WorldWideScience

Sample records for ground vehicle movement

  1. Ground Vehicle Convoying

    Science.gov (United States)

    Gage, Douglas W.; Pletta, J. Bryan

    1987-01-01

    Initial investigations into two different approaches for applying autonomous ground vehicle technology to the vehicle convoying application are described. A minimal capability system that would maintain desired speed and vehicle spacing while a human driver provided steering control could improve convoy performance and provide positive control at night and in inclement weather, but would not reduce driver manpower requirements. Such a system could be implemented in a modular and relatively low cost manner. A more capable system would eliminate the human driver in following vehicles and reduce manpower requirements for the transportation of supplies. This technology could also be used to aid in the deployment of teleoperated vehicles in a battlefield environment. The needs, requirements, and several proposed solutions for such an Attachable Robotic Convoy Capability (ARCC) system will be discussed. Included are discussions of sensors, communications, computers, control systems and safety issues. This advanced robotic convoy system will provide a much greater capability, but will be more difficult and expensive to implement.

  2. Imaging of Moving Ground Vehicles

    National Research Council Canada - National Science Library

    Rihaczek, A

    1996-01-01

    ... requires that use be made of the complex image. The yaw/pitch/roll/bounce/flex motion of a moving ground vehicle demands that different motion compensations be applied to different parts of the vehicle...

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

    International Nuclear Information System (INIS)

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

    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

  4. Navigation of the autonomous vehicle reverse movement

    Science.gov (United States)

    Rachkov, M.; Petukhov, S.

    2018-02-01

    The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

  5. Unmanned Ground Vehicle

    Science.gov (United States)

    2001-11-01

    Systems ( JAUGS ). JAUGS is a JRP technology initiative under the cognizance of the Aviation and Missile Command Research, Development and Engineering Center...AMRDEC). The JAUGS focus is on developing a high-level command and control architecture for UGVs. As defined in the JRP Glossary, “ JAUGS is an upper...vehicle platforms and missions. JAUGS uses the Society of Automotive Engineers Generic Open Architecture framework to classify UGV interfaces and

  6. Visiting Vehicle Ground Trajectory Tool

    Science.gov (United States)

    Hamm, Dustin

    2013-01-01

    The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

  7. Low ground clearance vehicle detection and warning.

    Science.gov (United States)

    2015-06-01

    A Low Ground Clearance Vehicle Detection : System (LGCVDS) determines if a commercial : motor vehicle can successfully clear a highwayrail : grade crossing and notifies the driver when : his or her vehicle cannot safely traverse the : crossing. That ...

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

    Science.gov (United States)

    2015-09-01

    subassemblies that would be common on ground vehicles. Powertrain Systems: Gas Powered, Diesel , Turbo Diesel , Gas Turbine, Hybrid: Gas- Electric...PROPULSE (Hybrid Diesel - Electric System with Export Power), Command Zone (integrated vehicle control and diagnostic system), and TerraMax (Unmanned... Diesel -Electric, Series, Parallel. Power Distribution: RWD, FWD, AWD, open diff, LSD, Torsen diff, differential braking (traction control), drive by

  9. Formation keeping of unmanned ground vehicles

    Directory of Open Access Journals (Sweden)

    Muangmin Kamonwan

    2017-01-01

    Full Text Available Controlling motions of an unmanned ground vehicle becomes more popular in real world practices. Its application is useful for household chores, military services, medical purposes, and industrial revolutions, etc. An analysis of motions by using the Fundamental Equations of Constrained Motion (FECM is one effective tool to determine the motions. Its conceptualization is done in three-step procedure as follows: (I Determining an unconstrained motion (II Assigning constraint equations and (III Computing a constrained motion. The equations of motion obtained are expressed as liner functions of acceleration. Then other kinematical information of the unmanned ground vehicles can be obtained by integration its acceleration. In this work, the FECM is used as a tool to analyze motions of a group of unmanned ground vehicles in various forms. The simulation results show that control forces obtained from the approach can regulate motions of unmanned ground vehicles to maneuver in desired formations.

  10. Long term ground movement of TRISTAN synchrotron

    International Nuclear Information System (INIS)

    Endo, K.; Ohsawa, Y.; Miyahara, M.

    1989-01-01

    The long term ground movement is estimated through the geological survey before a big accelerator is planned. For the case of TRISTAN-MR (main ring), its site was surveyed to reflect the underground information to the building prior to the construction. The movement of the synchrotron magnet mainly results from the structure of the tunnel. If an individual movement of the magnet exceeds a certain threshold limit, it gives a significant effect on the particle behavior in a synchrotron. Height of the quadrupole magnets were observed periodically during past two years at the TRISTAN-MR and their height differences along the 3 km circumference of the accelerator ring were decomposed into the Fourier components depicting the causes of the movements. Results shows the movement of the tunnel foundation which was also observed by the simultaneous measurement of both magnets and fiducial marks on the tunnel wall. The long term movement of the magnets is summarized with the geological survey prior to construction. 1 ref., 6 figs., 1 tab

  11. Ground movements associated with gas hydrate production

    International Nuclear Information System (INIS)

    Siriwardane, H.J.; Kutuk, B.

    1992-03-01

    This report deals with a study directed towards a modeling effort on production related ground movements and subsidence resulting from hydrate dissociation. The goal of this research study was to evaluate whether there could be subsidence related problems that could be an impediment to hydrate production. During the production of gas from a hydrate reservoir, it is expected that porous reservoir matrix becomes more compressible which may cause reservoir compression (compaction) under the influence of overburden weight. The overburden deformations can propagate its influence upwards causing subsidence near the surface where production equipment will be located. In the present study, the reservoir compaction is modeled by using the conventional ''stress equilibrium'' approach. In this approach, the overburden strata move under the influence of body force (i.e. self weight) in response to the ''cavity'' generated by reservoir depletion. The present study is expected to provide a ''lower bound'' solution to the subsidence caused by hydrate reservoir depletion. The reservoir compaction anticipated during hydrate production was modeled by using the finite element method, which is a powerful computer modeling technique. The ground movements at the reservoir roof (i.e. reservoir compression) cause additional stresses and disturbance in the overburden strata. In this study, the reservoir compaction was modeled by using the conventional ''stress equilibrium'' approach. In this approach, the overburden strata move under the influence of body force (i.e. self weight) in response to the ''cavity'' generated by reservoir depletion. The resulting stresses and ground movements were computed by using the finite element method. Based on the parameters used in this investigation, the maximum ground subsidence could vary anywhere from 0.50 to 6.50 inches depending on the overburden depth and the size of the depleted hydrate reservoir

  12. Preliminary development of a wing in ground effect vehicle

    Science.gov (United States)

    Abidin, Razali; Ahamat, Mohamad Asmidzam; Ahmad, Tarmizi; Saad, Mohd Rasdan; Hafizi, Ezzat

