensors for an all-wheel-steering vehicle. The heading angle of the vehicle is determined by using the position coordinates of the last two detected magnetic markers and odometer data. The instant position and heading angle of the vehicle are integrated with an extended Kalman filter to estimate the continuous position. GPS data with the real-time kinematics mode was obtained to evaluate the performance of the proposed position estimation system. The test results show that the performance of the proposed localization algorithm is accurate (mean error: 3 cm; max error: 9 cm and reliable under unexpected missing markers or incorrect markers.

  15. A GPS inspired Terrain Referenced Navigation algorithm

    NARCIS (Netherlands)

    Vaman, D.

    2014-01-01

    Terrain Referenced Navigation (TRN) refers to a form of localization in which measurements of distances to the terrain surface are matched with a digital elevation map allowing a vehicle to estimate its own position within the map. The main goal of this dissertation is to improve TRN performance thr

  16. Chaotic Terrain

    Science.gov (United States)

    2003-01-01

    [figure removed for brevity, see original site] Released 4 June 2003Chaotic terrain on Mars is thought to form when there is a sudden removal of subsurface water or ice, causing the surface material to slump and break into blocks. The chaotic terrain in this THEMIS visible image is confined to a crater just south of Elysium Planitia. It is common to see chaotic terrain in the vicinity of the catastrophic outflow channels on Mars, but the terrain in this image is on the opposite side of the planet from these channels, making it somewhat of an oddity.Image information: VIS instrument. Latitude -5.9, Longitude 108.1 East (251.9 West). 19 meter/pixel resolution.Note: this THEMIS visual image has not been radiometrically nor geometrically calibrated for this preliminary release. An empirical correction has been performed to remove instrumental effects. A linear shift has been applied in the cross-track and down-track direction to approximate spacecraft and planetary motion. Fully calibrated and geometrically projected images will be released through the Planetary Data System in accordance with Project policies at a later time.NASA's Jet Propulsion Laboratory manages the 2001 Mars Odyssey mission for NASA's Office of Space Science, Washington, D.C. The Thermal Emission Imaging System (THEMIS) was developed by Arizona State University, Tempe, in collaboration with Raytheon Santa Barbara Remote Sensing. The THEMIS investigation is led by Dr. Philip Christensen at Arizona State University. Lockheed Martin Astronautics, Denver, is the prime contractor for the Odyssey project, and developed and built the orbiter. Mission operations are conducted jointly from Lockheed Martin and from JPL, a division of the California Institute of Technology in Pasadena.

  17. All auto shredding: evaluation of automotive shredder residue generated by shredding only vehicles.

    Energy Technology Data Exchange (ETDEWEB)

    Duranceau, C. M.; Spangenberger, J. S. (Energy Systems); (Vehicle Recycling Partnership, LLC); (American Chemistry Counsel, Plastics Division)

    2011-09-26

    manufacturing company and location. Each category of vehicles was processed individually through the shredder plant and the resulting shredder residue was analyzed for its materials composition and presence of PCBs and leachable metals. The results show that shredder residue from all vehicle categories tested are not significant contributors of PCBs and leachable metals. It was evident that leachable cadmium levels have decreased in newer vehicles. The composition of the shredder residue from each of the four categories is similar to the others. In addition, these compositions are approximately equal to the composition of typical shredder residues, not limited to automotive materials.

  18. Digital Surface and Terrain Models (DSM,DTM), The DTM associated with the Base Mapping Program consists of mass points and breaklines used primarily for ortho rectification. The DTM specifications included all breaklines for all hydro and transportation features and are the source for the TIPS (Tenn, Published in 2007, 1:4800 (1in=400ft) scale, State of Tennessee.

    Data.gov (United States)

    NSGIC GIS Inventory (aka Ramona) — This Digital Surface and Terrain Models (DSM,DTM) dataset, published at 1:4800 (1in=400ft) scale, was produced all or in part from Orthoimagery information as of...

  19. An Analysis of Fuel Cell Options for an All-electric Unmanned Aerial Vehicle

    Science.gov (United States)

    Kohout, Lisa L.; Schmitz, Paul C.

    2007-01-01

    A study was conducted to assess the performance characteristics of both PEM and SOFC-based fuel cell systems for an all-electric high altitude, long endurance Unmanned Aerial Vehicle (UAV). Primary and hybrid systems were considered. Fuel options include methane, hydrogen, and jet fuel. Excel-based models were used to calculate component mass as a function of power level and mission duration. Total system mass and stored volume as a function of mission duration for an aircraft operating at 65 kft altitude were determined and compared.

  20. On characterizing terrain visibility graphs

    Directory of Open Access Journals (Sweden)

    William Evans

    2015-06-01

    Full Text Available A terrain is an $x$-monotone polygonal line in the $xy$-plane. Two vertices of a terrain are mutually visible if and only if there is no terrain vertex on or above the open line segment connecting them. A graph whose vertices represent terrain vertices and whose edges represent mutually visible pairs of terrain vertices is called a terrain visibility graph. We would like to find properties that are both necessary and sufficient for a graph to be a terrain visibility graph; that is, we would like to characterize terrain visibility graphs.Abello et al. [Discrete and Computational Geometry, 14(3:331--358, 1995] showed that all terrain visibility graphs are “persistent”. They showed that the visibility information of a terrain point set implies some ordering requirements on the slopes of the lines connecting pairs of points in any realization, and as a step towards showing sufficiency, they proved that for any persistent graph $M$ there is a total order on the slopes of the (pseudo lines in a generalized configuration of points whose visibility graph is $M$.We give a much simpler proof of this result by establishing an orientation to every triple of vertices, reflecting some slope ordering requirements that are consistent with $M$ being the visibility graph, and prove that these requirements form a partial order. We give a faster algorithm to construct a total order on the slopes. Our approach attempts to clarify the implications of the graph theoretic properties on the ordering of the slopes, and may be interpreted as defining properties on an underlying oriented matroid that we show is a restricted type of $3$-signotope.

  1. Analysis of the Use of Unmanned Combat Aerial Vehicles in Conjunction with Manned Aircraft to Counter Active Terrorists in Rough Terrain

    Science.gov (United States)

    2015-06-01

    2015 3. REPORT TYPE AND DATES COVERED Master’s Thesis 4. TITLE AND SUBTITLE ANALYSIS OF THE USE OF UNMANNED COMBAT AERIAL VEHICLES IN CONJUNCTION...conditions are other issues that must be overcome. Because of their technical capabilities and longer flight times, Unmanned Combat Aerial Vehicles ...countering terrorists and preventing them from attacking military forces. 14. SUBJECT TERMS Border security, Unmanned Combat Aerial Vehicles

  2. Declarative Terrain Modeling for Military Training Games

    Directory of Open Access Journals (Sweden)

    Ruben M. Smelik

    2010-01-01

    Full Text Available Military training instructors increasingly often employ computer games to train soldiers in all sorts of skills and tactics. One of the difficulties instructors face when using games as a training tool is the creation of suitable content, including scenarios, entities, and corresponding terrain models. Terrain plays a key role in many military training games, as for example, in our case game Tactical Air Defense. However, current manual terrain editors are both too complex and too time-consuming to be useful for instructors; automatic terrain generation methods show a lot of potential, but still lack user control and intuitive editing capabilities. We present a novel way for instructors to model terrain for their training games: instead of constructing a terrain model using complex modeling tools, instructors can declare the required properties of their terrain using an advanced sketching interface. Our framework integrates terrain generation methods and manages dependencies between terrain features in order to automatically create a complete 3D terrain model that matches the sketch. With our framework, instructors can easily design a large variety of terrain models that meet their training requirements.

  3. Construction Method of the Topographical Features Model for Underwater Terrain Navigation

    OpenAIRE

    Wang Lihui; Yu Le; Zhu Yanhua

    2015-01-01

    Terrain database is the reference basic for autonomous underwater vehicle (AUV) to implement underwater terrain navigation (UTN) functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method ...

  4. Motor Vehicle Occupant Death Rate, by Age and Gender, 2012 & 2014, All States

    Data.gov (United States)

    U.S. Department of Health & Human Services — Rate of deaths by age/gender (per 100,000 population) for motor vehicle occupants killed in crashes, 2012 & 2014. 2012 Source: Fatality Analysis Reporting System...

  5. Terrain-Toolkit

    DEFF Research Database (Denmark)

    Wang, Qi; Kaul, Manohar; Long, Cheng

    2014-01-01

    , as will be shown, is used heavily for query processing in spatial databases; and (3) they do not provide the surface distance operator which is fundamental for many applications based on terrain data. Motivated by this, we developed a tool called Terrain-Toolkit for terrain data which accepts a comprehensive set...

  6. Stereo based Obstacle Detection with Uncertainty in Rough Terrain

    NARCIS (Netherlands)

    Mark, W. van der; Heuvel, J.C. van den; Groen, F.C.A.

    2007-01-01

    Autonomous robot vehicles that operate in offroad terrain should avoid obstacle hazards. In this paper we present a stereo vision based method that is able to cluster reconstructed terrain points into obstacles by evaluating their relative angles and distances. In our approach, constraints are enfor

  7. Colour based off-road environment and terrain type classification

    NARCIS (Netherlands)

    Jansen, P.; Mark, W. van der; Heuvel, J.C. van den; Groen, F.C.A.

    2005-01-01

    Terrain classification is an important problem that still remains to be solved for off-road autonomous robot vehicle guidance. Often, obstacle detection systems are used which cannot distinguish between solid obstacles such as rocks or soft obstacles such as tall patches of grass. Terrain classifica

  8. High performance robotic traverse of desert terrain.

    Energy Technology Data Exchange (ETDEWEB)

    Whittaker, William (Carnegie Mellon University, Pittsburgh, PA)

    2004-09-01

    This report presents tentative innovations to enable unmanned vehicle guidance for a class of off-road traverse at sustained speeds greater than 30 miles per hour. Analyses and field trials suggest that even greater navigation speeds might be achieved. The performance calls for innovation in mapping, perception, planning and inertial-referenced stabilization of components, hosted aboard capable locomotion. The innovations are motivated by the challenge of autonomous ground vehicle traverse of 250 miles of desert terrain in less than 10 hours, averaging 30 miles per hour. GPS coverage is assumed to be available with localized blackouts. Terrain and vegetation are assumed to be akin to that of the Mojave Desert. This terrain is interlaced with networks of unimproved roads and trails, which are a key to achieving the high performance mapping, planning and navigation that is presented here.

  9. Complementary terrain/single beacon-based AUV navigation

    Digital Repository Service at National Institute of Oceanography (India)

    Maurya, P.; Curado, T.F.; António, P.

    This paper describes work done towards the development of advanced geophysical-based navigation systems for autonomous underwater vehicles (AUVs). The specific problem that we tackle is that of combining terrain-aided navigation (TAN) with single-beacon...

  10. Revolutionary High Mobility Rovers for Rugged Terrain

    Science.gov (United States)

    Clark, P. E.; Curtis, S. A.; Rilee, M. L.; Cheung, C. Y.; Wesenberg, R. P.; Dorband, J. E.; Lunsford, A. W.

    2006-05-01

    Reconfigurable architecture is essential in exploration because reaching features of the great potential interest, whether searching for life in volcanic terrain or water in at the bottom of craters, will require crossing a wide range of terrains. Such areas of interest are largely inaccessible to permanently appendaged vehicles. For example, morphology and geochemistry of interior basins, walls, and ejecta blankets of volcanic or impact structures must all be studied to understand the nature of a geological event. One surface might be relatively flat and navigable, while another could be rough, variably sloping, broken, or dominated by unconsolidated debris. To be totally functional, structures must form pseudo-appendages varying in size, rate, and manner of deployment (gait). We have already prototyped a simple robotic walker from a single reconfigurable tetrahedron (with struts as sides and nodes as apices) capable of tumbling and are simulating and building a prototype of the more evolved 12Tetrahedral Walker (Autonomous Moon or Mars Investigator) which has interior nodes for payload, more continuous motion, and is commandable through a user friendly interface. We are currently developing a more differentiated architecture to form detachable, reconfigurable, reshapable linearly extendable bodies to act as manual assistant subsystems on rovers, with extensions terminating in a wider range of sensors. We are now simulating gaits for and will be building a prototype rover arm. Ultimately, complex continuous n-tetrahedral structures will have deployable outer skin, and even higher degrees of freedom. Tetrahedral rover advantages over traditional wheeled or tread robots are being demonstrated and include abilities to: 1) traverse terrain more rugged in terms of slope, roughness, and obstacle size; 2) precisely place and lower instruments into hard-to-reach crevices; 3) sample more locations per unit time; 4) conform to virtually any terrain; 5) avoid falling down or

  11. DIORAMA Earth Terrain Model

    Energy Technology Data Exchange (ETDEWEB)

    Werley, Kenneth Alan [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2015-03-10

    When simulating near-surface nuclear detonations, the terrain of the Earth can have an effect on the observed outputs. The critical parameter is called the “height of burst”. In order to model the effect of terrain on the simulations we have incorporated data from multiple sources to give 9 km resolution data with global coverage.

  12. Terrain Software Conversion.

    Science.gov (United States)

    1987-06-29

    iv~ 1. Background. In 1979, CASAA (now TRAC-FLVN) contracted BDM Corporation to produce a terrain data base for the Corps Battle Game (predecessor to...vie% and mod-fv terrain Gata used by several of TRAO-FLVN’s war - si-,ulatiors was comnatible only with Tektronix 4027 hardware. TAB-GT was -,e- tc

  13. Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors

    Science.gov (United States)

    Bajracharya, Max; Howard, Andrew B.; Matthies, Larry H.

    2009-01-01

    Robust and reliable autonomous navigation in unstructured, off-road terrain is a critical element in making unmanned ground vehicles a reality. Existing approaches tend to rely on evaluating the traversability of terrain based on fixed parameters obtained via testing in specific environments. This results in a system that handles the terrain well that it trained in, but is unable to process terrain outside its test parameters. An adaptive system does not take the place of training, but supplements it. Whereas training imprints certain environments, an adaptive system would imprint terrain elements and the interactions amongst them, and allow the vehicle to build a map of local elements using proprioceptive sensors. Such sensors can include velocity, wheel slippage, bumper hits, and accelerometers. Data obtained by the sensors can be compared to observations from ranging sensors such as cameras and LADAR (laser detection and ranging) in order to adapt to any kind of terrain. In this way, it could sample its surroundings not only to create a map of clear space, but also of what kind of space it is and its composition. By having a set of building blocks consisting of terrain features, a vehicle can adapt to terrain that it has never seen before, and thus be robust to a changing environment. New observations could be added to its library, enabling it to infer terrain types that it wasn't trained on. This would be very useful in alien environments, where many of the physical features are known, but some are not. For example, a seemingly flat, hard plain could actually be soft sand, and the vehicle would sense the sand and avoid it automatically.

  14. TERRAIN, Mecklenburg County, NC

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  15. TERRAIN, DAWSON COUNTY, NE

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  16. TERRAIN, SHERIDAN COUNTY, WY

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  17. TERRAIN, KENDALL COUNTY, TEXAS

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  18. TERRAIN, HARDIN COUNTY, IA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  19. TERRAIN, CEDAR COUNTY, IA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  20. TERRAIN, CLALLAM COUNTY, WASHINGTON

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  1. TERRAIN, WORTH COUNTY, IOWA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  2. TERRAIN, BARNSTABLE COUNTY, MASSACHUSETTS

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  3. TERRAIN, HOWARD COUNTY, IA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  4. TERRAIN, BERKS COUNTY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  5. TERRAIN, MITCHELL COUNTY, IA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  6. TERRAIN, LEON COUNTY, TEXAS

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  7. TERRAIN, Norfolk County, Massachusetts

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  8. TERRAIN, MIAMI COUNTY, OH

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  9. TERRAIN, Bennington County, Vermont

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  10. TERRAIN, LAWRENCE COUNTY, ARKANSAS

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  11. TERRAIN, WEBER COUNTY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  12. TERRAIN, DELAWARE COUNTY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  13. TERRAIN, Northampton COUNTY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that were used to create...

  14. TERRAIN, TULSA COUNTY, OKLAHOMA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  15. TERRAIN, POTTER COUNTY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that were used to create...

  16. TERRAIN, TRAVIS COUNTY, TEXAS

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  17. TERRAIN, WRIGHT COUNTY, IA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  18. TERRAIN, TROUSDALE COUNTY, TENNESSEE

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  19. TERRAIN, WAYNE COUNTY, TENNESSEE

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  20. TERRAIN, DARKE COUNTY, OH

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  1. Construction Method of the Topographical Features Model for Underwater Terrain Navigation

    Directory of Open Access Journals (Sweden)

    Wang Lihui

    2015-09-01

    Full Text Available Terrain database is the reference basic for autonomous underwater vehicle (AUV to implement underwater terrain navigation (UTN functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method for terrain navigation information, and constructing an underwater navigation information analysis model, which is associated with topographic features. Simulation results show that the underwater terrain features, are associated with UTN information directly or indirectly, also affect the terrain matching capture probability and the positioning accuracy directly.

  2. Control of Multiple Robotic Sentry Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, J.; Klarer, P.; Lewis, C.

    1999-04-01

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories is developing and testing the feasibility of using of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform surround and diversion tasks. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight ''Roving All Terrain Lunar Explorer Rover'' (RATLER{trademark}) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. This is currently being extended to include mission planning capabilities. At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles. This path is previewed to the operator before the regions are downloaded to the vehicles. The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles.

  3. Automatic target tracking on multi-resolution terrain

    Institute of Scientific and Technical Information of China (English)

    WAN Ming; ZHANG Wei; MURRAY Marie O.; KAUFMAN Arie

    2006-01-01

    We propose a high-performance path planning algorithm for automatic target tracking in the applications of real-time simulation and visualization of large-scale terrain datasets, with a large number of moving objects (such as vehicles) tracking multiple moving targets. By using a modified Dijkstra's algorithm, an optimal path between each vehicle-target pair over a weighted grid-presented terrain is computed and updated to eliminate the problem of local minima and losing of tracking. Then, a dynamic path re-planning strategy using multi-resolution representation of a dynamic updating region is proposed to achieve high-performance by trading-off precision for efficiency, while guaranteeing accuracy. Primary experimental results showed that our algorithm successfully achieved 10 to 96 frames per second interactive path-replanning rates during a terrain simulation scenario with 10 to 100 vehicles and multiple moving targets.

  4. Sakhalin Island terrain intelligence

    Science.gov (United States)

    ,

    1943-01-01

    This folio of maps and explanatory tables outlines the principal terrain features of Sakhalin Island. Each map and table is devoted to a specialized set of problems; together they cover the subjects of terrain appreciation, climate, rivers, water supply, construction materials, suitability for roads, suitability for airfields, fuels and other mineral resources, and geology. In most cases, the map of the island is divided into two parts: N. of latitude 50° N., Russian Sakhalin, and south of latitude 50° N., Japanese Sakhalin or Karafuto. These maps and data were compiled by the United States Geological Survey during the period from March to September, 1943.

  5. A Novel Kinematic Model for Rough Terrain Robots

    Science.gov (United States)

    Auchter, Joseph; Moore, Carl A.; Ghosal, Ashitava

    We describe in detail a novel kinematic simulation of a three—wheeled mo bile robot moving on extremely uneven terrain. The purpose of this simulation is to test a new concept, called Passive Variable Camber (PVC), for reducing undesir able wheel slip. PVC adds an extra degree of freedom at each wheel/platform joint, thereby allowing the wheel to tilt laterally. This extra motion allows the vehicle to better adapt to uneven terrain and reduces wheel slip, which is harmful to vehicle efficiency and performance.

  6. Mobility versus terrain: a game theoretic approach

    Science.gov (United States)

    Bednarz, David; Muench, Paul

    2016-05-01

    Mobility and terrain are two sides of the same coin. You cannot describe mobility unless you describe the terrain. For example, if my world is trench warfare, the tank may be the ideal vehicle. If my world is urban warfare, clearing buildings and such, the tank may not be an ideal vehicle, perhaps an anthropomorphic robot would be better. We seek a general framework for mobility that captures the relative value of different mobility strategies. Game theory is positively the right way to analyze the interactions of rational players who behave strategically. In this paper, we will describe the interactions between a mobility player, who is trying to make it from point A to point B with one chance to refuel, and a terrain player who is trying to minimize that probability by placing an obstacle somewhere along the path from A to B. In previous work [1], we used Monte Carlo methods to analyze this mobility game, and found optimal strategies for a discretized version of the game. Here we show the relationship of this game to a classic game of timing [2], and use solution methods from that literature to solve for optimal strategies in a continuous version of this mobility game.

  7. Computer Vision Methods for Improved Mobile Robot State Estimation in Challenging Terrains

    Directory of Open Access Journals (Sweden)

    Annalisa Milella

    2006-11-01

    Full Text Available External perception based on vision plays a critical role in developing improved and robust localization algorithms, as well as gaining important information about the vehicle and the terrain it is traversing. This paper presents two novel methods for rough terrain-mobile robots, using visual input. The first method consists of a stereovision algorithm for real-time 6DoF ego-motion estimation. It integrates image intensity information and 3D stereo data in the well-known Iterative Closest Point (ICP scheme. Neither a-priori knowledge of the motion nor inputs from other sensors are required, while the only assumption is that the scene always contains visually distinctive features which can be tracked over subsequent stereo pairs. This generates what is usually referred to as visual odometry. The second method aims at estimating the wheel sinkage of a mobile robot on sandy soil, based on edge detection strategy. A semi-empirical model of wheel sinkage is also presented referring to the classical terramechanics theory. Experimental results obtained with an all-terrain mobile robot and with a wheel sinkage test bed are presented to validate our approach. It is shown that the proposed techniques can be integrated in control and planning algorithms to improve the performance of ground vehicles operating in uncharted environments.

  8. Robotic Vehicle Proxy Simulation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Energid Technologies proposes the development of a digital simulation to replace robotic vehicles in field studies. It will model the dynamics, terrain interaction,...

  9. Good terrain geometry, cheap!

    Energy Technology Data Exchange (ETDEWEB)

    Duchaineau, M. [Los Alamos National Lab., NM (United States)]|[Lawrence Livermore National Lab., CA (United States); Wolinsky, M.; Sigeti, D.E. [Los Alamos National Lab., NM (United States)] [and others

    1997-04-01

    Real-time terrain rendering for interactive visualization remains a demanding task. We present a novel algorithm with several advantages over previous methods: our method is unusually stingy with polygons yet achieves real-time performance and is scalable to arbitrary regions and resolutions. The method provides a continuous terrain mesh of specified triangle count having provably minimum error in restricted but reasonably general classes of permissible meshes and error metrics. Our method provides an elegant solution to guaranteeing certain elusive types of consistency in scenes produced by multiple scene generators which share a common finest-resolution database but which otherwise operate entirely independently. This consistency is achieved by exploiting the freedom of choice of error metric allowed by the algorithm to provide, for example, multiple exact lines-of-sight in real-time. Our methods rely on an off-line pre-processing phase to construct a multi-scale data structure consisting of triangular terrain approximations enhanced ({open_quotes}thickened{close_quotes}) with world-space error information. In real time, this error data is efficiently transformed into screen-space where it is used to guide a greedy top-down triangle subdivision algorithm which produces the desired minimal error continuous terrain mesh. Our algorithm has been implemented and it operates at real-time rates.

  10. Navigating Hypermasculine Terrains

    DEFF Research Database (Denmark)

    Henriksen, Ann-Karina Eske

    2015-01-01

    The study addresses how young women navigate urban terrains that are characterized by high levels of interpersonal aggression and crime. It is argued that young women apply a range of gendered tactics to establish safety and social mastery, and that these are framed by the limits and possibilitie...

  11. R-Gator: an unmanned utility vehicle

    Science.gov (United States)

    Moorehead, Stewart J.; Wellington, Carl K.; Paulino, Heidi; Reid, John F.

    2010-04-01

    The R-Gator is an unmanned ground vehicle built on the John Deere 6x4 M-Gator utility vehicle chassis. The vehicle is capable of operating in urban and off-road terrain and has a large payload to carry supplies, wounded, or a marsupial robot. The R-Gator has 6 modes of operation: manual driving, teleoperation, waypoint, direction drive, playback and silent sentry. In direction drive the user specifies a direction for the robot. It will continue in that direction, avoiding obstacles, until given a new direction. Playback allows previously recorded paths, from any other mode including manual, to be played back and repeated. Silent sentry allows the engine to be turned off remotely while cameras, computers and comms remain powered by batteries. In this mode the vehicle stays quiet and stationary, collecting valuable surveillance information. The user interface consists of a wearable computer, monocle and standard video game controller. All functions of the R-Gator can be controlled by the handheld game controller, using at most 2 button presses. This easy to use user interface allows even untrained users to control the vehicle. This paper details the systems developed for the R-Gator, focusing on the novel user interface and the obstacle detection system, which supports safeguarded teleoperation as well as full autonomous operation in off-road terrain. The design for a new 4-wheel, independent suspension chassis version of the R-Gator is also presented.

  12. Forecasting Vehicle Mobility in Remote Areas -An Aid to Military Vehicle Design

    Directory of Open Access Journals (Sweden)

    Tej Paul

    1985-01-01

    Full Text Available Military vehicles are designed for off the road mobility. These are liable for deployment on varying ground conditions. Terrain parameters effecting vehicle systems design are listed. To avoid large scale measurement of terrain parameters, use of physiographic maps in forecasting these parameters has been suggested. Field tests to ascertain the similarity of soil strength parameter between the similar physiographic terrain units, called land facets were conducted and the tests confirmed the usefulness of the technique.

  13. Urban Terrain Zone Characteristics

    Science.gov (United States)

    1987-09-01

    GROUP SUB-GROUP MOUT Urban Geography 13 13 MOBA Structures 15 06 06.07 Combat in Cities 19. ABSTRACT (Continue on reverie if necessary ind identify by...was introduced by the autbor in conjunction with the development end use of a computer-assisted game (ACABUG) for combat development studies...Activity (TRASANA) under the title of American Canadian Australian British Urban Game . (ACABUG) Urban Terrain Classification System. The claseification

  14. Multi-sensor integration for unmanned terrain modeling

    Science.gov (United States)

    Sukumar, Sreenivas R.; Yu, Sijie; Page, David L.; Koschan, Andreas F.; Abidi, Mongi A.

