WorldWideScience

Sample records for ground vehicle movement

  1. Ground Vehicle Robotics

    Science.gov (United States)

    2013-08-20

    Ground Vehicle Robotics Jim Parker Associate Director, Ground Vehicle Robotics UNCLASSIFIED: Distribution Statement A. Approved for public...DATE 20 AUG 2013 2. REPORT TYPE Briefing Charts 3. DATES COVERED 09-05-2013 to 15-08-2013 4. TITLE AND SUBTITLE Ground Vehicle Robotics 5a...Willing to take Risk on technology -User Evaluated -Contested Environments -Operational Data Applied Robotics for Installation & Base Ops -Low Risk

  2. Ground Vehicle Robotics Presentation

    Science.gov (United States)

    2012-08-14

    Mr. Jim Parker Associate Director Ground Vehicle Robotics Distribution Statement A. Approved for public release Report Documentation Page...Briefing 3. DATES COVERED 01-07-2012 to 01-08-2012 4. TITLE AND SUBTITLE Ground Vehicle Robotics Presentation 5a. CONTRACT NUMBER 5b. GRANT...ABSTRACT Provide Transition-Ready, Cost-Effective, and Innovative Robotics and Control System Solutions for Manned, Optionally-Manned, and Unmanned

  3. TARDEC Ground Vehicle Robotics

    Science.gov (United States)

    2013-05-30

    UNCLASSIFIED UNCLASSIFIED 10 Optionally Manned Vehicles OMV can be driven by a soldier; OMV can drive a soldier; OMV can be remotely operated; OMV can be...all missions for OMV (i.e. shared driving) (i.e. remotely operated) 2 m od al iti es Mission Payloads UNCLASSIFIED UNCLASSIFIED 11 Ground

  4. The Apache Longbow-Hellfire Missile Test at Yuma Proving Ground: Ecological Risk Assessment for Tracked Vehicle Movement across Desert Pavement

    Energy Technology Data Exchange (ETDEWEB)

    Peterson, Mark J [ORNL; Efroymson, Rebecca Ann [ORNL; Hargrove, William Walter [ORNL

    2008-01-01

    A multiple stressor risk assessment was conducted at Yuma Proving Ground, Arizona, as a demonstration of the Military Ecological Risk Assessment Framework. The focus was a testing program at Cibola Range, which involved an Apache Longbow helicopter firing Hellfire missiles at moving targets, M60-A1 tanks. This paper describes the ecological risk assessment for the tracked vehicle movement component of the testing program. The principal stressor associated with tracked vehicle movement was soil disturbance, and a resulting, secondary stressor was hydrological change. Water loss to washes and wash vegetation was expected to result from increased infiltration and/or evaporation associated with disturbances to desert pavement. The simulated exposure of wash vegetation to water loss was quantified using estimates of exposed land area from a digital ortho quarter quad aerial photo and field observations, a 30 30 m digital elevation model, the flow accumulation feature of ESRI ArcInfo, and a two-step process in which runoff was estimated from direct precipitation to a land area and from water that flowed from upgradient to a land area. In all simulated scenarios, absolute water loss decreased with distance from the disturbance, downgradient in the washes; however, percentage water loss was greatest in land areas immediately downgradient of a disturbance. Potential effects on growth and survival of wash trees were quantified by using an empirical relationship derived from a local unpublished study of water infiltration rates. The risk characterization concluded that neither risk to wash vegetation growth or survival nor risk to mule deer abundance and reproduction was expected. The risk characterization was negative for both the incremental risk of the test program and the combination of the test and pretest disturbances.

  5. Test and Evaluation of Autonomous Ground Vehicles

    OpenAIRE

    Yang Sun; Guangming Xiong; Weilong Song; Jianwei Gong; Huiyan Chen

    2014-01-01

    A preestablished test and evaluation system will benefit the development of autonomous ground vehicles. This paper proposes a design method for a scientific and comprehensive test and evaluation system for autonomous ground vehicles competitions. It can better guide and regulate the development of China’s autonomous ground vehicles. The test and evaluation system includes the test contents, the test environment, the test methods, and the evaluation methods. Using a hierarchical design approac...

  6. Test and Evaluation of Autonomous Ground Vehicles

    Directory of Open Access Journals (Sweden)

    Yang Sun

    2014-01-01

    Full Text Available A preestablished test and evaluation system will benefit the development of autonomous ground vehicles. This paper proposes a design method for a scientific and comprehensive test and evaluation system for autonomous ground vehicles competitions. It can better guide and regulate the development of China's autonomous ground vehicles. The test and evaluation system includes the test contents, the test environment, the test methods, and the evaluation methods. Using a hierarchical design approach, the test content is designed to be stage by stage, moving from simplicity to complexity and from individual modules to the entire vehicle. The hierarchical test environment is established according to the levels of test content. The test method based on multilevel platforms and sensors is put forward to ensure the accuracy of test results. A fuzzy comprehensive evaluation method combined with analytic hierarchy process (AHP is used for the comprehensive evaluation which can quantitatively evaluate the individual module and the overall technical performance of autonomous ground vehicles. The proposed test and evaluation system has been successfully applied to real autonomous ground vehicle competitions.

  7. Frameworks and middleware for umanned ground vehicles

    Science.gov (United States)

    Broten, Greg S.; Monckton, Simon P.

    2005-05-01

    Modern unmanned vehicles (UV) are complex systems. The current generation of UVs have extensive capabilities allowing the UV to sense its environment, create an internal representation of the environment, navigate within this environment by commanding movement and accomplish this in real-time. This proliferation of UV capabilities has resulted in large and complex software systems that are often distributed across multiple processors. Such systems have a reputation for convoluted implementations that result in software that is difficult to understand, expand, debug and repair. In order for a UV to operate successfully this issue of complex distributed software systems must be mastered. The computing science field views a modular, component based design as the best approach for implementing complex distributed software systems. Methodologies and toolkits such as frameworks and middleware have been developed to enable and simplify the implementation of distributed software systems. DRDC and other research institutions are developing UVs frameworks using CORBA middleware. A CORBA interface enables location transparency, thus it does not matter whether the component is locally or remotely located. The UV autonomy framework developed at DRDC is based upon the Miro framework which was originally developed for soccer playing robots. The Miro framework implements many key features and methods required by autonomous systems and Miro's basis in CORBA allows it to be easily modified and extended to support the unique requirements of military UVs. DRDC has modified and extended Miro so that it now supports autonomous unmanned ground vehicles. The process of implementing these changes substantiated the advantages of frameworks and middleware since Miro proved to be highly flexible and easy to extend.

  8. Steerable wheel structure for ground vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Frye, N.V.

    1988-09-27

    This patent describes a ground vehicle having a fore-and-aft body including transversely spaced apart, right and left, fore-and-aft supports: steerable wheel structure comprising transverse axle means disposed between the supports and having right and left end portions respectively adjacent to the right and left supports, a wheel journaled on the axle means intermediate the supports on a transverse horizontal axis, right and left carriers respectively on the right and left supports, each including a fixed element mounted fixedly on the associated support and a movable member arranged for selective fore-and-aft movement relative to the support and relative to each other, right and left connecting means connecting the right and left movable members respectively to the right and left end portions of the axle means for effecting steering of the wheel as one carrier moves forward and the other moves simultaneously rearwardly, and vice versa, at least one of the members at each side of the body being constructed to accommodate fore-and-aft swinging of the axle means during steering of the wheel, and means for moving the movable members simultaneously, one forwardly and the other rearwardly.

  9. Ground Processing Affordability for Space Vehicles

    Science.gov (United States)

    Ingalls, John; Scott, Russell

    2011-01-01

    Launch vehicles and most of their payloads spend the majority of their time on the ground. The cost of ground operations is very high. So, why so often is so little attention given to ground processing during development? The current global space industry and economic environment are driving more need for efficiencies to save time and money. Affordability and sustainability are more important now than ever. We can not continue to treat space vehicles as mere science projects. More RLV's (Reusable Launch Vehicles) are being developed for the gains of reusability which are not available for ELV's (Expendable Launch Vehicles). More human-rated vehicles are being developed, with the retirement of the Space Shuttles, and for a new global space race, yet these cost more than the many unmanned vehicles of today. We can learn many lessons on affordability from RLV's. DFO (Design for Operations) considers ground operations during design, development, and manufacturing-before the first flight. This is often minimized for space vehicles, but is very important. Vehicles are designed for launch and mission operations. You will not be able to do it again if it is too slow or costly to get there. Many times, technology changes faster than space products such that what is launched includes outdated features, thus reducing competitiveness. Ground operations must be considered for the full product Lifecycle, from concept to retirement. Once manufactured, launch vehicles along with their payloads and launch systems require a long path of processing before launch. Initial assembly and testing always discover problems to address. A solid integration program is essential to minimize these impacts, as was seen in the Constellation Ares I-X test rocket. For RLV's, landing/recovery and post-flight turnaround activities are performed. Multi-use vehicles require reconfiguration. MRO (Maintenance, Repair, and Overhaul) must be well-planned--- even for the unplanned problems. Defect limits and

  10. Ground Vehicle Navigation Using Magnetic Field Variation

    Science.gov (United States)

    Shockley, Jeremiah A.

    The Earth's magnetic field has been the bedrock of navigation for centuries. The latest research highlights the uniqueness of magnetic field measurements based on position due to large scale variations as well as localized perturbations. These observable changes in the Earth's magnetic field as a function of position provide distinct information which can be used for navigation. This dissertation describes ground vehicle navigation exploiting variation in Earth's magnetic field using a self-contained navigation system consisting of only a magnetometer and magnetic field maps. In order to achieve navigation, effective calibration enables repeatable magnetic field measurements from different vehicles and facilitates mapping of the observable magnetic field as a function of position. A new modified ellipsoid calibration technique for strapdown magnetometers in large vehicles is described, as well as analysis of position measurement generation comparing a multitude of measurement compositions using existing and newly developed likelihood techniques. Finally, navigation solutions are presented using both a position measurement and direct incorporation of the magnetometer measurements via a particle filter to demonstrate road navigation in three different environments. Emphatically, the results affirm that navigation using magnetic field variation in ground vehicles is viable and achieves adequate performance for road level navigation.

  11. Unmanned ground vehicles for integrated force protection

    Science.gov (United States)

    Carroll, Daniel M.; Mikell, Kenneth; Denewiler, Thomas

    2004-09-01

    The combination of Command and Control (C2) systems with Unmanned Ground Vehicles (UGVs) provides Integrated Force Protection from the Robotic Operation Command Center. Autonomous UGVs are directed as Force Projection units. UGV payloads and fixed sensors provide situational awareness while unattended munitions provide a less-than-lethal response capability. Remote resources serve as automated interfaces to legacy physical devices such as manned response vehicles, barrier gates, fence openings, garage doors, and remote power on/off capability for unmanned systems. The Robotic Operations Command Center executes the Multiple Resource Host Architecture (MRHA) to simultaneously control heterogeneous unmanned systems. The MRHA graphically displays video, map, and status for each resource using wireless digital communications for integrated data, video, and audio. Events are prioritized and the user is prompted with audio alerts and text instructions for alarms and warnings. A control hierarchy of missions and duty rosters support autonomous operations. This paper provides an overview of the key technology enablers for Integrated Force Protection with details on a force-on-force scenario to test and demonstrate concept of operations using Unmanned Ground Vehicles. Special attention is given to development and applications for the Remote Detection Challenge and Response (REDCAR) initiative for Integrated Base Defense.

  12. Guidance and control for unmanned ground vehicles

    Science.gov (United States)

    Bateman, Peter J.

    1994-06-01

    Techniques for the guidance, control, and navigation of unmanned ground vehicles are described in terms of the communication bandwidth requirements for driving and control of a vehicle remote from the human operator. Modes of operation are conveniently classified as conventional teleoperation, supervisory control, and fully autonomous control. The fundamental problem of maintaining a robust non-line-of-sight communications link between the human controller and the remote vehicle is discussed, as this provides the impetus for greater autonomy in the control system and the greatest scope for innovation. While supervisory control still requires the man to be providing the primary navigational intelligence, fully autonomous operation requires that mission navigation is provided solely by on-board machine intelligence. Methods directed at achieving this performance are described using various active and passive sensing of the terrain for route navigation and obstacle detection. Emphasis is given to TV imagery and signal processing techniques for image understanding. Reference is made to the limitations of current microprocessor technology and suitable computer architectures. Some of the more recent control techniques involve the use of neural networks, fuzzy logic, and data fusion and these are discussed in the context of road following and cross country navigation. Examples of autonomous vehicle testbeds operated at various laboratories around the world are given.

  13. Mesh Optimization for Ground Vehicle Aerodynamics

    OpenAIRE

    Adrian Gaylard; Essam F Abo-Serie; Nor Elyana Ahmad

    2010-01-01

    Mesh optimization strategy for estimating accurate drag of a ground vehicle is proposed based on examining the effect of different mesh parameters.  The optimized mesh parameters were selected using design of experiment (DOE) method to be able to work in a...

  14. Estimating Hedonic Price Indices for Ground Vehicles

    Science.gov (United States)

    2015-06-01

    organizations use price indices to distinguish sector-specific real price growth from general inflation  OMB uses price indices to estimate the relative...I N S T I T U T E F O R D E F E N S E A N A L Y S E S Estimating Hedonic Price Indices for Ground Vehicles (Presentation) David M. Tate Stanley...currently valid OMB control number. 1. REPORT DATE JUN 2015 2. REPORT TYPE 3. DATES COVERED 4. TITLE AND SUBTITLE Estimating Hedonic Price

  15. The 18th Annual Intelligent Ground Vehicle Competition: trends and influences for intelligent ground vehicle control

    Science.gov (United States)

    Theisen, Bernard L.; Frederick, Philip; Smuda, William

    2011-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 18 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 75 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  16. The 19th Annual Intelligent Ground Vehicle Competition: student built autonomous ground vehicles

    Science.gov (United States)

    Theisen, Bernard L.

    2012-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 19 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from almost 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  17. Aluminum Rich Epoxy Primer for Ground and Air Vehicles

    Science.gov (United States)

    2017-03-01

    UNCLASSIFIED DOCUMENT Aluminum Rich Epoxy Primer for Ground and Air Vehicles Monthly Technical Report for the Period: January 20, 2017...Objective: To further develop the Aluminum Rich Epoxy Primer systems for Air and Ground Vehicles while addressing the objective requirements... Epoxy Primers in order to afford a lower initial viscosity allowing for better application properties; lower VOC; and the incorporation of various

  18. An unmanned ground vehicle for landmine remediation

    Science.gov (United States)

    Wasson, Steven R.; Guilberto, Jose; Ogg, Wade; Wedeward, Kevin; Bruder, Stephen; El-Osery, Aly

    2004-09-01

    Anti-tank (AT) landmines slow down and endanger military advances and present sizeable humanitarian problems. The remediation of these mines by direct human intervention is both dangerous and costly. The Intelligent Systems & Robotics Group (ISRG) at New Mexico Tech has provided a partial solution to this problem by developing an Unmanned Ground Vehicle (UGV) to remediate these mines without endangering human lives. This paper presents an overview of the design and operation of this UGV. Current results and future work are also described herein. To initiate the remediation process the UGV is given the GPS coordinates of previously detected landmines. Once the UGV autonomously navigates to an acceptable proximity of the landmine, a remote operator acquires control over a wireless network link using a joystick on a base station. Utilizing two cameras mounted on the UGV, the operator is able to accurately position the UGV directly over the landmine. The UGV houses a self-contained drill system equipped with its own processing resources, sensors, and actuators. The drill system deploys a neutralizing device over the landmine to neutralize it. One such device, developed by Science Applications International Corporation (SAIC), employs incendiary materials to melt through the container of the landmine and slowly burn the explosive material, thereby safely and remotely disabling the landmine.

  19. Mesh Optimization for Ground Vehicle Aerodynamics

    Directory of Open Access Journals (Sweden)

    Adrian Gaylard

    2010-04-01

    Full Text Available

    Mesh optimization strategy for estimating accurate drag of a ground vehicle is proposed based on examining the effect of different mesh parameters.  The optimized mesh parameters were selected using design of experiment (DOE method to be able to work in a limited memory environment and in a reasonable amount of time but without compromising the accuracy of results. The study was further extended to take into account the car model size effect. Three car model sizes have been investigated and compared with MIRA scale wind tunnel results. Parameters that lead to drag value closer to experiment with less memory and computational time have been identified. Scaling the optimized mesh size with the length of car model was successfully used to predict the drag of the other car sizes with reasonable accuracy. This investigation was carried out using STARCCM+ commercial software package, however the findings can be applied to any other CFD package.

  20. Calculation of ground vibration spectra from heavy military vehicles

    Science.gov (United States)

    Krylov, V. V.; Pickup, S.; McNuff, J.

    2010-07-01

    The demand for reliable autonomous systems capable to detect and identify heavy military vehicles becomes an important issue for UN peacekeeping forces in the current delicate political climate. A promising method of detection and identification is the one using the information extracted from ground vibration spectra generated by heavy military vehicles, often termed as their seismic signatures. This paper presents the results of the theoretical investigation of ground vibration spectra generated by heavy military vehicles, such as tanks and armed personnel carriers. A simple quarter car model is considered to identify the resulting dynamic forces applied from a vehicle to the ground. Then the obtained analytical expressions for vehicle dynamic forces are used for calculations of generated ground vibrations, predominantly Rayleigh surface waves, using Green's function method. A comparison of the obtained theoretical results with the published experimental data shows that analytical techniques based on the simplified quarter car vehicle model are capable of producing ground vibration spectra of heavy military vehicles that reproduce basic properties of experimental spectra.

  1. Performance and Stability of a Winged Vehicle in Ground Effect

    CERN Document Server

    de Divitiis, Nicola

    2009-01-01

    Present work deals with the dynamics of vehicles which intentionally operate in the ground proximity. The dynamics in ground effect is influenced by the vehicle orientation with respect to the ground, since the aerodynamic force and moment coefficients, which in turn depend on height and angle of attack, also vary with the Euler angles. This feature, usually neglected in the applications, can be responsible for sizable variations of the aircraft performance and stability. A further effect, caused by the sink rate, determines unsteadiness that modifies the aerodynamic coefficients. In this work, an analytical formulation is proposed for the force and moment calculation in the presence of the ground and taking the aircraft attitude and sink rate into account. The aerodynamic coefficients are firstly calculated for a representative vehicle and its characteristics in ground effect are investigated. Performance and stability characteristics are then discussed with reference to significant equilibrium conditions, w...

  2. Objectives and Progress on Integrated Vehicle Ground Vibration Testing for the Ares Launch Vehicles

    Science.gov (United States)

    Tuma, Margaret L.; Asloms. Brice R.

    2009-01-01

    As NASA begins design and development of the Ares launch vehicles to replace the Space Shuttle and explore beyond low Earth orbit, Integrated Vehicle Ground Vibration Testing (IVGVT) will be a vital component of ensuring that those vehicles can perform the missions assigned to them. A ground vibration test (GVT) is intended to measure by test the fundamental dynamic characteristics of launch vehicles during various phases of flight. During the series of tests, properties such as natural frequencies, mode shapes, and transfer functions are measured directly. This data is then used to calibrate loads and control systems analysis models for verifying analyses of the launch vehicle. The Ares Flight & Integrated Test Office (FITO) will be conducting IVGVT for the Ares I crew launch vehicle at Marshall Space Flight Center (MSFC) from 2011 to 2012 using the venerable Test Stand (TS) 4550, which supported similar tests for the Saturn V and Space Shuttle vehicle stacks.

  3. Behaviour recognition of ground vehicle using airborne monitoring of unmanned aerial vehicles

    Science.gov (United States)

    Oh, Hyondong; Kim, Seungkeun; Shin, Hyo-Sang; Tsourdos, Antonios; White, Brian A.

    2014-12-01

    This paper proposes a behaviour recognition methodology for ground vehicles moving within road traffic using unmanned aerial vehicles in order to identify suspicious or abnormal behaviour. With the target information acquired by unmanned aerial vehicles and estimated by filtering techniques, ground vehicle behaviour is first classified into representative driving modes, and then a string pattern matching theory is applied to detect suspicious behaviours in the driving mode history. Furthermore, a fuzzy decision-making process is developed to systematically exploit all available information obtained from a complex environment and confirm the characteristic of behaviour, while considering spatiotemporal environment factors as well as several aspects of behaviours. To verify the feasibility and benefits of the proposed approach, numerical simulations on moving ground vehicles are performed using realistic car trajectory data from an off-the-shelf traffic simulation software.

  4. Hedonic Price Indices for Ground Vehicles

    Science.gov (United States)

    2015-05-01

    portion of price change that is unexplainable by other means. In previous work with aircraft, Harmon et al. (2014) found that cost progress curves...same time, we noticed that year-over-year price growth for most vehicle systems seemed higher than could be accounted for by simple inflation...quality growth terms attribute some of the observed price growth to that, leaving less unexplained price growth to be accounted for by the price index

  5. 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.

  6. Mission aware energy saving strategies for Army ground vehicles

    Science.gov (United States)

    Dattathreya, Macam S.

    Fuel energy is a basic necessity for this planet and the modern technology to perform many activities on earth. On the other hand, quadrupled automotive vehicle usage by the commercial industry and military has increased fuel consumption. Military readiness of Army ground vehicles is very important for a country to protect its people and resources. Fuel energy is a major requirement for Army ground vehicles. According to a report, a department of defense has spent nearly $13.6 billion on fuel and electricity to conduct ground missions. On the contrary, energy availability on this plant is slowly decreasing. Therefore, saving energy in Army ground vehicles is very important. Army ground vehicles are embedded with numerous electronic systems to conduct missions such as silent and normal stationary surveillance missions. Increasing electrical energy consumption of these systems is influencing higher fuel consumption of the vehicle. To save energy, the vehicles can use any of the existing techniques, but they require complex, expensive, and time consuming implementations. Therefore, cheaper and simpler approaches are required. In addition, the solutions have to save energy according to mission needs and also overcome size and weight constraints of the vehicle. Existing research in the current literature do not have any mission aware approaches to save energy. This dissertation research proposes mission aware online energy saving strategies for stationary Army ground vehicles to save energy as well as to meet the electrical needs of the vehicle during surveillance missions. The research also proposes theoretical models of surveillance missions, fuzzy logic models of engine and alternator efficiency data, and fuzzy logic algorithms. Based on these models, two energy saving strategies are proposed for silent and normal surveillance type of missions. During silent mission, the engine is on and batteries power the systems. During normal surveillance mission, the engine is

  7. A usage-centered evaluation methodology for unmanned ground vehicles

    NARCIS (Netherlands)

    Diggelen, J. van; Looije, R.; Mioch, T.; Neerincx, M.A.; Smets, N.J.J.M.

    2012-01-01

    This paper presents a usage-centered evaluation method to assess the capabilities of a particular Unmanned Ground Vehicle (UGV) for establishing the operational goals. The method includes a test battery consisting of basic tasks (e.g., slalom, funnel driving, object detection). Tests can be of diffe

  8. A usage-centered evaluation methodology for unmanned ground vehicles

    NARCIS (Netherlands)

    Diggelen, J. van; Looije, R.; Mioch, T.; Neerincx, M.A.; Smets, N.J.J.M.

    2012-01-01

    This paper presents a usage-centered evaluation method to assess the capabilities of a particular Unmanned Ground Vehicle (UGV) for establishing the operational goals. The method includes a test battery consisting of basic tasks (e.g., slalom, funnel driving, object detection). Tests can be of diffe

  9. Modeling ground vehicle acoustic signatures for analysis and synthesis

    Energy Technology Data Exchange (ETDEWEB)

    Haschke, G. [Sandia National Labs., Albuquerque, NM (United States); Stanfield, R. [US Army CECOM, Night Vision and Electronic Sensors Directorate, Fort Belvoir, VA (United States)

    1995-07-01

    Security and weapon systems use acoustic sensor signals to classify and identify moving ground vehicles. Developing robust signal processing algorithms for this is expensive, particularly in presence of acoustic clutter or countermeasures. This paper proposes a parametric ground vehicle acoustic signature model to aid the system designer in understanding which signature features are important, developing corresponding feature extraction algorithms and generating low-cost, high-fidelity synthetic signatures for testing. The authors have proposed computer-generated acoustic signatures of armored, tracked ground vehicles to deceive acoustic-sensored smart munitions. They have developed quantitative measures of how accurately a synthetic acoustic signature matches those produced by actual vehicles. This paper describes parameters of the model used to generate these synthetic signatures and suggests methods for extracting these parameters from signatures of valid vehicle encounters. The model incorporates wide-bandwidth and narrow- bandwidth components that are modulated in a pseudo-random fashion to mimic the time dynamics of valid vehicle signatures. Narrow- bandwidth feature extraction techniques estimate frequency, amplitude and phase information contained in a single set of narrow frequency- band harmonics. Wide-bandwidth feature extraction techniques estimate parameters of a correlated-noise-floor model. Finally, the authors propose a method of modeling the time dynamics of the harmonic amplitudes as a means adding necessary time-varying features to the narrow-bandwidth signal components. The authors present results of applying this modeling technique to acoustic signatures recorded during encounters with one armored, tracked vehicle. Similar modeling techniques can be applied to security systems.

  10. Space imaging infrared optical guidance for autonomous ground vehicle

    Science.gov (United States)

    Akiyama, Akira; Kobayashi, Nobuaki; Mutoh, Eiichiro; Kumagai, Hideo; Yamada, Hirofumi; Ishii, Hiromitsu

    2008-08-01

    We have developed the Space Imaging Infrared Optical Guidance for Autonomous Ground Vehicle based on the uncooled infrared camera and focusing technique to detect the objects to be evaded and to set the drive path. For this purpose we made servomotor drive system to control the focus function of the infrared camera lens. To determine the best focus position we use the auto focus image processing of Daubechies wavelet transform technique with 4 terms. From the determined best focus position we transformed it to the distance of the object. We made the aluminum frame ground vehicle to mount the auto focus infrared unit. Its size is 900mm long and 800mm wide. This vehicle mounted Ackerman front steering system and the rear motor drive system. To confirm the guidance ability of the Space Imaging Infrared Optical Guidance for Autonomous Ground Vehicle we had the experiments for the detection ability of the infrared auto focus unit to the actual car on the road and the roadside wall. As a result the auto focus image processing based on the Daubechies wavelet transform technique detects the best focus image clearly and give the depth of the object from the infrared camera unit.

  11. Improved obstacle avoidance and navigation for an autonomous ground vehicle

    Science.gov (United States)

    Giri, Binod; Cho, Hyunsu; Williams, Benjamin C.; Tann, Hokchhay; Shakya, Bicky; Bharam, Vishal; Ahlgren, David J.

    2015-01-01

    This paper presents improvements made to the intelligence algorithms employed on Q, an autonomous ground vehicle, for the 2014 Intelligent Ground Vehicle Competition (IGVC). In 2012, the IGVC committee combined the formerly separate autonomous and navigation challenges into a single AUT-NAV challenge. In this new challenge, the vehicle is required to navigate through a grassy obstacle course and stay within the course boundaries (a lane of two white painted lines) that guide it toward a given GPS waypoint. Once the vehicle reaches this waypoint, it enters an open course where it is required to navigate to another GPS waypoint while avoiding obstacles. After reaching the final waypoint, the vehicle is required to traverse another obstacle course before completing the run. Q uses modular parallel software architecture in which image processing, navigation, and sensor control algorithms run concurrently. A tuned navigation algorithm allows Q to smoothly maneuver through obstacle fields. For the 2014 competition, most revisions occurred in the vision system, which detects white lines and informs the navigation component. Barrel obstacles of various colors presented a new challenge for image processing: the previous color plane extraction algorithm would not suffice. To overcome this difficulty, laser range sensor data were overlaid on visual data. Q also participates in the Joint Architecture for Unmanned Systems (JAUS) challenge at IGVC. For 2014, significant updates were implemented: the JAUS component accepted a greater variety of messages and showed better compliance to the JAUS technical standard. With these improvements, Q secured second place in the JAUS competition.

  12. 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

  13. Magnesium Technology and Manufacturing for Ultra Lightweight Armored Ground Vehicles

    Science.gov (United States)

    2009-02-01

    Bruce Davis and Rick DeLorme Magnesium Elektron North America, Inc. A reprint from the Proceedings of the 2008 Army Science Conference...SUPPLEMENTARY NOTES *Magnesium Elektron North America, Inc., 1001 College St., Madison, IL 62060 A reprint from the Proceedings of the 2008 Army Science...initial emphasis on the Elektron WE43 alloy system for lightweight armored ground vehicle applications. Engineering design factors are reviewed and

  14. Measured ground-surface movements, Cerro Prieto geothermal field

    Energy Technology Data Exchange (ETDEWEB)

    Massey, B.L.

    1981-01-01

    The Cerro Prieto geothermal area in the Mexicali Valley, 30 kilometers southeast of Mexicali, Baja California, incurred slight deformation because of the extraction of hot water and steam, and probably, active tectonism. During 1977 to 1978, the US Geological Survey established and measured two networks of horizontal control in an effort to define both types of movement. These networks consisted of: (1) a regional trilateration net brought into the mountain ranges west of the geothermal area from stations on an existing US Geological Survey crustal-strain network north of the international border; and (2) a local net tied to stations in the regional net and encompassing the present and planned geothermal production area. Electronic distance measuring instruments were used to measure the distances between stations in both networks in 1978, 1979 and 1981. Lines in the regional net averaged 25 km. in length and the standard deviation of an individual measurement is estimated to be approx. 0.3 part per million of line length. The local network was measured using different instrumentation and techniques. The average line length was about 5 km. and the standard deviation of an individual measurement approached 3 parts per million per line length. Ground-surface movements in the regional net, as measured by both the 1979 and 1981 resurveys, were small and did not exceed the noise level. The 1979 resurvey of the local net showed an apparent movement of 2 to 3 centimeters inward toward the center of the production area. This apparent movement was restricted to the general limits of the production area. The 1981 resurvey of the local net did not show increased movement attributable to fluid extraction.

  15. 49 CFR 177.823 - Movement of motor vehicles in emergency situations.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 2 2010-10-01 2010-10-01 false Movement of motor vehicles in emergency situations. 177.823 Section 177.823 Transportation Other Regulations Relating to Transportation PIPELINE AND... CARRIAGE BY PUBLIC HIGHWAY General Information and Regulations § 177.823 Movement of motor vehicles...

  16. Application of parallelized software architecture to an autonomous ground vehicle

    Science.gov (United States)

    Shakya, Rahul; Wright, Adam; Shin, Young Ho; Momin, Orko; Petkovsek, Steven; Wortman, Paul; Gautam, Prasanna; Norton, Adam

    2011-01-01

    This paper presents improvements made to Q, an autonomous ground vehicle designed to participate in the Intelligent Ground Vehicle Competition (IGVC). For the 2010 IGVC, Q was upgraded with a new parallelized software architecture and a new vision processor. Improvements were made to the power system reducing the number of batteries required for operation from six to one. In previous years, a single state machine was used to execute the bulk of processing activities including sensor interfacing, data processing, path planning, navigation algorithms and motor control. This inefficient approach led to poor software performance and made it difficult to maintain or modify. For IGVC 2010, the team implemented a modular parallel architecture using the National Instruments (NI) LabVIEW programming language. The new architecture divides all the necessary tasks - motor control, navigation, sensor data collection, etc. into well-organized components that execute in parallel, providing considerable flexibility and facilitating efficient use of processing power. Computer vision is used to detect white lines on the ground and determine their location relative to the robot. With the new vision processor and some optimization of the image processing algorithm used last year, two frames can be acquired and processed in 70ms. With all these improvements, Q placed 2nd in the autonomous challenge.

  17. Achieving integrated convoys: cargo unmanned ground vehicle development and experimentation

    Science.gov (United States)

    Zych, Noah; Silver, David; Stager, David; Green, Colin; Pilarski, Thomas; Fischer, Jacob

    2013-05-01

    The Cargo UGV project was initiated in 2010 with the aim of developing and experimenting with advanced autonomous vehicles capable of being integrated unobtrusively into manned logistics convoys. The intent was to validate two hypotheses in complex, operationally representative environments: first, that unmanned tactical wheeled vehicles provide a force protection advantage by creating standoff distance to warfighters during ambushes or improvised explosive device attacks; and second, that these UGVs serve as force multipliers by enabling a single operator to control multiple unmanned assets. To assess whether current state-of-the-art autonomous vehicle technology was sufficiently capable to permit resupply missions to be executed with decreased risk and reduced manpower, and to assess the effect of UGVs on customary convoy tactics, the Marine Corps Warfighting Laboratory and the Joint Ground Robotics Enterprise sponsored Oshkosh Defense and the National Robotics Engineering Center to equip two standard Marine Corps cargo trucks for autonomous operation. This paper details the system architecture, hardware implementation, and software modules developed to meet the vehicle control, perception, and planner requirements compelled by this application. Additionally, the design of a custom human machine interface and an accompanying training program are described, as is the creation of a realistic convoy simulation environment for rapid system development. Finally, results are conveyed from a warfighter experiment in which the effectiveness of the training program for novice operators was assessed, and the impact of the UGVs on convoy operations was observed in a variety of scenarios via direct comparison to a fully manned convoy.

  18. Integrating intrinsic mobility into unmanned ground vehicle systems

    Science.gov (United States)

    Brosinsky, Chris A.; Penzes, Steven G.; Buehler, Martin G.; Steeves, Carl

    2001-09-01

    The ability of an Unmanned Ground Vehicle (UGV) to successfully move about in its environment is enabled by the synergistic combination of perception, control and platform (mobility and utility). Vast effort is being expended on the former technologies but little demonstrable evidence has been produced to indicate that the latter (mobility/utility) has been considered as an integral part of the UGV systems level capability; a concept commonly referred to as intrinsic mobility. While past work described the rationale for hybrid locomotion, this paper aims to demonstrate that integrating intrinsic mobility into a UGV systems mobility element or 'vehicle' will be a key contributor to the magnitude of autonomy that the system can achieve. This paper serves to provide compelling evidence that 1) intrinsic mobility improvements provided by hybrid locomotion configurations offer the best generic mobility, that 2) strict attention must be placed on the optimization of both utility (inherent vehicle capabilities) and mobility and that 3) the establishment of measures of performance for unmanned vehicle mobility is an unmet and latent need.

  19. Remote control of a small unmanned ground vehicle (SUGV)

    Science.gov (United States)

    Irimie, Nicolae; Zorila, Alexandru; Nan, Alexandru; Schiopu, Paul

    2010-11-01

    Developing robot technology has gained an increasing dynamics. Small unmanned ground vehicle - SUGV has gained a place in the robotics field. This paper describes the possibility of remote control of the SUGV using a fuzzy algorithm. This designed algorithm specifically for controlling of a semi-autonomous mobile robot for research, observation, and surveillance. The device can provide 360-degree panoramic images using an image system which includes a hyperboloid mirror and a CCD camera, designed for this specific purpose. Both components, fuzzy algorithm and image system were implemented, tested in the laboratory condition and outdoor on a mobile robot for research, observation, and surveillance.

  20. Single Fuel Concept for Croatian Army Ground Vehicles

    Directory of Open Access Journals (Sweden)

    Robert Spudić

    2008-05-01

    Full Text Available During the process of approaching the European associationsand NATO the Republic of Croatia has accepted the singlefuel concept for all ground vehicles of the Croatian Army.Croatia has also undertaken to insure that all aircraft, motorvehicles and equipment with turbo-engines or with pressurizedfuel injection, for participation in NATO and PfP led operationscan • operate using the kerosene-based aviation fuel(NATO F-34. The paper gives a brief overview and the resultsof the earned out activities in the Armed Forces of the Republicof Croatia, the expected behaviour of the motor vehicle andpossible delays caused by the use of kerosene fuel (NATOF-34 as fuel for motor vehicles. The paper also gives the advantagesand the drawbacks of the single fuel concept. By acquiringnew data in the Croatian Armed Forces and experienceexchange with other nations about the method of using fuelF-34, the development of the technologies of engine manufacturingand its vital parts or by introducing new standards in theproductjon of fuels and additives new knowledge will certainlybe acquired for providing logistics support in the area of operations,and its final implementation will be a big step forward forthe Republic of Croatia towards Europe and NATO.

  1. Intelligence algorithms for autonomous navigation in a ground vehicle

    Science.gov (United States)

    Petkovsek, Steve; Shakya, Rahul; Shin, Young Ho; Gautam, Prasanna; Norton, Adam; Ahlgren, David J.

    2012-01-01

    This paper will discuss the approach to autonomous navigation used by "Q," an unmanned ground vehicle designed by the Trinity College Robot Study Team to participate in the Intelligent Ground Vehicle Competition (IGVC). For the 2011 competition, Q's intelligence was upgraded in several different areas, resulting in a more robust decision-making process and a more reliable system. In 2010-2011, the software of Q was modified to operate in a modular parallel manner, with all subtasks (including motor control, data acquisition from sensors, image processing, and intelligence) running simultaneously in separate software processes using the National Instruments (NI) LabVIEW programming language. This eliminated processor bottlenecks and increased flexibility in the software architecture. Though overall throughput was increased, the long runtime of the image processing process (150 ms) reduced the precision of Q's realtime decisions. Q had slow reaction times to obstacles detected only by its cameras, such as white lines, and was limited to slow speeds on the course. To address this issue, the image processing software was simplified and also pipelined to increase the image processing throughput and minimize the robot's reaction times. The vision software was also modified to detect differences in the texture of the ground, so that specific surfaces (such as ramps and sand pits) could be identified. While previous iterations of Q failed to detect white lines that were not on a grassy surface, this new software allowed Q to dynamically alter its image processing state so that appropriate thresholds could be applied to detect white lines in changing conditions. In order to maintain an acceptable target heading, a path history algorithm was used to deal with local obstacle fields and GPS waypoints were added to provide a global target heading. These modifications resulted in Q placing 5th in the autonomous challenge and 4th in the navigation challenge at IGVC.

  2. Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments

    Science.gov (United States)

    2016-03-05

    SECURITY CLASSIFICATION OF: The aim of this research is to develop a unified theory for perception and planning in autonomous ground vehicles , with a...Pine Tree Road Ithaca, NY 14850 -2820 ABSTRACT Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments...Report Title The aim of this research is to develop a unified theory for perception and planning in autonomous ground vehicles , with a specific focus on

  3. Ensuring Safe Exploration: Ares Launch Vehicle Integrated Vehicle Ground Vibration Testing

    Science.gov (United States)

    Tuma, M. L.; Chenevert, D. J.

    2010-01-01

    Integrated vehicle ground vibration testing (IVGVT) will be a vital component for ensuring the safety of NASA's next generation of exploration vehicles to send human beings to the Moon and beyond. A ground vibration test (GVT) measures the fundamental dynamic characteristics of launch vehicles during various phases of flight. The Ares Flight & Integrated Test Office (FITO) will be leading the IVGVT for the Ares I crew launch vehicle at Marshall Space Flight Center (MSFC) from 2012 to 2014 using Test Stand (TS) 4550. MSFC conducted similar GVT for the Saturn V and Space Shuttle vehicles. FITO is responsible for performing the IVGVT on the Ares I crew launch vehicle, which will lift the Orion crew exploration vehicle to low Earth orbit, and the Ares V cargo launch vehicle, which can launch the lunar lander into orbit and send the combined Orionilander vehicles toward the Moon. Ares V consists of a six-engine core stage with two solid rocket boosters and an Earth departure stage (EDS). The same engine will power the EDS and the Ares I second stage. For the Ares IVGVT, the current plan is to test six configurations in three unique test positions inside TS 4550. Position 1 represents the entire launch stack at liftoff (using inert first stage segments). Position 2 consists of the entire launch stack at first stage burn-out (using empty first stage segments). Four Ares I second stage test configurations will be tested in Position 3, consisting of the Upper Stage and Orion crew module in four nominal conditions: J-2X engine ignition, post Launch Abort System (LAS) jettison, critical slosh mass, and J-2X burn-out. Because of long disuse, TS 4550 is being repaired and reactivated to conduct the Ares I IVGVT. The Shuttle-era platforms have been removed and are being replaced with mast climbers that provide ready access to the test articles and can be moved easily to support different positions within the test stand. The electrical power distribution system for TS 4550 was

  4. Infrared stereo calibration for unmanned ground vehicle navigation

    Science.gov (United States)

    Harguess, Josh; Strange, Shawn

    2014-06-01

    The problem of calibrating two color cameras as a stereo pair has been heavily researched and many off-the-shelf software packages, such as Robot Operating System and OpenCV, include calibration routines that work in most cases. However, the problem of calibrating two infrared (IR) cameras for the purposes of sensor fusion and point could generation is relatively new and many challenges exist. We present a comparison of color camera and IR camera stereo calibration using data from an unmanned ground vehicle. There are two main challenges in IR stereo calibration; the calibration board (material, design, etc.) and the accuracy of calibration pattern detection. We present our analysis of these challenges along with our IR stereo calibration methodology. Finally, we present our results both visually and analytically with computed reprojection errors.

  5. Modeling and control for hydraulic transmission of unmanned ground vehicle

    Institute of Scientific and Technical Information of China (English)

    王岩; 张泽; 秦绪情

    2014-01-01

    Variable pump driving variable motor (VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle (UGV). VPDVM is a dual-input single-output nonlinear system with coupling, which is difficult to control. High pressure automatic variables bang-bang (HABB) was proposed to achieve the desired motor speed. First, the VPDVM nonlinear mathematic model was introduced, then linearized by feedback linearization theory, and the zero-dynamic stability was proved. The HABB control algorithm was proposed for VPDVM, in which the variable motor was controlled by high pressure automatic variables (HA) and the variable pump was controlled by bang-bang. Finally, simulation of VPDVM controlled by HABB was developed. Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed, load and pump speed.

  6. Ground movement at Somma-Vesuvius from Last Glacial Maximum

    Science.gov (United States)

    Marturano, Aldo; Aiello, Giuseppe; Barra, Diana; Fedele, Lorenzo; Morra, Vincenzo

    2012-01-01

    Detailed micropalaeontological and petrochemical analyses of rock samples from two boreholes drilled at the archaeological excavations of Herculaneum, ~ 7 km west of the Somma -Vesuvius crater, allowed reconstruction of the Late Quaternary palaeoenvironmental evolution of the site. The data provide clear evidence for ground uplift movements involving the studied area. The Holocenic sedimentary sequence on which the archaeological remains of Herculaneum rest has risen several meters at an average rate of ~ 4 mm/yr. The uplift has involved the western apron of the volcano and the Sebeto-Volla Plain, a populous area including the eastern suburbs of Naples. This is consistent with earlier evidence for similar uplift for the areas of Pompeii and Sarno valley (SE of the volcano) and the Somma -Vesuvius eastern apron. An axisimmetric deep source of strain is considered responsible for the long-term uplift affecting the whole Somma -Vesuvius edifice. The deformation pattern can be modeled as a single pressure source, sited in the lower crust and surrounded by a shell of Maxwell viscoelastic medium, which experienced a pressure pulse that began at the Last Glacial Maximum.

  7. Research on Ground Movement Laws for Strip Mining Under Thick Alluvium

    Institute of Scientific and Technical Information of China (English)

    谭志祥; 邓喀中; 杨军

    2002-01-01

    With the discrete element method, the simulation and analysis of a series of numerical models were made. This research revealed ground movement laws for strip mining under thick alluvium and gave calculation formulae for the maximum ground subsidence and horizontal movement as a function of basement rock thickness and mining width, thus providing sound evidence for future strip mining under thick alluvium.

  8. EV City Casebook: A Look At The Global Electric Vehicle Movement

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2012-07-01

    Electric vehicles (EVs) hold the potential of transforming the way the world moves. EVs can increase energy security by diversifying the fuel mix and decreasing dependence on petroleum, while also reducing emissions of greenhouse gases and other pollutants. Just as important, EVs can unlock innovation and create new advanced industries that spur job growth and enhance economic prosperity. However, the mass deployment of EVs will require transportation systems capable of integrating and fostering this new technology. To accelerate this transition, cities and metropolitan regions around the world are creating EV-friendly ecosystems and building the foundation for widespread adoption. In recognition of the importance of urban areas in the introduction and scale-up of electric vehicles, the EV City Casebook presents informative case studies on city and regional EV deployment efforts around the world. These case studies are illustrative examples of how pioneering cities are preparing the ground for mass market EV deployment. They offer both qualitative and quantitative information on cities' EV goals, progress, policies, incentives, and lessons learned to date. The purpose of the EV City Casebook is to share experiences on EV demonstration and deployment, identify challenges and opportunities, and highlight best practices for creating thriving EV ecosystems. These studies seek to enhance understanding of the most effective policy measures to foster the uptake of electric vehicles in urban areas. The cities represented here are actively engaging in a variety of initiatives that share the goal of accelerating EV adoption. This publication is the result of an effort to coordinate those initiatives and provide a global perspective on the electric vehicle movement. This international knowledge-sharing network consists of the Electric Vehicles Initiative (EVI), a multi-government initiative of the Clean Energy Ministerial; Project Get Ready, a Rocky Mountain Institute

  9. Modelling of railway vehicle movement considering non-ideal geometry of wheels and rails

    Directory of Open Access Journals (Sweden)

    Jandora R.

    2007-11-01

    Full Text Available A model of railway vehicle movement is presented. This model takes into account arbitrary shape of wheel and rails. Therefore models of contact of surfaces of arbitrary geometry are built in. The contact forces are found with possibility of choice from methods of rolling contact mechanics. The shape irregularities cause vibrations, therefore a model of track and its rails, sleepers and ballast is incorporated and also the vehicle model includes vibration-damping elements. Overall it makes a complete model of the vehicle movement with focus on the wear prediction and vibrations due to the corrugation.

  10. Response of a pipeline to ground movements caused by trenching in compressible alluvium

    Science.gov (United States)

    Carder, D. R.; Taylor, M. E.; Pocock, R. G.

    Disturbance of the ground due to work on buried services, such as the renewal, replacement or construction of deep sewers, is likely to cause differential ground movements in the vicinity. This may be a factor contributing to failure in nearby service pipelines such as drainage, gas and water mains. The response of an instrumented shallow buried pipeline to ground movements caused by adjacent deep trenching in a compressible alluvium is described.

  11. A survey of unmanned ground vehicles with applications to agricultural and environmental sensing

    Science.gov (United States)

    Bonadies, Stephanie; Lefcourt, Alan; Gadsden, S. Andrew

    2016-05-01

    Unmanned ground vehicles have been utilized in the last few decades in an effort to increase the efficiency of agriculture, in particular, by reducing labor needs. Unmanned vehicles have been used for a variety of purposes including: soil sampling, irrigation management, precision spraying, mechanical weeding, and crop harvesting. In this paper, unmanned ground vehicles, implemented by researchers or commercial operations, are characterized through a comparison to other vehicles used in agriculture, namely airplanes and UAVs. An overview of different trade-offs of configurations, control schemes, and data collection technologies is provided. Emphasis is given to the use of unmanned ground vehicles in food crops, and includes a discussion of environmental impacts and economics. Factors considered regarding the future trends and potential issues of unmanned ground vehicles include development, management and performance. Also included is a strategy to demonstrate to farmers the safety and profitability of implementing the technology.

  12. The influence of vehicle front-end design on pedestrian ground impact.

    Science.gov (United States)

    Crocetta, Gianmarco; Piantini, Simone; Pierini, Marco; Simms, Ciaran

    2015-06-01

    Accident data have shown that in pedestrian accidents with high-fronted vehicles (SUVs and vans) the risk of pedestrian head injuries from the contact with the ground is higher than with low-fronted vehicles (passenger cars). However, the reasons for this remain poorly understood. This paper addresses this question using multibody modelling to investigate the influence of vehicle front height and shape in pedestrian accidents on the mechanism of impact with the ground and on head ground impact speed. To this end, a set of 648 pedestrian/vehicle crash simulations was carried out using the MADYMO multibody simulation software. Impacts were simulated with six vehicle types at three impact speeds (20, 30, 40km/h) and three pedestrian types (50th % male, 5th % female, and 6-year-old child) at six different initial stance configurations, stationary and walking at 1.4m/s. Six different ground impact mechanisms, distinguished from each other by the manner in which the pedestrian impacted the ground, were identified. These configurations have statistically distinct and considerably different distributions of head-ground impact speeds. Pedestrian initial stance configuration (gait and walking speed) introduced a high variability to the head-ground impact speed. Nonetheless, the head-ground impact speed varied significantly between the different ground impact mechanisms identified and the distribution of impact mechanisms was strongly associated with vehicle type. In general, impact mechanisms for adults resulting in a head-first contact with the ground were more severe with high fronted vehicles compared to low fronted vehicles, though there is a speed dependency to these findings. With high fronted vehicles (SUVs and vans) the pedestrian was mainly pushed forward and for children this resulted in high head ground contact speeds. Copyright © 2015 Elsevier Ltd. All rights reserved.

  13. Adaptive Neuro-Fuzzy Technique for Autonomous Ground Vehicle Navigation

    Directory of Open Access Journals (Sweden)

    Auday Al-Mayyahi

    2014-11-01

    Full Text Available This article proposes an adaptive neuro-fuzzy inference system (ANFIS for solving navigation problems of an autonomous ground vehicle (AGV. The system consists of four ANFIS controllers; two of which are used for regulating both the left and right angular velocities of the AGV in order to reach the target position; and other two ANFIS controllers are used for optimal heading adjustment in order to avoid obstacles. The two velocity controllers receive three sensor inputs: front distance (FD; right distance (RD and left distance (LD for the low-level motion control. Two heading controllers deploy the angle difference (AD between the heading of AGV and the angle to the target to choose the optimal direction. The simulation experiments have been carried out under two different scenarios to investigate the feasibility of the proposed ANFIS technique. The simulation results have been presented using MATLAB software package; showing that ANFIS is capable of performing the navigation and path planning task safely and efficiently in a workspace populated with static obstacles.

  14. Ground control stations for unmanned air vehicles (Review Paper

    Directory of Open Access Journals (Sweden)

    G. Natarajan

    2001-07-01

    Full Text Available "During the last five decades, the world has witnessed tremendous growth in the military aircraft technology and the air defence weapons technology. Use of manned aircraft for routine reconnaissance/surveillance missions has become a less preferred option due to possible high attrition rate. Currently, the high political cost of human life has practically earmarked the roles of reconnaissance and surveillance missions to the unmanned air vehicles (UAVs. Almost every major country has a UAV program of its own and this interest has spawned intensive research in the field of UAVs. Presently, the UAVs come in all shapes and sizes, from palm top micro UAVs to giant strategic UAVs that can loiter over targets for extended periods of time. Though UAVs are capable of operating at different levels of autonomy, these are generally controlled from a ground control station (GCS. The GCS is the nerve centre of activity during UAV missions and provides necessary capability to plan and execute UAV missions. The GCS incorporates facilities, such as communication, displays, mission planning and data exploitation. The GCS architecture is highly processor-oriented and hence the computer hardware and software technologies play a major role in the realisation of this vital system. This paper gives an overview of the GCS, its architecture and the current state-of-the-art in various subsystem technologies.

  15. Wireless Control of Vehicle Mirror System Using Head Movement and PIC Microcontroller

    Directory of Open Access Journals (Sweden)

    Nidal F. Shilbayeh

    2005-01-01

    Full Text Available A PIC controlled IR system for the control car mirror system movement is designed and implemented. The designed and built system allows the side view mirrors to be adjusted based on the driver head movement. The infrared based head tracking system maps a predetermined coordinates for head movements and results in a triangularly computable geometry which is fed to the PIC based controlling system. This will cause the vehicle mirror movement via carefully selected miniature motors. The system takes blind spots and their angles into consideration

  16. Investigations into near-real-time surveying for geophysical data collection using an autonomous ground vehicle

    Science.gov (United States)

    Phelps, Geoffrey A.; Ippolito, C.; Lee, R.; Spritzer, R.; Yeh, Y.

    2014-01-01

    The U.S. Geological Survey and the National Aeronautics and Space Administration are cooperatively investigating the utility of unmanned vehicles for near-real-time autonomous surveys of geophysical data collection. Initially focused on unmanned ground vehicle collection of magnetic data, this cooperative effort has brought unmanned surveying, precision guidance, near-real-time communication, on-the-fly data processing, and near-real-time data interpretation into the realm of ground geophysical surveying, all of which offer advantages over current methods of manned collection of ground magnetic data. An unmanned ground vehicle mission has demonstrated that these vehicles can successfully complete missions to collect geophysical data, and add advantages in data collection, processing, and interpretation. We view the current experiment as an initial phase in further unmanned vehicle data-collection missions, including aerial surveying.

  17. Unmanned ground vehicle perception using thermal infrared cameras

    Science.gov (United States)

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

    2011-05-01

    The ability to perform off-road autonomous navigation at any time of day or night is a requirement for some unmanned ground vehicle (UGV) programs. Because there are times when it is desirable for military UGVs to operate without emitting strong, detectable electromagnetic signals, a passive only terrain perception mode of operation is also often a requirement. Thermal infrared (TIR) cameras can be used to provide day and night passive terrain perception. TIR cameras have a detector sensitive to either mid-wave infrared (MWIR) radiation (3-5μm) or long-wave infrared (LWIR) radiation (7-14μm). With the recent emergence of high-quality uncooled LWIR cameras, TIR cameras have become viable passive perception options for some UGV programs. The Jet Propulsion Laboratory (JPL) has used a stereo pair of TIR cameras under several UGV programs to perform stereo ranging, terrain mapping, tree-trunk detection, pedestrian detection, negative obstacle detection, and water detection based on object reflections. In addition, we have evaluated stereo range data at a variety of UGV speeds, evaluated dual-band TIR classification of soil, vegetation, and rock terrain types, analyzed 24 hour water and 12 hour mud TIR imagery, and analyzed TIR imagery for hazard detection through smoke. Since TIR cameras do not currently provide the resolution available from megapixel color cameras, a UGV's daytime safe speed is often reduced when using TIR instead of color cameras. In this paper, we summarize the UGV terrain perception work JPL has performed with TIR cameras over the last decade and describe a calibration target developed by General Dynamics Robotic Systems (GDRS) for TIR cameras and other sensors.