    2018-02-01

    Wing in ground vehicle is one of the mode of transportation that allows high speed movement over water by travelling few meters above the water level. Through this manouver strategy, a cushion of compressed air exists between the wing in ground vehicle wings and water. This significantly increase the lift force, thus reducing the necessity in having a long wing span. Our project deals with the development of wing in ground vehicle with the capability of transporting four people. The total weight of this wing in ground vehicle was estimated at 5.4 kN to enable the prediction on required wing area, minimum takeoff velocity, drag force and engine power requirement. The required takeoff velocity is decreases as the lift coefficient increases, and our current mathematical model shows the takeoff velocity at 50 m/s avoid the significant increase in lift coefficient for the wing area of 5 m2. At the velocity of 50 m/s, the drag force created by this wing in ground vehicle is well below 1 kN, which required a 100-120 kW of engine power if the propeller has the efficiency of 0.7. Assessment on the stresses and deflection of the hull structural indicate the capability of plywood to withstand the expected load. However, excessive deflection was expected in the rear section which requires a minor structural modification. In the near future, we expect that the wind tunnel tests of this wing in ground vehicle model would enable more definite prediction on the important parameters related to its performance.

  13. 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

  14. Ground Water movement in crystalline rock aquifers

    International Nuclear Information System (INIS)

    Serejo, A.N.C.; Freire, C.; Siqueira, H.B. de; Frischkorn, H.; Torquato, J.R.F.; Santiago, M.M.F.; Barbosa, P.C.

    1984-01-01

    Ground water movement studies were performed in crystalline rock aquifers from the upper Acarau River hydrographic basin, state of Ceara, Brazil. The studies included carbon-14, 18 O/ 16 O and tritium measurements as well as chemical analysis. A total of 35 wells were surveyed during drought seasons. Carbon-14 values displayed little variation which implied that the water use was adequate despite of the slower recharge conditions. Fairly constant isotopic 18 O/ 16 O ratio values in the wells and their similarity with rainwater values indicated that the recharge is done exclusively by pluvial waters. A decreasing tendency within the tritium concentration values were interpreted as a periodic rainwater renewal for these aquifers. The chemical analysis demonstrated that there is in fact no correlation between salinity and the time the water remains in the aquifer itself. (D.J.M.) [pt

  15. X-43A Vehicle During Ground Testing

    Science.gov (United States)

    1999-01-01

    The X-43A Hypersonic Experimental Vehicle, or 'Hyper-X' is seen here undergoing ground testing at NASA's Dryden Flight Research Center, Edwards, California in December 1999. The X-43A was developed to research a dual-mode ramjet/scramjet propulsion system at speeds from Mach 7 up to Mach 10 (7 to 10 times the speed of sound, which varies with temperature and altitude). Hyper-X, the flight vehicle for which is designated as X-43A, is an experimental flight-research program seeking to demonstrate airframe-integrated, 'air-breathing' engine technologies that promise to increase payload capacity for future vehicles, including hypersonic aircraft (faster than Mach 5) and reusable space launchers. This multiyear program is currently underway at NASA Dryden Flight Research Center, Edwards, California. The Hyper-X schedule calls for its first flight later this year (2000). Hyper-X is a joint program, with Dryden sharing responsibility with NASA's Langley Research Center, Hampton, Virginia. Dryden's primary role is to fly three unpiloted X-43A research vehicles to validate engine technologies and hypersonic design tools as well as the hypersonic test facility at Langley. Langley manages the program and leads the technology development effort. The Hyper-X Program seeks to significantly expand the speed boundaries of air-breathing propulsion by being the first aircraft to demonstrate an airframe-integrated, scramjet-powered free flight. Scramjets (supersonic-combustion ramjets) are ramjet engines in which the airflow through the whole engine remains supersonic. Scramjet technology is challenging because only limited testing can be performed in ground facilities. Long duration, full-scale testing requires flight research. Scramjet engines are air-breathing, capturing their oxygen from the atmosphere. Current spacecraft, such as the Space Shuttle, are rocket powered, so they must carry both fuel and oxygen for propulsion. Scramjet technology-based vehicles need to carry only

  16. 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...

  17. Estimating Hedonic Price Indices for Ground Vehicles

    Science.gov (United States)

    2015-06-01

    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...gathering and maintaining the data needed , and completing and reviewing the collection of information. Send comments regarding this burden estimate or any...currently valid OMB control number. 1. REPORT DATE JUN 2015 2. REPORT TYPE 3. DATES COVERED 4. TITLE AND SUBTITLE Estimating Hedonic Price

  18. Ground Vehicle System Integration (GVSI) and Design Optimization Model

    National Research Council Canada - National Science Library

    Horton, William

    1996-01-01

    This report documents the Ground Vehicle System Integration (GVSI) and Design Optimization Model GVSI is a top-level analysis tool designed to support engineering tradeoff studies and vehicle design optimization efforts...

  19. The 15th Annual Intelligent Ground Vehicle Competition: Intelligent Ground Robots Created by Intelligent Students

    National Research Council Canada - National Science Library

    Theisen, Bernard L

    2007-01-01

    The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s...

  20. Advanced protection technology for ground combat vehicles.

    Science.gov (United States)

    Bosse, Timothy G

    2012-01-01

    Just as highway drivers use radar detectors to attempt to stay ahead of police armed with the latest radar technology, the Armed Forces are locked in a spiral to protect combat vehicles and their crews against the latest threats in both the contemporary operating environment and the anticipated operating environment (ie, beyond 2020). In response to bigger, heavier, or better-protected vehicles, adversaries build and deploy larger explosive devices or bombs. However, making improvements to combat vehicles is much more expensive than deploying larger explosives. In addition, demand is increasing for lighter-weight vehicles capable of rapid deployment. Together, these two facts give the threat a clear advantage in the future. To protect vehicles and crews, technologies focusing on detection and hit avoidance, denial of penetration, and crew survivability must be combined synergistically to provide the best chance of survival on the modern battlefield.

  1. 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.

  2. Piecewise affine control for fast unmanned ground vehicles

    OpenAIRE

    Benine Neto , André; Grand , Christophe

    2012-01-01

    International audience; Unmanned ground vehicles (UGV) may experience skidding when moving at high speeds, and therefore have its safety jeopardized. For this reason the nonlinear dynamics of lateral tire forces must be taken into account into the design of steering controllers for autonomous vehicles. This paper presents the design of a state feedback piecewise affine controller applied to an UGV to coordinate the steering and torque distribution inputs in order to reduce vehicle skidding on...

  3. Vehicle Test Facilities at Aberdeen Proving Ground

    Science.gov (United States)

    1981-07-06

    warehouse and rough terrain forklifts. Two 5-ton-capacity manual chain hoists at the rear of the table regulate its slope from 0 to 40 percent. The overall...Capacity at 24-Inch Load Center. 5. TOP/ HTP 2-2-608, Braking, Wheeled Vehicles, 15 Jav.&ry 1971. 6. TOP 2-2-603, Vehicle Fuel Consumption, 1 November 1977. A-1 r -. ’,’

  4. 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... CARRIAGE BY PUBLIC HIGHWAY General Information and Regulations § 177.823 Movement of motor vehicles in... government; (2) The carrier has permission from the Department; or (3) Movement of the transport vehicle is...