    2006-05-01

    State-of-the-art unmanned ground vehicles are capable of understanding and adapting to arbitrary road terrain for navigation. The robotic mobility platforms mounted with sensors detect and report security concerns for subsequent action. Often, the information based on the localization of the unmanned vehicle is not sufficient for deploying army resources. In such a scenario, a three dimensional (3D) map of the area that the ground vehicle has surveyed in its trajectory would provide a priori spatial knowledge for directing resources in an efficient manner. To that end, we propose a mobile, modular imaging system that incorporates multi-modal sensors for mapping unstructured arbitrary terrain. Our proposed system leverages 3D laser-range sensors, video cameras, global positioning systems (GPS) and inertial measurement units (IMU) towards the generation of photo-realistic, geometrically accurate, geo-referenced 3D terrain models. Based on the summary of the state-of-the-art systems, we address the need and hence several challenges in the real-time deployment, integration and visualization of data from multiple sensors. We document design issues concerning each of these sensors and present a simple temporal alignment method to integrate multi-sensor data into textured 3D models. These 3D models, in addition to serving as a priori for path planning, can also be used in simulators that study vehicle-terrain interaction. Furthermore, we show our 3D models possessing the required accuracy even for crack detection towards road surface inspection in airfields and highways.

  15. Effects on Air Pollution and Regional Climate of Producing and Using Hydrogen in Fuel Cells in all U.S. OnroadVehicles

    Science.gov (United States)

    Jacobson, M. Z.; Colella, W. G.; Golden, D. M.

    2004-12-01

    The purpose of this study was to examine the potential effects on U.S. air pollution and regional climate of switching the current U.S. fleet of onroad motor vehicles to hydrogen fuel-cell vehicles, where hydrogen was produced by (1) steam-reforming of methane, (2) wind energy, or (3) coal gasification. An additional scenario in which the U.S. fleet was switched to gasoline-electric hybrid vehicles was also examined. The model used was GATOR-GCMOM, a global-through-urban-scale nested and parallelized gas, aerosol, transport, radiation, general-circulation, mesoscale, and ocean model. U.S. emission data for the baseline case were obtained from the U.S. National Emission Inventory, which considers 370,000 stack and fugitive sources, 250,000 area sources, and 1700 categories of onroad and nonroad vehicular sources (including motorcycles, passenger vehicles, trucks, recreational vehicles, construction vehicles, farm vehicles, industrial vehicles, etc.). Emission inventories for each of the three hydrogen scenarios were prepared following a process chain analysis that accounted for energy inputs and pollution outputs during all stages of hydrogen and fossil-fuel production, distribution, storage, and end-use. Emitted pollutants accounted for included CO, CO2, H2, H2O, CH4, speciated ROGs, NOx, NH3, SOx, and speciated particulate matter. Results from the first scenario suggest that switching vehicles in the U.S. to hydrogen produced by steam-reforming of methane may reduce emission of NOx, reactive hydrocarbons, CO, CO2, BC, NO3-, and NH4+, but increase CH4, H2, and SO2 (slightly).The switch may also decrease O3 over most of the U.S. but short-term near-surfaces increases may occur over low-vegetated cities (e.g., in Los Angeles and along the Boston-Washington corridor) due to loss of NOx that otherwise titrates O3. The switch is also estimated to decrease PAN, HCHO, and several other pollutants formed in the atmosphere. Isoprene may increase since fewer oxidants (OH, O3

  16. Declarative Terrain Modeling for Military Training Games

    NARCIS (Netherlands)

    Smelik, R.M.; Tutenel, T.; De Kraker, K.J.; Bidarra, R.

    2010-01-01

    Military training instructors increasingly often employ computer games to train soldiers in all sorts of skills and tactics. One of the difficulties instructors face when using games as a training tool is the creation of suitable content, including scenarios, entities, and corresponding terrain mode

  17. Declarative terrain modeling for military training games

    NARCIS (Netherlands)

    Smelik, R.M.; Tutenel, T.; Kraker, J.K.. de; Bidarra, R.

    2010-01-01

    Military training instructors increasingly often employ computer games to train soldiers in all sorts of skills and tactics. One of the difficulties instructors face when using games as a training tool is the creation of suitable content, including scenarios, entities, and corresponding terrain mode

  18. Information measures for terrain visualization

    Science.gov (United States)

    Bonaventura, Xavier; Sima, Aleksandra A.; Feixas, Miquel; Buckley, Simon J.; Sbert, Mateu; Howell, John A.

    2017-02-01

    Many quantitative and qualitative studies in geoscience research are based on digital elevation models (DEMs) and 3D surfaces to aid understanding of natural and anthropogenically-influenced topography. As well as their quantitative uses, the visual representation of DEMs can add valuable information for identifying and interpreting topographic features. However, choice of viewpoints and rendering styles may not always be intuitive, especially when terrain data are augmented with digital image texture. In this paper, an information-theoretic framework for object understanding is applied to terrain visualization and terrain view selection. From a visibility channel between a set of viewpoints and the component polygons of a 3D terrain model, we obtain three polygonal information measures. These measures are used to visualize the information associated with each polygon of the terrain model. In order to enhance the perception of the terrain's shape, we explore the effect of combining the calculated information measures with the supplementary digital image texture. From polygonal information, we also introduce a method to select a set of representative views of the terrain model. Finally, we evaluate the behaviour of the proposed techniques using example datasets. A publicly available framework for both the visualization and the view selection of a terrain has been created in order to provide the possibility to analyse any terrain model.

  19. Eastern Siberia terrain intelligence

    Science.gov (United States)

    ,

    1942-01-01

    The following folio of terrain intelligence maps, charts and explanatory tables represent an attempt to bring together available data on natural physical conditions such as will affect military operations in Eastern Siberia. The area covered is the easternmost section of the U.S.S.R.; that is the area east of the Yenisei River. Each map and accompanying table is devoted· to a specialized set of problems; together they cover such subjects as geology, construction materials, mineral fuels, terrain, water supply, rivers and climate. The data is somewhat generalized due to the scale of treatment as well as to the scarcity of basic data. Each of the maps are rated as to reliability according to the reliability scale on the following page. Considerable of the data shown is of an interpretative nature, although precise data from literature was used wherever possible. The maps and tables were compiled  by a special group from the United States Geological Survey in cooperation with the Intelligence Branch of the Office, Chief of Engineers, War Department.

  20. Underwater terrain positioning method based on least squares estimation for AUV

    Science.gov (United States)

    Chen, Peng-yun; Li, Ye; Su, Yu-min; Chen, Xiao-long; Jiang, Yan-qing

    2015-12-01

    To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrainmatching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation (LSE) is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning.

  1. Semi-Empiric Algorithm for Assessment of the Vehicle Mobility

    Directory of Open Access Journals (Sweden)

    Ticusor CIOBOTARU

    2009-12-01

    Full Text Available The mobility of military vehicles plays a key role in operation. The ability to reach the desired area in war theatre represents the most important condition for a successful accomplishment of the mission for military vehicles. The off-road vehicles face a broad spectrum of terrains to cross. These terrains differ by geometry and the soil characteristics.NATO References Mobility Model (NRMM software is based on empirical relationship between the terrain characteristics, running conditions and vehicles design. The paper presents the main results of a comparative mobility analysis for M1 and HMMWV vehicles obtained using NRMM.

  2. Underwater terrain-aided navigation based on multibeam bathymetric sonar images

    Science.gov (United States)

    Song, Ziqi; Bian, Hongyu; Zielinski, Adam

    2015-12-01

    Underwater terrain-aided navigation is used to complement traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map. This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge corner pixels are then defined and used to construct an edge corner histogram, which it employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m2/pixel, the accuracy of localization is more than 10 meters.

  3. Underwater Terrain-Aided Navigation Based on Multibeam Bathymetric Sonar Images

    Institute of Scientific and Technical Information of China (English)

    Ziqi Song; Hongyu Bian; Adam Zielinski

    2015-01-01

    Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map. This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge corner pixels are then defined and used to construct an edge corner histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m2/pixel, the accuracy of localization is more than 10 meters.

  4. Cooperative terrain model acquisition by two point-robots in planar polygonal terrains

    Energy Technology Data Exchange (ETDEWEB)

    Rao, N.S.V.; Protopopescu, V.

    1994-11-29

    We address the model acquisition problem for an unknown terrain by a team of two robots. The terrain may be cluttered by a finite number of polygonal obstacles with unknown shapes and positions. The robots are point-sized and equipped with visual sensors which acquire all visible parts of the terrain by scanning from their locations. The robots communicate with each other via wireless connection. The performance is measured by the number of the sensor (scan) operations which are assumed to be the most time-consuming/expensive of all the robot operations. We employ the restricted visibility graph methods in a hierarchiacal setup. For terrains with convex obstacles, the sensing time can be halved compared to a single robot implementation. For terrains with concave corners, the performance of the algorithm depends on the number of concave regions and their depths. A hierarchical decomposition of the restricted visibility graph into 2-connected components and trees is considered. Performance for the 2-robot team is expressed in terms of sizes of 2-connected components, and the sizes and diameters of the trees. The proposed algorithm and analysis can be applied to the methods based on Voronoi diagram and trapezoidal decomposition.

  5. Prediction models in complex terrain

    DEFF Research Database (Denmark)

    Marti, I.; Nielsen, Torben Skov; Madsen, Henrik

    2001-01-01

    The objective of the work is to investigatethe performance of HIRLAM in complex terrain when used as input to energy production forecasting models, and to develop a statistical model to adapt HIRLAM prediction to the wind farm. The features of the terrain, specially the topography, influence...

  6. Turbulence in complex terrain

    Energy Technology Data Exchange (ETDEWEB)

    Mann, Jakob [Risoe National Lab., Wind Energy and Atmosheric Physics Dept., Roskilde (Denmark)

    1999-03-01

    The purpose of this work is to develop a model of the spectral velocity-tensor in neutral flow over complex terrain. The resulting equations are implemented in a computer code using the mean flow generated by a linear mean flow model as input. It estimates turbulence structure over hills (except on the lee side if recirculation is present) in the so-called outer layer and also models the changes in turbulence statistics in the vicinity roughness changes. The generated turbulence fields are suitable as input for dynamic load calculations on wind turbines and other tall structures and is under implementation in the collection of programs called WA{sup s}P Engineering. (au) EFP-97; EU-JOULE-3. 15 refs.

  7. Turbulence measurements over complex terrain

    Science.gov (United States)

    Skupniewicz, Charles E.; Kamada, Ray F.; Schacher, Gordon E.

    1989-07-01

    Horizontal turbulence measurements obtained from 22 wind sensors located on 9 towers in a mountainous coastal area are described and categorized by stability and terrain. Vector wind time series are high-pass filtered, and lateral and longitudinal wind speed variance is calculated for averaging times ranging from 15 s to 2 h. Parameterizations of the functional dependence of variance on averaging time are discussed, and a modification of Panofsky's (1988) uniform terrain technique applicable to complex terrain is presented. The parameterization is applied to the data and shown to be more realistic than a less complicated power law technique. The parameter values are shown to be different than the flat terrain cases of Kaimal et al. (1972), and are primarily a function of sensor location within the complex terrain. The parameters are also examined in terms of their dependence upon season, stability, marine boundary-layer height, and measurement height.

  8. Photometric Characteristics of Lunar Terrains

    Science.gov (United States)

    Sato, Hiroyuki; Hapke, Bruce W.; Denevi, Brett W.; Robinson, Mark

    2016-10-01

    The photometric properties of the lunar depend on albedo, surface roughness, porosity, and the internal/external structure of particles. Hapke parameter maps derived using a bidirectional reflectance model [Hapke, 2012] from Lunar Reconnaissance Orbiter Camera (LROC) Wide Angle Camera (WAC) images demonstrated the spatial and spectral variation of the photometric properties of the Moon [Sato et al., 2014]. Using the same methodology, here we present the photometric characteristics of typical lunar terrains, which were not systematically analyzed in the previous study.We selected five representative terrain types: mare, highland, swirls, and two Copernican (fresh) crater ejecta (one mare and one highlands example). As for the datasets, we used ~39 months of WAC repeated observations, and for each image pixel, we computed latitude, longitude, incidence, emission, and phase angles using the WAC GLD100 stereo DTM [Scholten et al., 2012]. To obtain similar phase and incidence angle ranges, all sampling sites are near the equator and in the vicinity of Reiner Gamma. Three free Hapke parameters (single scattering albedo: w, HG2 phase function parameter: c, and angular width of SHOE: hs) were then calculated for the seven bands (321-689 nm). The remaining parameters were fixed by simplifying the model [Sato et al., 2014].The highlands, highland ejecta, and swirl (Reiner Gamma) showed clearly higher w than the mare and mare ejecta. The derived c values were lower (less backscattering) for the swirl and higher (more backscattering) for the highlands (and ejecta) relative to the other sites. Forward scattering materials such as unconsolidated transparent crystalline materials might be relatively enriched in the swirl. In the highlands, anorthositic agglutinates with dense internal scattering could be responsible for the strong backscattering. The mare and mare ejecta showed continuously decreasing c from UV to visible wavelengths. This might be caused by the FeO-rich pyroxene

  9. Offroad vehicle riders in Big Cypress National Preserve: Results from a survey of permit holders

    Science.gov (United States)

    Farrell, T.; Kendra, A.; Roggenbuck, J.; Hall, T.; Marion, J.L.

    1999-01-01

    A survey of 800 offroad vehicle (ORV) owners at Big Cypress National Preserve, Florida, was conducted to obtain information on visitor characteristics and management preferences. This report characterizes survey results for riders of all-terrain vehicles, swamp buggies, standard 4-wheeled street vehicles, and airboats. Riders tended to feel satisfied with their ORV experiences and Preserve conditions. Riders were strongly opposed to management approaches that would restrict use or require certain behaviors. More favored were management actions to encourage low impact use practices

  10. Prevention of MSD by means of ergonomic risk assessment (tools) in all phases of the vehicle development process.

    Science.gov (United States)

    Karlheinz, Schaub; Michaela, Kugler; Max, Bierwirth; Andrea, Sinn-Behrendt; Ralph, Bruder

    2012-01-01

    In industrialized countries musculoskeletal disorders (MSD) play an import role and are often responsible for almost one third of the total sick leave. The changes in the demographic profiles, i.e. aging work forces might even worsen this situation in the future. For a highly productive and sustainable use of human resources in production systems, ergonomics offers high potentials. In the recent years the authors have developed several ergonomic risk assessment tools, especially for the use in automotive industries. These methods may be used during the planning phases in the Tech Centers as well as during the production phase at shop floor level. The tools might also be used for a standardized communication in between the Tech Center and the plants to improve the effects of "lessons learned" for the design and layout of workstations and processes and the optimization of vehicle components. This paper describes suitable risk assessment tools as well as the integration of these tools into the vehicle development process. It introduces a comprehensive management approach for the integration of ergonomics into the management of production systems.

  11. Local Navigation for Unmanned Group Vehicles

    Science.gov (United States)

    2005-12-01

    processing power may allow the development of one all- encompassing navigation algorithm, but more likely, autonomous systems will switch between algorithms... planifier précisément les séquences des mouvements du robot. La portée des résultats : L’évitement des obstacles à deux dimensions est plus ou moins un...and interacts with the terrain. This process is much more difficult for robotic vehicles. In addition to the limitations of sensing equipment, it has

  12. Turbulence sources in mountain terrain: results from MATERHORN program

    Science.gov (United States)

    Di Sabatino, Silvana; Leo, Laura S.; Fernando, Harindra J. S.; Pardyjak, Eric R.; Hocut, Chris M.

    2016-04-01

    Improving high-resolution numerical weather prediction in complex terrain is essential for the many applications involving mountain weather. It is commonly recognized that high intensity weather phenomena near mountains are a safety hazard to aircrafts and unmanned aerial vehicles, but the prediction of highly variable weather is often unsatisfactory due to inadequacy of resolution or lack of the correct dynamics in the model. Improving mountain weather forecasts has been the goal of the interdisciplinary Mountain Terrain Atmospheric Modeling and Observations (MATERHORN) program (2011-2016). In this paper, we will report some of the findings focusing on several mechanisms of generating turbulence in near surface flows in the vicinity of an isolated mountain. Specifically, we will discuss nocturnal flows under low synoptic forcing. It has been demonstrated that such calm conditions are hard to predict in typical weather predictions models where forcing is dominated by local features that are poorly included in numerical models. It is found that downslope flows in calm and clear nights develop rapidly after sunset and usually persists for few hours. Owing to multiscale flow interactions, slope flows appear to be intermittent and disturbed, with a tendency to decay through the night yet periodically and unexpectedly generated. One of the interesting feature herein is the presence of oscillations that can be associated to different types of waves (e.g. internal and trapping waves) which may break to produce extra mixing. Pulsations of katabatic flow at critical internal-wave frequency, flow intrusions arriving from different topographies and shear layers of flow fanning out from the gaps all contribute to the weakly or intermittently turbulent state. Understanding of low frequency contributions to the total kinetic energy represent a step forward into modelling sub-grid effects in numerical models used for aviation applications.

  13. Robot Would Climb Steep Terrain

    Science.gov (United States)

    Kennedy, Brett; Ganino, Anthony; Aghazarian, Hrand; Hogg, Robert; McHerny, Michael; Garrett, Michael

    2007-01-01

    This brief describes the steep terrain access robot (STAR) -- a walking robot that has been proposed for exploring steep terrain on remote planets. The STAR would be able to climb up or down on slopes as steep as vertical, and even beyond vertical to overhangs. Its system of walking mechanisms and controls would be to react forces and maintain stability. To enable the STAR to anchor itself in the terrain on steep slopes to maintain stability and react forces, it would be necessary to equip the tips of the walking legs with new ultrasonic/ sonic drill corers (USDCs) and to develop sensors and control algorithms to enable robust utilization of the USDCs.

  14. Martian terrain - 3D

    Science.gov (United States)

    1997-01-01

    This area of terrain near the Sagan Memorial Station was taken on Sol 3 by the Imager for Mars Pathfinder (IMP). 3D glasses are necessary to identify surface detail.The IMP is a stereo imaging system with color capability provided by 24 selectable filters -- twelve filters per 'eye.' It stands 1.8 meters above the Martian surface, and has a resolution of two millimeters at a range of two meters.Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is an operating division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.Click below to see the left and right views individually. [figure removed for brevity, see original site] Left [figure removed for brevity, see original site] Right

  15. Electric vehicles

    Science.gov (United States)

    1990-03-01

    Quiet, clean, and efficient, electric vehicles (EVs) may someday become a practical mode of transportation for the general public. Electric vehicles can provide many advantages for the nation's environment and energy supply because they run on electricity, which can be produced from many sources of energy such as coal, natural gas, uranium, and hydropower. These vehicles offer fuel versatility to the transportation sector, which depends almost solely on oil for its energy needs. Electric vehicles are any mode of transportation operated by a motor that receives electricity from a battery or fuel cell. EVs come in all shapes and sizes and may be used for different tasks. Some EVs are small and simple, such as golf carts and electric wheel chairs. Others are larger and more complex, such as automobile and vans. Some EVs, such as fork lifts, are used in industries. In this fact sheet, we will discuss mostly automobiles and vans. There are also variations on electric vehicles, such as hybrid vehicles and solar-powered vehicles. Hybrid vehicles use electricity as their primary source of energy, however, they also use a backup source of energy, such as gasoline, methanol or ethanol. Solar-powered vehicles are electric vehicles that use photovoltaic cells (cells that convert solar energy to electricity) rather than utility-supplied electricity to recharge the batteries. These concepts are discussed.

  16. TERRAIN, MARION COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  17. TERRAIN, CLARK COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  18. TERRAIN, PIKE COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  19. TERRAIN, MERCER COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  20. TERRAIN, CALDWELL COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  1. TERRAIN, POWELL COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  2. TERRAIN, OWEN COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  3. TERRAIN, NEW KENT COUNTY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  4. TERRAIN, Concordia PARISH, LA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  5. TERRAIN, Webster COUNTY, Missouri USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  6. TERRAIN, JESSAMINE COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  7. TERRAIN, SANTA CRUZ COUNTY, AZ

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  8. TERRAIN, BOYLE COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  9. TERRAIN, TAYLOR COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  10. TERRAIN, NATCHITOCHES PARISH, LA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  11. TERRAIN Submission for CHICKASAW, IA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  12. TERRAIN, KENTON COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  13. TERRAIN, CAMPBELL COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  14. TERRAIN, LYON COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  15. TERRAIN, MACOMB COUNTY, MI, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  16. TERRAIN, CHILTON COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  17. TERRAIN, WAKULLA COUNTY, FL, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  18. TERRAIN, GADSDEN COUNTY, FL, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  19. TERRAIN, COLBERT COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  20. TERRAIN, DALLAS COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  1. TERRAIN, SEBASTIAN COUNTY, AR, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographical data that were used to create...

  2. TERRAIN, CULLMAN COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  3. TERRAIN, ESCAMBIA COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  4. TERRAIN, FRANKLIN COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  5. TERRAIN, Catahoula PARISH, LA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  6. TERRAIN, DEKALB COUNTY, TN, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  7. TERRAIN, VERNON PARISH, LA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  8. TERRAIN, EVANGELINE PARISH, LA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  9. TERRAIN, WILCOX COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  10. TERRAIN, SHELBY COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  11. TERRAIN, PENDLETON COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  12. TERRAIN, CLINTON COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  13. TERRAIN, NELSON COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  14. TERRAIN, MARENGO COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  15. TERRAIN, LIMESTONE COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  16. TERRAIN, LEVY COUNTY, FL, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  17. TERRAIN, SUMTER COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  18. TERRAIN, MADISON COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  19. TERRAIN, TALLAPOOSA COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  20. TERRAIN, WALKER COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  1. Terrain Data, Westmoreland COUNTY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  2. TERRAIN, LOGAN COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  3. Terrain Data, KENT COUNTY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  4. TERRAIN, STEWART COUNTY, TN, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  5. TERRAIN, HOUSTON COUNTY, TN, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  6. TERRAIN, MONROE COUNTY, TN, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  7. TERRAIN, MADISON PARISH, LA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  8. TERRAIN, Robertson COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  9. TERRAIN, RUSSELL COUNTY, ALABAMA USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  10. TERRAIN, HARRISON COUNTY, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  11. Dynamic Analysis of a Military- Tracked Vehicle

    Directory of Open Access Journals (Sweden)

    V. Balamurugan

    2000-04-01

    Full Text Available 'The ride dynamic characteristics of a typical medium weight, high speed military-tracked vehicle for negotiating rough cross-counlry terrain have been studied. The vehicle is modelled using finiteelement simulation method with beam and shell elements. An eigenvalue analysis has been done to estimate natural modes ofNibration of the vehicle. The dynamic response of certain salient locations is obtained by carrying out a transient dynamic analysis using implicit Newmark beta method. A constant forwar vehicle speed and non-deformable sinusoidal terrain profile are assumed.

  12. Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain

    Science.gov (United States)

    2006-05-01

    Accepted to the Journal of Field Robotics 1 Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain Matthew Spenko, Yoji Kuroda, Steven...COVERED 00-00-2006 to 00-00-2006 4. TITLE AND SUBTITLE Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain 5a. CONTRACT NUMBER 5b...Fundamentals of vehicle dynamics. Warrendale, PA: Society of Automotive Engineers. Golda, D. (2003). Modeling and analysis of high-speed mobile robots operating

  13. Complete Scene Recovery and Terrain Classification in Textured Terrain Meshes

    Directory of Open Access Journals (Sweden)

    Kyhyun Um

    2012-08-01

    Full Text Available Terrain classification allows a mobile robot to create an annotated map of its local environment from the three-dimensional (3D and two-dimensional (2D datasets collected by its array of sensors, including a GPS receiver, gyroscope, video camera, and range sensor. However, parts of objects that are outside the measurement range of the range sensor will not be detected. To overcome this problem, this paper describes an edge estimation method for complete scene recovery and complete terrain reconstruction. Here, the Gibbs-Markov random field is used to segment the ground from 2D videos and 3D point clouds. Further, a masking method is proposed to classify buildings and trees in a terrain mesh.

  14. Processing Terrain Point Cloud Data

    KAUST Repository

    DeVore, Ronald

    2013-01-10

    Terrain point cloud data are typically acquired through some form of Light Detection And Ranging sensing. They form a rich resource that is important in a variety of applications including navigation, line of sight, and terrain visualization. Processing terrain data has not received the attention of other forms of surface reconstruction or of image processing. The goal of terrain data processing is to convert the point cloud into a succinct representation system that is amenable to the various application demands. The present paper presents a platform for terrain processing built on the following principles: (i) measuring distortion in the Hausdorff metric, which we argue is a good match for the application demands, (ii) a multiscale representation based on tree approximation using local polynomial fitting. The basic elements held in the nodes of the tree can be efficiently encoded, transmitted, visualized, and utilized for the various target applications. Several challenges emerge because of the variable resolution of the data, missing data, occlusions, and noise. Techniques for identifying and handling these challenges are developed. © 2013 Society for Industrial and Applied Mathematics.

  15. Stereo Vision Based Terrain Mapping for Off-Road Autonomous Navigation

    Science.gov (United States)

    Rankin, Arturo L.; Huertas, Andres; Matthies, Larry H.

    2009-01-01

    Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as no-go regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

  16. Complex Terrain and Wind Lidars

    DEFF Research Database (Denmark)

    Bingöl, Ferhat

    This thesis includes the results of a PhD study about complex terrain and wind lidars. The study mostly focuses on hilly and forested areas. Lidars have been used in combination with cups, sonics and vanes, to reach the desired vertical measurement heights. Several experiments are performed...... in complex terrain sites and the measurements are compared with two different flow models; a linearised flow model LINCOM and specialised forest model SCADIS. In respect to the lidar performance in complex terrain, the results showed that horizontal wind speed errors measured by a conically scanning lidar....... The SCADIS model worked better than the LINCOM model at the forest edge but the model reported closer results to the measurements at upwind than the downwind and this should be noted as a limitation of the model. As the general conclusion of the study, it was stated that the lidars can be used in complex...