  18. Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

    Science.gov (United States)

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

    2011-01-01

    The ability to perform off-road autonomous navigation at any time of day or night is a requirement for some unmanned ground vehicle (UGV) programs. Because there are times when it is desirable for military UGVs to operate without emitting strong, detectable electromagnetic signals, a passive only terrain perception mode of operation is also often a requirement. Thermal infrared (TIR) cameras can be used to provide day and night passive terrain perception. TIR cameras have a detector sensitive to either mid-wave infrared (MWIR) radiation (3-5?m) or long-wave infrared (LWIR) radiation (8-12?m). With the recent emergence of high-quality uncooled LWIR cameras, TIR cameras have become viable passive perception options for some UGV programs. The Jet Propulsion Laboratory (JPL) has used a stereo pair of TIR cameras under several UGV programs to perform stereo ranging, terrain mapping, tree-trunk detection, pedestrian detection, negative obstacle detection, and water detection based on object reflections. In addition, we have evaluated stereo range data at a variety of UGV speeds, evaluated dual-band TIR classification of soil, vegetation, and rock terrain types, analyzed 24 hour water and 12 hour mud TIR imagery, and analyzed TIR imagery for hazard detection through smoke. Since TIR cameras do not currently provide the resolution available from megapixel color cameras, a UGV's daytime safe speed is often reduced when using TIR instead of color cameras. In this paper, we summarize the UGV terrain perception work JPL has performed with TIR cameras over the last decade and describe a calibration target developed by General Dynamics Robotic Systems (GDRS) for TIR cameras and other sensors.

  19. Environmental Perception and Sensor Data Fusion for Unmanned Ground Vehicle

    Directory of Open Access Journals (Sweden)

    Yibing Zhao

    2013-01-01

    Full Text Available Unmanned Ground Vehicles (UGVs that can drive autonomously in cross-country environment have received a good deal of attention in recent years. They must have the ability to determine whether the current terrain is traversable or not by using onboard sensors. This paper explores new methods related to environment perception based on computer image processing, pattern recognition, multisensors data fusion, and multidisciplinary theory. Kalman filter is used for low-level fusion of physical level, thus using the D-S evidence theory for high-level data fusion. Probability Test and Gaussian Mixture Model are proposed to obtain the traversable region in the forward-facing camera view for UGV. One feature set including color and texture information is extracted from areas of interest and combined with a classifier approach to resolve two types of terrain (traversable or not. Also, three-dimension data are employed; the feature set contains components such as distance contrast of three-dimension data, edge chain-code curvature of camera image, and covariance matrix based on the principal component method. This paper puts forward one new method that is suitable for distributing basic probability assignment (BPA, based on which D-S theory of evidence is employed to integrate sensors information and recognize the obstacle. The subordination obtained by using the fuzzy interpolation is applied to calculate the basic probability assignment. It is supposed that the subordination is equal to correlation coefficient in the formula. More accurate results of object identification are achieved by using the D-S theory of evidence. Control on motion behavior or autonomous navigation for UGV is based on the method, which is necessary for UGV high speed driving in cross-country environment. The experiment results have demonstrated the viability of the new method.

  20. Longitudinal static stability requirements for wing in ground effect vehicle

    Science.gov (United States)

    Yang, Wei; Yang, Zhigang; Collu, Maurizio

    2015-06-01

    The issue of the longitudinal stability of a WIG vehicle has been a very critical design factor since the first experimental WIG vehicle has been built. A series of studies had been performed and focused on the longitudinal stability analysis. However, most studies focused on the longitudinal stability of WIG vehicle in cruise phase, and less is available on the longitudinal static stability requirement of WIG vehicle when hydrodynamics are considered: WIG vehicle usually take off from water. The present work focuses on stability requirement for longitudinal motion from taking off to landing. The model of dynamics for a WIG vehicle was developed taking into account the aerodynamic, hydrostatic and hydrodynamic forces, and then was analyzed. Following with the longitudinal static stability analysis, effect of hydrofoil was discussed. Locations of CG, aerodynamic center in pitch, aerodynamic center in height and hydrodynamic center in heave were illustrated for a stabilized WIG vehicle. The present work will further improve the longitudinal static stability theory for WIG vehicle.

  1. Longitudinal static stability requirements for wing in ground effect vehicle

    Directory of Open Access Journals (Sweden)

    Wei Yang

    2015-03-01

    Full Text Available The issue of the longitudinal stability of a WIG vehicle has been a very critical design factor since the first experimental WIG vehicle has been built. A series of studies had been performed and focused on the longitudinal stability analysis. However, most studies focused on the longitudinal stability of WIG vehicle in cruise phase, and less is available on the longitudinal static stability requirement of WIG vehicle when hydrodynamics are considered: WIG vehicle usually take off from water. The present work focuses on stability requirement for longitudinal motion from taking off to landing. The model of dynamics for a WIG vehicle was developed taking into account the aerodynamic, hydrostatic and hydrodynamic forces, and then was analyzed. Following with the longitudinal static stability analysis, effect of hydrofoil was discussed. Locations of CG, aerodynamic center in pitch, aerodynamic center in height and hydrodynamic center in heave were illustrated for a stabilized WIG vehicle. The present work will further improve the longitudinal static stability theory for WIG vehicle.

  2. Longitudinal static stability requirements for wing in ground effect vehicle

    Directory of Open Access Journals (Sweden)

    Yang Wei

    2015-06-01

    Full Text Available The issue of the longitudinal stability of a WIG vehicle has been a very critical design factor since the first experimental WIG vehicle has been built. A series of studies had been performed and focused on the longitudinal stability analysis. However, most studies focused on the longitudinal stability of WIG vehicle in cruise phase, and less is available on the longitudinal static stability requirement of WIG vehicle when hydrodynamics are considered: WIG vehicle usually take off from water. The present work focuses on stability requirement for longitudinal motion from taking off to landing. The model of dynamics for a WIG vehicle was developed taking into account the aerodynamic, hydrostatic and hydrodynamic forces, and then was analyzed. Following with the longitudinal static stability analysis, effect of hydrofoil was discussed. Locations of CG, aerodynamic center in pitch, aerodynamic center in height and hydrodynamic center in heave were illustrated for a stabilized WIG vehicle. The present work will further improve the longitudinal static stability theory for WIG vehicle.

  3. GENERALIZATION OF MOVEMENT EQUATIONS OF VEHICLES FOR CALCULATION OF THE FREE MOTION VELOCITY

    OpenAIRE

    N. Smirnovа; D. Leontiev

    2014-01-01

    The basic equations of vehicles motion have been analyzed and summarized; the solving algorithm for the analysis of free movement under road conditions that are defined by the parameters of the roads technical level and its operational state was made up. The results of modeling are given.

  4. Advanced Mobility Testbed for Dynamic Semi-Autonomous Unmanned Ground Vehicles

    Science.gov (United States)

    2015-04-24

    Introduction Integrated simulation capabilities that are high-fidelity, fast, and have scalable architecture are essential to support autonomous vehicle ...TARDEC has attempted to develop a high-fidelity mobility simulation of an autonomous vehicle in an off-road scenario using integrated sensor...for Dynamic Semi- Autonomous Unmanned Ground Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT

  5. 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

  6. An SINS/GNSS Ground Vehicle Gravimetry Test Based on SGA-WZ02

    Directory of Open Access Journals (Sweden)

    Ruihang Yu

    2015-09-01

    Full Text Available In March 2015, a ground vehicle gravimetry test was implemented in eastern Changsha to assess the repeatability and accuracy of ground vehicle SINS/GNSS gravimeter—SGA-WZ02. The gravity system developed by NUDT consisted of a Strapdown Inertial Navigation System (SINS, a Global Navigation Satellite System (GNSS remote station on test vehicle, a GNSS static master station on the ground, and a data logging subsystem. A south-north profile of 35 km along the highway in eastern Changsha was chosen and four repeated available measure lines were obtained. The average speed of a vehicle is 40 km/h. To assess the external ground gravity disturbances, precise ground gravity data was built by CG-5 precise gravimeter as the reference. Under relative smooth conditions, internal accuracy among repeated lines shows an average agreement at the level of 1.86 mGal for half wavelengths about 1.1 km, and 1.22 mGal for 1.7 km. The root-mean-square (RMS of difference between calculated gravity data and reference data is about 2.27 mGal/1.1 km, and 1.74 mGal/1.7 km. Not all of the noises caused by vehicle itself and experiments environments were eliminated in the primary results. By means of selecting reasonable filters and improving the GNSS observation conditions, further developments in ground vehicle gravimetry are promising.

  7. An SINS/GNSS Ground Vehicle Gravimetry Test Based on SGA-WZ02.

    Science.gov (United States)

    Yu, Ruihang; Cai, Shaokun; Wu, Meiping; Cao, Juliang; Zhang, Kaidong

    2015-09-16

    In March 2015, a ground vehicle gravimetry test was implemented in eastern Changsha to assess the repeatability and accuracy of ground vehicle SINS/GNSS gravimeter-SGA-WZ02. The gravity system developed by NUDT consisted of a Strapdown Inertial Navigation System (SINS), a Global Navigation Satellite System (GNSS) remote station on test vehicle, a GNSS static master station on the ground, and a data logging subsystem. A south-north profile of 35 km along the highway in eastern Changsha was chosen and four repeated available measure lines were obtained. The average speed of a vehicle is 40 km/h. To assess the external ground gravity disturbances, precise ground gravity data was built by CG-5 precise gravimeter as the reference. Under relative smooth conditions, internal accuracy among repeated lines shows an average agreement at the level of 1.86 mGal for half wavelengths about 1.1 km, and 1.22 mGal for 1.7 km. The root-mean-square (RMS) of difference between calculated gravity data and reference data is about 2.27 mGal/1.1 km, and 1.74 mGal/1.7 km. Not all of the noises caused by vehicle itself and experiments environments were eliminated in the primary results. By means of selecting reasonable filters and improving the GNSS observation conditions, further developments in ground vehicle gravimetry are promising.

  8. New vision system and navigation algorithm for an autonomous ground vehicle

    Science.gov (United States)

    Tann, Hokchhay; Shakya, Bicky; Merchen, Alex C.; Williams, Benjamin C.; Khanal, Abhishek; Zhao, Jiajia; Ahlgren, David J.

    2013-12-01

    Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

  9. A study on the nondestructive test optimum design for a ground tracked combat vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Kim Byeong Ho; Seo, Jae Hyun; Gil, Hyeon Jun [Defence Agency for Technology and Quality, Seoul (Korea, Republic of); Kim, Seon Hyeong [Hanwha Techwin Co.,Ltd., Changwon (Korea, Republic of); Seo, Sang Chul [Changwon National University, Changwon (Korea, Republic of)

    2015-10-15

    In this study, a nondestructive test (NDT) is performed to inspect the optimal design of a ground tracked combat vehicle for self-propelled artillery, tank, and armored vehicles. The minimum qualification required for personnel performing the NDT of a ground tracked combat vehicle was initially established in US military standards, and then applied to the Korean defense specifications to develop a ground tracked combat vehicle. However, the qualification standards of an NDT inspector have been integrated into NAS410 through the military and commercial specifications unification project that were applied in the existing aerospace/defense industry public standard. The design method for this study was verified by applying the optimal design to the liquid penetrant testing Al forging used in self-propelled artillery. This confirmed the reliability and soundness of the product.

  10. Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics

    Science.gov (United States)

    Cameron, Jonathan; Myint, Steven; Kuo, Calvin; Jain, Abhi; Grip, Havard; Jayakumar, Paramsothy; Overholt, Jim

    2013-01-01

    This paper reports on a collaborative project between U.S. Army TARDEC and Jet Propulsion Laboratory (JPL) to develop a unmanned ground vehicle (UGV) simulation model using the ROAMS vehicle modeling framework. Besides modeling the physical suspension of the vehicle, the sensing and navigation of the HMMWV vehicle are simulated. Using models of urban and off-road environments, the HMMWV simulation was tested in several ways, including navigation in an urban environment with obstacle avoidance and the performance of a lane change maneuver.

  11. Road-Following Formation Control of Autonomous Ground Vehicles

    Science.gov (United States)

    Ono, Masahiro; Droge, Greg; Grip, Havard; Toupet, Olivier; Scrapper, Chris; Rahmani, Amir

    2015-01-01

    This work presents a novel cooperative path planning for formation keeping robots traversing along a road with obstacles and possible narrow passages. A unique challenge in this problem is a requirement for spatial and temporal coordination between vehicles while ensuring collision and obstacle avoidance.

  12. Passive Fuel Tank Inerting Systems for Ground Combat Vehicles

    Science.gov (United States)

    1988-09-01

    34Fire Protection Handbook,"Natioaal girt Pro~dction Association (NFPA), 14th es., Dos on, cu (January 1976) 25 American Petroleum Institute, API ...System on the X60 Series Combat Vehicles," Report No. 79-04A, U.S. Army Tank Automotive Research and Development I Command, DRDTA-V, Warren, MI (October

  13. Ground Vehicle Power and Mobility (GVPM) Powertrain Overview

    Science.gov (United States)

    2011-08-11

    Transmission Multi K Factor Torque converter Powertrain Control and ECM Hardware Development Military Vehicle Fuel Economy Measurement Cycle...Military Engine Optimization Efficiency Gap Transmission -No Torque Converter - Multi-Cone clutches - Wide-spread, equally progressive gear ratios...advanced controls algorithms. • Improved torque capacity, better speed/load matching, reduced thermal loading, and improved control strategy for

  14. Landmark-Based Navigation of an Unmanned Ground Vehicle (UGV)

    Science.gov (United States)

    2009-03-01

    against large measurement errors. 20090710280 RELEASE LIMITATION Approved for public release 4p fv^-Jo-osiit? Published by Weapons Systems Division...achieved as numerous low cost gyroscopes in the market meet this requirement. 24 DSTO-TR-2260 3.5.4 Sensitivity to Vehicle Speed In this subsection

  15. Demonstration of Tar Removal from Paving Equipment and Ground Vehicles

    Science.gov (United States)

    2011-05-12

    difficult job . Red River Army Depot has about 25 vehicles for refurbishing. Other equipment can also be recovered if a convenient solvent and process...solvents including ethyl lactate , dibasic esters, and X-Force were tested with little success. An aqueous solution formulated with

  16. Space vehicle field unit and ground station system

    Energy Technology Data Exchange (ETDEWEB)

    Judd, Stephen; Dallmann, Nicholas; Delapp, Jerry; Proicou, Michael; Seitz, Daniel; Michel, John; Enemark, Donald

    2017-09-19

    A field unit and ground station may use commercial off-the-shelf (COTS) components and share a common architecture, where differences in functionality are governed by software. The field units and ground stations may be easy to deploy, relatively inexpensive, and be relatively easy to operate. A novel file system may be used where datagrams of a file may be stored across multiple drives and/or devices. The datagrams may be received out of order and reassembled at the receiving device.

  17. Modeling and Simulation of an Unmanned Ground Vehicle Power System

    Science.gov (United States)

    2014-03-28

    Wilhelm, A. N., Surgenor, B. W., and Pharoah, J. G., “Design and evaluation of a micro-fuel-cell-based power system for a mobile robot ,” Mechatronics ...of Michigan, Ann Arbor, MI, USA bU.S. Army RDECOM-TARDEC, Warren, MI, USA ABSTRACT Long-duration missions challenge ground robot systems with respect...to energy storage and efficient conversion to power on demand. Ground robot systems can contain multiple power sources such as fuel cell, battery and

  18. Space vehicle field unit and ground station system

    Science.gov (United States)

    Judd, Stephen; Dallmann, Nicholas; Delapp, Jerry; Proicou, Michael; Seitz, Daniel; Michel, John; Enemark, Donald

    2016-10-25

    A field unit and ground station may use commercial off-the-shelf (COTS) components and share a common architecture, where differences in functionality are governed by software. The field units and ground stations may be easy to deploy, relatively inexpensive, and be relatively easy to operate. A novel file system may be used where datagrams of a file may be stored across multiple drives and/or devices. The datagrams may be received out of order and reassembled at the receiving device.

  19. Simultaneous Planning and Control for Autonomous Ground Vehicles

    Science.gov (United States)

    2009-02-01

    obstacle avoidance were not part of the problem. Pioneering work was done by Dubins during the late 1950’s. He proved that optimal paths connecting a car...motion. Reeds and Shepp extended the work of Dubins to include motion for a vehicle traveling both forwards and backwards [REE91]. There are several...use of receding horizon control for electro -mechanical systems. This limitation is primarily due to the time critical nature of the required control

  20. Unmanned air/ground vehicles heterogeneous cooperative techniques:Current status and prospects

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    Multiple unmanned air/ground vehicles heterogeneous cooperation is a novel and challenging filed.Heterogeneous cooperative techniques can widen the application fields of unmanned air or ground vehicles,and enhance the effectiveness of implementing detection,search and rescue tasks.This paper mainly focused on the key issues in multiple unmanned air/ground vehicles heterogeneous cooperation,including heterogeneous flocking,formation control,formation stability,network control,and actual applications.The main problems and future directions in this field were also analyzed in detail.These innovative technologies can significantly enhance the effectiveness of implementing complicated tasks,which definitely provide a series of novel breakthroughs for the intelligence,integration and advancement of future robot systems.

  1. Strong ground movement induced by mining activities and its effect on power transmission structures

    Institute of Scientific and Technical Information of China (English)

    DAI Kao-shan; CHEN Shen-en

    2009-01-01

    Surface mining activities may introduce damages to nearby infrastructure. Concerns are put forward by the power company about structural integrity of electric power transmission structures in areas where coal mining activities cause strong ground vibrations. Common practice in the power industry is to limit ground motion by specifying maximum Peak Particle Velocity. So far, there is a lack of industry-wide recognized guidelines on how ground vibration limits should be set for the transmission structures. In order to develop a defense strategy to protect power transmission lines against strong ground motions in mining areas, a systematic research work was conducted to establish strong ground vibration characteristics and to study impacts of ground excitations on transmission pole structures. Ground movements were recorded using geophones and wireless tri-axial sensing units. The process of generating ground motion response spectra via analyzing actual ground motion measurements is described in the paper. These spectra developed based on peak particle velocities were used as a basis for spectral analysis performed using validated Finite Element models to obtain structural displacements, reactions and stress states of the transmission pole structures in the mining sites. A quantitative ground motion limit was established by comparing structural responses with the corresponding design requirements.

  2. Vertical ground movements in the Polish and Lithuanian Baltic coastal area as measured by satellite interferometry

    NARCIS (Netherlands)

    Graniczny, M.; Cyziene, J.; van Leijen, F.J.; Minkevicius, W.; Mikulenas, V.; Satkunas, J.; Przylucka, M.; Kowalski, Z.; Uscinowicz, S.; Jeglinski, W.; Hanssen, R.F.

    2015-01-01

    The article contains results obtained from realization of the Polish and Lithuanian Baltic case study within the EU – FP 7 SubCoast project, which one of the primary aims was analysis of vertical ground movements, potentially causing geohazards in the coastal areas. To reach this goal Interferometri

  3. Do ground reaction forces during unilateral and bilateral movements exhibit compensation strategies following ACL reconstruction?

    NARCIS (Netherlands)

    Baumgart, Christian; Schubert, Markus; Hoppe, Matthias W.; Gokeler, Alli; Freiwald, Juergen

    The aims of the study were (1) to evaluate the leg asymmetry assessed with ground reaction forces (GRFs) during unilateral and bilateral movements of different knee loads in anterior cruciate ligament (ACL) reconstructed patients and (2) to investigate differences in leg asymmetry depending on the

  4. Vertical ground movements in the Polish and Lithuanian Baltic coastal area as measured by satellite interferometry

    NARCIS (Netherlands)

    Graniczny, M.; Cyziene, J.; van Leijen, F.J.; Minkevicius, W.; Mikulenas, V.; Satkunas, J.; Przylucka, M.; Kowalski, Z.; Uscinowicz, S.; Jeglinski, W.; Hanssen, R.F.

    2015-01-01

    The article contains results obtained from realization of the Polish and Lithuanian Baltic case study within the EU – FP 7 SubCoast project, which one of the primary aims was analysis of vertical ground movements, potentially causing geohazards in the coastal areas. To reach this goal

  5. Near real-time operation of public image database for ground vehicle navigation

    Science.gov (United States)

    Ali, E.; Kozaitis, S. P.

    2015-02-01

    An effective color night vision system for ground vehicle navigation should operate in near real-time to be practical. We described a system that uses a public database as a source of color information to colorize night vision imagery. Such an approach presents several problems due to differences between acquired and reference imagery. Our system performed registration, colorizing, and reference updating in near real-time in an effort to help drivers of ground vehicles during night to see a colored view of a scene.

  6. Cooperative Surveillance and Pursuit Using Unmanned Aerial Vehicles and Unattended Ground Sensors

    Science.gov (United States)

    Las Fargeas, Jonathan; Kabamba, Pierre; Girard, Anouck

    2015-01-01

    This paper considers the problem of path planning for a team of unmanned aerial vehicles performing surveillance near a friendly base. The unmanned aerial vehicles do not possess sensors with automated target recognition capability and, thus, rely on communicating with unattended ground sensors placed on roads to detect and image potential intruders. The problem is motivated by persistent intelligence, surveillance, reconnaissance and base defense missions. The problem is formulated and shown to be intractable. A heuristic algorithm to coordinate the unmanned aerial vehicles during surveillance and pursuit is presented. Revisit deadlines are used to schedule the vehicles' paths nominally. The algorithm uses detections from the sensors to predict intruders' locations and selects the vehicles' paths by minimizing a linear combination of missed deadlines and the probability of not intercepting intruders. An analysis of the algorithm's completeness and complexity is then provided. The effectiveness of the heuristic is illustrated through simulations in a variety of scenarios. PMID:25591168

  7. 9 CFR 82.10 - Interstate movement of vehicles, cages, coops, containers, troughs, and other equipment from a...

    Science.gov (United States)

    2010-01-01

    ... TRANSPORTATION OF ANIMALS (INCLUDING POULTRY) AND ANIMAL PRODUCTS EXOTIC NEWCASTLE DIS- EASE (END) AND CHLAMYDIOSIS Exotic Newcastle Disease (END) § 82.10 Interstate movement of vehicles, cages, coops,...

  8. Laws and mechanisms of slope movement due to shallowly buried coal seam mining under ground gully

    Institute of Scientific and Technical Information of China (English)

    FAN Gang-wei; ZHANG Dong-sheng; ZHAI De-yuan; WANG Xu-feng; LU Xin

    2009-01-01

    Based on the results of similar material simulation, the laws of slope movement due to mining under a gully were analyzed. Selected a slope rock as objective, the mechanisms of slope movement influence upon underground mining were proposed, and respective structural models were built by means of numerical modeling and physical simulation. It holds the point that the influence of slope movement on underground mining could be controlled to some extent by appropriate measures. The results indicate that, for gully-ward mining, which mines toward a gully, the slope rock slides horizontally and rotates in layers; for gully-away mining, which mines away from the gully, the slope rock rotates in a reversed polygon. The slope movement associated with mining under a gully is attributed to pre-existing free faces in the ground gully and underground mining-induced free faces.

  9. Integrated vehicle control and guidance systems in unmanned ground vehicles for commercial applications

    Science.gov (United States)

    Kenyon, Chase H.

    1995-01-01

    While there is a lot of recent development in the entire IVHS field, very few have had the opportunity to combine the many areas of development into a single integrated `intelligent' unmanned vehicle. One of our systems was developed specifically to serve a major automobile manufacturer's need for an automated vehicle chassis durability test facility. Due to the severity of the road surface human drivers could not be used. A totally automated robotic vehicle driver and guidance system was necessary. In order to deliver fixed price commercial projects now, it was apparent system and component costs were of paramount importance. Cyplex has developed a robust, cost effective single wire guidance system. This system has inherent advantages in system simplicity. Multi-signal (per vehicle lane) systems complicate path planning and layout when multiple lanes and lane changes are required, as on actual highways. The system has demonstrated high enough immunity to rain and light snow cover that normal safety reductions in speed are adequate to stay within the required system performance envelope. This system and it's antenna interface have shown the ability to guide the vehicle at slow speeds (10 MPH) with a tracking repeatability of plus or minus 1/8 of an inch. The basic guide and antenna system has been tested at speeds up to 80 mph. The system has inherently superior abilities for lane changes and precision vehicle placement. The operation of this system will be described and the impact of a system that is commercially viable now for highway and off road use will be discussed.

  10. Study of Movement Reliability for Hoisting Jack under a Rocket Launcher Vehicle%Study of Movement Reliability for Hoisting Jack under a Rocket Launcher Vehicle

    Institute of Scientific and Technical Information of China (English)

    LI Ye-nong; PENG Shu-hua; ZHANG Li-ping; SHI Zhu-kang

    2011-01-01

    The transmission mechanism of a jack is required to support the combat vehicle reliably within a very short time. So reliability research is very important because the mechanism completes motions required under the conditions within limited time. If the transmission mechanism of the jack supports the rocket launcher steadily, it needs to go through several stages as follows : unlocking, starting, operating, braking, stopping, fixing position and locking. The transmission mechanism of the jack is a complicated and single degree of freedom mechanical system; it can be considered an imaginary mechanical model that has an equivalent moment of inertia and equivalent torque. According to the characteristics of each supporting stages, dynamics equations of the mechanism are established. At the stages of starting and operating, a driving moment and resistance moment are dealt with for a Normal distribution. The design principles for movement reliability of completing action are established and the design principles for time reliability of completing action within a limited time are established. Finally, movement reliability of the transmission mechanism of the jack is 0. 9 852, according to our calculation. Reliability of time to complete action is 0. 9 943.

  11. Inexpensive semi-autonomous ground vehicles for defusing IEDs

    Science.gov (United States)

    Davenport, Chris; Lodmell, James; Womble, Phillip C.; Barzilov, Alexander; Paschal, Jon; Hernandez, Robert; Moss, Kyle T.; Hopper, Lindsay

    2008-04-01

    Improvised explosive devices (IEDs) are an important concern to coalition forces during the conflicts in the Middle East. These devices are responsible for many casualties to American armed forces in the Middle East. These explosives are particularly dangerous because they are improvised with materials readily available to the designer, and there is no systematic way of explosive ordinance disposal. IEDs can be made from things such as standard military ammunition and can be detonated with common electronic devices such as cell phones and garage door openers. There is a great need for a low cost solution to neutralize these IEDs. At the Applied Physics Institute we are building a single function disrupter robot whose sole purpose is to neutralize these IEDs. We are modifying a toy remote control car to control it either wirelessly using WI-FI (IEEE 802.11) or wired by tethering the vehicle with an Ethernet cable (IEEE 802.3). The robot will be equipped with a high velocity fuze disrupter to neutralize the IED as well as a video camera for inspection and aiming purposes. This robot utilizes commercial-off-the-shelf (COTS) components which keeps the cost relatively low. Currently, similar robot systems have been deployed in Iraq and elsewhere but their method of operation is such that it is impractical to use in non-combat situations. We will discuss our design and possible deployment scenarios.

  12. Color night vision system for ground vehicle navigation

    Science.gov (United States)

    Ali, E. A.; Qadir, H.; Kozaitis, S. P.

    2014-06-01

    Operating in a degraded visual environment due to darkness can pose a threat to navigation safety. Systems have been developed to navigate in darkness that depend upon differences between objects such as temperature or reflectivity at various wavelengths. However, adding sensors for these systems increases the complexity by adding multiple components that may create problems with alignment and calibration. An approach is needed that is passive and simple for widespread acceptance. Our approach uses a type of augmented display to show fused images from visible and thermal sensors that are continuously updated. Because the raw fused image gave an unnatural color appearance, we used a color transfer process based on a look-up table to replace the false colors with a colormap derived from a daytime reference image obtained from a public database using the GPS coordinates of the vehicle. Although the database image was not perfectly registered, we were able to produce imagery acquired at night that appeared with daylight colors. Such an approach could improve the safety of nighttime navigation.

  13. Unmanned Ground Vehicle Navigation and Coverage Hole Patching in Wireless Sensor Networks

    Science.gov (United States)

    Zhang, Guyu

    2013-01-01

    This dissertation presents a study of an Unmanned Ground Vehicle (UGV) navigation and coverage hole patching in coordinate-free and localization-free Wireless Sensor Networks (WSNs). Navigation and coverage maintenance are related problems since coverage hole patching requires effective navigation in the sensor network environment. A…

  14. Foundations for learning and adaptation in a multi-degree-of-freedom unmanned ground vehicle

    Science.gov (United States)

    Blackburn, Michael R.; Bailey, Richard

    2004-04-01

    The real-time coordination and control of a many motion degrees of freedom (dof) unmanned ground vehicle under dynamic conditions in a complex environment is nearly impossible for a human operator to accomplish. Needed are adaptive on-board mechanisms to quickly complete sensor-effector loops to maintain balance and leverage. This paper contains a description of our approach to the control problem for a small unmanned ground vehicle with six dof in the three spatial dimensions. Vehicle control is based upon seven fixed action patterns that exercise all of the motion dof of which the vehicle is capable, and five basic reactive behaviors that protect the vehicle during operation. The reactive behaviors demonstrate short-term adaptations. The learning processes for long-term adaptations of the vehicle control functions that we are implementing are composed of classical and operant conditionings of novel responses to information available from distance sensors (vision and audition) built upon the pre-defined fixed action patterns. The fixed action patterns are in turn modulated by the pre-defined low-level reactive behaviors that, as unconditioned responses, continuously serve to maintain the viability of the robot during the activations of the fixed action patterns, and of the higher-order (conditioned) behaviors. The sensors of the internal environment that govern the low-level reactive behaviors also serve as the criteria for operant conditioning, and satisfy the requirement for basic behavioral motivation.

  15. The Effects of Using In-Vehicle Computer on Driver Eye Movements and Driving Performance

    Directory of Open Access Journals (Sweden)

    Huacai Xian

    2015-02-01

    Full Text Available This paper examined the effects of performing an e-mail receiving and sending task using in-vehicle computer (iPad4 on driving performance and driver eye movements to determine if performance decrements decreased with practice. Eighteen younger drivers completed the driving on driving simulator while interacting with or without an e-mail task. Measures of fixations, saccades, vehicle control, and completion time of the secondary task were analyzed. Results revealed that using in-vehicle computer featured “large touch-screen” to receive and send e-mail greatly weakened driver's distraction and decreased their ability to control the vehicle. There was also evidence that, however, drivers attempted to regulate their behavior when distracted by decreasing their driving speed and taking a large number of short fixations and a quick saccades towards the computer. The results suggest that performing e-mail receiving and sending tasks while driving is problematic and steps to prohibit this activity should be taken.

  16. A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data

    Directory of Open Access Journals (Sweden)

    Jinling Wang

    2013-01-01

    Full Text Available Curb detection is an important research topic in environment perception, which is an essential part of unmanned ground vehicle (UGV operations. In this paper, a new curb detection method using a 2D laser range finder in a semi-structured environment is presented. In the proposed method, firstly, a local Digital Elevation Map (DEM is built using 2D sequential laser rangefinder data and vehicle state data in a dynamic environment and a probabilistic moving object deletion approach is proposed to cope with the effect of moving objects. Secondly, the curb candidate points are extracted based on the moving direction of the vehicle in the local DEM. Finally, the straight and curved curbs are detected by the Hough transform and the multi-model RANSAC algorithm, respectively. The proposed method can detect the curbs robustly in both static and typical dynamic environments. The proposed method has been verified in real vehicle experiments.

  17. MEASUREMENT OF AERODYNAMIC CHARACTERISTICS OF A HANG-GLIDER-WING BY GROUND RUN TESTS USING A TEST VEHICLE

    OpenAIRE

    Hozumi, Koki; KOMODA, Masaki; Ono, Takatsugu; TSUKANO, Yukichi; 穂積, 弘毅; 古茂田, 真幸; 小野, 孝次; 塚野, 雄吉

    1987-01-01

    In order to investigate longitudinal force and moment characteristics of a hang-glider-wing, ground run tests were conducted using a test vehicle. A hang-glider-wing was installed on a test vehicle using a six-components-balance for wind tunnel use. Aerodynamic force and moment were measrued during the vehicle run at various constant speeds. Geometrical twist distribution along the wing span was recorded as well. Measured force and moment data were corrected for possible ground effect and upw...

  18. Function-based design process for an intelligent ground vehicle vision system

    Science.gov (United States)

    Nagel, Robert L.; Perry, Kenneth L.; Stone, Robert B.; McAdams, Daniel A.

    2010-10-01

    An engineering design framework for an autonomous ground vehicle vision system is discussed. We present both the conceptual and physical design by following the design process, development and testing of an intelligent ground vehicle vision system constructed for the 2008 Intelligent Ground Vehicle Competition. During conceptual design, the requirements for the vision system are explored via functional and process analysis considering the flows into the vehicle and the transformations of those flows. The conceptual design phase concludes with a vision system design that is modular in both hardware and software and is based on a laser range finder and camera for visual perception. During physical design, prototypes are developed and tested independently, following the modular interfaces identified during conceptual design. Prototype models, once functional, are implemented into the final design. The final vision system design uses a ray-casting algorithm to process camera and laser range finder data and identify potential paths. The ray-casting algorithm is a single thread of the robot's multithreaded application. Other threads control motion, provide feedback, and process sensory data. Once integrated, both hardware and software testing are performed on the robot. We discuss the robot's performance and the lessons learned.

  19. Towards collaboration between unmanned aerial and ground vehicles for precision agriculture

    Science.gov (United States)

    Bhandari, Subodh; Raheja, Amar; Green, Robert L.; Do, Dat

    2017-05-01

    This paper presents the work being conducted at Cal Poly Pomona on the collaboration between unmanned aerial and ground vehicles for precision agriculture. The unmanned aerial vehicles (UAVs), equipped with multispectral/hyperspectral cameras and RGB cameras, take images of the crops while flying autonomously. The images are post processed or can be processed onboard. The processed images are used in the detection of unhealthy plants. Aerial data can be used by the UAVs and unmanned ground vehicles (UGVs) for various purposes including care of crops, harvest estimation, etc. The images can also be useful for optimized harvesting by isolating low yielding plants. These vehicles can be operated autonomously with limited or no human intervention, thereby reducing cost and limiting human exposure to agricultural chemicals. The paper discuss the autonomous UAV and UGV platforms used for the research, sensor integration, and experimental testing. Methods for ground truthing the results obtained from the UAVs will be used. The paper will also discuss equipping the UGV with a robotic arm for removing the unhealthy plants and/or weeds.

  20. Dynamic Performance on Multi Storey Structure Due to Ground Borne Vibrations Input from Passing Vehicles

    Directory of Open Access Journals (Sweden)

    Tuan Norhayati Tuan Chik

    2013-12-01

    Full Text Available Ground borne vibration from passing vehicles could excite the adjacent ground, hence produces a vibration waves that will propagate through layers of soil towards the foundations of any adjacent building. This vibration could affects the structure of the building at some levels and even the low sensitivity equipment are also could be affected as well. The objectives of this study are to perform the structural response on multi storey building subjected to ground vibrations input and to determine the level of vibration at each floor from road traffic on the observed building. The scopes of the study are focused on the groundborne vibrations induced by the passing vehicles and analyse the data by using dynamic software such as ANSYSv14 and MATLAB. The selected building for this study is the Registrar Office building which is located in Universiti Tun Hussein Onn Malaysia (UTHM. The inputs of the vibration were measured by using Laser Doppler Vibrometer (LDV equipment. By conducting the field measurement, a real input of ground borne vibration from the loads of vehicle towards any adjacent building can be obtained. Finally, the vibration level from road traffic on office building can be determined using overseas generic criteria guidelines. The vibration level achieved for this building is at above the ISO level, which is suitable for office building and within acceptable limit.

  1. Effect of vehicle front end profiles leading to pedestrian secondary head impact to ground.

    Science.gov (United States)

    Gupta, Vishal; Yang, King H

    2013-11-01

    Most studies of pedestrian injuries focus on reducing traumatic injuries due to the primary impact between the vehicle and the pedestrian. However, based on the Pedestrian Crash Data Study (PCDS), some researchers concluded that one of the leading causes of head injury for pedestrian crashes can be attributed to the secondary impact, defined as the impact of the pedestrian with the ground after the primary impact of the pedestrian with the vehicle. The purpose of this study is to understand if different vehicle front-end profiles can affect the risk of pedestrian secondary head impact with the ground and thus help in reducing the risk of head injury during secondary head impact with ground. Pedestrian responses were studied using several front-end profiles based off a mid-size vehicle and a SUV that have been validated previously along with several MADYMO pedestrian models. Mesh morphing is used to explore changes to the bumper height, bonnet leading-edge height, and bonnet rear reference-line height. Simulations leading up to pedestrian secondary impact with ground are conducted at impact speeds of 40 and 30 km/h. In addition, three pedestrian sizes (50th, 5th and 6yr old child) are used to enable us to search for a front-end profile that performs well for multiple sizes of pedestrians, not just one particular size. In most of the simulations, secondary ground impact with pedestrian head/neck/shoulder region occurred. However, there were some front-end profiles that promoted secondary ground impact with pedestrian lower extremities, thus avoiding pedestrian secondary head impact with ground. Previous pedestrian safety research work has suggested the use of active safety methods, such as 'pop up hood', to reduce pedestrian head injury during primary impact. Accordingly, we also conducted simulations using a model with the hood raised to capture the effect of a pop-up hood. These simulations indicated that even though pop-up hood helped reducing the head injury

  2. Distributed pheromone-based swarming control of unmanned air and ground vehicles for RSTA

    Science.gov (United States)

    Sauter, John A.; Mathews, Robert S.; Yinger, Andrew; Robinson, Joshua S.; Moody, John; Riddle, Stephanie

    2008-04-01

    The use of unmanned vehicles in Reconnaissance, Surveillance, and Target Acquisition (RSTA) applications has received considerable attention recently. Cooperating land and air vehicles can support multiple sensor modalities providing pervasive and ubiquitous broad area sensor coverage. However coordination of multiple air and land vehicles serving different mission objectives in a dynamic and complex environment is a challenging problem. Swarm intelligence algorithms, inspired by the mechanisms used in natural systems to coordinate the activities of many entities provide a promising alternative to traditional command and control approaches. This paper describes recent advances in a fully distributed digital pheromone algorithm that has demonstrated its effectiveness in managing the complexity of swarming unmanned systems. The results of a recent demonstration at NASA's Wallops Island of multiple Aerosonde Unmanned Air Vehicles (UAVs) and Pioneer Unmanned Ground Vehicles (UGVs) cooperating in a coordinated RSTA application are discussed. The vehicles were autonomously controlled by the onboard digital pheromone responding to the needs of the automatic target recognition algorithms. UAVs and UGVs controlled by the same pheromone algorithm self-organized to perform total area surveillance, automatic target detection, sensor cueing, and automatic target recognition with no central processing or control and minimal operator input. Complete autonomy adds several safety and fault tolerance requirements which were integrated into the basic pheromone framework. The adaptive algorithms demonstrated the ability to handle some unplanned hardware failures during the demonstration without any human intervention. The paper describes lessons learned and the next steps for this promising technology.

  3. Computational Simulation of Dynamic Response of Vehicle Tatra T815 and the Ground

    Science.gov (United States)

    Vlček, Jozef; Valašková, Veronika

    2016-10-01

    The effect of a moving load represents the actual problem which is analysed in engineering practice. The response of the vehicle and its dynamic effect on the pavement can be analysed by experimental or computational ways. The aim of this paper was to perform computer simulations of a vehicle-ground interaction. For this purpose, a half-part model of heavy lorry Tatra 815 and ground was modelled in computational programmes ADINA and PLAXIS based on FEM methods, utilizing analytical approaches. Two procedures were then selected for further calculations. The first one is based on the simplification of the stiffer pavement layers to the beam element supported by the springs simulating the subgrade layers using Winkler-Pasternak theory of elastic half-space. Modulus of subgrade reaction was determined in the standard programme trough the simulation of a plate load test. Second approach considers a multi-layered ground system with layers of different thicknesses and material properties. For comparison of outputs of both approaches, the same input values were used for every calculation procedure. Crucial parameter for the simulations was the velocity of the passing vehicle with regard to the ground response to the impulse of the pass. Lower velocities result in almost static response of the pavement, but higher velocities induce response that can be better described by the dynamic theory. For small deformations, an elastic material model seems to be sufficient to define the ground response to the moving load, but for larger deformations advanced material models for the ground environment would be more reliable.

  4. Enhanced Direction Based Hazard Routing Protocol for Smooth Movement of Vehicles

    Directory of Open Access Journals (Sweden)

    Needhi Lathar

    2016-02-01

    Full Text Available Vehicular Ad hoc Network involves the movement of vehicles and the communication between them for their security. VANETs have many application areas. One of main applications of VANETs is to improve the driving safety. In various safety related applications, vehicular nodes constantly communicate with roadside equipments. Road Side Units (RSUs can sense the real time information about road conditions, animals straying and road blocks and passes all this hazardous related information to the vehicles approaching in its range. These alert messages enable the driver to take timely decisions in preventing from accidents or delays in information delivery. In this paper, Enhanced Direction based Hazard Routing Protocol and Ad Hoc On-demand Distance Vector protocols are used to avoid prevent vehicles from collision and to increase the coverage range of VANETs. These issues are resolved by bypass routing and a synchronized clock maintained with the RSUs respectively. To solve the issues and make the system more reliable we propose the roadside wireless sensor nodes along with vehicular nodes in the network. The RSUs are fixed at some distances and communicate with wireless sensors attached at vehicular nodes.

  5. On the radar cross section (RCS) prediction of vehicles moving on the ground

    Energy Technology Data Exchange (ETDEWEB)

    Sabihi, Ahmad [Department of Mathematical Sciences, Sharif University of Technology, Tehran (Iran, Islamic Republic of)

    2014-12-10

    As readers should be aware, Radar Cross Section depends on the factors such as: Wave frequency and polarization, Target dimension, angle of ray incidence, Target’s material and covering, Type of radar system as monostatic or bistatic, space in which contains target and propagating waves, and etc. Having moved or stationed in vehicles can be effective in RCS values. Here, we investigate effective factors in RCS of moving targets on the ground or sea. Image theory in electromagnetic applies to be taken into account RCS of a target over the ground or sea.

  6. Large eddy simulation of flows around ground vehicles and other bluff bodies.

    Science.gov (United States)

    Krajnovic, Sinisa

    2009-07-28

    A brief review of large eddy simulation (LES) applications for different bluff-body flows performed by the author and his co-workers is presented. Examples of flows range from simple cube flows characterized by sharp edge separation over a three-dimensional hill where LES relies on good near-wall resolution, to complex flows of a tall, finite cylinder that contains several flow regimes that cause different challenges to LES. The second part of the paper is devoted to flows around ground vehicles at moderate Reynolds numbers. Although the present review proves the applicability of LES for various bluff-body flows, an increase of the Reynolds number towards the operational speeds of ground vehicles requires accurate near-wall modelling for a successful LES.

  7. Study on shift schedule saving energy of automatic transmission of ground vehicles

    Institute of Scientific and Technical Information of China (English)

    龚捷; 赵丁选; 陈鹰; 陈宁

    2004-01-01

    To improve ground vehicle efficiency, shift schedule energy saving was proposed for the ground vehicle automatic transmission by studying the function of the torque converter and transmission in the vehicular drivetrain. The shift schedule can keep the torque converter working in the high efficiency range under all the working conditions except in the low efficiency range on the left when the transmission worked at the lowest shift, and in the low efficiency range on the right when the transmission worked at the highest shift. The shift quality key factors were analysed. The automatic trans-mission's bench-test adopting this shift schedule was made on the automatic transmission's test-bed. The experimental results showed that the shift schedule was correct and that the shift quality was controllable.

  8. 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.

  9. The on-line electric vehicle wireless electric ground transportation systems

    CERN Document Server

    Cho, Dong

    2017-01-01

    This book details the design and technology of the on-line electric vehicle (OLEV) system and its enabling wireless power-transfer technology, the “shaped magnetic field in resonance” (SMFIR). The text shows how OLEV systems can achieve their three linked important goals: reduction of CO2 produced by ground transportation; improved energy efficiency of ground transportation; and contribution to the amelioration or prevention of climate change and global warming. SMFIR provides power to the OLEV by wireless transmission from underground cables using an alternating magnetic field and the reader learns how this is done. This cable network will in future be part of any local smart grid for energy supply and use thereby exploiting local and renewable energy generation to further its aims. In addition to the technical details involved with design and realization of a fleet of vehicles combined with extensive subsurface charging infrastructure, practical issues such as those involved with pedestrian safety are c...

  10. Study on shift schedule saving energy of automatic transmission of ground vehicles

    Institute of Scientific and Technical Information of China (English)

    龚捷; 赵丁选; 陈鹰; 陈宁

    2004-01-01

    To improve ground vehicle efficiency,shift schedule energy saving was proposed for the ground vehicle automatic transmission by studying the function of the torque converter and transmission in the vehicular drivetrain.The shift schedule can keep the torque converter working in the high efficiency range under all the working conditions except in the low efficiency range on the left when the transmission worked at the lowest shift,and in the low efficiency range on the right when the transmission worked at the highest shift.The shift quality key factors were analysed.The automatic transmission's bench-test adopting this shift schedule was made on the automatic transmission's test-bed.The experimental results showed that the shift schedule was correct and that the shift quality was controllable.

  11. Robust H∞ output-feedback control for path following of autonomous ground vehicles

    Science.gov (United States)

    Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

    2016-03-01

    This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

  12. Cooperative Surveillance and Pursuit Using Unmanned Aerial Vehicles and Unattended Ground Sensors

    Directory of Open Access Journals (Sweden)

    Jonathan Las Fargeas

    2015-01-01

    Full Text Available This paper considers the problem of path planning for a team of unmanned aerial vehicles performing surveillance near a friendly base. The unmanned aerial vehicles do not possess sensors with automated target recognition capability and, thus, rely on communicating with unattended ground sensors placed on roads to detect and image potential intruders. The problem is motivated by persistent intelligence, surveillance, reconnaissance and base defense missions. The problem is formulated and shown to be intractable. A heuristic algorithm to coordinate the unmanned aerial vehicles during surveillance and pursuit is presented. Revisit deadlines are used to schedule the vehicles’ paths nominally. The algorithm uses detections from the sensors to predict intruders’ locations and selects the vehicles’ paths by minimizing a linear combination of missed deadlines and the probability of not intercepting intruders. An analysis of the algorithm’s completeness and complexity is then provided. The effectiveness of the heuristic is illustrated through simulations in a variety of scenarios.

  13. Constrained low-cost GPS/INS filter with encoder bias estimation for ground vehicles' applications

    Science.gov (United States)

    Abdel-Hafez, Mamoun F.; Saadeddin, Kamal; Amin Jarrah, Mohammad

    2015-06-01

    In this paper, a constrained, fault-tolerant, low-cost navigation system is proposed for ground vehicle's applications. The system is designed to provide a vehicle navigation solution at 50 Hz by fusing the measurements of the inertial measurement unit (IMU), the global positioning system (GPS) receiver, and the velocity measurement from wheel encoders. A high-integrity estimation filter is proposed to obtain a high accuracy state estimate. The filter utilizes vehicle velocity constraints measurement to enhance the estimation accuracy. However, if the velocity measurement of the encoder is biased, the accuracy of the estimate is degraded. Therefore, a noise estimation algorithm is proposed to estimate a possible bias in the velocity measurement of the encoder. Experimental tests, with simulated biases on the encoder's readings, are conducted and the obtained results are presented. The experimental results show the enhancement in the estimation accuracy when the simulated bias is estimated using the proposed method.

  14. Test Operations Procedure (TOP) 02-2-546 Teleoperated Unmanned Ground Vehicle (UGV) Latency Measurements

    Science.gov (United States)

    2017-01-11

    A. Approved for public release; distribution is unlimited. 13. SUPPLEMENTARY NOTES Defense Technical Information Center (DTIC), AD No.: 14. ABSTRACT...discrete system components or measurements of latency in autonomous systems. 15. SUBJECT TERMS Unmanned Ground Vehicles, Basic Video Latency, End -to... End System Latency, Command-to-Action Latency 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT SAR 18. NUMBER OF PAGES 23 19a

  15. 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...

  16. Using High Performance Computing to Realize a System-Level RDDO for Military Ground Vehicles

    Science.gov (United States)

    2008-07-14

    Using High Performance Computing to Realize a System-Level RBDO for Military Ground Vehicles • David A. Lamb, Ph.D. • Computational Reliability and...fictitious load cases is number of design variables X number of static load cases (6 X 24 = 144 for Stryker A-arm). RBDO Flowchart Pre-processor Morpher...Based Geometry Morpher Mesh Finite Element Analysis Durability Sensitivity RBDO /PBDO FE Analysis FE re-analysis for DSA Sensitivity of SIC and Fatigue

  17. Determining the Forces Generated by the Contact of an Electrically-Operated Vehicle with the Ground

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    In this paper we analyse the motion of an electric vehicle,when there is only the pure rolling of the wheels on the ground.The equations of holonomic and non-holonomic constraints have been rendered explicitly obtaining 27 equations algebraic-differential system with the same number of unknowns.Besides,this system supplies a model to calculate the bonding reaction forces.

  18. The 21st annual intelligent ground vehicle competition: robotists for the future

    Science.gov (United States)

    Theisen, Bernard L.

    2013-12-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 21 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the fourday competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  19. The 20th annual intelligent ground vehicle competition: building a generation of robotists

    Science.gov (United States)

    Theisen, Bernard L.; Kosinski, Andrew

    2013-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 20 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

  20. Multi- and Hyper-Spectral Sensing for Autonomous Ground Vehicle Navigation

    Energy Technology Data Exchange (ETDEWEB)

    FOGLER, ROBERT J.

    2003-06-01

    Robotic vehicles that navigate autonomously are hindered by unnecessary avoidance of soft obstacles, and entrapment by potentially avoidable obstacles. Existing sensing technologies fail to reliably distinguish hard obstacles from soft obstacles, as well as impassable thickets and other sources of entrapment. Automated materials classification through advanced sensing methods may provide a means to identify such obstacles, and from their identity, to determine whether they must be avoided. Multi- and hyper-spectral electro-optic sensors are used in remote sensing applications to classify both man-made and naturally occurring materials on the earth's surface by their reflectance spectra. The applicability of this sensing technology to obstacle identification for autonomous ground vehicle navigation is the focus of this report. The analysis is restricted to system concepts in which the multi- or hyper-spectral sensor is on-board the ground vehicle, facing forward to detect and classify obstacles ahead of the vehicle. Obstacles of interest include various types of vegetation, rocks, soils, minerals, and selected man-made materials such as paving asphalt and concrete.

  1. Resolving ranges of layered objects using ground vehicle LiDAR

    Science.gov (United States)

    Hollinger, Jim; Kutscher, Brett; Close, Ryan

    2015-06-01

    Lidar systems are well known for their ability to measure three-dimensional aspects of a scene. This attribute of Lidar has been widely exploited by the robotics community, among others. The problem of resolving ranges of layered objects (such as a tree canopy over the forest floor) has been studied from the perspective of airborne systems. However, little research exists in studying this problem from a ground vehicle system (e.g., a bush covering a rock or other hazard). This paper discusses the issues involved in solving this problem from a ground vehicle. This includes analysis of extracting multi-return data from Lidar and the various laser properties that impact the ability to resolve multiple returns, such as pulse length and beam size. The impacts of these properties are presented as they apply to three different Lidar imaging technologies: scanning pulse Lidar, Geiger-mode flash Lidar, and Time-of-Flight camera. Tradeoffs associated with these impacts are then discussed for a ground vehicle Lidar application.

  2. 美军无人地面车辆发展综述%Development Survey of US Army Unmanned Ground Vehicles

    Institute of Scientific and Technical Information of China (English)

    陈欣; 王立操; 李联邦; 左志奇

    2012-01-01

    US army unmanned ground vehicles are primitively introduced. The development course of US army unmanned ground vehicles is expatiated, present condition and development trends are given. Some suggestions on developing military unmanned ground vehicles are presented.%对美军无人地面车辆进行简要介绍,阐述美军无人地面车辆发展历程,给出了其研究现状与趋势,提出了对我国无人地面车辆发展的几点启示。

  3. Movement and fate of chlorinated solvents in ground water; research activities at Picatinny Arsenal, New Jersey

    Science.gov (United States)

    Fusillo, T.V.; Ehlke, T.A.; Martin, Mary

    1987-01-01

    The USGS, through its Toxic Waste--Ground-Water Contamination Program, is undertaking an interdisciplinary research study of contaminants. The purpose of the study is to gain a better understanding of the chemical, physical, and biological processes that affect the movement and fate of these contaminants in groundwater. The study is being conducted at Picatinny Arsenal, New Jersey, where metal plating and metal etching wastes have contaminated part of the glacial stratified drift aquifers. Major areas of research at the site are described, including: (1) distribution and movement of chlorinated solvents in groundwater, (2) behavior of chlorinated solvents in the unsaturated zone, (3) geochemistry of the contaminated groundwater, and (4) microbial transformations of chlorinated solvents. (Author 's abstract)

  4. Control performance evaluation of railway vehicle MR suspension using fuzzy sky-ground hook control algorithm

    Science.gov (United States)

    Ha, S. H.; Choi, S. B.; Lee, G. S.; Yoo, W. H.

    2013-02-01

    This paper presents control performance evaluation of railway vehicle featured by semi-active suspension system using magnetorheological (MR) fluid damper. In order to achieve this goal, a nine degree of freedom of railway vehicle model, which includes car body and bogie, is established. The wheel-set data is loaded from measured value of railway vehicle. The MR damper system is incorporated with the governing equation of motion of the railway vehicle model which includes secondary suspension. To illustrate the effectiveness of the controlled MR dampers on suspension system of railway vehicle, the control law using the sky-ground hook controller is adopted. This controller takes into account for both vibration control of car body and increasing stability of bogie by adopting a weighting parameter between two performance requirements. The parameters appropriately determined by employing a fuzzy algorithm associated with two fuzzy variables: the lateral speed of the car body and the lateral performance of the bogie. Computer simulation results of control performances such as vibration control and stability analysis are presented in time and frequency domains.

  5. The influence of faulting on ground movement due to coalmining: the UK and European experience

    Energy Technology Data Exchange (ETDEWEB)

    Heltewell, E.G.