  5. The prediction of ground movements caused by mining

    International Nuclear Information System (INIS)

    Karmis, M.; Haycocks, C.; Holland, C.T.

    1992-01-01

    This paper reviews the fundamental concepts involved in the development, application and validation of ground movement prediction methods developed by Virginia Polytechnic Institute and State University (VPI and SU) over the past 12 years. Prediction techniques have included empirical or semi-empirical methods, such as the profile function, influence function and zone area methods, as well as numerical methods, based on a finite element formulation which utilizes field subsidence data. The former techniques have been integrated in the Surface Deformation Prediction System (SDPS) software package for personal computers, which allows for the calculation of any component of ground movement in any direction. Comparisons between measured and predicted subsidence and strain values are presented for a selection of case studies, which demonstrate the applicability, accuracy and regional validity of these methods for predicting surface deformations due to underground mining

  6. Design of an urban driverless ground vehicle

    OpenAIRE

    Benenson , Rodrigo; Parent , Michel ,

    2008-01-01

    International audience; This paper presents the design and implementation of a driverless car for populated urban environments. We propose a system that explicitly map the static obstacles, detects and track the moving obstacle, consider the unobserved areas, provide a motion plan with safety guarantees and executes it. All of it was implemented and integrated into a single computer maneuvering on real time an electric vehicle into an unvisited area with moving obstacles. The overview of the ...

  7. The 15th Annual Intelligent Ground Vehicle Competition: Intelligent Ground Robots Created by Intelligent Students

    National Research Council Canada - National Science Library

    Theisen, Bernard L

    2007-01-01

    ..., 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...

  8. Truth, not truce: "common ground" on abortion, a movement within both movements.

    Science.gov (United States)

    Kelly, J R

    1995-01-01

    This sociological study examines the "common ground" movement that arose among abortion activists in the US during the 1980s. The first application of the term "common ground" to joint efforts by abortion activists on both sides of the issue is traced, and its meaning to early organizers is described. Discussion continues on the complicated and elusive efforts on the part of grassroots organizations and conflict resolution groups to practice the common ground approach to abortion. The five characteristics of the seminal common ground group in St. Louis were that it resulted from a combined pro-life and pro-choice initiative, it involved activists who publicly distinguished common ground from moral compromise or political accommodation, the activists remained loyal to their abortion activities, the activists agreed to cooperate in efforts aimed at reducing the pressures on women to abort, and common ground involved identifying the overlaps in emerging social thinking. The conceptual difficulties involved with use of the term are included in the reasons given for its virtual disappearance from abortion reporting in the press, which was busy relaying incidents of violence at abortion clinics. The election of President Clinton also stole the momentum from the common ground movement. While the future of movements based on the concept of "common ground" as envisioned by the St. Louis group remains precarious, depending for success as it does on actually changing society, this use of the term bears witness that conflicting loyalties do not preclude the promotion of common good. This meaning of the term is worth pursuing in cultural controversies such as that posed by abortion.

  9. TARDEC Overview: Ground Vehicle Power and Mobility

    Science.gov (United States)

    2011-02-04

    Fuel & Water Distribution • Force Sustainment • Construction Equipment • Bridging • Assured Mobility Systems Robotics • TALON • PackBot • MARCbot...Equipment • Mechanical Countermine Equipment • Tactical Bridging Intelligent Ground Systems • Autonomous Robotics Systems • Safe Operations...Test Cell • Hybrid Electric Reconfigurable Moveable Integration Testbed (HERMIT) • Electro-chemical Analysis and Research Lab (EARL) • Battery Lab • Air

  10. 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

  11. 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

  12. Modeling ground vehicle acoustic signatures for analysis and synthesis

    International Nuclear Information System (INIS)

    Haschke, G.; Stanfield, R.

    1995-01-01

    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

  13. Wavelet-based ground vehicle recognition using acoustic signals

    Science.gov (United States)

    Choe, Howard C.; Karlsen, Robert E.; Gerhart, Grant R.; Meitzler, Thomas J.

    1996-03-01

    We present, in this paper, a wavelet-based acoustic signal analysis to remotely recognize military vehicles using their sound intercepted by acoustic sensors. Since expedited signal recognition is imperative in many military and industrial situations, we developed an algorithm that provides an automated, fast signal recognition once implemented in a real-time hardware system. This algorithm consists of wavelet preprocessing, feature extraction and compact signal representation, and a simple but effective statistical pattern matching. The current status of the algorithm does not require any training. The training is replaced by human selection of reference signals (e.g., squeak or engine exhaust sound) distinctive to each individual vehicle based on human perception. This allows a fast archiving of any new vehicle type in the database once the signal is collected. The wavelet preprocessing provides time-frequency multiresolution analysis using discrete wavelet transform (DWT). Within each resolution level, feature vectors are generated from statistical parameters and energy content of the wavelet coefficients. After applying our algorithm on the intercepted acoustic signals, the resultant feature vectors are compared with the reference vehicle feature vectors in the database using statistical pattern matching to determine the type of vehicle from where the signal originated. Certainly, statistical pattern matching can be replaced by an artificial neural network (ANN); however, the ANN would require training data sets and time to train the net. Unfortunately, this is not always possible for many real world situations, especially collecting data sets from unfriendly ground vehicles to train the ANN. Our methodology using wavelet preprocessing and statistical pattern matching provides robust acoustic signal recognition. We also present an example of vehicle recognition using acoustic signals collected from two different military ground vehicles. In this paper, we will

  14. 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.

  15. Aeroelastic Ground Wind Loads Analysis Tool for Launch Vehicles

    Science.gov (United States)

    Ivanco, Thomas G.

    2016-01-01

    Launch vehicles are exposed to ground winds during rollout and on the launch pad that can induce static and dynamic loads. Of particular concern are the dynamic loads caused by vortex shedding from nearly-cylindrical structures. When the frequency of vortex shedding nears that of a lowly-damped structural mode, the dynamic loads can be more than an order of magnitude greater than mean drag loads. Accurately predicting vehicle response to vortex shedding during the design and analysis cycles is difficult and typically exceeds the practical capabilities of modern computational fluid dynamics codes. Therefore, mitigating the ground wind loads risk typically requires wind-tunnel tests of dynamically-scaled models that are time consuming and expensive to conduct. In recent years, NASA has developed a ground wind loads analysis tool for launch vehicles to fill this analytical capability gap in order to provide predictions for prelaunch static and dynamic loads. This paper includes a background of the ground wind loads problem and the current state-of-the-art. It then discusses the history and significance of the analysis tool and the methodology used to develop it. Finally, results of the analysis tool are compared to wind-tunnel and full-scale data of various geometries and Reynolds numbers.