  17. Flow Computations on Imprecise Terrains

    CERN Document Server

    Driemel, Anne; Löffler, Maarten

    2011-01-01

    We study the computation of the flow of water on imprecise terrains. We consider two approaches to modeling flow on a terrain: one where water flows across the surface of a polyhedral terrain in the direction of steepest descent, and one where water only flows along the edges of a predefined graph, for example a grid or a triangulation. In both cases each vertex has an imprecise elevation, given by an interval of possible values, while its (x,y)-coordinates are fixed. For the first model, we show that the problem of deciding whether one vertex may be contained in the watershed of another is NP-hard. In contrast, for the second model we give a simple O(n log n) time algorithm to compute the minimal and the maximal watershed of a vertex, where n is the number of edges of the graph. On a grid model, we can compute the same in O(n) time.

  18. Exploration of the Use of Unmanned Aerial Vehicles along with Other Assets to Enhance Border Protection

    Science.gov (United States)

    2009-06-01

    Border Initiative SUAV Small Unmanned Aerial Vehicle SAR Synthetic Aperture Radar TTPs Tactics, Techniques, And Procedures TRVS Trailer Remote...portable systems, and Trailer Remote Video Systems (TRVS) that are generally mounted on “Sky Watch” trailer systems (U.S. CBP, 2008). Some characteristics...areas, the Border Patrol even employs horses, all-terrain motorcycles, bicycles , and snowmobiles (U.S. CBP, 2009). BP conducts its mission within 20

  19. 三星 GPS 接收机全地形 RTK 测量精度测试与应用的探索%Exploratory Testing and Application of all Terrain Measurement Accuracy of Tri-Satellite RTK Receiver

    Institute of Scientific and Technical Information of China (English)

    杨春全; 齐中华; 徐丽丽

    2015-01-01

    The GPS, GLONASS, Beidou ( COMPASS) GPS receiver functions of three global positioning system in one receiver (hereinafter referred to as:Tri GPS receiver), the receiver can receive the satellite positioning information increased to more than 18, the observation conditions relatively poor, in navigation and positioning, RTK measurements showed great advantage.This test Zhong-haida company production of H32, RTK precision test in observation in different conditions, and the accuracy of the results and the observation of terrain analysis, concluded:Ring view, by the building block within 50%, but completely normal operation, block 50-70%, can get the fixed solution, but the PDOP value will increase obviously, reliability reduce.In the city, the field control survey operation will reduce the position requirements, control survey to reduce the aerial survey as the workload of great significance.%将GPS,GLONASS、北斗( COMPASS)3种全球定位系统的接收功能集于一身的GPS接收机(以下简称:三星GPS接收机),能接收18颗以上卫星的定位信息,观测条件相对差时,在导航定位、RTK测量方面表现出巨大优势。本次测试中海达公司生产的H32,在各种观测条件下进行RTK精度测试,并对成果精度和观测地形进行对比分析。可以看出,环视图上,被建筑物遮挡50%以内,可完全正常作业;遮挡50~70%,能够得出固定解,但PDOP值会明显增大,可靠性降低。在城市、野外控制作业将降低对点位的要求,对减轻航测外业像控测量的工作量意义重大。

  20. Dispersion scenarios over complex terrain

    DEFF Research Database (Denmark)

    Thykier-Nielsen, S.; Mikkelsen, T.; Moreno, J.

    1993-01-01

    A presentation of preliminary results from a real-time simulation of full-scale dispersion experiments carried out over complex terrain in Northern Spain is given. Actual wind and turbulence measurements as observed during the experiments were analysed and used as input data for a series of simul......A presentation of preliminary results from a real-time simulation of full-scale dispersion experiments carried out over complex terrain in Northern Spain is given. Actual wind and turbulence measurements as observed during the experiments were analysed and used as input data for a series...

  1. Complex terrain and wind lidars

    Energy Technology Data Exchange (ETDEWEB)

    Bingoel, F.

    2009-08-15

    This thesis includes the results of a PhD study about complex terrain and wind lidars. The study mostly focuses on hilly and forested areas. Lidars have been used in combination with cups, sonics and vanes, to reach the desired vertical measurement heights. Several experiments are performed in complex terrain sites and the measurements are compared with two different flow models; a linearised flow model LINCOM and specialised forest model SCADIS. In respect to the lidar performance in complex terrain, the results showed that horizontal wind speed errors measured by a conically scanning lidar can be of the order of 3-4% in moderately-complex terrain and up to 10% in complex terrain. The findings were based on experiments involving collocated lidars and meteorological masts, together with flow calculations over the same terrains. The lidar performance was also simulated with the commercial software WAsP Engineering 2.0 and was well predicted except for some sectors where the terrain is particularly steep. Subsequently, two experiments were performed in forested areas; where the measurements are recorded at a location deep-in forest and at the forest edge. Both sites were modelled with flow models and the comparison of the measurement data with the flow model outputs showed that the mean wind speed calculated by LINCOM model was only reliable between 1 and 2 tree height (h) above canopy. The SCADIS model reported better correlation with the measurements in forest up to approx6h. At the forest edge, LINCOM model was used by allocating a slope half-in half out of the forest based on the suggestions of previous studies. The optimum slope angle was reported as 17 deg.. Thus, a suggestion was made to use WAsP Engineering 2.0 for forest edge modelling with known limitations and the applied method. The SCADIS model worked better than the LINCOM model at the forest edge but the model reported closer results to the measurements at upwind than the downwind and this should be

  2. Advanced computer technology - An aspect of the Terminal Configured Vehicle program. [air transportation capacity, productivity, all-weather reliability and noise reduction improvements

    Science.gov (United States)

    Berkstresser, B. K.

    1975-01-01

    NASA is conducting a Terminal Configured Vehicle program to provide improvements in the air transportation system such as increased system capacity and productivity, increased all-weather reliability, and reduced noise. A typical jet transport has been equipped with highly flexible digital display and automatic control equipment to study operational techniques for conventional takeoff and landing aircraft. The present airborne computer capability of this aircraft employs a multiple computer simple redundancy concept. The next step is to proceed from this concept to a reconfigurable computer system which can degrade gracefully in the event of a failure, adjust critical computations to remaining capacity, and reorder itself, in the case of transients, to the highest order of redundancy and reliability.

  3. Morphological modeling of terrains and volume data

    CERN Document Server

    Comic, Lidija; Magillo, Paola; Iuricich, Federico

    2014-01-01

    This book describes the mathematical background behind discrete approaches to morphological analysis of scalar fields, with a focus on Morse theory and on the discrete theories due to Banchoff and Forman. The algorithms and data structures presented are used for terrain modeling and analysis, molecular shape analysis, and for analysis or visualization of sensor and simulation 3D data sets. It covers a variety of application domains including geography, geology, environmental sciences, medicine and biology. The authors classify the different approaches to morphological analysis which are all ba

  4. Off-road vehicle dynamics analysis, modelling and optimization

    CERN Document Server

    Taghavifar, Hamid

    2017-01-01

    This book deals with the analysis of off-road vehicle dynamics from kinetics and kinematics perspectives and the performance of vehicle traversing over rough and irregular terrain. The authors consider the wheel performance, soil-tire interactions and their interface, tractive performance of the vehicle, ride comfort, stability over maneuvering, transient and steady state conditions of the vehicle traversing, modeling the aforementioned aspects and optimization from energetic and vehicle mobility perspectives. This book brings novel figures for the transient dynamics and original wheel terrain dynamics at on-the-go condition.

  5. An automated system for terrain database construction

    Science.gov (United States)

    Johnson, L. F.; Fretz, R. K.; Logan, T. L.; Bryant, N. A.

    1987-01-01

    An automated Terrain Database Preparation System (TDPS) for the construction and editing of terrain databases used in computerized wargaming simulation exercises has been developed. The TDPS system operates under the TAE executive, and it integrates VICAR/IBIS image processing and Geographic Information System software with CAD/CAM data capture and editing capabilities. The terrain database includes such features as roads, rivers, vegetation, and terrain roughness.

  6. Ride Dynamics of a Tracked Vehicle with a Finite Element Vehicle Model

    Directory of Open Access Journals (Sweden)

    S. Jothi

    2016-01-01

    Full Text Available Research on tracked vehicle dynamics is by and large limited to multi-rigid body simulation. For realistic prediction of vehicle dynamics, it is better to model the vehicle as multi-flexible body. In this paper, tracked vehicle is modelled as a mass-spring system with sprung and unsprung masses of the physical tracked vehicle by Finite element method. Using the equivalent vehicle model, dynamic studies are carried out by imparting vertical displacement inputs to the road wheels. Ride characteristics of the vehicle are captured by modelling the road wheel arms as flexible elements using Finite element method. In this work, a typical tracked vehicle test terrain viz., Trapezoidal blocks terrain (APG terrain is considered. Through the simulations, the effect of the road wheel arm flexibility is monitored. Result of the analysis of equivalent vehicle model with flexible road wheel arms, is compared with the equivalent vehicle model with rigid road wheel arms and also with the experimental results of physical tracked vehicle. Though there is no major difference in the vertical bounce response between the flexible model and the rigid model, but there is a visible difference in the roll condition. Result of the flexible vehicle model is also reasonably matches with the experimental result.Defence Science Journal, Vol. 66, No. 1, January 2016, pp. 19-25, DOI: http://dx.doi.org/10.14429/dsj.66.9201

  7. Bandwidth based methodology for designing a hybrid energy storage system for a series hybrid electric vehicle with limited all electric mode

    Science.gov (United States)

    Shahverdi, Masood

    The cost and fuel economy of hybrid electrical vehicles (HEVs) are significantly dependent on the power-train energy storage system (ESS). A series HEV with a minimal all-electric mode (AEM) permits minimizing the size and cost of the ESS. This manuscript, pursuing the minimal size tactic, introduces a bandwidth based methodology for designing an efficient ESS. First, for a mid-size reference vehicle, a parametric study is carried out over various minimal-size ESSs, both hybrid (HESS) and non-hybrid (ESS), for finding the highest fuel economy. The results show that a specific type of high power battery with 4.5 kWh capacity can be selected as the winning candidate to study for further minimization. In a second study, following the twin goals of maximizing Fuel Economy (FE) and improving consumer acceptance, a sports car class Series-HEV (SHEV) was considered as a potential application which requires even more ESS minimization. The challenge with this vehicle is to reduce the ESS size compared to 4.5 kWh, because the available space allocation is only one fourth of the allowed battery size in the mid-size study by volume. Therefore, an advanced bandwidth-based controller is developed that allows a hybridized Subaru BRZ model to be realized with a light ESS. The result allows a SHEV to be realized with 1.13 kWh ESS capacity. In a third study, the objective is to find optimum SHEV designs with minimal AEM assumption which cover the design space between the fuel economies in the mid-size car study and the sports car study. Maximizing FE while minimizing ESS cost is more aligned with customer acceptance in the current state of market. The techniques applied to manage the power flow between energy sources of the power-train significantly affect the results of this optimization. A Pareto Frontier, including ESS cost and FE, for a SHEV with limited AEM, is introduced using an advanced bandwidth-based control strategy teamed up with duty ratio control. This controller

  8. Application of MotionView and HyperStudy in all terrain vehicle front suspension design%MotionView及HyperStudy在全地形车前悬架设计中的应用

    Institute of Scientific and Technical Information of China (English)

    常立晔; 李成

    2016-01-01

    为解决全地形车大行程前悬架的悬架跳动与前束角变化的协调问题,研究一款全地形车前悬架的运动学模型.在MotionView中建立该全地形车前悬架的运动学模型,借助HyperStudy对悬架跳动与前束角变化关系曲线进行优化,获得与理想曲线较接近的结果.

  9. Spectra of Velocity components over Complex Terrain

    DEFF Research Database (Denmark)

    Panofsky, H. A.; Larko, D.; Lipschut, R.

    1982-01-01

    Spectra have been measured over a variety of types of complex terrain: on tops of hills and escarpments, over land downstream of a water surface, and over rolling terrain. Differences between spectra over many types of complex terrain, and over uniform terrain, can be explained by these hypotheses...... is horizontal, and decrease when the flow is uphill, for the longitudinal velocity component only. Since vertical-velocity spectra contain relatively less low wavenumber energy than horizontal-velocity spectra, energetic vertical-velocity fluctuations tend to be in equilibrium with local terrain....

  10. Exposing Memnonia Terrain

    Science.gov (United States)

    2004-01-01

    21 June 2004 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows the results of a process that is underway in the Memnonia uplands near 12.9oS, 152.7oW, to strip away one layer of material and reveal a formerly-buried landscape from beneath. All of the area shown here was once covered by a material that has been eroded by wind to form the sharp-crested, nearly-parallel ridges that run diagonally from the upper left toward lower right in this image. These ridges are a classic wind erosion form, known as a yardang. The image covers an area about 3 km (1.9 mi) wide and is illuminated by sunlight from the left/upper left.

  11. Online Energy Management of Plug-In Hybrid Electric Vehicles for Prolongation of All-Electric Range Based on Dynamic Programming

    Directory of Open Access Journals (Sweden)

    Zeyu Chen

    2015-01-01

    Full Text Available The employed energy management strategy plays an important role in energy saving performance and exhausted emission reduction of plug-in hybrid electric vehicles (HEVs. An application of dynamic programming for optimization of power allocation is implemented in this paper with certain driving cycle and a limited driving range. Considering the DP algorithm can barely be used in real-time control because of its huge computational task and the dependence on a priori driving cycle, several online useful control rules are established based on the offline optimization results of DP. With the above efforts, an online energy management strategy is proposed finally. The presented energy management strategy concerns the prolongation of all-electric driving range as well as the energy saving performance. A simulation study is deployed to evaluate the control performance of the proposed energy management approach. All-electric range of the plug-in HEV can be prolonged by up to 2.86% for a certain driving condition. The energy saving performance is relative to the driving distance. The presented energy management strategy brings a little higher energy cost when driving distance is short, but for a long driving distance, it can reduce the energy consumption by up to 5.77% compared to the traditional CD-CS strategy.

  12. Handling Massive and Dynamic Terrain Data

    DEFF Research Database (Denmark)

    Revsbæk, Morten

    Recent technological advances have greatly increased our ability to collect and store detailed information about the topography of the Earth, both below and above the ocean. This information is often stored as digital terrain models. These terrain models have a large range of applications from...... models are increasingly being updated as a result of new data collection or editing done by users. This transforms a terrain model into a dynamic object, and presents a set of new algorithmic challenges. In this thesis we consider some of the above challenges. To enable analysis of massive terrain data...... a rain event Considering the terrain as a dynamic object is a relatively new research challenge. To meet this challenge, we consider the terrain as a continuously deforming object and present a data structure that can maintain certain topological attributes of the terrain as it deforms. These topological...

  13. Evaluation of the vehicle state with vibration-based diagnostics methods

    Science.gov (United States)

    Gai, V. E.; Polyakov, I. V.; Krasheninnikov, M. S.; Koshurina, A. A.; Dorofeev, R. A.

    2017-02-01

    Timely detection of a trouble in the mechanisms work is a guarantee of the stable operation of the entire machine complex. It allows minimizing unexpected losses, and avoiding any injuries inflicted on working people. The solution of the problem is the most important for vehicles and machines, working in remote areas of the infrastructure. All-terrain vehicles can be referred to such type of transport. The potential object of application of the described methodology is the multipurpose rotary-screw amphibious vehicle for rescue; reconnaissance; transport and technological operations. At the present time, there is no information on the use of these kinds of systems in ground-based vehicles. The present paper is devoted to the state estimation of a mechanism based on the analysis of vibration signals produced by the mechanism, in particular, the vibration signals of rolling bearings. The theory of active perception was used for the solution of the problem of the state estimation.

  14. Development of All-Electric Combat Vehicle visual simulation platform%全电战斗车辆性能可视化仿真平台开发

    Institute of Scientific and Technical Information of China (English)

    夏乙; 王冬; 刘富林; 易海舰; 陈玉林; 郑程

    2012-01-01

    Aimed at All-Electric Combat Vehicle(AECV) performance demonstration, a visualization platform of AECV based on Open Graphic Library(OpenGL) is designed. The 3D model of AECV made by the 3D graphics software is read into virtual scene in Visual C++. In virtual scenes, the off-line data is read to. simulate AECV acceleration and braking processes. The processes of electrothermal chemistry gun firing and electromagnetism armor defense after being hit by missile are simulated by using the method based on particle system. Experimental results demonstrate that the proposed method is effective.%针对全电坦克性能演示的需求,实现了基于OpenGL的全电坦克性能可视化平台开发.用三维图形软件制作全电坦克三维模型,在Visual C++中将模型导入虚拟场景.在虚拟场景中,读取离线仿真数据来仿真全电坦克的加速、制动过程.使用基于粒子系统的方法模拟全电坦克电热化学炮开火、导弹击中后电磁装甲防护等过程.最后通过实验证明了该方法的有效性.

  15. Digital Surface and Terrain Models (DSM,DTM), Lafayette County Digital Terrain Model, Published in 1995, 1:24000 (1in=2000ft) scale, Lafayette County Land Records.

    Data.gov (United States)

    NSGIC GIS Inventory (aka Ramona) — This Digital Surface and Terrain Models (DSM,DTM) dataset, published at 1:24000 (1in=2000ft) scale, was produced all or in part from Orthoimagery information as of...

  16. Digital Terrain Models from Mobile Laser Scanning Data in Moravian Karst

    Science.gov (United States)

    Tyagur, N.; Hollaus, M.

    2016-06-01

    During the last ten years, mobile laser scanning (MLS) systems have become a very popular and efficient technology for capturing reality in 3D. A 3D laser scanner mounted on the top of a moving vehicle (e.g. car) allows the high precision capturing of the environment in a fast way. Mostly this technology is used in cities for capturing roads and buildings facades to create 3D city models. In our work, we used an MLS system in Moravian Karst, which is a protected nature reserve in the Eastern Part of the Czech Republic, with a steep rocky terrain covered by forests. For the 3D data collection, the Riegl VMX 450, mounted on a car, was used with integrated IMU/GNSS equipment, which provides low noise, rich and very dense 3D point clouds. The aim of this work is to create a digital terrain model (DTM) from several MLS data sets acquired in the neighbourhood of a road. The total length of two covered areas is 3.9 and 6.1 km respectively, with an average width of 100 m. For the DTM generation, a fully automatic, robust, hierarchic approach was applied. The derivation of the DTM is based on combinations of hierarchical interpolation and robust filtering for different resolution levels. For the generation of the final DTMs, different interpolation algorithms are applied to the classified terrain points. The used parameters were determined by explorative analysis. All MLS data sets were processed with one parameter set. As a result, a high precise DTM was derived with high spatial resolution of 0.25 x 0.25 m. The quality of the DTMs was checked by geodetic measurements and visual comparison with raw point clouds. The high quality of the derived DTM can be used for analysing terrain changes and morphological structures. Finally, the derived DTM was compared with the DTM of the Czech Republic (DMR 4G) with a resolution of 5 x 5 m, which was created from airborne laser scanning data. The vertical accuracy of the derived DTMs is around 0.10 m.

  17. DIGITAL TERRAIN MODELS FROM MOBILE LASER SCANNING DATA IN MORAVIAN KARST

    Directory of Open Access Journals (Sweden)

    N. Tyagur

    2016-06-01

    Full Text Available During the last ten years, mobile laser scanning (MLS systems have become a very popular and efficient technology for capturing reality in 3D. A 3D laser scanner mounted on the top of a moving vehicle (e.g. car allows the high precision capturing of the environment in a fast way. Mostly this technology is used in cities for capturing roads and buildings facades to create 3D city models. In our work, we used an MLS system in Moravian Karst, which is a protected nature reserve in the Eastern Part of the Czech Republic, with a steep rocky terrain covered by forests. For the 3D data collection, the Riegl VMX 450, mounted on a car, was used with integrated IMU/GNSS equipment, which provides low noise, rich and very dense 3D point clouds. The aim of this work is to create a digital terrain model (DTM from several MLS data sets acquired in the neighbourhood of a road. The total length of two covered areas is 3.9 and 6.1 km respectively, with an average width of 100 m. For the DTM generation, a fully automatic, robust, hierarchic approach was applied. The derivation of the DTM is based on combinations of hierarchical interpolation and robust filtering for different resolution levels. For the generation of the final DTMs, different interpolation algorithms are applied to the classified terrain points. The used parameters were determined by explorative analysis. All MLS data sets were processed with one parameter set. As a result, a high precise DTM was derived with high spatial resolution of 0.25 x 0.25 m. The quality of the DTMs was checked by geodetic measurements and visual comparison with raw point clouds. The high quality of the derived DTM can be used for analysing terrain changes and morphological structures. Finally, the derived DTM was compared with the DTM of the Czech Republic (DMR 4G with a resolution of 5 x 5 m, which was created from airborne laser scanning data. The vertical accuracy of the derived DTMs is around 0.10 m.

  18. Soil Parameter Identification for Wheel-terrain Interaction Dynamics and Traversability Prediction

    Institute of Scientific and Technical Information of China (English)

    Suksun Hutangkabodee; Yahya Hashem Zweiri; Lakmal Dasarath Seneviratne; Kaspar Althoefer

    2006-01-01

    This paper presents a novel technique for identifying soil parameters for a wheeled vehicle traversing unknown terrain. The identified soil parameters are required for predicting vehicle drawbar pull and wheel drive torque, which in turn can be used for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The proposed technique is based on the Newton Raphson method. An approximated form of a wheel-soil interaction model based on Composite Simpson's Rule is employed for this purpose. The key soil parameters to be identified are internal friction angle, shear deformation modulus, and lumped pressure-sinkage coefficient. The fourth parameter, cohesion, is not too relevant to vehicle drawbar pull, and is assigned an average value during the identification process. Identified parameters are compared with known values, and shown to be in agreement. The identification method is relatively fast and robust.The identified soil parameters can effectively be used to predict drawbar pull and wheel drive torque with good accuracy.The use of identified soil parameters to design a traversability criterion for wheeled vehicles traversing unknown terrain is presented.

  19. Enveloping Relief Surfaces of Landslide Terrain

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Two relief surfaces that envelop the rock fall region in a part of Garhwal Himalayas around Chamoli have been identified. Relative relief and absolute relief have been analyzed and the enveloping surfaces recorded at two levels of relief in the landscape. All landslide activity lies within these surfaces. The lower enveloping surface (800 m) dips due south by 7-8 degrees, due to an elevation rise of 100 meters within 12 km from south to north, i.e., a gradient of 8 percent. The nature of the surface is smooth. The upper enveloping surface (> 2500 m) is almost parallel to the lower one but its surface is undulatory due to landslides and denudation. The area has been a seismically active region and has undergone seismic activity up until recently, as evidenced by the Chamoli earthquake of 29th March 1999. The effects of earthquakes are seen at higher levels in the form of landslide imprints on the terrain.

  20. Electric vehicles: Driving range

    Science.gov (United States)

    Kempton, Willett

    2016-09-01

    For uptake of electric vehicles to increase, consumers' driving-range needs must be fulfilled. Analysis of the driving patterns of personal vehicles in the US now shows that today's electric vehicles can meet all travel needs on almost 90% of days from a single overnight charge.

  1. At A Glance: Electric-Drive Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    2016-07-01

    Electric-drive vehicles use electricity as their primary fuel or to improve the efficiency of conventional vehicle designs. With the range of styles and options available, there is likely one to meet your needs. The vehicles can be divided into three categories: 1) Hybrid electric vehicles (HEVs), 2) Plug-in hybrid electric vehicles (PHEVs), and 3) All-electric vehicles (EVs).

  2. At A Glance: Electric-Drive Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    None

    2016-07-13

    Electric-drive vehicles use electricity as their primary fuel or to improve the efficiency of conventional vehicle designs. With the range of styles and options available, there is likely one to meet your needs. The vehicles can be divided into three categories: 1) Hybrid electric vehicles (HEVs), 2) Plug-in hybrid electric vehicles (PHEVs), and 3) All-electric vehicles (EVs).

  3. Walking Algorithm of Humanoid Robot on Uneven Terrain with Terrain Estimation

    Directory of Open Access Journals (Sweden)

    Jiang Yi

    2016-02-01

    Full Text Available Humanoid robots are expected to achieve stable walking on uneven terrains. In this paper, a control algorithm for humanoid robots walking on previously unknown terrains with terrain estimation is proposed, which requires only minimum modification to the original walking gait. The swing foot trajectory is redesigned to ensure that the foot lands at the desired horizontal positions under various terrain height. A compliant terrain adaptation method is applied to the landing foot to achieve a firm contact with the ground. Then a terrain estimation method that takes into account the deformations of the linkages is applied, providing the target for the following correction and adjustment. The algorithm was validated through walking experiments on uneven terrains with the full-size humanoid robot Kong.

  4. Human Robotic Systems (HRS): Extreme Terrain Mobility Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2014, the Extreme Terrain Mobility project element is developing five technologies:Exoskeleton Development for ISS EvaluationExtreme Terrain Mobility...

  5. Intelligent coverage path planning for agricultural robots and autonomous machines on three-dimensional terrain

    DEFF Research Database (Denmark)

    Hameed, Ibahim

    2014-01-01

    precise navigation. Supplementary to that, energy consumption models were invoked taking into account terrain inclinations in order to provide the optimal driving direction for traversing the parallel field-work tracks and the optimal sequence for handling these tracks under the criterion of minimizing...... in the energy requirements when the driving angle is optimized by taking into account the 3D field terrain was 6.5 % as an average for all the examined scenarios compared to the case when the applied driving angle is optimized assuming even field terrain. Additional reduction is achieved when sequence of field...... tracks is optimized by taking into account inclinations for driving up and down steep hills....