    1988-01-01

    It has been recognised from the time of the earliest investigations into coal mining subsidence that geological faults can play a significant role in determining the nature of ground movement resulting from coal extraction. However, the limited research undertaken on this aspect has been spasmodic yet wide ranging and has resulted in the findings being published in diverse sources. The paper summarises the evidence and conclusions of observers in the UK and Europe and therefore reveals the present state of knowledge in this aspect of coal mining subsidence. 18 refs., 2 figs.

  6. Vehicles, Replicators, and Intercellular Movement of Genetic Information: Evolutionary Dissection of a Bacterial Cell

    Directory of Open Access Journals (Sweden)

    Matti Jalasvuori

    2012-01-01

    Full Text Available Prokaryotic biosphere is vastly diverse in many respects. Any given bacterial cell may harbor in different combinations viruses, plasmids, transposons, and other genetic elements along with their chromosome(s. These agents interact in complex environments in various ways causing multitude of phenotypic effects on their hosting cells. In this discussion I perform a dissection for a bacterial cell in order to simplify the diversity into components that may help approach the ocean of details in evolving microbial worlds. The cell itself is separated from all the genetic replicators that use the cell vehicle for preservation and propagation. I introduce a classification that groups different replicators according to their horizontal movement potential between cells and according to their effects on the fitness of their present host cells. The classification is used to discuss and improve the means by which we approach general evolutionary tendencies in microbial communities. Moreover, the classification is utilized as a tool to help formulating evolutionary hypotheses and to discuss emerging bacterial pathogens as well as to promote understanding on the average phenotypes of different replicators in general. It is also discussed that any given biosphere comprising prokaryotic cell vehicles and genetic replicators may naturally evolve to have horizontally moving replicators of various types.

  7. Hybrid Map-Based Navigation Method for Unmanned Ground Vehicle in Urban Scenario

    Directory of Open Access Journals (Sweden)

    Huiyan Chen

    2013-07-01

    Full Text Available To reduce the data size of metric map and map matching computational cost in unmanned ground vehicle self-driving navigation in urban scenarios, a metric-topological hybrid map navigation system is proposed in this paper. According to the different positioning accuracy requirements, urban areas are divided into strong constraint (SC areas, such as roads with lanes, and loose constraint (LC areas, such as intersections and open areas. As direction of the self-driving vehicle is provided by traffic lanes and global waypoints in the road network, a simple topological map is fit for the navigation in the SC areas. While in the LC areas, the navigation of the self-driving vehicle mainly relies on the positioning information. Simultaneous localization and mapping technology is used to provide a detailed metric map in the LC areas, and a window constraint Markov localization algorithm is introduced to achieve accurate position using laser scanner. Furthermore, the real-time performance of the Markov algorithm is enhanced by using a constraint window to restrict the size of the state space. By registering the metric maps into the road network, a hybrid map of the urban scenario can be constructed. Real unmanned vehicle mapping and navigation tests demonstrated the capabilities of the proposed method.

  8. Passive Night Vision Sensor Comparison for Unmanned Ground Vehicle Stereo Vision Navigation

    Science.gov (United States)

    Owens, Ken; Matthies, Larry

    2000-01-01

    One goal of the "Demo III" unmanned ground vehicle program is to enable autonomous nighttime navigation at speeds of up to 10 m.p.h. To perform obstacle detection at night with stereo vision will require night vision cameras that produce adequate image quality for the driving speeds, vehicle dynamics, obstacle sizes, and scene conditions that will be encountered. This paper analyzes the suitability of four classes of night vision cameras (3-5 micrometer cooled FLIR, 8-12 micrometer cooled FLIR, 8-12 micrometer uncooled FLIR, and image intensifiers) for night stereo vision, using criteria based on stereo matching quality, image signal to noise ratio, motion blur and synchronization capability. We find that only cooled FLIRs will enable stereo vision performance that meets the goals of the Demo III program for nighttime autonomous mobility.

  9. LWIR passive perception system for stealthy unmanned ground vehicle night operations

    Science.gov (United States)

    Lee, Daren; Rankin, Arturo; Huertas, Andres; Nash, Jeremy; Ahuja, Gaurav; Matthies, Larry

    2016-05-01

    Resupplying forward-deployed units in rugged terrain in the presence of hostile forces creates a high threat to manned air and ground vehicles. An autonomous unmanned ground vehicle (UGV) capable of navigating stealthily at night in off-road and on-road terrain could significantly increase the safety and success rate of such resupply missions for warfighters. Passive night-time perception of terrain and obstacle features is a vital requirement for such missions. As part of the ONR 30 Autonomy Team, the Jet Propulsion Laboratory developed a passive, low-cost night-time perception system under the ONR Expeditionary Maneuver Warfare and Combating Terrorism Applied Research program. Using a stereo pair of forward looking LWIR uncooled microbolometer cameras, the perception system generates disparity maps using a local window-based stereo correlator to achieve real-time performance while maintaining low power consumption. To overcome the lower signal-to-noise ratio and spatial resolution of LWIR thermal imaging technologies, a series of pre-filters were applied to the input images to increase the image contrast and stereo correlator enhancements were applied to increase the disparity density. To overcome false positives generated by mixed pixels, noisy disparities from repeated textures, and uncertainty in far range measurements, a series of consistency, multi-resolution, and temporal based post-filters were employed to improve the fidelity of the output range measurements. The stereo processing leverages multi-core processors and runs under the Robot Operating System (ROS). The night-time passive perception system was tested and evaluated on fully autonomous testbed ground vehicles at SPAWAR Systems Center Pacific (SSC Pacific) and Marine Corps Base Camp Pendleton, California. This paper describes the challenges, techniques, and experimental results of developing a passive, low-cost perception system for night-time autonomous navigation.

  10. Heat as a tool for studying the movement of ground water near streams

    Science.gov (United States)

    Stonestrom, David A.; Constantz, Jim

    2003-01-01

    and practical constraints. As an alternative, naturally occurring variations in temperature can be used to track (or trace) the heat carried by flowing water. The hydraulic transport of heat enables its use as a tracer. Differences between temperatures in the stream and surrounding sediments are now being analyzed to trace the movement of ground water to and from streams. As shown in the subsequent chapters of this circular, tracing the transport of heat leads to a better understanding of the magnitudes and mechanisms of stream/ground-water exchanges, and helps quantify the resulting effects on stream and streambed temperatures. Chapter 1 describes the general principals and procedures by which the natural transport of heat can be utilized to infer the movement of subsurface water near streams. This information sets the foundation for understanding the advanced applications in chapters 2 through 8. Each of these chapters provides a case study, using heat tracing as a tool, of interactions between surface water and ground water for a different location in the western United States. Technical details of the use of heat as an environmental tracer appear in appendices.

  11. Nano-based chemical sensor array systems for uninhabited ground and airborne vehicles

    Science.gov (United States)

    Brantley, Christina; Ruffin, Paul B.; Edwards, Eugene

    2009-03-01

    In a time when homemade explosive devices are being used against soldiers and in the homeland security environment, it is becoming increasingly evident that there is an urgent need for high-tech chemical sensor packages to be mounted aboard ground and air vehicles to aid soldiers in determining the location of explosive devices and the origin of bio-chemical warfare agents associated with terrorist activities from a safe distance. Current technologies utilize relatively large handheld detection systems that are housed on sizeable robotic vehicles. Research and development efforts are underway at the Army Aviation & Missile Research, Development, and Engineering Center (AMRDEC) to develop novel and less expensive nano-based chemical sensors for detecting explosives and chemical agents used against the soldier. More specifically, an array of chemical sensors integrated with an electronics control module on a flexible substrate that can conform to and be surface-mounted to manned or unmanned vehicles to detect harmful species from bio-chemical warfare and other explosive devices is being developed. The sensor system under development is a voltammetry-based sensor system capable of aiding in the detection of any chemical agent and in the optimization of sensor microarray geometry to provide nonlinear Fourier algorithms to characterize target area background (e.g., footprint areas). The status of the research project is reviewed in this paper. Critical technical challenges associated with achieving system cost, size, and performance requirements are discussed. The results obtained from field tests using an unmanned remote controlled vehicle that houses a CO2/chemical sensor, which detects harmful chemical agents and wirelessly transmits warning signals back to the warfighter, are presented. Finally, the technical barriers associated with employing the sensor array system aboard small air vehicles will be discussed.

  12. Impact of mesh tracks and low-ground-pressure vehicle use on blanket peat hydrology

    Science.gov (United States)

    McKendrick-Smith, Kathryn; Holden, Joseph; Parry, Lauren

    2016-04-01

    Peatlands are subject to multiple uses including drainage, farming and recreation. Low-ground-pressure vehicle access is desirable by land owners and tracks facilitate access. However, there is concern that such activity may impact peat hydrology and so granting permission for track installation has been problematic, particularly without evidence for decision-making. We present the first comprehensive study of mesh track and low-ground-pressure vehicle impacts on peatland hydrology. In the sub-arctic oceanic climate of the Moor House World Biosphere Reserve in the North Pennines, UK, a 1.5 km long experimental track was installed to investigate hydrological impacts. Surface vegetation was cut and the plastic mesh track pinned into the peat surface. The experimental track was split into 7 treatments, designed to reflect typical track usage (0 - 5 vehicle passes per week) and varying vehicle weight. The greatest hydrological impacts were expected for sections of track subject to more frequent vehicle use and in close proximity to the track. In total 554 dipwells (including 15 automated recording at 15-min intervals) were monitored for water-table depth, positioned to capture potential spatial variability in response. Before track installation, samples for vertical and lateral hydraulic conductivity (Ks) analysis (using the modified cube method) were taken at 0-10 cm depth from a frequently driven treatment (n = 15), an infrequently driven treatment (0.5 passes per week) (n = 15) and a control site with no track/driving (n = 15). The test was repeated after 16 months of track use. We present a spatially and temporally rich water-table dataset from the study site showing how the impacts of the track on water table are spatially highly variable. Water-table depths across the site were shallow, typically within the upper 10 cm of the peat profile for > 75% of the time. We show that mesh track and low-ground-pressure vehicle impacts on water-table depth were small except

  13. Hydrogeology, ground-water movement, and subsurface storage in the Floridan aquifer system in southern Florida

    Science.gov (United States)

    Meyer, Frederick W.

    1989-01-01

    The Floridan aquifer system of southern Florida is composed chiefly of carbonate rocks that range in age from early Miocene to Paleocene. The top of the aquifer system in southern Florida generally is at depths ranging from 500 to 1,000 feet, and the average thickness is about 3,000 feet. It is divided into three general hydrogeologic units: (1) the Upper Floridan aquifer, (2) the middle confining unit, and (3) the Lower Floridan aquifer. The Upper Floridan aquifer contains brackish ground water, and the Lower Floridan aquifer contains salty ground water that compares chemically to modern seawater. Zones of high permeability are present in the Upper and Lower Floridan aquifers. A thick, cavernous dolostone in the Lower Floridan aquifer, called the Boulder Zone, is one of the most permeable carbonate units in the world (transmissivity of about 2.5 x 107 feet squared per day). Ground-water movement in the Upper Floridan aquifer is generally southward from the area of highest head in central Florida, eastward to the Straits of Florida, and westward to the Gulf of Mexico. Distributions of natural isotopes of carbon and uranium generally confirm hydraulic gradients in the Lower Floridan aquifer. Groundwater movement in the Lower Floridan aquifer is inland from the Straits of Florida. The concentration gradients of the carbon and uranium isotopes indicate that the source of cold saltwater in the Lower Floridan aquifer is seawater that has entered through the karat features on the submarine Miami Terrace near Fort Lauderdale. The relative ages of the saltwater suggest that the rate of inland movement is related in part to rising sea level during the Holocene transgression. Isotope, temperature, and salinity anomalies in waters from the Upper Floridan aquifer of southern Florida suggest upwelling of saltwater from the Lower Floridan aquifer. The results of the study support the hypothesis of circulating relatively modern seawater and cast doubt on the theory that the

  14. Estimation of longitudinal speed robust to road conditions for ground vehicles

    Science.gov (United States)

    Hashemi, Ehsan; Kasaiezadeh, Alireza; Khosravani, Saeid; Khajepour, Amir; Moshchuk, Nikolai; Chen, Shih-Ken

    2016-08-01

    This article seeks to develop a longitudinal vehicle velocity estimator robust to road conditions by employing a tyre model at each corner. Combining the lumped LuGre tyre model and the vehicle kinematics, the tyres internal deflection state is used to gain an accurate estimation. Conventional kinematic-based velocity estimators use acceleration measurements, without correction with the tyre forces. However, this results in inaccurate velocity estimation because of sensor uncertainties which should be handled with another measurement such as tyre forces that depend on unknown road friction. The new Kalman-based observer in this paper addresses this issue by considering tyre nonlinearities with a minimum number of required tyre parameters and the road condition as uncertainty. Longitudinal forces obtained by the unscented Kalman filter on the wheel dynamics is employed as an observation for the Kalman-based velocity estimator at each corner. The stability of the proposed time-varying estimator is investigated and its performance is examined experimentally in several tests and on different road surface frictions. Road experiments and simulation results show the accuracy and robustness of the proposed approach in estimating longitudinal speed for ground vehicles.

  15. Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments

    Directory of Open Access Journals (Sweden)

    Dennis Akos

    2012-03-01

    Full Text Available Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF. Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations.

  16. Monocular camera/IMU/GNSS integration for ground vehicle navigation in challenging GNSS environments.

    Science.gov (United States)

    Chu, Tianxing; Guo, Ningyan; Backén, Staffan; Akos, Dennis

    2012-01-01

    Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations.

  17. Identifying potential ground movement as a landslide mitigation approach using resistivity method

    Science.gov (United States)

    Izzati, F. N.; Laksmana, Z. S.; Marcelina, B.; Hutabarat, S. S.; Widodo

    2017-07-01

    Landslide is defined as a form of ground movement in which land mass suddenly fails downward on a slope as aresult of gravitational pull. One of the mitigative approaches into investigating landslide is to identify a potential slip zone usingresistivity method. In this study, the array chosen to acquire the resistivity data was Wenner array as it provides a robust resolution in mapping lateral resistivity variations. This method will generate a contour map portraying thedistribution of resistivity values of the subsurface. Beforehand, a 2-dimensional forward modeling was conducted to acquire anexpected ideal result of possible potential slip zone. Landslides itself are affiliated with a low resistivity zone that is locatedbetween two high resistivity zones. This study is conducted in a ground slump in Jalan Citra Green, Northern Bandung which is comprised of mostly unconsolidated soil. By applying a least-square inversion to the resistivity data obtained, resistivity values of 10-200 Ωm is attained. Based on the inversion result, a low resistivity zone of 10-20 Ωm is identified spanning from the surface to approximately 10 meters deep. In conclusion, furtherinvestigations are needed to determine whether the low resistivity zone is associated with potential slip zone as our datais limited to a single line

  18. Seasonal associations and atmospheric transport distances of Fusarium collected with unmanned aerial vehicles and ground-based sampling devices

    Science.gov (United States)

    Schmale, David; Ross, Shane; Lin, Binbin

    2014-05-01

    Spores of fungi in the genus Fusarium may be transported through the atmosphere over long distances. Members of this genus are important pathogens and mycotoxin producers. New information is needed to characterize seasonal trends in atmospheric loads of Fusarium and to pinpoint the source(s) of inoculum at both local (farm) and regional (state or country) scales. Spores of Fusarium were collected from the atmosphere in an agricultural ecosystem in Blacksburg, VA, USA using a Burkard volumetric sampler (BVS) 1 m above ground level and autonomous unmanned aerial vehicles (UAVs) 100 m above ground level. More than 2,200 colony forming units (CFUs) of Fusarium were collected during 104 BVS sampling periods and 180 UAV sampling periods over four calendar years (2009-2012). Spore concentrations ranged from 0 to 13 and 0 to 23 spores m-3 for the BVS and the UAVs, respectively. Spore concentrations were generally higher in the fall, spring, and summer, and lower in the winter. Spore concentrations from the BVS were generally higher than those from the UAVs for both seasonal and hourly collections. Some of the species of Fusarium identified from our collections have not been previously reported in the state of Virginia. A Gaussian plume transport model was used to estimate distances to the potential inoculum source(s) by season. This work extends previous studies showing an association between atmospheric transport barriers (Lagrangian coherent structures or LCSs) and the movement of Fusarium in the lower atmosphere. An increased understanding of the aerobiology of Fusarium may contribute to new and improved control strategies for diseases causes by fusaria in the future.

  19. An assessment of the deflecting effect on human movement due to the Coriolis inertial forces in a space vehicle.

    Science.gov (United States)

    Hennion, P Y; Mollard, R

    1993-01-01

    Under conditions of prolonged space flight, it may be feasible to restore gravity artificially using centrifugal inertial forces in a spinning vehicle. As a result, the motion of the passengers relative to the vehicle is affected by Coriolis forces. The aim of this study is to propose a theoretical method to evaluate the extent of these effects compared to other inertial or motor forces affecting movement. We investigated typical right upper limb movement in a numerical model with a two-solid-links mechanism, including a spherical joint for the shoulder and a hinge joint for the elbow. The inertial and dimensional characteristics of this model derive from measurements and computations obtained on laboratory subjects. The same is true for the movements assigned to the model. These were inferred from actual recordings of arm movement when the subject presses a button placed in front of him with his index finger. From these relative velocities, the resulting forces and moments applied to the elbow and the shoulder were computed for a 1 rad s-1 rotational speed of transport motion, using classical kinetic relations. The result is that the Coriolis moments are of the same order of magnitude as the corresponding inertial moments and one-tenth of the value of a typical elbow flexion moment. Thus, they should cause a significant disturbance in movement.

  20. Effect of joystick stiffness, movement speed and movement direction on joystick and upper limb kinematics when using hydraulic-actuation joystick controls in heavy vehicles.

    Science.gov (United States)

    Oliver, M; Tingley, M; Rogers, R; Rickards, J; Biden, E

    2007-06-01

    Despite the widespread use of hydraulic-actuation joysticks in mobile North American construction, mining and forestry vehicles, the biomechanical effects that joysticks have on their human operators has not been studied extensively. Using nine unskilled joystick operators and a laboratory mock-up with a commonly used North American heavy off-road equipment hydraulic-actuation joystick and operator seat, the purpose of this work was to quantify and compare the effects of three hydraulic-actuation joystick stiffnesses and two movement speeds on upper limb and joystick kinematics as one of the initial steps towards the development of a hydraulic-actuation joystick design protocol. In addition to providing a detailed description of the kinematics of a constrained occupational task, coupled with the corresponding effects of the task on operator upper limb kinematics, results from principal component analysis and ANOVA procedures revealed a number of differences in joystick and upper limb angle ranges and movement curve shapes resulting from the various joystick stiffness-speed combinations tested. For the most part, these joystick motion alterations were caused by small, insignificant changes in one or more upper limb joint angles. The two exceptions occurred for forward movements of the joystick; the fast speed - light stiffness condition movement pattern shape change was caused primarily by an alteration of the elbow flexion-extension movement pattern. Similarly, the fast speed - normal stiffness condition movement curve shape perturbation - was caused principally by a combination of significant movement curve shape alterations to elbow flexion-extension, external-internal shoulder rotation and flexion-extension of the shoulder. The finding that joystick stiffness and speed alterations affect joystick and upper limb kinematics minimally indicates that the joystick design approach of modelling the joystick and operator upper limb as a closed linkage system should be

  1. Leader Follower Formation Control of Ground Vehicles Using Dynamic Pixel Count and Inverse Perspective Mapping

    Directory of Open Access Journals (Sweden)

    S.M.Vaitheeswarana

    2014-10-01

    Full Text Available This paper deals with leader-follower formations of non-holonomic mobile robots, introducing a formation control strategy based on pixel counts using a commercial grade electro optics camera. Localization of the leader for motions along line of sight as well as the obliquely inclined directions are considered based on pixel variation of the images by referencing to two arbitrarily designated positions in the image frames. Based on an established relationship between the displacement of the camera movement along the viewing direction and the difference in pixel counts between reference points in the images, the range and the angle estimate between the follower camera and the leader is calculated. The Inverse Perspective Transform is used to account for non linear relationship between the height of vehicle in a forward facing image and its distance from the camera. The formulation is validated with experiments.

  2. Ground moving target geo-location from monocular camera mounted on a micro air vehicle

    Science.gov (United States)

    Guo, Li; Ang, Haisong; Zheng, Xiangming

    2011-08-01

    The usual approaches to unmanned air vehicle(UAV)-to-ground target geo-location impose some severe constraints to the system, such as stationary objects, accurate geo-reference terrain database, or ground plane assumption. Micro air vehicle(MAV) works with characteristics including low altitude flight, limited payload and onboard sensors' low accuracy. According to these characteristics, a method is developed to determine the location of ground moving target which imaged from the air using monocular camera equipped on MAV. This method eliminates the requirements for terrain database (elevation maps) and altimeters that can provide MAV's and target's altitude. Instead, the proposed method only requires MAV flight status provided by its inherent onboard navigation system which includes inertial measurement unit(IMU) and global position system(GPS). The key is to get accurate information on the altitude of the ground moving target. First, Optical flow method extracts background static feature points. Setting a local region around the target in the current image, The features which are on the same plane with the target in this region are extracted, and are retained as aided features. Then, inverse-velocity method calculates the location of these points by integrated with aircraft status. The altitude of object, which is calculated by using position information of these aided features, combining with aircraft status and image coordinates, geo-locate the target. Meanwhile, a framework with Bayesian estimator is employed to eliminate noise caused by camera, IMU and GPS. Firstly, an extended Kalman filter(EKF) provides a simultaneous localization and mapping solution for the estimation of aircraft states and aided features location which defines the moving target local environment. Secondly, an unscented transformation(UT) method determines the estimated mean and covariance of target location from aircraft states and aided features location, and then exports them for the

  3. Theoretical and Experimental Aerodynamic Analysis for High-Speed Ground Vehicles

    Science.gov (United States)

    Farhan, Ismail Haider

    Available from UMI in association with The British Library. This thesis investigates the air flow around a proposed geometry for a high-speed electromagnetic suspension (EMS) train. A numerical technique called the panel method has been applied to the representation of the body shape and the prediction of the potential flow and pressure distribution. Two computer programmes have been written, one for a single vehicle in the presence of the ground at different yaw angles, and the second for two-body problems, e.g. a train passing a railway station or a train passing the central part of another train. Two methods based on the momentum integral equations for three-dimensional boundary layer flow have been developed for use with the potential flow analysis; these predict the development of the three-dimensional turbulent boundary layer on the central section (for the analysis of crosswind conditions) and on the nose of the train. Extensive wind tunnel tests were performed on four models of the high-speed train to measure aerodynamic forces, moments and pressures to establish ground effect characteristics. Flow visualisation showed that the wake vortices were stronger and larger in the presence of a ground. At small yaw angles ground clearance had little effect, but as yaw increased, larger ground clearance led to substantial increase in lift and side force coefficients. The tests also identified the differences between a moving and a fixed ground plane. Data showed that the type of ground simulation was significant only in the separated region. A comparison of the results predicted using potential flow theory for an EMS train model and the corresponding results from wind tunnel tests indicated good agreement in regions where the flow is attached. The turbulent boundary layer calculations for the train in a crosswind condition showed that the momentum thickness along the crosswind surface distance co-ordinate increased slowly at the beginning of the development of the

  4. Method and appartus for converting static in-ground vehicle scales into weigh-in-motion systems

    Energy Technology Data Exchange (ETDEWEB)

    Muhs, Jeffrey D. (Lenior City, TN); Scudiere, Matthew B. (Oak Ridge, TN); Jordan, John K. (Oak Ridge, TN)

    2002-01-01

    An apparatus and method for converting in-ground static weighing scales for vehicles to weigh-in-motion systems. The apparatus upon conversion includes the existing in-ground static scale, peripheral switches and an electronic module for automatic computation of the weight. By monitoring the velocity, tire position, axle spacing, and real time output from existing static scales as a vehicle drives over the scales, the system determines when an axle of a vehicle is on the scale at a given time, monitors the combined weight output from any given axle combination on the scale(s) at any given time, and from these measurements automatically computes the weight of each individual axle and gross vehicle weight by an integration, integration approximation, and/or signal averaging technique.

  5. Simulation of Ground Winds Time Series for the NASA Crew Launch Vehicle (CLV)

    Science.gov (United States)

    Adelfang, Stanley I.

    2008-01-01

    Simulation of wind time series based on power spectrum density (PSD) and spectral coherence models for ground wind turbulence is described. The wind models, originally developed for the Shuttle program, are based on wind measurements at the NASA 150-m meteorological tower at Cape Canaveral, FL. The current application is for the design and/or protection of the CLV from wind effects during on-pad exposure during periods from as long as days prior to launch, to seconds or minutes just prior to launch and seconds after launch. The evaluation of vehicle response to wind will influence the design and operation of constraint systems for support of the on-pad vehicle. Longitudinal and lateral wind component time series are simulated at critical vehicle locations. The PSD model for wind turbulence is a function of mean wind speed, elevation and temporal frequency. Integration of the PSD equation over a selected frequency range yields the variance of the time series to be simulated. The square root of the PSD defines a low-pass filter that is applied to adjust the components of the Fast Fourier Transform (FFT) of Gaussian white noise. The first simulated time series near the top of the launch vehicle is the inverse transform of the adjusted FFT. Simulation of the wind component time series at the nearest adjacent location (and all other succeeding next nearest locations) is based on a model for the coherence between winds at two locations as a function of frequency and separation distance, where the adjacent locations are separated vertically and/or horizontally. The coherence function is used to calculate a coherence weighted FFT of the wind at the next nearest location, given the FFT of the simulated time series at the previous location and the essentially incoherent FFT of the wind at the selected location derived a priori from the PSD model. The simulated time series at each adjacent location is the inverse Fourier transform of the coherence weighted FFT. For a selected

  6. Advances in ground vehicle-based LADAR for standoff detection of road-side hazards

    Science.gov (United States)

    Hollinger, Jim; Vessey, Alyssa; Close, Ryan; Middleton, Seth; Williams, Kathryn; Rupp, Ronald; Nguyen, Son

    2016-05-01

    Commercial sensor technology has the potential to bring cost-effective sensors to a number of U.S. Army applications. By using sensors built for a widespread of commercial application, such as the automotive market, the Army can decrease costs of future systems while increasing overall capabilities. Additional sensors operating in alternate and orthogonal modalities can also be leveraged to gain a broader spectrum measurement of the environment. Leveraging multiple phenomenologies can reduce false alarms and make detection algorithms more robust to varied concealment materials. In this paper, this approach is applied to the detection of roadside hazards partially concealed by light-to-medium vegetation. This paper will present advances in detection algorithms using a ground vehicle-based commercial LADAR system. The benefits of augmenting a LADAR with millimeter-wave automotive radar and results from relevant data sets are also discussed.

  7. Research of Obstacle Recognition Technology in Cross-Country Environment for Unmanned Ground Vehicle

    Directory of Open Access Journals (Sweden)

    Zhao Yibing

    2014-01-01

    Full Text Available Being aimed at the obstacle recognition problem of unmanned ground vehicles in cross-country environment, this paper uses monocular vision sensor to realize the obstacle recognition of typical obstacles. Firstly, median filtering algorithm is applied during image preprocessing that can eliminate the noise. Secondly, image segmentation method based on the Fisher criterion function is used to segment the region of interest. Then, morphological method is used to process the segmented image, which is preparing for the subsequent analysis. The next step is to extract the color feature S, color feature a and edge feature “verticality” of image are extracted based on the HSI color space, the Lab color space, and two value images. Finally multifeature fusion algorithm based on Bayes classification theory is used for obstacle recognition. Test results show that the algorithm has good robustness and accuracy.

  8. Unmanned Ground Vehicle Navigation Using Brain Emotional Learning Based Intelligent Controller (BELBIC

    Directory of Open Access Journals (Sweden)

    Alvaro Vargas-Clara

    2015-02-01

    Full Text Available In this paper, we implement a novel control strategy for navigation of an Unmanned Ground Vehicle (UGV. This strategy consisted in the development and implementation of the Brain Emotional Learning Based Intelligent Controller (BELBIC for heading, and path control of a UGV. BELBIC is an intelligent controller based on the model of the Amygdala-Orbitofrontal system of mammalians, which is a region in the brain known to be responsible for emotional learning process. Simulation of this controller for the cases of heading, and path control showed to be very robust and adaptable to dynamical changes in the plant. A comparison between BELBIC and a traditional PID control is presented to illustrate the performance of this control strategy.

  9. Results of the second (1996) experiment to lead cranes on migration behind a motorized ground vehicle

    Science.gov (United States)

    Ellis, D.H.; Clauss, B.; Watanabe, T.; Mykut, R.C.; Shawkey, M.; Mummert, D.P.; Sprague, D.T.; Ellis, Catherine H.; Trahan, F.B.

    2001-01-01

    Fourteen greater sandhill cranes (Grus canadensis tabida) were trained to follow a specially-equipped truck and 12 were led along a ca 620-km route from Camp Navajo in northern Arizona to the Buenos Aires National Wildlife Refuge near the Arizona/Mexico border. Ten survived the trek, 380 km of which were flown, although only a few cranes flew every stage of the route. Major problems during the migration were powerline collisions (ca 15, 2 fatal) and overheating (when air temperatures exceeded ca 25 C). The tenacity of the cranes in following both in 1995 and 1996 under unfavorable conditions (e.g., poor light, extreme dust, or heat) demonstrated that cranes could be led over long distances by motorized vehicles on the ground.

  10. Computational architecture for image processing on a small unmanned ground vehicle

    Science.gov (United States)

    Ho, Sean; Nguyen, Hung

    2010-08-01

    Man-portable Unmanned Ground Vehicles (UGVs) have been fielded on the battlefield with limited computing power. This limitation constrains their use primarily to teleoperation control mode for clearing areas and bomb defusing. In order to extend their capability to include the reconnaissance and surveillance missions of dismounted soldiers, a separate processing payload is desired. This paper presents a processing architecture and the design details on the payload module that enables the PackBot to perform sophisticated, real-time image processing algorithms using data collected from its onboard imaging sensors including LADAR, IMU, visible, IR, stereo, and the Ladybug spherical cameras. The entire payload is constructed from currently available Commercial off-the-shelf (COTS) components including an Intel multi-core CPU and a Nvidia GPU. The result of this work enables a small UGV to perform computationally expensive image processing tasks that once were only feasible on a large workstation.

  11. Extraction of primitive representation from captured human movements and measured ground reaction force to generate physically consistent imitated behaviors.

    Science.gov (United States)

    Ariki, Yuka; Hyon, Sang-Ho; Morimoto, Jun

    2013-04-01

    In this paper, we propose an imitation learning framework to generate physically consistent behaviors by estimating the ground reaction force from captured human behaviors. In the proposed framework, we first extract behavioral primitives, which are represented by linear dynamical models, from captured human movements and measured ground reaction force by using the Gaussian mixture of linear dynamical models. Therefore, our method has small dependence on classification criteria defined by an experimenter. By switching primitives with different combinations while estimating the ground reaction force, different physically consistent behaviors can be generated. We apply the proposed method to a four-link robot model to generate squat motion sequences. The four-link robot model successfully generated the squat movements by using our imitation learning framework. To show generalization performance, we also apply the proposed method to robot models that have different torso weights and lengths from a human demonstrator and evaluate the control performances. In addition, we show that the robot model is able to recognize and imitate demonstrator movements even when the observed movements are deviated from the movements that are used to construct the primitives. For further evaluation in higher-dimensional state space, we apply the proposed method to a seven-link robot model. The seven-link robot model was able to generate squat-and-sway motions by using the proposed framework.

  12. NASA Planning for Orion Multi-Purpose Crew Vehicle Ground Operations

    Science.gov (United States)

    Letchworth, Gary; Schlierf, Roland

    2011-01-01

    tools included Kaizen/Lean events, mockups and human factors analysis. The majority of products developed by this team are applicable as KSC prepares 21st Century Ground Systems for the Orion Multi-Purpose Crew Vehicle and Space Launch System.

  13. Phobetor: Princeton University's entry in the 2010 Intelligent Ground Vehicle Competition

    Science.gov (United States)

    Newman, Joshua; Zhu, Han; Partridge, Brenton A.; Szocs, Laszlo J.; Abiola, Solomon O.; Corey, Ryan M.; Suresh, Srinivasan A.; Yu, Derrick D.

    2011-01-01

    In this paper we present Phobetor, an autonomous outdoor vehicle originally designed for the 2010 Intelligent Ground Vehicle Competition (IGVC). We describe new vision and navigation systems that have yielded 3x increase in obstacle detection speed using parallel processing and robust lane detection results. Phobetor also uses probabilistic local mapping to learn about its environment and Anytime Dynamic A* (AD*) to plan paths to reach its goals. Our vision software is based on color stereo images and uses robust, RANSAC-based algorithms while running fast enough to support real-time autonomous navigation on uneven terrain. AD* allows Phobetor to respond quickly in all situations even when optimal planning takes more time, and uses incremental replanning to increase search efficiency. We augment the cost map of the environment with a potential field which addresses the problem of "wall-hugging" and smoothes generated paths to allow safe and reliable path-following. In summary, we present innovations on Phobetor that are relevant to real-world robotics platforms in uncertain environments.

  14. Wind Tunnel Investigation of Ground Wind Loads for Ares Launch Vehicle

    Science.gov (United States)

    Keller, Donald F.; Ivanco, Thomas G.

    2010-01-01

    A three year program was conducted at the NASA Langley Research Center (LaRC) Aeroelasticity Branch (AB) and Transonic Dynamics Tunnel (TDT) with the primary objective to acquire scaled steady and dynamic ground-wind loads (GWL) wind-tunnel data for rollout, on-pad stay, and on-pad launch configurations for the Ares I-X Flight Test Vehicle (FTV). The experimental effort was conducted to obtain an understanding of the coupling of aerodynamic and structural characteristics that can result in large sustained wind-induced oscillations (WIO) on such a tall and slender launch vehicle and to generate a unique database for development and evaluation of analytical methods for predicting steady and dynamic GWL, especially those caused by vortex shedding, and resulting in significant WIO. This paper summarizes the wind-tunnel test program that employed two dynamically-aeroelastically scaled GWL models based on the Ares I-X Flight Test Vehicle. The first model tested, the GWL Checkout Model (CM), was a relatively simple model with a secondary objective of restoration and development of processes and methods for design, fabrication, testing, and data analysis of a representative ground wind loads model. In addition, parametric variations in surface roughness, Reynolds number, and protuberances (on/off) were investigated to determine effects on GWL characteristics. The second windtunnel model, the Ares I-X GWL Model, was significantly more complex and representative of the Ares I-X FTV and included the addition of simplified rigid geometrically-scaled models of the Kennedy Space Center (KSC) Mobile Launch Platform (MLP) and Launch Complex 39B primary structures. Steady and dynamic base bending moment as well as model response and steady and unsteady pressure data was acquired during the testing of both models. During wind-tunnel testing of each model, flow conditions (speed and azimuth) where significant WIO occurred, were identified and thoroughly investigated. Scaled data from

  15. The Role of Model Fidelity in Model Predictive Control Based Hazard Avoidance in Unmanned Ground Vehicles Using Lidar Sensors

    Science.gov (United States)

    2013-03-08

    for Mobile Robot Obstacle Avoidance", Proceedings of IEEE International Conference on Mechatronics and Automation, Harbin, China, pp. 2784-2788. [10...military and commercial applications. Although earlier UGV platforms were typically exclusively small ground robots , recent efforts started...targeting passenger vehicle and larger size platforms. Due to their size and speed, these platforms have significantly different dynamics than small robots

  16. A Multidisciplinary Optimization Framework for Occupant Centric Ground Vehicle System Design. Part 1: Vehicle Design Parameter Screening Study

    Science.gov (United States)

    2014-08-01

    measured, such as at the pelvis location. Tibia vertical forces and lower lumbar spine forces were also measured and used as the responses to an...are four pillars mounted to the roof and the crew floor along the center line of the crew cabin to increase the vertical stiffness of the cabin...components of the simplified vehicle structure used for this study, including seat mounting options, and vehicle interior arrangements . In this study

  17. Analysis of the Effects of Vitiates on Surface Heat Flux in Ground Tests of Hypersonic Vehicles

    Science.gov (United States)

    Cuda, Vincent; Gaffney, Richard L

    2008-01-01

    To achieve the high enthalpy conditions associated with hypersonic flight, many ground test facilities burn fuel in the air upstream of the test chamber. Unfortunately, the products of combustion contaminate the test gas and alter gas properties and the heat fluxes associated with aerodynamic heating. The difference in the heating rates between clean air and a vitiated test medium needs to be understood so that the thermal management system for hypersonic vehicles can be properly designed. This is particularly important for advanced hypersonic vehicle concepts powered by air-breathing propulsion systems that couple cooling requirements, fuel flow rates, and combustor performance by flowing fuel through sub-surface cooling passages to cool engine components and preheat the fuel prior to combustion. An analytical investigation was performed comparing clean air to a gas vitiated with methane/oxygen combustion products to determine if variations in gas properties contributed to changes in predicted heat flux. This investigation started with simple relationships, evolved into writing an engineering-level code, and ended with running a series of CFD cases. It was noted that it is not possible to simultaneously match all of the gas properties between clean and vitiated test gases. A study was then conducted selecting various combinations of freestream properties for a vitiated test gas that matched clean air values to determine which combination of parameters affected the computed heat transfer the least. The best combination of properties to match was the free-stream total sensible enthalpy, dynamic pressure, and either the velocity or Mach number. This combination yielded only a 2% difference in heating. Other combinations showed departures of up to 10% in the heat flux estimate.

  18. A novel lidar-driven two-level approach for real-time unmanned ground vehicle navigation and map building

    Science.gov (United States)

    Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Cui, Bo; Zhang, Xingzhong

    2013-12-01

    In this paper, a two-level LIDAR-driven hybrid approach is proposed for real-time unmanned ground vehicle navigation and map building. Top level is newly designed enhanced Voronoi Diagram (EVD) method to plan a global trajectory for an unmanned vehicle. Bottom level employs Vector Field Histogram (VFH) algorithm based on the LIDAR sensor information to locally guide the vehicle under complicated workspace, in which it autonomously traverses from one node to another within the planned EDV with obstacle avoidance. To find the least-cost path within the EDV, novel distance and angle based search heuristic algorithms are developed, in which the cost of an edge is the risk of traversing the edge. An EVD is first constructed based on the environment, which is utilized to generate the initial global trajectory with obstacle avoidance. The VFH algorithm is employed to guide the vehicle to follow the path locally. Its effectiveness and efficiency of real-time navigation and map building for unmanned vehicles have been successfully validated by simulation studies and experiments. The proposed approach is successfully experimented on an actual unmanned vehicle to demonstrate the real-time navigation and map building performance of the proposed method. The vehicle appears to follow a very stable path while navigating through various obstacles.

  19. A large 3D physical model: a tool to investigate the consequences of ground movements on the surface structures

    Directory of Open Access Journals (Sweden)

    Hor B.

    2010-06-01

    Full Text Available Soil subsidence of various extend and amplitude can result from the failure of underground cavities, whether natural (for example caused by the dissolution of rocks by underground water flow or man-made (such as mines. The impact of the ground movements on existing structures (houses, buildings, bridges, etc… is generally dramatic. A large small-scale physical model is developed in order to improve our understanding of the behaviour of the building subjected to ground subsidence or the collapse of cavities. We focus on the soil-structure interaction and on the mitigation techniques allowing reducing the vulnerability of the buildings (structures.

  20. Emission rates of regulated pollutants from current technology heavy-duty diesel and natural gas goods movement vehicles.

    Science.gov (United States)

    Thiruvengadam, Arvind; Besch, Marc C; Thiruvengadam, Pragalath; Pradhan, Saroj; Carder, Daniel; Kappanna, Hemanth; Gautam, Mridul; Oshinuga, Adewale; Hogo, Henry; Miyasato, Matt

    2015-04-21

    Chassis dynamometer emissions testing of 11 heavy-duty goods movement vehicles, including diesel, natural gas, and dual-fuel technology, compliant with US-EPA 2010 emissions standard were conducted. Results of the study show that three-way catalyst (TWC) equipped stoichiometric natural gas vehicles emit 96% lower NOx emissions as compared to selective catalytic reduction (SCR) equipped diesel vehicles. Characteristics of drayage truck vocation, represented by the near-dock and local drayage driving cycles, were linked to high NOx emissions from diesel vehicles equipped with a SCR. Exhaust gas temperatures below 250 °C, for more than 95% duration of the local and near-dock driving cycles, resulted in minimal SCR activity. The low percentage of activity SCR over the local and near-dock cycles contributed to a brake-specific NOx emissions that were 5-7 times higher than in-use certification limit. The study also illustrated the differences between emissions rate measured from chassis dynamometer testing and prediction from the EMFAC model. The results of the study emphasize the need for model inputs relative to SCR performance as a function of driving cycle and engine operation characteristics.

  1. Development of a vehicle capable of traveling on soft ground. Its application to investigation, survey and management of soft ground; Nanjakuchi sokosha no kaihatsu. Nanjakuchi deno chosa sokuryo kanri eno tekiyo

    Energy Technology Data Exchange (ETDEWEB)

    Kimura, R.; Yano, H. [Ministry of Construction, Tokyo (Japan)

    1998-07-25

    An experimental vehicle is built and tested, which utilizes hovercraft technology, capable of travelling on a soft ground surface and therefore usable in reclamation work. When the ground is soft and viscous, merely increasing the vehicle driving force will futilely add to the vehicle weight, and this causes an adverse effect with the vehicle sinking deeper into the ground and the ground presenting higher resistance. In an effort to decrease the weight and resistance, a vehicle is built, capable of levitating itself by use of hovercraft technology and provided with retractable tracks and wheels for travelling. The targets are mostly attained in the test run, as far as speeds (5.5km/h at the maximum across a muddy ground section) and trekking across ground including an undulated surface are concerned, although the levitation level is found to be somewhat lower than the design value. Operating across a hard ground surface with the body elevated, the vehicle exhibits a higher performance in speed and drivability when the hovercraft effect is utilized. When travelling on the hovercraft effect, the frictional resistance of the skirt decreases as the vehicle moves from a hard surface section into a soft surface section, and this allows the vehicle to run more smoothly at higher speeds. 1 refs., 6 figs.

  2. A framework for the natural-language-perception-based creative control of unmanned ground vehicles

    Science.gov (United States)

    Ghaffari, Masoud; Liao, Xiaoqun; Hall, Ernest L.

    2004-09-01

    Mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. That is why mobile robotics problems are complex with many unanswered questions. To reach a high degree of autonomous operation, a new level of learning is required. On the one hand, promising learning theories such as the adaptive critic and creative control have been proposed, while on other hand the human brain"s processing ability has amazed and inspired researchers in the area of Unmanned Ground Vehicles but has been difficult to emulate in practice. A new direction in the fuzzy theory tries to develop a theory to deal with the perceptions conveyed by the natural language. This paper tries to combine these two fields and present a framework for autonomous robot navigation. The proposed creative controller like the adaptive critic controller has information stored in a dynamic database (DB), plus a dynamic task control center (TCC) that functions as a command center to decompose tasks into sub-tasks with different dynamic models and multi-criteria functions. The TCC module utilizes computational theory of perceptions to deal with the high levels of task planning. The authors are currently trying to implement the model on a real mobile robot and the preliminary results have been described in this paper.

  3. Spatial and temporal distribution of vertical ground movements at Mt. Vesuvius in the period 1973-2009

    OpenAIRE

    Folco Pingue; Milena Bottiglieri; Cataldo Godano; Francesco Obrizzo; Umberto Tammaro; Teodoro Esposito; Claudio Serio

    2013-01-01

    Since the early ’70s vertical ground movements at Mount Vesuvius area have been investigated and monitored by the Osservatorio Vesuviano (Isti-tuto Nazionale di Geofisica Vulcanologia - Osservatorio Vesuviano since 2001). This monitoring began with the installation of a high-precision leveling line in the region at medium-high elevations on the volcano. The deformation pattern and expected strain field assessment methods in the volcanic structure induced by inner sources has demanded in subse...

  4. Suborbital Reusable Launch Vehicles as an Opportunity to Consolidate and Calibrate Ground Based and Satellite Instruments

    Science.gov (United States)

    Papadopoulos, K.

    2014-12-01

    XCOR Aerospace, a commercial space company, is planning to provide frequent, low cost access to near-Earth space on the Lynx suborbital Reusable Launch Vehicle (sRLV). Measurements in the external vacuum environment can be made and can launch from most runways on a limited lead time. Lynx can operate as a platform to perform suborbital in situ measurements and remote sensing to supplement models and simulations with new data points. These measurements can serve as a quantitative link to existing instruments and be used as a basis to calibrate detectors on spacecraft. Easier access to suborbital data can improve the longevity and cohesiveness of spacecraft and ground-based resources. A study of how these measurements can be made on Lynx sRLV will be presented. At the boundary between terrestrial and space weather, measurements from instruments on Lynx can help develop algorithms to optimize the consolidation of ground and satellite based data as well as assimilate global models with new data points. For example, current tides and the equatorial electrojet, essential to understanding the Thermosphere-Ionosphere system, can be measured in situ frequently and on short notice. Furthermore, a negative-ion spectrometer and a Faraday cup, can take measurements of the D-region ion composition. A differential GPS receiver can infer the spatial gradient of ionospheric electron density. Instruments and optics on spacecraft degrade over time, leading to calibration drift. Lynx can be a cost effective platform for deploying a reference instrument to calibrate satellites with a frequent and fast turnaround and a successful return of the instrument. A calibrated reference instrument on Lynx can make collocated observations as another instrument and corrections are made for the latter, thus ensuring data consistency and mission longevity. Aboard a sRLV, atmospheric conditions that distort remotely sensed data (ground and spacecraft based) can be measured in situ. Moreover, an

  5. Spatial and temporal distribution of vertical ground movements at Mt. Vesuvius in the period 1973-2009

    Directory of Open Access Journals (Sweden)

    Folco Pingue

    2013-11-01

    Full Text Available Since the early ’70s vertical ground movements at Mount Vesuvius area have been investigated and monitored by the Osservatorio Vesuviano (Isti-tuto Nazionale di Geofisica Vulcanologia - Osservatorio Vesuviano since 2001. This monitoring began with the installation of a high-precision leveling line in the region at medium-high elevations on the volcano. The deformation pattern and expected strain field assessment methods in the volcanic structure induced by inner sources has demanded in subsequent years the expansion of the leveling network up to cover the whole volcanic area, enclosing part of leveling lines of other institutions. As a result of this expansion, the Mt. Vesuvius Area Leveling Network (VALN has today reached a length of about 270 km and consists of 359 benchmarks. It is configured in 21 circuits and is connected, westward, to the Campi Flegrei leveling network and, northward, to the Campania Plain leveling network. The data collected have been carefully re-analyzed for random and systematic errors and for error propagation along the leveling lines to identify the areas affected by significant ground movements. For each survey, the data were rigorously adjusted and vertical ground movements were evaluated by differentiating the heights calculated by the various measurements conducted by the Osservatorio Vesuviano from 1973 to 2009.

  6. Technical support for GEIS: radioactive waste isolation in geologic formations. Volume 21. Ground water movement and nuclide transport

    Energy Technology Data Exchange (ETDEWEB)

    None

    1978-04-01

    This volume, TM-36/21 Ground Water Movement and Nuclide Transport, is one of a 23-volume series, ''Technical Support for GEIS: Radioactive Waste Isolation in Geologic Formations, Y/OWI/TM-36'' which supplements a ''Contribution to Draft Generic Environmental Impact Statement on Commercial Waste Management: Radioactive Waste Isolation in Geologic Formations, Y/OWI/TM-44.'' The series provides a more complete technical basis for the preconceptual designs, resource requirements, and environmental source terms associated with isolating commercial LWR wastes in underground repositories in salt, granite, shale and basalt. Wastes are considered from three fuel cycles: uranium and plutonium recycling of spent fuel and uranium-only recycling. The studies presented in this volume consider the effect of the construction of the repository and the consequent heat generation on the ground water movement. Additionally, the source concentrations and leach rates of selected radionuclides were studied in relation to the estimated ground water inflow rates. Studies were also performed to evaluate the long term migration of radionuclides as affected by the ground water flow. In all these studies, three geologic environments are considered; granite, shale and basalt.

  7. Movement and Age of Ground Water in the Western Part of the Mojave Desert, Southern California, USA

    Science.gov (United States)

    Izbicki, John A.; Michel, Robert L.

    2004-01-01

    Tritium and carbon-14 data in water from wells in the Mojave River and the Morongo ground-water basins in the western part of the Mojave Desert show recent recharge focused in the floodplain aquifer along the Mojave River. Older ground water was present in parts of the regional aquifer that surround and underlie the floodplain aquifer. Movement of water between the floodplain and the regional aquifers occurs near on the upgradient side of faults as water from the regional aquifer discharges to the floodplain aquifer and on the downgradient side of the faults where water from the floodplain aquifer recharges the regional aquifer. On the basis of carbon-14 ages, corrected for mineralogic reactions with aquifer materials, water from some wells was recharged more than 20,000 years ago. Geochemical data show ground-water recharge has gradually decreased as the climate changed since that time.

  8. Tracking of Vehicle Movement on a Parking Lot Based on Video Detection

    Directory of Open Access Journals (Sweden)

    Ján HALGAŠ

    2014-06-01

    Full Text Available This article deals with topic of transport vehicles identification for dynamic and static transport based on video detection. It explains some of the technologies and approaches necessary for processing of specific image information (transport situation. The paper also describes a design of algorithm for vehicle detection on parking lot and consecutive record of trajectory into virtual environment. It shows a new approach to moving object detection (vehicles, people, and handlers on an enclosed area with emphasis on secure parking. The created application enables automatic identification of trajectory of specific objects moving within the parking area. The application was created in program language C++ with using an open source library OpenCV.

  9. Absolute High-Precision Localisation of an Unmanned Ground Vehicle by Using Real-Time Aerial Video Imagery for Geo-referenced Orthophoto Registration

    Science.gov (United States)

    Kuhnert, Lars; Ax, Markus; Langer, Matthias; Nguyen van, Duong; Kuhnert, Klaus-Dieter

    This paper describes an absolute localisation method for an unmanned ground vehicle (UGV) if GPS is unavailable for the vehicle. The basic idea is to combine an unmanned aerial vehicle (UAV) to the ground vehicle and use it as an external sensor platform to achieve an absolute localisation of the robotic team. Beside the discussion of the rather naive method directly using the GPS position of the aerial robot to deduce the ground robot's position the main focus of this paper lies on the indirect usage of the telemetry data of the aerial robot combined with live video images of an onboard camera to realise a registration of local video images with apriori registered orthophotos. This yields to a precise driftless absolute localisation of the unmanned ground vehicle. Experiments with our robotic team (AMOR and PSYCHE) successfully verify this approach.

  10. Real-time Accurate Surface Reconstruction Pipeline for Vision Guided Planetary Exploration Using Unmanned Ground and Aerial Vehicles

    Science.gov (United States)

    Almeida, Eduardo DeBrito

    2012-01-01

    This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.

  11. Vehicle-mounted ground penetrating radar (Mine Stalker III) field evaluation in Angola

    Science.gov (United States)

    Laudato, Stephen; Hart, Kerry; Nevard, Michael; Lauziere, Steven; Grant, Shaun

    2014-05-01

    The U.S. Department of Defense Humanitarian Demining Research and Development (HD R&D) Program, Non-Intrusive Inspection Technology (NIITEK), Inc. and The HALO Trust have over the last decade funded, developed and tested various prototype vehicle mounted ground penetrating radar (GPR) systems named the Mine Stalker. The HD R&D Program and NIITEK developed the Mine Stalker to detect low metal anti-tank (LM-AT) mines in roads. The country of Angola is severely affected by LM-AT mines in and off road, some of which are buried beyond the effective range of detection sensors current used in country. The threat from LM-AT mines such as the South African Number 8 (No. 8) and the Chinese Type 72 (72AT) still persist from Angola's 30 years of civil war. These LM-AT threats are undetectable at depths greater than 5 to 10 centimeters using metal detection technology. Clearing commerce routes are a critical requirement before Angola can rebuild its infrastructure and improve safety conditions for the local populace. The Halo Trust, a non-governmental demining organization (NGO) focused on demining and clearance of unexploded ordnance (UXO), has partnered with the HD R&D Program to conduct an operational field evaluation (OFE) of the Mine Stalker III (MS3) in Angola. Preliminary testing and training efforts yielded encouraging results. This paper presents a review of the data collected, testing results, system limitations and deficiencies while operating in a real world environment. Our goal is to demonstrate and validate this technology in live minefield environments, and to collect data to prompt future developments to the system.

  12. Robust Stability and Control of Multi-Body Ground Vehicles with Uncertain Dynamics and Failures

    Science.gov (United States)

    2010-01-01

    Modeling for Heavy Articulated Tractor Semi- Trailer Vehicle 2.2.3.1 Rollover Index (RI) for A single Unit Vehicle 2.2.3.2...increasing complexity to capture Roll Over phenomenon and Other Performance and Ride Quality requirements. In this connection, first simple ` Bicycle ...methodology to a specific heavy articulated vehicle with tractor semi- trailer shows that a single active anti-roll bar system at the trailer unit gives

  13. A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles

    Science.gov (United States)

    Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

    2016-11-01

    This paper investigates the level of model fidelity needed in order for a model predictive control (MPC)-based obstacle avoidance algorithm to be able to safely and quickly avoid obstacles even when the vehicle is close to its dynamic limits. The context of this work is large autonomous ground vehicles that manoeuvre at high speed within unknown, unstructured, flat environments and have significant vehicle dynamics-related constraints. Five different representations of vehicle dynamics models are considered: four variations of the two degrees-of-freedom (DoF) representation as lower fidelity models and a fourteen DoF representation with combined-slip Magic Formula tyre model as a higher fidelity model. It is concluded that the two DoF representation that accounts for tyre nonlinearities and longitudinal load transfer is necessary for the MPC-based obstacle avoidance algorithm in order to operate the vehicle at its limits within an environment that includes large obstacles. For less challenging environments, however, the two DoF representation with linear tyre model and constant axle loads is sufficient.