  16. 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

  17. Learning Mobility: Adaptive Control Algorithms for the Novel Unmanned Ground Vehicle (NUGV)

    National Research Council Canada - National Science Library

    Blackburn, Mike

    2003-01-01

    Mobility is a serious limiting factor in the usefulness of unmanned ground vehicles, This paper contains a description of our approach to develop control algorithms for the Novel Unmanned Ground Vehicle (NUGV...

  18. Ground control station software design for micro aerial vehicles

    Science.gov (United States)

    Walendziuk, Wojciech; Oldziej, Daniel; Binczyk, Dawid Przemyslaw; Slowik, Maciej

    2017-08-01

    This article describes the process of designing the equipment part and the software of a ground control station used for configuring and operating micro unmanned aerial vehicles (UAV). All the works were conducted on a quadrocopter model being a commonly accessible commercial construction. This article contains a characteristics of the research object, the basics of operating the micro aerial vehicles (MAV) and presents components of the ground control station model. It also describes the communication standards for the purpose of building a model of the station. Further part of the work concerns the software of the product - the GIMSO application (Generally Interactive Station for Mobile Objects), which enables the user to manage the actions and communication and control processes from the UAV. The process of creating the software and the field tests of a station model are also presented in the article.

  19. Numerical Investigation of Aerodynamic Braking for a Ground Vehicle

    Science.gov (United States)

    Devanuri, Jaya Krishna

    2018-06-01

    The purpose of this article is to observe the effect of an air brake on the aerodynamics of a ground vehicle and also to study the influence of change in the parameters like the velocity of the vehicle, the angle of inclination, height, and position of the air brake on the aerodynamics of the vehicle body. The test subject used is an Ahmed body which is a generic 3D car body as it retains all the aerodynamic characteristics of a ground vehicle. Numerical investigation has been carried out by RNG k-ɛ turbulence model. Results are presented in terms of streamlines and drag coefficient to understand the influence of pertinent parameters on flow physics. It is found that with the use of an air brake, though the drag coefficient remains more or less constant with velocity, it increases with the increase in height and angle of inclination of the air brake. But the effect of position of air brake on the coefficient of drag is surprising since for certain heights of the air brake the drag coefficient is maximum at the foremost point and as the air brake moves towards the rear it is first observed to decrease and then increase. It is also observed that with the increase in height of the air brake the drag coefficient monotonically decreases as the position of the air brake is moved towards the rear. Taguchi method has been employed with L16 orthogonal array to obtain the optimal configuration for the air brake. For each of the selected parameters, four different levels have been chosen to obtain the maximum drag coefficient value. The study could provide an invaluable database for the optimal design of an airbrake for a ground vehicle.

  20. 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 ... Embedded Control Systems ], Control Engineering, 91–116, Birkhuser Boston (2005). [12] Alur, R., Courcoubetis, C., Halbwachs, N., Henzinger, T., Ho, P.-H...Modeling and Simulation of an Unmanned Ground Vehicle Power System John Brodericka∗, Jack Hartnerb, Dawn Tilburya, and Ella Atkinsa aThe University

  1. Integrated Vehicle Ground Vibration Testing of Manned Spacecraft: Historical Precedent

    Science.gov (United States)

    Lemke, Paul R.; Tuma, Margaret L.; Askins, Bruce R.

    2008-01-01

    For the first time in nearly 30 years, NASA is developing a new manned space flight launch system. The Ares I will carry crew and cargo to not only the International Space Station, but onward for the future exploration of the Moon and Mars. The Ares I control system and structural designs use complex computer models for their development. An Integrated Vehicle Ground Vibration Test (IVGVT) will validate the efficacy of these computer models. The IVGVT will reduce the technical risk of unexpected conditions that could place the vehicle or crew in jeopardy. The Ares Project Office's Flight and Integrated Test Office commissioned a study to determine how historical programs, such as Saturn and Space Shuttle, validated the structural dynamics of an integrated flight vehicle. The study methodology was to examine the historical record and seek out members of the engineering community who recall the development of historic manned launch vehicles. These records and interviews provided insight into the best practices and lessons learned from these historic development programs. The information that was gathered allowed the creation of timelines of the historic development programs. The timelines trace the programs from the development of test articles through test preparation, test operations, and test data reduction efforts. These timelines also demonstrate how the historical tests fit within their overall vehicle development programs. Finally, the study was able to quantify approximate staffing levels during historic development programs. Using this study, the Flight and Integrated Test Office was able to evaluate the Ares I Integrated Vehicle Ground Vibration Test schedule and workforce budgets in light of the historical precedents to determine if the test had schedule or cost risks associated with it.

  2. Exploring the mechanisms of vehicle front-end shape on pedestrian head injuries caused by ground impact.

    Science.gov (United States)

    Yin, Sha; Li, Jiani; Xu, Jun

    2017-09-01

    In pedestrian-vehicle accidents, pedestrians typically suffer from secondary impact with the ground after the primary contact with vehicles. However, information about the fundamental mechanism of pedestrian head injury from ground impact remains minimal, thereby hindering further improvement in pedestrian safety. This study addresses this issue by using multi-body modeling and computation to investigate the influence of vehicle front-end shape on pedestrian safety. Accordingly, a simulation matrix is constructed to vary bonnet leading-edge height, bonnet length, bonnet angle, and windshield angle. Subsequently, a set of 315 pedestrian-vehicle crash simulations are conducted using the multi-body simulation software MADYMO. Three vehicle velocities, i.e., 20, 30, and 40km/h, are set as the scenarios. Results show that the top governing factor is bonnet leading-edge height. The posture and head injury at the instant of head ground impact vary dramatically with increasing height because of the significant rise of the body bending point and the movement of the collision point. The bonnet angle is the second dominant factor that affects head-ground injury, followed by bonnet length and windshield angle. The results may elucidate one of the critical barriers to understanding head injury caused by ground impact and provide a solid theoretical guideline for considering pedestrian safety in vehicle design. Copyright © 2017 Elsevier Ltd. All rights reserved.

  3. A Fully-Distributed Heuristic Algorithm for Control of Autonomous Vehicle Movements at Isolated Intersections

    OpenAIRE

    Abdallah A. Hassan; Hesham A. Rakha

    2014-01-01

    Optimizing autonomous vehicle movements through roadway intersections is a challenging problem. It has been demonstrated in the literature that traditional traffic control, such as traffic signal and stop sign control are not optimal especially for heavy traffic demand levels. Alternatively, centralized autonomous vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is ques...

  4. 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.

  5. 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.