  6. Comparing English, Mandarin, and Russian Hydrographic and Terrain Categories

    Energy Technology Data Exchange (ETDEWEB)

    Feng, Chen-Chieh [National University of Singapore; Sorokine, Alexandre [ORNL

    2013-01-01

    The paper compares hydrographic and terrain categories in the geospatial data standards of the US, Taiwan, and Russian Federation where the dominant languages used are from di erent language families. It aims to identify structural and semantic di erences between similar categories across three geospatial data standards. By formalizing the data standard structures and identifying the properties that di erentiate sibling categories in each geospatial data standard using well-known formal relations and quality universals, we develop a common basis on which hydrographic and terrain categories in the three data standards can be compared. The result suggests that all three data standards structure categories with a mixture of relations with di erent meaning even though most of them are well-known relations in top-level ontologies. Similar categories can be found across all three standards but exact match between similar categories are rare.

  7. Wind turbine wake measurement in complex terrain

    Science.gov (United States)

    Hansen, KS; Larsen, GC; Menke, R.; Vasiljevic, N.; Angelou, N.; Feng, J.; Zhu, WJ; Vignaroli, A.; W, W. Liu; Xu, C.; Shen, WZ

    2016-09-01

    SCADA data from a wind farm and high frequency time series measurements obtained with remote scanning systems have been analysed with focus on identification of wind turbine wake properties in complex terrain. The analysis indicates that within the flow regime characterized by medium to large downstream distances (more than 5 diameters) from the wake generating turbine, the wake changes according to local atmospheric conditions e.g. vertical wind speed. In very complex terrain the wake effects are often “overruled” by distortion effects due to the terrain complexity or topology.

  8. CONTEXT-BASED URBAN TERRAIN RECONSTRUCTION FROM UAV-VIDEOS FOR GEOINFORMATION APPLICATIONS

    Directory of Open Access Journals (Sweden)

    D. Bulatov

    2012-09-01

    Full Text Available Urban terrain reconstruction has many applications in areas of civil engineering, urban planning, surveillance and defense research. Therefore the needs of covering ad-hoc demand and performing a close-range urban terrain reconstruction with miniaturized and relatively inexpensive sensor platforms are constantly growing. Using (miniaturized unmanned aerial vehicles, (MUAVs, represents one of the most attractive alternatives to conventional large-scale aerial imagery. We cover in this paper a four-step procedure of obtaining georeferenced 3D urban models from video sequences. The four steps of the procedure – orientation, dense reconstruction, urban terrain modeling and geo-referencing – are robust, straight-forward, and nearly fully-automatic. The two last steps – namely, urban terrain modeling from almost-nadir videos and co-registration of models 6ndash; represent the main contribution of this work and will therefore be covered with more detail. The essential substeps of the third step include digital terrain model (DTM extraction, segregation of buildings from vegetation, as well as instantiation of building and tree models. The last step is subdivided into quasi- intrasensorial registration of Euclidean reconstructions and intersensorial registration with a geo-referenced orthophoto. Finally, we present reconstruction results from a real data-set and outline ideas for future work.

  9. An application of generalized predictive control to rotorcraft terrain-following flight

    Science.gov (United States)

    Hess, Ronald A.; Jung, Yoon C.

    1989-01-01

    Generalized predictive control (GPC) describes an algorithm for the control of dynamic systems in which a control input is generated which minimizes a quadratic cost function consisting of a weighted sum of errors between desired and predicted future system output and future predicted control increments. The output predictions are obtained from an internal model of the plant dynamics. The GPC algorithm is first applied to a simplified rotorcraft terrain-following problem, and GPC performance is compared to that of a conventional compensatory automatic system in terms of flight-path following, control activity, and control law implementation. Next, more realistic vehicle dynamics are utilized, and the GPC algorithm is applied to simultaneous terrain following and velocity control in the presence of atmospheric disturbances and errors in the internal model of the vehicle. The online computational and sensing requirements for implementing the GPC algorithm are minimal. Its use for manual control models appears promising.

  10. DOGWOOD RUN TERRAIN, YORK COUNTY, PA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data includes digital elevation models, LIDAR derived contours, LIDAR three-dimensional spot elevations and breaklines, field surveyed ground elevations and...

  11. DCS Terrain Submission for Stephens, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  12. TERRAIN, ESSEX COUNTY, MASSACHUSETTS - Coastal PMR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  13. DCS Terrain Submission for Bark River PMR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  14. TERRAIN, BRISTOL COUNTY, RHODE ISLAND - Coastal PMR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  15. TERRAIN, UPPER CUMBERLAND WATERSHED, PMR, TENNESSEE, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  16. DCS Terrain for Warren County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  17. DCS Terrain for Middlesex County, NJ

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that were used to create...

  18. DCS Terrain for Williamson County, TX

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  19. DCS Terrain Submission for Cass County, MO

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  20. DCS Terrain Submission for Houston TX

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  1. DCS Terrain Submission for Carter, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  2. DCS Terrain Submission for Harrison, TX

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  3. DCS Terrain for Harris County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  4. DCS Terrain Submission for Fox Lake PMR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  5. DCS Terrain for Quitman County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  6. DCS Terrain Submission for Charlton Co GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  7. DCS Terrain for HOUSTON COUNTY, ALABAMA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  8. DCS Terrain for Murray County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  9. DCS Terrain Submission for Rusk County, Wisconsin

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  10. DCS Terrain Submission for Albany County NY

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describe the digital topographic data that were used to create...

  11. DCS Terrain Submission for Solano, CA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  12. DCS Terrain for Stewart County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  13. DCS TERRAIN Submission for STEARNS COUNTY, MN

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  14. TERRAIN Submission for CHISAGO COUNTY, MN

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  15. TERRAIN, CERRO GORDO COUNTY, IOWA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  16. DCS Terrain Submission for Irwin, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  17. DCS Terrain Submission for Seminole, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  18. TERRAIN, UPPER CUMBERLAND WATERSHED, KENTUCKY USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  19. DCS TERRAIN SUBMISSION FOR PUTNAM COUNTY, FL

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  20. DCS Terrain Submission for Benton County, AR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  1. Biologic Analog Science Associated with Lava Terrains

    Science.gov (United States)

    Thomas, N. K.; Hamilton, J. C.; Veillet, A.; Muir, C.

    2016-05-01

    The goal of BASALT is to use Hawaiian volcanic terrain to constrain the upper limits of biomass that could have been supported on Mars and how those upper bounds inform future detection requirements for manned missions.

  2. DCS TERRAIN SUBMISSION FOR KNOX COUNTY, TN

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  3. TERRAIN, Pointe Coupee PARISH, LA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  4. DCS Terrain Submission for Mason County, KY

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that were used to create...

  5. DCS Terrain Submission for Winston County, AL

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  6. TERRAIN, ST. LOUIS COUNTY, Missouri USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  7. DCS Terrain Submission for Tyler TX

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  8. DCS Terrain Submission for Citrus County FL

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that were used to create...

  9. DCS Terrain Submission for Kingfisher, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  10. TERRAIN DATA, CITY OF CARSON CITY, NV

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describe the digital topographic data that were used to create...

  11. TERRAIN, CANNON COUNTY, TENNESSEE and INCORPORATED AREAS

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  12. Terrain, CEDAR RAPIDS, LINN COUNTY, IA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  13. DCS Terrain for Pickens County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  14. DCS Terrain Submission for Ulster County NY

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describe the digital topographic data that were used to create...

  15. DCS Terrain for Cobb County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  16. DCS TERRAIN SUBMISSION FOR VOLUSIA COUNTY, FL

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  17. DCS Terrain Submission for Sanders County, Montana

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  18. DCS Terrain for Hancock County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  19. DCS Terrain Submission for Howard, AR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  20. DCS Terrain Submission for Chippewa County, Wisconsin

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  1. DCS Terrain Submission for George, MS

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  2. DCS Terrain Submission for Lagrange County, IN

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  3. DCS Terrain Submission for Delaware, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  4. DCS Terrain Submission for Cherokee, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  5. DCS Terrain Submission for Texas, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  6. DCS Terrain Submission for Fulton County, IN

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  7. DCS Terrain Submission for Seminole, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  8. Dummy metadata TERRAIN, Montgomery County, Pennsylvania

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data includes digital elevation models, LIDAR derived contours, LIDAR three-dimensional spot elevations and breaklines, field surveyed ground elevations and...

  9. DCS Terrain Submission for Wabash County, IN

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  10. DCS Terrain Submission for Sequoyah, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  11. DCS Terrain Submission for Miami County, IN

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  12. DCS Terrain Submission for Adair, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  13. DCS Terrain Submission for Pontodoc, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  14. TERRAIN DATA CAPTURE STANDARDS, Bedford PA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data includes digital elevation models, LIDAR derived contours, LIDAR three-dimensional spot elevations and breaklines, field surveyed ground elevations and...

  15. DCS Terrain Submission for Lincoln, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  16. DCS Terrain Submission for Noble County, IN

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  17. DCS Terrain Submission for Woodward, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  18. DCS Terrain Submission for Gunnison County, CO

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  19. DCS Terrain Submission for Mayes, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  20. DCS Terrain Submission for Jackson, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  1. DCS Terrain Submission for Caddo, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  2. DCS Terrain Submission for Custer, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  3. DCS Terrain Submission for Tipton County, IN

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  4. DCS Terrain Submission for Rockland County NY

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describe the digital topographic data that were used to create...

  5. DCS Terrain Submission for Logan, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  6. DCS TERRAIN SUBMISSION FOR SHELBY COUNTY, TN

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  7. DCS Terrain Submission for Lewis County, KY

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that were used to create...

  8. TERRAIN, CITY OF DALLAS, DALLAS COUNTY, TEXAS

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  9. DCS Terrain for Jasper County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  10. DCS Terrain Submission for Brazos TX

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  11. DCS Terrain Submission for Cass County, TX

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  12. TERRAIN-FREMONT COUNTY, WY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  13. DCS Terrain for Greene County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  14. DCS Terrain for Heard County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  15. DCS Terrain for Clay County, GA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  16. DCS Terrain Submission for Hempstead, AR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  17. Visual Media Reasoning - Terrain-based Geolocation

    Science.gov (United States)

    2015-06-01

    VISUAL MEDIA REASONING – TERRAIN-BASED GEOLOCATION UNIVERSITY OF MISSOURI JUNE 2015 FINAL TECHNICAL REPORT APPROVED FOR PUBLIC RELEASE... REASONING – TERRAIN-BASED GEOLOCATION 5a. CONTRACT NUMBER FA8750-12-C-0118 5b. GRANT NUMBER N/A 5c. PROGRAM ELEMENT NUMBER 62305E 6. AUTHOR(S...other uses of interest to the greater Defense Advanced Research Projects Agency (DARPA) Visual Media Reasoning (VMR) project. The VMR project has a

  18. Automatic terrain modeling using transfinite element analysis

    KAUST Repository

    Collier, Nathaniel O.

    2010-05-31

    An automatic procedure for modeling terrain is developed based on L2 projection-based interpolation of discrete terrain data onto transfinite function spaces. The function space is refined automatically by the use of image processing techniques to detect regions of high error and the flexibility of the transfinite interpolation to add degrees of freedom to these areas. Examples are shown of a section of the Palo Duro Canyon in northern Texas.

  19. NONLINEAR PREDICTIVE CONTROL FOR TERRAIN FOLLOWING

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

    A nonlinear continuous predictive control method was used for design of cruise missile terrain-following controller. A performance index which combined the tracking error and rate of tracking error is presented. Then an optimal nonlinear feedback control law is generated to minimize the performance index. The tracking performance and robustness of controller are discussed. The advantage of the control law is demonstrated by successfully designing cruise missile terrain following controllers. The results show that the controller exhibits robustness and excellent tracking performance.

  20. DInSAR technique: basis and applications to terrain subsidence monitoring in construction works

    OpenAIRE

    Sillerico, E.; Marchamalo, M.; Rejas, J. G.; MARTíNEZ, R

    2010-01-01

    Subsidences are defined as slow and gradual movements of the terrain or built surface. These may affect all types of terrains, and are caused by tension-induced changes for many reasons, such as lowering water tables (groundwater extraction), underground mining (minerals, coal, salt), excavation of tunnels, extraction of oil or gas, slow processes of dissolution and lixiviation of materials, consolidation of soft soils, organic soils,... The measurement and monitoring of land subsidences are ...

  1. Navigating a Mobile Robot Across Terrain Using Fuzzy Logic

    Science.gov (United States)

    Seraji, Homayoun; Howard, Ayanna; Bon, Bruce

    2003-01-01

    A strategy for autonomous navigation of a robotic vehicle across hazardous terrain involves the use of a measure of traversability of terrain within a fuzzy-logic conceptual framework. This navigation strategy requires no a priori information about the environment. Fuzzy logic was selected as a basic element of this strategy because it provides a formal methodology for representing and implementing a human driver s heuristic knowledge and operational experience. Within a fuzzy-logic framework, the attributes of human reasoning and decision- making can be formulated by simple IF (antecedent), THEN (consequent) rules coupled with easily understandable and natural linguistic representations. The linguistic values in the rule antecedents convey the imprecision associated with measurements taken by sensors onboard a mobile robot, while the linguistic values in the rule consequents represent the vagueness inherent in the reasoning processes to generate the control actions. The operational strategies of the human expert driver can be transferred, via fuzzy logic, to a robot-navigation strategy in the form of a set of simple conditional statements composed of linguistic variables. These linguistic variables are defined by fuzzy sets in accordance with user-defined membership functions. The main advantages of a fuzzy navigation strategy lie in the ability to extract heuristic rules from human experience and to obviate the need for an analytical model of the robot navigation process.

  2. Vehicle to Vehicle Services

    DEFF Research Database (Denmark)

    Brønsted, Jeppe Rørbæk

    2008-01-01

    , mobility, and availability of services. The dissertation consists of two parts. Part I gives an overview of service oriented architecture for pervasive computing systems and describes the contributions of the publications listed in part II. We investigate architecture for vehicular technology applications......As computing devices, sensors, and actuators pervade our surroundings, new applications emerge with accompanying research challenges. In the transportation domain vehicles are being linked by wireless communication and equipped with an array of sensors and actuators that make is possible to provide...... location aware infotainment, increase safety, and lessen environmental strain. This dissertation is about service oriented architecture for pervasive computing with an emphasis on vehicle to vehicle applications. If devices are exposed as services, applications can be created by composing a set of services...

  3. Selection of key terrain attributes for SOC model

    DEFF Research Database (Denmark)

    Greve, Mogens Humlekrog; Adhikari, Kabindra; Chellasamy, Menaka

    was selected, total 2,514,820 data mining models were constructed by 71 differences grid from 12m to 2304m and 22 attributes, 21 attributes derived by DTM and the original elevation. Relative importance and usage of each attributes in every model were calculated. Comprehensive impact rates of each attribute...... (standh) are the first three key terrain attributes in 5-attributes-model in all resolutions, the rest 2 of 5 attributes are Normal High (NormalH) and Valley Depth (Vall_depth) at the resolution finer than 40m, and Elevation and Channel Base (Chnl_base) coarser than 40m. The models at pixels size at 88m......As an important component of the global carbon pool, soil organic carbon (SOC) plays an important role in the global carbon cycle. SOC pool is the basic information to carry out global warming research, and needs to sustainable use of land resources. Digital terrain attributes are often use...

  4. Intelligent mobility research for robotic locomotion in complex terrain

    Science.gov (United States)

    Trentini, Michael; Beckman, Blake; Digney, Bruce; Vincent, Isabelle; Ricard, Benoit

    2006-05-01

    The objective of the Autonomous Intelligent Systems Section of Defence R&D Canada - Suffield is best described by its mission statement, which is "to augment soldiers and combat systems by developing and demonstrating practical, cost effective, autonomous intelligent systems capable of completing military missions in complex operating environments." The mobility requirement for ground-based mobile systems operating in urban settings must increase significantly if robotic technology is to augment human efforts in these roles and environments. The intelligence required for autonomous systems to operate in complex environments demands advances in many fields of robotics. This has resulted in large bodies of research in areas of perception, world representation, and navigation, but the problem of locomotion in complex terrain has largely been ignored. In order to achieve its objective, the Autonomous Intelligent Systems Section is pursuing research that explores the use of intelligent mobility algorithms designed to improve robot mobility. Intelligent mobility uses sensing, control, and learning algorithms to extract measured variables from the world, control vehicle dynamics, and learn by experience. These algorithms seek to exploit available world representations of the environment and the inherent dexterity of the robot to allow the vehicle to interact with its surroundings and produce locomotion in complex terrain. The primary focus of the paper is to present the intelligent mobility research within the framework of the research methodology, plan and direction defined at Defence R&D Canada - Suffield. It discusses the progress and future direction of intelligent mobility research and presents the research tools, topics, and plans to address this critical research gap. This research will create effective intelligence to improve the mobility of ground-based mobile systems operating in urban settings to assist the Canadian Forces in their future urban operations.

  5. Environmental modeling and recognition for an autonomous land vehicle

    Science.gov (United States)

    Lawton, D. T.; Levitt, T. S.; Mcconnell, C. C.; Nelson, P. C.

    1987-01-01

    An architecture for object modeling and recognition for an autonomous land vehicle is presented. Examples of objects of interest include terrain features, fields, roads, horizon features, trees, etc. The architecture is organized around a set of data bases for generic object models and perceptual structures, temporary memory for the instantiation of object and relational hypotheses, and a long term memory for storing stable hypotheses that are affixed to the terrain representation. Multiple inference processes operate over these databases. Researchers describe these particular components: the perceptual structure database, the grouping processes that operate over this, schemas, and the long term terrain database. A processing example that matches predictions from the long term terrain model to imagery, extracts significant perceptual structures for consideration as potential landmarks, and extracts a relational structure to update the long term terrain database is given.

  6. Hybrid and Plug-in Electric Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    None

    2014-05-20

    Hybrid and plug-in electric vehicles use electricity either as their primary fuel or to improve the efficiency of conventional vehicle designs. This new generation of vehicles, often called electric drive vehicles, can be divided into three categories: hybrid electric vehicles (HEVs), plug-in hybrid electric vehicles(PHEVs), and all-electric vehicles (EVs). Together, they have great potential to reduce U.S. petroleum use.

  7. Hybrid and Plug-In Electric Vehicles (Brochure)

    Energy Technology Data Exchange (ETDEWEB)

    2014-05-01

    Hybrid and plug-in electric vehicles use electricity as their primary fuel or to improve the efficiency of conventional vehicle designs. These vehicles can be divided into three categories: hybrid electric vehicles (HEVs), plug-in hybrid electric vehicles (PHEVs), all-electric vehicles (EVs). Together, they have great potential to cut U.S. petroleum use and vehicle emissions.

  8. Terrain correction for gravity measurements, using a digital terrain model (DTM)

    NARCIS (Netherlands)

    Ketelaar, A.C.R.

    1987-01-01

    A single-term expression is given to calculate the gravitational effect for any square vertical prism with a sloping surface. A moderate measure of approximation is involved. The expression is well suited to automatic calculation of the terrain correction when a digital terrain model is available. T

  9. Public Access Points, not all are accessibly via vehicles, Published in 2013, 1:2400 (1in=200ft) scale, Oneida County Wisconsin.

    Data.gov (United States)

    NSGIC GIS Inventory (aka Ramona) — This Public Access Points dataset, published at 1:2400 (1in=200ft) scale, was produced all or in part from Other information as of 2013. It is described as 'not all...

  10. Retrofiting survivability of military vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Canavan, Gregory H [Los Alamos National Laboratory

    2009-01-01

    In Iraq the terrain was such that vehicles could be distributed horizontally, which reduced the effectiveness of mines. In the mountainous terrain of Pakistan and Afghanistan vehicles are forced to use the few, passable roads, which are dirt and easily seeded with plentiful, cheap, intelligent mines. It is desirable to reduce the losses to such mines, preferably by retrofit means that do not greatly increase weight or cost or reduce maneuverability. V-bottom vehicles - A known approach to reducing vulnerability is the Buffalo, a large vehicle developed by South Africa to address mine warfare. It has large tires, high axles, and a reinforced, v-shaped bottom that deflects the blast from explosions below. It is developed and tested in combat, but is expensive and has reduced off-road mobility. The domestic MRAP has similar cost and mobility issue. The addition of v-shaped blast deflectors to vehicles such as Humvees could act much as the deflector on a Buffalo, but a Humvee is closer to the ground, so the explosive's expansion would be reduced. The deflector would also reduce a Humvee's clearance for rough terrain, and a deflector of adequate thickness to address the blast by itself could further increase cost and reduce mobility. Reactive armor is developed and has proven effective against shaped and explosive charges from side or top attack. It detects their approach, detonates, and defeats them by interfering with jet formation. If the threat was a shaped charge from below, they would be a logical choice. But the bulk of the damage to Humvees appears to be from the blast from high explosive mines for which the colliding shock from reactive armor could increase that from the explosive. Porous materials such as sand can strongly attenuate the kinetic energy and pressure of a strong shock. Figure 1 shows the kinetic energy (KE), momentum (Mu), velocity (u), and mass (M) of a spherically expanding shock as functions of radius for a material with a porosity

  11. Whither electric vehicles?

    OpenAIRE

    Shukla, AK

    2002-01-01

    In the late 1890s, at the dawn of the automobile era, steam, gasoline and electric vehicles all competed to become the dominant automobile technology. By the early 1900s, the battle was over and Internal Combustion Engine Vehicles (ICEVs) were poised to become the prime movers of the twentieth century.

  12. Vehicle Routing Problem Models

    Directory of Open Access Journals (Sweden)

    Tonči Carić

    2004-01-01

    Full Text Available The Vehicle Routing Problem cannot always be solved exactly,so that in actual application this problem is solved heuristically.The work describes the concept of several concrete VRPmodels with simplified initial conditions (all vehicles are ofequal capacity and start from a single warehouse, suitable tosolve problems in cases with up to 50 users.

  13. Using the lead vehicle as preview sensor in convoy vehicle active suspension control

    Science.gov (United States)

    Rahman, Mustafizur; Rideout, Geoff

    2012-12-01

    Both ride quality and roadholding of actively suspended vehicles can be improved by sensing the road ahead of the vehicle and using this information in a preview controller. Previous applications have used look-ahead sensors mounted on the front bumper to measure terrain beneath. Such sensors are vulnerable, potentially confused by water, snow, or other soft obstacles and offer a fixed preview time. For convoy vehicle applications, this paper proposes using the overall response of the preceding vehicle(s) to generate preview controller information for follower vehicles. A robust observer is used to estimate the states of a quarter-car vehicle model, from which road profile is estimated and passed on to the follower vehicle(s) to generate a preview function. The preview-active suspension, implemented in discrete time using a shift register approach to improve simulation time, reduces sprung mass acceleration and dynamic tyre deflection peaks by more than 50% and 40%, respectively. Terrain can change from one vehicle to the next if a loose obstacle is dislodged, or if the vehicle paths are sufficiently different so that one vehicle misses a discrete road event. The resulting spurious preview information can give suspension performance worse than that of a passive or conventional active system. In this paper, each vehicle can effectively estimate the road profile based on its own state trajectory. By comparing its own road estimate with the preview information, preview errors can be detected and suspension control quickly switched from preview to conventional active control to preserve performance improvements compared to passive suspensions.

  14. Terrain Simplification Research in Augmented Scene Modeling

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    environment. As one of the most important tasks in augmented scene modeling, terrain simplification research has gained more and more attention. In this paper, we mainly focus on point selection problem in terrain simplification using triangulated irregular network. Based on the analysis and comparison of traditional importance measures for each input point, we put forward a new importance measure based on local entropy. The results demonstrate that the local entropy criterion has a better performance than any traditional methods. In addition, it can effectively conquer the "short-sight" problem associated with the traditional methods.

  15. Investigation of Terrain Bounce Electronic Countermeasure

    Science.gov (United States)

    1980-12-01

    no point for which both the slope of the curve and the value of Vpd are equal to zero. (See Figure 5 for C -. 5.) Thus, there is no physical ...for rough terrain. A methodology was presented for solving the Terrain Bounce problem. In Section II1, the metho - dology was applied to a specific...Waves from Slightly Rough Surfaces", Communications on Pure Applied Mathematics , 4: 351-378 (1951). 22. Sherwood, E.M. and E.L. Ginzton. "Reflection

  16. ATHLETE: A Cargo-Handling Vehicle for Solar System Exploration

    Science.gov (United States)

    Wilcox, Brian H.

    2011-01-01

    As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25% lighter than a conventional mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-of-freedom to use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. A power-take-off from the wheel actuates the tools, so that they can take advantage of the 1+ horsepower motor in each wheel to enable drilling, gripping or other power-tool functions. Architectural studies have indicated that one useful role for ATHLETE in planetary (moon or Mars) exploration is to "walk" cargo off the payload deck of a lander and transport it across the surface. Recent architectural approaches are focused on the concept that the lander descent stage will use liquid hydrogen as a propellant. This is the highest performance chemical fuel, but it requires very large tanks. A natural geometry for the lander is to have a single throttleable rocket engine on

  17. Digital Surface and Terrain Models (DSM,DTM), lidar-derived digital terrain model for San Mateo County, Published in unknown, 1:1200 (1in=100ft) scale, US Geological Survey.

    Data.gov (United States)

    NSGIC GIS Inventory (aka Ramona) — This Digital Surface and Terrain Models (DSM,DTM) dataset, published at 1:1200 (1in=100ft) scale, was produced all or in part from LIDAR information as of unknown....