  14. An adaptive finite element method for computing emergency manoeuvres of ground vehicles in complex driving scenarios

    NARCIS (Netherlands)

    Kanarachos, S.; Alirezaei, M.

    2015-01-01

    In emergency cases a vehicle has to avoid colliding with one or more obstacles, stay within road boundaries, satisfy acceleration and jerk limits, fulfil stability requirements and respect vehicle system dynamics limitations. The real time solution of such a problem is difficult and as a result vari

  15. Effect of stiffness and movement speed on selected dynamic torque characteristics of hydraulic-actuation joystick controls for heavy vehicles.

    Science.gov (United States)

    Oliver, Michele; Rogers, Robert; Rickards, Jeremy; Tingley, Maureen; Biden, Edmund

    2006-02-22

    The purpose of this work was to quantify the effects of joystick stiffness and movement speed on the dynamic torque characteristics of hydraulic-actuation joystick controls, as found in off-road vehicles, as one of the initial steps towards the development of a joystick design protocol. Using a previously developed mathematical model in which a hydraulic-actuation joystick is assumed to rotate about two axes where the rotation origin is a universal joint, the dynamic torque characteristics incurred by an operator were predicted. Utilizing a laboratory mock-up of an excavator cab environment, three actuation torque characteristics (peak torque, angular impulse and deceleration at the hard endpoint) were quantified for nine unskilled joystick operators during the use of a commonly used North American hydraulic-actuation joystick. The six different experimental conditions included combinations of three joystick stiffnesses and two movement speeds. The highest instantaneous input torque over the course of the joystick movement (not including the hard endpoint) was evaluated using the peak torque value. Angular impulse provided an indication of the sustained exposure to force. The third indicator, deceleration at the hard endpoint, was included to provide a description of impact loading on the hand as the joystick came to a sudden stop. The most important result of this work is that the dynamic torque characteristics incurred during hydraulic-actuation joystick use are substantial. While the peak torque values were not very different between the fast and slow motion conditions, the high decelerations even for slow movements observed at maximum excursion of the joystick indicate that the dynamics do matter. On the basis of deceleration at the hard endpoint and peak torque, the joystick movements that require the highest values for a combination of torque variables are the side-to-side ones. This suggests that less stiff balance and return springs should be considered for

  16. Engineering geology of underground movements

    Energy Technology Data Exchange (ETDEWEB)

    Bell, F.G.; Culshaw, M.G.; Cripps, J.C.; Lovell, M.A. (eds.) (Teeside Polytechnic, Middlesbrough (UK). Dept. of Civil Engineering)

    1988-01-01

    39 papers are presented under the following session headings: introduction; ground movements due to tunnelling; ground movements due to deep excavations; ground movements and construction operations; ground movements due to abandoned mine workings; ground movements due to longwall mining; abandoned limestone mines in the West Midlands; investigation of ground movements; ground movements due to the abstraction or injection of fluids; and induced seismicity. Each session is followed by a discussion.

  17. 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.

  18. Movement of coliform bacteria and nutrients in ground water flowing through basalt and sand aquifers.

    Science.gov (United States)

    Entry, J A; Farmer, N

    2001-01-01

    Large-scale deposition of animal manure can result in contamination of surface and ground water and in potential transfer of disease-causing enteric bacteria to animals or humans. We measured total coliform bacteria (TC), fecal coliform bacteria (FC), NO3, NH4, total P, and PO4 in ground water flowing from basalt and sand aquifers, in wells into basalt and sand aquifers, in irrigation water, and in river water. Samples were collected monthly for 1 yr. Total coliform and FC numbers were always higher in irrigation water than in ground water, indicating that soil and sediment filtered most of these bacteria before they entered the aquifers. Total coliform and FC numbers in ground water were generally higher in the faster flowing basalt aquifer than in the sand aquifer, indicating that the slower flow and finer grain size may filter more TC and FC bacteria from water. At least one coliform bacterium/100 mL of water was found in ground water from both basalt and sand aquifers, indicating that ground water pumped from these aquifers is not necessarily safe for human consumption according to the American Public Health Association and the USEPA. The NO3 concentrations were usually higher in water flowing from the sand aquifer than in water flowing from the basalt aquifer or in perched water tables in the basalt aquifer. The PO4 concentrations were usually higher in water flowing from the basalt aquifer than in water flowing from the sand aquifer. The main concern is fecal contamination of these aquifers and health consequences that may arise from human consumption.

  19. Hand-movement-based in-vehicle driver/front-seat passenger discrimination for centre console controls

    Science.gov (United States)

    Herrmann, Enrico; Makrushin, Andrey; Dittmann, Jana; Vielhauer, Claus; Langnickel, Mirko; Kraetzer, Christian

    2010-01-01

    Successful user discrimination in a vehicle environment may yield a reduction of the number of switches, thus significantly reducing costs while increasing user convenience. The personalization of individual controls permits conditional passenger enable/driver disable and vice versa options which may yield safety improvement. The authors propose a prototypic optical sensing system based on hand movement segmentation in near-infrared image sequences implemented in an Audi A6 Avant. Analyzing the number of movements in special regions, the system recognizes the direction of the forearm and hand motion and decides whether driver or front-seat passenger touch a control. The experimental evaluation is performed independently for uniformly and non-uniformly illuminated video data as well as for the complete video data set which includes both subsets. The general test results in error rates of up to 14.41% FPR / 16.82% FNR and 17.61% FPR / 14.77% FNR for driver and passenger respectively. Finally, the authors discuss the causes of the most frequently occurring errors as well as the prospects and limitations of optical sensing for user discrimination in passenger compartments.

  20. Demonstration of Biodiesel in Non-deployed Ground Tactical Vehicles/Equipment

    Science.gov (United States)

    2010-06-01

    tactical vehicles in their March 2006 Position Statement – Stability of the biodiesel – Accelerated deterioration in high temperature environments...Concerns – Stability of the biodiesel – All sites – Accelerated deterioration in high temperature environments – Moody AFB (hot/humid) and MCAGCC 29... Palms (hot/dry) – Vehicle operation and fuel properties in low temperatures – NSWC Crane – Water affinity and microbial degradation – All sites

  1. A Conformal, Fully-Conservative Approach for Predicting Blast Effects on Ground Vehicles

    Science.gov (United States)

    2014-02-09

    and hull. The decoupled inviscid CFD simulations (i.e. assuming a rigid vehicle) were used to examine the pressure variation and shock wave...interaction with the vehicle. Silver [8] used a commercial CFD code to predict the overpressure of a large caliber gun mounted on a simplified, rigid tank ...different locations under the crew cab and wheels. The pressures were calculated using the inviscid AUGUST-3D CFD code. The assessment of the structural

  2. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

    Directory of Open Access Journals (Sweden)

    Fitri Yakub

    2016-01-01

    Full Text Available We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.

  3. Improved ground hydrology calculations for global climate models (GCMs) - Soil water movement and evapotranspiration

    Science.gov (United States)

    Abramopoulos, F.; Rosenzweig, C.; Choudhury, B.

    1988-01-01

    A physically based ground hydrology model is presented that includes the processes of transpiration, evaporation from intercepted precipitation and dew, evaporation from bare soil, infiltration, soil water flow, and runoff. Data from the Goddard Institute for Space Studies GCM were used as inputs for off-line tests of the model in four 8 x 10 deg regions, including Brazil, Sahel, Sahara, and India. Soil and vegetation input parameters were caculated as area-weighted means over the 8 x 10 deg gridbox; the resulting hydrological quantities were compared to ground hydrology model calculations performed on the 1 x 1 deg cells which comprise the 8 x 10 deg gridbox. Results show that the compositing procedure worked well except in the Sahel, where low soil water levels and a heterogeneous land surface produce high variability in hydrological quantities; for that region, a resolution better than 8 x 10 deg is needed.

  4. Sonification of in-vehicle interface reduces gaze movements under dual-task condition.

    Science.gov (United States)

    Tardieu, Julien; Misdariis, Nicolas; Langlois, Sabine; Gaillard, Pascal; Lemercier, Céline

    2015-09-01

    In-car infotainment systems (ICIS) often degrade driving performances since they divert the driver's gaze from the driving scene. Sonification of hierarchical menus (such as those found in most ICIS) is examined in this paper as one possible solution to reduce gaze movements towards the visual display. In a dual-task experiment in the laboratory, 46 participants were requested to prioritize a primary task (a continuous target detection task) and to simultaneously navigate in a realistic mock-up of an ICIS, either sonified or not. Results indicated that sonification significantly increased the time spent looking at the primary task, and significantly decreased the number and the duration of gaze saccades towards the ICIS. In other words, the sonified ICIS could be used nearly exclusively by ear. On the other hand, the reaction times in the primary task were increased in both silent and sonified conditions. This study suggests that sonification of secondary tasks while driving could improve the driver's visual attention of the driving scene.

  5. A Nonlinear Model Predictive Control Algorithm for Obstacle Avoidance in Autonomous Ground Vehicles within Unknown Environments

    Science.gov (United States)

    2015-04-24

    Allgwer and A. Zheng, Nonlinear model predictive control vol. 26: Springer , 2000. [10] J. M. Park, D. W. Kim, Y. S. Yoon, H. J. Kim, and K. S. Yi...include modeling, simulation, and control of dynamic systems, with applications to energy systems, multibody dynamics, vehicle systems, and biomechanics

  6. The In-Transit Vigilant Covering Tour Problem of Routing Unmanned Ground Vehicles

    Science.gov (United States)

    2012-08-01

    15 Figure 2. A classic VRP ...17 Figure 3. Solution for a VRP ........................................................................................18 Figure 4. Solution...of NP-hard problems, such as the Traveling Salesman Problem (TSP), Vehicle Routing Problem ( VRP ), and Covering Salesman Problem (CSP) etc. We will

  7. Pheromone-based coordination strategy to static sensors on the ground and unmanned aerial vehicles carried sensors

    Science.gov (United States)

    Pignaton de Freitas, Edison; Heimfarth, Tales; Pereira, Carlos Eduardo; Morado Ferreira, Armando; Rech Wagner, Flávio; Larsson, Tony

    2010-04-01

    A current trend that is gaining strength in the wireless sensor network area is the use of heterogeneous sensor nodes in one coordinated overall network, needed to fulfill the requirements of sophisticated emerging applications, such as area surveillance systems. One of the main concerns when developing such sensor networks is how to provide coordination among the heterogeneous nodes, in order to enable them to efficiently respond the user needs. This study presents an investigation of strategies to coordinate a set of static sensor nodes on the ground cooperating with wirelessly connected Unmanned Aerial Vehicles (UAVs) carrying a variety of sensors, in order to provide efficient surveillance over an area of interest. The sensor nodes on the ground are set to issue alarms on the occurrence of a given event of interest, e.g. entrance of a non-authorized vehicle in the area, while the UAVs receive the issued alarms and have to decide which of them is the most suitable to handle the issued alarm. A bio-inspired coordination strategy based on the concept of pheromones is presented. As a complement of this strategy, a utility-based decision making approach is proposed.

  8. Standards and Specifications for Ground Processing of Space Vehicles: From an Aviation-Based Shuttle Project to Global Application

    Science.gov (United States)

    Ingalls, John; Cipolletti, John

    2011-01-01

    Proprietary or unique designs and operations are expected early in any industry's development, and often provide a competitive early market advantage. However, there comes a time when a product or industry requires standardization for the whole industry to advance...or survive. For the space industry, that time has come. Here, we will focus on standardization of ground processing for space vehicles and their ground systems. With the retirement of the Space Shuttle, and emergence of a new global space race, affordability and sustainability are more important now than ever. The growing commercialization of the space industry and current global economic environment are driving greater need for efficiencies to save time and money. More RLV's (Reusable Launch Vehicles) are being developed for the gains of reusability not achievable with traditional ELV's (Expendable Launch Vehicles). More crew/passenger vehicles are also being developed. All of this calls for more attention needed for ground processing-repeatedly before launch and after landing/recovery. RLV's should provide more efficiencies than ELV's, as long as MRO (Maintenance, Repair, and Overhaul) is well-planned-even for the unplanned problems. NASA's Space Shuttle is a primary example of an RLV which was supposed to thrive on reusability savings with efficient ground operations, but lessons learned show that costs were (and still are) much greater than expected. International standards and specifications can provide the commonality needed to simplify design and manufacturing as well as to improve safety, quality, maintenance, and operability. There are standards organizations engaged in the space industry, but ground processing is one of the areas least addressed. Challenges are encountered due to various factors often not considered during development. Multiple vehicle elements, sites, customers, and contractors pose various functional and integration difficulties. Resulting technical publication structures

  9. Coal and Coalbed Methane Co-Extraction Technology Based on the Ground Movement in the Yangquan Coalfield, China

    Directory of Open Access Journals (Sweden)

    Guozhong Hu

    2015-07-01

    Full Text Available The Yangquan coalfield is one of the typical highly gassy mining areas in China. However, its coal seams are of lower permeability, which are not conductive to coalbed methane (CBM drainage. In this study, based on the theory of the ground movement, we analyzed the principle of coal and CBM coextraction in the Yangquan coalfield, and established the technology system of coal and CBM coextraction which was further implemented in the coal and CBM coextraction in the Yangquan coalfield. The coal and CBM coextraction technologies based on the “pressure-relief and permeability-increase” effect caused by the mining overburden movement can optimally ensure the safe and efficient mining and improve the gas drainage rate. A series of developed coal and CBM coextraction technologies for the Yangquan coalfield were mainly characterized by the high-level gas drainage roadway. This reached a maximum gas drainage amount of 270,000 m3/day for single drainage roadway and a pressure-relief gas drainage rate of >90%. Those technologies significantly improved the gas drainage effect safely and efficiently achieving the coal and CBM coextraction.

  10. Multi-spectral synthetic image generation for ground vehicle identification training

    Science.gov (United States)

    May, Christopher M.; Pinto, Neil A.; Sanders, Jeffrey S.

    2016-05-01

    There is a ubiquitous and never ending need in the US armed forces for training materials that provide the warfighter with the skills needed to differentiate between friendly and enemy forces on the battlefield. The current state of the art in battlefield identification training is the Recognition of Combat Vehicles (ROC-V) tool created and maintained by the Communications - Electronics Research, Development and Engineering Center Night Vision and Electronic Sensors Directorate (CERDEC NVESD). The ROC-V training package utilizes measured visual and thermal imagery to train soldiers about the critical visual and thermal cues needed to accurately identify modern military vehicles and combatants. This paper presents an approach to augment the existing ROC-V imagery database with synthetically generated multi-spectral imagery that will allow NVESD to provide improved training imagery at significantly lower costs.

  11. A Conformal, Fully-Conservative Approach for Predicting Blast Effects on Ground Vehicles

    Science.gov (United States)

    2014-04-01

    time integration  Approximate Riemann Fluxes (HLLE, HLLC) ◦ Robust mixture model for multi-material flows  Multiple Equations of State ◦ Perfect Gas...Generic Hull geometry used to verify coupling for realistic configurations ◦ Qualitative results only UNCLASSIFIED UNCLASSIFIED  Large weight used to...UNCLASSIFIED UNCLASSIFIED UNCLASSIFIED  Geometry represents a notional Army vehicle  Test conditions: ◦ Charge: 6kg cylinder of C4  STANAG 4569 Level 2 mine

  12. Creation of the Driver Fixed Heel Point (FHP) CAD Accommodation Model for Military Ground Vehicle Design

    Science.gov (United States)

    2016-08-04

    Standard: Human Engineering, 2012. The unifying factor amongst these is the requirement to accommodate the central 90% of the Soldier population . MIL...Heel Point (FHP), accommodation model, occupant work space, central 90% of the Soldier population , encumbrance, posture and position, computer aided...which the occupant is an integral element of vehicle workstation design. Ensuring that a given percentage of the population can sit safely and

  13. Understanding why a Ground Combat Vehicle that Carries Nine Dismounts is Important to the Army

    Science.gov (United States)

    2013-01-01

    cites a quote by GEN Donn Starry, TRADOC commander from 1977 to 1981, in which he notes, “We in TRADOC . . . decided to put the TOW on the MICV because...Carmichael, John M., “Devising Doctrine for the Bradley Fighting Vehicle Platoon Dismount Element—Finding the Right Starting Point,” Fort...Mahon, John K., and Romana Danysh, Army Lineage Series: Infantry, Part I: Regular Army, Washington, D.C.: Office of the Chief of Military History, United

  14. Practical To Tactical: Making the Case for a Shift in Ground Vehicle Robotics

    Science.gov (United States)

    2012-05-10

    Active Safety Vehicle Controls Automotive Sensors (CMOS Stereo Camera, Single Chip Radar , Low Cost Lidar) Drive-By-Wire (Electronically...UNCLASSIFIED 15 Forward Automotive Radar Camera Electric Power Assist Steering (EPAS) Steering Position Sensor Steering Torque Sensor ESC...I C R M x x x V UNCLASSIFIED T 1 r t TECHNOLOGY DRNEN. WARF~n1a~ rUUI~~. 20 Automotive Radar Stereo Camera Side Blind Zone Radar RG31

  15. H2 control of a one-quarter semi-active ground vehicle suspension

    Directory of Open Access Journals (Sweden)

    L.C. Félix-Herrán

    2016-06-01

    Full Text Available Magneto-rheological (MR dampers are effective solutions in improving vehicle stability and passenger comfort. However, handling these dampers implies a strong effort in modeling and control. This research proposes an H2 controller, based on a Takagi–Sugeno (T–S fuzzy model, for a two-degrees-of-freedom (2-DOF one-quarter vehicle semi-active suspension with an MR damper; a system with important applications in automotive industry. Regarding performance criteria (in frequency domain handled herein, the developed controller considerably improves the passive suspension's efficiency. Moreover, nonlinear actuator dynamics usually avoided in reported work, is included in controller's synthesis; improving the relevance of research outcomes because the controller is synthesized from a closer-to-reality suspension model. Going further, outcomes of this research are compared (based on frequency domain performance criteria and a common time domain test with reported work to highlight the outstanding results. H2 controller is given in terms of quadratic Lyapunov stability theory and carried out by means of Linear Matrix Inequalities (LMI, and the command signal is applied via the Parallel Distributed Compensation (PDC approach. A case of study, with real data, is developed and simulation work supports the results. The methodology applied herein can be extended to include other vehicle suspension's dynamics towards a general chassis control.

  16. NPSNET: Real-Time 3D Ground-Based Vehicle Dynamics

    Science.gov (United States)

    1992-03-01

    Meriam et.al., 86]1. Motion is produced by a simplified simulation of dynamics, that describes the linear and angular accelerations of a rigid body in...from the definition of the mass center as covered in statics, is given by 6 mr = Emir, (Eq. 2.1) where the total mass M = Emi [ Meriam et. al., 86]. At...Jurewicz, T., "A Real Time Autonomous Underwater Vehicle Dynamic Simulator," M.S. Thesis, Naval Postgraduate School, Monterey, CA., June 1989 [ Meriam et. al

  17. Sunrise-driven movements of dust on the Moon: Apollo 12 Ground-truth measurements

    Science.gov (United States)

    O'Brien, Brian J.; Hollick, Monique

    2015-12-01

    The first sunrise after Apollo 12 astronauts left the Moon caused dust storms across the site where rocket exhausts had disrupted about 2000 kg of smooth fine dust. The next few sunrises started progressively weaker dust storms, and the Eastern horizon brightened, adding to direct sunlight for half an hour. These Ground truth measurements were made 100 cm above the surface by the 270 g Apollo 12 Dust Detector Experiment we invented in 1966. Dust deposited on the horizontal solar cell during two lunar days after the first sunrise was almost 30% of the total it then measured over 6 years. The vertical east-facing solar cell measured horizon brightening on 14 of the first 17 lunations, with none detected on the following 61 Lunar Days. Based on over 2 million such measurements we propose a new qualitative model of sunrise-driven transport of individual dust particles freed by Apollo 12 activities from strong particle-to-particle cohesive forces. Each sunrise caused sudden surface charging which, during the first few hours, freshly mobilised and lofted the dust remaining free, microscopically smoothing the disrupted local areas. Evidence of reliability of measurements includes consistency among all 6 sensors in measurements throughout an eclipse. We caution Google Lunar XPrize competitors and others planning missions to the Moon and large airless asteroids that, after a spacecraft lands, dust hazards may occur after each of the first few sunrises. Mechanical problems in its first such period stranded Chinese lunar rover Yutu in 2014, although we would not claim yet that the causes were dust. On the other hand, sunrise-driven microscopic smoothing of disturbed areas may offer regular natural mitigations of dust consequences of mining lunar resources and reduce fears that many expeditions might cause excessive fine dust globally around the Moon.

  18. Situational awareness for unmanned ground vehicles in semi-structured environments

    Science.gov (United States)

    Goodsell, Thomas G.; Snorrason, Magnus; Stevens, Mark R.

    2002-07-01

    Situational Awareness (SA) is a critical component of effective autonomous vehicles, reducing operator workload and allowing an operator to command multiple vehicles or simultaneously perform other tasks. Our Scene Estimation & Situational Awareness Mapping Engine (SESAME) provides SA for mobile robots in semi-structured scenes, such as parking lots and city streets. SESAME autonomously builds volumetric models for scene analysis. For example, a SES-AME equipped robot can build a low-resolution 3-D model of a row of cars, then approach a specific car and build a high-resolution model from a few stereo snapshots. The model can be used onboard to determine the type of car and locate its license plate, or the model can be segmented out and sent back to an operator who can view it from different viewpoints. As new views of the scene are obtained, the model is updated and changes are tracked (such as cars arriving or departing). Since the robot's position must be accurately known, SESAME also has automated techniques for deter-mining the position and orientation of the camera (and hence, robot) with respect to existing maps. This paper presents an overview of the SESAME architecture and algorithms, including our model generation algorithm.

  19. An MPC Algorithm with Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles

    Science.gov (United States)

    2015-04-24

    be an adequate interpretation in certain applications such as small ground robots . However, for the AGVs that are at least the size of a passenger... problematic , because the OCP solver requires all functions to be twice continuously differentiable. To address this challenge, the safe region is...avoidance for manipulators and mobile robots ,” International Journal of Robotics Research, vol. 5, pp. 90-98, 1986. [4] S. Shimoda, Y. Kuroda, and K

  20. Systems Engineering Approach To Ground Combat Vehicle Survivability In Urban Operations

    Science.gov (United States)

    2016-09-01

    of global urbanization, planning for urban operations is critical to the execution and success of any military campaign. The U.S. Army describes...for the enemy to prepare for the likely attack direction and to plan coordinated attacks against the incoming ground force. Enemy sensors can also...The Israel Aerospace Industries (IAI) is developing an integrated counter IED suite known as the Counter IED & Mine Suite ( CIMS ). According to Eshel

  1. Finite Element Optimization for Nondestructive Evaluation on a Graphics Processing Unit for Ground Vehicle Hull Inspection

    Science.gov (United States)

    2013-08-22

    GPU ,GA, genetic algorithm, FE, optimization, CUDA , Damage, Evaluation 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF... GPU with CUDA architecture [4]). There is however a severe memory limit – 4 GB at present. This would limit large problems as well as optimization...August 2013 UNCLASSIFIED UNCLASSIFIED Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 FE Optimization for NDE on GPUs for Ground

  2. Optical embedded dust sensor for engine protection and early warning on M1 Abrams/ground combat vehicles

    Science.gov (United States)

    Lin, Hai; Waldherr, Gregor A.; Burch, Timothy

    2012-06-01

    The Dual Optical Embedded Dust Sensor (DOEDS) is designed for the sensitive, accurate detection of particles for preventive health monitoring of the AGT1500 engine and M1 Abrams/Ground Combat Vehicles (GCVs). DOEDS is a real-time sensor that uses an innovative combination of optical particle sensing technologies and mechanical packaging in a rugged, compact and non-intrusive optical design. The optical sensor, implementing both a single particle sensor and a mass sensor, can operate in harsh environments (up to 400°F) to meet the particle size, size distribution, mass concentration, and response time criteria. The sensor may be flush- or inline-mounted in multiple engine locations and environments.

  3. Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant autonomous door-opening kit for unmanned ground vehicles

    Science.gov (United States)

    Shane, David J.; Rufo, Michael A.; Berkemeier, Matthew D.; Alberts, Joel A.

    2012-06-01

    The Autonomous Urban Reconnaissance Ingress System (AURIS™) addresses a significant limitation of current military and first responder robotics technology: the inability of reconnaissance robots to open doors. Leveraging user testing as a baseline, the program has derived specifications necessary for military personnel to open doors with fielded UGVs (Unmanned Ground Vehicles), and evaluates the technology's impact on operational mission areas: duration, timing, and user patience in developing a tactically relevant, safe, and effective system. Funding is provided through the US ARMY Tank Automotive Research, Development and Engineering Center (TARDEC) and the project represents a leap forward in perception, autonomy, robotic implements, and coordinated payload operation in UGVs. This paper describes high level details of specification generation, status of the last phase of development, an advanced view of the system autonomy capability, and a short look ahead towards the ongoing work on this compelling and important technology.

  4. The Analytical Review of the Condition of Heavy Class Military and Dual-Purpose Unmanned Ground Vehicle

    Directory of Open Access Journals (Sweden)

    Blokhin Aleksandr

    2015-01-01

    Full Text Available The purpose of this article is the evaluation of the actual condition of heavy (weight more than 700 kg military robotics and dual-purpose robotics in the world. The extensive review of the world market of heavy class military unmanned ground vehicle was made. All reviewed robots are used at present time or exist like prototypes. All robots were systematized by most important technical characteristics. In the closing of article the analysis of the reviewed heavy class dual purpose UGVs are presented. Based on the analysis the conclusion about actual condition of the heavy military robotics and dual-purpose robotics was made. Also the most promising ways and tendencies of development are representeds.

  5. Design of Secured Ground Vehicle Event Data Recorder for Data Analysis

    Directory of Open Access Journals (Sweden)

    Mr. Love Sharma

    2017-03-01

    Full Text Available The Event Data Recorder (EDR is now one of the important components installed in the vehicles by the automakers since it is helping in calculating an independent measurement of crash severity which is far better than the traditional systems used. There is limited research is done on the domain. In this paper we are going to propose an EDR which is based on ARM controller and will sense the alcohol, brake pressed, Speed, Location, Humidity, and Temperature. The data collected from the sensors is aggregated using a threshold-based technique, then the data is encrypted using RC6 and finally, the data is mined for knowledge using top k rules.

  6. Human-Automation Interaction Design for Adaptive Cruise Control Systems of Ground Vehicles

    Science.gov (United States)

    Eom, Hwisoo; Lee, Sang Hun

    2015-01-01

    A majority of recently developed advanced vehicles have been equipped with various automated driver assistance systems, such as adaptive cruise control (ACC) and lane keeping assistance systems. ACC systems have several operational modes, and drivers can be unaware of the mode in which they are operating. Because mode confusion is a significant human error factor that contributes to traffic accidents, it is necessary to develop user interfaces for ACC systems that can reduce mode confusion. To meet this requirement, this paper presents a new human-automation interaction design methodology in which the compatibility of the machine and interface models is determined using the proposed criteria, and if the models are incompatible, one or both of the models is/are modified to make them compatible. To investigate the effectiveness of our methodology, we designed two new interfaces by separately modifying the machine model and the interface model and then performed driver-in-the-loop experiments. The results showed that modifying the machine model provides a more compact, acceptable, effective, and safe interface than modifying the interface model. PMID:26076406

  7. Proceedings of the 7th Annual TARDEC Ground Vehicle Survivability Symposium, March 26-28, 1996, Naval Postgraduate School, Monterey, CA Volume 1 - Unclassified Session Papers

    Science.gov (United States)

    1996-05-01

    Submitted J. Cardenas , U.S. Army TARDEC P-10 Ground Combat Vehicle Survivability Database Vol. 1 517 J. Olejar, C. Glausier, D. Brassard, K. Gantt, N. Funk... algebra . This change in methodology should go a long way toward alleviating the sampling problem that has been identi- fied in the IDA and SIRVICE studies

  8. The Seismic Response of High-Speed Railway Bridges Subjected to Near-Fault Forward Directivity Ground Motions Using a Vehicle-Track-Bridge Element

    Directory of Open Access Journals (Sweden)

    Chen Ling-kun

    2014-01-01

    Full Text Available Based on the Next Generation Attenuation (NGA project ground motion library, the finite element model of the high-speed railway vehicle-bridge system is established. The model was specifically developed for such system that is subjected to near-fault ground motions. In addition, it accounted for the influence of the rail irregularities. The vehicle-track-bridge (VTB element is presented to simulate the interaction between train and bridge, in which a train can be modeled as a series of sprung masses concentrated at the axle positions. For the short period railway bridge, the results from the case study demonstrate that directivity pulse effect tends to increase the seismic responses of the bridge compared with far-fault ground motions or nonpulse-like motions and the directivity pulse effect and high values of the vertical acceleration component can notably influence the hysteretic behaviour of piers.

  9. Preliminary Study of Ground Movement in Prone Landslide Area by Means of MAI InSAR A Case Study: Ciloto, West Java, Indonesia

    Science.gov (United States)

    Hayati, Noorlaila; Riedel, Björn; Niemeier, Wolfgang

    2016-04-01

    Ciloto is one of the most prone landslide hazard areas in Indonesia. Several landslides in 2012 and 2013 had been recorded in Ciloto and damaged infrastructure around the area. Investigating the history of ground movement along slope area before the landslide happened could support the hazard mitigation in the future. Considering to an efficient surveying method, space-borne SAR processing is the one appropriate way to monitor the phenomenon in past years. The purpose of this study is detecting ground movement using multi-temporal synthetic aperture radar images. We use 13 ALOS PALSAR images from 2007 to 2009 with combination Fine Beam Single (FBS) and Fine Beam Double (FBD) polarization to investigate the slow movement on slope topography. MAI (Multiple Aperture Interferometry) InSAR method is used to analyze the ground movement from both line-of-sight and along-track direction. We split the synthetic aperture into two-looking aperture so that along-track displacement could be created by the difference of forward-backward looking interferograms. With integration of both methods, we could more precisely detect the movement in prone landslide area and achieve two measurements produced by the same interferogram. However, InSAR requires smaller baseline and good temporal baseline between master and slave images to avoid decorellation. There are only several pairs that meet the condition of proper length and temporal baseline indeed the location is also on the agriculture area where is mostly covered by vegetation. The result for two years observation shows that there is insignificant slow movement along slope surface in Ciloto with -2 - -7 cm in range looks or line of sight and 9-40 cm in along track direction. Based on geometry SAR , the most visible detecting of displacement is on the north-west area due to utilization of ascending SAR images.

  10. Counter tunnel exploration, mapping, and localization with an unmanned ground vehicle

    Science.gov (United States)

    Larson, Jacoby; Okorn, Brian; Pastore, Tracy; Hooper, David; Edwards, Jim

    2014-06-01

    Covert, cross-border tunnels are a security vulnerability that enables people and contraband to illegally enter the United States. All of these tunnels to-date have been constructed for the purpose of drug smuggling, but they may also be used to support terrorist activity. Past robotic tunnel exploration efforts have had limited success in aiding law enforcement to explore and map the suspect cross-border tunnels. These efforts have made use of adapted explosive ordnance disposal (EOD) or pipe inspection robotic systems that are not ideally suited to the cross-border tunnel environment. The Counter Tunnel project was sponsored by the Office of Secretary of Defense (OSD) Joint Ground Robotics Enterprise (JGRE) to develop a prototype robotic system for counter-tunnel operations, focusing on exploration, mapping, and characterization of tunnels. The purpose of this system is to provide a safe and effective solution for three-dimensional (3D) localization, mapping, and characterization of a tunnel environment. The system is composed of the robotic mobility platform, the mapping sensor payload, and the delivery apparatus. The system is able to deploy and retrieve the robotic mobility platform through a 20-cm-diameter borehole into the tunnel. This requirement posed many challenges in order to design and package the sensor and robotic system to fit through this narrow opening and be able to perform the mission. This paper provides a short description of a few aspects of the Counter Tunnel system such as mobility, perception, and localization, which were developed to meet the unique challenges required to access, explore, and map tunnel environments.

  11. Study of high-definition and stereoscopic head-aimed vision for improved teleoperation of an unmanned ground vehicle

    Science.gov (United States)

    Tyczka, Dale R.; Wright, Robert; Janiszewski, Brian; Chatten, Martha Jane; Bowen, Thomas A.; Skibba, Brian

    2012-06-01

    Nearly all explosive ordnance disposal robots in use today employ monoscopic standard-definition video cameras to relay live imagery from the robot to the operator. With this approach, operators must rely on shadows and other monoscopic depth cues in order to judge distances and object depths. Alternatively, they can contact an object with the robot's manipulator to determine its position, but that approach carries with it the risk of detonation from unintentionally disturbing the target or nearby objects. We recently completed a study in which high-definition (HD) and stereoscopic video cameras were used in addition to conventional standard-definition (SD) cameras in order to determine if higher resolutions and/or stereoscopic depth cues improve operators' overall performance of various unmanned ground vehicle (UGV) tasks. We also studied the effect that the different vision modes had on operator comfort. A total of six different head-aimed vision modes were used including normal-separation HD stereo, SD stereo, "micro" (reduced separation) SD stereo, HD mono, and SD mono (two types). In general, the study results support the expectation that higher resolution and stereoscopic vision aid UGV teleoperation, but the degree of improvement was found to depend on the specific task being performed; certain tasks derived notably more benefit from improved depth perception than others. This effort was sponsored by the Joint Ground Robotics Enterprise under Robotics Technology Consortium Agreement #69-200902 T01. Technical management was provided by the U.S. Air Force Research Laboratory's Robotics Research and Development Group at Tyndall AFB, Florida.

  12. Tip-over prevention through heuristic reactive behaviors for unmanned ground vehicles

    Science.gov (United States)

    Talke, Kurt; Kelley, Leah; Longhini, Patrick; Catron, Garret

    2014-06-01

    Skid-steer teleoperated robots are commonly used by military and civilian crews to perform high-risk, dangerous and critical tasks such as bomb disposal. Their missions are often performed in unstructured environments with irregular terrain, such as inside collapsed buildings or on rough terrain covered with a variety of media, such as sand, brush, mud, rocks and debris. During such missions, it is often impractical if not impossible to send another robot or a human operator to right a toppled robot. As a consequence, a robot tip-over event usually results in mission failure. To make matters more complicated, such robots are often equipped with heavy payloads that raise their centers of mass and hence increase their instability. Should the robot be equipped with a manipulator arm or flippers, it may have a way to self-right. The majority of manipulator arms are not designed for and are likely to be damaged during self-righting procedures, however, which typically have a low success rate. Furthermore, those robots not equipped with manipulator arms or flippers have no self-righting capabilities. Additionally, due to the on-board camera frame of reference, the video feed may cause the robot to appear to be on at level ground, when it actually may be on a slope nearing tip-over. Finally, robot operators are often so focused on the mission at hand they are oblivious to their surroundings, similar to a kid playing a video game. While this may not be an issue in the living room, it is not a good scenario to experience on the battlefield. Our research seeks to remove tip-over monitoring from the already large list of tasks an operator must perform. An autonomous tip-over prevention behavior for a mobile robot with a static payload has been developed, implemented and experimentally validated on two different teleoperated robotic platforms. Suitable for use with both teleoperated and autonomous robots, the prevention behavior uses the force-angle stability measure

  13. Rapid Detection Methods for Asphalt Pavement Thicknesses and Defects by a Vehicle-Mounted Ground Penetrating Radar (GPR) System.

    Science.gov (United States)

    Dong, Zehua; Ye, Shengbo; Gao, Yunze; Fang, Guangyou; Zhang, Xiaojuan; Xue, Zhongjun; Zhang, Tao

    2016-12-06

    The thickness estimation of the top surface layer and surface layer, as well as the detection of road defects, are of great importance to the quality conditions of asphalt pavement. Although ground penetrating radar (GPR) methods have been widely used in non-destructive detection of pavements, the thickness estimation of the thin top surface layer is still a difficult problem due to the limitations of GPR resolution and the similar permittivity of asphalt sub-layers. Besides, the detection of some road defects, including inadequate compaction and delamination at interfaces, require further practical study. In this paper, a newly-developed vehicle-mounted GPR detection system is introduced. We used a horizontal high-pass filter and a modified layer localization method to extract the underground layers. Besides, according to lab experiments and simulation analysis, we proposed theoretical methods for detecting the degree of compaction and delamination at the interface, respectively. Moreover, a field test was carried out and the estimated results showed a satisfactory accuracy of the system and methods.

  14. Rapid Detection Methods for Asphalt Pavement Thicknesses and Defects by a Vehicle-Mounted Ground Penetrating Radar (GPR System

    Directory of Open Access Journals (Sweden)

    Zehua Dong

    2016-12-01

    Full Text Available The thickness estimation of the top surface layer and surface layer, as well as the detection of road defects, are of great importance to the quality conditions of asphalt pavement. Although ground penetrating radar (GPR methods have been widely used in non-destructive detection of pavements, the thickness estimation of the thin top surface layer is still a difficult problem due to the limitations of GPR resolution and the similar permittivity of asphalt sub-layers. Besides, the detection of some road defects, including inadequate compaction and delamination at interfaces, require further practical study. In this paper, a newly-developed vehicle-mounted GPR detection system is introduced. We used a horizontal high-pass filter and a modified layer localization method to extract the underground layers. Besides, according to lab experiments and simulation analysis, we proposed theoretical methods for detecting the degree of compaction and delamination at the interface, respectively. Moreover, a field test was carried out and the estimated results showed a satisfactory accuracy of the system and methods.

  15. Force Limiting Vibration Tests Evaluated from both Ground Acoustic Tests and FEM Simulations of a Flight Like Vehicle System Assembly

    Science.gov (United States)

    Smith, Andrew; LaVerde, Bruce; Waldon, James; Hunt, Ron

    2014-01-01

    Marshall Space Flight Center has conducted a series of ground acoustic tests with the dual goals of informing analytical judgment, and validating analytical methods when estimating vibroacoustic responses of launch vehicle subsystems. The process of repeatedly correlating finite element-simulated responses with test-measured responses has assisted in the development of best practices for modeling and post-processing. In recent work, force transducers were integrated to measure interface forces at the base of avionics box equipment. Other force data was indirectly measured using strain gauges. The combination of these direct and indirect force measurements has been used to support and illustrate the advantages of implementing the Force Limiting approach for equipment qualification tests. The comparison of force response from integrated system level tests to measurements at the same locations during component level vibration tests provides an excellent illustration. A second comparison of the measured response cases from the system level acoustic tests to finite element simulations has also produced some principles for assessing the suitability of Finite Element Models (FEMs) for making vibroacoustics estimates. The results indicate that when FEM models are employed to guide force limiting choices, they should include sufficient detail to represent the apparent mass of the system in the frequency range of interest.

  16. ASSESSMENT OF LEVITATION MOVEMENT ELECTRODYNAMIC VEHICLES IN DIFFERENT POSITIONS OF THE CONTOURS OF THE FLAT TRACK CONSTRUCTION

    Directory of Open Access Journals (Sweden)

    N. O. Radchenko

    2010-02-01

    Full Text Available The results of investigation of spatial oscillations and stability of motion of electrodynamically levitated vehicle are presented. Various shapes of the track contours and their arrangement on a plain track structure are considered

  17. ABOUT THE WORKS OF V. A. LAZARYAN IN THE FIELD OF SUSTAINABILITY MOVEMENT OF RAIL VEHICLES AND THEIR DEVELOPMENT

    Directory of Open Access Journals (Sweden)

    M. L. Korotenko

    2009-07-01

    Full Text Available In the paper an attention is paid to some positions in works of V. A. Lazaryan on studies of stability of motion of rail vehicles, which were a background for a number of further studies.

  18. Use of 3D laser radar for navigation of unmanned aerial and ground vehicles in urban and indoor environments

    Science.gov (United States)

    Uijt de Haag, Maarten; Venable, Don; Smearcheck, Mark

    2007-04-01

    This paper discusses the integration of Inertial measurements with measurements from a three-dimensional (3D) imaging sensor for position and attitude determination of unmanned aerial vehicles (UAV) and autonomous ground vehicles (AGV) in urban or indoor environments. To enable operation of UAVs and AGVs at any time in any environment a Precision Navigation, Attitude, and Time (PNAT) capability is required that is robust and not solely dependent on the Global Positioning System (GPS). In urban and indoor environments a GPS position capability may not only be unavailable due to shadowing, significant signal attenuation or multipath, but also due to intentional denial or deception. Although deep integration of GPS and Inertial Measurement Unit (IMU) data may prove to be a viable solution an alternative method is being discussed in this paper. The alternative solution is based on 3D imaging sensor technologies such as Flash Ladar (Laser Radar). Flash Ladar technology consists of a modulated laser emitter coupled with a focal plane array detector and the required optics. Like a conventional camera this sensor creates an "image" of the environment, but producing a 2D image where each pixel has associated intensity vales the flash Ladar generates an image where each pixel has an associated range and intensity value. Integration of flash Ladar with the attitude from the IMU allows creation of a 3-D scene. Current low-cost Flash Ladar technology is capable of greater than 100 x 100 pixel resolution with 5 mm depth resolution at a 30 Hz frame rate. The proposed algorithm first converts the 3D imaging sensor measurements to a point cloud of the 3D, next, significant environmental features such as planar features (walls), line features or point features (corners) are extracted and associated from one 3D imaging sensor frame to the next. Finally, characteristics of these features such as the normal or direction vectors are used to compute the platform position and attitude

  19. 螺旋地锚车的研制与应用%The Development and Application of the Spirally Mobile Ground Anchor Vehicle

    Institute of Scientific and Technical Information of China (English)

    翟建团; 李姣姣; 谢玉敏

    2012-01-01

    针对直臂地锚车在近距离无法完成施工作业和复合臂地锚车结构复杂、故障率高等问题,研制了螺旋地锚车。该地锚车主要由汽车底盘、副车架、吊臂总成、回转工作台、锚头加压钻进装置、液压系统及蛙形液压支腿等组成,不仅可用于普通地层打地锚,还可用于西南及东北地区冻土层地锚的钻进与拧出。现场应用情况表明,该地锚车可节省人力达90%以上,提高工作效率50%以上。%The straight arm cannot complete the short-distance construction operation. The composite arm ground anchor vehicle is complex in structure and high in failure rate. Considering these problems, the spirally mobile ground anchor vehicle was developed. The vehicle mainly consists of chassis, subframe, rotary worktable, anchor head pressure drilling device, hydraulic system and frog-shape hydraulic outrigger. It cannot only be used in ordi- nary formation ground anchoring but also in ground anchor drilling and pulling out in the frozen layers of southwest- ern and northeastern regions. The field application shows that the vehicle can save over 90% manpower and im- prove the operating efficiency by over 50%.

  20. Measuring Sunflower Nitrogen Status from AN Unmanned Aerial Vehicle-Based System and AN on the Ground Device

    Science.gov (United States)

    Agüera, F.; Carvajal, F.; Pérez, M.

    2011-09-01

    Precision agriculture recognizes the inherent spatial variability associated with soil characteristics, land morphology and crop growth, and uses this information to prescribe the most appropriate management strategy on a site-specific basis. To reach this task, the most important information related with crop growth is nutrient status, weed infestation, disease and pet affectation and water management. The application of fertilizer nitrogen to field crops is of critical importance because it determines plant's gro wth, vigour, colour and yield. Furthermore, nitrogen has been observed as a nutrient with high spatial variability in a single field, related to its high mobility. Some previous works have shown that is possible to measure crop nitrogen status with optical instruments. Since most leaf nitrogen is contained in chlorophyll molecules, there is a strong relationship between leaf nitrogen and leaf chlorophyll content, which is the basis for predicting crop nitrogen status by measuring leaf reflectance. So, sensors that can easily monitor crop nitrogen amount throughout the growing season at a high resolution to allow producers to reach their production goals, will give useful information to prescribe a crop management on a site-specific basis. Sunflower is a crop which is taking importance again because it can be used both for food and biofuel purposes, and it is widely cultivated in the South of Spain and other European countries.The aim of this work was to compare an index related with sunflower nitrogen status, deduced from multispectral images taken from an Unmanned Aerial Vehicle (UAV), with optical data collected with a ground-based platform.An ADC Lite Tetracam digital cam was mounted on a md4-200 Microdrones to take pictures of a sunflower field during the crop season. ADC Lite Tetracam is a single sensor digital camera designed for capture of visible light wavelength longer than 520 nm and near-infrared wavelength up to 920 nm. The md4

  1. MEASURING SUNFLOWER NITROGEN STATUS FROM AN UNMANNED AERIAL VEHICLE-BASED SYSTEM AND AN ON THE GROUND DEVICE

    Directory of Open Access Journals (Sweden)

    F. Agüera

    2012-09-01

    Full Text Available Precision agriculture recognizes the inherent spatial variability associated with soil characteristics, land morphology and crop growth, and uses this information to prescribe the most appropriate management strategy on a site-specific basis. To reach this task, the most important information related with crop growth is nutrient status, weed infestation, disease and pet affectation and water management. The application of fertilizer nitrogen to field crops is of critical importance because it determines plant's gro wth, vigour, colour and yield. Furthermore, nitrogen has been observed as a nutrient with high spatial variability in a single field, related to its high mobility. Some previous works have shown that is possible to measure crop nitrogen status with optical instruments. Since most leaf nitrogen is contained in chlorophyll molecules, there is a strong relationship between leaf nitrogen and leaf chlorophyll content, which is the basis for predicting crop nitrogen status by measuring leaf reflectance. So, sensors that can easily monitor crop nitrogen amount throughout the growing season at a high resolution to allow producers to reach their production goals, will give useful information to prescribe a crop management on a site-specific basis. Sunflower is a crop which is taking importance again because it can be used both for food and biofuel purposes, and it is widely cultivated in the South of Spain and other European countries.The aim of this work was to compare an index related with sunflower nitrogen status, deduced from multispectral images taken from an Unmanned Aerial Vehicle (UAV, with optical data collected with a ground-based platform.An ADC Lite Tetracam digital cam was mounted on a md4-200 Microdrones to take pictures of a sunflower field during the crop season. ADC Lite Tetracam is a single sensor digital camera designed for capture of visible light wavelength longer than 520 nm and near-infrared wavelength up to 920 nm. The

  2. Wavelet analysis of remote sensing and discharge data for understanding vertical ground movements in sandy and clayey terrains of the Po Delta area (Northern Italy)

    Science.gov (United States)

    Vitagliano, Eleonora; Di Maio, Rosa; Scafetta, Nicola; Calcaterra, Domenico; Zanchettin, Davide

    2017-07-01

    Subsidence phenomena change the proneness of urban and coastal areas to huge flooding, particularly, in river delta regions. Many natural and/or anthropic processes can induce vertical ground movements; identifying the causes of the observed phenomena is a useful, even if not easy, task for flood forecasting. In order to improve the knowledge of natural versus anthropic contributions to vertical ground movements, in the present work data analysis techniques (polynomial regression analysis, frequency analysis and cross wavelet and wavelet coherence analysis) are used to analyze both the long- and short-time scale dependencies between Continuous Global Positioning System (CGPS) and variations of meteorological, hydrogeological and hydrological data collected in the Po River Delta area (Northern Italy) from January 2009 to December 2015. The main findings are as follows: (i) occurrence of positive correlations and periodic oscillations of about 2-3 years for all the analyzed meteorological, hydrogeological and hydrological records; (ii) a general decrease of the ground level with a faster soil lowering in clayey terrain with respect to sandy terrain; and, (iii) negative correlations between CGPS and Po River discharge records at the intra-annual scale (2-6 months), which are attributed to an isostatic rebound induced by the change of the river discharge due to precipitation changes over northern Italy.

  3. 单车行驶对路堤区域气流场的影响%Vehicle movement effects on airflow field of embankment

    Institute of Scientific and Technical Information of China (English)

    张莉; 于晖

    2015-01-01

    Based on FLUENT airflow mechanics software,the paper carries out simulation research for highway airflow field,applies dynamic mesh technology to realize vehicles movement,explores the highway airflow distribution and changing law when bicycles driving in crosswind,and finally draws some valuable conclusions.%基于 FLUENT计算流体力学软件,对高速公路区域流场进行了模拟研究,采用动网格技术实现汽车运动,探讨了横风下单车行驶时高速公路周边区域流场的分布及变化规律,得出了一些有价值的结论。

  4. Influence of environmental parameters on movements and habitat utilization of humpback whales (Megaptera novaeangliae) in the Madagascar breeding ground.

    Science.gov (United States)

    Trudelle, Laurène; Cerchio, Salvatore; Zerbini, Alexandre N; Geyer, Ygor; Mayer, François-Xavier; Jung, Jean-Luc; Hervé, Maxime R; Pous, Stephane; Sallée, Jean-Baptiste; Rosenbaum, Howard C; Adam, Olivier; Charrassin, Jean-Benoit

    2016-12-01

    Assessing the movement patterns and key habitat features of breeding humpback whales is a prerequisite for the conservation management of this philopatric species. To investigate the interactions between humpback whale movements and environmental conditions off Madagascar, we deployed 25 satellite tags in the northeast and southwest coast of Madagascar. For each recorded position, we collated estimates of environmental variables and computed two behavioural metrics: behavioural state of 'transiting' (consistent/directional) versus 'localized' (variable/non-directional), and active swimming speed (i.e. speed relative to the current). On coastal habitats (i.e. bathymetry < 200 m and in adjacent areas), females showed localized behaviour in deep waters (191 ± 20 m) and at large distances (14 ± 0.6 km) from shore, suggesting that their breeding habitat extends beyond the shallowest waters available close to the coastline. Males' active swimming speed decreased in shallow waters, but environmental parameters did not influence their likelihood to exhibit localized movements, which was probably dominated by social factors instead. In oceanic habitats, both males and females showed localized behaviours in shallow waters and favoured high chlorophyll-a concentrations. Active swimming speed accounts for a large proportion of observed movement speed; however, breeding humpback whales probably exploit prevailing ocean currents to maximize displacement. This study provides evidence that coastal areas, generally subject to strong human pressure, remain the core habitat of humpback whales off Madagascar. Our results expand the knowledge of humpback whale habitat use in oceanic habitat and response to variability of environmental factors such as oceanic current and chlorophyll level.

  5. Evaluation of ground movement and damage to structures from Chinese coal mining using a new GIS coupling model

    Energy Technology Data Exchange (ETDEWEB)

    Djamaluddin, I.; Mitani, Y.; Esaki, T. [Kyushu University, Fukuoka (Japan). Graduate School of Engineering

    2011-04-15

    In this paper, combining a theoretical method of predicting subsidence over time and using a geographical information system (GIS), a GIS-based dynamic model is proposed to rapid simulate the phenomenon of progressive movement distribution from large sequential mining. The theoretical method uses stochastic medium concept involving Knothe time function for basic governing equations to calculate progressive movement because this solutions have been widely developed and used in Chinese mining practice to solve the coal extraction problem under building, railways, and rivers. In order to assess the impact of progressive movement to the surface structures, a fuzzy model is suggested to identify damage classifications with contributions of subsidence calculations and building mesh data. For implementation of the GIS-based prediction and assessment model, a new GIS coupling model is established by implementing tight coupling strategy using the component object model (COM) program to overcome the problems of complex model integration for dynamic prediction and assessment. Furthermore, this paper demonstrates the effectiveness of this GIS-based model for prediction and evaluation of subsidence-induced damage from coal mining beneath surface structures in China.

  6. Real-time Simulation Method for Movements of Amphibious Armored Vehicles on the Ocean%两栖装甲车辆海上运动实时仿真方法

    Institute of Scientific and Technical Information of China (English)

    陈革; 贾永前; 周子锐; 乔小蒙; 张聪

    2016-01-01

    为了在两栖装甲车辆驾驶训练模拟器中复现车辆在海浪中的运动,提出了一种海浪及车体运动实时协同仿真方法。首先,根据海浪浪高和风速设定的参数构造海浪时域波面方程;其次,按照车辆结构外型参数将车体表面分割为尺寸相同的网格,并通过当前时刻车辆的运动参数和海浪状态,在虚拟场景中利用碰撞检测算法获得车辆表面网格处海浪波面的位置,这一相对位置将用于计算此处海浪对车体的作用力;最后,解算车辆动力学方程,获得下一时刻车辆的运动参数。通过仿真结果与试验结果的对比验证了该方法的有效性,为实现模拟器对车辆海上运动的实时仿真提供了一种途径。%A new method for real-time coordination simulation of vehicle movements and ocean wave is put forward for recurrence of vehicle movement in driver training simulator of amphibious armored vehicle on the ocean wave.Firstly, the ocean wave time domain equation is set up according to wave height and wind velocity .Secondly , the body of the simulated vehicle is divided to meshes with same size according to the structure parameters of the vehicle , and according to the current movement parameters of the vehi-cle and wave state , the relative position between water and tiny meshes of the vehicle changes can be a-chieved by collision detection algorithms in virtual scene .The relative positions are used to compute ap-plied force of waves to the vehicle .Finally, the movement parameters of the vehicle at next step can be worked out by solving dynamic equations .The effectiveness of the method is validated by comparing sim-ulation results with experiment data , which provides a mean for real-time simulation of amphibious ar-mored vehicle dynamic movements on the ocean wave with training simulator .

  7. An interactive physics-based unmanned ground vehicle simulator leveraging open source gaming technology: progress in the development and application of the virtual autonomous navigation environment (VANE) desktop

    Science.gov (United States)

    Rohde, Mitchell M.; Crawford, Justin; Toschlog, Matthew; Iagnemma, Karl D.; Kewlani, Guarav; Cummins, Christopher L.; Jones, Randolph A.; Horner, David A.