  6. INERTIAL TECHNOLOGIES IN SYSTEMS FOR STABILIZATION OF GROUND VEHICLES EQUIPMENT

    Directory of Open Access Journals (Sweden)

    Olha Sushchenko

    2016-12-01

    Full Text Available Purpose: The vibratory inertial technology is a recent modern inertial technology. It represents the most perspective approach to design of inertial sensors, which can be used in stabilization and tracking systems operated on vehicles of the wide class. The purpose of the research is to consider advantages of this technology in comparison with laser and fiber-optic ones. Operation of the inertial sensors on the ground vehicles requires some improvement of the Coriolis vibratory gyroscope with the goal to simplify information processing, increase reliability, and compensate bias. Methods: Improvement of the Coriolis vibratory gyroscope includes introducing of the phase detector and additional excitation unit. The possibility to use the improved Coriolis vibratory gyroscope in the stabilization systems operated on the ground vehicles is shown by means of analysis of gyroscope output signal. To prove efficiency of the Coriolis vibratory gyroscope in stabilization system the simulation technique is used. Results: The scheme of the improved Coriolis vibratory gyroscope including the phase detector and additional excitation unit is developed and analyzed. The way to compensate bias is determined. Simulation of the stabilization system with the improved Coriolis vibratory gyroscope is carried out. Expressions for the output signals of the improved Coriolis vibratory gyroscope are derived. The error of the output signal is estimated and the possibility to use the modified Coriolis vibratory gyroscope in stabilization systems is proved. The results of stabilization system simulation are given. Their analysis is carried out. Conclusions: The represented results prove efficiency of the proposed technical decisions. They can be useful for design of stabilization platform with instrumental equipment operated on moving vehicles of the wide class.

  7. Fuzzy mathematics method for theoretical analysis of ground movements due to underground excavation

    Energy Technology Data Exchange (ETDEWEB)

    Li Wenxiu (Changsa Research Institute of Mining and Metallurgy, Changsa (China))

    1991-07-01

    The analysis of the rock mass movements due to excavation operations is one of the many important problems of rock mass mechanics. It is difficult to calculate the ground movements due to underground excavation accurately because of the complexity of the problem. In this paper, the application is described of the fuzzy probability measures to the analysis of ground movements. Based on the definition of the fuzzy probability measure, the theories for both the two-dimensional and three-dimensional problems are developed and are applied to the analysis of ground movements due to underground excavation. 31 refs., 5 figs.

  8. Research on application of LADAR in ground vehicle recognition

    Science.gov (United States)

    Lan, Jinhui; Shen, Zhuoxun

    2009-11-01

    For the requirement of many practical applications in the field of military, the research of 3D target recognition is active. The representation that captures the salient attributes of a 3D target independent of the viewing angle will be especially useful to the automatic 3D target recognition system. This paper presents a new approach of image generation based on Laser Detection and Ranging (LADAR) data. Range image of target is obtained by transformation of point cloud. In order to extract features of different ground vehicle targets and to recognize targets, zernike moment properties of typical ground vehicle targets are researched in this paper. A technique of support vector machine is applied to the classification and recognition of target. The new method of image generation and feature representation has been applied to the outdoor experiments. Through outdoor experiments, it can be proven that the method of image generation is stability, the moments are effective to be used as features for recognition, and the LADAR can be applied to the field of 3D target recognition.

  9. 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.

  10. 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.

  11. Grounded theory methodology - has it become a movement?

    OpenAIRE

    Berterö, Carina

    2012-01-01

    There is an ongoing debate regarding the nature of grounded theory, and an examination of many studies claiming to follow grounded theory indicates a wide range of approaches. In 1967 Glaser and Strauss’s ‘‘The Discovery of Grounded Theory; Strategies for Qualitative Research’’ was published and represented a breakthrough in qualitative research; it offered methodological consensus and systematic strategies for qualitative research practice. The defining characteristics of grounded theory inc...

  12. 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.

  13. 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 (RMI

  14. 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

  15. The mechanism and characteristics of ground movement and strata failure caused by mining

    Energy Technology Data Exchange (ETDEWEB)

    Tianquan, L. (Central Coal Mining Research Institute, Beijing (China))

    1988-01-01

    Analyzes strata movement and ground subsidence caused by underground coal mining. Five types of strata failure during and after underground coal mining are comparatively evaluated: caving zone, fractured zone, bending zone, arched caving, bending with continuous ground movement, sinkhole formation. Effects of coal seam thickness, dip angle, coal panel dimensions, rock stratification and mechanical properties on dimensions and distribution of failure zones in rock strata are investigated. Strata movement during level and steep seam mining is comparatively evaluated. Causes of continuous ground surface deformation and discontinuous deformation are analyzed. Rock strata properties and water influx, which influence sinkhole hazards, are discussed.

  16. Developing Markets for Zero-Emission Vehicles in Goods Movement

    Science.gov (United States)

    2018-03-01

    This report evaluates the market status and potential freight market penetration of zero emission vehicles (ZEVs) and near ZEVs in the medium and heavy duty class within the California market. It evaluates alternative technologies, primarily battery ...

  17. A Fully-Distributed Heuristic Algorithm for Control of Autonomous Vehicle Movements at Isolated Intersections

    Directory of Open Access Journals (Sweden)

    Abdallah A. Hassan

    2014-12-01

    Full Text Available Optimizing autonomous vehicle movements through roadway intersections is a challenging problem. It has been demonstrated in the literature that traditional traffic control, such as traffic signal and stop sign control are not optimal especially for heavy traffic demand levels. Alternatively, centralized autonomous vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is questionable. Consequently, in this paper a fully distributed algorithm is proposed where vehicles in the vicinity of an intersection continuously cooperate with each other to develop a schedule that allows them to safely proceed through the intersection while incurring minimum delay. Unlike other distributed approaches described in the literature, the wireless communication constraints are considered in the design of the control algorithm. Specifically, the proposed algorithm requires vehicles heading to an intersection to communicate only with neighboring vehicles, while the lead vehicles on each approach lane share information to develop a complete intersection utilization schedule. The scheduling rotates between vehicles to identify higher traffic volumes and favor vehicles coming from heavier lanes to minimize the overall intersection delay. The simulated experiments show significant reductions in the average delay using the proposed approach compared to other methods reported in the literature and reduction in the maximum delay experienced by a vehicle especially in cases of heavy traffic demand levels.

  18. Ground movement and deformation due to dewatering and open pit excavation

    International Nuclear Information System (INIS)

    Liu, B.; Yang, J.; Zhang, J.

    1996-01-01

    In the application of stochastic medium theory, it is assumed that ground movement process has the property of Markov Process. Based on superposition principle and rock consolidation principle, the ground movement and deformation due to dewatering and open pit excavation can be calculated. The comparison between the field measurements in Morwell Open Pit, Latrobe Valley (Victoria, Australia) and the calculated results shows the validity of the method in this paper. 5 refs

  19. The Effect of Predicted Vehicle Displacement on Ground Crew Task Performance and Hardware Design

    Science.gov (United States)

    Atencio, Laura Ashley; Reynolds, David W.