  18. From Antarctica to space: Use of telepresence and virtual reality in control of remote vehicles

    Science.gov (United States)

    Stoker, Carol; Hine, Butler P., III; Sims, Michael; Rasmussen, Daryl; Hontalas, Phil; Fong, Terrence W.; Steele, Jay; Barch, Don; Andersen, Dale; Miles, Eric

    1994-01-01

    In the Fall of 1993, NASA Ames deployed a modified Phantom S2 Remotely-Operated underwater Vehicle (ROV) into an ice-covered sea environment near McMurdo Science Station, Antarctica. This deployment was part of the antarctic Space Analog Program, a joint program between NASA and the National Science Foundation to demonstrate technologies relevant for space exploration in realistic field setting in the Antarctic. The goal of the mission was to operationally test the use of telepresence and virtual reality technology in the operator interface to a remote vehicle, while performing a benthic ecology study. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research Center. Local control of the vehicle was accomplished using the standard Phantom control box containing joysticks and switches, with the operator viewing stereo video camera images on a stereo display monitor. Remote control of the vehicle over the satellite link was accomplished using the Virtual Environment Vehicle Interface (VEVI) control software developed at NASA Ames. The remote operator interface included either a stereo display monitor similar to that used locally or a stereo head-mounted head-tracked display. The compressed video signal from the vehicle was transmitted to NASA Ames over a 768 Kbps satellite channel. Another channel was used to provide a bi-directional Internet link to the vehicle control computer through which the command and telemetry signals traveled, along with a bi-directional telephone service. In addition to the live stereo video from the satellite link, the operator could view a computer-generated graphic representation of the underwater terrain, modeled from the vehicle's sensors. The virtual environment contained an animate graphic model of the vehicle which reflected the state of the actual vehicle, along with ancillary information such

  19. Modelling Canopy Flows over Complex Terrain

    Science.gov (United States)

    Grant, Eleanor R.; Ross, Andrew N.; Gardiner, Barry A.

    2016-12-01

    Recent studies of flow over forested hills have been motivated by a number of important applications including understanding CO_2 and other gaseous fluxes over forests in complex terrain, predicting wind damage to trees, and modelling wind energy potential at forested sites. Current modelling studies have focussed almost exclusively on highly idealized, and usually fully forested, hills. Here, we present model results for a site on the Isle of Arran, Scotland with complex terrain and heterogeneous forest canopy. The model uses an explicit representation of the canopy and a 1.5-order turbulence closure for flow within and above the canopy. The validity of the closure scheme is assessed using turbulence data from a field experiment before comparing predictions of the full model with field observations. For near-neutral stability, the results compare well with the observations, showing that such a relatively simple canopy model can accurately reproduce the flow patterns observed over complex terrain and realistic, variable forest cover, while at the same time remaining computationally feasible for real case studies. The model allows closer examination of the flow separation observed over complex forested terrain. Comparisons with model simulations using a roughness length parametrization show significant differences, particularly with respect to flow separation, highlighting the need to explicitly model the forest canopy if detailed predictions of near-surface flow around forests are required.

  20. Scaling Terrain Attributes By Fractal Methods

    Science.gov (United States)

    Terrain attributes derived from grid digital elevation models (DEMs) are commonly used in distributed hydrologic models. However, many attribute estimations are biased by DEM grid cell size. For example, land surface slopes estimated from 30-m DEMs are, on average, less than slopes estimated from ...

  1. Tessera terrain: Characteristics and models of origin

    Science.gov (United States)

    Bindschadler, D. L.; Head, James W.

    1989-01-01

    Tessera terrain consists of complexly deformed regions characterized by sets of ridges and valleys that intersect at angles ranging from orthogonal to oblique, and were first viewed in Venera 15/16 SAR data. Tesserae cover more area (approx. 15 percent of the area north of 30 deg N) than any of the other tectonic units mapped from the Venera data and are strongly concentrated in the region between longitudes 0 deg E and 150 deg E. Tessera terrain is concentrated between a proposed center of crustal extension and divergence in Aphrodite and a region of intense deformation, crustal convergence, and orogenesis in western Ishtar Terra. Thus, the tectonic processes responsible for tesserae are an important part of Venus tectonics. As part of an effort to understand the formation and evolution of this unusual terrain type, the basic characteristics of the tesserae were compared to the predictions made by a number of tectonic models. The basic characteristics of tessera terrain are described and the models and some of their basic predictions are briefly discussed.

  2. Maintaining Contour Trees of Dynamic Terrains

    DEFF Research Database (Denmark)

    Agarwal, Pankaj K.; Mølhave, Thomas; Revsbæk, Morten;

    2015-01-01

    We study the problem of maintaining the contour tree T of a terrain Sigma, represented as a triangulated xy-monotone surface, as the heights of its vertices vary continuously with time. We characterize the combinatorial changes in T and how they relate to topological changes in Sigma. We present ...

  3. Terrain Measurement with SAR/InSAR

    Science.gov (United States)

    Li, Deren; Liao, Mingsheng; Balz, Timo; Zhang, Lu; Yang, Tianliang

    2016-08-01

    Terrain measurement and surface motion estimation are the most important applications for commercial and scientific SAR missions. In Dragon-3, we worked on these applications, especially regarding DEM generation, surface motion estimation with SAR time- series for urban subsidence monitoring and landslide motion estimation, as well as developing tomographic SAR processing methods in urban areas.

  4. Chronology of heavily cratered terrains on Mercury

    Science.gov (United States)

    Marchi, S.; Chapman, C. R.

    2012-12-01

    Imaging of Mercury by Mariner 10 revealed a planet with more extensive plains units than on the Moon. Even in heavily cratered terrain, there is a lack of craters Morbidelli et al., [1] in order to interpret new crater counts on these terrains. We find that these craters are probably not saturated but may have been in equilibrium with a rapid resurfacing process, presumably volcanism that formed the earliest recognized intercrater plains. The crater retention age for this terrain, which contains the oldest large craters on Mercury, is surprisingly young, perhaps hundreds of millions of years younger than the heavily cratered pre-Nectarian terrains on the Moon [2]. These results are important for understanding the early geological and geophysical evolution of Mercury. References: [1] Morbidelli A., Marchi S., Bottke W.F., and Kring D.A. 2012. A sawtooth timeline for the first billion years of the lunar bombardment. Earth and Planetary Science Letters, in press. [2] Marchi S., Bottke W.F., Kring D.A., and Morbidelli A. 2012. The onset of the lunar cataclysm as recorded in its ancient crater populations. Earth and Planetary Science Letters 325, 27-38.

  5. Wind turbine wake measurement in complex terrain

    DEFF Research Database (Denmark)

    Hansen, Kurt Schaldemose; Larsen, Gunner Chr.; Menke, Robert;

    2016-01-01

    SCADA data from a wind farm and high frequency time series measurements obtained with remote scanning systems have been analysed with focus on identification of wind turbine wake properties in complex terrain. The analysis indicates that within the flow regime characterized by medium to large...

  6. Modelling Canopy Flows over Complex Terrain

    Science.gov (United States)

    Grant, Eleanor R.; Ross, Andrew N.; Gardiner, Barry A.

    2016-06-01

    Recent studies of flow over forested hills have been motivated by a number of important applications including understanding CO_2 and other gaseous fluxes over forests in complex terrain, predicting wind damage to trees, and modelling wind energy potential at forested sites. Current modelling studies have focussed almost exclusively on highly idealized, and usually fully forested, hills. Here, we present model results for a site on the Isle of Arran, Scotland with complex terrain and heterogeneous forest canopy. The model uses an explicit representation of the canopy and a 1.5-order turbulence closure for flow within and above the canopy. The validity of the closure scheme is assessed using turbulence data from a field experiment before comparing predictions of the full model with field observations. For near-neutral stability, the results compare well with the observations, showing that such a relatively simple canopy model can accurately reproduce the flow patterns observed over complex terrain and realistic, variable forest cover, while at the same time remaining computationally feasible for real case studies. The model allows closer examination of the flow separation observed over complex forested terrain. Comparisons with model simulations using a roughness length parametrization show significant differences, particularly with respect to flow separation, highlighting the need to explicitly model the forest canopy if detailed predictions of near-surface flow around forests are required.

  7. On-the-Fly Decompression and Rendering of Multiresolution Terrain

    Energy Technology Data Exchange (ETDEWEB)

    Lindstrom, P; Cohen, J D

    2009-04-02

    We present a streaming geometry compression codec for multiresolution, uniformly-gridded, triangular terrain patches that supports very fast decompression. Our method is based on linear prediction and residual coding for lossless compression of the full-resolution data. As simplified patches on coarser levels in the hierarchy already incur some data loss, we optionally allow further quantization for more lossy compression. The quantization levels are adaptive on a per-patch basis, while still permitting seamless, adaptive tessellations of the terrain. Our geometry compression on such a hierarchy achieves compression ratios of 3:1 to 12:1. Our scheme is not only suitable for fast decompression on the CPU, but also for parallel decoding on the GPU with peak throughput over 2 billion triangles per second. Each terrain patch is independently decompressed on the fly from a variable-rate bitstream by a GPU geometry program with no branches or conditionals. Thus we can store the geometry compressed on the GPU, reducing storage and bandwidth requirements throughout the system. In our rendering approach, only compressed bitstreams and the decoded height values in the view-dependent 'cut' are explicitly stored on the GPU. Normal vectors are computed in a streaming fashion, and remaining geometry and texture coordinates, as well as mesh connectivity, are shared and re-used for all patches. We demonstrate and evaluate our algorithms on a small prototype system in which all compressed geometry fits in the GPU memory and decompression occurs on the fly every rendering frame without any cache maintenance.

  8. Online 3D terrain visualisation using Unity 3D game engine: A comparison of different contour intervals terrain data draped with UAV images

    Science.gov (United States)

    Hafiz Mahayudin, Mohd; Che Mat, Ruzinoor

    2016-06-01

    The main objective of this paper is to discuss on the effectiveness of visualising terrain draped with Unmanned Aerial Vehicle (UAV) images generated from different contour intervals using Unity 3D game engine in online environment. The study area that was tested in this project was oil palm plantation at Sintok, Kedah. The contour data used for this study are divided into three different intervals which are 1m, 3m and 5m. ArcGIS software were used to clip the contour data and also UAV images data to be similar size for the overlaying process. The Unity 3D game engine was used as the main platform for developing the system due to its capabilities which can be launch in different platform. The clipped contour data and UAV images data were process and exported into the web format using Unity 3D. Then process continue by publishing it into the web server for comparing the effectiveness of different 3D terrain data (contour data) draped with UAV images. The effectiveness is compared based on the data size, loading time (office and out-of-office hours), response time, visualisation quality, and frame per second (fps). The results were suggest which contour interval is better for developing an effective online 3D terrain visualisation draped with UAV images using Unity 3D game engine. It therefore benefits decision maker and planner related to this field decide on which contour is applicable for their task.

  9. Comparison of Different Measurement Techniques and a CFD Simulation in Complex Terrain

    Science.gov (United States)

    Schulz, Christoph; Hofsäß, Martin; Anger, Jan; Rautenberg, Alexander; Lutz, Thorsten; Cheng, Po Wen; Bange, Jens

    2016-09-01

    This paper deals with a comparison of data collected by measurements and a simulation for a complex terrain test site in southern Germany. Lidar, met mast, unmanned aerial vehicle (UAV) measurements of wind speed and direction and Computational Fluid Dynamics (CFD) data are compared to each other. The site is characterised regarding its flow features and the suitability for a wind turbine test field. A Delayed-Detached-Eddy- Simulation (DES) was employed using measurement data to generate generic turbulent inflow. A good agreement of the wind profiles between the different approaches was reached. The terrain slope leads to a speed-up, a change of turbulence intensity as well as to flow angle variations.

  10. Traversable Terrain Modeling and Performance Measurement of Mobile Robots

    Science.gov (United States)

    2004-08-01

    In this paper, we have described a technique for terrain traversability assessment modeling of mobile robots operating in natural terrain and...presented a fast near-optimum algorithm for autonomous navigational path planning of mobile robots in rough terrain environments. The proposed method is

  11. Environmental Evaluation of New Generation Vehicles and Vehicle Components

    Energy Technology Data Exchange (ETDEWEB)

    Schexnayder, S.M.

    2002-02-06

    This report documents assessments that address waste issues and life cycle impacts associated with the vehicle materials and vehicle technologies being developed under the Partnership for a New Generation of Vehicles (PNGV) program. We refer to these vehicles as 3XVs, referring to the PNGV goal that their fuel mileage be three times better than the baseline vehicle. To meet the program's fuel consumption goals, these vehicles substitute lightweight materials for heavier materials such as steel and iron that currently dominate the composition of vehicles, and use engineering and power system changes. Alternative power systems being developed through the PNGV program include batteries for hybrid electric vehicles and fuel cells. With respect to all these developments, it is imperative to learn what effects they will have on the environment before adopting these designs and technologies on a large-scale basis.

  12. Cooperative terrain model acquisition by a team of two or three point-robots

    Energy Technology Data Exchange (ETDEWEB)

    Rao, N.S.V.; Protopopescu, V. [Oak Ridge National Lab., TN (United States); Manickam, N. [DePauw Univ., Greencastle (India)

    1996-04-01

    We address the model acquisition problem for an unknown planar terrain by a team of two or three robots. The terrain is cluttered by a finite number of polygonal obstacles whose shapes and positions are unknown. The robots are point-sized and equipped with visual sensors which acquire all visible parts of the terrain by scan operations executed from their locations. The robots communicate with each other via wireless connection. The performance is measured by the number of the sensor (scan) operations which are assumed to be the most time-consuming of all the robot operations. We employ the restricted visibility graph methods in a hierarchical setup. For terrains with convex obstacles and for teams of n(= 2, 3) robots, we prove that the sensing time is reduced by a factor of 1/n. For terrains with concave corners, the performance of the algorithm depends on the number of concave regions and their depths. A hierarchical decomposition of the restricted visibility graph into n-connected and (n - 1)-or-less connected components is considered. The performance for the n(= 2, 3) robot team is expressed in terms of the sizes of n-connected components, and the sizes and diameters of (n - 1)-or-less connected components.

  13. Assessing the importance of terrain parameters on glide avalanche release

    Science.gov (United States)

    Peitzsch, Erich H.; Hendrikx, Jordy; Fagre, Daniel B.

    2014-01-01

    Glide snow avalanches are dangerous and difficult to predict. Despite recent research there is still a lack of understanding regarding the controls of glide avalanche release. Glide avalanches often occur in similar terrain or the same locations annually and observations suggest that topography may be critical. Thus, to gain an understanding of the terrain component of these types of avalanches we examined terrain parameters associated with glide avalanche release as well as areas of consistent glide crack formation but no subsequent avalanches. Glide avalanche occurrences visible from the Going-to-the-Sun Road corridor in Glacier National Park, Montana from 2003-2013 were investigated using an avalanche database derived of daily observations each year from April 1 to June 15. This yielded 192 glide avalanches in 53 distinct avalanche paths. Each avalanche occurrence was digitized in a GIS using satellite, oblique, and aerial imagery as reference. Topographical parameters such as area, slope, aspect, elevation and elevation were then derived for the entire dataset utilizing GIS tools and a 10m DEM. Land surface substrate and surface geology were derived from National Park Service Inventory and Monitoring maps and U.S. Geological Survey surface geology maps, respectively. Surface roughness and glide factor were calculated using a four level classification index. . Then, each avalanche occurrence was aggregated to general avalanche release zones and the frequencies were compared. For this study, glide avalanches released in elevations ranging from 1300 to 2700 m with a mean aspect of 98 degrees (east) and a mean slope angle of 38 degrees. The mean profile curvature for all glide avalanches was 0.15 and a plan curvature of -0.01, suggesting a fairly linear surface (i.e. neither convex nor concave). The glide avalanches occurred in mostly bedrock made up of dolomite and limestone slabs and talus deposits with very few occurring in alpine meadows. However, not all glide

  14. Stereoscopic Vision System For Robotic Vehicle

    Science.gov (United States)

    Matthies, Larry H.; Anderson, Charles H.

    1993-01-01

    Distances estimated from images by cross-correlation. Two-camera stereoscopic vision system with onboard processing of image data developed for use in guiding robotic vehicle semiautonomously. Combination of semiautonomous guidance and teleoperation useful in remote and/or hazardous operations, including clean-up of toxic wastes, exploration of dangerous terrain on Earth and other planets, and delivery of materials in factories where unexpected hazards or obstacles can arise.

  15. Large Terrain Continuous Level of Detail 3D Visualization Tool

    Science.gov (United States)

    Myint, Steven; Jain, Abhinandan

    2012-01-01

    This software solved the problem of displaying terrains that are usually too large to be displayed on standard workstations in real time. The software can visualize terrain data sets composed of billions of vertices, and can display these data sets at greater than 30 frames per second. The Large Terrain Continuous Level of Detail 3D Visualization Tool allows large terrains, which can be composed of billions of vertices, to be visualized in real time. It utilizes a continuous level of detail technique called clipmapping to support this. It offloads much of the work involved in breaking up the terrain into levels of details onto the GPU (graphics processing unit) for faster processing.

  16. Perception and mobility research at Defence R&D Canada for UGVs in complex terrain

    Science.gov (United States)

    Trentini, Michael; Collier, Jack; Beckman, Blake; Digney, Bruce; Vincent, Isabelle

    2007-04-01

    The Autonomous Intelligent Systems Section at Defence R&D Canada - Suffield envisions autonomous systems contributing to decisive operations in the urban battle space. In this vision, teams of unmanned ground, air, and marine vehicles, and unattended ground sensors will gather and coordinate information, formulate plans, and complete tasks. The mobility requirement for ground-based mobile systems operating in urban settings must increase significantly if robotic technology is to augment human efforts in military relevant roles and environments. In order to achieve its objective, the Autonomous Intelligent Systems Section is pursuing research that explores the use of intelligent mobility algorithms designed to improve robot mobility. Intelligent mobility uses sensing and perception, control, and learning algorithms to extract measured variables from the world, control vehicle dynamics, and learn by experience. These algorithms seek to exploit available world representations of the environment and the inherent dexterity of the robot to allow the vehicle to interact with its surroundings and produce locomotion in complex terrain. However, a disconnect exists between the current state-of-the-art in perception systems and the information required for novel platforms to interact with their environment to improve mobility in complex terrain. The primary focus of the paper is to present the research tools, topics, and plans to address this gap in perception and control research. This research will create effective intelligence to improve the mobility of ground-based mobile systems operating in urban settings to assist the Canadian Forces in their future urban operations.

  17. Cooperative Exploration of Rough Martian Terrains with the "Scorpion" Legged Robot as an Adjunct to a Rover.

    Science.gov (United States)

    Colombano, Silvano P.; Kirchner, Frank; Spenneberg, Dirk; Starman, Jared; Hanratty, James; Kovsmeyer, David (Technical Monitor)

    2003-01-01

    NASA needs autonomous robotic exploration of difficult (rough and/or steep) scientifically interesting Martian terrains. Concepts involving distributed autonomy for cooperative robotic exploration are key to enabling new scientific objectives in robotic missions. We propose to utilize a legged robot as an adjunct scout to a rover for access to difficult - scientifically interesting - terrains (rocky areas, slopes, cliffs). Our final mission scenario involves the Ames rover platform "K9" and Scorpion acting together to explore a steep cliff, with the Scorpion robot rappelling down using the K9 as an anchor as well as mission planner and executive. Cooperation concepts, including wheeled rappelling robots have been proposed before. Now we propose to test the combined advantages of a wheeled vehicle with a legged scout as well as the advantages of merging of high level planning and execution with biologically inspired, behavior based robotics. We propose to use the 8-legged, multifunctional autonomous robot platform Scorpion that is currently capable of: Walking on different terrains (rocks, sand, grass, ...). Perceiving its environment and modifying its behavioral pattern accordingly. These capabilities would be extended to enable the Scorpion to: communicate and cooperate with a partner robot; climb over rocks, rubble piles, and objects with structural features. This will be done in the context of exploration of rough terrains in the neighborhood of the rover, but inaccessible to it, culminating in the added capability of rappelling down a steep cliff for both vertical and horizontal terrain observation.

  18. Study on robust terrain following control

    Institute of Scientific and Technical Information of China (English)

    Zha Xu; Cui Pingyuan

    2005-01-01

    Based on classical terrain following (TF) algorithm (adaptive angle method), a new method for TF controller is proposed by using angle of attack. A method of obtaining terrain outline data from Digital Elevation Map (DEM) for TF control is discussed in order to save store space. The block control model, which is suitable for backstepping design,is given for nonlinear model of aircraft. Making full use of the characteristics of the system and combining block control principle, backstepping technique, a robust controller design method is proposed. Uncertainties in every sub-block are allowed, and can be canceled by using the idea of nonlinear damping. It is proved that the state tracking errors converge to the neighborhood of the origin exponentially. Finally, nonlinear six-degree-of-freedom simulation results for the aircraft model are presented to demonstrate the effectiveness of the proposed control law.

  19. Application of Digital Terrain Model to volcanology

    Directory of Open Access Journals (Sweden)

    V. Achilli

    2006-06-01

    Full Text Available Three-dimensional reconstruction of the ground surface (Digital Terrain Model, DTM, derived by airborne GPS photogrammetric surveys, is a powerful tool for implementing morphological analysis in remote areas. High accurate 3D models, with submeter elevation accuracy, can be obtained by images acquired at photo scales between 1:5000-1:20000. Multitemporal DTMs acquired periodically over volcanic area allow the monitoring of areas interested by crustal deformations and the evaluation of mass balance when large instability phenomena or lava flows have occurred. The work described the results obtained from the analysis of photogrammetric data collected over the Vulcano Island from 1971 to 2001. The data, processed by means of the Digital Photogrammetry Workstation DPW 770, provided DTM with accuracy ranging between few centimeters to few decimeters depending on the geometric image resolution, terrain configuration and quality of photographs.

  20. Design of a Smart Unmanned Ground Vehicle for Hazardous Environments

    CERN Document Server

    Chakraborty, Saurav

    2010-01-01

    A smart Unmanned Ground Vehicle (UGV) is designed and developed for some application specific missions to operate predominantly in hazardous environments. In our work, we have developed a small and lightweight vehicle to operate in general cross-country terrains in or without daylight. The UGV can send visual feedbacks to the operator at a remote location. Onboard infrared sensors can detect the obstacles around the UGV and sends signals to the operator.

  1. Axillary breast: Navigating uncharted terrain

    Directory of Open Access Journals (Sweden)

    Medha A Bhave

    2015-01-01

    Full Text Available Introduction: Axillary breast is a common condition that leads to discomfort and cosmetic problems. Liposuction alone and open excision are two techniques used for treatment. Materials and Methods: This study assesses the results of treatment in 24 consecutive patients, operated between 2005 and 2015.All patients had Kajava class IV masses. Three were treated by liposuction alone, while 21 were treated by open axillaplasty with limited liposuction. Results: One patient treated by liposuction alone had to be re-operated for a residual lump, while with axillaplasty, no major complications were observed and the results were uniformly good. Discussion: Certain points of technique emerged as major determinants in obtaining the best results. In brief, these are: a limited skin excision; b placing elliptical incisions within the most lax, apical axillary skin, irrespective of the location of the lump; c raising skin flaps at the level of superficial fascia; dmeticulous dissection and preservation of the nerves, especially the second intercostobrachial; f judicious liposuction for eliminating dog ears and axillary sculpting only; g avoiding drains. Conclusion: Open axillaplasty with limited liposuction is the best way to minimise complications and produce good results.

  2. Advanced Vehicle Testing and Evaluation

    Energy Technology Data Exchange (ETDEWEB)

    Garetson, Thomas [The Clarity Group, Incorporated, Chicago, IL (United States)

    2013-03-31

    The objective of the United States (U.S.) Department of Energy's (DOEs) Advanced Vehicle Testing and Evaluation (AVTE) project was to provide test and evaluation services for advanced technology vehicles, to establish a performance baseline, to determine vehicle reliability, and to evaluate vehicle operating costs in fleet operations.Vehicles tested include light and medium-duty vehicles in conventional, hybrid, and all-electric configurations using conventional and alternative fuels, including hydrogen in internal combustion engines. Vehicles were tested on closed tracks and chassis dynamometers, as well as operated on public roads, in fleet operations, and over prescribed routes. All testing was controlled by procedures developed specifically to support such testing.

  3. TERRAIN TECTONICS OF THE CENTRAL ASIAN FOLDED BELT

    Directory of Open Access Journals (Sweden)

    M. M. Buslov

    2015-09-01

    Full Text Available The terrain analysis concept envisages primarily a possibility of approximation of fragments / terrains of various geodynamic settings which belong to different plates. The terrain analysis can supplement the theory of plate tectonics in solving problems of geodynamics and tectonics of regions of the crust with complex structures. The Central Asian belt is among such complicated regions. Terrain structures occurred as a result of combined movements in the system of 'frontal' and/or oblique subduction – collision. In studies of geological objects, it is required first of all to prove their (vertical and horizontal autochthony in relations to each other and then proceed to paleogeodynamic, paleotectonic and paleogeographic reconstructions. Obviously, such a complex approach needs data to be obtained by a variety of research methods, including those applied to study geologic structures, stratigraphy, paleontology, paleogeography, lithothlogy, geochemistry, geochronology, paleomagnetism etc. Only by correlating such data collected from inter-disciplinary studies of the regions, it is possible to establish reliable characteristics of the geological settings and avoid mistakes and misinterpretations that may be associated with the 'stratigraphic' approach to solutions of both regional and global problems of geodynamics and tectonics of folded areas. The terrain analysis of the Central Asian folded belt suggests that its tectonic structure combines marginal continental rock complexes that were formed by the evolution of two major oceanic plates. One of them is the plate of the Paleo-Asian Ocean. As the analogue of the current Indo-Atlantic segment of Earth, it is characterised by the presence of continental blocks in the composition of the oceanic crust and the formation of oceanic basins resulting from the breakup of Rodinia and Gondvana. In the course of its evolution, super-continents disintegrated, and the blocks were reunited into the Kazakhstan

  4. Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain Based Navigation

    Directory of Open Access Journals (Sweden)

    Andrew eStuntz

    2016-04-01

    Full Text Available Effective study of ocean processes requires sampling over the duration of long (weeks to months oscillation patterns. Such sampling requires persistent, autonomous underwater vehicles, that have a similarly long deployment duration. The spatiotemporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in coastal regions where the majority of interesting phenomena occur. In this paper, we consider the combination of two methods for reducing navigation and localization error; a predictive approach based on ocean model predictions and a prior information approach derived from terrain-based navigation. The motivation for this work is not only for real-time state estimation, but also for accurately reconstructing the actual path that the vehicle traversed to contextualize the gathered data, with respect to the science question at hand. We present an application for the practical use of priors and predictions for large-scale ocean sampling. This combined approach builds upon previous works by the authors, and accurately localizes the traversed path of an underwater glider over long-duration, ocean deployments. The proposed method takes advantage of the reliable, short-term predictions of an ocean model, and the utility of priors used in terrain-based navigation over areas of significant bathymetric relief to bound uncertainty error in dead-reckoning navigation. This method improves upon our previously published works by 1 demonstrating the utility of our terrain-based navigation method with multiple field trials, and 2 presenting a hybrid algorithm that combines both approaches to bound navigational error and uncertainty for long-term deployments of underwater vehicles. We demonstrate the approach by examining data from actual field trials with autonomous underwater gliders, and demonstrate an ability to estimate geographical location of an underwater glider to 2

  5. Integration of lidar with the NIITEK GPR for improved performance on rough terrain

    Science.gov (United States)

    Ratto, Christopher R.; Morton, Kenneth D., Jr.; McMichael, Ian T.; Burns, Brian P.; Clark, William W.; Collins, Leslie M.; Torrione, Peter A.