    2009-05-01

    It is widely recognized that simulation is pivotal to vehicle development, whether manned or unmanned. There are few dedicated choices, however, for those wishing to perform realistic, end-to-end simulations of unmanned ground vehicles (UGVs). The Virtual Autonomous Navigation Environment (VANE), under development by US Army Engineer Research and Development Center (ERDC), provides such capabilities but utilizes a High Performance Computing (HPC) Computational Testbed (CTB) and is not intended for on-line, real-time performance. A product of the VANE HPC research is a real-time desktop simulation application under development by the authors that provides a portal into the HPC environment as well as interaction with wider-scope semi-automated force simulations (e.g. OneSAF). This VANE desktop application, dubbed the Autonomous Navigation Virtual Environment Laboratory (ANVEL), enables analysis and testing of autonomous vehicle dynamics and terrain/obstacle interaction in real-time with the capability to interact within the HPC constructive geo-environmental CTB for high fidelity sensor evaluations. ANVEL leverages rigorous physics-based vehicle and vehicle-terrain interaction models in conjunction with high-quality, multimedia visualization techniques to form an intuitive, accurate engineering tool. The system provides an adaptable and customizable simulation platform that allows developers a controlled, repeatable testbed for advanced simulations. ANVEL leverages several key technologies not common to traditional engineering simulators, including techniques from the commercial video-game industry. These enable ANVEL to run on inexpensive commercial, off-the-shelf (COTS) hardware. In this paper, the authors describe key aspects of ANVEL and its development, as well as several initial applications of the system.

  8. Maglev vehicles and superconductor technology: Integration of high-speed ground transportation into the air travel system

    Energy Technology Data Exchange (ETDEWEB)

    Johnson, L.R.; Rote, D.M.; Hull, J.R.; Coffey, H.T.; Daley, J.G.; Giese, R.F.

    1989-04-01

    This study was undertaken to (1) evaluate the potential contribution of high-temperature superconductors (HTSCs) to the technical and economic feasibility of magnetically levitated (maglev) vehicles, (2) determine the status of maglev transportation research in the United States and abroad, (3) identify the likelihood of a significant transportation market for high-speed maglev vehicles, and (4) provide a preliminary assessment of the potential energy and economic benefits of maglev systems. HTSCs should be considered as an enhancing, rather than an enabling, development for maglev transportation because they should improve reliability and reduce energy and maintenance costs. Superconducting maglev transportation technologies were developed in the United States in the late 1960s and early 1970s. Federal support was withdrawn in 1975, but major maglev transportation programs were continued in Japan and West Germany, where full-scale prototypes now carry passengers at speeds of 250 mi/h in demonstration runs. Maglev systems are generally viewed as very-high-speed train systems, but this study shows that the potential market for maglev technology as a train system, e.g., from one downtown to another, is limited. Rather, aircraft and maglev vehicles should be seen as complementing rather than competing transportation systems. If maglev systems were integrated into major hub airport operations, they could become economical in many relatively high-density US corridors. Air traffic congestion and associated noise and pollutant emissions around airports would also be reduced. 68 refs., 26 figs., 16 tabs.

  9. Design criteria for light high speed desert air cushion vehicles

    Science.gov (United States)

    Abulnaga, B. E.

    An evaluation is made of the applicability and prospective performance of ACVs in trans-Saharan cargo transport, in view of the unique characteristics of the dry sand environment. The lightweight/high-speed ACV concept envisioned is essentially ground effect aircraftlike, with conventional wheels as a low-speed backup suspension system. A propeller is used in ground effect cruise. Attention is given to the effects on vehicle stability and performance of sandy surface irregularities of the desert topography and of cross-winds from various directions relative to vehicle movement.

  10. Reduced Order Modeling for Rapid Simulation of Blast Events of a Military Ground Vehicle and Its Occupants

    Science.gov (United States)

    2014-08-12

    event, 0-100ms (blastoff), 800-1000ms (slam-down) Prescribed accelerative vertical motion / PSM Prescribed structural motion was used to model the...motion ( PSM ) file to be input to MADYMO. The deformation of the hull floor in MADYMO is shown in Figure 19. PSM captures the deformation of the...structure in the model, but it does not allow the deformed parts of the model to move with the rest of the vehicle. In other words, the PSM method when

  11. Sources of ground movement at Vesuvius before the AD 79 eruption: Evidence from contemporary accounts and archaeological studies

    Science.gov (United States)

    Marturano, Aldo

    2008-11-01

    Historical sources have recorded earthquake shocks, their effects and difficulties that local inhabitants experienced before the AD 79 Pompeii eruption. Archaeological studies pointed out the effects of such seismicity, and have also evidenced that several water crises were occurring at Pompeii in that period. Indeed numerous sources show that, at the time of eruption, and probably some time before, the civic aqueduct, having ceased to be supplied by the regional one, was out of order and that a new one was being built. Since Roman aqueducts were usually built with a recommended minimum mean slope of 20 cm/km and Pompeii's aqueduct sloped from the nearby Apennines toward the town, this slope could have been easily cancelled by uplift that occurred in the area even if this was only moderate. For the crustal deformations a volcanic origin is proposed and a point source model is used to explain the observations. Simple analysis of the available data suggests that the ground deformations were caused by a < 2 km 3 volumetric change at a depth of ˜ 8 km that happened over the course of several decades.

  12. 基于GIS的矿山地表移动信息管理与分析系统%GIS BASED INFORMATION MANAGEMENT AND ANALYZING SYSTEM FOR GROUND SURFACE MOVEMENT AT MINES

    Institute of Scientific and Technical Information of China (English)

    邓清海; 马凤山; 袁仁茂; 丁德民; 张亚民; 王杰; 郭捷

    2009-01-01

    In accordance with engineering practice of Jinchuan Nickel Mine in Gansu Province, China, this paper studies the method and process of developing ground surface movement information management and analyzing system for mines. The system is a GIS based secondary development. The paper discusses the structure and functions of the system. The system contains three modules: management of ground surface movement information, analysis and evaluation of ground surface movement, and ground surface movement forecast. The system makes the best of powerful information management and spatial analyzing capabilities of GIS, and can carry out the analysis and evaluation of ground surface movement by combining Surfer 8.0. And in the module of forecast, using the technique of MATLAB 6.5 program with VB 6.0, the system can achieve the ANN prediction model for GPS monitoring data. The study results shall improve management and analyzing efficiency for ground surface movement information in Jinchuan Nickel Mine, and can be used in developing the information system of ground surface movement in other mines.%以金川矿区为例,介绍了应用GIS进行二次开发来构建矿山地表移动信息管理与分析系统的方法、过程以及该系统的主要功能.该系统包括地表移动信息管理、地表移动分析与评价、地表移动预测3个模块,充分利用了GIS强大的空间数据管理与分析能力,实现了GIS与Surfer结合进行矿山地表移动分析与评价,GIS与Matlab结合进行监测数据的非线性神经网络时序预测.该系统不但有助于提高金川矿山地表移动信息的检索和分析效率,对其他矿山地表移动信息系统的建立也具有借鉴意义.

  13. Application of ground-truth for classification and quantification of bird movements on migratory bird habitat initiative sites in southwest Louisiana: final report

    Science.gov (United States)

    Barrow, Wylie C.; Baldwin, Michael J.; Randall, Lori A.; Pitre, John; Dudley, Kyle J.

    2013-01-01

    This project was initiated to assess migrating and wintering bird use of lands enrolled in the Natural Resources Conservation Service’s (NRCS) Migratory Bird Habitat Initiative (MBHI). The MBHI program was developed in response to the Deepwater Horizon oil spill in 2010, with the goal of improving/creating habitat for waterbirds affected by the spill. In collaboration with the University of Delaware (UDEL), we used weather surveillance radar data (Sieges 2014), portable marine radar data, thermal infrared images, and visual observations to assess bird use of MBHI easements. Migrating and wintering birds routinely make synchronous flights near dusk (e.g., departure during migration, feeding flights during winter). Weather radars readily detect birds at the onset of these flights and have proven to be useful remote sensing tools for assessing bird-habitat relations during migration and determining the response of wintering waterfowl to wetland restoration (e.g., Wetlands Reserve Program lands). However, ground-truthing is required to identify radar echoes to species or species group. We designed a field study to ground-truth a larger-scale, weather radar assessment of bird use of MBHI sites in southwest Louisiana. We examined seasonal bird use of MBHI fields in fall, winter, and spring of 2011-2012. To assess diurnal use, we conducted total area surveys of MBHI sites in the afternoon, collecting data on bird species composition, abundance, behavior, and habitat use. In the evenings, we quantified bird activity at the MBHI easements and described flight behavior (i.e., birds landing in, departing from, circling, or flying over the MBHI tract). Our field sampling captured the onset of evening flights and spanned the period of collection of the weather radar data analyzed. Pre- and post-dusk surveys were conducted using a portable radar system and a thermal infrared camera. Landbirds, shorebirds, and wading birds were commonly found on MBHI fields during diurnal

  14. Effects of image orientation and ground control points distribution on unmanned aerial vehicle photogrammetry projects on a road cut slope

    Science.gov (United States)

    Carvajal-Ramírez, Fernando; Agüera-Vega, Francisco; Martínez-Carricondo, Patricio J.

    2016-07-01

    The morphology of road cut slopes, such as length and high slopes, is one of the most prevalent causes of landslides and terrain stability troubles. Digital elevation models (DEMs) and orthoimages are used for land management purposes. Two flights with different orientations with respect to the target surface were planned, and four photogrammetric projects were carried out during these flights to study the image orientation effects. Orthogonal images oriented to the cut slope with only sidelaps were compared to the classical vertical orientation, with sidelapping, endlapping, and both types of overlapping simultaneously. DEM and orthoimages obtained from the orthogonal project showed smaller errors than those obtained from the other three photogrammetric projects, with the first one being much easier to manage. One additional flight and six photogrammetric projects were used to establish an objective criterion to locate the three ground control points for georeferencing and rectification DEMs and orthoimages. All possible sources of errors were evaluated in the DEMs and orthoimages.

  15. Multiple Views on Safety-Critical Automation: Aircraft, Autonomous Vehicles, Air Traffic Management and Satellite Ground Segments Perspectives

    Science.gov (United States)

    Feary, Michael S.; Palanque, Philippe Andre Rolan; Martinie, De Almeida; Tscheligi, Manfred

    2016-01-01

    This SIG focuses on the engineering of automation in interactive critical systems. Automation has already been studied in a number of (sub-) disciplines and application fields: design, human factors, psychology, (software) engineering, aviation, health care, games. One distinguishing feature of the area we are focusing on is that in the field of interactive critical systems properties such as reliability, dependability, fault-tolerance are as important as usability, user experience or overall acceptance issues. The SIG targets at two problem areas: first the engineering of the user interaction with (partly-) autonomous systems: how to design, build and assess autonomous behavior, especially in cases where there is a need to represent on the user interface both autonomous and interactive objects. An example of such integration is the representation of an unmanned aerial vehicle (UAV) (where no direct interaction is possible), together with aircrafts (that have to be instructed by an air traffic controller to avoid the UAV). Second the design and engineering of user interaction in general for autonomous objects systems (for example a cruise control in a car or an autopilot in an aircraft). The goal of the SIG is to raise interest in the CHI community on the general aspects of automation and to identify a community of researchers and practitioners interested in those increasingly prominent issues of interfaces towards (semi)-autonomous systems. The expected audience should be interested in addressing the issues of integration of mainly unconnected research domains to formulate a new joint research agenda.

  16. SIG: Multiple Views on Safety-Critical Automation: Aircraft, Autonomous Vehicles, Air Traffic Management and Satellite Ground Segments Perspectives

    Science.gov (United States)

    Feary, Michael; Palanque, Philippe; Martinie, Célia; Tscheligi, Manfred

    2016-01-01

    This SIG focuses on the engineering of automation in interactive critical systems. Automation has already been studied in a number of (sub-) disciplines and application fields: design, human factors, psychology, (software) engineering, aviation, health care, games. One distinguishing feature of the area we are focusing on is that in the field of interactive critical systems properties such as reliability, dependability, fault tolerance are as important as usability, user experience or overall acceptance issues. The SIG targets at two problem areas: first the engineering of the user interaction with (partly-) autonomous systems: how to design, build and assess autonomous behavior, especially in cases where there is a need to represent on the user interface both autonomous and interactive objects. An example of such integration is the representation of an unmanned aerial vehicle (UAV) (where no direct interaction is possible), together with aircrafts (that have to be instructed by an air traffic controller to avoid the UAV). Second the design and engineering of user interaction in general for autonomous objects/systems (for example a cruise control in a car or an autopilot in an aircraft). The goal of the SIG is to raise interest in the CHI community on the general aspects of automation and to identify a community of researchers and practitioners interested in those increasingly prominent issues of interfaces towards (semi)-autonomous systems. The expected audience should be interested in addressing the issues of integration of mainly unconnected research domains to formulate a new joint research agenda.

  17. Comparison of real-time performance of Kalman filter-based slam methods for unmanned ground vehicle (UGV) navigation

    Science.gov (United States)

    Temeltaş, Hakan; Kavak, Deniz

    2009-05-01

    Simultaneous Localization and Mapping (SLAM) using for the mobile robot navigation has two main problems. First problem is the computational complexity due to the growing state vector with the added landmark in the environment. Second problem is data association which matches the observations and landmarks in the state vector. In this study, we compare Extended Kalman Filter (EKF) based SLAM which is well-developed and well-known algorithm, and Compressed Extended Kalman Filter (CEKF) based SLAM developed for decreasing of the computational complexity of the EKF based SLAM. We write two simulation program to investigate these techniques. Firts program is written for the comparison of EKF and CEKF based SLAM according to the computational complexity and covariance matrix error with the different numbers of landmarks. In the second program, EKF and CEKF based SLAM simulations are presented. For this simulation differential drive vehicle that moves in a 10m square trajectory and LMS 200 2-D laser range finder are modelled and landmarks are randomly scattered in that 10m square environment.

  18. Flight Test Result for the Ground-Based Radio Navigation System Sensor with an Unmanned Air Vehicle.

    Science.gov (United States)

    Jang, Jaegyu; Ahn, Woo-Guen; Seo, Seungwoo; Lee, Jang Yong; Park, Jun-Pyo

    2015-11-11

    The Ground-based Radio Navigation System (GRNS) is an alternative/backup navigation system based on time synchronized pseudolites. It has been studied for some years due to the potential vulnerability issue of satellite navigation systems (e.g., GPS or Galileo). In the framework of our study, a periodic pulsed sequence was used instead of the randomized pulse sequence recommended as the RTCM (radio technical commission for maritime services) SC (special committee)-104 pseudolite signal, as a randomized pulse sequence with a long dwell time is not suitable for applications requiring high dynamics. This paper introduces a mathematical model of the post-correlation output in a navigation sensor, showing that the aliasing caused by the additional frequency term of a periodic pulsed signal leads to a false lock (i.e., Doppler frequency bias) during the signal acquisition process or in the carrier tracking loop of the navigation sensor. We suggest algorithms to resolve the frequency false lock issue in this paper, relying on the use of a multi-correlator. A flight test with an unmanned helicopter was conducted to verify the implemented navigation sensor. The results of this analysis show that there were no false locks during the flight test and that outliers stem from bad dilution of precision (DOP) or fluctuations in the received signal quality.

  19. Flight Test Result for the Ground-Based Radio Navigation System Sensor with an Unmanned Air Vehicle

    Directory of Open Access Journals (Sweden)

    Jaegyu Jang

    2015-11-01

    Full Text Available The Ground-based Radio Navigation System (GRNS is an alternative/backup navigation system based on time synchronized pseudolites. It has been studied for some years due to the potential vulnerability issue of satellite navigation systems (e.g., GPS or Galileo. In the framework of our study, a periodic pulsed sequence was used instead of the randomized pulse sequence recommended as the RTCM (radio technical commission for maritime services SC (special committee-104 pseudolite signal, as a randomized pulse sequence with a long dwell time is not suitable for applications requiring high dynamics. This paper introduces a mathematical model of the post-correlation output in a navigation sensor, showing that the aliasing caused by the additional frequency term of a periodic pulsed signal leads to a false lock (i.e., Doppler frequency bias during the signal acquisition process or in the carrier tracking loop of the navigation sensor. We suggest algorithms to resolve the frequency false lock issue in this paper, relying on the use of a multi-correlator. A flight test with an unmanned helicopter was conducted to verify the implemented navigation sensor. The results of this analysis show that there were no false locks during the flight test and that outliers stem from bad dilution of precision (DOP or fluctuations in the received signal quality.

  20. Intercomparison of Unmanned Aerial Vehicle and Ground-Based Narrow Band Spectrometers Applied to Crop Trait Monitoring in Organic Potato Production.

    Science.gov (United States)

    Domingues Franceschini, Marston Héracles; Bartholomeus, Harm; van Apeldoorn, Dirk; Suomalainen, Juha; Kooistra, Lammert

    2017-06-18

    Vegetation properties can be estimated using optical sensors, acquiring data on board of different platforms. For instance, ground-based and Unmanned Aerial Vehicle (UAV)-borne spectrometers can measure reflectance in narrow spectral bands, while different modelling approaches, like regressions fitted to vegetation indices, can relate spectra with crop traits. Although monitoring frameworks using multiple sensors can be more flexible, they may result in higher inaccuracy due to differences related to the sensors characteristics, which can affect information sampling. Also organic production systems can benefit from continuous monitoring focusing on crop management and stress detection, but few studies have evaluated applications with this objective. In this study, ground-based and UAV spectrometers were compared in the context of organic potato cultivation. Relatively accurate estimates were obtained for leaf chlorophyll (RMSE = 6.07 µg·cm(-2)), leaf area index (RMSE = 0.67 m²·m(-2)), canopy chlorophyll (RMSE = 0.24 g·m(-2)) and ground cover (RMSE = 5.5%) using five UAV-based data acquisitions, from 43 to 99 days after planting. These retrievals are slightly better than those derived from ground-based measurements (RMSE = 7.25 µg·cm(-2), 0.85 m²·m(-2), 0.28 g·m(-2) and 6.8%, respectively), for the same period. Excluding observations corresponding to the first acquisition increased retrieval accuracy and made outputs more comparable between sensors, due to relatively low vegetation cover on this date. Intercomparison of vegetation indices indicated that indices based on the contrast between spectral bands in the visible and near-infrared, like OSAVI, MCARI2 and CIg provided, at certain extent, robust outputs that could be transferred between sensors. Information sampling at plot level by both sensing solutions resulted in comparable discriminative potential concerning advanced stages of late blight incidence. These results indicate that optical sensors

  1. 汽车经济性驾驶技术及应用概述%Overview of ecological driving technology and application for ground vehicles

    Institute of Scientific and Technical Information of China (English)

    李升波; 徐少兵; 王文军; 成波

    2014-01-01

    The ecological driving technology of ground vehicles is critical for energy-sustainable road transportation. This technology, centered on the optimization and the coordination of driver, vehicle, road infrastructure and trafifc lfow, aims to reduce the fuel consumption of vehicles in travel ing by reshaping drivers’ habits, assisting driving manipulation and implementing vehicular automation, etc. This paper summarizes the key aspects of vehicular eco-driving technology, including its history, the state of arts and the theoretical chal enges. Two major identiifcation methods of the eco-driving strategies are reviewed, i.e. the experiment based method and the optimization based method. The applications can be classiifed into the eco-driving education, the eco-driving assistance, and the eco-vehicular automation. The ifrst item is easy to be implemented and suitable for government promotion;the second item has most promising market prospect;and the last item wil become proper carrier for eco-driving technology with the popularity of vehicular automation.%汽车经济性驾驶是道路交通节能减排的重要方向。该技术以驾驶人与车辆/道路/交通流的优化与协调为核心,通过重塑驾驶员习惯、辅助驾驶员操作以及车辆自动化控制等手段,满足出行需求的同时降低行驶过程的油耗。该文综述了汽车经济性驾驶技术的发展历史、技术现状与理论难点;介绍了节油驾驶策略的实验型和理论型辨识方法。其应用可分为3类:易于实施、适合政府层面推动的驾驶员教育;最具产品化前景、值得业界关注的节油驾驶辅助;将是经济性驾驶技术的理想载体的自动驾驶。

  2. Seasonal associations and atmospheric transport distances of fungi in the genus Fusarium collected with unmanned aerial vehicles and ground-based sampling devices

    Science.gov (United States)

    Lin, Binbin; Ross, Shane D.; Prussin, Aaron J.; Schmale, David G.

    2014-09-01

    Spores of fungi in the genus Fusarium may be transported through the atmosphere over long distances. New information is needed to characterize seasonal trends in atmospheric loads of Fusarium and to pinpoint the source(s) of inoculum at both local (farm) and regional (state or country) scales. We hypothesized that (1) atmospheric concentrations of Fusarium spores in an agricultural ecosystem vary with height and season and (2) transport distances from potential inoculum source(s) vary with season. To test these hypotheses, spores of Fusarium were collected from the atmosphere in an agricultural ecosystem in Blacksburg, VA, USA using a Burkard volumetric sampler (BVS) 1 m above ground level and autonomous unmanned aerial vehicles (UAVs) 100 m above ground level. More than 2200 colony forming units (CFUs) of Fusarium were collected during 104 BVS sampling periods and 180 UAV sampling periods over four calendar years (2009-2012). Spore concentrations ranged from 0 to 13 and 0 to 23 spores m-3 for the BVS and the UAVs, respectively. Spore concentrations were generally higher in the fall, spring, and summer, and lower in the winter. Spore concentrations from the BVS were generally higher than those from the UAVs for both seasonal and hourly collections. A Gaussian plume transport model was used to estimate distances to the potential inoculum source(s) by season, and produced mean transport distances of 1.4 km for the spring, 1.7 km for the summer, 1.2 km for the fall, and 4.1 km for the winter. Environmental signatures that predict atmospheric loads of Fusarium could inform disease spread, air pollution, and climate change.

  3. Successful marriage: American Panel Corporation and LG Philips LCD custom-designed avionic, shipboard, and rugged ground vehicle display modules from a consumer-oriented fabrication facility

    Science.gov (United States)

    Dunn, William; Garrett, Kimberly S.

    2001-09-01

    American panel corporation (APC) believes the use of custom designed (instead of ruggedized commercial) AMLCD cells is the only way to meet the specific environmental and performance requirements of the military/commercial avionic, shipboard and rugged ground vehicle markets. The APC/LG.Philips LCD (LG) custom approach mitigates risk to the end-user in many ways. As a part of the APC/LG long- term agreement LG has committed to provide module level equivalent (form, fit and function equivalent) panels for a period of ten years. No other commercial glass manufacturer has provided such an agreement. With the use of LG's commercial production manufacturing capabilities, APC/LG can provide the opportunity to procure a lifetime buy for any program with delivery of the entire lot within six months of order placement. This ensures that the entire production program will receive identical glass for every unit. The APC/LG relationship works where others have failed due to the number of years spent cultivating the mutual trust and respect necessary for establishing such a partnership, LG's interest in capturing the market share of this niche application, and the magnitude of the initial up-front investment by APC in engineering, tooling, facilities, production equipment, and LCD cell inventory.

  4. Hermes vehicle

    Science.gov (United States)

    Cretenet, J. C.

    1985-11-01

    The presence of Europe in the future developments of spatial programs, which are foreseen, for the 1990s and further, needs the availability of vehicles, modules and all related technologies adapted to operational use of low earth orbit station. The manned HERMES vehicle shall be part of the in-orbit infrastructure realized either in the European context or in cooperation between Europe and the United States. The main mission for this vehicle will be to run a shuttle with the station that means transport and change of the crews, its safe return in abort condition and cargo transport of consumable and experimental equipment. Secondary missions could be servicing on automatic platform, making autonomous scientific experiments. Lastly, the vehicle, by means of its on-board propulsion capability, could be used to accomplish in-orbit tow and assembly missions. Studies which are undertaken now about the vehicle are devoted to the aerodynamic shape (research of a compromise between aerothermic and overall fitting), the system (functional architecture, ground and flight configuration); further works dealing with technology are presently on hand in the field of thermal protection, aerodynamics, power generation with a high massic yield.

  5. Ground Vehicle CFD at TARDEC

    Science.gov (United States)

    2012-05-21

    or liquid+solid • Challenges • Multiphase + Lagrangian particles • Combustion (~9 reaction steps) • Initial fireball • Suppression chemistry...Iso-surface of Temperature 800K, FM200 Parcels Example: Testbed Fireball Generation - 10 Hole Showerhead FOUO • Traditional analysis evaluates a

  6. Monitoring of ground movement in open pit iron mines of Carajás Province (Amazon region) based on A-DInSAR techniques using TerraSAR-X data

    Science.gov (United States)

    Silva, Guilherme Gregório; Mura, José Claudio; Paradella, Waldir Renato; Gama, Fabio Furlan; Temporim, Filipe Altoé

    2017-04-01

    Persistent scatterer interferometry (PSI) analysis of a large area is always a challenging task regarding the removal of the atmospheric phase component. This work presents an investigation of ground movement measurements based on a combination of differential SAR interferometry time-series (DTS) and PSI techniques, applied on a large area of extent with open pit iron mines located in Carajás (Brazilian Amazon Region), aiming at detecting linear and nonlinear ground movement. These mines have presented a history of instability, and surface monitoring measurements over sectors of the mines (pit walls) have been carried out based on ground-based radar and total station (prisms). Using a priori information regarding the topographic phase error and a phase displacement model derived from DTS, temporal phase unwrapping in the PSI processing and the removal of the atmospheric phases can be performed more efficiently. A set of 33 TerraSAR-X (TSX-1) images, acquired during the period from March 2012 to April 2013, was used to perform this investigation. The DTS analysis was carried out on a stack of multilook unwrapped interferograms using an extension of SVD to obtain the least-square solution. The height errors and deformation rates provided by the DTS approach were subtracted from the stack of interferograms to perform the PSI analysis. This procedure improved the capability of the PSI analysis for detecting high rates of deformation, as well as increased the numbers of point density of the final results. The proposed methodology showed good results for monitoring surface displacement in a large mining area, which is located in a rain forest environment, providing very useful information about the ground movement for planning and risk control.

  7. Monitoring of Non-Linear Ground Movement in an Open Pit Iron Mine Based on an Integration of Advanced DInSAR Techniques Using TerraSAR-X Data

    Directory of Open Access Journals (Sweden)

    José Claudio Mura

    2016-05-01

    Full Text Available This work presents an investigation to determine ground deformation based on an integration of DInSAR Time-Series (DTS and Persistent Scatterer Interferometry (PSI techniques aiming at detecting high rates of linear and non-linear ground movement. The combined techniques were applied in an open pit iron mine located in Carajás Mineral Province (Brazilian Amazon region, using a set of 33 TerraSAR-X-1 images acquired from March 2012 to April 2013 when, due to a different deformation behavior during the dry and wet seasons in the Amazon region, a non-linear deformation was detected. The DTS analysis was performed on a stack of multi-look unwrapped interferograms using an extension of the SVD (Singular Value Decomposition, where a set of additional weighted constraints on the acceleration of the displacement was incorporated to control the smoothness of the time-series solutions, whose objective was to correct the atmospheric phase artifacts. The height errors and the deformation history provided by the DTS technique were used as previous information to perform the PSI analysis. This procedure improved the capability of the PSI technique to detect non-linear movement as well as to increase the numbers of point density of the final results. The results of the combined techniques are presented and compared with total station/prisms and ground-based radar (GBR measurements.

  8. Movement Disorders

    Science.gov (United States)

    ... t want them to. If you have a movement disorder, you experience these kinds of impaired movement. Dyskinesia ... movement and is a common symptom of many movement disorders. Tremors are a type of dyskinesia. Nerve diseases ...

  9. 越野环境中无人驾驶车的障碍目标识别%Obstacle Identification in Cross-Country Environment for Unmanned Ground Vehicles

    Institute of Scientific and Technical Information of China (English)

    赵一兵; 郭烈; 张明恒; 李琳辉

    2011-01-01

    针对无人驾驶车环境感知技术,基于D-S证据理论融合多传感器信息,旨在解决障碍物身份识别技术难点.基于CCD和激光传感器建立信息融合系统,并提取每种障碍物的5个特征证据,包括距离对比度特征、平行四边形特征、边缘形状特征、灰度纹理特征和颜色特征.再根据目标类型和环境加权系数选择经验公式,通过模糊插值法求取身份隶属度近似获得各特征对目标的相关系数构造基本概率赋值函数.最后制定Dempster组合规则,融合多传感器特征信息识别障碍身份.试验表明本文方法能够准确有效地获取基本概率赋值函数,D-S证据理论融合方法提高了障碍物身份识别的准确性和鲁棒性.%Autonomous navigation in cross-country environments presents many new challenges including obstacle perception for unmanned ground vehicle. A new method suitable for recognizing obstacle is proposed. The first step is to build the sensor fusion system by using sensors such as CCD and ladar, then to extract five different types of features, including distance contrast, parallelogram rate, edge-shape-factor, gray texture and HSV value. The experiment formula is selected according to the types of obstacle and weight efficiency to calculate basic probability assignment (BPA). The subordinatien to each event in identification framework is obtained by using the fuzzy interpolation. It is supposed that the subordination is equal to correlation coefficient in the formula. Finally, dempster rules are used to integrate sensors information and the obstacle is recognized based on the D-S theory of evidence. The test results indicate that the resolution of BPA is correct, thus improving the validity and robustness of cross-country environment perception based on the new method.

  10. EXPERIMENTAL TEST ON CONTROL POINTS MATERIALIZATION FOR THE STUDY OF VERTICAL MOVEMENTS OF SOIL AND ITS INTERACTIONS WITH GROUND WATER CONTENTS

    Directory of Open Access Journals (Sweden)

    L. Vittuari

    2014-01-01

    Starting from repeated precision levelling measurements, we verified which is the order of magnitude of movements of control points characterized by shallow foundations in cohesive soils, observing their behaviours at different depths, under simple and very common conditions such as the presence of periods of drought or rainfall. The results point-out movements in the order of 3–7 mm in the first meter of depth occurred in a week, during the transition between the period of summer drought and the first rains.

  11. An optimal solution for enhancing ambulance safety: implementing a driver performance feedback and monitoring device in ground emergency medical service vehicles.

    Science.gov (United States)

    Levick, Nadine R; Swanson, Jon

    2005-01-01

    A prospective study was conducted to determine if emergency vehicle driver risk behavior could be improved with an onboard computer-monitoring device, with real time auditory feedback. Data were collected over 18 months from 36 vehicles in a metropolitan EMS group, with >250 drivers. In >1.9 million recorded miles, performance improved from a baseline low of 0.018 miles between penalty counts to a high of 15.8 miles between counts. Seatbelt violations dropped from 13,500 to 4. There was a 20% saving in vehicle maintenance costs within 6 months. This technology demonstrated sustained cost savings in regards to vehicle maintenance as well as minimal retraining of drivers.

  12. Characterization of lake water and ground water movement in the littoral zone of Williams Lake, a closed-basin lake in North central Minnesota

    Science.gov (United States)

    Schuster, P.F.; Reddy, M.M.; LaBaugh, J.W.; Parkhurst, R.S.; Rosenberry, D.O.; Winter, T.C.; Antweiler, R.C.; Dean, W.E.

    2003-01-01

    Williams Lake, Minnesota is a closed-basin lake that is a flow-through system with respect to ground water. Ground-water input represents half of the annual water input and most of the chemical input to the lake. Chemical budgets indicate that the lake is a sink for calcium, yet surficial sediments contain little calcium carbonate. Sediment pore-water samplers (peepers) were used to characterize solute fluxes at the lake-water-ground-water interface in the littoral zone and resolve the apparent disparity between the chemical budget and sediment data. Pore-water depth profiles of the stable isotopes ??18O and ??2H were non-linear where ground water seeped into the lake, with a sharp transition from lake-water values to ground-water values in the top 10 cm of sediment. These data indicate that advective inflow to the lake is the primary mechanism for solute flux from ground water. Linear interstitial velocities determined from ??2H profiles (316 to 528 cm/yr) were consistent with velocities determined independently from water budget data and sediment porosity (366 cm/yr). Stable isotope profiles were generally linear where water flowed out of the lake into ground water. However, calcium profiles were not linear in the same area and varied in response to input of calcium carbonate from the littoral zone and subsequent dissolution. The comparison of pore-water calcium profiles to pore-water stable isotope profiles indicate calcium is not conservative. Based on the previous understanding that 40-50 % of the calcium in Williams Lake is retained, the pore-water profiles indicate aquatic plants in the littoral zone are recycling the retained portion of calcium. The difference between the pore-water depth profiles of calcium and ??18O and ??2H demonstrate the importance of using stable isotopes to evaluate flow direction and source through the lake-water-ground-water interface and evaluate mechanisms controlling the chemical balance of lakes. Published in 2003 by John Wiley

  13. Restrictions on European Union Citizens’ Freedom of Movement and Residence in the Country on Grounds of Public Policy, Public Security and Public Health

    Directory of Open Access Journals (Sweden)

    Junevičius Algis

    2016-02-01

    Full Text Available The free movement of persons is one of the most successful European Union projects, serving as a majorly important factor promoting the European integration processes. The adoption of the Treaty on the European Union and the creation of EU citizenship implemented significant changes: the status of EU citizens and their right to move and reside freely within the territory of the Member States can no longer be interpreted in the way it was before the adoption of the Treaty on the European Union. There are no requirements for EU citizens within the Treaty to pursue professional or independent activities or to work under an employment contract in order to access provided rights. However, the right of free movement is not unlimited. The administrations of the Member State governments are authorized to impose restictions on the free movement of citizens. In the light of these facts, this article examines exceptions in the field of free movement of persons and indentifies concepts of public policy, public security and public health. Special attention is given to so-called rule limitation of restrictions and to the mechanism of protection against expulsion from the country. The article concludes by saying that the institutions of Member State governments have the right to evaluate threats within the territory of the country and to decide on the content of public security by themselves. However, their discretion can not be used as an instrument to treat the conduct of other Member State citizens in a worse way than that of their own local citizens.

  14. 装甲车辆与地面背景的热交互作用及红外仿真%Thermal interactions and infrared simulation of armored vehicles and ground background

    Institute of Scientific and Technical Information of China (English)

    韩玉阁; 成志铎; 任登凤; 宣益民

    2013-01-01

    为了全面揭示装甲车辆与地面背景之间热交互作用对地面背景温度以及红外辐射特性的影响,建立了装甲车辆和地面背景的温度和红外辐射特性的模型,重点考虑了装甲车辆与地面之间的传热.通过对地面和履带相关力学关系的引入,建立运动车辆和地面之间热学以及力学的模型,采用了动网格方法对车辆目标在运动后对地面所产生的沉陷现象及在地面上留下的热痕迹进行模拟仿真.基于红外辐射理论,综合考虑自身辐射、反射辐射以及大气传输特性,计算了车辆在3种不同状态下与地面背景之间的热交互作用及红外辐射特征分布,并比较了模拟温度与实验测量温度的误差,验证了模型的精度.仿真结果表明:该方法对地面目标的隐身设计和隐身技术评估具有十分重要的意义.%In order to fully reveal the influence of thermal interactions between the armored vehicles and ground background on ground background temperature and infrared radiation characteristics, the temperature and infrared signature model of armored vehicles and ground background were established, with focus on heat transfer between armored vehicles and ground.By introducing mechanical relationship between the road and the track, thermal and mechanical models between the moving vehicle and the road were established.Using method of the moving mesh, the subsidence phenomenon and thermal trace on the road after target vehicle moving were simulated.Based on the infrared radiation theory, considering the radiation, reflective radiation and atmospheric transmission characteristic, the thermal interactions and infrared radiation characteristics distribution of armored vehicles and terrain background under three different conditions were calculated.The simulated temperature and measured temperature in the experiment were compared.The model's precision was validated.The simulation results show that this method is

  15. A movement ecology paradigm for unifying organismal movement research

    Science.gov (United States)

    Nathan, Ran; Getz, Wayne M.; Revilla, Eloy; Holyoak, Marcel; Kadmon, Ronen; Saltz, David; Smouse, Peter E.

    2008-01-01

    Movement of individual organisms is fundamental to life, quilting our planet in a rich tapestry of phenomena with diverse implications for ecosystems and humans. Movement research is both plentiful and insightful, and recent methodological advances facilitate obtaining a detailed view of individual movement. Yet, we lack a general unifying paradigm, derived from first principles, which can place movement studies within a common context and advance the development of a mature scientific discipline. This introductory article to the Movement Ecology Special Feature proposes a paradigm that integrates conceptual, theoretical, methodological, and empirical frameworks for studying movement of all organisms, from microbes to trees to elephants. We introduce a conceptual framework depicting the interplay among four basic mechanistic components of organismal movement: the internal state (why move?), motion (how to move?), and navigation (when and where to move?) capacities of the individual and the external factors affecting movement. We demonstrate how the proposed framework aids the study of various taxa and movement types; promotes the formulation of hypotheses about movement; and complements existing biomechanical, cognitive, random, and optimality paradigms of movement. The proposed framework integrates eclectic research on movement into a structured paradigm and aims at providing a basis for hypothesis generation and a vehicle facilitating the understanding of the causes, mechanisms, and spatiotemporal patterns of movement and their role in various ecological and evolutionary processes. ”Now we must consider in general the common reason for moving with any movement whatever.“ (Aristotle, De Motu Animalium, 4th century B.C.) PMID:19060196

  16. Water-table contours, directions of ground-water movement, and measurements of inflow to American Falls Reservoir, Southeastern Idaho, April 1984

    Science.gov (United States)

    Young, H.W.

    1984-01-01

    In 1978 the U.S. Geological Survey began a 5-year study of the High Plains regional aquifer system to provide hydrologic information for evaluating the effects of long-term development of the aquifer and to develop a capability for predicting aquifer response to alternative changes in ground-water management. By use of a digital model, this report presents a quantitative description of the High Plains aquifer in Oklahoma. The High Plains aquifer consists predominantly of the Tertiary Ogallala Formation and overlying Quaternary alluvium and terrace deposits which are hydraulically connected to the High Plains aquifer. Much of the aquifer is underlain by formations of Permian through Cretaceous age, which generally have very small hydraulic conductivities. In some areas parts of underlying Triassic, Jurassic, or Cretaceous rocks are hydraulically connected with the aquifer. The High Plains aquifer is a water-table aquifer in which water moves generally to the east-southeast. Before the beginning of extensive irrigation of the 1960's, the aquifer was essentially in dynamic equilibrium with recharge from precipitation balanced by natural discharge from the aquifer. Ground-water discharge appeared in streams leaving the area or was returned to the atmosphere through evapotranspiration. Accurate records of irrigation pumpage are not available from the High Plains. In order to estimate irrigation pumpage, published records of crop distribution were used and a consumptive use was assigned to each principal irrigated crop. This method gave an estimated irrigation demand. Pumpage was taken as a percentage of the total irrigation demand. Irrigation has decreased ground-water discharge from the High Plains aquifer. Ground-water discharge was estimated as approximately 118 cubic feet per second in 1980. A finite-difference digital model was used to simulate flow in the High Plains aquifer. The recharge was adjusted so that 1980 ground-water discharge was 118 cubic feet per

  17. A wait-list controlled pilot study of eye movement desensitization and reprocessing (EMDR) for children with post-traumatic stress disorder (PTSD) symptoms from motor vehicle accidents.

    Science.gov (United States)

    Kemp, Michael; Drummond, Peter; McDermott, Brett

    2010-01-01

    The present study investigated the efficacy of four EMDR sessions in comparison to a six-week wait-list control condition in the treatment of 27 children (aged 6 to 12 years) suffering from persistent PTSD symptoms after a motor vehicle accident. An effect for EMDR was identified on primary outcome and process measures including the Child Post-Traumatic Stress-Reaction Index, clinician rated diagnostic criteria for PTSD, Subjective Units of Disturbance and Validity of Cognition scales. All participants initially met two or more PTSD criteria. After EMDR treatment, this decreased to 25% in the EMDR group but remained at 100% in the wait-list group. Parent ratings of their child's PTSD symptoms showed no improvement, nor did a range of non-trauma child self-report and parent-reported symptoms. Treatment gains were maintained at three and 12 month follow-up. These findings support the use of EMDR for treating symptoms of PTSD in children, although further replication and comparison studies are required.

  18. Training on Movement Figure-Ground Discrimination Remediates Low-Level Visual Timing Deficits in the Dorsal Stream, Improving High-Level Cognitive Functioning, Including Attention, Reading Fluency, and Working Memory

    Directory of Open Access Journals (Sweden)

    Teri Lawton

    2017-05-01

    Full Text Available The purpose of this study was to determine whether neurotraining to discriminate a moving test pattern relative to a stationary background, figure-ground discrimination, improves vision and cognitive functioning in dyslexics, as well as typically-developing normal students. We predict that improving the speed and sensitivity of figure-ground movement discrimination (PATH to Reading neurotraining acts to remediate visual timing deficits in the dorsal stream, thereby improving processing speed, reading fluency, and the executive control functions of attention and working memory in both dyslexic and normal students who had PATH neurotraining more than in those students who had no neurotraining. This prediction was evaluated by measuring whether dyslexic and normal students improved on standardized tests of cognitive skills following neurotraining exercises, more than following computer-based guided reading (Raz-Kids (RK. The neurotraining used in this study was visually-based training designed to improve magnocellular function at both low and high levels in the dorsal stream: the input to the executive control networks coding working memory and attention. This approach represents a paradigm shift from the phonologically-based treatment for dyslexia, which concentrates on high-level speech and reading areas. This randomized controlled-validation study was conducted by training the entire second and third grade classrooms (42 students for 30 min twice a week before guided reading. Standardized tests were administered at the beginning and end of 12-weeks of intervention training to evaluate improvements in academic skills. Only movement-discrimination training remediated both low-level visual timing deficits and high-level cognitive functioning, including selective and sustained attention, reading fluency and working memory for both dyslexic and normal students. Remediating visual timing deficits in the dorsal stream revealed the causal role of visual

  19. Izbor optimalnog puta za kretanje organizovanog kolonskog saobraćajnog toka na osnovu rezultata modeliranja / Choosing an optimal route for organized vehicle movement based on modeling results

    Directory of Open Access Journals (Sweden)

    Radomir S. Gordić

    2006-04-01

    Full Text Available U toku planiranja i praktične realizacije zadataka jedinica Vojske SCG često se javlja problem izbora optimalnog puta između dva mesta (čvora na putnoj mreži. Kriterijumi optimizacije mogu biti različiti. Ovaj projekat treba da omogući brzo i lako određivanje optimalnog puta, primenom dinamičkog programiranja (DP, uz korišćenje Belmanovog (Bellman, algoritma u zavisnosti od izabranog kriterijuma -parametra. Kriterijum optimizacije je minimalno vreme kretanja (putovanja, koje je dobijeno imitacionim modeliranjem kolonskog saobraćajnog toka. Razrađeni algoritam omogućuje izbor optimalnog puta, za bilo koja dva čvora na mreži. / During the planning and practical realization of Serbian & Montenegro units' tasks a problem -which often occurs is choosing an optimal transport route between two places (nodes. Optimization criteria can be various. This project should enable quick and easy defining of an optimal route, applying dynamic programing (DP using Bellman's algorithm depending on chosen criteria - parameter. Optimization criteria represent minimum movement time (traveling, which are taken from imitational modeling of a traffics queue flow. Operating algorithm enable choosing an optimal transport route, for any two nodes on a road map.

  20. Systems Engineering of Unmanned DoD Systems: Following the Joint Capabilities Integration and Development System/Defense Acquisition System Process to Develop an Unmanned Ground Vehicle System

    Science.gov (United States)

    2015-12-01

    Manual D-A-1). APAs are “Performance attributes of a system not important enough to be considered KPPs or KSAs, but still appropriate to include in...the CDD or CPD are designated as APAs ” (JCIDS Manual D-A-1). The requirements are expressed using Thresholds (T) and Objectives (O). “Performance...INTENTIONALLY LEFT BLANK xv LIST OF ACRONYMS AND ABBREVIATIONS ACV Autonomous Clearance Vehicle AOA analysis of alternatives APA additional

  1. News and Views: CSR: the devil will be in the detail; MPs invite researchers to show off success; Earthquake movies reveal ground movements

    Science.gov (United States)

    2010-12-01

    The UK Government's Comprehensive Spending Review set out a distinctly tighter budget all round in October, but science funding as a whole was not as badly cut as some had feared. What this means for astronomy, planetary science and geophysics remains to be seen, as individual research council allocations have yet to be agreed. Early-career researchers with results to shout about have the opportunity to display and discuss their work at the House of Commons next year, as part of the SET for Britain event on 14 March. Seismology took a great step forward when international cooperation at the time of International Geophysical Year 1957/8 meant that earth movements resulting from quakes could be compared worldwide.

  2. Simulation of ground-water flow and the movement of saline water in the Hueco Bolson aquifer, El Paso, Texas, and adjacent areas

    Science.gov (United States)

    Groschen, George E.

    1994-01-01

    The Hueco bolson aquifer is being pumped at increasing rates to supply water for El Paso, Texas, and Ciudad Juarez, Mexico. Water-use projections for 1984-2000 indicate that the upward trend in pumping rates probably will continue, which will put an increasing burden on the limited freshwater resources of the aquifer. Near El Paso, saline water in the Rio Grande alluvium overlies freshwater in bolson deposits. Withdrawal of ground water has created a large cone of depression in the water table that is centered approximately under the El Paso-Ciudad Juarez urban area. The maximum depth of this cone in January 1984 was about 140 feet below the pre-development (before 1903) water table.

  3. Numerical simulation on the movement law of overlying strata in the stope with a fault and analysis of its influence on the ground gas drainage boreholes

    Institute of Scientific and Technical Information of China (English)

    HU Qian-ting; YAN Jing-jing; CHENG Guo-qiang

    2007-01-01

    In order to study the influence of a fault on the movement law of the overlying strata as well as its effect on the gas drainage boreholes, based on the practical situation of 1242(1) panel at Xieqiao Mine in Huainan, the Finite Element Method (FEM) model was built up, and the distribution of the stress field and the displacement field of the overlying strata in the stope with a fault were simulated by using the FEM software ANSYS. The results indicate that because of the existence of the fault, the horizontal displacement of overlying strata near the gas drainage borehole becomes larger than that in the stope without a fault, and the distribution of the stress field of the overlying strata changes greatly. When the working face is far away from the fault, the distribution of the stress field is approximately symmetrical. As the working face advances to the place 50 m away from the fault, the stress range at the right side goaf area is as twice as that at the left side.Here, the stress distribution area of goaf area and the fault plane run through, the fracture-connected-zone is formed. It can be presumed that the gas adsorbed in the coal and rock will flow into the fault zone along the fracture-connected-zone, which causes the quantity of gas drainage reduce remarkably.

  4. Observation of Arctic island barren-ground caribou (Rangifer tarandus groenlandicus migratory movement delay due to human induced sea-ice breaking

    Directory of Open Access Journals (Sweden)

    Mathieu Dumond

    2013-06-01

    Full Text Available Normal 0 21 false false false SV X-NONE X-NONE /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Normal tabell"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin-top:0cm; mso-para-margin-right:0cm; mso-para-margin-bottom:10.0pt; mso-para-margin-left:0cm; line-height:115%; mso-pagination:widow-orphan; font-size:11.0pt; font-family:"Calibri","sans-serif"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin; mso-fareast-language:EN-US;} The seasonal migration of the Dolphin and Union caribou (Rangifer tarandus groenlandicus herd between Victoria Island and the mainland (Nunavut/Northwest Territories, Canada relies on the formation of sea-ice that connects the Island to the mainland from late-October to early-June.  During an aerial survey of the Dolphin and Union caribou herd in October 2007 on southern Victoria Island, Nunavut, Canada, we documented the short-term effects of the artificial maintenance of an open water channel in the sea-ice on caribou migratory movements during staging along the coast.

  5. Human Purposive Movement Theory

    Science.gov (United States)

    2012-03-01

    movement patterns; for example, horses , deer, and javelina exhibit grazing behaviors that are similar to, but not quite the same as, cattle. Individual...conveyance would be modeled. This might be as simple as a person riding a horse , mule, camel, or burro, or as complex as a multiwheeled truck, train...or tracked vehicle. The assumption presented is that each system of conveyance reflects the will of its operator/ rider , whether that system is a

  6. 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...

  7. 电动汽车车身平顺性及车轮接地性分析与优化%Analysis and Optimization of Ride Comfort and Wheel Ground Adhesion of Electric Vehicle

    Institute of Scientific and Technical Information of China (English)

    张擎宇; 陈辛波

    2014-01-01

    以某分布式四轮驱动电动汽车为研究对象,在Adams/car中建立了整车模型,通过对前、后悬架参数进行灵敏度分析,探讨其对车身平顺性与车轮接地性的影响。基于α法建立评价车身平顺性与车轮接地性指标的多目标函数,对灵敏度较高的悬架参数进行优化设计。结果表明,优化后前、后悬架的刚度减小,前悬架的阻尼增大。与优化前相比,车身垂向加速度均方根值减小16%,左、右前轮动载荷的均方根值均减小11%。%With a distributed 4WD electric vehicle as research object, a vehicle model is constructed in Adams/car environment. Sensitivity analysis is made to the front and rear suspension parameters, its effect on ride comfort and wheel ground adhesion is investigated. Multi-objective function to evaluate body ride comfort and wheel ground adhesion is established based on α method and suspension parameters with high sensitivity are optimized. The results indicate that stiffness of the optimized front and rear suspension descends, whereas damping of the front suspension ascends. Compared with the suspension before optimization, the root-mean-square value of body vertical acceleration is reduced by 16%, and that of the front wheels on both sides is reduced by 11%.

  8. Concurrent validity and reliability of using ground reaction force and center of pressure parameters in the determination of leg movement initiation during single leg lift.

    Science.gov (United States)

    Aldabe, Daniela; de Castro, Marcelo Peduzzi; Milosavljevic, Stephan; Bussey, Melanie Dawn

    2016-09-01

    Postural adjustment evaluations during single leg lift requires the initiation of heel lift (T1) identification. T1 measured by means of motion analyses system is the most reliable approach. However, this method involves considerable workspace, expensive cameras, and time processing data and setting up laboratory. The use of ground reaction forces (GRF) and centre of pressure (COP) data is an alternative method as its data processing and setting up is less time consuming. Further, kinetic data is normally collected using frequency samples higher than 1000Hz whereas kinematic data are commonly captured using 50-200Hz. This study describes the concurrent-validity and reliability of GRF and COP measurements in determining T1, using a motion analysis system as reference standard. Kinematic and kinetic data during single leg lift were collected from ten participants. GRF and COP data were collected using one and two force plates. Displacement of a single heel marker was captured by means of ten Vicon(©) cameras. Kinetic and kinematic data were collected using a sample frequency of 1000Hz. Data were analysed in two stages: identification of key events in the kinetic data, and assessing concurrent validity of T1 based on the chosen key events with T1 provided by the kinematic data. The key event presenting the least systematic bias, along with a narrow 95% CI and limits of agreement against the reference standard T1, was the Baseline COPy event. Baseline COPy event was obtained using one force plate and presented excellent between-tester reliability.

  9. The Special Purpose Vehicle

    DEFF Research Database (Denmark)

    Fomcenco, Alex

    2013-01-01

    The purpose of this article is to investigate whether the situation where two companies appear as originators or sponsors behind a Special Purpose Vehicle (SPV) can be described as a merger, although on micro scale. Are the underlying grounds behind the creation of an SPV much different than thos...

  10. 不平顺路面的车辆动载诱发饱和地基的动应力响应%Influences of vehicle dynamic load on dynamic stress in saturated poro-elastic ground

    Institute of Scientific and Technical Information of China (English)

    周仁义; 钱建固; 黄茂松

    2016-01-01

    对由于不平顺路面引起的车辆附加动荷载在饱和多孔地基中的动应力开展了解析理论研究。通过承受移动矩形垂直荷载的三维饱和多孔地基的基本解,采用矩阵递推法得到多层饱和半空间解,数值积分得到数值结果。将该方法运用于具有不平顺路面的饱和多孔半空间的情况,得到了附加动荷载在饱和多孔地基中所产生的动应力。计算结果分析了分层地基半空间计算模型的优点,还发现土体的软硬程度对地基动应力极为重要。附加动荷载的速度频率同步效应在地基中作用明显,尤其对于所产生的剪应力,在具有较硬较厚路面的情况下,附加动荷载所产生的剪应力的最大值已经超过自重恒载所产生的剪应力。不平顺波长对动应力也有很大影响,尤其是短波不平顺。在高速移动的四轮车辆荷载的情况下,不平顺的路面会造成地基的剧烈振动,不平顺波长越短(即路面越不平整),振动的越剧烈。%Here,the influences of dynamic component of vehicle load (caused by pavement roughness)on the dynamic stress responses in poroelastic ground were studied.By introducing an analytical solution to the three-dimensional dynamic stress in a saturated poroelastic half space subjected to a harmonic rectangular moving load,the solutions to a multi-layered saturated poroelastic half space under moving loading were derived using the transfer matrix method. Numerical results were obtained by performing inverse Fourier transformation.In the case of rough road in a saturated poroelastic half space,the numerical results were obtained and used to analyze the influences of the dynamic component of vehicle load (caused by pavement roughness)on the dynamic stress responses in the half space.The results showed that the advantages of the multi-layered poroelastic half space computing model and the stiffness of soil are important to the dynamic

  11. Cooperative ground moving target track method using two unmanned aerial vehicles%一种双无人机协同跟踪地面移动目标方法

    Institute of Scientific and Technical Information of China (English)

    符小卫; 侯建永; 高晓光; 刘重

    2013-01-01

    This paper investigated the cooperative tracking of a ground moving target using two unmanned aerial vehicles under communication delay,and constructed an algorithm model.Considering the communication delay,it proposed a data fusion method combined with the recursive least squares filtering and the weighted least squres.Then it built the recursive least squares filtering for the prediction of target states,designed a trajectory planning algorithm based on receding horizon and the distributed genetic algorithm to implement the task of cooperative target tracking using two unmanned aerial vehicles.The fitness function consisted of several components including the distance of vehicles and target,the communication distance of vehicles,the communication angle of vehicles.Simulation studies show the cooperative track algorithm can implement the track task well;compared to one vehicle track the target,the position error decreases obviously,the position error during to the communication delay can decrease.%针对通信延时情况下双无人机协同跟踪地面移动目标问题进行研究,构建了基于分布式遗传算法和滚动时域优化结合的目标跟踪航迹规划算法模型.考虑到通信延时会增加目标状态信息数据融合时的误差,导致无人机跟踪任务效果变差,结合递推最小二乘滤波和加权最小二乘估计设计了融合方法,来融合处理目标状态信息;考虑到无人机对目标的观测效果与未来时刻的目标状态信息密切相关,采用递推最小二乘滤波预测目标的状态信息,结合分布式遗传算法和滚动时域优化设计了双无人机目标跟踪航迹规划算法.适应度函数考虑了无人机和目标之间的距离、无人机之间的通信距离、无人机之间的通信角度.仿真结果表明:该协同跟踪方法能够较好地完成跟踪任务;与一架无人机跟踪相比误差明显减小,并且可以减小通信延时带来的跟踪误差.