    2011-01-01

    NASA continues to explore new launch vehicle concepts that will carry astronauts to low- Earth orbit to replace the soon-to-be retired Space Transportation System (STS) shuttle. A tall vertically stacked launch vehicle (> or =300 ft) is exposed to the natural environment while positioned on the launch pad. Varying directional winds and vortex shedding cause the vehicle to sway in an oscillating motion. Ground crews working high on the tower and inside the vehicle during launch preparations will be subjected to this motion while conducting critical closeout tasks such as mating fluid and electrical connectors and carrying heavy objects. NASA has not experienced performing these tasks in such environments since the Saturn V, which was serviced from a movable (but rigid) service structure; commercial launchers are likewise attended by a service structure that moves away from the vehicle for launch. There is concern that vehicle displacement may hinder ground crew operations, impact the ground system designs, and ultimately affect launch availability. The vehicle sway assessment objective is to replicate predicted frequencies and displacements of these tall vehicles, examine typical ground crew tasks, and provide insight into potential vehicle design considerations and ground crew performance guidelines. This paper outlines the methodology, configurations, and motion testing performed while conducting the vehicle displacement assessment that will be used as a Technical Memorandum for future vertically stacked vehicle designs.

  20. A Robust Real Time Direction-of-Arrival Estimation Method for Sequential Movement Events of Vehicles.

    Science.gov (United States)

    Liu, Huawei; Li, Baoqing; Yuan, Xiaobing; Zhou, Qianwei; Huang, Jingchang

    2018-03-27

    Parameters estimation of sequential movement events of vehicles is facing the challenges of noise interferences and the demands of portable implementation. In this paper, we propose a robust direction-of-arrival (DOA) estimation method for the sequential movement events of vehicles based on a small Micro-Electro-Mechanical System (MEMS) microphone array system. Inspired by the incoherent signal-subspace method (ISM), the method that is proposed in this work employs multiple sub-bands, which are selected from the wideband signals with high magnitude-squared coherence to track moving vehicles in the presence of wind noise. The field test results demonstrate that the proposed method has a better performance in emulating the DOA of a moving vehicle even in the case of severe wind interference than the narrowband multiple signal classification (MUSIC) method, the sub-band DOA estimation method, and the classical two-sided correlation transformation (TCT) method.

  1. 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.

  2. 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.

  3. Semi-autonomous unmanned ground vehicle control system

    Science.gov (United States)

    Anderson, Jonathan; Lee, Dah-Jye; Schoenberger, Robert; Wei, Zhaoyi; Archibald, James

    2006-05-01

    Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Currently, most UGVs are fielded using tele-operation with a human in the control loop. Using tele-operations, a user controls the UGV from the relative safety and comfort of a control station and sends commands to the UGV remotely. It is difficult for the user to issue higher level commands such as patrol this corridor or move to this position while avoiding obstacles. As computer vision algorithms are implemented in hardware, the UGV can easily become partially autonomous. As Field Programmable Gate Arrays (FPGAs) become larger and more powerful, vision algorithms can run at frame rate. With the rapid development of CMOS imagers for consumer electronics, frame rate can reach as high as 200 frames per second with a small size of the region of interest. This increase in the speed of vision algorithm processing allows the UGVs to become more autonomous, as they are able to recognize and avoid obstacles in their path, track targets, or move to a recognized area. The user is able to focus on giving broad supervisory commands and goals to the UGVs, allowing the user to control multiple UGVs at once while still maintaining the convenience of working from a central base station. In this paper, we will describe a novel control system for the control of semi-autonomous UGVs. This control system combines a user interface similar to a simple tele-operation station along with a control package, including the FPGA and multiple cameras. The control package interfaces with the UGV and provides the necessary control to guide the UGV.

  4. Ground Vehicle Power and Mobility Overview - Germany Visit

    Science.gov (United States)

    2011-11-10

    the current and future force Survivability Robotics – Intelligent Systems Vehicle Electronics & Architecture Fuel, Water, Bridging ...Test Cell • Engine Generator Test Lab • Full Vehicle Environmental Test Cell • Hybrid Electric Reconfigurable Moveable Integration Testbed (HERMIT...Converter Conducted competitive runoff evaluations on Bridging Boat engine candidates Completed independent durability assessment of OEM

  5. Personnel and Vehicle Data Collection at Aberdeen Proving Ground (APG) and its Distribution for Research

    Science.gov (United States)

    2015-10-01

    28 Magnetometer Applied Physics Model 1540-digital 3-axis fluxgate 5 Amplifiers Alligator Technologies USBPGF-S1 programmable instrumentation...Acoustic, Seismic, magnetic, footstep, vehicle, magnetometer , geophone, unattended ground sensor (UGS) 16. SECURITY CLASSIFICATION OF: 17. LIMITATION

  6. Deployment of Shaped Charges by a Semi-Autonomous Ground Vehicle

    National Research Council Canada - National Science Library

    Herkamp, John F

    2007-01-01

    .... BigFoot incorporates improved communication range over previous Autonomous Ground Vehicles and an updated user interface that includes controls for the arm and camera by interfacing multiple microprocessor...

  7. Magnetic Sensor for Detection of Ground Vehicles Based on Microwave Spin Wave Generation in Ferrite Films

    National Research Council Canada - National Science Library

    Slavin, A; Tiberkevich, V; Bankowski, E

    2006-01-01

    We propose to use the magnetic signatures, formed either by the residual magnetization or by deformation of the local Earth's magnetic field by large metal masses, for distant detection of ground vehicles...

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

    Science.gov (United States)

    2016-09-01

    GROUND COMBAT VEHICLE SURVIVABILITY IN URBAN OPERATIONS 5. FUNDING NUMBERS N/A 6. AUTHOR(S) Luhai Wong 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS...distance of 100m in the model , which is reasonable due to the constrained nature of an urban environment. This thesis also uses the key parameters...ENGINEERING APPROACH TO GROUND COMBAT VEHICLE SURVIVABILITY IN URBAN OPERATIONS by Luhai Wong September 2016 Thesis Advisor: Christopher A

  9. 41 CFR 101-39.307 - Grounds for withdrawal of vehicle.

    Science.gov (United States)

    2010-07-01

    ... VEHICLES 39-INTERAGENCY FLEET MANAGEMENT SYSTEMS 39.3-Use and Care of GSA Interagency Fleet Management... 41 Public Contracts and Property Management 2 2010-07-01 2010-07-01 true Grounds for withdrawal of vehicle. 101-39.307 Section 101-39.307 Public Contracts and Property Management Federal Property...

  10. The development of ground unmanned vehicles, driver assistance systems and components according to patent publications

    Science.gov (United States)

    Saykin, A. M.; Tuktakiev, G. S.; Zhuravlev, A. V.; Zaitseva, E. P.

    2018-02-01

    The paper contains the analysis of the main trends in the patenting of ground unmanned vehicles, driver assistance systems (ADAS) and unmanned vehicle components abroad during the period from 2010 to 2016. The conclusion was made that the intensity of their patenting abroad increased.