    2012-06-01

    Vehicle-mounted ground-penetrating radar (GPR) has proved to be a valuable technology for buried threat detection, especially in the area of military route clearance. However, detection performance may be degraded in very rough terrain or o-road conditions. This is because the signal processing approaches for target detection in GPR rst identify the ground re ection in the data, and then align the data in order to remove the ground re ection. Under extremely rough terrain, antenna bounce and multipath eects render nding the ground re ection a dicult task, and errors in ground localization can lead to data alignment that distorts potential target signatures and/or creates false alarms. In this work, commercial-o-the-shelf light detection and ranging (LIDAR), global positioning system (GPS), and inertial measurement unit (IMU) were integrated with a GPR into a prototype route clearance system. The LIDAR provided high-resolution measurements of the ground surface prole, and the GPS/IMU recorded the vehicle's position and orientation. Experiments investigated the applicability of the integrated system for nding the ground re ection in GPR data and decoupling vehicle motion from the rough surface response. Assessment of ground-tracking performance was based on an experiment involving three prepared test lanes, each with dierent congurations of buried targets and terrain obstacles. Several algorithms for target detection in GPR were applied to the data, both with traditional preprocessing and incorporating the LIDAR and IMU. Experimental results suggest that the LIDAR and IMU may be valuable components for ground tracking in next-generation GPR systems.

  6. Modelling changes in terrain resistance as a component of landform evolution in unstable hill country

    Science.gov (United States)

    Crozier, M. J.; Preston, N. J.

    Accurate modelling of landform evolution in unstable terrain requires some means of determining the frequency and magnitude of landslide occurrence. In many areas, this can be achieved with reference to the potency of the triggering regime and the susceptibility of the terrain. Terrain susceptibility is controlled by inherent geomechanical resistance and topographic conditions which filter the effect of the triggering agent. For a given terrain, susceptibility can be conveniently represented by establishing the triggering threshold required for the occurrence of landslides. Problems are identified in use of thresholds developed from historical and contemporary measurements of landslide activity to predict or postdict landslide activity. Even if all other external controlling factors remain constant, there appear to be event-related temporal shifts in terrain resistance which change the level of the triggering threshold and the occurrence of landslides over time. Mechanisms responsible for this change are proposed and the results of field investigation into geomechanical limiting equilibrium conditions are produced to demonstrate the effects of these mechanisms and the changes in resistance they produce. A conceptual model is presented to place event-related changes in susceptibility into the context of a major phase of landslide-induced soil erosion which has affected New Zealand hill country since European deforestation.

  7. Hydrogen vehicle fueling station

    Energy Technology Data Exchange (ETDEWEB)

    Daney, D.E.; Edeskuty, F.J.; Daugherty, M.A. [Los Alamos National Lab., NM (United States)] [and others

    1995-09-01

    Hydrogen fueling stations are an essential element in the practical application of hydrogen as a vehicle fuel, and a number of issues such as safety, efficiency, design, and operating procedures can only be accurately addressed by a practical demonstration. Regardless of whether the vehicle is powered by an internal combustion engine or fuel cell, or whether the vehicle has a liquid or gaseous fuel tank, the fueling station is a critical technology which is the link between the local storage facility and the vehicle. Because most merchant hydrogen delivered in the US today (and in the near future) is in liquid form due to the overall economics of production and delivery, we believe a practical refueling station should be designed to receive liquid. Systems studies confirm this assumption for stations fueling up to about 300 vehicles. Our fueling station, aimed at refueling fleet vehicles, will receive hydrogen as a liquid and dispense it as either liquid, high pressure gas, or low pressure gas. Thus, it can refuel any of the three types of tanks proposed for hydrogen-powered vehicles -- liquid, gaseous, or hydride. The paper discusses the fueling station design. Results of a numerical model of liquid hydrogen vehicle tank filling, with emphasis on no vent filling, are presented to illustrate the usefulness of the model as a design tool. Results of our vehicle performance model illustrate our thesis that it is too early to judge what the preferred method of on-board vehicle fuel storage will be in practice -- thus our decision to accommodate all three methods.

  8. A BEM approach to validate a model for predicting sound propagation over non-flat terrain

    DEFF Research Database (Denmark)

    Quirós Alpera, Susana; Jacobsen, Finn; Juhl, Peter Møller;

    2003-01-01

    . Sound Vibrat. 223 (1999) 355]. The resulting BEM model, which can handle arbitrary combinations of barriers and hollows, has been used for validating a ray model for various difficult configurations, including combinations of valleys and barriers. (C) 2003 Elsevier Science Ltd. All rights reserved.......A two-dimensional boundary element model for sound propagation in a homogeneous atmosphere above non-flat terrain has been constructed. An infinite impedance plane is taken into account in the Green's function in the underlying integral equation, so that only the nonflat parts of the terrain need...

  9. Automated Generation of Digital Terrain Model using Point Clouds of Digital Surface Model in Forest Area

    Directory of Open Access Journals (Sweden)

    Yoshikazu Kamiya

    2011-04-01

    Full Text Available At present, most of the digital data acquisition methods generate Digital Surface Model (DSM and not a Digital Elevation Model (DEM. Conversion from DSM to DEM still has some drawbacks, especially the removing of off terrain point clouds and subsequently the generation of DEM within these spaces even though the methods are automated. In this paper it was intended to overcome this issue by attempting to project off terrain point clouds to the terrain in forest areas using Artificial Neural Networks (ANN instead of removing them and then filling gaps by interpolation. Five sites were tested and accuracies assessed. They all give almost the same results. In conclusion, the ANN has ability to obtain the DEM by projecting the DSM point clouds and greater accuracies of DEMs were obtained. If the size of the hollow areas resulting from the removal of DSM point clouds are larger the accuracies are reduced.

  10. Geomorphologic Mapping of Titan's Polar Terrains: Constraining Surface Processes and Landscape Evolution

    CERN Document Server

    Birch, Samuel; Dietrich, William; Howard, Alan; Bristow, Charlie; Malaska, Michael; Moore, Jeff; Mastrogiuseppe, Marco; Hofgartner, Jason; Williams, David; White, Oliver; Soderblom, Jason; Barnes, Jason; Turtle, Elizabeth; Lunine, Jonathan; Wood, Charles; Neish, Catherine; Kirk, Randy; Stofan, Ellen; Lorenz, Ralph; Lopes, Rosaly

    2016-01-01

    We present a geomorphologic map of Titan's polar terrains. The map was generated from a combination of Cassini Synthetic Aperture Radar (SAR) and Imaging Science Subsystem imaging products, as well as altimetry, SARTopo and radargrammetry topographic datasets. In combining imagery with topographic data, our geomorphologic map reveals a stratigraphic sequence from which we infer process interactions between units. In mapping both polar regions with the same geomorphologic units, we conclude that processes that formed the terrains of the north polar region also acted to form the landscape we observe at the south. Uniform, SAR-dark plains are interpreted as sedimentary deposits, and are bounded by moderately dissected uplands. These plains contain the highest density of filled and empty lake depressions, and canyons. These units unconformably overlay a basement rock that outcrops as mountains and SAR-bright dissected terrains at various elevations across both poles. All these units are then superposed by surfici...

  11. Aerodynamic performances of cruise missile flying above local terrain

    Science.gov (United States)

    Ahmad, A.; Saad, M. R.; Che Idris, A.; Rahman, M. R. A.; Sujipto, S.

    2016-10-01

    Cruise missile can be classified as a smart bomb and also Unmanned Aerial Vehicle (UAV) due to its ability to move and manoeuvre by itself without a pilot. Cruise missile flies in constant velocity in cruising stage. Malaysia is one of the consumers of cruise missiles that are imported from other nations, which can have distinct geographic factors including their local terrains compared to Malaysia. Some of the aerodynamic performances of missile such as drag and lift coefficients can be affected by the local geographic conditions in Malaysia, which is different from the origin nation. Therefore, a detailed study must be done to get aerodynamic performance of cruise missiles that operate in Malaysia. The effect of aerodynamic angles such as angle of attack and side slip can be used to investigate the aerodynamic performances of cruise missile. Hence, subsonic wind tunnel testings were conducted to obtain the aerodynamic performances of the missile at various angle of attack and sideslip angles. Smoke visualization was also performed to visualize the behaviour of flow separation. The optimum angle of attack found was at α=21° and side slip, β=10° for optimum pitching and yawing motion of cruise missile.

  12. Terrain Generation from Stereo Imagery in the JPL/MIPL Pipeline

    Science.gov (United States)

    Deen, Robert; Pariser, Oleg

    2012-01-01

    Multimission Image Processing Lab (MIPL) at JPL is responsible for (among other things) the ground-based operational image processing of all the recent in-situ Mars missions. Terrains and meshes are probably the most important products from MIPL for in-situ operations

  13. Biomechanics and energetics of running on uneven terrain.

    Science.gov (United States)

    Voloshina, Alexandra S; Ferris, Daniel P

    2015-03-01

    In the natural world, legged animals regularly run across uneven terrain with remarkable ease. To gain understanding of how running on uneven terrain affects the biomechanics and energetics of locomotion, we studied human subjects (N=12) running at 2.3 m s(-1) on an uneven terrain treadmill, with up to a 2.5 cm height variation. We hypothesized that running on uneven terrain would show increased energy expenditure, step parameter variability and leg stiffness compared with running on smooth terrain. Subject energy expenditure increased by 5% (0.68 W kg(-1); Prunning on uneven terrain compared with smooth terrain. Step width and length variability also increased by 27% and 26%, respectively (Prunning on uneven terrain compared with smooth terrain. Calculations of gravitational potential energy fluctuations suggest that about half of the energetic increases can be explained by additional positive and negative mechanical work for up and down steps on the uneven surface. This is consistent between walking and running, as the absolute increases in energetic cost for walking and running on uneven terrain were similar: 0.68 and 0.48 W kg(-1), respectively. These results provide insight into how surface smoothness can affect locomotion biomechanics and energetics in the real world.

  14. Digital terrain data base - new possibilities of 3D terrain modeling

    Directory of Open Access Journals (Sweden)

    Mateja Rihtaršič

    1992-12-01

    Full Text Available GISs has brought new dimensions in the field of digital terrain modelling, too. Modem DTMs must be real (relational databases with high degree of "intelligence". This paper presents some of the demands, ivhich have to be solved in modern digital terrain databases, together with main steps of their's generation. Problems, connected to regional level, multi-pur pose use, new possibilities and direct integration into GIS are presented. The practical model was created across smaller test area, so few lines with practical experiences can be droped, too.

  15. A Height Estimation Approach for Terrain Following Flights from Monocular Vision

    Science.gov (United States)

    Campos, Igor S. G.; Nascimento, Erickson R.; Freitas, Gustavo M.; Chaimowicz, Luiz

    2016-01-01

    In this paper, we present a monocular vision-based height estimation algorithm for terrain following flights. The impressive growth of Unmanned Aerial Vehicle (UAV) usage, notably in mapping applications, will soon require the creation of new technologies to enable these systems to better perceive their surroundings. Specifically, we chose to tackle the terrain following problem, as it is still unresolved for consumer available systems. Virtually every mapping aircraft carries a camera; therefore, we chose to exploit this in order to use presently available hardware to extract the height information toward performing terrain following flights. The proposed methodology consists of using optical flow to track features from videos obtained by the UAV, as well as its motion information to estimate the flying height. To determine if the height estimation is reliable, we trained a decision tree that takes the optical flow information as input and classifies whether the output is trustworthy or not. The classifier achieved accuracies of 80% for positives and 90% for negatives, while the height estimation algorithm presented good accuracy. PMID:27929424

  16. Intelligent emission-sensitive routing for plugin hybrid electric vehicles.

    Science.gov (United States)

    Sun, Zhonghao; Zhou, Xingshe

    2016-01-01

    The existing transportation sector creates heavily environmental impacts and is a prime cause for the current climate change. The need to reduce emissions from this sector has stimulated efforts to speed up the application of electric vehicles (EVs). A subset of EVs, called plug-in hybrid electric vehicles (PHEVs), backup batteries with combustion engine, which makes PHEVs have a comparable driving range to conventional vehicles. However, this hybridization comes at a cost of higher emissions than all-electric vehicles. This paper studies the routing problem for PHEVs to minimize emissions. The existing shortest-path based algorithms cannot be applied to solving this problem, because of the several new challenges: (1) an optimal route may contain circles caused by detour for recharging; (2) emissions of PHEVs not only depend on the driving distance, but also depend on the terrain and the state of charge (SOC) of batteries; (3) batteries can harvest energy by regenerative braking, which makes some road segments have negative energy consumption. To address these challenges, this paper proposes a green navigation algorithm (GNA) which finds the optimal strategies: where to go and where to recharge. GNA discretizes the SOC, then makes the PHEV routing problem to satisfy the principle of optimality. Finally, GNA adopts dynamic programming to solve the problem. We evaluate GNA using synthetic maps generated by the delaunay triangulation. The results show that GNA can save more than 10 % energy and reduce 10 % emissions when compared to the shortest path algorithm. We also observe that PHEVs with the battery capacity of 10-15 KWh detour most and nearly no detour when larger than 30 KWh. This observation gives some insights when developing PHEVs.

  17. Handbook of Intelligent Vehicles

    CERN Document Server

    2012-01-01

    The Handbook of Intelligent Vehicles provides a complete coverage of the fundamentals, new technologies, and sub-areas essential to the development of intelligent vehicles; it also includes advances made to date, challenges, and future trends. Significant strides in the field have been made to date; however, so far there has been no single book or volume which captures these advances in a comprehensive format, addressing all essential components and subspecialties of intelligent vehicles, as this book does. Since the intended users are engineering practitioners, as well as researchers and graduate students, the book chapters do not only cover fundamentals, methods, and algorithms but also include how software/hardware are implemented, and demonstrate the advances along with their present challenges. Research at both component and systems levels are required to advance the functionality of intelligent vehicles. This volume covers both of these aspects in addition to the fundamentals listed above.

  18. 四轴车辆全轮转向之自动模式研究%A Research on the Automatic Mode of All-wheel Steering for Four-axle Vehicle

    Institute of Scientific and Technical Information of China (English)

    陈思忠; 郑凯锋

    2015-01-01

    在第2轴转角比例于第1轴转角,第3轴转角比例于第4轴转角的条件下,从理论上分析了全轮转向与双前桥转向之间的差异。接着以质心侧偏角为零,设计了控制器一和控制器二两种控制器,并再次分析了双前桥转向、带控制器一的全轮转向和带控制器二的全轮转向三者之间的区别与联系,为四轴车辆的全轮转向技术的研究提供了理论参考。%Under the condition of that the wheel turning angles in second and third axles are respectively proportional to those of first and fourth axles, the differences between all wheel steering and double-front-axle steer-ing are analyzed theoretically. Then with the sideslip angle of mass center set to zero, controller 1 and controller 2 are designed, and the differences and connections between double-front-axle steering, all wheel steering with con-troller 1 and all wheel steering with controller 2 are analyzed again, providing theoretical references for the research on the all wheel steering technique for four-axle vehicle.

  19. Gravity Terrain Effect of the Seafloor Topography in Taiwan

    Directory of Open Access Journals (Sweden)

    Lun-Tao Tong Tai-Rong Guo

    2007-01-01

    Full Text Available Gravity terrain correction is used to compensate for the gravitational effects of the topography residual to the Bouguer plate. The seafloor topography off the eastern offshore of Taiwan is extremely rugged, and the depth of the sea bottom could be greater than 5000 m. In order to evaluate the terrain effect caused by the seafloor topography, a modern computer algorithm is used to calculate the terrain correction based on the digital elevation model (DEM.

  20. Numerical modeling of 3-D terrain effect on MT field

    Institute of Scientific and Technical Information of China (English)

    徐世浙; 阮百尧; 周辉; 陈乐寿; 徐师文

    1997-01-01

    Using the boundary element method, the numerical modeling problem of three-dimensional terrain effect on magnetotelluric (MT) field is solved. This modeling technique can be run on PC in the case of adopting special net division. The result of modeling test for 2-D terrain by this modeling technique is basically coincident with that by 2-D modeling technique, but there is a great difference between the results of 3-D and 2-D modeling for 3-D terrain.

  1. Mathematical Modeling Of The Terrain Around A Robot

    Science.gov (United States)

    Slack, Marc G.

    1992-01-01

    In conceptual system for modeling of terrain around autonomous mobile robot, representation of terrain used for control separated from representation provided by sensors. Concept takes motion-planning system out from under constraints imposed by discrete spatial intervals of square terrain grid(s). Separation allows sensing and motion-controlling systems to operate asynchronously; facilitating integration of new map and sensor data into planning of motions.

  2. Modeling Terrain Impact on Mobile Ad Hoc Networks (MANET) Connectivity

    Science.gov (United States)

    2014-05-01

    Modeling Terrain Impact on Mobile Ad Hoc Networks ( MANET ) Connectivity Lance Joneckis Corinne Kramer David Sparrow David Tate I N S T I T U T E F...SUBTITLE Modeling Terrain Impact on Mobile Ad Hoc Networks ( MANET ) Connectivity 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...1882 ljonecki@ida.org Abstract—Terrain affects connectivity in mobile ad hoc net- works ( MANET ). Both average pairwise link closure and the rate

  3. Digital terrain model evaluation and computation of the terrain correction and indirect effect in South America

    Directory of Open Access Journals (Sweden)

    Denizar Blitzkow

    2009-12-01

    Full Text Available The main objectives of this paper are to compare digital terrain models, to show the generated models for South America and to present two applications. Shuttle Radar Topography Mission (SRTM produced the most important and updated height information in the world. This paper addresses the attention to comparisons of the following models: SRTM3, DTM2002, GLOBE, GTOPO30, ETOPO2 and ETOPO5, at the common points of the grid. The comparisons are limited by latitudes 60º S and 25 º N and longitudes 100 º W and 25 º W. All these data, after some analysis, have been used to create three models for South America: SAM_1mv1, SAM_1mv2 (both of 1' grid spacing and SAM_30s (30" grid spacing. Besides this effort, the three models as well as STRM were evaluated using Bench Marks (BM in Brazil and Argentina. This paper also shows two important geodesy and geophysics applications using the SAM_1mv1: terrain correction (one of the reductions applied to the gravity acceleration and indirect effect (a consequence of the reduction of the external mass to the geoid. These are important at Andes for a precise geoid computation.Los objetivos principales de este documento son comparar modelos digitales del continente; enseñar los modelos generados para Sudamérica y presentar dos aplicaciones. Shuttle Radar Topography Mission (SRTM produjo la información más importante y más actualizada de las altitudes del mundo. Este trabajo centra su atención en las comparaciones de los modelos siguientes: SRTM3, DTM2002, GLOBO, GTOPO30, ETOPO2 y ETOPO5, en los puntos comunes de la rejilla. Las comparaciones son limitadas por las latitudes 60º S y 25 º N y longitudes 100 º W y 25 º W. Todos estos datos, después de los análisis, se han utilizado para crear tres modelos para Sudamérica: SAM_1mv1, SAM_1mv2 (1' de espaciamiento de la rejilla y SAM_30s (30" de espaciamiento de la rejilla. Los tres modelos bien como el STRM fueron evaluados usando puntos de referencia de

  4. LUNAR TERRAIN AND ALBEDO RECONSTRUCTION FROM APOLLO IMAGERY

    Data.gov (United States)

    National Aeronautics and Space Administration — LUNAR TERRAIN AND ALBEDO RECONSTRUCTION FROM APOLLO IMAGERY ARA V NEFIAN*, TAEMIN KIM, MICHAEL BROXTON, AND ZACH MORATTO Abstract. Generating accurate three...

  5. T-transformation: traversability analysis for navigation on rugged terrain

    Science.gov (United States)

    Ye, Cang; Borenstein, Johann

    2004-09-01

    In order to maneuver autonomously on rough terrain, a mobile robot must constantly decide whether to traverse or circumnavigate terrain features ahead. This ability is called Obstacle Negotiation (ON). A critical aspect of ON is the so-called traversability analysis, which evaluates the level of difficulty associated with the traversal of the terrain. This paper presents a new method for traversability analysis, called T-transformation. It is implemented in a local terrain map as follows: (1) For each cell in the local terrain map, a square terrain patch is defined that symmetrically overlays the cell; (2) a plane is fitted to the data points in the terrain patch using a least-square approach and the slope of the least-squares plane and the residual of the fit are computed and used to calculate the Traversability Index (TI) for that cell; (3) after each cell is assigned a TI value, the local terrain map is transformed into a traversability map. The traversability map is further transformed into a traversability field histogram where each element represents the overall level of difficulty to move along the corresponding direction. Based on the traversability field histogram our reactive ON system then computes the steering and velocity commands to move the robot toward the intended goal while avoiding areas of poor traversability. The traversability analysis algorithm and the overall ON system were verified by extensive simulation. We verified our method partially through experiments on a Segway Robotics Mobility Platform (RMP), albeit only on flat terrain.

  6. UNIFIED REPRESENTATION FOR COLLABORATIVE VISUALIZATION OF PLANETARY TERRAIN DATA Project

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to apply to planetary terrain mapping an alternative, multiresolution method, subdivision surfaces (subdivs), in place of conventional digital elevation...

  7. Abandoned vehicles

    CERN Multimedia

    Relations with the Host States Service

    2004-01-01

    The services in charge of managing the CERN site have recently noted an increase in the number of abandoned vehicles. This poses a risk from the point of view of safety and security and, on the eve of several important events in honour of CERN's fiftieth anniversary, is detrimental to the Organization's image. Owners of vehicles that have been left immobile for some time on the CERN site, including on the external car park by the flags, are therefore invited to contact the Reception and Access Control Service (service-parking-longterm@cern.ch) before 1st October 2004 and, where appropriate, move their vehicle to a designated long-term parking area. After this date, any vehicle whose owner has failed to respond to this request and which is without a number plate, has been stationary for several weeks or is out of service, may be impounded at the owner's risk and expense. Relations with the Host States Service Tel. 72848

  8. Tool for Viewing Faults Under Terrain

    Science.gov (United States)

    Siegel, Herbert, L.; Li, P. Peggy

    2005-01-01

    Multi Surface Light Table (MSLT) is an interactive software tool that was developed in support of the QuakeSim project, which has created an earthquake- fault database and a set of earthquake- simulation software tools. MSLT visualizes the three-dimensional geometries of faults embedded below the terrain and animates time-varying simulations of stress and slip. The fault segments, represented as rectangular surfaces at dip angles, are organized into collections, that is, faults. An interface built into MSLT queries and retrieves fault definitions from the QuakeSim fault database. MSLT also reads time-varying output from one of the QuakeSim simulation tools, called "Virtual California." Stress intensity is represented by variations in color. Slips are represented by directional indicators on the fault segments. The magnitudes of the slips are represented by the duration of the directional indicators in time. The interactive controls in MSLT provide a virtual track-ball, pan and zoom, translucency adjustment, simulation playback, and simulation movie capture. In addition, geographical information on the fault segments and faults is displayed on text windows. Because of the extensive viewing controls, faults can be seen in relation to one another, and to the terrain. These relations can be realized in simulations. Correlated slips in parallel faults are visible in the playback of Virtual California simulations.

  9. Final results from the ''investigation of design aspects and design options for wind turbines operating in complex terrain environments'' project

    Energy Technology Data Exchange (ETDEWEB)

    Fragoulis, A.N. [SPA Hellas Engineering S.A., Attiki (Greece); Markkilde, P.S.; Voutsinas, S.; Cuerva, A.; Winkelaar, D.; Ganander, H.

    1999-07-01

    Complex terrain sites are a major and critical market for wind energy development and knowledge regarding the wind structure and the WT response to it is insufficient. The paper presents the work and the final results of the COMTERID project (JOR3-CT95-0033), the successor and the follow-up of MOUNTURB, which was undertaken within the JOULE-III program by a number of National European R and D institutes and universities (CRES, NTUA, CIEMAT, RISO, ECN), consultants, designers and manufacturers (TG, LTL, VESTAS, ECOTECNIA, NWP) with the main objective to identify and quantify the complex terrain environment and its effects in the operation of WTs. The work identified and quantified the complex terrain wind structure conditions which were found to be different from the flat terrain standards and through the development of a parameter identification methodology it identified, evaluated and quantified the machine's performance sensitivity to the Wind-WT parameters. Increased turbulence was found in the vertical and lateral directions on all complex terrain sites studied and smaller length scales compared to the flat terrain standards. These parameters along with the difference in coherence and the small Weibull shape factors encountered (less than 2) are responsible for the increased fatigue loading that WTs experience at complex terrain environments. The project results indicate directions for new machine concepts, specifically for complex terrain operation, that will be both technically and economically efficient. (author)

  10. Structure Design of a Vehicle-borne All-around Weather Indemnificatory Radar%某车载综合气象保障雷达结构总体设计

    Institute of Scientific and Technical Information of China (English)

    许家民; 徐法东; 郭月霞

    2012-01-01

    Weather radar can effectively forecast weather disasters. Considering the function independence of present weather radar, the paper designs a highly integrated vehicle-borne all-around weather indemnificatory radar which consists of an X band precipitation radar, an L band wind-finding radar and an automatic weather station. By referring to the structural characteristic, function and using condition of the radar, the paper pres- ents the make-up and layout of the radar equipments, and describes the key technology and some necessary calculations of the structural design. The radar can provide all-around weather indemnificatory service for weather forecasting and sailing safety, and has wide atmlication value.%气象雷达是用来预报灾害性天气的有效手段之一,文中针对目前气象雷达功能的独立性,设计了1部集成度高的车载综合气象保障雷达,该雷达由1部X波段测雨雷达、1部L波段测风雷达和l台自动气象站组成。结合该雷达的结构特点、功能以及使用条件等,论述了设备的结构组成、布局、结构总体设计的关键技术以及必要的分析和计算。该雷达能为预报天气和保障航行安全提供综合气象保障服务,具有较广的应用价值。

  11. 14 CFR 93.311 - Minimum terrain clearance.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 2 2010-01-01 2010-01-01 false Minimum terrain clearance. 93.311 Section 93.311 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED... of Grand Canyon National Park, AZ § 93.311 Minimum terrain clearance. Except in an emergency,...