  12. 2007 Tactical Wheeled Vehicles Conference (TWV)

    Science.gov (United States)

    2007-02-06

    Ground Mobility Enhancements 7322 Vehicles MRAP Vehicles Survivability Bridge to JLTV / MIC -- Current Theater Requirements Ground Mobility...DAB/MS B ASARC PROPOSAL SUBMISSION Stand-up JPO JROC ICD Approval 801/805/818 Certifications 1 2 3 TMA TRA Concept Decision/ MS A JLTV Acquisition

  13. [Stereotypic movements].

    Science.gov (United States)

    Fernández-Alvarez, E

    2003-02-01

    Stereotypic movements are repetitive patterns of movement with certain peculiar features that make them especially interesting. Their physiopathology and their relationship with the neurobehavioural disorders they are frequently associated with are unknown. In this paper our aim is to offer a simple analysis of their dominant characteristics, their differentiation from other processes and a hypothesis of the properties of stereotypic movements, which could all set the foundations for research work into their physiopathology.

  14. LOAC: a small aerosol optical counter/sizer for ground-based and balloon measurements of the size distribution and nature of atmospheric particles – Part 2: First results from balloon and unmanned aerial vehicle flights

    Directory of Open Access Journals (Sweden)

    J.-B. Renard

    2015-09-01

    Full Text Available In the companion paper (Renard et al., 2015, we have described and evaluated a new versatile optical particle counter/sizer named LOAC (Light Optical Aerosol Counter based on scattering measurements at angles of 12 and 60° that allows some topology identification of particles (droplets, carbonaceous, salts, and mineral dust in addition to size segregated counting in a large diameter range from 0.2 up to possibly more than 100 μm depending on sampling conditions. Its capabilities overpass those of preceding optical particle counters (OPCs allowing the characterization of all kind of aerosols from submicronic-sized absorbing carbonaceous particles in polluted air to very coarse particles (> 10–20 μm in diameter in desert dust plumes or fog and clouds. LOAC's light and compact design allows measurements under all kinds of balloons, on-board unmanned aerial vehicles (UAV and at ground level. We illustrate here the first LOAC airborne results obtained from an unmanned aerial vehicle (UAV and a variety of scientific balloons. The UAV was deployed in a peri-urban environment near Bordeaux in France. Balloon operations include (i tethered balloons deployed in urban environments in Vienna (Austria and Paris (France, (ii pressurized balloons drifting in the lower troposphere over the western Mediterranean (during the Chemistry-Aerosol Mediterranean Experiment – ChArMEx campaigns, (iii meteorological sounding balloons launched in the western Mediterranean region (ChArMEx and from Aire-sur-l'Adour in south-western France (VOLTAIRE-LOAC campaign. More focus is put on measurements performed in the Mediterranean during (ChArMEx and especially during African dust transport events to illustrate the original capability of balloon-borne LOAC to monitor in situ coarse mineral dust particles. In particular, LOAC has detected unexpected large particles in desert sand plumes.

  15. Movement as utopia.

    Science.gov (United States)

    Couton, Philippe; López, José Julián

    2009-10-01

    Opposition to utopianism on ontological and political grounds has seemingly relegated it to a potentially dangerous form of antiquated idealism. This conclusion is based on a restrictive view of utopia as excessively ordered panoptic discursive constructions. This overlooks the fact that, from its inception, movement has been central to the utopian tradition. The power of utopianism indeed resides in its ability to instantiate the tension between movement and place that has marked social transformations in the modern era. This tension continues in contemporary discussions of movement-based social processes, particularly international migration and related identity formations, such as open borders transnationalism and cosmopolitanism. Understood as such, utopia remains an ongoing and powerful, albeit problematic instrument of social and political imagination.

  16. Intelligent Vehicle Health Management

    Science.gov (United States)

    Paris, Deidre E.; Trevino, Luis; Watson, Michael D.

    2005-01-01

    As a part of the overall goal of developing Integrated Vehicle Health Management systems for aerospace vehicles, the NASA Faculty Fellowship Program (NFFP) at Marshall Space Flight Center has performed a pilot study on IVHM principals which integrates researched IVHM technologies in support of Integrated Intelligent Vehicle Management (IIVM). IVHM is the process of assessing, preserving, and restoring system functionality across flight and ground systems (NASA NGLT 2004). The framework presented in this paper integrates advanced computational techniques with sensor and communication technologies for spacecraft that can generate responses through detection, diagnosis, reasoning, and adapt to system faults in support of INM. These real-time responses allow the IIVM to modify the affected vehicle subsystem(s) prior to a catastrophic event. Furthermore, the objective of this pilot program is to develop and integrate technologies which can provide a continuous, intelligent, and adaptive health state of a vehicle and use this information to improve safety and reduce costs of operations. Recent investments in avionics, health management, and controls have been directed towards IIVM. As this concept has matured, it has become clear the INM requires the same sensors and processing capabilities as the real-time avionics functions to support diagnosis of subsystem problems. New sensors have been proposed, in addition, to augment the avionics sensors to support better system monitoring and diagnostics. As the designs have been considered, a synergy has been realized where the real-time avionics can utilize sensors proposed for diagnostics and prognostics to make better real-time decisions in response to detected failures. IIVM provides for a single system allowing modularity of functions and hardware across the vehicle. The framework that supports IIVM consists of 11 major on-board functions necessary to fully manage a space vehicle maintaining crew safety and mission

  17. Study on Ground Automatic Identification Technology for Intelligent Vehicle Based on Vision Sensor%基于视觉传感器的自主车辆地面自动辨识技术研究

    Institute of Scientific and Technical Information of China (English)

    崔根群; 余建明; 赵娴; 赵丛琳

    2011-01-01

    The ground automatic identification technology for intelligent vehicle is iaking Leobor-Edu autonomous vehicle as a test vector and using DH-HV2003UC-T vision sensor to collect image infarmaiion of five common lane roads( cobbled road, concrete road, dirt road, grass road, tile road) , then using MATLAB image processing module to perform coding compression, recovery reconstruction, smoothing, sharpening, enhancement, feature extraction and other related processing,then using MATLAB BP neural network module to carry on pattern recognition.Through analyzing the pattern recognition result, lt shows that the objective error is 20%, the road recognition rate has reached the intended requirement in the system,and it can be universally applied in the smart vehicle or robots and other related fields.%谊自主车辆地面自动辨识技术是以Leobot-Edu自主车辆作为试验载体,并应用DH-HV2003UC-T视觉传感器对常见的5种行车路面(石子路面、水泥路面、土壤路面、草地路面、砖地路面)进行图像信息的采集,应用Matlab图像处理模块对其依次进行压缩编码、复原重建、平滑、锐化、增强、特征提取等相关处理后,再应用Matlab BP神经网络模块进行模式识别.通过对模式识别结果分析可知,网络训练目标的函数误差为20%,该系统路面识别率达到预定要求,可以在智能车辆或移动机器人等相关领域普及使用.

  18. Digital Modeling Phenomenon Of Surface Ground Movement

    Directory of Open Access Journals (Sweden)

    Ioan Voina

    2016-11-01

    Full Text Available With the development of specialized software applications it was possible to approach and resolve complex problems concerning automating and process optimization for which are being used field data. Computerized representation of the shape and dimensions of the Earth requires a detailed mathematical modeling, known as "digital terrain model". The paper aims to present the digital terrain model of Vulcan mining, Hunedoara County, Romania. Modeling consists of a set of mathematical equations that define in detail the surface of Earth and has an approximate surface rigorously and mathematical, that calculated the land area. Therefore, the digital terrain model means a digital representation of the earth's surface through a mathematical model that approximates the land surface modeling, which can be used in various civil and industrial applications in. To achieve the digital terrain model of data recorded using linear and nonlinear interpolation method based on point survey which highlights the natural surface studied. Given the complexity of this work it is absolutely necessary to know in detail of all topographic elements of work area, without the actions to be undertaken to project and manipulate would not be possible. To achieve digital terrain model, within a specialized software were set appropriate parameters required to achieve this case study. After performing all steps we obtained digital terrain model of Vulcan Mine. Digital terrain model is the complex product, which has characteristics that are equivalent to the specialists that use satellite images and information stored in a digital model, this is easier to use.

  19. Human-mediated dispersal of seeds by the airflow of vehicles.

    Science.gov (United States)

    von der Lippe, Moritz; Bullock, James M; Kowarik, Ingo; Knopp, Tatjana; Wichmann, Matthias C; Wichmann, Matthias

    2013-01-01

    Human-mediated dispersal is known as an important driver of long-distance dispersal for plants but underlying mechanisms have rarely been assessed. Road corridors function as routes of secondary dispersal for many plant species but the extent to which vehicles support this process remains unclear. In this paper we quantify dispersal distances and seed deposition of plant species moved over the ground by the slipstream of passing cars. We exposed marked seeds of four species on a section of road and drove a car along the road at a speed of 48 km/h. By tracking seeds we quantified movement parallel as well as lateral to the road, resulting dispersal kernels, and the effect of repeated vehicle passes. Median distances travelled by seeds along the road were about eight meters for species with wind dispersal morphologies and one meter for species without such adaptations. Airflow created by the car lifted seeds and resulted in longitudinal dispersal. Single seeds reached our maximum measuring distance of 45 m and for some species exceeded distances under primary dispersal. Mathematical models were fit to dispersal kernels. The incremental effect of passing vehicles on longitudinal dispersal decreased with increasing number of passes as seeds accumulated at road verges. We conclude that dispersal by vehicle airflow facilitates seed movement along roads and accumulation of seeds in roadside habitats. Dispersal by vehicle airflow can aid the spread of plant species and thus has wide implications for roadside ecology, invasion biology and nature conservation.

  20. Human-mediated dispersal of seeds by the airflow of vehicles.

    Directory of Open Access Journals (Sweden)

    Moritz von der Lippe

    Full Text Available Human-mediated dispersal is known as an important driver of long-distance dispersal for plants but underlying mechanisms have rarely been assessed. Road corridors function as routes of secondary dispersal for many plant species but the extent to which vehicles support this process remains unclear. In this paper we quantify dispersal distances and seed deposition of plant species moved over the ground by the slipstream of passing cars. We exposed marked seeds of four species on a section of road and drove a car along the road at a speed of 48 km/h. By tracking seeds we quantified movement parallel as well as lateral to the road, resulting dispersal kernels, and the effect of repeated vehicle passes. Median distances travelled by seeds along the road were about eight meters for species with wind dispersal morphologies and one meter for species without such adaptations. Airflow created by the car lifted seeds and resulted in longitudinal dispersal. Single seeds reached our maximum measuring distance of 45 m and for some species exceeded distances under primary dispersal. Mathematical models were fit to dispersal kernels. The incremental effect of passing vehicles on longitudinal dispersal decreased with increasing number of passes as seeds accumulated at road verges. We conclude that dispersal by vehicle airflow facilitates seed movement along roads and accumulation of seeds in roadside habitats. Dispersal by vehicle airflow can aid the spread of plant species and thus has wide implications for roadside ecology, invasion biology and nature conservation.

  1. 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...

  2. 地面无人作战系统机械臂运动学建模与仿真%Establishment and Simulation Study on Kinematics Model of Unmanned Ground Combat Vehicle Robot Manipulators

    Institute of Scientific and Technical Information of China (English)

    席雷平; 陈自力; 田庆民

    2012-01-01

    The correlative problem of robotic manipulators kinematics model is discussed for Unmanned Ground Combat Vehicle in this paper. Considering the structure of robotic manipulators, the kinematics model is established with D-H method. Based on it,the forward and inverse kinematics equations are solved. Then,simulation and verification is performed by Robotics Toolbox of Matlab software for the structure and kinematics analysis. The results show that this method is correct and feasible.%以某地面无人作战系统中的机械臂为研究对象,探讨其运动学模型建立中的相关问题.结合该机械臂的结构特点,利用D-H方法建立其相应的运动学模型,并在该基础上求解机械臂的正、逆运动学方程.最后在Matlab环境下,借助Robotics Toolbox工具箱对该机械臂的结构和运动学问题进行验证和仿真.仿真结果表明:该设计方法是正确可行的.

  3. Cooperative tracking of ground moving target using unmanned aerial vehicles in cluttered environment%复杂环境下多无人机协作式地面移动目标跟踪

    Institute of Scientific and Technical Information of China (English)

    王林; 彭辉; 朱华勇; 沈林成

    2011-01-01

    针对多无人机(UAV)协同地面移动目标跟踪问题展开研究.提出一种基于主动感知的问题求解框架,建立多UAV协同目标跟踪问题模型;在此基础上,采用分布式无色信息滤波实现目标状态融合估计与预测;然后,基于预测目标状态,结合滚动时域控制与遗传算法设计一种多UAV在线协同航迹规划算法.仿真结果表明:结合预测目标状态在线优化UAV航迹能够获得更好的目标跟踪性能.%We investigate the cooperative tracking of a ground moving target in a cluttered environment by using unmanned aerial vehicles(UAV). Firstly, a model the cooperative target tracking by UAV is developed based on active sensing;secondly, a distributed unscented information filter is built for the estimation fusion and the prediction of target states. Finally, an online trajectory planning algorithm based on the receding horizon control and the genetic algorithm is designed and implemented, with the predicted target states as the inputs to this planning algorithm. Numerical simulations demonstrate that the proposed method effectively improves the performance of target tracking.

  4. Localizing Ground-Penetrating Radar

    Science.gov (United States)

    2014-11-01

    ing Ground-Penetrating Radar (LGPR) uses very high frequency (VHF) radar reflections of underground features to generate base- line maps and then...Innovative ground- penetrating radar that maps underground geological features provides autonomous vehicles with real-time localization. Localizing...NOV 2014 2. REPORT TYPE 3. DATES COVERED 00-00-2014 to 00-00-2014 4. TITLE AND SUBTITLE Localizing Ground-Penetrating Radar 5a. CONTRACT NUMBER

  5. 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.

  6. Research Into Automobile Movement on a Curve Under Winter Conditions

    Directory of Open Access Journals (Sweden)

    Kristina Kemzūraitė

    2012-01-01

    Full Text Available The article analyzes the movement of the car on the curve on the slippery and snowy road surface with asphalted ruts. The paper reviews literature related to lateral and longitudinal vehicle acceleration and dynamics of vehicle movement. The experimental facts of vehicle lateral acceleration are given in graphical charts. The article also describes the acceleration values and stability of the automobile depending on the speed in the curve. The findings are given based on the results.Article in Lithuanian

  7. The Special Purpose Vehicle

    DEFF Research Database (Denmark)

    Fomcenco, Alex

    2013-01-01

    The purpose of this article is to investigate whether the situation where two companies appear as originators or sponsors behind a Special Purpose Vehicle (SPV) can be described as a merger, although on micro scale. Are the underlying grounds behind the creation of an SPV much different than thos...... in a merger situation? What is actually happening when two enterprises originate an SPV? And what distinguishes an SPV from a joint venture, or is it the same thing?...

  8. Demand and routing models for urban goods movement simulation

    OpenAIRE

    Polimeni, Antonio; Russo, Francesco; Vitetta, Antonino

    2010-01-01

    This paper presents a macro-architecture for simulating goods movements in an urban area. Urban goods supply is analysed when the retailer is the decision-maker and chooses to supply his/her shop. Two components are considered: demand in terms of goods supply and vehicle routing with constraints to simulate goods movements. To analyse demand we consider a multi-step model, while to analyse goods movements a Vehicle Routing Problem with Time Windows (VRPTW) is formalized. We exa...

  9. TARDEC Ground Vehicle Robotics: Vehicle Dynamic Characterization and Research

    Science.gov (United States)

    2015-09-01

    reason why most consumer automobiles come from the factory in an understeer configuration, so that if something goes wrong in a maneuver, the car will...This has a bit to do with suspension design, which isn’t something I want to dive into, so I’ll keep the explanations brief and google can fill... car loses traction and skids out. This test is essential in characterizing the UNCLASSIFIED UNCLASSIFIED steady state cornering capabilities of

  10. Mixed Movements

    DEFF Research Database (Denmark)

    Brabrand, Helle

    2010-01-01

    Mixed Movements is a research project engaged in performance-based architectural drawing. Architectonic implementation questions relations between the human body and a body of architecture by the different ways we handle drawing materials. A drawing may explore architectonic problems at other...... levels than those related to building, and this exploration is a special challenge and competence implicit artistic development work. The project Mixed Movements generates drawing-material, not primary as representation, but as a performance-based media, making the body being-in-the-media felt and appear...... as possible operational moves....

  11. Forward-looking three dimensional imaging technique for InSAR mounted on ground vehicles%车载 InSAR 前视三维成像技术

    Institute of Scientific and Technical Information of China (English)

    王建; 李杨寰; 张汉华; 陆必应; 宋千; 周智敏

    2014-01-01

    It is a difficult task for an unmanned ground vehicle (UGV)to sense obstacles in out fields or unstructured environments.Because the height information is a vital feature to boost the performance of obstacle discrimination,the three-dimensional imaging technique for sensing obstacles ahead UGV of interferometric synthetic aperture radar (InSAR)was presented.The basic signal process flow of InSAR was reviewed. Special factors of the UGV platform that impact the digital elevation model (DEM)measurement precision were analyzed,such as the baseline length,platform motion errors.The DEMof a partial sight-blocked obstacle scene was obtained by processing the three-dimensional InSAR image, which proved the feasibility of applying InSAR to obstacle sensing of UGV.%野外和非结构化环境下的障碍探测是无人驾驶车(UGV)环境感知的难题之一。基于高度识别障碍是一种有效的解决途径,提出了干涉合成孔径雷达(InSAR)的三维障碍物成像策略,研究了 InSAR 信息处理流程,分析了干涉基线和运动误差对车载 InSAR 高程测量精度的影响,仿真了无人车前场景存在遮挡时的 InSAR 高程测量,证明了 InSAR 用于 UGV 前方环境感知的可行性。

  12. LOAC: a small aerosol optical counter/sizer for ground-based and balloon measurements of the size distribution and nature of atmospheric particles - Part 2: First results from balloon and unmanned aerial vehicle flights

    Science.gov (United States)

    Renard, Jean-Baptiste; Dulac, François; Berthet, Gwenaël; Lurton, Thibaut; Vignelles, Damien; Jégou, Fabrice; Tonnelier, Thierry; Jeannot, Matthieu; Couté, Benoit; Akiki, Rony; Verdier, Nicolas; Mallet, Marc; Gensdarmes, François; Charpentier, Patrick; Mesmin, Samuel; Duverger, Vincent; Dupont, Jean-Charles; Elias, Thierry; Crenn, Vincent; Sciare, Jean; Zieger, Paul; Salter, Matthew; Roberts, Tjarda; Giacomoni, Jérôme; Gobbi, Matthieu; Hamonou, Eric; Olafsson, Haraldur; Dagsson-Waldhauserova, Pavla; Camy-Peyret, Claude; Mazel, Christophe; Décamps, Thierry; Piringer, Martin; Surcin, Jérémy; Daugeron, Daniel

    2016-08-01

    In the companion (Part I) paper, we have described and evaluated a new versatile optical particle counter/sizer named LOAC (Light Optical Aerosol Counter), based on scattering measurements at angles of 12 and 60°. That allows for some typology identification of particles (droplets, carbonaceous, salts, and mineral dust) in addition to size-segregated counting in a large diameter range from 0.2 µm up to possibly more than 100 µm depending on sampling conditions (Renard et al., 2016). Its capabilities overpass those of preceding optical particle counters (OPCs) allowing the characterization of all kind of aerosols from submicronic-sized absorbing carbonaceous particles in polluted air to very coarse particles (> 10-20 µm in diameter) in desert dust plumes or fog and clouds. LOAC's light and compact design allows measurements under all kinds of balloons, on-board unmanned aerial vehicles (UAVs) and at ground level. We illustrate here the first LOAC airborne results obtained from a UAV and a variety of scientific balloons. The UAV was deployed in a peri-urban environment near Bordeaux in France. Balloon operations include (i) tethered balloons deployed in urban environments in Vienna (Austria) and Paris (France), (ii) pressurized balloons drifting in the lower troposphere over the western Mediterranean (during the Chemistry-Aerosol Mediterranean Experiment - ChArMEx campaigns), (iii) meteorological sounding balloons launched in the western Mediterranean region (ChArMEx) and from Aire-sur-l'Adour in south-western France (VOLTAIRE-LOAC campaign). More focus is put on measurements performed in the Mediterranean during (ChArMEx) and especially during African dust transport events to illustrate the original capability of balloon-borne LOAC to monitor in situ coarse mineral dust particles. In particular, LOAC has detected unexpected large particles in desert sand plumes.

  13. Unmanned Ground Vehicle (UGV) Interoperability Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — The UGV Interoperability Lab provides the capability to verify vendor conformance against government-defined interoperability profiles (IOPs). This capability allows...

  14. Advanced Composites for Air and Ground Vehicles

    Science.gov (United States)

    2015-08-01

    Progress in polymer science, 2003. 28(11): p. 1539–1641. 6. Kojima, Y., et al., “Mechanical properties of nylon 6-clay hybrid,” Journal of...Mechanical properties of nylon 6-clay hybrid,” Journal of Materials Research(USA), 1993. 8(5): p. 1185–1189. 41. Mesbah, A., et al., “Experimental...the sensors directly through cables and wires has a high installation and material cost. Wireless sensor networks (WSNs) offer a promising solution

  15. Unmanned Ground Vehicle Communications Relays: Lessons Learned

    Science.gov (United States)

    2014-04-01

    between the “ hello ” messages that are automatically sent to monitor the network status. Software modifications were made to enable sub-second “ hello ...intervals. Experimenting with different values of “ hello ” intervals showed that 10 “ hellos ” a second gave near real-time network convergence and

  16. Remote Vision Systems for Teleoperated Ground Vehicles

    Science.gov (United States)

    1991-05-01

    Information Operations end Reports. 1215J1elterson Davis Highway. Suite 1204. Arlington. VA 22202-4302. and to the Offce of Management and Budget...Paperworkr Reductlo Proyect (0704-0188). Washingtont. DC 20503._____________________ I AGENCY USE ONLY (Leave bAW4V 2 REPORT DATE 3 REPORT TYPE AND DATES...and scannable panel displays require further development. 6.0 ACKNOWLEDEMENTS. The authors acknowledge NOSC UGV Program Manager , Thomas W. Hughes, for

  17. Ground Vehicle Navigation Using Magnetic Field Variation

    Science.gov (United States)

    2012-09-13

    using three-axis magnetic field measurements for navigation. While Storms innovative work exposed the ability to navigate using three-axis magnetometer...level of difficulty, Ascher et al. combine a magnetometer with a pair of inertial measurement units, a barometer , and a laser for precise indoor

  18. International Assessment of Unmanned Ground Vehicles

    Science.gov (United States)

    2008-02-01

    toward civil applica- tions, advances in enabling technologies [e.g., sensors; propulsion and traction; autonomous navigation, command and control (C2...art. Laser radar and laser profiling also have numerous civil appli- cations. A strong market exists for precise, high spatial resolution (1.0 m to 0.3...Establishment for Applied Science)], Belgium (Royal Military Acad- emy), Italy (Oto Melara of Finmeccanica), and Spain (Sener Ingenieria y Sistemas SA

  19. Remote Imagery for Unmanned Ground Vehicles (RIUGV)

    Science.gov (United States)

    2005-03-25

    intelligence, pipeline monitoring, urban mapping, natural hazard detection, coastal /marine mapping, exploration & mining, and disaster management. All...and loaded into the executive software of the UGV employed in the test environment. Landcover analysis Figure 4: Off-Road Course Images

  20. Wall Climbing Micro Ground Vehicle (MGV)

    Science.gov (United States)

    2013-09-01

    into the preliminary design of the control platform. This concept is used on the City Climber robot from the City College of New York to redirect... Chennai , India, 2011. 6. Lee, Y.; Ahuja, V.; Hosangadi, A.; Slipper, M. E.; Mulvihill, L. P.; Birkbeck, R.; Coleman, R. M. Impeller Design of a...Teheran, Iran, 2011. 12. Xiao, J.; Sadegh, A. City -Climber: A New Generation Wall-Climbing Robots; The City College, City University of New York USA

  1. Striking movements

    DEFF Research Database (Denmark)

    Dahl, Sofia

    2011-01-01

    Like all music performance, percussion playing requires high control over timing and sound properties. Specific to percussionists, however, is the need to adjust the movement to different instruments with varying physical properties and tactile feedback to the player. Furthermore, the well define...

  2. Chloroplast movement.

    Science.gov (United States)

    Wada, Masamitsu

    2013-09-01

    Chloroplast movement is important for plant survival under high light and for efficient photosynthesis under low light. This review introduces recent knowledge on chloroplast movement and shows how to analyze the responses and the moving mechanisms, potentially inspiring research in this field. Avoidance from the strong light is mediated by blue light receptor phototropin 2 (phot2) plausibly localized on the chloroplast envelop and accumulation at the week light-irradiated area is mediated by phot1 and phot2 localized on the plasma membrane. Chloroplasts move by chloroplast actin (cp-actin) filaments that must be polymerized by Chloroplast Unusual Positioning1 (CHUP1) at the front side of moving chloroplast. To understand the signal transduction pathways and the mechanism of chloroplast movement, that is, from light capture to motive force-generating mechanism, various methods should be employed based on the various aspects. Observation of chloroplast distribution pattern under different light condition by fixed cell sectioning is somewhat an old-fashioned technique but the most basic and important way. However, most importantly, precise chloroplast behavior during and just after the induction of chloroplast movement by partial cell irradiation using an irradiator with either low light or strong light microbeam should be recorded by time lapse photographs under infrared light and analyzed. Recently various factors involved in chloroplast movement, such as cp-actin filaments and CHUP1, could be traced in Arabidopsis transgenic lines with fluorescent protein tags under a confocal laser scanning microscope (CLSM) and/or a total internal reflection fluorescence microscope (TIRFM). These methods are listed and their advantages and disadvantages are evaluated.

  3. ANALYSING SURFACE MOVEMENT DELAYS IN AN AIRPORT

    Directory of Open Access Journals (Sweden)

    Volodymyr Kharchenko

    2014-07-01

    Full Text Available Queuing effect can be in the different components of ground operations. Causes of surface – movement delays are long taxi – in and taxi – out operations during departure and arrival of aircraft. Surface movement delays in an airport are analyzed

  4. Auditory perception of motor vehicle travel paths.

    Science.gov (United States)

    Ashmead, Daniel H; Grantham, D Wesley; Maloff, Erin S; Hornsby, Benjamin; Nakamura, Takabun; Davis, Timothy J; Pampel, Faith; Rushing, Erin G

    2012-06-01

    These experiments address concerns that motor vehicles in electric engine mode are so quiet that they pose a risk to pedestrians, especially those with visual impairments. The "quiet car" issue has focused on hybrid and electric vehicles, although it also applies to internal combustion engine vehicles. Previous research has focused on detectability of vehicles, mostly in quiet settings. Instead, we focused on the functional ability to perceive vehicle motion paths. Participants judged whether simulated vehicles were traveling straight or turning, with emphasis on the impact of background traffic sound. In quiet, listeners made the straight-or-turn judgment soon enough in the vehicle's path to be useful for deciding whether to start crossing the street. This judgment is based largely on sound level cues rather than the spatial direction of the vehicle. With even moderate background traffic sound, the ability to tell straight from turn paths is severely compromised. The signal-to-noise ratio needed for the straight-or-turn judgment is much higher than that needed to detect a vehicle. Although a requirement for a minimum vehicle sound level might enhance detection of vehicles in quiet settings, it is unlikely that this requirement would contribute to pedestrian awareness of vehicle movements in typical traffic settings with many vehicles present. The findings are relevant to deliberations by government agencies and automobile manufacturers about standards for minimum automobile sounds and, more generally, for solutions to pedestrians' needs for information about traffic, especially for pedestrians with sensory impairments.

  5. Gracious Movement

    Directory of Open Access Journals (Sweden)

    Lev Kreft

    2012-07-01

    Full Text Available In 1984 Christopher Cordner offered a critical view on theories of graceful movement in sport developed by Ng. G. Wulk, David Best and Joseph Kupfer. In 2001 Paul Davis criticized his view. Cordner responded, rejecting all the criticism. More than a century before, Herbert Spencer and Jean-Marie Guyau had a similar controversy over grace. Both exchanges of opinion involve three positions: that grace is the most efficient movement and therefore something quantitative and measurable; that grace is expression of the wholeness of person and the world; and that grace is something which neither science nor philosophy can explain. To clarify these conflicting issues, this article proposes to examine the history of the notion which goes back to the Latin gratia and has root in the Ancient Greek charis, and to apply the concepts of cultural anchor and thin coherence, following John R. Searle’s explanation that we produce epistemically objective accounts of ontologically subjective reality.

  6. 下一代汽车发展与普及的全球动态(英文)%World Movement on Development and Diffusion for Next-Generation Vehicles

    Institute of Scientific and Technical Information of China (English)

    樋口世喜夫[日

    2014-01-01

    空气污染、全球变暖和不断增长的能源需求,是人类目前面对的三大问题。汽车的电动化有望缓解或部分解决这些问题。一些主要国家已经制定了雄心勃勃的未来目标:到2020年,中国将有500万辆电动汽车上路,日本国200万辆,德国100万辆;而美国,到2015年,将有100万辆。这些国家正在热心地开发先进电池、燃料电池汽车、安全汽车、零碰撞汽车、联网汽车和自主汽车;此外,还包括“车到家、家到车”系統、用于居住社区的超小型汽车和紧急呼叫系統。借助于这些广泛领域的技术,人类有望创建一个新的产业乃至一个可持续性的社会。%World people are simultaneously dealing with the air pol ution, global warming and increasing energy demand. So, the automobile electriifcation is expected to be a promising solution in major countries to overcome the worldwide stringent regulation of the fuel saving after 2020. Their ambitious goals of the electric vehicles on roads in 2020 are ifve mil ion in China, two mil ion in Japan, one mil ion in Germany, and one mil ion in USA in 2015. Those countries are keen on developing advanced batteries, fuel-cel vehicles, safety vehicles, col ision-free vehicles, connected vehicles and autonomous vehicles, moreover, vehicle-to-home/home-to-vehicle systems, ultra-smal mobility used in residential areas, and emergency cal systems. Through technologies from these wide ifelds, people are aiming at creating a new business and even a sustainable society.

  7. Antinuclear movement

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Young Hee; Im, Jaeg Yeong

    1988-08-15

    This book is for antinuclear movement. So, this book introduces many articles on nuclear issues of Asia and the pacific area. The titles of articles are the crusades of Reagan by Werner Plaha, contending between super powers in Europe by Alva Reimer Myrdal, claims of resistance by Daniel Ellsberg, nuclear and the Korean Peninsula by Go, Seung Woo, Liberation but of belief of nuclear weapon by Lee, Young Hee and nuclear weapon in Korea by peter Haze.

  8. Constraint Embedding for Vehicle Suspension Dynamics

    Directory of Open Access Journals (Sweden)

    Jain Abhinandan

    2016-06-01

    Full Text Available The goal of this research is to achieve close to real-time dynamics performance for allowing auto-pilot in-the-loop testing of unmanned ground vehicles (UGV for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with complex suspension dynamics. A challenge is that typical vehicle suspensions involve closed-chain loops which require expensive DAE integration techniques. In this paper, we illustrate the use the alternative constraint embedding technique to reduce the cost and improve the accuracy of the dynamics model for the vehicle.

  9. 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

  10. Computational movement analysis

    CERN Document Server

    Laube, Patrick

    2014-01-01

    This SpringerBrief discusses the characteristics of spatiotemporal movement data, including uncertainty and scale. It investigates three core aspects of Computational Movement Analysis: Conceptual modeling of movement and movement spaces, spatiotemporal analysis methods aiming at a better understanding of movement processes (with a focus on data mining for movement patterns), and using decentralized spatial computing methods in movement analysis. The author presents Computational Movement Analysis as an interdisciplinary umbrella for analyzing movement processes with methods from a range of fi

  11. Monitoring underground movements

    CERN Multimedia

    Antonella Del Rosso

    2015-01-01

    On 16 September 2015 at 22:54:33 (UTC), an 8.3-magnitude earthquake struck off the coast of Chile. 11,650 km away, at CERN, a new-generation instrument – the Precision Laser Inclinometer (PLI) – recorded the extreme event. The PLI is being tested by a JINR/CERN/ATLAS team to measure the movements of underground structures and detectors.   The Precision Laser Inclinometer during assembly. The instrument has proven very accurate when taking measurements of the movements of underground structures at CERN.    The Precision Laser Inclinometer is an extremely sensitive device capable of monitoring ground angular oscillations in a frequency range of 0.001-1 Hz with a precision of 10-10 rad/Hz1/2. The instrument is currently installed in one of the old ISR transfer tunnels (TT1) built in 1970. However, its final destination could be the ATLAS cavern, where it would measure and monitor the fine movements of the underground structures, which can affect the precise posi...

  12. Hybrid Turbine Electric Vehicle

    Science.gov (United States)

    Viterna, Larry A.

    1997-01-01

    Hybrid electric power trains may revolutionize today's ground passenger vehicles by significantly improving fuel economy and decreasing emissions. The NASA Lewis Research Center is working with industry, universities, and Government to develop and demonstrate a hybrid electric vehicle. Our partners include Bowling Green State University, the Cleveland Regional Transit Authority, Lincoln Electric Motor Division, the State of Ohio's Department of Development, and Teledyne Ryan Aeronautical. The vehicle will be a heavy class urban transit bus offering double the fuel economy of today's buses and emissions that are reduced to 1/10th of the Environmental Protection Agency's standards. At the heart of the vehicle's drive train is a natural-gas-fueled engine. Initially, a small automotive engine will be tested as a baseline. This will be followed by the introduction of an advanced gas turbine developed from an aircraft jet engine. The engine turns a high-speed generator, producing electricity. Power from both the generator and an onboard energy storage system is then provided to a variable-speed electric motor attached to the rear drive axle. An intelligent power-control system determines the most efficient operation of the engine and energy storage system.

  13. Navigation and control of an autonomous vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Simon, A.; Soehnitz, I.; Becker, J.C.; Schumacher, W. [Technical Univ. Braunschweig (Germany). Inst. of Control Engineering

    2000-07-01

    This paper describes the fusion of sensor data for the navigation of an autonomous vehicle as well as two lateral control concepts to track the vehicle along a desired path. The fusion of navigation data is based on information provided by multiple object-detecting sensors. The object data is fused to increase the accuracy and to obtain the vehicle's state from the relative movement w.r.t. the objects. The presented lateral control methods are an LQG/H{sub 2}-design and an input-output linearizing algorithm. These control schemes were both implemented on a test vehicle. (orig.)

  14. Electric vehicle with downhill electro-generating system

    Energy Technology Data Exchange (ETDEWEB)

    Stulbach, N.; Yuter, S.C.

    1993-06-01

    A vehicle adapted to be driven by an electrical motor electrically connected to charge storage battery means and having an electro-operating system is described comprising a first dynamo electric generator, first mechanical turns amplifier means for coupling said first dynamo electric generator to a road wheels axle of the vehicle, a second dynamo electric generator, downhill sensing means coupled to a portion of the vehicle, and second mechanical turns amplifier means responsive to said downhill sensing means for automatically coupling said second dynamo electric generator to a road wheels axle of the vehicle only when the vehicle is going downhill, whereby said first dynamo electric generator is driven by the amplified rotation of the axle whenever said axle rotates thereby converting movement of the vehicle into electrical energy, and said second dynamo electric generator is automatically driven by the amplified rotation of the axle only when said vehicle is going downhill thereby converting downhill movement of the vehicle into electrical energy.

  15. Grounded theory.

    Science.gov (United States)

    Harris, Tina

    2015-04-29

    Grounded theory is a popular research approach in health care and the social sciences. This article provides a description of grounded theory methodology and its key components, using examples from published studies to demonstrate practical application. It aims to demystify grounded theory for novice nurse researchers, by explaining what it is, when to use it, why they would want to use it and how to use it. It should enable nurse researchers to decide if grounded theory is an appropriate approach for their research, and to determine the quality of any grounded theory research they read.

  16. Tropic Testing of Vehicles

    Science.gov (United States)

    2014-08-27

    kilometer track running through tropical forest . The track is a combination of a bauxite/dirt base with grades on the road up to 20 percent and log...TYPE Final 3. DATES COVERED (From - To) 4. TITLE AND SUBTITLE Test Operations Procedure (TOP) 02-2-817A Tropic Testing of Vehicles 5a...PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) U.S. Army Yuma Proving Ground Tropic Regions Test Center (TEDT-YPT) 301 C. Street Yuma, AZ

  17. EADS Roadmap for Launch Vehicles

    Science.gov (United States)

    Eymar, Patrick; Grimard, Max

    2002-01-01

    still think about the future, especially at industry level in order to make the most judicious choices in technologies, vehicle types as well as human resources and facilities specialization (especially after recent merger moves). and production as prime contractor, industrial architect or stage provider have taken benefit of this expertise and especially of all the studies ran under national funding and own financing on reusable vehicles and ground/flight demonstrators have analyzed several scenarios. VEHICLES/ASTRIUM SI strategy w.r.t. launch vehicles for the two next decades. Among the main inputs taken into account of course visions of the market evolutions have been considered, but also enlargement of international cooperations and governments requests and supports (e.g. with the influence of large international ventures). 1 patrick.eymar@lanceurs.aeromatra.com 2

  18. 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.

  19. Hybrid vehicles

    Energy Technology Data Exchange (ETDEWEB)

    West, J.G.W. [Electrical Machines (United Kingdom)

    1997-07-01

    The reasons for adopting hybrid vehicles result mainly from the lack of adequate range from electric vehicles at an acceptable cost. Hybrids can offer significant improvements in emissions and fuel economy. Series and parallel hybrids are compared. A combination of series and parallel operation would be the ideal. This can be obtained using a planetary gearbox as a power split device allowing a small generator to transfer power to the propulsion motor giving the effect of a CVT. It allows the engine to run at semi-constant speed giving better fuel economy and reduced emissions. Hybrid car developments are described that show the wide range of possible hybrid systems. (author)

  20. Electric-Drive Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Septon, Kendall K [National Renewable Energy Laboratory (NREL), Golden, CO (United States)

    2017-09-11

    Electric-drive 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, PHEVs and EVs can also be referred to as plug-in electric vehicles (PEVs).

  1. The Porcupine herd of barren ground caribou

    Data.gov (United States)

    US Fish and Wildlife Service, Department of the Interior — This report covers the porcupine herd of the barren ground caribou. The report covers the short history, the winter range, migration route, phenology, movements and...

  2. Grounded cognition.

    Science.gov (United States)

    Barsalou, Lawrence W

    2008-01-01

    Grounded cognition rejects traditional views that cognition is computation on amodal symbols in a modular system, independent of the brain's modal systems for perception, action, and introspection. Instead, grounded cognition proposes that modal simulations, bodily states, and situated action underlie cognition. Accumulating behavioral and neural evidence supporting this view is reviewed from research on perception, memory, knowledge, language, thought, social cognition, and development. Theories of grounded cognition are also reviewed, as are origins of the area and common misperceptions of it. Theoretical, empirical, and methodological issues are raised whose future treatment is likely to affect the growth and impact of grounded cognition.

  3. Different Control Algorithms for a Platoon of Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Zoran Gacovski

    2014-05-01

    Full Text Available This paper presents a concept of platoon movement of autonomous vehicles (smart cars. These vehicles have Adaptive or Advanced cruise control (ACC system also called Intelligent cruise control (ICC or Adaptive Intelligent cruise control (AICC system. The vehicles are suitable to follow other vehicles on desired distance and to be organized in platoons. To perform a research on the control and stability of an AGV (Automated Guided Vehicles string, we have developed a car-following model. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times to form model of platoon (string with ten vehicles. To control this string, we have applied equal PID controllers to all vehicles, except the leading vehicle. These controllers try to keep the headway distance as constant as possible and the velocity error between subsequent vehicles - small. For control of vehicle with nonlinear dynamics combi­nation of feedforward control and feedback control approach is used. Feedforward control is based on the inverse model of nominal dynamics of the vehicle, and feedback PID control is designed based on the linearized model of the vehicle. For simulation and analysis of vehicle and platoon of vehicles – we have developed Matlab/Simulink models. Simulation results, discussions and conclusions are given at the end of the paper.

  4. Revolutionizing Technology Prioritizing Emergency Vehicles in Traffic

    Directory of Open Access Journals (Sweden)

    B. Ramya Sundaram

    2014-08-01

    Full Text Available The following study brings to the fore a technology exclusively engineered to eradicate the snags and inadequacies persisting in the existing system of traffic control and thus aims to provide a sophisticated operation and uninterrupted course for the emergency vehicles. The traffic in Indian roads has shown a tremendous rise over the years and the conventional pre-timed traffic signals and frequent traffic congestions, delaying the road commuters, have led to outrage and chaos on several occasions. This traffic management system has proved a nuisance for the effective operation of emergency vehicles, with the public adding to the woes, as each driver races along with the signal, unmindful of the emergency vehicles. A life threatening scenario ensues when emergency vehicles get blocked by the traffic, due to inefficient traffic management system and subsequently these emergency vehicles get delayed. The existing system requires manual interruption to guide other vehicles when an emergency vehicle passes through traffic junctions. It is therefore essential to implement a self-regulating and automated system in the traffic signals to facilitate smooth movement of emergency vehicles without posing a danger to other vehicles. The innovative traffic control system devised by us provides a truly dependable alternative to monitoring traffic flow when emergency vehicles pass by.

  5. 2011 Ground Testing Highlights Article

    Science.gov (United States)

    Ross, James C.; Buchholz, Steven J.

    2011-01-01

    Two tests supporting development of the launch abort system for the Orion MultiPurpose Crew Vehicle were run in the NASA Ames Unitary Plan wind tunnel last year. The first test used a fully metric model to examine the stability and controllability of the Launch Abort Vehicle during potential abort scenarios for Mach numbers ranging from 0.3 to 2.5. The aerodynamic effects of the Abort Motor and Attitude Control Motor plumes were simulated using high-pressure air flowing through independent paths. The aerodynamic effects of the proximity to the launch vehicle during the early moments of an abort were simulated with a remotely actuated Service Module that allowed the position relative to the Crew Module to be varied appropriately. The second test simulated the acoustic environment around the Launch Abort Vehicle caused by the plumes from the 400,000-pound thrust, solid-fueled Abort Motor. To obtain the proper acoustic characteristics of the hot rocket plumes for the flight vehicle, heated Helium was used. A custom Helium supply system was developed for the test consisting of 2 jumbo high-pressure Helium trailers, a twelve-tube accumulator, and a 13MW gas-fired heater borrowed from the Propulsion Simulation Laboratory at NASA Glenn Research Center. The test provided fluctuating surface pressure measurements at over 200 points on the vehicle surface that have now been used to define the ground-testing requirements for the Orion Launch Abort Vehicle.

  6. Simulation of the Movement of Long-distance AUV

    Institute of Scientific and Technical Information of China (English)

    DU Xiao-xu; SONG Bao-wei; HU Hai-bao; SHAO Cheng

    2007-01-01

    In order to study the movement of the long-distance torpedo-like autonomous underwater vehicle (AUV) which is controlled by the dynamic positioning system (DPS), by adopting momentum theorem and the angular momentum theorem, the appropriate movement math model for the long-distance torpedo-like AUV has been built and the thrust of DPS is distributed. Several representative movements of AUV are simulated, such as transferring between two random points and pointing circumrotation movement. The simulation result is analyzed. It shows that DPS including five thrusters can control the AUV movement steadily at low velocity.

  7. Mass movement in northeast Afghanistan

    Science.gov (United States)

    Shroder, John F.; Weihs, Brandon J.; Schettler, Megan Jensen

    Mass movements of nearly all types occur in Afghanistan but in the high relief, rugged Pamir and Hindu Kush mountains of northeastern Afghanistan, mass-movement threats to lives and property necessitated study to elucidate problems to development. Twenty-two different mass movements in bedrock in the Badakhshan Province of northeastern Afghanistan were studied for this paper, including large rock falls and rock slides, along with massive slope-failure complexes with many types and rates of movement. Where higher altitudes prevail in the region, ice-cemented and ice-cored rock glaciers are also common and overlie some of the other mass movements. Inasmuch as seismic energy sources in the Eastern Hindu Kush are maximal in southern Badakhshan, and relief, slope angles and precipitation all increase from west to east as well, the causes of the pervasive mass movement are plentiful enough, although direct cause and slope-failure effect are not known. Some weak sedimentary lithologies downfaulted into, or draped across crystalline rocks, also failed. Some intermixed tills also occur but are not easily differentiated, even with analysis on the ground. Using high resolution satellite imagery and digital elevation models, we assessed geomorphologic parameters to characterize spatial-organization structures related to zones of erosion, deposition and further hazard potential. Analyses indicate that many of the massive slope failures can be characterized and differentiated into various process domains and chronologic-development zones with their different impacts upon the landscape. Mass movements in Afghanistan can exhibit unique topographic signatures that can be used to better assess hazards in other mountain areas, especially where landslide-dam breakout floods threaten. Development of roads, bridges, buildings, and irrigation networks should be done with care in these regions of Afghanistan.

  8. Ground Wars

    DEFF Research Database (Denmark)

    Nielsen, Rasmus Kleis

    Political campaigns today are won or lost in the so-called ground war--the strategic deployment of teams of staffers, volunteers, and paid part-timers who work the phones and canvass block by block, house by house, voter by voter. Ground Wars provides an in-depth ethnographic portrait of two...... infrastructures that utilize large databases with detailed individual-level information for targeting voters, and armies of dedicated volunteers and paid part-timers. Nielsen challenges the notion that political communication in America must be tightly scripted, controlled, and conducted by a select coterie...... of professionals. Yet he also quashes the romantic idea that canvassing is a purer form of grassroots politics. In today's political ground wars, Nielsen demonstrates, even the most ordinary-seeming volunteer knocking at your door is backed up by high-tech targeting technologies and party expertise. Ground Wars...

  9. Assessment of future natural gas vehicle concepts

    Science.gov (United States)

    Groten, B.; Arrigotti, S.

    1992-10-01

    The development of Natural Gas Vehicles is progressing rapidly under the stimulus of recent vehicle emission regulations. The development is following what can be viewed as a three step progression. In the first step, contemporary gasoline or diesel fueled automobiles are retrofitted with equipment enabling the vehicle to operate on either natural gas or standard liquid fuels. The second step is the development of vehicles which utilize traditional internal combustion engines that have been modified to operate exclusively on natural gas. These dedicated natural gas vehicles operate more efficiently and have lower emissions than the dual fueled vehicles. The third step is the redesigning, from the ground up, of a vehicle aimed at exploiting the advantages of natural gas as an automotive fuel while minimizing its disadvantages. The current report is aimed at identifying the R&D needs in various fuel storage and engine combinations which have potential for providing increased efficiency, reduced emissions, and reductions in vehicle weight and size. Fuel suppliers, automobile and engine manufacturers, many segments of the natural gas and other industries, and regulatory authorities will influence or be affected by the development of such a third generation vehicle, and it is recommended that GRI act to bring these groups together in the near future to begin, developing the focus on a 'designed-for-natural-gas' vehicle.

  10. A cycle timer for testing electric vehicles

    Science.gov (United States)

    Soltis, R. F.

    1978-01-01

    A cycle timer was developed to assist the driver of an electric vehicle in more accurately following and repeating SAE driving schedules. These schedules require operating an electric vehicle in a selected stop-and-go driving cycle and repeating this cycle pattern until the vehicle ceases to meet the requirements of the cycle. The heart of the system is a programmable read-only memory (PROM) that has the required test profiles permanently recorded on plug-in cards, one card for each different driving schedule. The PROM generates a direct current analog signal that drives a speedometer displayed on one scale of a dual movement meter. The second scale of the dual movement meter displays the actual speed of the vehicle as recorded by the fifth wheel. The vehicle operator controls vehicle speed to match the desired profile speed. The PROM controls the recycle start time as well as the buzzer activation. The cycle programmer is powered by the test vehicle's 12-volt accessory battery, through a 5-volt regulator and a 12-volt dc-to-dc converter.

  11. An Analysis of Eye Movements with Helmet Mounted Displays

    Science.gov (United States)

    2014-03-27

    frequencies, and the tail rotor producing secondary vibration (19). Vibration also occurs in ground-based vehicles when traveling on rough roads or other...All-Ohio Academic Award: First-Team, 2009 Coca -Cola Silver Scholar Award, 2009

  12. Assessment of canyon wall failure process from multibeam bathymetry and Remotely Operated Vehicle (ROV) observations, U.S. Atlantic continental margin: Chapter 10 in Submarine mass movements and their consequences: 7th international symposium part II

    Science.gov (United States)

    Chaytor, Jason D.; Demopoulos, Amanda W. J.; Ten Brink, Uri; Baxter, Christopher D. P.; Quattrini, Andrea M.; Brothers, Daniel S.; Lamarche, Geoffroy; Mountjoy, Joshu; Bull, Suzanne; Hubble, Tom; Krastel, Sebastian; Lane, Emily; Micallef, Aaron; Moscardelli, Lorena; Mueller, Christof; Pecher, Ingo; Woelz, Susanne

    2016-01-01

    Over the last few years, canyons along the northern U.S. Atlantic continental margin have been the focus of intensive research examining canyon evolution, submarine geohazards, benthic ecology and deep-sea coral habitat. New high-resolution multibeam bathymetry and Remotely Operated Vehicle (ROV) dives in the major shelf-breaching and minor slope canyons, provided the opportunity to investigate the size of, and processes responsible for, canyon wall failures. The canyons cut through thick Late Cretaceous to Recent mixed siliciclastic and carbonate-rich lithologies which impart a primary control on the style of failures observed. Broad-scale canyon morphology across much of the margin can be correlated to the exposed lithology. Near vertical walls, sedimented benches, talus slopes, and canyon floor debris aprons were present in most canyons. The extent of these features depends on canyon wall cohesion and level of internal fracturing, and resistance to biological and chemical erosion. Evidence of brittle failure over different spatial and temporal scales, physical abrasion by downslope moving flows, and bioerosion, in the form of burrows and surficial scrape marks provide insight into the modification processes active in these canyons. The presence of sessile fauna, including long-lived, slow growing corals and sponges, on canyon walls, especially those affected by failure provide a critical, but as yet, poorly understood chronological record of geologic processes within these systems.

  13. Differences between knee movements walking on flat ground and on a treadmill%跑步机上行走与平地行走膝关节运动差异性研究

    Institute of Scientific and Technical Information of China (English)

    赵凌燕; 黄守刚; 隋立明; 李金

    2015-01-01

    To examine the difference between walking on the ground and on a treadmill, the knee joint angle and gait phases of 20 healthy men were analyzed by multi-information fusion algorithm, then the similarities and differ-ences between walking on the ground and the treadmill were discovered. Model analysis of the curves were conduc-ted showing that walking on a treadmill has less stability than walking on the ground, and the fluctuation range of the knee joint angle is 2 to 3 times more than walking on flat ground. In order to ensure stable walking on a tread-mill, the experimentees put their swinging feet down ahead of time, reducing the swing time, so the contact time between their feet and the treadmill was increased to keep balance and stability. The bending angle of knee joints when swinging feetland on the treadmill shows to be obviously larger than walking on the ground. Concluding, the Gauss expansion function is only suitable for model analysis of the knee joint angle curve while walking on flat ground. The knee joint angle curve while walking on a treadmill can better be mathematically modelled by Fourier function. This has design and application value in rehabilitation equipment, astronaut training, and sports research.%为了解人在跑步机上行走与在地面行走的差异性,基于多元信息融合算法,通过对20名健康男性青年在平地行走和跑步机上行走时膝关节转角及步态相位的数据对比分析,发现了二者之间的共性和差异性,并对曲线进行了模型分析,结果表明在跑步机上行走较在平地行走稳定性差,膝关节转角波动范围是平地上行走的2~3倍以上. 为了保证跑步机上行走的平稳性,人主观上通过使摆动腿提前着地,减小摆动时间,从而增加双脚同时与跑台的接触时间来保持行走的平衡性和稳定性,摆动腿着地时刻的膝关节弯曲角度明显大于平地上行走. Gauss扩展函数只适合于对平地行走时膝关节的转

  14. Design of vehicle overload detection system based on geophone

    Science.gov (United States)

    Hu, Siquan; Kong, Min; She, Chundong

    2017-08-01

    A vehicle overload detection system is proposed based on geophone. Under normal circumstances, when overloaded vehicles and ordinary vehicles pass through the road, the amplitude of the ground vibration will be different, and the geophone sensor can detect tiny vibrations of the ground. The system includes information acquisition module, signal conditioning module and wireless transmission module. The collected vibration data is transmitted through the wireless transmission module to the background, and the SVM algorithm is used to classify the information and determine whether the vehicle is overloaded. Experiments show that the system can detect overload accurately.