  11. Assessing the ground vibrations produced by a heavy vehicle traversing a traffic obstacle.

    Science.gov (United States)

    Ducarne, Loïc; Ainalis, Daniel; Kouroussis, Georges

    2018-01-15

    Despite advancements in alternative transport networks, road transport remains the dominant mode in many modern and developing countries. The ground-borne motions produced by the passage of a heavy vehicle over a geometric obstacle (e.g. speed hump, train tracks) pose a fundamental problem in transport annoyance in urban areas. In order to predict the ground vibrations generated by the passage of a heavy vehicle over a geometric obstacle, a two-step numerical model is developed. The first step involves simulating the dynamic loads generated by the heavy vehicle using a multibody approach, which includes the tyre-obstacle-ground interaction. The second step involves the simulation of the ground wave propagation using a three dimensional finite element model. The simulation is able to be decoupled due to the large difference in stiffness between the vehicle's tyres and the road. First, the two-step model is validated using an experimental case study available in the literature. A sensitivity analysis is then presented, examining the influence of various factors on the generated ground vibrations. Factors investigated include obstacle shape, obstacle dimensions, vehicle speed, and tyre stiffness. The developed model can be used as a tool in the early planning stages to predict the ground vibrations generated by the passage of a heavy vehicle over an obstacle in urban areas. Copyright © 2017 Elsevier B.V. All rights reserved.

  12. 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.

  13. High-Energy Laser Weapon Integration with Ground Vehicles

    National Research Council Canada - National Science Library

    Hafften, Michael; Stratton, Robert

    2004-01-01

    .... The architecture of an electric, solid-state HEL weapon system would likely be based upon a hybrid electric vehicle that provides a common electrical power source for the propulsion and weapon subsystems...

  14. Project Guardian: Optimizing Electronic Warfare Systems for Ground Combat Vehicles

    National Research Council Canada - National Science Library

    Parks, Jack G; Jackson, William; Revello, James; Soltesz, James

    1995-01-01

    .... The study, Project Guardian, represents a new process for determining the optimum set of sensors and countermeasures for a specific vehicle class under the constraints of threat projection, combat...

  15. Vehicle model for tyre-ground contact force evaluation

    OpenAIRE

    Jiao, Lejia

    2013-01-01

    Economic development and growing integration process of world trade increases the demand for road transport. In 2008, the freight transportation by road in Sweden reached 42 million tonne-kilometers. Sweden has a tradition of long and heavy trucks combinations. Lots of larger vehicles, with a maximum length of 25.25 meters and weight of 60 tonnes, are used in national traffic. Heavier road transport and widely use of large vehicles contribute to the damages of pavement. According to a recent ...

  16. Control of autonomous ground vehicles: a brief technical review

    Science.gov (United States)

    Babak, Shahian-Jahromi; Hussain, Syed A.; Karakas, Burak; Cetin, Sabri

    2017-07-01

    This paper presents a brief review of the developments achieved in autonomous vehicle systems technology. A concise history of autonomous driver assistance systems is presented, followed by a review of current state of the art sensor technology used in autonomous vehicles. Standard sensor fusion method that has been recently explored is discussed. Finally, advances in embedded software methodologies that define the logic between sensory information and actuation decisions are reviewed.

  17. Aircraft and ground vehicle friction measurements obtained under winter runway conditions

    Science.gov (United States)

    Yager, Thomas J.

    1989-01-01

    Tests with specially instrumented NASA B-737 and B-727 aircraft together with several different ground friction measuring devices have been conducted for a variety of runway surface types and wetness conditions. This effort is part of the Joint FAA/NASA Aircraft/Ground Vehicle Runway Friction Program aimed at obtaining a better understanding of aircraft ground handling performance under adverse weather conditions, and defining relationships between aircraft and ground vehicle tire friction measurements. Aircraft braking performance on dry, wet, snow-, and ice-covered runway conditions is discussed together with ground vehicle friction data obtained under similar runway conditions. For the wet, compacted snow- and ice-covered runway conditions, the relationship between ground vehicles and aircraft friction data is identified. The influence of major test parameters on friction measurements such as speed, test tire characteristics, and surface contaminant-type are discussed. The test results indicate that use of properly maintained and calibrated ground vehicles for monitoring runway friction conditions should be encouraged particularly under adverse weather conditions.

  18. 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

  19. Applicability of interferometric SAR technology to ground movement and pipeline monitoring

    Science.gov (United States)

    Grivas, Dimitri A.; Bhagvati, Chakravarthy; Schultz, B. C.; Trigg, Alan; Rizkalla, Moness

    1998-03-01

    This paper summarizes the findings of a cooperative effort between NOVA Gas Transmission Ltd. (NGTL), the Italian Natural Gas Transmission Company (SNAM), and Arista International, Inc., to determine whether current remote sensing technologies can be utilized to monitor small-scale ground movements over vast geographical areas. This topic is of interest due to the potential for small ground movements to cause strain accumulation in buried pipeline facilities. Ground movements are difficult to monitor continuously, but their cumulative effect over time can have a significant impact on the safety of buried pipelines. Interferometric synthetic aperture radar (InSAR or SARI) is identified as the most promising technique of those considered. InSAR analysis involves combining multiple images from consecutive passes of a radar imaging platform. The resulting composite image can detect changes as small as 2.5 to 5.0 centimeters (based on current analysis methods and radar satellite data of 5 centimeter wavelength). Research currently in progress shows potential for measuring ground movements as small as a few millimeters. Data needed for InSAR analysis is currently commercially available from four satellites, and additional satellites are planned for launch in the near future. A major conclusion of the present study is that InSAR technology is potentially useful for pipeline integrity monitoring. A pilot project is planned to test operational issues.

  20. Method of Controlling Steering of a Ground Vehicle

    Science.gov (United States)

    Dawson, Andrew D. (Inventor); Bluethmann, William J. (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Guo, Raymond (Inventor); Atluri, Venkata Prasad (Inventor)

    2016-01-01

    A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.

  1. 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.

  2. 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.

  3. 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

    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.

  4. 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.