  12. Terrain Perception in a Shape Shifting Rolling-Crawling Robot

    Directory of Open Access Journals (Sweden)

    Fuchida Masataka

    2016-09-01

    Full Text Available Terrain perception greatly enhances the performance of robots, providing them with essential information on the nature of terrain being traversed. Several living beings in nature offer interesting inspirations which adopt different gait patterns according to nature of terrain. In this paper, we present a novel terrain perception system for our bioinspired robot, Scorpio, to classify the terrain based on visual features and autonomously choose appropriate locomotion mode. Our Scorpio robot is capable of crawling and rolling locomotion modes, mimicking Cebrenus Rechenburgi, a member of the huntsman spider family. Our terrain perception system uses Speeded Up Robust Feature (SURF description method along with color information. Feature extraction is followed by Bag of Word method (BoW and Support Vector Machine (SVM for terrain classification. Experiments were conducted with our Scorpio robot to establish the efficacy and validity of the proposed approach. In our experiments, we achieved a recognition accuracy of over 90% across four terrain types namely grass, gravel, wooden deck, and concrete.

  13. Design Of An Omnidirectional Mobile Robot For Rough Terrain

    Science.gov (United States)

    2007-09-01

    rough terrain, isotropy, mobile robots , design I. INTRODUCTION Mobile robots are finding increasing use in military [1], disaster recovery [2], and...exploration applications [3]. These applications frequently require operation in rough, unstructured terrain. Currently, most mobile robots designed...perform some maneuvers, such as lateral displacement. Omnidirectional mobile robots could potentially navigate faster and more robustly through

  14. 47 CFR 80.759 - Average terrain elevation.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 5 2010-10-01 2010-10-01 false Average terrain elevation. 80.759 Section 80... Average terrain elevation. (a)(1) Draw radials from the antenna site for each 45 degrees of azimuth.... (d) Average the values by adding them and dividing by the number of readings along each radial....

  15. Digital terrain modeling with the Chebyshev polynomials

    CERN Document Server

    Florinsky, I V

    2015-01-01

    Mathematical problems of digital terrain analysis include interpolation of digital elevation models (DEMs), DEM generalization and denoising, and computation of morphometric variables by calculation of partial derivatives of elevation. Traditionally, these procedures are based on numerical treatments of two-variable discrete functions of elevation. We developed a spectral analytical method and algorithm based on high-order orthogonal expansions using the Chebyshev polynomials of the first kind with the subsequent Fejer summation. The method and algorithm are intended for DEM analytical treatment, such as, DEM global approximation, denoising, and generalization as well as computation of morphometric variables by analytical calculation of partial derivatives. To test the method and algorithm, we used a DEM of the Northern Andes including 230,880 points (the elevation matrix 480 $\\times$ 481). DEMs were reconstructed with 480, 240, 120, 60, and 30 expansion coefficients. The first and second partial derivatives ...

  16. Conically scanning lidar error in complex terrain

    Directory of Open Access Journals (Sweden)

    Ferhat Bingöl

    2009-05-01

    Full Text Available Conically scanning lidars assume the flow to be homogeneous in order to deduce the horizontal wind speed. However, in mountainous or complex terrain this assumption is not valid implying a risk that the lidar will derive an erroneous wind speed. The magnitude of this error is measured by collocating a meteorological mast and a lidar at two Greek sites, one hilly and one mountainous. The maximum error for the sites investigated is of the order of 10 %. In order to predict the error for various wind directions the flows at both sites are simulated with the linearized flow model, WAsP Engineering 2.0. The measurement data are compared with the model predictions with good results for the hilly site, but with less success at the mountainous site. This is a deficiency of the flow model, but the methods presented in this paper can be used with any flow model.

  17. Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming

    Science.gov (United States)

    Hubicki, Christian; Goldman, Daniel; Ames, Aaron

    In terrestrial locomotion, gait dynamics and motor control behaviors are tuned to interact efficiently and stably with the dynamics of the terrain (i.e. terradynamics). This controlled interaction must be particularly thoughtful in bipeds, as their reduced contact points render them highly susceptible to falls. While bipedalism under rigid terrain assumptions is well-studied, insights for two-legged locomotion on soft terrain, such as sand and dirt, are comparatively sparse. We seek an understanding of how biological bipeds stably and economically negotiate granular media, with an eye toward imbuing those abilities in bipedal robots. We present a trajectory optimization method for controlled systems subject to granular intrusion. By formulating a large-scale nonlinear program (NLP) with reduced-order resistive force theory (RFT) models and jamming cone dynamics, the optimized motions are informed and shaped by the dynamics of the terrain. Using a variant of direct collocation methods, we can express all optimization objectives and constraints in closed-form, resulting in rapid solving by standard NLP solvers, such as IPOPT. We employ this tool to analyze emergent features of bipedal locomotion in granular media, with an eye toward robotic implementation.

  18. Groundwater flood hazards in lowland karst terrains

    Science.gov (United States)

    Naughton, Owen; McCormack, Ted

    2016-04-01

    The spatial and temporal complexity of flooding in karst terrains pose unique flood risk management challenges. Lowland karst landscapes can be particularly susceptible to groundwater flooding due to a combination of limited drainage capacity, shallow depth to groundwater and a high level of groundwater-surface water interactions. Historically the worst groundwater flooding to have occurred in the Rep. of Ireland has been centred on the Gort Lowlands, a karst catchment on the western coast of Ireland. Numerous notable flood events have been recorded throughout the 20th century, but flooding during the winters of 2009 and 2015 were the most severe on record, inundating an area in excess of 20km2 and causing widespread and prolonged disruption and damage to property and infrastructure. Effective flood risk management requires an understanding of the recharge, storage and transport mechanisms during flood conditions, but is often hampered by a lack of adequate data. Using information gathered from the 2009 and 2015 events, the main hydrological and geomorphological factors which influence flooding in this complex lowland karst groundwater system under are elucidated. Observed flood mechanisms included backwater flooding of sinks, overland flow caused by the overtopping of sink depressions, high water levels in turlough basins, and surface ponding in local epikarst watersheds. While targeted small-scale flood measures can locally reduce the flood risk associated with some mechanisms, they also have the potential to exacerbate flooding down-catchment and must be assessed in the context of overall catchment hydrology. This study addresses the need to improve our understanding of groundwater flooding in karst terrains, in order to ensure efficient flood prevention and mitigation in future and thus help achieve the aims of the EU Floods Directive.

  19. Statistical Modeling of Robotic Random Walks on Different Terrain

    Science.gov (United States)

    Naylor, Austin; Kinnaman, Laura

    Issues of public safety, especially with crowd dynamics and pedestrian movement, have been modeled by physicists using methods from statistical mechanics over the last few years. Complex decision making of humans moving on different terrains can be modeled using random walks (RW) and correlated random walks (CRW). The effect of different terrains, such as a constant increasing slope, on RW and CRW was explored. LEGO robots were programmed to make RW and CRW with uniform step sizes. Level ground tests demonstrated that the robots had the expected step size distribution and correlation angles (for CRW). The mean square displacement was calculated for each RW and CRW on different terrains and matched expected trends. The step size distribution was determined to change based on the terrain; theoretical predictions for the step size distribution were made for various simple terrains. It's Dr. Laura Kinnaman, not sure where to put the Prefix.

  20. Terrain Identification for Prosthetic Knees Based on Electromyographic Signal Features

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    The features of electromyographic (EMG) signals were investigated while people walking on different terrains, including up and down slopes, up and down stairs, and during level walking at different speeds. The features were used to develop a terrain identification method. The technology can be used to develop an intelligent transfemoral prosthetic limb with terrain identification capability. The EMG signals from 8 hip muscles of 13 healthy persons were recorded as they walked on the different terrains. The signals from the sound side of a transfemoral amputee were also recorded. The features of these signals were obtained using data processing techniques with an identification process developed for the identification of the terrain type. The procedure was simplified by using only the signals from three muscles. The identification process worked well in an intelligent prosthetic knee in a laboratory setting.

  1. Learning Long-range Terrain Perception for Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Mingjun Wang

    2010-02-01

    Full Text Available Long-range terrain perception has a high value in performing efficient autonomous navigation and risky intervention tasks for field robots, such as earlier recognition of hazards, better path planning, and higher speeds. However, Stereo-based navigation systems can only perceive near-field terrain due to the nearsightedness of stereo vision. Many near-to-far learning methods, based on regions' appearance features, are proposed to predict the far-field terrain. We proposed a statistical prediction framework to enhance long-range terrain perception for autonomous mobile robots. The main difference between our solution and other existing methods is that our framework not only includes appearance features as its prediction basis, but also incorporates spatial relationships between terrain regions in a principled way. The experiment results show that our framework outperforms other existing approaches in terms of accuracy, robustness and adaptability to dynamic unstructured outdoor environments.

  2. electric vehicle

    Directory of Open Access Journals (Sweden)

    W. R. Lee

    1999-01-01

    Full Text Available A major problem facing battery-powered electric vehicles is in their batteries: weight and charge capacity. Thus, a battery-powered electric vehicle only has a short driving range. To travel for a longer distance, the batteries are required to be recharged frequently. In this paper, we construct a model for a battery-powered electric vehicle, in which driving strategy is to be obtained such that the total travelling time between two locations is minimized. The problem is formulated as an optimization problem with switching times and speed as decision variables. This is an unconventional optimization problem. However, by using the control parametrization enhancing technique (CPET, it is shown that this unconventional optimization is equivalent to a conventional optimal parameter selection problem. Numerical examples are solved using the proposed method.

  3. Basalt: Biologic Analog Science Associated with Lava Terrains

    Science.gov (United States)

    Lim, D. S. S.; Abercromby, A.; Kobs-Nawotniak, S. E.; Kobayashi, L.; Hughes, S. S.; Chappell, S.; Bramall, N. E.; Deans, M. C.; Heldmann, J. L.; Downs, M.; Cockell, C. S.; Stevens, A. H.; Caldwell, B.; Hoffman, J.; Vadhavk, N.; Marquez, J.; Miller, M.; Squyres, S. W.; Lees, D. S.; Fong, T.; Cohen, T.; Smith, T.; Lee, G.; Frank, J.; Colaprete, A.

    2015-12-01

    This presentation will provide an overview of the BASALT (Biologic Analog Science Associated with Lava Terrains) program. BASALT research addresses Science, Science Operations, and Technology. Specifically, BASALT is focused on the investigation of terrestrial volcanic terrains and their habitability as analog environments for early and present-day Mars. Our scientific fieldwork is conducted under simulated Mars mission constraints to evaluate strategically selected concepts of operations (ConOps) and capabilities with respect to their anticipated value for the joint human and robotic exploration of Mars. a) Science: The BASALT science program is focused on understanding habitability conditions of early and present-day Mars in two relevant Mars-analog locations (the Southwest Rift Zone (SWRZ) and the East Rift Zone (ERZ) flows on the Big Island of Hawai'i and the eastern Snake River Plain (ESRP) in Idaho) to characterize and compare the physical and geochemical conditions of life in these environments and to learn how to seek, identify, and characterize life and life-related chemistry in basaltic environments representing these two epochs of martian history. b) Science Operations: The BASALT team will conduct real (non-simulated) biological and geological science at two high-fidelity Mars analogs, all within simulated Mars mission conditions (including communication latencies and bandwidth constraints) that are based on current architectural assumptions for Mars exploration missions. We will identify which human-robotic ConOps and supporting capabilities enable science return and discovery. c) Technology: BASALT will incorporate and evaluate technologies in to our field operations that are directly relevant to conducting the scientific investigations regarding life and life-related chemistry in Mars-analogous terrestrial environments. BASALT technologies include the use of mobile science platforms, extravehicular informatics, display technologies, communication

  4. Pacing during an ultramarathon running event in hilly terrain

    Directory of Open Access Journals (Sweden)

    Hugo A. Kerhervé

    2016-10-01

    Full Text Available Purpose The dynamics of speed selection as a function of distance, or pacing, are used in recreational, competitive, and scientific research situations as an indirect measure of the psycho-physiological status of an individual. The purpose of this study was to determine pacing on level, uphill and downhill sections of participants in a long (>80 km ultramarathon performed on trails in hilly terrain. Methods Fifteen ultramarathon runners competed in a  173 km event (five finished at  103 km carrying a Global-Positioning System (GPS device. Using the GPS data, we determined the speed, relative to average total speed, in level (LEV, uphill (UH and downhill (DH gradient categories as a function of total distance, as well as the correlation between overall performance and speed variability, speed loss, and total time stopped. Results There were no significant differences in normality, variances or means in the relative speed in 173-km and 103-km participants. Relative speed decreased in LEV, UH and DH. The main component of speed loss occurred between 5% and 50% of the event distance in LEV, and between 5% and 95% in UH and DH. There were no significant correlations between overall performance and speed loss, the variability of speed, or total time stopped. Conclusions Positive pacing was observed at all gradients, with the main component of speed loss occurring earlier (mixed pacing in LEV compared to UH and DH. A speed reserve (increased speed in the last section was observed in LEV and UH. The decrease in speed and variability of speed were more important in LEV and DH than in UH. The absence of a significant correlation between overall performance and descriptors of pacing is novel and indicates that pacing in ultramarathons in trails and hilly terrain differs to other types of running events.

  5. Digital Surface and Terrain Models (DSM,DTM), Published in 2002, 1:12000 (1in=1000ft) scale, Door County, Wisconsin.

    Data.gov (United States)

    NSGIC GIS Inventory (aka Ramona) — This Digital Surface and Terrain Models (DSM,DTM) dataset, published at 1:12000 (1in=1000ft) scale, was produced all or in part from LIDAR information as of 2002....

  6. Digital Surface and Terrain Models (DSM,DTM), Published in 2008, 1:4800 (1in=400ft) scale, Phillips County.

    Data.gov (United States)

    NSGIC GIS Inventory (aka Ramona) — This Digital Surface and Terrain Models (DSM,DTM) dataset, published at 1:4800 (1in=400ft) scale, was produced all or in part from Not Provided information as of...

  7. Digital Surface and Terrain Models (DSM,DTM), DTM for Walworth County, Published in 2000, 1:2400 (1in=200ft) scale, Walworth County.

    Data.gov (United States)

    NSGIC GIS Inventory (aka Ramona) — This Digital Surface and Terrain Models (DSM,DTM) dataset, published at 1:2400 (1in=200ft) scale, was produced all or in part from Orthoimagery information as of...

  8. Digital Surface and Terrain Models (DSM,DTM), Published in 2005, 1:24000 (1in=2000ft) scale, Sauk County.

    Data.gov (United States)

    NSGIC GIS Inventory (aka Ramona) — This Digital Surface and Terrain Models (DSM,DTM) dataset, published at 1:24000 (1in=2000ft) scale, was produced all or in part from LIDAR information as of 2005....

  9. The Improved Kriging Interpolation Algorithm for Local Underwater Terrain Based on Fractal Compensation

    OpenAIRE

    Pengyun Chen; Ye Li; Yumin Su; Xiaolong Chen

    2014-01-01

    The interpolation-reconstruction of local underwater terrain using the underwater digital terrain map (UDTM) is an important step for building an underwater terrain matching unit and directly affects the accuracy of underwater terrain matching navigation. The Kriging method is often used in terrain interpolation, but, with this method, the local terrain features are often lost. Therefore, the accuracy cannot meet the requirements of practical application. Analysis of the geographical features...

  10. Passive legged, multi-segmented, robotic vehicle.

    Energy Technology Data Exchange (ETDEWEB)

    Hayward, David R.

    2003-11-01

    The Passive-legged, Multi-segmented, Robotic Vehicle concept is a simple legged vehicle that is modular and scaleable, and can be sized to fit through confined areas that are slightly larger than the size of the vehicle. A specific goal of this project was to be able to fit through the opening in the fabric of a chain link fence. This terrain agile robotic platform will be composed of multiple segments that are each equipped with appendages (legs) that resemble oars extending from a boat. Motion is achieved by pushing with these legs that can also flex to fold next to the body when passing through a constricted area. Each segment is attached to another segment using an actuated joint. This joint represents the only actuation required for mobility. The major feature of this type of mobility is that the terrain agility advantage of legs can be attained without the complexity of the multiple-actuation normally required for the many joints of an active leg. The minimum number of segments is two, but some concepts require three or more segments. This report discusses several concepts for achieving this type of mobility, their design, and the results obtained for each.

  11. Advanced Tracking of Vehicles

    DEFF Research Database (Denmark)

    Jensen, Christian Søndergaard; Li, K.-J.; Pakalnis, Stardas

    2005-01-01

    With the continued advances in wireless communications, geo-location technologies, and consumer electronics, it is becoming possible to accurately track the time-varying location of each vehicle in a population of vehicles. This paper reports on ongoing research that has as it objective to develop...... efficient tracking techniques. More specifically, while almost all commercially available tracking solutions simply offer time-based sampling of positions, this paper's techniques aim to offer a guaranteed tracking accuracy for each vehicle at the lowest possible costs, in terms of network traffic...... and server-side updates. This is achieved by designing, prototyping, and testing novel tracking techniques that exploit knowledge of the road network and past movement. These resulting tracking techniques are to support mobile services that rely on the existence of a central server that continuously tracks...

  12. Dynamics of aerospace vehicles

    Science.gov (United States)

    Schmidt, David K.

    1991-01-01

    The focus of this research was to address the modeling, including model reduction, of flexible aerospace vehicles, with special emphasis on models used in dynamic analysis and/or guidance and control system design. In the modeling, it is critical that the key aspects of the system being modeled be captured in the model. In this work, therefore, aspects of the vehicle dynamics critical to control design were important. In this regard, fundamental contributions were made in the areas of stability robustness analysis techniques, model reduction techniques, and literal approximations for key dynamic characteristics of flexible vehicles. All these areas are related. In the development of a model, approximations are always involved, so control systems designed using these models must be robust against uncertainties in these models.

  13. From digital elevation model data to terrain depiction data

    Science.gov (United States)

    Helmetag, Arnd; Smietanski, Guillaume; Baumgart, Michael; Kubbat, Wolfgang

    1999-07-01

    The analysis of accidents focused our work on the avoidance of 'Controlled Flight Into Terrain' caused by insufficient situation awareness. Analysis of safety concepts led us to the design of the proposed synthetic vision system that will be described. Since most information on these 3D-Displays is shown in a graphical way, it can intuitively be seized by the pilot. One key element of SVS is terrain depiction, that is the topic of this paper. Real time terrain depiction has to face two requirements. On the one hand spatial awareness requires recognition of synthetic environment demanding characteristics. On the other hand the number of rendered polygons has to be minimized due to limitations of real time image generation performance. Visual quality can significantly be enhanced if equidistant data like Digital Elevation Model data (DEM) are vectorized. One method of data vectorization will be explained in detail and advantages will be mentioned. In Virtual Reality (VR) applications, conventional decimation software degrades the visual quality of geometry that is compensated by complex textures and lighting. Since terrain decimated with those tools looses its characteristics, and textures are not acceptable for several reasons, a terrain specific decimation has to be performed. How can a Digital Elevation Model (DEM) be decimated without decreasing the visualization value? In this paper, extraction of terrain characteristics and adapted decimation will be proposed. Steps from DEM to Terrain Depiction Data (TDD) are discussed in detail.

  14. Observing river stages using unmanned aerial vehicles

    Science.gov (United States)

    Niedzielski, Tomasz; Witek, Matylda; Spallek, Waldemar

    2016-08-01

    We elaborated a new method for observing water surface areas and river stages using unmanned aerial vehicles (UAVs). It is based on processing multitemporal five orthophotomaps produced from the UAV-taken visible light images of nine sites of the river, acquired with a sufficient overlap in each part. Water surface areas are calculated in the first place, and subsequently expressed as fractions of total areas of water-covered terrain at a given site of the river recorded on five dates. The logarithms of the fractions are later calculated, producing five samples, each consisted of nine elements. In order to detect statistically significant increments of water surface areas between two orthophotomaps, we apply the asymptotic and bootstrapped versions of the Student's t test, preceded by other tests that aim to check model assumptions. The procedure is applied to five orthophotomaps covering nine sites of the Ścinawka river (south-western (SW) Poland). The data have been acquired during the experimental campaign, at which flight settings were kept unchanged over nearly 3 years (2012-2014). We have found that it is possible to detect transitions between water surface areas associated with all characteristic water levels (low, mean, intermediate and high stages). In addition, we infer that the identified transitions hold for characteristic river stages as well. In the experiment we detected all increments of water level: (1) from low stages to mean, intermediate and high stages; (2) from mean stages to intermediate and high stages; and (3) from intermediate stages to high stages. Potential applications of the elaborated method include verification of hydrodynamic models and the associated predictions of high flows as well as monitoring water levels of rivers in ungauged basins.

  15. Mobile robots traversability awareness based on terrain visual sensory data fusion

    Science.gov (United States)

    Shirkhodaie, Amir

    2007-04-01

    In this paper, we have presented methods that significantly improve the robot awareness of its terrain traversability conditions. The terrain traversability awareness is achieved by association of terrain image appearances from different poses and fusion of extracted information from multimodality imaging and range sensor data for localization and clustering environment landmarks. Initially, we describe methods for extraction of salient features of the terrain for the purpose of landmarks registration from two or more images taken from different via points along the trajectory path of the robot. The method of image registration is applied as a means of overlaying (two or more) of the same terrain scene at different viewpoints. The registration geometrically aligns salient landmarks of two images (the reference and sensed images). A Similarity matching techniques is proposed for matching the terrain salient landmarks. Secondly, we present three terrain classifier models based on rule-based, supervised neural network, and fuzzy logic for classification of terrain condition under uncertainty and mapping the robot's terrain perception to apt traversability measures. This paper addresses the technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on

  16. New Vocabulary: Araneiform and Lace Terrains

    Science.gov (United States)

    2007-01-01

    [figure removed for brevity, see original site] [figure removed for brevity, see original site] Figure 1Figure 2 The south polar terrain on Mars contains landforms unlike any that we see on Earth, so much that a new vocabulary is required to describe them. The word 'araneiform' means 'spider-like.' There are radially organized channels on Mars that look spider-like, but we don't want to confuse anyone by talking about 'spiders' when we really mean 'channels,' not 'bugs.' The first subimage (figure 1) shows an example of 'connected araneiform topography,' terrain that is filled with spider-like channels whose arms branch and connect to each other. Gas flows through these channels until it encounters a vent, where is escapes out to the atmosphere, carrying dust along with it. The dark dust is blown around by the prevailing wind. The second subimage (figure 2) shows a different region of the same image where the channels are not radially organized. In this region they form a dense tangled network of tortuous strands. We refer to this as 'lace.' Observation Geometry Image PSP_002651_0930 was taken by the High Resolution Imaging Science Experiment (HiRISE) camera onboard the Mars Reconnaissance Orbiter spacecraft on 18-Feb-2007. The complete image is centered at -86.9 degrees latitude, 97.2 degrees East longitude. The range to the target site was 268.7 km (167.9 miles). At this distance the image scale is 53.8 cm/pixel (with 2 x 2 binning) so objects 161 cm across are resolved. The image shown here has been map-projected to 50 cm/pixel . The image was taken at a local Mars time of 04:56 PM and the scene is illuminated from the west with a solar incidence angle of 86 degrees, thus the sun was about 4 degrees above the horizon. At a solar longitude of 186.4 degrees, the season on Mars is Northern Autumn.

  17. MRO CTX-based Digital Terrain Models

    Science.gov (United States)

    Dumke, Alexander

    2016-04-01

    In planetary surface sciences, digital terrain models (DTM) are paramount when it comes to understanding and quantifying processes. In this contribution an approach for the derivation of digital terrain models from stereo images of the NASA Mars Reconnaissance Orbiter (MRO) Context Camera (CTX) are described. CTX consists of a 350 mm focal length telescope and 5000 CCD sensor elements and is operated as pushbroom camera. It acquires images with ~6 m/px over a swath width of ~30 km of the Mars surface [1]. Today, several approaches for the derivation of CTX DTMs exist [e. g. 2, 3, 4]. The discussed approach here is based on established software and combines them with proprietary software as described below. The main processing task for the derivation of CTX stereo DTMs is based on six steps: (1) First, CTX images are radiometrically corrected using the ISIS software package [5]. (2) For selected CTX stereo images, exterior orientation data from reconstructed NAIF SPICE data are extracted [6]. (3) In the next step High Resolution Stereo Camera (HRSC) DTMs [7, 8, 9] are used for the rectification of CTX stereo images to reduce the search area during the image matching. Here, HRSC DTMs are used due to their higher spatial resolution when compared to MOLA DTMs. (4) The determination of coordinates of homologous points between stereo images, i.e. the stereo image matching process, consists of two steps: first, a cross-correlation to obtain approximate values and secondly, their use in a least-square matching (LSM) process in order to obtain subpixel positions. (5) The stereo matching results are then used to generate object points from forward ray intersections. (6) As a last step, the DTM-raster generation is performed using software developed at the German Aerospace Center, Berlin. Whereby only object points are used that have a smaller error than a threshold value. References: [1] Malin, M. C. et al., 2007, JGR 112, doi:10.1029/2006JE002808 [2] Broxton, M. J. et al

  18. Path planning for complex terrain navigation via dynamic programming

    Energy Technology Data Exchange (ETDEWEB)

    Kwok, K.S.; Driessen, B.J.