  15. Surface and sub-surface anatomy of the landscape: integrating Unmanned Aerial Vehicle Structure from Motion (UAV-SfM) and Ground Penetrating Radar (GRP) to investigate sedimentary features in the field. - an example from NW Australia

    Science.gov (United States)

    Callow, Nik; Leopold, Matthias; May, Simon Matthias

    2015-04-01

    Geomorphology is confronted by the challenge of reconstructing landscape features at appropriate scales, resolution and accuracy, that allows meaningful analysis of environmental processes and their implications. Field geomorphology offers a discrete snapshot (i.e. one or two field campaigns) to reconstruct how features have changed, evolved or responded over time. We explore the application of an emerging photogrammetry technique called Structure-from-Motion (SfM), which uses multiple photographs of the same feature (but taken at different locations) to create high-accuracy three-dimensional models of surface of sedimentary fans formed by extreme wave events. This approach is complimented by investigation of the sub-surface morphology using Ground Penetrating Radar (GPR). Using an UAV "octocopter", we captured 1208 photos with a DSLR camera (Canon EoS-M) at the height of 50m with a ground pixel resolution of 9mm, above a cyclone wash-over fan in the Exmouth Gulf (Western Australia) that measured about 500m inland by 300m wide. Based on 38 ground control point targets (with between 4 and 45 individual photographs per target) the SfM surface had an absolute total (XYZ) accuracy of 51mm (39mm X, 29mm Y and 14mm Y), based on RTK-DGPS surveying from a local ground reference station (with an absolute AUSPOS accuracy of 57mm X, 6mm Y, 50mm Z to AHD) and an overall relative point accuracy of 7mm. A sparse point cloud of over 5.5 million data points was generated using only points with a reconstruction accuracy of RGB colour of each XYZ pixel) using K-Means clustering within Python. The output was then manually classified into ground and non-ground points, and the geostatistical analyst functionality of ArcGIS used to produce a final bare-earth DEM. This approach has allowed the study team to economically collect an unprecedented high-resolution and accuracy topographic model of this feature to compliment on-ground sediment, geophysics and dating work to analyse the

  16. Electric Vehicle Scenario Simulator Tool for Smart Grid Operators

    OpenAIRE

    Hugo Morais; Zita Vale; João Soares; Cristina Lobo; Bruno Canizes

    2012-01-01

    This paper presents a simulator for electric vehicles in the context of smart grids and distribution networks. It aims to support network operators’ planning and operations but can be used by other entities for related studies. The paper describes the parameters supported by the current version of the Electric Vehicle Scenario Simulator (EVeSSi) tool and its current algorithm. EVeSSi enables the definition of electric vehicles scenarios on distribution networks using a built-in movement engin...

  17. Electric Vehicle Scenario Simulator Tool for Smart Grid Operators

    OpenAIRE

    Hugo Morais; Zita Vale; João Soares; Cristina Lobo; Bruno Canizes

    2012-01-01

    This paper presents a simulator for electric vehicles in the context of smart grids and distribution networks. It aims to support network operators’ planning and operations but can be used by other entities for related studies. The paper describes the parameters supported by the current version of the Electric Vehicle Scenario Simulator (EVeSSi) tool and its current algorithm. EVeSSi enables the definition of electric vehicles scenarios on distribution networks using a built-in movement engin...

  18. Probabilistically Safe Vehicle Control in a Hostile Environment

    OpenAIRE

    Cizelj, Igor; Ding, Xu Chu; Lahijanian, Morteza; Pinto, Alessandro; Belta, Calin

    2011-01-01

    In this paper we present an approach to control a vehicle in a hostile environment with static obstacles and moving adversaries. The vehicle is required to satisfy a mission objective expressed as a temporal logic specification over a set of properties satisfied at regions of a partitioned environment. We model the movements of adversaries in between regions of the environment as Poisson processes. Furthermore, we assume that the time it takes for the vehicle to traverse in between two facets...

  19. Movement disorders and sleep.

    Science.gov (United States)

    Driver-Dunckley, Erika D; Adler, Charles H

    2012-11-01

    This article summarizes what is currently known about sleep disturbances in several movement disorders including Parkinson disease, essential tremor, parkinsonism, dystonia, Huntington disease, myoclonus, and ataxias. There is an association between movement disorders and sleep. In some cases the prevalence of sleep disorders is much higher in patients with movement disorder, such as rapid eye movement sleep behavior disorder in Parkinson disease. In other cases, sleep difficulties worsen the involuntary movements. In many cases the medications used to treat patients with movement disorder disturb sleep or cause daytime sleepiness. The importance of discussing sleep issues in patients with movement disorders cannot be underestimated.

  20. Movable Ground Based Recovery System for Reuseable Space Flight Hardware

    Science.gov (United States)

    Sarver, George L. (Inventor)

    2013-01-01

    A reusable space flight launch system is configured to eliminate complex descent and landing systems from the space flight hardware and move them to maneuverable ground based systems. Precision landing of the reusable space flight hardware is enabled using a simple, light weight aerodynamic device on board the flight hardware such as a parachute, and one or more translating ground based vehicles such as a hovercraft that include active speed, orientation and directional control. The ground based vehicle maneuvers itself into position beneath the descending flight hardware, matching its speed and direction and captures the flight hardware. The ground based vehicle will contain propulsion, command and GN&C functionality as well as space flight hardware landing cushioning and retaining hardware. The ground based vehicle propulsion system enables longitudinal and transverse maneuverability independent of its physical heading.

  1. Electric Vehicle Preparedness - Implementation Approach for Electric Vehicles at Naval Air Station Whidbey Island. Task 4

    Energy Technology Data Exchange (ETDEWEB)

    Schey, Stephen [Idaho National Lab. (INL), Idaho Falls, ID (United States); Francfort, Jim [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-06-01

    Several U.S. Department of Defense base studies have been conducted to identify potential U.S. Department of Defense transportation systems that are strong candidates for introduction or expansion of plug-in electric vehicles (PEVs). This study is focused on the Naval Air Station Whidbey Island (NASWI) located in Washington State. Task 1 consisted of a survey of the non-tactical fleet of vehicles at NASWI to begin the review of vehicle mission assignments and types of vehicles in service. In Task 2, daily operational characteristics of vehicles were identified to select vehicles for further monitoring and attachment of data loggers. Task 3 recorded vehicle movements in order to characterize the vehicles’ missions. The results of the data analysis and observations were provided. Individual observations of the selected vehicles provided the basis for recommendations related to PEV adoption, i.e., whether a battery electric vehicle (BEV) or plug-in hybrid electric vehicle (PHEV) (collectively PEVs) can fulfill the mission requirements. It also provided the basis for recommendations related to placement of PEV charging infrastructure. This report focuses on an implementation plan for the near-term adoption of PEVs into the NASWI fleet.

  2. Canadair CL-227 Remotely Piloted Vehicle

    Science.gov (United States)

    Clark, Andrew S.

    1983-08-01

    The Canadair CL-227 is a rotary winged Remotely Piloted Vehicle (RPV) intended initially as the air-vehicle for a medium range battlefield surveillance and target acquisition system. The concept on which this vehicle is based brings together in-house expertise as a designer and manufacturer of surveillance drones (AN-USD-50l -MIDGE-) with experience in rigid rotor technology from the CL-84 tilt wing VTOL program. The vehicle is essentially modular in design with a power module containing the engine, fuel and related systems, a rotor module containing the two counter-rotating rotors and control actuators, and a control module containing the autopilot, data link and sensor system. The vehicle is a true RPV (as opposed to a drone) as it is flown in real time by an operator on the ground and requires relatively little skill to pilot.

  3. Biomechanics of foetal movement

    Directory of Open Access Journals (Sweden)

    N.C. Nowlan

    2015-01-01

    Full Text Available Foetal movements commence at seven weeks of gestation, with the foetal movement repertoire including twitches, whole body movements, stretches, isolated limb movements, breathing movements, head and neck movements, jaw movements (including yawning, sucking and swallowing and hiccups by ten weeks of gestational age. There are two key biomechanical aspects to gross foetal movements; the first being that the foetus moves in a dynamically changing constrained physical environment in which the freedom to move becomes increasingly restricted with increasing foetal size and decreasing amniotic fluid. Therefore, the mechanical environment experienced by the foetus affects its ability to move freely. Secondly, the mechanical forces induced by foetal movements are crucial for normal skeletal development, as evidenced by a number of conditions and syndromes for which reduced or abnormal foetal movements are implicated, such as developmental dysplasia of the hip, arthrogryposis and foetal akinesia deformation sequence. This review examines both the biomechanical effects of the physical environment on foetal movements through discussion of intrauterine factors, such as space, foetal positioning and volume of amniotic fluid, and the biomechanical role of gross foetal movements in human skeletal development through investigation of the effects of abnormal movement on the bones and joints. This review also highlights computational simulations of foetal movements that attempt to determine the mechanical forces acting on the foetus as it moves. Finally, avenues for future research into foetal movement biomechanics are highlighted, which have potential impact for a diverse range of fields including foetal medicine, musculoskeletal disorders and tissue engineering.

  4. Biomechanics of foetal movement.

    Science.gov (United States)

    Nowlan, N C

    2015-01-02

    Foetal movements commence at seven weeks of gestation, with the foetal movement repertoire including twitches, whole body movements, stretches, isolated limb movements, breathing movements, head and neck movements, jaw movements (including yawning, sucking and swallowing) and hiccups by ten weeks of gestational age. There are two key biomechanical aspects to gross foetal movements; the first being that the foetus moves in a dynamically changing constrained physical environment in which the freedom to move becomes increasingly restricted with increasing foetal size and decreasing amniotic fluid. Therefore, the mechanical environment experienced by the foetus affects its ability to move freely. Secondly, the mechanical forces induced by foetal movements are crucial for normal skeletal development, as evidenced by a number of conditions and syndromes for which reduced or abnormal foetal movements are implicated, such as developmental dysplasia of the hip, arthrogryposis and foetal akinesia deformation sequence. This review examines both the biomechanical effects of the physical environment on foetal movements through discussion of intrauterine factors, such as space, foetal positioning and volume of amniotic fluid, and the biomechanical role of gross foetal movements in human skeletal development through investigation of the effects of abnormal movement on the bones and joints. This review also highlights computational simulations of foetal movements that attempt to determine the mechanical forces acting on the foetus as it moves. Finally, avenues for future research into foetal movement biomechanics are highlighted, which have potential impact for a diverse range of fields including foetal medicine, musculoskeletal disorders and tissue engineering.

  5. Movement Data Anonymity through Generalization

    Directory of Open Access Journals (Sweden)

    Anna Monreale

    2010-08-01

    Full Text Available Wireless networks and mobile devices, such as mobile phones and GPS receivers, sense and track the movements of people and vehicles, producing society-wide mobility databases. This is a challenging scenario for data analysis and mining. On the one hand, exciting opportunities arise out of discovering new knowledge about human mobile behavior, and thus fuel intelligent info-mobility applications. On other hand, new privacy concerns arise when mobility data are published. The risk is particularly high for GPS trajectories, which represent movement of a very high precision and spatio-temporal resolution: the de-identification of such trajectories (i.e., forgetting the ID of their associated owners is only a weak protection, as generally it is possible to re-identify a person by observing her routine movements. In this paper we propose a method for achieving true anonymity in a dataset of published trajectories, by defining a transformation of the original GPS trajectories based on spatial generalization and k-anonymity. The proposed method offers a formal data protection safeguard, quantified as a theoretical upper bound to the probability of re-identification. We conduct a thorough study on a real-life GPS trajectory dataset, and provide strong empirical evidence that the proposed anonymity techniques achieve the conflicting goals of data utility and data privacy. In practice, the achieved anonymity protection is much stronger than the theoretical worst case, while the quality of the cluster analysis on the trajectory data is preserved.

  6. Vehicle Development Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: Supports the development of prototype deployment platform vehicles for offboard countermeasure systems.DESCRIPTION: The Vehicle Development Laboratory is...

  7. Vehicle Development Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: Supports the development of prototype deployment platform vehicles for offboard countermeasure systems. DESCRIPTION: The Vehicle Development Laboratory is...

  8. Seamless Mode Switching for Shared Control of Semiautonomous Vehicles Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Whether it be a crew station, the Shuttle Remote Manipulator System (SRMS), an unmanned ground rover (UGV) or air vehicle (UAV), or teams thereof, the controllers...

  9. Movement and Space

    DEFF Research Database (Denmark)

    Riisgaard Hansen, Thomas; Eriksson, Eva; Lykke-Olesen, Andreas

    2005-01-01

    In this paper we explore the space in which movement based interaction takes place. We have in several projects explored how fixed and mobile cameras can be used in movement based interaction and will shortly describe these projects. Based on our experience with working with movement-based intera......In this paper we explore the space in which movement based interaction takes place. We have in several projects explored how fixed and mobile cameras can be used in movement based interaction and will shortly describe these projects. Based on our experience with working with movement...

  10. Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System

    Directory of Open Access Journals (Sweden)

    Yinsong Wang

    2012-01-01

    Full Text Available This paper presents a lane-level positioning method by trajectory reckoning without Global Positioning System (GPS equipment in the environment of Cooperative Vehicle-Infrastructure System (CVIS. Firstly, the accuracy requirements of vehicle position in CVIS applications and the applicability of GPS positioning methods were analyzed. Then, a trajectory reckoning method based on speed and steering data from vehicle’s Control Area Network (CAN and roadside calibration facilities was proposed, which consists of three critical models, including real-time estimation of steering angle and vehicle direction, vehicle movement reckoning, and wireless calibration. Finally, the proposed method was validated through simulation and field tests under a variety of traffic conditions. Results show that the accuracy of the reckoned vehicle position can reach the lane level and match the requirements of common CVIS applications.

  11. Distributed control system for vehicles

    Science.gov (United States)

    Callen, Jeffrey N.; Iaconis, John M.

    1997-01-01

    Previously, control systems for remotely controlled vehicles (RCVs) and unmanned ground vehicles (UGVs) have largely been of a centralized design, in which all vehicles sensing and servo control systems are individually interfaces to a central computer. These controllers often have been completely redeveloped for each new application. This approach leads to increased development, installation, and maintenance costs, and to a product that is not easily adaptable to other platforms or tasks. Under a Phase II SBIR program, RedZone Robotics is developing a distributed control systems (DCS) that reduces development, installation, and maintenance costs while enhancing adaptability to other platforms or applications. The DCS consists of a distributed control network of small, intelligent local controller nodes acting on the vehicle motion and sensing system components. A central card oversees the network and handles higher level commands. The central card and local nodes are linked through the controller area network serial bus. The node hardware is of standardized design so that application specific tasks are largely accomplished in software. The standardized design makes the DCS potentially compatible with multiple UGV platforms and eventual dual-use applications in commercial vehicles. More sophisticated functionality, such as remote control or autonomous navigation can be layered on top of the low level control supplied by DCS. Thus, the DCS can be an enabling component for development of advanced UGV technologies. ALso, intelligent nodes enable fault identification and orderly shutdown to be accomplished directly at the vehicle actuators. This SBIR is sponsored by the US Army Tank-Automotive Research, Development and Engineering Center.

  12. Joint Light Tactical Vehicle (JLTV): Background and Issues for Congress

    Science.gov (United States)

    2017-01-10

    3 Information in this section is taken from the Army Product Manager , Joint Light Tactical Vehicle website, http://peocscss.tacom.army.mil...10 Information in this section, unless otherwise noted is taken from a briefing from the Project Manager ...Joint Light Tactical Vehicle (JLTV): Background and Issues for Congress Andrew Feickert Specialist in Military Ground Forces January 10, 2017

  13. Tectonic Plate Movement.

    Science.gov (United States)

    Landalf, Helen

    1998-01-01

    Presents an activity that employs movement to enable students to understand concepts related to plate tectonics. Argues that movement brings topics to life in a concrete way and helps children retain knowledge. (DDR)

  14. Stereotypic movement disorder

    Science.gov (United States)

    ... this page: //medlineplus.gov/ency/article/001548.htm Stereotypic movement disorder To use the sharing features on this page, please enable JavaScript. Stereotypic movement disorder is a condition in which a person makes ...

  15. Eye Movement Disorders

    Science.gov (United States)

    ... work properly. There are many kinds of eye movement disorders. Two common ones are Strabismus - a disorder in ... the eyes, sometimes called "dancing eyes" Some eye movement disorders are present at birth. Others develop over time ...

  16. Tectonic Plate Movement.

    Science.gov (United States)

    Landalf, Helen

    1998-01-01

    Presents an activity that employs movement to enable students to understand concepts related to plate tectonics. Argues that movement brings topics to life in a concrete way and helps children retain knowledge. (DDR)

  17. Electric Vehicle Preparedness: Task 2, Identification of Vehicles for Installation of Data Loggers for Marine Corps Base Camp Lejeune

    Energy Technology Data Exchange (ETDEWEB)

    Schey, Stephen [Idaho National Lab. (INL), Idaho Falls, ID (United States); Francfort, Jim [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-02-01

    In Task 1, a survey was completed of the inventory of non-tactical fleet vehicles at the Marine Corps Base Camp Lejeune (MCBCL) to characterize the fleet. This information and characterization was used to select vehicles for further monitoring, which involves data logging of vehicle movements in order to identify the vehicle’s mission and travel requirements. Individual observations of these selected vehicles provide the basis for recommendations related to PEV adoption. It also identifies whether a battery electric vehicle or plug-in hybrid electric vehicle (collectively referred to as PEVs) can fulfill the mission requirements and provides observations related to placement of PEV charging infrastructure. This report provides the list of vehicles selected by MCBCL and Intertek for further monitoring and fulfills the Task 2 requirements.

  18. S@tMax—A space-based system enabling mobile IP applications in vehicles

    Science.gov (United States)

    Arcioni, Marco; Daehler, Erik; Mueller, Robert P.; van der Meulen, Wencke

    2009-06-01

    As personal mobility increases, people spend more time in their vehicles. Furthermore, a large segment of today's workforce is part of a growing mobile service industry. This mobile society creates opportunities to increase productivity which do not yet exist. Today's commuting time could be better utilized and mobile business transactions could be more efficiently conducted, by integrating mobile IP wireless services in vehicles. By means of a direct to mobile user Internet access, and total IP services, integrated into automobiles, S@tMax services can empower the mobile business movement therefore improving productivity. This paper presents a commercial system architecture that will deliver an optimized solution for direct to mobile user Internet access, through an integration of a ground based network infrastructure, use of existing communications satellites and the development of a proprietary satellite system. As a result of a detailed systems engineering process, the architectures of the space, ground and infrastructures segments will be presented. Furthermore, the benefits of on-orbit servicing were examined in the S@tMax context. The approach proposed is considered as an important step towards enforcing main roadway IP coverage in the US, for near-continuous communications and services.

  19. Medium Tactical Vehicle Underbody Armor Development

    Science.gov (United States)

    2010-06-01

    death through means of mechanical trauma resulting from blast, fragmentation, and secondary projectiles. IEDs can also be implemented to incapacitate...tests. Wood cribbing was used to level the vehicle, creating a standoff distance from the ground to the crew compartment equal to that of an actual

  20. 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.

  1. Predicate Movements in Chinese

    Science.gov (United States)

    Shou-hsin, Teng

    1975-01-01

    The movements of such higher predicates as time, locative, and complementation verbs are studied, and Tai's Predicate Placement Constraint is rejected as an incorrect account of predicate movements in Chinese. It is proposed, on the other hand, that there is only leftward movement involving predicates in Chinese. (Author)

  2. Linking Literacy and Movement

    Science.gov (United States)

    Pica, Rae

    2010-01-01

    There are many links between literacy and movement. Movement and language are both forms of communication and self-expression. Rhythm is an essential component of both language and movement. While people may think of rhythm primarily in musical terms, there is a rhythm to words and sentences as well. Individuals develop an internal rhythm when…

  3. Social movements and science

    DEFF Research Database (Denmark)

    Jamison, Andrew

    2006-01-01

    The article examines the role of social movements in the development of scientific knowledge. Interactions between social movements and science in broad, historical terms are discussed. The relations between the new social movements of the 1960s and 1970s and changes in the contemporary scientific...

  4. Numerical Modeling of Ground Response during Diaphragm Wall Construction

    Institute of Scientific and Technical Information of China (English)

    DING Yong-chun; WANG Jian-hua

    2008-01-01

    Construction of diaphragm wall panels may cause considerable stress changes in heavily overconsolidated soil deposits and can induce substantial ground movement. The 3D Lagrangian method was adopted to model the mechanical response of ground, including horizontal normal stress and shear stress, lateral ground displacement and vertical ground surface settlement, during the slurry trenching and concreting of diaphragm wall panels. Numerical results show that slurry trenching leads to horizontal stress relief of ground, reducing the horizontal stress of the ground from initial K0 pressure to hydrostatic betonite pressure. Wet concrete pressure lies between the hydrostatic bentonite pressure and the initial K0 pressure, so it can compensate partially the horizontal stress loss of the ground adjacent to the trench and thus reduce the lateral movement of the trench face as well as the vertical settlement of the ground surface.

  5. 'Grounded' Politics

    DEFF Research Database (Denmark)

    Schmidt, Garbi

    2012-01-01

    play within one particular neighbourhood: Nørrebro in the Danish capital, Copenhagen. The article introduces the concept of grounded politics to analyse how groups of Muslim immigrants in Nørrebro use the space, relationships and history of the neighbourhood for identity political statements....... The article further describes how national political debates over the Muslim presence in Denmark affect identity political manifestations within Nørrebro. By using Duncan Bell’s concept of mythscape (Bell, 2003), the article shows how some political actors idealize Nørrebro’s past to contest the present...

  6. DYNAMIC ANALYSIS OF A VEHICLE CLUTCH

    Directory of Open Access Journals (Sweden)

    Emin GÜLLÜ

    2003-03-01

    Full Text Available In this study as a first step of an ongoing investigation, a dynamic model was developed to analyse motion and power transmission phenomen in mechanical clutches used commonly in motor vehicles . The control of a driver on clutch and speed pedals was reflected in the model. The movement of clutch disk with constant speed and acceleration can be investigated by using the model. In addition, the control of speeding by driver was included to the model via a certain scenario. During clutch engagement and after, the effects of loading torques in different gears on the time of perfect engagement and on the speed of the vehicle were investigated.

  7. Reduction of global effects on vehicles after IED detonations

    Institute of Scientific and Technical Information of China (English)

    V.DENEFELD; N.HEIDER; A.HOLZWARTH; A.S€ATTLER; M.SALK

    2014-01-01

    Global effects caused by the detonation of an IED near a military vehicle induce subsequent severe acceleration effects on the vehicle occupants. Two concepts to minimize these global effects were developed, with the help of a combined method based on a scaled experimental technology and numerical simulations. The first concept consists in the optimization of the vehicle shape to reduce the momentum transfer and thus the occupant loading. Three scaled V-shaped vehicles with different ground clearances were built and compared to a reference vehicle equipped with a flat floor. The second concept, called dynamic impulse compensation (DIC), is based on a momentum compensation technique. The principal possibility of this concept was demonstrated on a scaled vehicle. In addition, the numerical simulations have been performed with generic full size vehicles including dummy models, proving the capability of the DIC technology to reduce the occupant loading.

  8. Innovative control systems for tracked vehicle platforms

    CERN Document Server

    2014-01-01

     This book has been motivated by an urgent need for designing and implementation of innovative control algorithms and systems for tracked vehicles. Nowadays the unmanned vehicles are becoming more and more common. Therefore there is a need for innovative mechanical constructions capable of adapting to various applications regardless the ground, air or water/underwater environment. There are multiple various activities connected with tracked vehicles. They can be distributed among three main groups: design and control algorithms, sensoric and vision based in-formation, construction and testing mechanical parts of unmanned vehicles. Scientists and researchers involved in mechanics, control algorithms, image processing, computer vision, data fusion, or IC will find this book useful.

  9. Screening of liquids for thermocapillary bubble movement

    Science.gov (United States)

    Wilcox, W. R.; Subramanian, R. S.; Papazian, J. M.; Smith, H. D.; Mattox, D. M.

    1979-01-01

    Ground-based methods for pretesting qualitatively the thermocapillary movement of gas bubbles in a liquid to be used in space processing are discussed. Theoretical considerations are shown to require the use of a thin, enclosed, horizontal liquid film in order that the bubbles move faster than the bulk convection of the liquid, with insulating boundaries to prevent the onset of instabilities. Experimental realizations of horizontal cells in which to test the thermocapillary movement of bubbles in sheets of molten glass heated from below and organic melts in tubes heated from both ends are briefly described and the results of experiments are indicated.

  10. Vehicle/guideway interaction in maglev systems

    Energy Technology Data Exchange (ETDEWEB)

    Cai, Y.; Chen, S.S.; Rote, D.M.

    1992-03-01

    Dynamic interactions between the vehicle and guideway in a high-speed ground transportation system based on magnetically levitated (maglev) vehicles were studied, with an emphasis on the effects of vehicle and guideway parameters. Two dynamic models for the vehicle are presented. In one model, the vehicle is considered to be a moving force traveling at various speeds on a simply supported single- or two-span beam. In the second model, the vehicle is considered to be one-dimensional and has two degrees of freedom; this model consists of the primary and secondary suspensions of the vehicle, with lumped masses, linear springs, and dampings. The Bernoulli-Euler beam equation is used to model the characteristics of a flexible guideway, and the guideway synthesis is based on modal analysis. Analyses were performed to gain an understanding of response characteristics under various loading conditions and to provide benchmark data for verification of existing comprehensive computer programs and some basic design guidelines for maglev systems. Finally, the German Transrapid maglev system was evaluated. 19 ref.

  11. Traffic noise and vehicle movement at a controlled intersection

    NARCIS (Netherlands)

    Salomons, E.M.

    2014-01-01

    Traffic noise at an intersection controlled by traffic lights shows noise level variations due to the alternating green and red lights for the different trafficstreams. Noise peaks caused by automobiles pulling up or passing by at highspeed may be quite annoying for people living near the intersecti

  12. Control of AWD System for Vehicle Performance and Safety

    Directory of Open Access Journals (Sweden)

    Jung Hojin

    2016-01-01

    Full Text Available AWD (All-Wheel Drive system transfers drive force to all wheels so that it can help vehicle escape low mu surface or climb hill more conveniently. Recently, AWD system for on road vehicle has become popular to improve vehicle driving performance. However, there has not been enough research of applying AWD system for vehicle stability especially for lateral movement. Compared with ESC (Electronic Stability Control, AWD system does not cause any inconveniences to the driver because it controls vehicle only by distributing front and rear drive torque, without using brake. By allowing slipping/locking of wet clutch inside the transfer case, AWD system can distribute different amount of torque between front and rear axle. This paper introduces modelling of AWD system and suggests the control of AWD system based on peak slip ratio and slip angle at which tyre saturates. Carsim based vehicle simulation results of AWD controller is presented.

  13. Exploring Sound Signature for Vehicle Detection and Classification Using ANN

    Directory of Open Access Journals (Sweden)

    Jobin George

    2013-06-01

    Full Text Available This paper attempts to explore the possibility of using sound signatures for vehicle detection andclassification purposes. Sound emitted by vehicles are captured for a two lane undivided road carryingmoderate traffic. Simultaneous arrival of different types vehicles, overtaking at the study location, sound ofhorns, random but identifiable back ground noises, continuous high energy noises on the back ground arethe different challenges encountered in the data collection. Different features were explored out of whichsmoothed log energy was found to be useful for automatic vehicle detection by locating peaks. Mel-frequency ceptral coefficients extracted from fixed regions around the detected peaks along with themanual vehicle labels are utilised to train an Artificial Neural Network (ANN. The classifier for fourbroad classes heavy, medium, light and horns was trained. The ANN classifier developed was able topredict categories well.

  14. Networked unattented ground sensors assesment

    Science.gov (United States)

    Bouguereau, Julien; Gattefin, Christian; Dupuy, Gilles

    2003-09-01

    Within the framework of the NATO AC 323 / RTO TG 25 group, relating to advanced concepts of acoustic and seismic technology for military applications, Technical Establishment of Bourges welcomed and organized a joint campaign of experiment intending to demonstrate the interest of a networked unattented ground sensors for vehicles detection and tracking in an area defense context. Having reminded the principle of vehicles tracking, this paper describes the progress of the test campaign and details particularly sensors and participants deployment, the solution of interoperability chosen by the group and the instrumentation used to acquire, network, process and publish in real-time data available during the test: meteorological data, trajectography data and targets detection reports data. Finally, some results of the campaign are presented.

  15. DynaMax+ ground-tracking algorithm

    Science.gov (United States)

    Smock, Brandon; Gader, Paul; Wilson, Joseph

    2011-06-01

    In this paper, we propose a new method for performing ground-tracking using ground-penetrating radar (GPR). Ground-tracking involves identifying the air-ground interface, which is usually the dominant feature in a radar image but frequently is obscured or mimicked by other nearby elements. It is an important problem in landmine detection using vehicle-mounted systems because antenna motion, caused by bumpy ground, can introduce distortions in downtrack radar images, which ground-tracking makes it possible to correct. Because landmine detection is performed in real-time, any algorithm for ground-tracking must be able to run quickly, prior to other, more computationally expensive algorithms for detection. In this investigation, we first describe an efficient algorithm, based on dynamic programming, that can be used in real-time for tracking the ground. We then demonstrate its accuracy through a quantitative comparison with other proposed ground-tracking methods, and a qualitative comparison showing that its ground-tracking is consistent with human observations in challenging terrain.

  16. The mathematics of movement

    Science.gov (United States)

    Johnson, D.H.

    1999-01-01

    Review of: Quantitative Analysis of Movement: Measuring and Modeling Population Redistribution in Animals and Plants. Peter Turchin. 1998. Sinauer Associates, Sunderland, MA. 306 pages. $38.95 (paper).

  17. Electric Vehicle Preparedness Task 3: Detailed Assessment of Target Electrification Vehicles at Joint Base Lewis McChord Utilization

    Energy Technology Data Exchange (ETDEWEB)

    Schey, Stephen [Idaho National Lab. (INL), Idaho Falls, ID (United States); Francfort, Jim [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2014-08-01

    Task 2 involved identifying daily operational characteristics of select vehicles and initiating data logging of vehicle movements in order to characterize the vehicle’s mission. Individual observations of these selected vehicles provide the basis for recommendations related to PEV adoption and whether a battery electric vehicle (BEV) or plug-in hybrid electric vehicle (PHEV) (collectively PEVs) can fulfill the mission requirements and provides observations related to placement of PEV charging infrastructure. This report provides the results of the data analysis and observations related to the replacement of current vehicles with PEVs. This fulfills part of the Task 3 requirements. Task 3 also includes an assessment of charging infrastructure required to support this replacement. That is the subject of a separate report.

  18. Electric Vehicle Charging Modeling

    OpenAIRE

    Grahn, Pia

    2014-01-01

    With an electrified passenger transportation fleet, carbon dioxide emissions could be reduced significantly depending on the electric power production mix. Increased electric power consumption due to electric vehicle charging demands of electric vehicle fleets may be met by increased amount of renewable power production in the electrical systems. With electric vehicle fleets in the transportation system there is a need for establishing an electric vehicle charging infrastructure that distribu...

  19. Ground-Water Protection and Monitoring Program

    Energy Technology Data Exchange (ETDEWEB)

    Dresel, P.E.

    1995-06-01

    This section of the 1994 Hanford Site Environmental Report summarizes the ground-water protection and monitoring program strategy for the Hanford Site in 1994. Two of the key elements of this strategy are to (1) protect the unconfined aquifer from further contamination, and (2) conduct a monitoring program to provide early warning when contamination of ground water does occur. The monitoring program at Hanford is designed to document the distribution and movement of existing ground-water contamination and provides a historical baseline for evaluating current and future risk from exposure to the contamination and for deciding on remedial action options.

  20. Chemical Pollution from Transportation Vehicles

    Science.gov (United States)

    Starkman, Ernest S.

    1969-01-01

    Recent publicity on electrically powered vehicles notwithstanding, the gasoline engine will probably be the principal power plant for passenger cars for at least the next decade. Chemical pollutants discharged by the gasoline engine are now under partial control. Motor cars of 1968 and 1969 model discharge only about 30 percent as much carbon monoxide and unburned hydrocarbons as do older models. In theory, carbon monoxide, unburned hydrocarbons and oxides of nitrogen ultimately can be completely removed from gasoline engine exhaust. In order to accomplish this it would be necessary to modify cars to operate satisfactorily on a lean mixture and perhaps to use a catalyst in the exhaust system. Present designs of gas turbines for aircraft and for future projected application to ground vehicles yield pollutants (except for smoke) at levels below those of gasoline engines for a decade to come. It has also been shown possible to eliminate smoke as well as odor from the gas turbine. Thus with proper effort it is feasible to reduce pollution of the atmosphere due to transportation to an acceptable level, even if electrically or alternatively powered vehicles cannot be developed for a decade. PMID:4183827

  1. PREPARING YOUR ROLE ARTISTIC GYMNASTICS MALE GROUND

    Directory of Open Access Journals (Sweden)

    CRISTIAN LERIC, Honored Master of Sports

    2012-12-01

    Full Text Available A requirement of modern high performance gymnastics is origina- lity and originality in composition exercises movements and con- nections to equipment and especially the ground. It is known that the formation of an artistic kept proper begins very early hours in the gym and continue throughout the career athlete per- fecting his time.

  2. Ground Water Flow No Longer A Mystery

    Science.gov (United States)

    Lehr, Jay H.; Pettyjohn, Wayne A.

    1976-01-01

    Examined are the physical characteristics of ground water movement. Some potential pollution problems are identified. Models are used to explain mathematical and hydraulic principles of flow toward a pumping well and an effluent stream, flow around and through lenticular beds, and effects of pumping on the water table. (Author/MR)

  3. Electric Vehicle Technician

    Science.gov (United States)

    Moore, Pam

    2011-01-01

    With President Obama's goal to have one million electric vehicles (EV) on the road by 2015, the electric vehicle technician should have a promising and busy future. "The job force in the car industry is ramping up for a revitalized green car industry," according to Greencareersguide.com. An electric vehicle technician will safely troubleshoot and…

  4. Road-rail vehicle

    NARCIS (Netherlands)

    Evers, J.J.M.

    2002-01-01

    A transport vehicle equipped with a number of first wheel sets, having wheels provided with tires, to which steering means and driving means, if any, are coupled to enable the transport vehicle to be moved over a road surface. The transport vehicle further comprises at least one second wheel set, ha

  5. 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.

  6. Vehicle chassis monitoring system

    Energy Technology Data Exchange (ETDEWEB)

    Pisu, P.; Soliman, A.; Rizzoni, G. [Ohio State Univ., Columbus (United States). Center for Automotive Research

    2001-07-01

    Fault detection and isolation is becoming one of the most important aspects in vehicle control system design. In order to achieve this FDI schemes, particular vehicle subsystems integrated with a controller have been proposed. This paper introduces a new model-based fault detection and fault diagnosis method for monitoring the vehicle chassis performance. (orig.)

  7. Electric Vehicle Technician

    Science.gov (United States)

    Moore, Pam

    2011-01-01

    With President Obama's goal to have one million electric vehicles (EV) on the road by 2015, the electric vehicle technician should have a promising and busy future. "The job force in the car industry is ramping up for a revitalized green car industry," according to Greencareersguide.com. An electric vehicle technician will safely troubleshoot and…

  8. Automotive vehicle sensors

    Energy Technology Data Exchange (ETDEWEB)

    Sheen, S.H.; Raptis, A.C.; Moscynski, M.J.

    1995-09-01

    This report is an introduction to the field of automotive vehicle sensors. It contains a prototype data base for companies working in automotive vehicle sensors, as well as a prototype data base for automotive vehicle sensors. A market analysis is also included.

  9. Passive Earth Entry Vehicle Landing Test

    Science.gov (United States)

    Kellas, Sotiris

    2017-01-01

    Two full-scale passive Earth Entry Vehicles (EEV) with realistic structure, surrogate sample container, and surrogate Thermal Protection System (TPS) were built at NASA Langley Research Center (LaRC) and tested at the Utah Test and Training Range (UTTR). The main test objective was to demonstrate structural integrity and investigate possible impact response deviations of the realistic vehicle as compared to rigid penetrometer responses. With the exception of the surrogate TPS and minor structural differences in the back shell construction, the two test vehicles were identical in geometry and both utilized the Integrated Composite Stiffener Structure (ICoSS) structural concept in the forward shell. The ICoSS concept is a lightweight and highly adaptable composite concept developed at NASA LaRC specifically for entry vehicle TPS carrier structures. The instrumented test vehicles were released from a helicopter approximately 400 m above ground. The drop height was selected such that at least 98% of the vehicles terminal velocity would be achieved. While drop tests of spherical penetrometers and a low fidelity aerodynamic EEV model were conducted at UTTR in 1998 and 2000, this was the first time a passive EEV with flight-like structure, surrogate TPS, and sample container was tested at UTTR for the purpose of complete structural system validation. Test results showed that at a landing vertical speed of approximately 30 m/s, the test vehicle maintained structural integrity and enough rigidity to penetrate the sandy clay surface thus attenuating the landing load, as measured at the vehicle CG, to less than 600 g. This measured deceleration was found to be in family with rigid penetrometer test data from the 1998 and 2000 test campaigns. Design implications of vehicle structure/soil interaction with respect to sample container and sample survivability are briefly discussed.

  10. Meeting youth in movement and on neutral ground

    Directory of Open Access Journals (Sweden)

    Morten Nissen

    2015-02-01

    Full Text Available The article articulates an educational motto – expressed in the title – found in a ‘prototypical narrative’ of social youth work carried out by activists in Copenhagen in the 1990s. This way of modeling pedagogical practice is first outlined as different from the standardizing approach dominant in science. As a prototypical narrative, the story alternates between descriptions and contextualizations of events, theoretical debate, and analytical suggestions. The key idea that is unfolded is the ‘critical trans-pedagogy’ of a creation and tinkering of collectives and their participants in struggles for recognition, and for the democratic social engineering of a responsive welfare state. It is suggested that a singular historical situation spurred this development, both in the practical youth work, and in the theoretical traditions with which I could articulate it. This included the post-industrial crisis of labor, the post-cold-war shaking of state forms, New Public Management, and the simultaneous expansion and attack on the welfare state. It also included how the Foucauldian rethinking of power and the performative turn in the social sciences informed the broadly Vygotskian traditions. On these backgrounds, the youth work practices could be approached as generalizing, performative reenactments of social problems. The approach is finally spelled out in and around the story of one participant, before the concluding remarks return to the issue of how a prototypical narrative deals with theory.

  11. Ground Movement Modelling in the STAR Combat Model.

    Science.gov (United States)

    1980-05-01

    Wilbur Payne, Director U.S. Army TRADOC Systems Analysis Activity White Sands Missile Range, New Mexico 88002 19. Headquarters, Department of the Army...Agency 8120 Woodmont Avenue Attn: MOCA -SMS (CPT Steve Shupack) Bethesda, Maryland 20014 21. Commander U.S. Army Concepts Analysis Agency Attn: LTC Earl...Darden- MOCA -WG 8120 Woodmont Avenue Bethesda, MD. 20014 22. Director U.S. Army Night Vision & Electro-optical Lab. Attn: DEL-NV-VI-Mr. Bob Hermes Fort

  12. Meeting youth in movement and on neutral ground

    DEFF Research Database (Denmark)

    Nissen, Morten

    2015-01-01

    the post-industrial crisis of labor, the post-cold-war shaking of state forms, New Public Management, and the simultaneous expansion and attack on the welfare state. It also included how the Foucauldian rethinking of power and the performative turn in the social sciences informed the broadly Vygotskian...

  13. Randomness Of Amoeba Movements

    Science.gov (United States)

    Hashiguchi, S.; Khadijah, Siti; Kuwajima, T.; Ohki, M.; Tacano, M.; Sikula, J.

    2005-11-01

    Movements of amoebas were automatically traced using the difference between two successive frames of the microscopic movie. It was observed that the movements were almost random in that the directions and the magnitudes of the successive two steps are not correlated, and that the distance from the origin was proportional to the square root of the step number.

  14. Exploring pedestrian movement patterns

    NARCIS (Netherlands)

    Orellana, D.A.

    2012-01-01

    The main objective of this thesis is to develop an approach for exploring, analysing and interpreting movement patterns of pedestrians interacting with the environment. This objective is broken down in sub-objectives related to four research questions. A case study of the movement of visitors in a n

  15. Exploring pedestrian movement patterns

    NARCIS (Netherlands)

    Orellana, D.A.

    2012-01-01

    The main objective of this thesis is to develop an approach for exploring, analysing and interpreting movement patterns of pedestrians interacting with the environment. This objective is broken down in sub-objectives related to four research questions. A case study of the movement of visitors in a n

  16. [Dance/Movement Therapy.

    Science.gov (United States)

    Fenichel, Emily, Ed.

    1994-01-01

    This newsletter theme issue focuses on dance, play, and movement therapy for infants and toddlers with disabilities. Individual articles are: "Join My Dance: The Unique Movement Style of Each Infant and Toddler Can Invite Communication, Expression and Intervention" (Suzi Tortora); "Dynamic Play Therapy: An Integrated Expressive Arts Approach to…

  17. Nonlinear Dynamic Analysis of the Whole Vehicle on Bumpy Road

    Institute of Scientific and Technical Information of China (English)

    王威; 李瑰贤; 宋玉玲

    2010-01-01

    Through the research into the characteristics of 7-DoF high dimensional nonlinear dynamics of a vehicle on bumpy road, the periodic movement and chaotic behavior of the vehicle were found.The methods of nonlinear frequency response analysis, global bifurcation, frequency chart and Poincaré maps were used simultaneously to derive strange super chaotic attractor.According to Lyapunov exponents calculated by Gram-Schmidt method, the unstable region was compartmentalized and the super chaotic characteristic of ...

  18. GPS error and its effects on movement analysis

    CERN Document Server

    Ranacher, Peter; Van der Spek, Stefan Christiaan; Reich, Siegfried

    2015-01-01

    Global Navigation Satellite Systems (GNSS), such as the Global Positioning System (GPS), are among the most important sensors in movement analysis. GPS data loggers are widely used to record the movement trajectories of vehicles, animals or human beings. However, these trajectories are inevitably affected by GPS measurement error, which influences conclusion drawn about the behavior of the moving objects. In this paper we investigate GPS measurement error and discuss its influence on movement parameters such as speed, direction or distance. We identify three characteristic properties of GPS measurement error: it follows temporal (1) and spatial (2) autocorrelation and causes a systematic overestimation of distances (3). Based on our findings we give recommendations on how to collect movement data in order to minimize the influence of error. We claim that these recommendations are essential for designing an appropriate sampling strategy for collecting movement data by means of a GPS.

  19. A Critique of the Capacity of Strauss Grounded Theory for Prediction, Change, and Control in Organisational Strategy via a Grounded Theorisation of Leisure and Cultural Strategy

    Science.gov (United States)

    Bakir, Ali; Bakir, Vian

    2006-01-01

    In this paper we critique grounded theory's ability to fulfil its aim of offering a practical vehicle for prediction, change, and control as stipulated in grounded theory's original formulation by Glaser and Strauss, and later developed by Strauss. We do this through a case study approach, whereby we develop a grounded theory of leisure and…

  20. Space vehicle chassis

    Energy Technology Data Exchange (ETDEWEB)

    Judd, Stephen; Dallmann, Nicholas; Seitz, Daniel; Martinez, John; Storms, Steven; Kestell, Gayle

    2017-07-18

    A modular space vehicle chassis may facilitate convenient access to internal components of the space vehicle. Each module may be removable from the others such that each module may be worked on individually. Multiple panels of at least one of the modules may swing open or otherwise be removable, exposing large portions of the internal components of the space vehicle. Such chassis architectures may reduce the time required for and difficulty of performing maintenance or modifications, may allow multiple space vehicles to take advantage of a common chassis design, and may further allow for highly customizable space vehicles.

  1. Magnetic Launch Assist Vehicle-Artist's Concept

    Science.gov (United States)

    1999-01-01

    This artist's concept depicts a Magnetic Launch Assist vehicle clearing the track and shifting to rocket engines for launch into orbit. The system, formerly referred as the Magnetic Levitation (MagLev) system, is a launch system developed and tested by Engineers at the Marshall Space Flight Center (MSFC) that could levitate and accelerate a launch vehicle along a track at high speeds before it leaves the ground. Using an off-board electric energy source and magnetic fields, a Magnetic Launch Assist system would drive a spacecraft along a horizontal track until it reaches desired speeds. The system is similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway. A full-scale, operational track would be about 1.5-miles long, capable of accelerating a vehicle to 600 mph in 9.5 seconds, and the vehicle would then shift to rocket engines for launch into orbit. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

  2. Advanced Vehicle and Power Initiative

    Science.gov (United States)

    2010-07-29

    bases.) Qualifying advanced propulsion vehicles for this initiative are battery electric vehicles (BEV), hybrid electric vehicles (HEV), hybrid...hydraulic vehicles (HHV), plug-in hybrid electric vehicles (PHEV) and fuel cell electric vehicles (FCEV). The AVPI integrates use of renewable energy at

  3. An early influence of common ground during speech planning

    NARCIS (Netherlands)

    Vanlangendonck, F.; Willems, R.M.; Menenti, L.M.E.; Hagoort, P.

    2016-01-01

    In order to communicate successfully, speakers have to take into account which information they share with their addressee, i.e. common ground. In the current experiment we investigated how and when common ground affects speech planning by tracking speakers' eye movements while they played a

  4. Auxin and chloroplast movements.

    Science.gov (United States)

    Eckstein, Aleksandra; Krzeszowiec, Weronika; Waligórski, Piotr; Gabryś, Halina

    2016-03-01

    Auxin is involved in a wide spectrum of physiological processes in plants, including responses controlled by the blue light photoreceptors phototropins: phototropic bending and stomatal movement. However, the role of auxin in phototropin-mediated chloroplast movements has never been studied. To address this question we searched for potential interactions between auxin and the chloroplast movement signaling pathway using different experimental approaches and two model plants, Arabidopsis thaliana and Nicotiana tabacum. We observed that the disturbance of auxin homeostasis by shoot decapitation caused a decrease in chloroplast movement parameters, which could be rescued by exogenous auxin application. In several cases, the impairment of polar auxin transport, by chemical inhibitors or in auxin carrier mutants, had a similar negative effect on chloroplast movements. This inhibition was not correlated with changes in auxin levels. Chloroplast relocations were also affected by the antiauxin p-chlorophenoxyisobutyric acid and mutations in genes encoding some of the elements of the SCF(TIR1)-Aux/IAA auxin receptor complex. The observed changes in chloroplast movement parameters are not prominent, which points to a modulatory role of auxin in this process. Taken together, the obtained results suggest that auxin acts indirectly to regulate chloroplast movements, presumably by regulating gene expression via the SCF(TIR1)-Aux/IAA-ARF pathway. Auxin does not seem to be involved in controlling the expression of phototropins.

  5. Changing requirements and solutions for unattended ground sensors

    Science.gov (United States)

    Prado, Gervasio; Johnson, Robert

    2007-10-01

    Unattended Ground Sensors (UGS) were first used to monitor Viet Cong activity along the Ho Chi Minh Trail in the 1960's. In the 1980's, significant improvement in the capabilities of UGS became possible with the development of digital signal processors; this led to their use as fire control devices for smart munitions (for example: the Wide Area Mine) and later to monitor the movements of mobile missile launchers. In these applications, the targets of interest were large military vehicles with strong acoustic, seismic and magnetic signatures. Currently, the requirements imposed by new terrorist threats and illegal border crossings have changed the emphasis to the monitoring of light vehicles and foot traffic. These new requirements have changed the way UGS are used. To improve performance against targets with lower emissions, sensors are used in multi-modal arrangements. Non-imaging sensors (acoustic, seismic, magnetic and passive infrared) are now being used principally as activity sensors to cue imagers and remote cameras. The availability of better imaging technology has made imagers the preferred source of "actionable intelligence". Infrared cameras are now based on un-cooled detector-arrays that have made their application in UGS possible in terms of their cost and power consumption. Visible light imagers are also more sensitive extending their utility well beyond twilight. The imagers are equipped with sophisticated image processing capabilities (image enhancement, moving target detection and tracking, image compression). Various commercial satellite services now provide relatively inexpensive long-range communications and the Internet provides fast worldwide access to the data.

  6. Social movements in health.

    Science.gov (United States)

    Brown, Theodore M; Fee, Elizabeth

    2014-01-01

    Most public health practitioners know that public health has relied on biomedical advances and administrative improvements, but it is less commonly understood that social movements in health have also been sources of motivation for population health advances. This review considers the impacts of social movements focused on urban conditions and health, on the health of children, and on behavioral and substance-related determinants of health and illustrates how these movements have significantly influenced public health activities and programs. We hope this review will motivate public health workers to make common cause with social activists and to encourage social activists to ally with public health professionals.

  7. Studying Social Movements

    DEFF Research Database (Denmark)

    Uldam, Julie; McCurdy, Patrick

    2013-01-01

    The research method of participant observation has long been used by scholars interested in the motivations, dynamics, tactics and strategies of social movements from a movement perspective. Despite participant observation being a common research method, there have been very few efforts to bring...... and then draws specific links to how the method has been used in the study of activism and social movements. In doing so, this article brings together key academic debates on participant observation, which have been considered separately, such as insider/outsider and overt/covert, but not previously been brought...

  8. Spontaneous body movements in spatial cognition

    Directory of Open Access Journals (Sweden)

    Sergiu eTcaci Popescu

    2012-05-01

    Full Text Available People often perform spontaneous body movements during spatial tasks such as giving complex directions or orienting themselves on maps. How are these spontaneous gestures related to spatial problem-solving? We measured spontaneous movements during a perspective-taking task inspired by map reading. Analyzing the motion data to isolate rotation and translation components of motion in specific geometric relation to the task, we found out that most participants executed spontaneous miniature rotations of the head that were significantly related to the main task parameter. These head rotations were as if participants were trying to align themselves with the orientation on the map either in the image plane or on the ground plane, but with tiny amplitudes, typically below 1% of the actual movements. Our results are consistent with a model of sensorimotor prediction driving spatial reasoning. The efference copy of planned movements triggers this prediction mechanism. The movements themselves may then be mostly inhibited; the small spontaneous gestures that we measure are the visible traces of these planned but inhibited actions.

  9. The Globalization Protest Movement in Comparative Perspective

    Directory of Open Access Journals (Sweden)

    Bruce Podobnik

    2015-08-01

    Full Text Available Throughout the history of the modern world-system, projects of globalization promoted by world elites have been met with resistance from people on the ground whose livelihoods have often been threatened. As the geographic scale of global capitalism has expanded, and its penetration into daily life has deepened, the scale and intensity of resistance to this system has grown as well. Local e?orts to protect traditional ways of life, for instance, have evolved into national campaigns for union protections and then into international movements for stronger labor, human rights, and environmental protections. Today, as global elites push for the ?nal incorporation of all regions into a single capitalist system based on neoliberal principles, they are being met by an unexpectedly resilient, far-reaching, and multi-faceted coalition of resistance. Whatever it may be called—the ‘anti-globalization movement,’ the ‘global solidarity movement,’ or the ‘globalization protest movement’—it is clear that this anti-systemic movement has emerged as an important challenger to the dominance of global capital over the contemporary world.

  10. Stability Simulation of a Vehicle with Wheel Active Steering

    Directory of Open Access Journals (Sweden)

    Brabec Pavel

    2016-01-01

    Full Text Available This paper deals with the possibility of increasing the vehicle driving stability at a higher speed. One of the ways how to achieve higher stability is using the 4WS system. Mathematical description of vehicle general movement is a very complex task. For simulation, models which are aptly simplified are used. For the first approach, so-called single-truck vehicle model (often linear is usually used. For the simulation, we have chosen to extend the model into a two-truck one, which includes the possibility to input more vehicle parameters. Considering the 4WS system, it is possible to use a number of potential regulations. In our simulation model, the regulation system with compound coupling was used. This type of regulation turns the rear wheels depending on the input parameters of the system (steering angle of the front wheels and depending on the output moving quantities of the vehicle, most frequently the yaw rate. Criterion for compensation of lateral deflection centre of gravity angle is its zero value, or more precisely the zero value of its first-order derivative. Parameters and set-up of the simulation model were done in conjunction with the dSAPACE software. Reference performances of the vehicle simulation model were made through the defined manoeuvres. But the simulation results indicate that the rear-wheels steering can have a positive effect on the vehicle movement stability, especially when changing the driving direction at high speed.

  11. Precision wildlife monitoring using unmanned aerial vehicles

    OpenAIRE

    Jarrod C. Hodgson; Baylis, Shane M.; Rowan Mott; Ashley Herrod; Clarke, Rohan H.

    2016-01-01

    Unmanned aerial vehicles (UAVs) represent a new frontier in environmental research. Their use has the potential to revolutionise the field if they prove capable of improving data quality or the ease with which data are collected beyond traditional methods. We apply UAV technology to wildlife monitoring in tropical and polar environments and demonstrate that UAV-derived counts of colony nesting birds are an order of magnitude more precise than traditional ground counts. The increased count pre...

  12. Method and system for reducing errors in vehicle weighing systems

    Energy Technology Data Exchange (ETDEWEB)

    Hively, Lee M. (Philadelphia, TN); Abercrombie, Robert K. (Knoxville, TN)

    2010-08-24

    A method and system (10, 23) for determining vehicle weight to a precision of <0.1%, uses a plurality of weight sensing elements (23), a computer (10) for reading in weighing data for a vehicle (25) and produces a dataset representing the total weight of a vehicle via programming (40-53) that is executable by the computer (10) for (a) providing a plurality of mode parameters that characterize each oscillatory mode in the data due to movement of the vehicle during weighing, (b) by determining the oscillatory mode at which there is a minimum error in the weighing data; (c) processing the weighing data to remove that dynamical oscillation from the weighing data; and (d) repeating steps (a)-(c) until the error in the set of weighing data is <0.1% in the vehicle weight.

  13. Perceptual grouping effects on cursor movement expectations.

    Science.gov (United States)

    Dorneich, Michael C; Hamblin, Christopher J; Lancaster, Jeff A; Olofinboba, Olu

    2014-05-01

    Two studies were conducted to develop an understanding of factors that drive user expectations when navigating between discrete elements on a display via a limited degree-of-freedom cursor control device. For the Orion Crew Exploration Vehicle spacecraft, a free-floating cursor with a graphical user interface (GUI) would require an unachievable level of accuracy due to expected acceleration and vibration conditions during dynamic phases of flight. Therefore, Orion program proposed using a "caged" cursor to "jump" from one controllable element (node) on the GUI to another. However, nodes are not likely to be arranged on a rectilinear grid, and so movements between nodes are not obvious. Proximity between nodes, direction of nodes relative to each other, and context features may all contribute to user cursor movement expectations. In an initial study, we examined user expectations based on the nodes themselves. In a second study, we examined the effect of context features on user expectations. The studies established that perceptual grouping effects influence expectations to varying degrees. Based on these results, a simple rule set was developed to support users in building a straightforward mental model that closely matches their natural expectations for cursor movement. The results will help designers of display formats take advantage of the natural context-driven cursor movement expectations of users to reduce navigation errors, increase usability, and decrease access time. The rules set and guidelines tie theory to practice and can be applied in environments where vibration or acceleration are significant, including spacecraft, aircraft, and automobiles.