    1998-12-31

    This work considers the problem of planning optimal paths for a mobile robot traversing complex terrain. In addition to the existing obstacles, locations in the terrain where the slope is too steep for the mobile robot to navigate safely without tipping over become mathematically equivalent to extra obstacles. To solve the optimal path problem, the authors use a dynamic programming approach. The dynamic programming approach utilized herein does not suffer the difficulties associated with spurious local minima that the artificial potential field approaches do. In fact, a globally optimal solution is guaranteed to be found if a feasible solution exists. The method is demonstrated on several complex examples including very complex terrains.

  19. Personal Air Vehicle Research Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The innovation is a low aspect ratio all-lifting configuration for personal air vehicles. This configuration uses an architecture fundamentally different from...

  20. Terrain mapping camera for Chandrayaan-1

    Indian Academy of Sciences (India)

    A S Kiran Kumar; A Roy Chowdhury

    2005-12-01

    The Terrain Mapping Camera (TMC)on India ’s first satellite for lunar exploration,Chandrayaan-1, is for generating high-resolution 3-dimensional maps of the Moon.With this instrument,a complete topographic map of the Moon with 5 m spatial resolution and 10-bit quantization will be available for scienti fic studies.The TMC will image within the panchromatic spectral band of 0.4 to 0.9 m with a stereo view in the fore,nadir and aft directions of the spacecraft movement and have a B/H ratio of 1.The swath coverage will be 20 km.The camera is configured for imaging in the push broom-mode with three linear detectors in the image plane.The camera will have four gain settings to cover the varying illumination conditions of the Moon.Additionally,a provision of imaging with reduced resolution,for improving Signal-to-Noise Ratio (SNR)in polar regions,which have poor illumination conditions throughout,has been made.SNR of better than 100 is expected in the ± 60° latitude region for mature mare soil,which is one of the darkest regions on the lunar surface. This paper presents a brief description of the TMC instrument.

  1. Risk terrain modeling predicts child maltreatment.

    Science.gov (United States)

    Daley, Dyann; Bachmann, Michael; Bachmann, Brittany A; Pedigo, Christian; Bui, Minh-Thuy; Coffman, Jamye

    2016-12-01

    As indicated by research on the long-term effects of adverse childhood experiences (ACEs), maltreatment has far-reaching consequences for affected children. Effective prevention measures have been elusive, partly due to difficulty in identifying vulnerable children before they are harmed. This study employs Risk Terrain Modeling (RTM), an analysis of the cumulative effect of environmental factors thought to be conducive for child maltreatment, to create a highly accurate prediction model for future substantiated child maltreatment cases in the City of Fort Worth, Texas. The model is superior to commonly used hotspot predictions and more beneficial in aiding prevention efforts in a number of ways: 1) it identifies the highest risk areas for future instances of child maltreatment with improved precision and accuracy; 2) it aids the prioritization of risk-mitigating efforts by informing about the relative importance of the most significant contributing risk factors; 3) since predictions are modeled as a function of easily obtainable data, practitioners do not have to undergo the difficult process of obtaining official child maltreatment data to apply it; 4) the inclusion of a multitude of environmental risk factors creates a more robust model with higher predictive validity; and, 5) the model does not rely on a retrospective examination of past instances of child maltreatment, but adapts predictions to changing environmental conditions. The present study introduces and examines the predictive power of this new tool to aid prevention efforts seeking to improve the safety, health, and wellbeing of vulnerable children.

  2. Spatio-temporal 3D terrain modeling and visualization based on measuring data%基于测量数据的时空三维地形构建与可视化

    Institute of Scientific and Technical Information of China (English)

    王宏健; 傅桂霞; 王晶; 李娟

    2011-01-01

    基于无人无缆自主水下航行器及其测量传感器开展海洋环境勘察与监测是未来海洋开发的重要应用领域,测量数据的矢量建模及其可视化显示是其中的关键技术之一.针对AUV的多波束声呐地形测量数据,开展了地形矢量模型构建与可视化研究,给出了传感器数据处理与时空配准、海底地形坐标变换等方法,设计了一种优化的Delaunay三角网建模算法,构建了三维海底地形矢量模型,提出了三维矢量模型真实感表达方法.基于海试测量的离散数据完成了具有真实感特点的三维海底地形矢量模型的构建与显示,实验结果表明:所提出的研究方法是合理、可行的,克服了多波束声呐只能提供离散地形高程数据的缺点,其地形数据的连续矢量化处理与可视化显示的优点对于海洋环境立体化与可视化监测具有重要的意义和应用前景.%Oceanography survey and surveillance is an important application field in future ocean exploitation, which is based on autonomous underwater vehicle ( AUV) and its measuring sensors; and one of the key technologies is vector modeling and visualization based on measuring data. Aiming at the measuring terrain data from multi-beam sonar , terrain vector modeling and visualization are studied, and the methods of sonar data processing, spatio-temporal registration and coordinates transformation are proposed. An improved Delaunay triangulation modeling algorithm is designed to set up the vector model of terrain, and a realistic expression method of 3D vector model is proposed on the OpenGL platform. Based on the multi-beam sonar terrain data from the AUV sea trial, which has the characteristics of discrete and redundant, all the above methods are tested and verified. Test results indicate that the methods designed in this paper are reasonable and feasible, which overcomes the weak points that multi-beam sonar could only provide discrete terrain

  3. Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

    Science.gov (United States)

    Gisser, D. G.; Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Yerazunis, S. Y.

    1975-01-01

    Problems related to an unmanned exploration of the planet Mars by means of an autonomous roving planetary vehicle are investigated. These problems include: design, construction and evaluation of the vehicle itself and its control and operating systems. More specifically, vehicle configuration, dynamics, control, propulsion, hazard detection systems, terrain sensing and modelling, obstacle detection concepts, path selection, decision-making systems, and chemical analyses of samples are studied. Emphasis is placed on development of a vehicle capable of gathering specimens and data for an Augmented Viking Mission or to provide the basis for a Sample Return Mission.

  4. CITY OF RADFORD TERRAIN, CITY OF RADFORD, VA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data includes digital elevation models, LIDAR derived contours, LIDAR three-dimensional spot elevations and breaklines, field surveyed ground elevations and...

  5. DCS Terrain Submission for Clay County, AR, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  6. DCS Terrain Submittal for Washita County, Oklahoma, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  7. Terrain Submission for Pottawattamie County, IA (Countywide DFIRM)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  8. DCS Terrain Submittal for Dooly County, Georgia, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  9. DCS Terrain Submission for Lake Kaweah PMR - Tulare County, California

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  10. DCS Terrain Submission for Floyd County, IN (PMR)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  11. TERRAIN, CITY OF NORWALK, FAIRFIELD COUNTY, CONNECTICUT - Levee PMR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  12. TERRAIN, Town of Pocatello Levee PMR, Bannock COUNTY, IDAHO

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — The Town of Pocatello, Bannock County, ID created 2ft contours by photogrametric methods to serve as terrain. The areas for contour creation have been designed as...

  13. DCS Terrain submission for Washoe County NV PMR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  14. TERRAIN, CITY OF ANSONIA, NEW HAVEN COUNTY, CONNECTICUT - Levee PMR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  15. TERRAIN, CITY OF Derby, NEW HAVEN COUNTY, CONNECTICUT - Levee PMR

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  16. DCS Terrain Submission for New Castle County, DE

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  17. DCS Terrain Submission for Gold Star Canyon Study

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  18. DCS Terrain Submittal for Thomas County, Georgia, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  19. DCS Terrain for Evans County GA MapMod08

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  20. DCS Terrain Submittal for Macon County, Georgia, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  1. Terrain Submission for Crawford County, MI (Countywide DFIRM)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  2. TERRAIN DATA, DELANEY CREEK WATERSHED, HILLSBOROUGH COUNTY, FL

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describe the digital topographic data that were used to create...

  3. DCS Terrain for Dodge County GA MapMod08

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  4. TERRAIN, CITY OF SEWARD, KENAI PENINSULA BOROUGH, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  5. Terrain, BIG BLUE RIVER TRIBUTARY NO 44, GAGE COUNTY, NE

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  6. DCS Terrain for Roscommon County, MI (Countywide DFIRM)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  7. DCS Terrain Submission for La Paz County, AZ

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that were used to create...

  8. Terrain Submission for Menominee County, MI (Countywide DFIRM)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  9. DCS Terrain for Wheeler County GA MapMod08

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  10. DCS Terrain for Chatham Co GA (FY2010)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  11. DCS Terrain for Effingham Co GA (FY2010)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  12. DCS Terrain Submission for Monmouth County, New Jersey

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  13. DCS TERRAIN SUBMISSION for MORRIS COUNTY, NEW JERSEY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that were used to create...

  14. DCS Terrain Submission for Miller County, AR, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  15. DCS Terrain Submission for Santa Cruz,CA - CW (NAVD)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  16. DCS Terrain Submission for Eau Claire County, Wisconsin

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  17. DCS Terrain Submittal for Bernalillo County, New Mexico, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  18. DCS Terrain for Wilcox County GA MapMod08

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  19. DCS Terrain Submission for Ramsey County, North Dakota

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  20. DCS Terrain Submission for Cheboygan County, MI (Countywide DFIRM)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  1. DCS Terrain for Laurens County GA MAPMOD04-08

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  2. DCS Terrain for Bacon County GA MapMod08

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  3. DCS Terrain Submission for Gratiot County, MI (Countywide DFIRM)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  4. Classification of Mars Terrain Using Multiple Data Sources

    Data.gov (United States)

    National Aeronautics and Space Administration — Classification of Mars Terrain Using Multiple Data Sources Alan Kraut1, David Wettergreen1 ABSTRACT. Images of Mars are being collected faster than they can be...

  5. TERRAIN, CITY OF GRAND PRAIRIE, DALLAS COUNTY, TEXAS

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  6. TERRAIN DATA CAPTURE STANDARDS, LUZERNE COUNTY, PA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data includes digital elevation models, LIDAR derived contours, LIDAR three-dimensional spot elevations and breaklines, field surveyed ground elevations and...

  7. DCS Terrain Submission for LeFlore, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  8. DCS Terrain Submission for Bear Creek in Clear Creek County

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  9. DCS Terrain Submission for McCurtain, OK

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  10. DCS Terrain Submission for Forked Gulch in Canon City CO

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  11. DCS Terrain Submission for Acadia Parish, LA, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  12. DCS Terrain Submittal for Spalding County, Georgia, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  13. DCS Terrain Submission for Logan County, AR, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  14. DCS Terrain Submission for Chippewa County, MI (Countywide DFIRM)

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describe the digital topographic data that were used to create...

  15. TERRAIN submission for Rock River RiskMap DFIRM

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  16. Error detection and rectification in digital terrain models

    Science.gov (United States)

    Hannah, M. J.

    1979-01-01

    Digital terrain models produced by computer correlation of stereo images are likely to contain occasional gross errors in terrain elevation. These errors typically result from having mismatched sub-areas of the two images, a problem which can occur for a variety of image- and terrain-related reasons. Such elevation errors produce undesirable effects when the models are further processed, and should be detected and corrected as early in the processing as possible. Algorithms have been developed to detect and correct errors in digital terrain models. These algorithms focus on the use of constraints on both the allowable slope and the allowable change in slope in local areas around each point. Relaxation-like techniques are employed in the iteration of the detection and correction phases to obtain best results.

  17. DCS Terrain Submission for Jackson County, AR, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  18. DCS Terrain Submission for Randolph County, AR, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  19. DCS Terrain Submittal for Butts County, Georgia, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  20. DCS Terrain Submission for Hunterdon County New Jersey

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  1. DCS Terrain Submission for Los Angeles County, CA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix N: Data Capture Standards, describes the digital topographic data that was used to create...

  2. DCS Terrain Submittal for Harmon County, Oklahoma, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Terrain data, as defined in FEMA Guidelines and Specifications, Appendix M: Data Capture Standards, describes the digital topographic data that was used to create...

  3. Experimental Validation of a Differential Variational Inequality-Based Approach for Handling Friction and Contact in Vehicle

    Science.gov (United States)

    2015-11-20

    1572, USA Abstract The observation motivating this contribution was a perceived lack of expeditious deformable terrain models that can match in... mobility analysis studies the level of fidelity delivered by today’s vehicle models. Typi- cally, the deformable terrain-tire interaction has been modeled...rolled at the desired slip ratio for Tfinal =8 s. (a) (b) Figure 10: A photograph of the single wheel test experiment at MIT’s Robotic Mobility Group

  4. Improving terrain height estimates from RADARSAT interferometric measurements

    Energy Technology Data Exchange (ETDEWEB)

    Thompson, P.A.; Eichel, P.H.; Calloway, T.M.

    1998-03-01

    The authors describe two methods of combining two-pass RADAR-SAT interferometric phase maps with existing DTED (digital terrain elevation data) to produce improved terrain height estimates. The first is a least-squares estimation procedure that fits the unwrapped phase data to a phase map computed from the DTED. The second is a filtering technique that combines the interferometric height map with the DTED map based on spatial frequency content. Both methods preserve the high fidelity of the interferometric data.

  5. Subgrid snow depth coefficient of variation within complex mountainous terrain

    OpenAIRE

    Sexstone, Graham A.; Fassnacht, Steven R.; López-Moreno, Juan Ignacio; Christopher A. Hiemstra

    2016-01-01

    Given the substantial variability of snow in complex mountainous terrain, a considerable challenge of coarse scale modeling applications is accurately representing the subgrid variability of snowpack properties. The snow depth coefficient of variation (CVds) is a useful metric for characterizing subgrid snow distributions but has not been well defined by a parameterization for mountainous environments. This study utilizes lidar-derived snow depth datasets from mountainous terrain in Colorado,...

  6. Method for Measuring the Information Content of Terrain from Digital Elevation Models

    Directory of Open Access Journals (Sweden)

    Lujin Hu

    2015-10-01

    Full Text Available As digital terrain models are indispensable for visualizing and modeling geographic processes, terrain information content is useful for terrain generalization and representation. For terrain generalization, if the terrain information is considered, the generalized terrain may be of higher fidelity. In other words, the richer the terrain information at the terrain surface, the smaller the degree of terrain simplification. Terrain information content is also important for evaluating the quality of the rendered terrain, e.g., the rendered web terrain tile service in Google Maps (Google Inc., Mountain View, CA, USA. However, a unified definition and measures for terrain information content have not been established. Therefore, in this paper, a definition and measures for terrain information content from Digital Elevation Model (DEM, i.e., a digital model or 3D representation of a terrain’s surface data are proposed and are based on the theory of map information content, remote sensing image information content and other geospatial information content. The information entropy was taken as the information measuring method for the terrain information content. Two experiments were carried out to verify the measurement methods of the terrain information content. One is the analysis of terrain information content in different geomorphic types, and the results showed that the more complex the geomorphic type, the richer the terrain information content. The other is the analysis of terrain information content with different resolutions, and the results showed that the finer the resolution, the richer the terrain information. Both experiments verified the reliability of the measurements of the terrain information content proposed in this paper.

  7. Terrain mechanical parameters online estimation for lunar rovers

    Science.gov (United States)

    Liu, Bing; Cui, Pingyuan; Ju, Hehua

    2007-11-01

    This paper presents a new method for terrain mechanical parameters estimation for a wheeled lunar rover. First, after deducing the detailed distribution expressions of normal stress and sheer stress at the wheel-terrain interface, the force/torque balance equations of the drive wheel for computing terrain mechanical parameters is derived through analyzing the rigid drive wheel of a lunar rover which moves with uniform speed in deformable terrain. Then a two-points Guass-Lengendre numerical integral method is used to simplify the balance equations, after simplifying and rearranging the resolve model are derived which are composed of three non-linear equations. Finally the iterative method of Newton and the steepest descent method are combined to solve the non-linear equations, and the outputs of on-board virtual sensors are used for computing terrain key mechanical parameters i.e. internal friction angle and press-sinkage parameters. Simulation results show correctness under high noises disturbance and effectiveness with low computational complexity, which allows a lunar rover for online terrain mechanical parameters estimation.

  8. Software architecture of biomimetic underwater vehicle

    Science.gov (United States)

    Praczyk, Tomasz; Szymak, Piotr

    2016-05-01

    Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.

  9. 47 CFR 24.53 - Calculation of height above average terrain (HAAT).

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 2 2010-10-01 2010-10-01 false Calculation of height above average terrain... average terrain (HAAT). (a) HAAT is determined by subtracting average terrain elevation from antenna height above mean sea level. (b) Average terrain elevation shall be calculated using elevation data...

  10. Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

    Science.gov (United States)

    Negrut, Dan; Mazhar, Hammad; Melanz, Daniel; Lamb, David; Jayakumar, Paramsothy; Letherwood, Michael; Jain, Abhinandan; Quadrelli, Marco

    2012-01-01

    This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

  11. Integration of UAV photogrammetry and SPH modelling of fluids to study runoff on real terrains.

    Directory of Open Access Journals (Sweden)

    Anxo Barreiro

    Full Text Available Roads can experience runoff problems due to the intense rain discharge associated to severe storms. Two advanced tools are combined to analyse the interaction of complex water flows with real terrains. UAV (Unmanned Aerial Vehicle photogrammetry is employed to obtain accurate topographic information on small areas, typically on the order of a few hectares. The Smoothed Particle Hydrodynamics (SPH technique is applied by means of the DualSPHysics model to compute the trajectory of the water flow during extreme rain events. The use of engineering solutions to palliate flood events is also analysed. The study case simulates how the collected water can flow into a close road and how precautionary measures can be effective to drain water under extreme conditions. The amount of water arriving at the road is calculated under different protection scenarios and the efficiency of a ditch is observed to decrease when sedimentation reduces its depth.

  12. A Comparison of RBF Neural Network Training Algorithms for Inertial Sensor Based Terrain Classification

    Directory of Open Access Journals (Sweden)

    Erkan Beşdok

    2009-08-01

    Full Text Available This paper introduces a comparison of training algorithms of radial basis function (RBF neural networks for classification purposes. RBF networks provide effective solutions in many science and engineering fields. They are especially popular in the pattern classification and signal processing areas. Several algorithms have been proposed for training RBF networks. The Artificial Bee Colony (ABC algorithm is a new, very simple and robust population based optimization algorithm that is inspired by the intelligent behavior of honey bee swarms. The training performance of the ABC algorithm is compared with the Genetic algorithm, Kalman filtering algorithm and gradient descent algorithm. In the experiments, not only well known classification problems from the UCI repository such as the Iris, Wine and Glass datasets have been used, but also an experimental setup is designed and inertial sensor based terrain classification for autonomous ground vehicles was also achieved. Experimental results show that the use of the ABC algorithm results in better learning than those of others.

  13. Self-tuning Generalized Predictive Control applied to terrain following flight

    Science.gov (United States)

    Hess, R. A.; Jung, Y. C.

    1989-01-01

    Generalized Predictive Control (GPC) describes an algorithm for the control of dynamic systems in which a control input is generated which minimizes a quadratic cost function consisting of a weighted sum of errors between desired and predicted future system output and future predicted control increments. The output predictions are obtained from an internal model of the plant dynamics. Self-tuning GPC refers to an implementation of the GPC algorithm in which the parameters of the internal model(s) are estimated on-line and the predictive control law tuned to the parameters so identified. The self-tuning GPC algorithm is applied to a problem of rotorcraft longitudinal/vertical terrain-following flight. The ability of the algorithm to tune to the initial vehicle parameters and to successfully adapt to a stability augmentation failure is demonstrated. Flight path performance is compared to a conventional, classically designed flight path control system.

  14. Integration of UAV photogrammetry and SPH modelling of fluids to study runoff on real terrains.

    Science.gov (United States)

    Barreiro, Anxo; Domínguez, Jose M; C Crespo, Alejandro J; González-Jorge, Higinio; Roca, David; Gómez-Gesteira, Moncho

    2014-01-01

    Roads can experience runoff problems due to the intense rain discharge associated to severe storms. Two advanced tools are combined to analyse the interaction of complex water flows with real terrains. UAV (Unmanned Aerial Vehicle) photogrammetry is employed to obtain accurate topographic information on small areas, typically on the order of a few hectares. The Smoothed Particle Hydrodynamics (SPH) technique is applied by means of the DualSPHysics model to compute the trajectory of the water flow during extreme rain events. The use of engineering solutions to palliate flood events is also analysed. The study case simulates how the collected water can flow into a close road and how precautionary measures can be effective to drain water under extreme conditions. The amount of water arriving at the road is calculated under different protection scenarios and the efficiency of a ditch is observed to decrease when sedimentation reduces its depth.

  15. An Incremental LOD Method Based on Grid and Its Application in Distributed Terrain Visualization

    Institute of Scientific and Technical Information of China (English)

    MA Zhaoting; LI Chengming; PAN Mao

    2005-01-01

    Incremental LOD can be transmitted on the network as a stream, then users on the clients can easily catch the skeleton of terrain without downloading all the data from the server.Detailed information in a local part can be added gradually when users zoom it in without redundant data transmission in this procedure.To do this, an incremental LOD method is put forward according to the regular arrangement of grid.This method applies arbitrary sized grid terrains and is not restricted to square ones with a side measuring 2 k + 1 samples.Maximum height errors are recorded when the LOD is preprocessed and it can be visualized with the geometrical Mipmaps to reduce the screen error.

  16. Fast recognition algorithm of underwater micro-terrain based on ultrasonic detection

    Institute of Scientific and Technical Information of China (English)

    LUO Bo-wen; ZHOU Zhi-jin; BU Ying-yong; ZHAO Hai-ming

    2008-01-01

    An algorithm was proposed to fast recognize three types of underwater micro-terrain, i.e. the level, the gradient and the uneven. With pendulum single beam bathymeter, the hard level concrete floor, the random uneven floor and the gradient wood panel (8°) were ultrasonically detected 20 times, respectively. The results show that the algorithm is right from fact that the first clustering values of the uneven are all less than the threshold value of 60.0% that is obtained by the level and gradient samples. The algorithm based on the dynamic clustering theory can effectively eliminate the influences of the exceptional elevation values produced by the disturbances resulted from the grazing angle, the characteristic of bottom material and environmental noises, and its real-time capability is good. Thus, the algorithm provides a foundation for the next restructuring of the micro-terrain.

  17. Climbing Mt. Sharp: Maximizing Curiosity's Science Over Traversable Terrains

    Science.gov (United States)

    Fraeman, A. A.; Arvidson, R. E.; Bellutta, P.; Sletten, R. S.; Team, M.

    2013-12-01

    As Curiosity transitions from the plains of Gale Crater to the flanks of Mt. Sharp, the rover will begin to encounter material and terrains that could present greater mobility challenges. These challenges include the presence of significantly steeper slopes and large dunes that have the potential to embed the vehicle. Strategic path planning during this phase of the mission will therefore require carefully selecting a traversable route that is both time-efficient and that will provide access to the most scientifically rewarding targets. We consider possible solutions to this optimization problem by examining multiple orbital data sets in order to locate likely mobility hazards and to select potential science waypoints for future in situ investigation. High resolution HiRISE monochromatic images and digital elevation models show filled craters, rock fields, areas with slopes too steep for the rover to traverse, and other possible mobility obstacles on the northwest flank of Mt. Sharp. Using this context, we review accessibility to scientific targets on Mt. Sharp that have been previously discussed in landing site workshop presentations and peer-reviewed publications. Additionally, we identify new targets using detailed geologic maps combined with oversampled CRISM observations that provide mineralogical information at unprecedented high spatial resolutions (up to 6 m/pixel). For example, the spatially sharpened CRISM spectral data show a localized hematite deposit that is associated with the upper-most stratum of a ridge which is located ~3km from the rover's entry point to Mt. Sharp. This deposit may represent a previously habitable environment and is therefore a high priority target for in situ investigation. In order to study the hematite and also to eventually access the phyllosilicate-bearing trough that is located directly behind the ridge, Curiosity will have to cross this ridge, but the ridge edges are often defined by regions with slopes that are too steep

  18. All the teachings are one

    DEFF Research Database (Denmark)

    Sobisch, Jan-Ulrich

    2013-01-01

    In his work dGongs gcig, 'Jig rten mgon po takes a critical approach to polemical differentiation of the Buddhist teachings. He maintains a view according to which all the teachings are a single vehicle with a single intention....

  19. Autonomous vehicle platforms from modular robotic components

    Science.gov (United States)

    Schonlau, William J.

    2004-09-01

    A brief survey of current autonomous vehicle (AV) projects is presented with intent to find common infrastructure or subsystems that can be configured from commercially available modular robotic components, thereby providing developers with greatly reduced timelines and costs and encouraging focus on the selected problem domain. The Modular Manipulator System (MMS) robotic system, based on single degree of freedom rotary and linear modules, is introduced and some approaches to autonomous vehicle configuration and deployment are examined. The modules may be configured to provide articulated suspensions for very rugged terrain and fall recovery, articulated sensors and tooling plus a limited capacity for self repair and self reconfiguration. The MMS on-board visually programmed control software (Model Manager) supports experimentation with novel physical configurations and behavior algorithms via real-time 3D graphics for operations simulation and provides useful subsystems for vision, learning and planning to host intelligent behavior.

  20. Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

    Science.gov (United States)

    Rankin, Arturo; Huertas, Andres; Matthies, Larry; Bajracharya, Max; Assad, Christopher; Brennan, Shane; Bellut, Paolo; Sherwin, Gary

    2011-01-01

    TIR cameras can be used for day/night Unmanned Ground Vehicle (UGV) autonomous navigation when stealth is required. The quality of uncooled TIR cameras has significantly improved over the last decade, making them a viable option at low speed Limiting factors for stereo ranging with uncooled LWIR cameras are image blur and low texture scenes TIR perception capabilities JPL has explored includes: (1) single and dual band TIR terrain classification (2) obstacle detection (pedestrian, vehicle, tree trunks, ditches, and water) (3) perception thru obscurants