  14. Movement and Coordination

    Science.gov (United States)

    ... Español Text Size Email Print Share Movement and Coordination Page Content Article Body At this age, your ... level will strengthen his body and develop his coordination. In the months ahead, your child’s running will ...

  15. The "Children's Rights" Movement.

    Science.gov (United States)

    Miller, Bruce A.

    1981-01-01

    The author argues that the "children's rights" movement is an attack on the authority of parents and teachers and that it is undermining school discipline and traditional family roles. Condensed from "American Educator," Spring 1981, pp30-33. (SJL)

  16. Flight and Integrated Vehicle Testing: Laying the Groundwork for the Next Generation of Space Exploration Launch Vehicles

    Science.gov (United States)

    Taylor, J. L.; Cockrell, C. E.

    2009-01-01

    Integrated vehicle testing will be critical to ensuring proper vehicle integration of the Ares I crew launch vehicle and Ares V cargo launch vehicle. The Ares Projects, based at Marshall Space Flight Center in Alabama, created the Flight and Integrated Test Office (FITO) as a separate team to ensure that testing is an integral part of the vehicle development process. As its name indicates, FITO is responsible for managing flight testing for the Ares vehicles. FITO personnel are well on the way toward assembling and flying the first flight test vehicle of Ares I, the Ares I-X. This suborbital development flight will evaluate the performance of Ares I from liftoff to first stage separation, testing flight control algorithms, vehicle roll control, separation and recovery systems, and ground operations. Ares I-X is now scheduled to fly in summer 2009. The follow-on flight, Ares I-Y, will test a full five-segment first stage booster and will include cryogenic propellants in the upper stage, an upper stage engine simulator, and an active launch abort system. The following flight, Orion 1, will be the first flight of an active upper stage and upper stage engine, as well as the first uncrewed flight of an Orion spacecraft into orbit. The Ares Projects are using an incremental buildup of flight capabilities prior to the first operational crewed flight of Ares I and the Orion crew exploration vehicle in 2015. In addition to flight testing, the FITO team will be responsible for conducting hardware, software, and ground vibration tests of the integrated launch vehicle. These efforts will include verifying hardware, software, and ground handling interfaces. Through flight and integrated testing, the Ares Projects will identify and mitigate risks early as the United States prepares to take its next giant leaps to the Moon and beyond.

  17. UAVs and Patient Movement

    Science.gov (United States)

    2016-04-01

    to mitigate hemorrhage, to optimize airway management , and to reduce the time interval between the point of injury and surgical intervention.72...depth look at the evolution of patient movement and the utilization of advanced technologies from to ultimately decrease the time to care. Future...with its employment for Class VII resupply (i.e., blood) and easily evolves toward full scale patient movement using advanced remote tele-monitoring

  18. The Circular Camera Movement

    DEFF Research Database (Denmark)

    Hansen, Lennard Højbjerg

    2014-01-01

    It has been an accepted precept in film theory that specific stylistic features do not express specific content. Nevertheless, it is possible to find many examples in the history of film in which stylistic features do express specific content: for instance, the circular camera movement is used...... such as the circular camera movement. Keywords: embodied perception, embodied style, explicit narration, interpretation, style pattern, television style...

  19. Simulation of energy consumption for quadruped walking vehicle

    Science.gov (United States)

    Lei, Jingtao; Gao, Feng; Xu, Guoyan

    2006-11-01

    Simulation of energy consumption for walking vehicle is one of the basic way to preliminarily estimate the energy that will be consumed before constructing the real vehicle, providing basis for the design of vehicle to minish energy consumption. One of the most influential factors of the accuracy dynamic simulation is the appropriate contact model between leg and ground. In this paper, we adopt virtual prototyping technique to develop the dynamic modeling of a quadruped walking vehicle considering contact force between legs and ground during walking, finish simulation of dynamics and obtain dynamics characteristics, investigate the effects of different contact condition and the energy consumption. The purpose is to analyze the relationship between energy consumption and relevant influence factors, and the energy efficiency during walking is discussed with different walking velocity, strokes, duty factors and different contact material. Moreover contact force is obtained from simulations. Commercial ADAMS package is used.

  20. Attitude and Translation Control of a Solar Sail Vehicle

    Science.gov (United States)

    Singh, Gurkirpal

    2008-01-01

    A report discusses the ability to control the attitude and translation degrees-of-freedom of a solar sail vehicle by changing its center of gravity. A movement of the spacecraft s center of mass causes solar-pressure force to apply a torque to the vehicle. At the compact core of the solar-sail vehicle lies the spacecraft bus which is a large fraction of the total vehicle mass. In this concept, the bus is attached to the spacecraft by two single degree-of-freedom linear tracks. This allows relative movement of the bus in the sail plane. At the null position, the resulting solar pressure applies no torque to the vehicle. But any deviation of the bus from the null creates an offset between the spacecraft center of mass and center of solar radiation pressure, resulting in a solar-pressure torque on the vehicle which changes the vehicle attitude. Two of the three vehicle degrees of freedom can be actively controlled in this manner. The third, the roll about the sunline, requires a low-authority vane/propulsive subsystem. Translation control of the vehicle is achieved by directing the solar-pressure-induced force in the proper inertial direction. This requires attitude control. Attitude and translation degrees-of-freedom are therefore coupled. A guidance law is proposed, which allows the vehicle to stationkeep at an appropriate point on the inertially-rotating Sun-Earth line. Power requirements for moving the bus are minimal. Extensive software simulations have been performed to demonstrate the feasibility of this concept.

  1. MIRROR MOVEMENT: A CASE REPORT

    Directory of Open Access Journals (Sweden)

    AA. Momen

    2008-11-01

    Full Text Available Mirror movement is an interesting but often overlooked neurological soft sign;these movements are described as simultaneous contralateral, involuntary, identical movements that accompany voluntary movements. This neurologic problem is very rarely seen in children; in familial cases there is a positive history of these movements in parents, diminishing with time. Here, we have presented the case of an 11-year old girl with mirror movements in her upper limbs which interfered with her hand writing. Her neurological examination revealed normal results. In this report, we have tried to explain some of the pathophysiologic mechanisms related to these abnormal movements.Keywords:Mirror Movements, Children, Soft neurologic sign

  2. Steering Performance, Tactical Vehicles

    Science.gov (United States)

    2015-07-29

    NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Automotive Instrumentation Division (TEDT-AT-AD-I) U.S. Army Aberdeen Test Center 400...characterize the on-center vehicle responses of military vehicles for the purposes of influencing vehicle design and ensuring military truck steering... mechanism attached to the test vehicle’s steering wheel (or replaces the steering wheel) that is strain gaged and calibrated to measure the steering effort

  3. Electric Vehicle Propulsion System

    OpenAIRE

    2014-01-01

    Electric vehicles are being considered as one of the pillar of eco-friendly solutions to overcome the problem of global pollution and radiations due to greenhouse gases. Present thesis work reports the improvement in overall performance of the propulsion system of an electric vehicle by improving autonomy and torque-speed characteristic. Electric vehicle propulsion system consists of supply and traction system, and are coordinated by the monitoring & control system. Case of light electric veh...

  4. Electric vehicle propulsion alternatives

    Science.gov (United States)

    Secunde, R. R.; Schuh, R. M.; Beach, R. F.

    1983-01-01

    Propulsion technology development for electric vehicles is summarized. Analytical studies, technology evaluation, and the development of technology for motors, controllers, transmissions, and complete propulsion systems are included.

  5. Reusable Space Vehicle Ground Operations Baseline Conceptual Model

    Science.gov (United States)

    2004-03-01

    detailed manufacturing process knowledge (e.g., Hubble telescope mirror fabrication process) among geographically dispersed units. - Determine the impact...take place in several different facilities located relatively close to each other with the exception of hazardous functions being geographically ...segments are ready, they are transported to the VAB for stacking as previously described. Store Segments 5.1.1.3 Inspect Segements 5.1.1.2 Transport

  6. Soldier Cognitive Processes: Supporting Teleoperated Ground Vehicle Operations

    Science.gov (United States)

    2014-12-01

    and to integrate new information with existing knowledge (Gyselinck, Ehrlich , Cornoldi, de Beni, & Dubois, 2000; Mayer & Moreno, 2003). Within...212, 212a, http://journalofvision.org/1/3/212/, doi:10.1167/1.3.212. Gyselinck, V., Ehrlich , M. F., Cornoldi, C., deBeni, R., & Dubois, V. (2000

  7. Kinematic Discrepancy of Hydrostatic Drive of Unmanned Ground Vehicle

    Directory of Open Access Journals (Sweden)

    Konopka Stanisław

    2015-12-01

    Full Text Available W opracowaniu przedstawiony został problem niezgodności kinematycznej hydrostatycznych układów napędowych pojazdów wysokiej mobilności oraz jej wpływ na występowanie niekorzystnego zjawiska mocy krążącej. Ponadto zaprezentowane zostały rozważania teoretyczne dotyczące zdolności kompensacji niezgodności kinematycznej przez hydrostatyczny układ napędowy na podstawie badań z wykorzystaniem charakterystyk statycznych.

  8. Tactical Unmanned Ground Vehicle Related Research References (BTA Study)

    Science.gov (United States)

    1993-03-01

    80. Merritt, John 0., " Autostereoscopic 3D Display System by Dimension Technologies, Incorporat (DTI)," Unpublished Memorandum, 7 December 1988. 8I...PAPER SUMMARY REFERENCE: Title: Common Problems in the Evaluation of 3D Displays, 1983 Author(s): John 0. Merritt OBJECTIVE: The potential benefits of...pegboard and square background tests will compare stereopsis to the monoscopic depth cues. The goal of the tests conducted is to determine if the 3D

  9. Infrared Stereo Calibration for Unmanned Ground Vehicle Navigation

    Science.gov (United States)

    2014-05-01

    for avoidance and path planning. The use of laser-based sensors, such as Lidar , has become quite common for assisting in such a task, however, Lidar ...systems may be too expensive for certain application and are active, not passive, sensors, so they may not be desirable in some missions. Lidars are...black and white squares using packages such as the Camera Calibration Toolbox for Matlab R©,3 OpenCV,4 and the Robot Operating System (ROS).5 However

  10. Unmanned Ground Vehicle Two-Level Planning Technology Assessment

    Science.gov (United States)

    2010-09-01

    XUV bounced down path, saw blockage, backed up in a zig zag fashion, backed into brush, backed in a circle, E-Stop, E.O.M. Scenario 2 not what...RESEARCH LAB IMNE ALC HRR 2800 POWDER MILL RD ADELPHI MD 20783-1197 1 DIRECTOR US ARMY RESEARCH LAB RDRL CIM L 2800 POWDER MILL ...RD ADELPHI MD 20783-1197 1 DIRECTOR US ARMY RESEARCH LAB RDRL CIM P 2800 POWDER MILL RD ADELPHI MD 20783-1197 1 DIRECTOR US

  11. Collaborative Autonomous Unmanned Aerial - Ground Vehicle Systems for Field Operations

    Science.gov (United States)

    2007-08-31

    decentralized PID controllers , decentralized PID-like Fuzzy Logic controllers, and a centralized LQR controller. A comparison was made between the three...others who may not be experts in the design of MPC. The MPC controller was compared to the previously designed PID controllers for both an ascending

  12. Investigation of Terrain Analysis and Classification Methods for Ground Vehicles

    Science.gov (United States)

    2012-08-27

    dry bentonite clay , modeling clay , orange sand, dry topsoil, and wet topsoil. The dry bentonite clay was a tan colored fine-grained material with the...tested: bentonite at 21.4 N; clay at 53.2 N, 68.4 N, and 83.5 N; orange sand at 53.2 N, dry topsoil at 53.2 N, 60.8 N, 68.4 N, 76.0 N, and 83.5 N; and...appearance of fine-grained sand. The modeling clay was a medium gray, damp, highly cohesive material that was flexible enough to be formed by hand

  13. Traversability Analysis for Unmanned Ground Vehicles: Interpreting the Environment

    Science.gov (United States)

    2006-12-01

    Koren, Y. (1991), The Vector Field Histogram - Fast Obstacle Avoidance for Mobile Robots, IEEE Transactions on Robotics and Automation, 7(3), 535–539...Utz, H., Sablatnog, S., Enderle, S., and Kraetzschmar, G. (2002), Miro - MIddleware for Mobile Robot Applications, IEEE Transactions on Robotics and

  14. Quadrotor for Increased Situational Awareness for Ground Vehicles

    Science.gov (United States)

    2015-01-26

    exhibit different effects we placed the mannequins in the following situations: on a 2 nd story balcony; on a 3 rd story roof partially obscured by...resolution sensor technology comes to market, an adjustable lens may be required. One key takeaway regarding altitude is that there is no perfect

  15. Daytime Mud Detection for Unmanned Ground Vehicle Autonomous Navigation

    Science.gov (United States)

    2008-12-01

    dry soil during nominal weather, i.e., no precipitation , calm wind, and near average temperatures. 2. MUD CUES FROM COLOR It is commonly...disambiguate shadows from wet soil than shadows from dry soil. (a) Red band (b) NIR band (c) NDVI image (d) Brightness image wet soil Red...spectral bands to segment wet soil. Red and NIR bands (Figures 5a and 5b) can be used to generate a Normalized Difference Vegetation Index ( NDVI

  16. Study and Analysis of Heating Concepts for Military Ground Vehicles

    Science.gov (United States)

    1986-06-30

    of a Catalytic Heater with Hydrogen Fuel," International Journal of Hydrogen Energy , Vol. 7, No. 9, p. 737-740 (1982) 26 Locklin and Hazard, p. 95-106...Combustion of Hydrogen. III. Advantages and Disadvwntages of a Catalytic Heater With Hydrogen Fuel," International Journal of Hydrogen Energy , Vol. 7, No. 9, p

  17. Mobility Performance Algorithms for Small Unmanned Ground Vehicles

    Science.gov (United States)

    2009-05-01

    following: min , BFMX MAX T SFTYPC B DCL W æ ö÷ç= ´ ÷ç ÷çè ø100 (5) where: BMX = total braking force used DCLMAX = maximum braking...V = maximum speed limited by visibility BMX = braking force (Equation 5). The reaction time between recognition and application of the brakes

  18. Vector Pursuit Path Tracking for Autonomous Ground Vehicles

    Science.gov (United States)

    2000-08-01

    collision avoidance for a mobile robot,” Robotica , v12, 1994, p521-527. [30] Saffiotti, A., Ruspini, E. H. and Konolige, K., “Blending Reactivity and...based collision avoidance for a mobile robot,” Robotica , v15, 1997, p627-632. [43] Hoffman, F. and Pfister, G., “Evolutionary Design of a Fuzzy...DeSantis, R. M., “Modeling and path-tracking control of a mobile wheeled robot with a differential drive,” Robotica , v13, 1995, p401-410. [49

  19. Nearly time-optimal paths for a ground vehicle

    Institute of Scientific and Technical Information of China (English)

    David A. ANISI; Johan HAMBERG; Xiaoming HU

    2003-01-01

    It is well known that the sufficient family of time-optimal paths for both Dubins' as well as Reeds-Shepp' s car models consist of the concatenation of circular arcs with maxmum curvature and straight line segments, all tangentially connected.These time-optimal solutions suffer from some drawbacks. Their discontinuous curvature profde, together with the wear and impairment on the control equipment that the bang-bang solutions induce, calls for "smoother" and more supple reference paths to follow. Avoiding the bang-bang solutions also raises the robustness with respect to any possible uncertainties. In this paper, our main tool for generating these "nearly time-optimal", but nevertheless continuous-curvature paths, is to use the Pontryagin Maximum Principle (PMP) and make an appropriate and cunning choice of the Lagrangian function. Despite some rewarding simuhtion results, this concept tums out to be numerically divergent at some instances. Upon a more careful investigation, it can be concluded that the problem at hand is nearly singular. This is seen by applying the PMP to Dubins' car and studying the corresponding two point boundary value problem, which turn out to be singuhr. Realizing this, one is able to contradict the widespread belief that all the information about the motion of a mobile platform lies in the initial values of the auxiliary variables associated with the PMP.

  20. Mechatronics Design of an Unmanned Ground Vehicle for Military Applications

    OpenAIRE

    Appelqvist, Pekka; Knuuttila, Jere; Ahtiainen, Juhana

    2010-01-01

    Our research was funded by the Finnish Defence Forces' technology program and additionally by the Scientific Advisory Board for Defence. The authors also want to thank other project partners, especially Patria Group and VTT (Dr. Hannu Lehtinen, Dr. Ilkka Kauppi, Petri Kaarmila and Jarmo Prokkola).

  1. U.S. Army’s Ground Vehicle Energy Storage

    Science.gov (United States)

    2013-04-16

    platforms. • TARDEC Energy Storage Team Role is the Engineering Support Activity (ESA) to ensure conformance with the specification & recommendation...for QPL acceptance. • TARDEC Standardization Team Role is the Qualifying Activity that maintains the modifications to the MIL-PRF 32143B and QPL

  2. 75 FR 76692 - Federal Motor Vehicle Safety Standards; Small Business Impacts of Motor Vehicle Safety

    Science.gov (United States)

    2010-12-09

    ..., and 571 Federal Motor Vehicle Safety Standards; Small Business Impacts of Motor Vehicle Safety AGENCY... passenger vehicles, trucks, buses, trailers, incomplete vehicles, motorcycles, and motor vehicle...

  3. Factors influencing aircraft ground handling performance

    Science.gov (United States)

    Yager, T. J.

    1983-01-01

    Problems associated with aircraft ground handling operations on wet runways are discussed and major factors which influence tire/runway braking and cornering traction capability are identified including runway characteristics, tire hydroplaning, brake system anomalies, and pilot inputs. Research results from tests with instrumented ground vehicles and aircraft, and aircraft wet runway accident investigation are summarized to indicate the effects of different aircraft, tire, and runway parameters. Several promising means are described for improving tire/runway water drainage capability, brake system efficiency, and pilot training to help optimize aircraft traction performance on wet runways.

  4. Simulation study of plane motion of air cushion vehicle

    Institute of Scientific and Technical Information of China (English)

    ZHAO Shu-qin; SHI Xiao-cheng; SHI Yi-long; BIAN Xin-qian

    2003-01-01

    This research is on horizontal plane motion equations of Air Cushion Vehicle (ACV) and its simulation. To investigate this, a lot of simulation study including ACV's voyage and turning performance has been done. It was found that the voyage simulation results were accorded with ACV own characteristic and turning simulation results were accorded with USA ACV's movement characteristic basically.

  5. Simulation study of plane motion of air cushion vehicle

    Science.gov (United States)

    Zhao, Shu-Qin; Shi, Xiao-Cheng; Shi, Yi-Long; Bian, Xin-Qian

    2003-12-01

    This research is on horizontal plane motion equations of Air Cushion Vehicle (ACV) and its simulation. To investigate this, a lot of simulation study including ACV’s voyage and turning performance has been done. It was found that the voyage simulation results were accorded with ACV own characteristic and turning simulation results were accorded with USA ACV’s movement characteristic basically.

  6. 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.

  7. Fusing Global Navigation With Computer-Aided Remote Driving Of Robotic Vehicles

    Science.gov (United States)

    Cameron, Jonathan M.; Cooper, Brian K.; Salo, Robert A.; Wilcox, Brian H.

    1987-02-01

    Very few existing robotic vehicle systems today have the ability to plan a path and then execute it. Subsystems to do parts of this problem do exist. Automatic route planners can plan a path for a theoretical vehicle. Vehicle control systems such as Computer-Aided Remote Driving (CARD)' can drive a vehicle with limited operator intervention. The combination of route planning with the vehicle control system is the concept of Navigation Fusion. Work is under way at the Jet Propulsion Laboratory to fuse the functions of a route planner and a planetary rover prototype which is piloted using CARD. In the CARD system, the operator chooses a path for the vehicle using wide-baseline stereo images returned from cameras on the vehicle. The robotic vehicle then executes that path under computer control without operator intervention. The route is planned on a Symbolics LISP machine and is then displayed to the operator as a desired path. The concept of Navigation Fusion involves displaying this desired path in perspective on the operator's 3-dimensional display. It requires knowledge of the relationship between the images returned from the vehicle and any information about of the movement area (or map). The operator will modify this path as necessary to avoid obstacles. The vehicle will then be instructed to execute the path. The fusion of global route planning and local path execution allows more intelligent planning and execution of robotic vehicle movements.

  8. Posttraumatic functional movement disorders.

    Science.gov (United States)

    Ganos, C; Edwards, M J; Bhatia, K P

    2017-01-01

    Traumatic injury to the nervous system may account for a range of neurologic symptoms. Trauma location and severity are important determinants of the resulting symptoms. In severe head injury with structural brain abnormalities, the occurrence of trauma-induced movement disorders, most commonly hyperkinesias such as tremor and dystonia, is well recognized and its diagnosis straightforward. However, the association of minor traumatic events, which do not lead to significant persistent structural brain damage, with the onset of movement disorders is more contentious. The lack of clear clinical-neuroanatomic (or symptom lesion) correlations in these cases, the variable timing between traumatic event and symptom onset, but also the presence of unusual clinical features in a number of such patients, which overlap with signs encountered in patients with functional neurologic disorders, contribute to this controversy. The purpose of this chapter is to provide an overview of the movement disorders, most notably dystonia, that have been associated with peripheral trauma and focus on their unusual characteristics, as well as their overlap with functional neurologic disorders. We will then provide details on pathophysiologic views that relate minor peripheral injuries to the development of movement disorders and compare them to knowledge from primary organic and functional movement disorders. Finally, we will comment on the appropriate management of these disorders.

  9. Experimental Evaluation of the Scale Model Method to Simulate Lunar Vehicle Dynamics

    Science.gov (United States)

    Johnson, Kyle; Asnani, Vivake; Polack, Jeff; Plant, Mark

    2016-01-01

    As compared to driving on Earth, the presence of lower gravity and uneven terrain on planetary bodies makes high speed driving difficult. In order to maintain ground contact and control vehicles need to be designed with special attention to dynamic response. The challenge of maintaining control on the Moon was evident during high speed operations of the Lunar Roving Vehicle (LRV) on Apollo 16, as at one point all four tires were off the ground; this event has been referred to as the Lunar Grand Prix. Ultimately, computer simulation should be used to examine these phenomena during the vehicle design process; however, experimental techniques are required for the validation and elucidation of key issues. The objectives of this study were to evaluate the methodology for developing a scale model of a lunar vehicle using similitude relationships and to test how vehicle configuration, six or eight wheel pods, and local tire compliance, soft or stiff, affect the vehicles dynamic performance. A wheel pod consists of a drive and steering transmission and wheel. The Lunar Electric Rover (LER), a human driven vehicle with a pressurized cabin, was selected as an example for which a scale model was built. The scaled vehicle was driven over an obstacle and the dynamic response was observed and then scaled to represent the full-size vehicle in lunar gravity. Loss of ground contact, in terms of vehicle travel distance with tires off the ground, was examined. As expected, local tire compliance allowed ground contact to be maintained over a greater distance. However, switching from a six-tire configuration to an eight-tire configuration with reduced suspension stiffness had a negative effect on ground contact. It is hypothesized that this was due to the increased number or frequency of impacts. The development and testing of this scale model provided practical lessons for future low-gravity vehicle development.

  10. Yield estimation of winter wheat in early growth periods by vehicle-borne ground-based remote sensing system%基于车载近地遥感系统的冬小麦生育早期产量估测方法

    Institute of Scientific and Technical Information of China (English)

    李树强; 李民赞

    2014-01-01

    冬小麦生育早期的产量估测对于制定冬小麦整个生长期的精准管理策略具有重要的参考意义。该文利用车载近地遥感估产系统对冬小麦生育早期冠层叶片光谱信息进行动态获取,提出了一种基于冠层光谱信息的动态光化学植被指数MPRI(mobile photochemical reflectance index),构建了基于MPRI的冬小麦产量车载近地遥感估产模型,分析了估测效果,结合GIS手段对估产数据进行了空间分析。研究结果表明:冬小麦生育早期冠层指数MPRI对冬小麦的产量单点估测具有一定的效果,决定系数R2约为0.78。车载近地遥感估产系统动态测量时,MPRI表现出良好的数据识别能力。通过设置阈值能够剔除动态测量中的土壤背景干扰信息,说明MPRI对于冬小麦生育早期产量具有较好的估测效果。对动态估产结果进行空间分析,能够掌握小区域内小麦生育早期产量的空间分布情况,为冬小麦生育早期产量估测提供了新的思路和方法。%The index of crop growth monitoring has a close relationship with crop yield. It could forecast a large-scale food state that indicates a possibility of either a missing or surplus yield as early as possible, and it is therefore important for the macro control of food. Using near-ground remote sensing is significant to understanding the growth of crops and providing accurate and scientific data for precision agriculture. For the small area growers, the vehicle-borne system shows the good prospects and has gradually become the first choice method. This paper discusses a method that is one of the most important tools for yield prediction for winter wheat in the jointing stage. It is an efficient, flexible, and economical operation for a small region. Usually the vehicle-borne growth monitoring system cannot maintain steady operations due to the row spacing of winter wheat in the jointing stage. The background

  11. Vehicle usage verification system

    NARCIS (Netherlands)

    Scanlon, William G.; McQuiston, Jonathan; Cotton, Simon L.

    2012-01-01

    EN)A computer-implemented system for verifying vehicle usage comprising a server capable of communication with a plurality of clients across a communications network. Each client is provided in a respective vehicle and with a respective global positioning system (GPS) by which the client can determi

  12. Electric Vehicle Battery Challenge

    Science.gov (United States)

    Roman, Harry T.

    2014-01-01

    A serious drawback to electric vehicles [batteries only] is the idle time needed to recharge their batteries. In this challenge, students can develop ideas and concepts for battery change-out at automotive service stations. Such a capability would extend the range of electric vehicles.

  13. The Electric Vehicle Development

    DEFF Research Database (Denmark)

    Wang, Jingyu; Liu, Yingqi; Kokko, Ari

    2014-01-01

    In order to respond to the energy crisis and environment problem, countries carry out their research and promotion about electric vehicles. As the ten cities one thousand new energy buses started in 2009, the new energy vehicles have been greatly developed in China, while the development of elect...

  14. 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.

  15. Motor Vehicle Safety

    Science.gov (United States)

    ... to prevent these crashes is one part of motor vehicle safety. Here are some things you can do to be safer on the road: Make sure your vehicle is safe and in working order Use car seats for children Wear your seat belt Don' ...

  16. Electric Vehicle Battery Challenge

    Science.gov (United States)

    Roman, Harry T.

    2014-01-01

    A serious drawback to electric vehicles [batteries only] is the idle time needed to recharge their batteries. In this challenge, students can develop ideas and concepts for battery change-out at automotive service stations. Such a capability would extend the range of electric vehicles.

  17. 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.

  18. Geometric Filtering Effect of Vertical Vibrations in Railway Vehicles

    Directory of Open Access Journals (Sweden)

    Mădălina Dumitriu

    2012-09-01

    Full Text Available The paper herein examines the geometric filtering effect coming from the axle base of a railway vehicle upon the vertical vibrations behavior, due to the random irregularities of the track. For this purpose, the complete model of a two-level suspension and flexible carbody vehicle has been taken into account. Following the modal analysis, the movement equations have been treated in an original manner and brought to a structure that points out at the symmetrical and anti-symmetrical decoupled movements of vehicle and their excitation modes. There has been shown that the geometric filtering has a selective behavior in decreasing the level of vibrations, and its contribution is affected by the axle base magnitude, rolling speed and frequency range.

  19. Operator Informational Needs for Multiple Autonomous Small Vehicles

    Science.gov (United States)

    Trujillo, Anna C.; Fan, Henry; Cross, Charles D.; Hempley, Lucas E.; Cichella, Venanzio; Puig-Navarro, Javier; Mehdi, Syed Bilal

    2015-01-01

    With the anticipated explosion of small unmanned aerial vehicles, it is highly likely that operators will be controlling fleets of autonomous vehicles. To fulfill the promise of autonomy, vehicle operators will not be concerned with manual control of the vehicle; instead, they will deal with the overall mission. Furthermore, the one operator to many vehicles is becoming a constant meme with various industries including package delivery, search and rescue, and utility companies. In order for an operator to concurrently control several vehicles, his station must look and behave very differently than the current ground control station instantiations. Furthermore, the vehicle will have to be much more autonomous, especially during non-normal operations, in order to accommodate the knowledge deficit or the information overload of the operator in charge of several vehicles. The expected usage increase of small drones requires presenting the operational information generated by a fleet of heterogeneous autonomous agents to an operator. NASA Langley Research Center's Autonomy Incubator has brought together researchers in various disciplines including controls, trajectory planning, systems engineering, and human factors to develop an integrated system to study autonomy issues. The initial human factors effort is focusing on mission displays that would give an operator the overall status of all autonomous agents involved in the current mission. This paper will discuss the specifics of the mission displays for operators controlling several vehicles.

  20. Integrated analysis of hydrogen passenger vehicle transportation pathways

    Energy Technology Data Exchange (ETDEWEB)

    Thomas, C.E.; James, B.D.; Lomax, F.D. Jr.; Kuhn, I.F. Jr. [Directed Technologies, Inc., Arlington, VA (United States)

    1998-08-01

    Hydrogen-powered fuel cell vehicles will reduce local air pollution, greenhouse gas emissions and oil imports. Other alternative vehicles such as gasoline- or methanol-powered fuel cell vehicles, natural gas vehicles and various hybrid electric vehicles with internal combustion engines may also provide significant environmental and national security advantages. This report summarizes a two-year project to compare the direct hydrogen fuel cell vehicle with other alternatives in terms of estimated cost and estimated societal benefits, all relative to a conventional gasoline-powered internal combustion engine vehicle. The cost estimates used in this study involve ground-up, detailed analysis of the major components of a fuel cell vehicle system, assuming mass production in automotive quantities. The authors have also estimated the cost of both gasoline and methanol onboard fuel processors, as well as the cost of stationary hydrogen fueling system components including steam methane reformers, electrolyzers, compressors and stationary storage systems. Sixteen different vehicle types are compared with respect to mass production cost, local air pollution and greenhouse gas emissions.

  1. Legacy of the Environmental Movement

    Science.gov (United States)

    Albrecht, Stan L.

    1976-01-01

    An effort to select an important contemporary social movement (the environmental movement) and to assess some of the important impacts it has had on the larger society. This review of the environmental movement indicates it may be following a path similiar to the life-cycle of previous movements. (Author/BT)

  2. Automated Vehicles Symposium 2015

    CERN Document Server

    Beiker, Sven

    2016-01-01

    This edited book comprises papers about the impacts, benefits and challenges of connected and automated cars. It is the third volume of the LNMOB series dealing with Road Vehicle Automation. The book comprises contributions from researchers, industry practitioners and policy makers, covering perspectives from the U.S., Europe and Japan. It is based on the Automated Vehicles Symposium 2015 which was jointly organized by the Association of Unmanned Vehicle Systems International (AUVSI) and the Transportation Research Board (TRB) in Ann Arbor, Michigan, in July 2015. The topical spectrum includes, but is not limited to, public sector activities, human factors, ethical and business aspects, energy and technological perspectives, vehicle systems and transportation infrastructure. This book is an indispensable source of information for academic researchers, industrial engineers and policy makers interested in the topic of road vehicle automation.

  3. Automated Vehicles Symposium 2014

    CERN Document Server

    Beiker, Sven; Road Vehicle Automation 2

    2015-01-01

    This paper collection is the second volume of the LNMOB series on Road Vehicle Automation. The book contains a comprehensive review of current technical, socio-economic, and legal perspectives written by experts coming from public authorities, companies and universities in the U.S., Europe and Japan. It originates from the Automated Vehicle Symposium 2014, which was jointly organized by the Association for Unmanned Vehicle Systems International (AUVSI) and the Transportation Research Board (TRB) in Burlingame, CA, in July 2014. The contributions discuss the challenges arising from the integration of highly automated and self-driving vehicles into the transportation system, with a focus on human factors and different deployment scenarios. This book is an indispensable source of information for academic researchers, industrial engineers, and policy makers interested in the topic of road vehicle automation.

  4. Ground water and energy

    Energy Technology Data Exchange (ETDEWEB)

    1980-11-01

    This national workshop on ground water and energy was conceived by the US Department of Energy's Office of Environmental Assessments. Generally, OEA needed to know what data are available on ground water, what information is still needed, and how DOE can best utilize what has already been learned. The workshop focussed on three areas: (1) ground water supply; (2) conflicts and barriers to ground water use; and (3) alternatives or solutions to the various issues relating to ground water. (ACR)

  5. 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.

  6. Cooperative Path-Planning for Multi-Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Qichen Wang

    2014-11-01

    Full Text Available In this paper, we propose a collision avoidance algorithm for multi-vehicle systems, which is a common problem in many areas, including navigation and robotics. In dynamic environments, vehicles may become involved in potential collisions with each other, particularly when the vehicle density is high and the direction of travel is unrestricted. Cooperatively planning vehicle movement can effectively reduce and fairly distribute the detour inconvenience before subsequently returning vehicles to their intended paths. We present a novel method of cooperative path planning for multi-vehicle systems based on reinforcement learning to address this problem as a decision process. A dynamic system is described as a multi-dimensional space formed by vectors as states to represent all participating vehicles’ position and orientation, whilst considering the kinematic constraints of the vehicles. Actions are defined for the system to transit from one state to another. In order to select appropriate actions whilst satisfying the constraints of path smoothness, constant speed and complying with a minimum distance between vehicles, an approximate value function is iteratively developed to indicate the desirability of every state-action pair from the continuous state space and action space. The proposed scheme comprises two phases. The convergence of the value function takes place in the former learning phase, and it is then used as a path planning guideline in the subsequent action phase. This paper summarizes the concept and methodologies used to implement this online cooperative collision avoidance algorithm and presents results and analysis regarding how this cooperative scheme improves upon two baseline schemes where vehicles make movement decisions independently.

  7. Developing a Blended Type Course of Introduction to Hybrid Vehicles

    Directory of Open Access Journals (Sweden)

    Na Zhu

    2016-02-01

    Full Text Available An innovative course of introduction to hybrid vehicles is developed for both associate and bachelor degree programs for engineering technology with automotive/mechanical concentration. The hybrid vehicle course content includes several topics, such as the rational of pure electric vehicle and hybrid vehicle, hybrid vehicle propulsion systems, fundamentals of motor/generator systems, fundamentals of battery and energy management system, and introduction to various configurations of hybrid vehicle systems available in market and under development. Hybrid vehicle technology is a new area and developed rapidly in the field of automotive and mechanical engineering. Students need not only the fundamentals and concepts from college, but also the ability to keep up with the latest technology after their graduation. Therefore, a blended course type is employed to help students have a better understanding of the fundamentals of hybrid vehicle and developing their self-studying ability. Topics in the course have three steps of learning. Firstly, on-ground lecture is given in class, where the instructor explains basic knowledge, such as principles, equations, and design rules.  In this way, the students will have enough background knowledge and be able to conduct further self-reading and research work. Secondly, students are required to go to university’s desire to learn (D2L online system and finish the online part of the topic. In the D2L system, students will find a quiz and its supporting materials. Thirdly, students come back to the on-ground lecture and discuss the quiz in groups with instructor. After the discussion, the instructor gives students a conclusion of the topic and moves forward to the next topic. A computer simulation class is also given to help student better understand the operation strategies of the hybrid vehicle systems and have a trial of design of hybrid vehicle.

  8. Selected Foreign Counterparts of U.S. Army Ground Combat Systems and Implications for Combat Operations and Modernization

    Science.gov (United States)

    2017-01-18

    not have a new ground combat vehicle under development and “at current funding levels, the Bradley and Abrams will remain in the inventory for 50...time since World War I, that the Army does not have a new ground combat vehicle under development and “at current funding levels, the Bradley and...Jane’s Land Warfare Platforms Armoured Fighting Vehicles, 2016-2017; IHS Jane’s Armour and Artillery, 2011-2012; and unclassified information provided to

  9. The Mastery of Movement.

    Science.gov (United States)

    Laban, Rudolf; Ullmann, Lisa

    In this third edition, some amendments and additions have been made to the original text, first published in 1950. As in past editions, the relationship between the inner motivation of movement and the outer functioning of the body is explored. Acting and dancing are shown as activities deeply concerned with man's urge to establish values and…

  10. The Hopi Traditionalist Movement.

    Science.gov (United States)

    Clemmer, Richard O.

    1994-01-01

    Traces development of Hopi Traditionalism since 1906 as a social movement within the context of Hopi culture and sociopolitical history. Discusses the role of ideology in mediating political and economic conditions of history and collective cultural consciousness. Offers conclusions about the political role of indigenous culture and culturally…

  11. Material and Affective Movements

    DEFF Research Database (Denmark)

    Rasmussen, Lisa Rosén

    2014-01-01

    . The chapter traces the former pupil’s memories of physical and affective movements within the larger context of school and discovers surprisingly diverse modes of knowing, relating, and attending to things, teachers and classmates among and between the three generations. It thus taps into the rich realms...

  12. Mungiki as Youth Movement

    DEFF Research Database (Denmark)

    Rasmussen, Jacob

    2010-01-01

    Like many other African countries, Kenya has a large and growing youth population. Some of the youths are mobilized into militant and political networks; one of these is the Mungiki movement. The article explores Mungiki’s combination of politics, religion and Kikuyu traditions. Using the examples...

  13. Music, Movement, and Poetry.

    Science.gov (United States)

    Carmichael, Karla D.

    This paper's premise is that music, movement, and poetry are unique and creative methods to be used by the counselor in working with both children and adults. Through these media, the counselor generates material for the counseling session that may not be available through more traditional "talk therapies." The choice of music as a counseling…

  14. Autoimmune movement disorders.

    Science.gov (United States)

    Mckeon, Andrew; Vincent, Angela

    2016-01-01

    Autoimmune movement disorders encapsulate a large and diverse group of neurologic disorders occurring either in isolation or accompanying more diffuse autoimmune encephalitic illnesses. The full range of movement phenomena has been described and, as they often occur in adults, many of the presentations can mimic neurodegenerative disorders, such as Huntington disease. Disorders may be ataxic, hypokinetic (parkinsonism), or hyperkinetic (myoclonus, chorea, tics, and other dyskinetic disorders). The autoantibody targets are diverse and include neuronal surface proteins such as leucine-rich, glioma-inactivated 1 (LGI1) and glycine receptors, as well as antibodies (such as intracellular antigens) that are markers of a central nervous system process mediated by CD8+ cytotoxic T cells. However, there are two conditions, stiff-person syndrome (also known as stiff-man syndrome) and progressive encephalomyelitis with rigidity and myoclonus (PERM), that are always autoimmune movement disorders. In some instances (such as Purkinje cell cytoplasmic antibody-1 (PCA-1) autoimmunity), antibodies detected in serum and cerebrospinal fluid can be indicative of a paraneoplastic cause, and may direct the cancer search. In other instances (such as 65kDa isoform of glutamic acid decarboxylase (GAD65) autoimmunity), a paraneoplastic cause is very unlikely, and early treatment with immunotherapy may promote improvement or recovery. Here we describe the different types of movement disorder and the clinical features and antibodies associated with them, and discuss treatment.

  15. Measuring Facial Movement

    Science.gov (United States)

    Ekman, Paul; Friesen, Wallace V.

    1976-01-01

    The Facial Action Code (FAC) was derived from an analysis of the anatomical basis of facial movement. The development of the method is explained, contrasting it to other methods of measuring facial behavior. An example of how facial behavior is measured is provided, and ideas about research applications are discussed. (Author)

  16. Psychogenic Movement Disorders

    Directory of Open Access Journals (Sweden)

    Chakravarty Ambar

    2004-01-01

    Full Text Available Psychogenic movement Disorders (PMD may result from somatoform disorders, factitious disorders, malingering, depression anxiety disorders and less frequently, histrionic personality disorders. First recognized by Henry Head in early twentieth century, PMD s commonly encountered and clues to their differentiation from organic disease. A generally accepted management protocol has been outlined.

  17. The Matter of Movement

    DEFF Research Database (Denmark)

    Ayres, Phil

    2015-01-01

    This contribution concerns itself with the design and realisation of architectures that operate with material dynamics. It presents this concern as a counter to the consideration of movement in architecture as something conceptualised from the position of the observer. The contribution draws upon...

  18. West African Antislavery Movements

    DEFF Research Database (Denmark)

    Hahonou, Eric Komlavi; Pelckmans, Lotte

    2011-01-01

    -slavery movements had raised awareness, this political emergence was even easier. Indeed the fight against ‘slave mentalities’ was everywhere a major challenge and a crucial step to mobilize groups of slave status under a united force. As this article argues changes in political structures and changes in political...

  19. [Architecture and movement].

    Science.gov (United States)

    Rivallan, Armel

    2012-01-01

    Leading an architectural project means accompanying the movement which it induces within the teams. Between questioning, uncertainty and fear, the organisational changes inherent to the new facility must be subject to constructive and ongoing exchanges. Ethics, safety and training are revised and the unit projects are sometimes modified.

  20. The Demand for Healthy Eating: Supporting a Transformative Food "Movement"

    Science.gov (United States)

    Winson, Anthony

    2010-01-01

    To the extent that social science scholarship engages real-world developments it remains grounded and better able to resist elite agendas. With this in mind this article argues for the critical encounter with what I argue is the most significant struggle around food and agriculture today--the amorphous and broad-based movement that strives to…

  1. The Demand for Healthy Eating: Supporting a Transformative Food "Movement"

    Science.gov (United States)

    Winson, Anthony

    2010-01-01

    To the extent that social science scholarship engages real-world developments it remains grounded and better able to resist elite agendas. With this in mind this article argues for the critical encounter with what I argue is the most significant struggle around food and agriculture today--the amorphous and broad-based movement that strives to…

  2. Design, Modeling and Implementation of Pic Based Wireless Control System to Eliminate Blind Spots in Vehicle Side Mirrors

    Directory of Open Access Journals (Sweden)

    Mahmoud Z. Iskandarani

    2008-01-01

    Full Text Available A PIC controlled IR system for the control of vehicle side mirror system movements for the purpose of revealing blind spots is designed and implemented. The designed and built system allows the side view mirrors to be adjusted based on the driver head movement. The infrared-based head tracking system maps a predetermined coordinates for head movements and results in a triangularly computable geometry, which is fed to the PIC, based controlling system. This will cause the vehicle mirror movement via carefully selected miniature motors.

  3. High-Fidelity Prediction of Launch Vehicle Lift-off Acoustic Environment Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Launch vehicles experience extreme acoustic loads during liftoff driven by the interaction of rocket plumes and plume-generated acoustic waves with ground...

  4. Assessment of Charging Infrastructure for Plug-in Electric Vehicles at Naval Air Station Whidbey Island: Task 3

    Energy Technology Data Exchange (ETDEWEB)

    Schey, Steve [Idaho National Lab. (INL), Idaho Falls, ID (United States); Francfort, Jim [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-07-01

    Several U.S. Department of Defense base studies have been conducted to identify potential U.S. Department of Defense transportation systems that are strong candidates for introduction or expansion of plug-in electric vehicles (PEVs). Task 1 consisted of a survey of the non-tactical fleet of vehicles at NASWI to begin the review of vehicle mission assignments and types of vehicles in service. Task 2 selected vehicles for further monitoring and involved identifying daily operational characteristics of these select vehicles. Data logging of vehicle movements was initiated in order to characterize the vehicle’s mission. The Task 3 Vehicle Utilization report provided the results of the data analysis and observations related to the replacement of current vehicles with PEVs. This report provides an assessment of charging infrastructure required to support the suggested PEV replacements.

  5. Cumulative Vehicle Routing Problems

    OpenAIRE

    Kara, &#;mdat; Kara, Bahar Yeti&#;; Yeti&#;, M. Kadri

    2008-01-01

    This paper proposes a new objective function and corresponding formulations for the vehicle routing problem. The new cost function defined as the product of the distance of the arc and the flow on that arc. We call a vehicle routing problem with this new objective function as the Cumulative Vehicle Routing Problem (CumVRP). Integer programming formulations with O(n2) binary variables and O(n2) constraints are developed for both collection and delivery cases. We show that the CumVRP is a gener...

  6. Blast resistant vehicle seat

    Energy Technology Data Exchange (ETDEWEB)

    Ripley, Edward B

    2013-02-12

    Disclosed are various seats for vehicles particularly military vehicles that are susceptible to attack by road-bed explosive devices such as land mines or improvised explosive devices. The seats often have rigid seat shells and may include rigid bracing for rigidly securing the seat to the chassis of the vehicle. Typically embodiments include channels and particulate media such as sand disposed in the channels. A gas distribution system is generally employed to pump a gas through the channels and in some embodiments the gas is provided at a pressure sufficient to fluidize the particulate media when an occupant is sitting on the seat.

  7. Utilization Assessment of Target Electrification Vehicles at Naval Air Station Whidbey Island: Task 3

    Energy Technology Data Exchange (ETDEWEB)

    Schey, Steve [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-05-01

    Several U.S. Department of Defense based studies have been conducted to identify potential U.S. Department of Defense transportation systems that are strong candidates for introduction or expansion of plug-in electric vehicles (PEVs). Task 2 involved identifying daily operational characteristics of select vehicles and initiating data logging of vehicle movements in order to characterize the vehicle’s mission. Individual observations of these selected vehicles provide the basis for recommendations related to PEV adoption and whether a battery electric vehicle or plug-in hybrid electric vehicle (collectively referred to as PEVs) can fulfill the mission requirements and provide observations related to placement of PEV charging infrastructure. This report provides the results of the data analysis and observations related to replacement of current vehicles with PEVs. This fulfills part of the Task 3 requirements. Task 3 also includes an assessment of the charging infrastructure required to support this replacement, which is the subject of a separate report.

  8. Modeling and Simulation on the Underwater Trajectory of Non-Powered Vehicle Discharged from the Broadside

    Institute of Scientific and Technical Information of China (English)

    Huijuan Ye; Hao Zhou; Xinye Wang

    2016-01-01

    In order to study the underwater trajectory of the non⁃powered vehicle discharged from the broadside of the underwater platform, the simulation on the ascent process of non⁃powered vehicle was realized based on the mathematical model including the movement of the vehicle on the slope plate and in the seawater, the air chamber underwater working process etc. The simulation results show that the outlet speed and attitude of the vehicle meet the requirements of missile launching, the non⁃powered vehicle discharged from the broadside of the underwater platform is feasible. The simulation results with varying parameters show that the negative buoyancy of the vehicle imposes great impacts on the security of its discharge and the floating process, and the vehicle discharge depth is proportional to the floating time. The models and simulation result can be used in further research on the broadside discharging technology of the underwater platform.

  9. 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

  10. Vehicle Crashworthiness Simulation Based on Virtual Design of Autobody

    Institute of Scientific and Technical Information of China (English)

    张晓云; 金先龙; 孙奕; 林忠钦; 周长英; 艾维全; 王仕达

    2004-01-01

    Vehicle crashworthiness simulation is the main component of the virtual auto-body design. One developing commercial vehicle was simulated on crashworthiness by the non-linear finite element method. The bumper crashworthiness at the speed of 8 km/h was analyzed and valuated. On the other hand, the deformation of the auto-body, the movement of the steering wheel and the dynamic responses of the occupant at the initial velocity of 50 km/h were studied. The results appear that the design of the vehicle could be improved on structure and material. Finally, the frontal longitudinal beam, the main energy-absorbing part of the auto-body, was optimized on structure. Simulation results also show that applying new material, such as high strength steel, and new manufacture techniques, such as tailor-welded blanks could improve the crashworthiness of the vehicle greatly.

  11. Block ground interaction of rockfalls

    Science.gov (United States)

    Volkwein, Axel; Gerber, Werner; Kummer, Peter

    2016-04-01

    During a rockfall the interaction of the falling block with the ground is one of the most important factors that define the evolution of a rockfall trajectory. It steers the rebound, the rotational movement, possibly brake effects, friction losses and damping effects. Therefore, if most reliable rockfall /trajectory simulation software is sought a good understanding of the block ground interaction is necessary. Today's rockfall codes enable the simulation of a fully 3D modelled block within a full 3D surface . However, the details during the contact, i.e. the contact duration, the penetration depth or the dimension of the marks in the ground are usually not part of the simulation. Recent field tests with rocks between 20 and 80 kg have been conducted on a grassy slope in 2014 [1]. A special rockfall sensor [2] within the blocks measured the rotational velocity and the acting accelerations during the tests. External video records and a so-called LocalPositioningSystem deliver information on the travel velocity. With these data not only the flight phases of the trajectories but also the contacts with the ground can be analysed. During the single jumps of a block the flight time, jump length, the velocity, and the rotation are known. During the single impacts their duration and the acting accelerations are visible. Further, the changes of rotational and translational velocity influence the next jump of the block. The change of the rotational velocity over the whole trajectory nicely visualizes the different phases of a rockfall regarding general acceleration and deceleration in respect to the inclination and the topography of the field. References: [1] Volkwein A, Krummenacher B, Gerber W, Lardon J, Gees F, Brügger L, Ott T (2015) Repeated controlled rockfall trajectory testing. [Abstract] Geophys. Res. Abstr. 17: EGU2015-9779. [2] Volkwein A, Klette J (2014) Semi-Automatic Determination of Rockfall Trajectories. Sensors 14: 18187-18210.

  12. Circular Path and Linear Momentum (CPLM Method for Seismic Response Analysis of Vehicles

    Directory of Open Access Journals (Sweden)

    Rishi Ram Parajuli

    2016-07-01

    Full Text Available We propose a circular path and linear momentum method for the seismic response analysis of vehicles. This method considers the momentum induced by earthquake excitation and applies the concept of centripetal force acting laterally on the vehicle in addition to longitudinal forces. This method is valid for vehicles at rest as well as those moving at a range of speeds. The vertical responses are calculated using a quarter vehicle model. We also calculate the translational motion of the vehicle using a model with six degrees of freedom. Three vehicle types (car, bus, and truck were used in the analysis. We compared the result with analysis of the response of a shaking vehicle from video footage recorded during the Gorkha earthquake. We used the input ground motion from 10 large earthquakes of moment magnitudes 6.7 to 9.0. All three components of the ground motion were used in the analysis. Vehicles at rest and moving at various speeds were analysed. The lateral and longitudinal responses of the vehicles were calculated for different vehicle speeds ranging from 0 to 30.0 m/s, PGA excitations and orientations of the vehicle.

  13. Vehicle Dynamics and Control

    CERN Document Server

    Rajamani, Rajesh

    2012-01-01

    Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicle. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability co...

  14. Hybrid vehicle control

    Energy Technology Data Exchange (ETDEWEB)

    Shallvari, Iva; Velnati, Sashidhar; DeGroot, Kenneth P.

    2015-07-28

    A method and apparatus for heating a catalytic converter's catalyst to an efficient operating temperature in a hybrid electric vehicle when the vehicle is in a charge limited mode such as e.g., the charge depleting mode or when the vehicle's high voltage battery is otherwise charge limited. The method and apparatus determine whether a high voltage battery of the vehicle is incapable of accepting a first amount of charge associated with a first procedure to warm-up the catalyst. If it is determined that the high voltage battery is incapable of accepting the first amount of charge, a second procedure with an acceptable amount of charge is performed to warm-up the catalyst.

  15. Hybrid vehicle control

    Science.gov (United States)

    Shallvari, Iva; Velnati, Sashidhar; DeGroot, Kenneth P.

    2015-07-28

    A method and apparatus for heating a catalytic converter's catalyst to an efficient operating temperature in a hybrid electric vehicle when the vehicle is in a charge limited mode such as e.g., the charge depleting mode or when the vehicle's high voltage battery is otherwise charge limited. The method and apparatus determine whether a high voltage battery of the vehicle is incapable of accepting a first amount of charge associated with a first procedure to warm-up the catalyst. If it is determined that the high voltage battery is incapable of accepting the first amount of charge, a second procedure with an acceptable amount of charge is performed to warm-up the catalyst.

  16. Aerodynamics of Small Vehicles

    Science.gov (United States)

    Mueller, Thomas J.

    In this review we describe the aerodynamic problems that must be addressed in order to design a successful small aerial vehicle. The effects of Reynolds number and aspect ratio (AR) on the design and performance of fixed-wing vehicles are described. The boundary-layer behavior on airfoils is especially important in the design of vehicles in this flight regime. The results of a number of experimental boundary-layer studies, including the influence of laminar separation bubbles, are discussed. Several examples of small unmanned aerial vehicles (UAVs) in this regime are described. Also, a brief survey of analytical models for oscillating and flapping-wing propulsion is presented. These range from the earliest examples where quasi-steady, attached flow is assumed, to those that account for the unsteady shed vortex wake as well as flow separation and aeroelastic behavior of a flapping wing. Experiments that complemented the analysis and led to the design of a successful ornithopter are also described.

  17. Hydraulic Hybrid Vehicles

    Science.gov (United States)

    EPA and the United Parcel Service (UPS) have developed a hydraulic hybrid delivery vehicle to explore and demonstrate the environmental benefits of the hydraulic hybrid for urban pick-up and delivery fleets.

  18. TRACKED VEHICLE Rev 75

    Energy Technology Data Exchange (ETDEWEB)

    2007-05-08

    Revision 75 of the Tracked Vehicle software is a soft real-time simulation of a differentially steered, tracked mobile robot, which, because of the track flippers, resembles the iRobot PackBot (http://www.irobot.com/). Open source libraries are used for the physics engine (http://www.ode.org/), the display and user interface (http://www.mathies.com/cpw/), and the program command line and configuration file parameters (http://www.boost.org/). The simulation can be controlled by a USB joystick or the keyboard. The configuration file contains demonstration model parameters of no particular vehicle. This simulation can be used as a starting point for those doing tracked vehicle simulations. This simulation software is essentially a research tool which can be modified and adapted for certain types of tracked vehicle research. An open source license allows an individual researchers to tailor the code to their specific research needs.

  19. 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.

  20. Abandoned vehicles REMINDER

    CERN Document Server

    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