  5. Asynchronous vehicle pose correction using visual detection of ground features

    International Nuclear Information System (INIS)

    Harnarinesingh, Randy E S; Syan, Chanan S

    2014-01-01

    The inherent noise associated with odometry manifests itself as errors in localization for autonomous vehicles. Visual odometry has been previously used in order to supplement classical vehicle odometry. However, visual odometry is limited in its ability to reduce errors in localization for large travel distances that entail the cumulative summing of individual frame-to-frame image errors. In this paper, a novel machine vision approach for tiled surfaces is proposed to address this problem. Tile edges in a laboratory environment are used to define a travel trajectory for the Quansar Qbot (autonomous vehicle) built on the iRobot iRoomba platform with a forward facing camera. Tile intersections are used to enable asynchronous error recovery for vehicle position and orientation. The proposed approach employs real-time image classification and is feasible for error mitigation for large travel distances. The average position error for an 8m travel distance using classical odometry was measured to be 0.28m. However, implementation of the proposed approach resulted in an error of 0.028m. The proposed approach therefore significantly reduces pose estimation error and could be used to supplement existing modalities such as GPS and Laser-based range sensors

  6. Magneto-rheological suspensions for improving ground vehicle's ride comfort, stability, and handling

    Science.gov (United States)

    Ahmadian, Mehdi

    2017-10-01

    A state-of-the-art discussion on the applications of magneto-rheological (MR) suspensions for improving ride comfort, handling, and stability in ground vehicles is discussed for both road and rail applications. A historical perspective on the discovery and engineering development of MR fluids is presented, followed by some of the common methods for modelling their non-Newtonian behaviour. The common modes of the MR fluids are discussed, along with the application of the fluid in valve mode for ground vehicles' dampers (or shock absorbers). The applications span across nearly all road vehicles, including automobiles, trains, semi-trucks, motorcycles, and even bicycles. For each type of vehicle, the results of some of the past studies is presented briefly, with reference to the originating study. It is discussed that Past experimental and modelling studies have indicated that MR suspensions provide clear advantages for ground vehicles that far surpasses the performance of passive suspension. For rail vehicles, the primary advantage is in terms of increasing the speed at which the onset of hunting occurs, whereas for road vehicles - mainly automobiles - the performance improvements are in terms of a better balance between vehicle ride, handling, and stability. To further elaborate on this point, a single-suspension model is used to develop an index-based approach for studying the compromise that is offered by vehicle suspensions, using the H2 optimisation approach. Evaluating three indices based on the sprung-mass acceleration, suspension rattlespace, and tyre deflection, it is clearly demonstrated that MR suspensions significantly improve road vehicle's ride comfort, stability, and handling in comparison with passive suspensions. For rail vehicles, the simulation results indicate that using MR suspensions with an on-off switching control can increase the speed at which the on-set of hunting occurs by as much as 50% to more than 300%.

  7. Ground Vehicle System Integration (GVSI) and Design Optimization Model.

    Science.gov (United States)

    1996-07-30

    number of stowed kills Same basic load lasts longer range Gun/ammo parameters impact system weight, under - armor volume requirements Round volume...internal volume is reduced, the model assumes that the crew’s ability to operate while under armor will be impaired. If the size of a vehicle crew is...changing swept volume will alter under armor volume requirements for the total system; if system volume is fixed, changing swept volume will

  8. Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

    Directory of Open Access Journals (Sweden)

    Viatcheslav Tretyakov

    2008-11-01

    Full Text Available This paper introduces our robotic system named UGAV (Unmanned Ground-Air Vehicle consisting of two semi-autonomous robot platforms, an Unmanned Ground Vehicle (UGV and an Unmanned Aerial Vehicles (UAV. The paper focuses on three topics of the inspection with the combined UGV and UAV: (A teleoperated control by means of cell or smart phones with a new concept of automatic configuration of the smart phone based on a RKI-XML description of the vehicles control capabilities, (B the camera and vision system with the focus to real time feature extraction e.g. for the tracking of the UAV and (C the architecture and hardware of the UAV

  9. Goal-oriented path planning for ground and aerial vehicles

    OpenAIRE

    Signifredi, Andrea

    2017-01-01

    Nowadays autonomous robots are used in everyday life more than ever. The idea that motivate the develop of new autonomous application is to lessen the fatigue of repetitive works and to make safer the work that are difficult if done by humans alone. Another goal of autonomous robots is to improve precision and repetitiveness in the actuation of actions. Car makers are now showing to consider autonomous driving a ground braking functionality and one of the most important additions to their ass...

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

    Science.gov (United States)

    2016-03-05

    Vehicles in Urban Environments The views, opinions and/or findings contained in this report are those of the author(s) and should not contrued as an...Pine Tree Road Ithaca, NY 14850 -2820 ABSTRACT Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments...Probabilistic Anticipation for Autonomous Robots in Urban Environments, IEEE Transactions on Robotics, (04 2014): 0. doi: 10.1109/TRO.2013.2291620 Isaac

  11. 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.

  12. 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.

  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. Impact of Friction Reduction Technologies on Fuel Economy for Ground Vehicles

    Science.gov (United States)

    2009-08-13

    UNCLAS: Dist A. Approved for public release IMPACT OF FRICTION REDUCTION TECHNOLOGIES ON FUEL ECONOMY FOR GROUND VEHICLES G. R. Fenske , R. A. Erck...PROGRAM ELEMENT NUMBER 6. AUTHOR(S) G.R. Fenske ; R.A. Erck; O.O. Ajayi; A. Masoner’ A.S. Confort 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT

  15. Effects of insecticide exposure on movement and population size estimates of predatory ground beetles (Coleoptera: Carabidae).

    Science.gov (United States)

    Prasifka, Jarrad R; Lopez, Miriam D; Hellmich, Richard L; Prasifka, Patricia L

    2008-01-01

    Estimates of arthropod population size may paradoxically increase following insecticide applications. Research with ground beetles (Coleoptera: Carabidae) suggests that such unusual results reflect increased arthropod movement and capture in traps rather than real changes in population size. However, it is unclear whether direct (hyperactivity) or indirect (prey-mediated) mechanisms produce increased movement. Video tracking of Scarites quadriceps Chaudior indicated that brief exposure to lambda-cyhalothrin or tefluthrin increased total distance moved, maximum velocity and percentage of time moving. Repeated measurements on individual beetles indicated that movement decreased 240 min after initial lambda-cyhalothrin exposure, but increased again following a second exposure, suggesting hyperactivity could lead to increased trap captures in the field. Two field experiments in which ground beetles were collected after lambda-cyhalothrin or permethrin application attempted to detect increases in population size estimates as a result of hyperactivity. Field trials used mark-release-recapture methods in small plots and natural carabid populations in larger plots, but found no significant short-term (<6 day) increases in beetle trap captures. The disagreement between laboratory and field results suggests mechanisms other than hyperactivity may better explain unusual changes in population size estimates. When traps are used as a primary sampling tool, unexpected population-level effects should be interpreted carefully or with additional data less influenced by arthropod activity.

  16. PB-Piedmont: A numerical model for predicting the movement of biological material near the ground at night.

    Science.gov (United States)

    Gary L. Achtemeier

    2000-01-01

    PB-Piedmont is a numerical model designed to simulate near-ground smoke movement at night under clear skies and near calm winds over irregular terrain characterized by ridge/valley elevation differences of the order of 50 m. Although the model was developed for monitoring smoke at night, the model is equally suitable for monitoring movement of agricultural odors and...

  17. Effect of faulting on ground-water movement in the Death Valley region, Nevada and California

    International Nuclear Information System (INIS)

    Faunt, C.C.

    1997-01-01

    This study characterizes the hydrogeologic system of the Death Valley region, an area covering approximately 100,000 square kilometers. The study also characterizes the effects of faults on ground-water movement in the Death Valley region by synthesizing crustal stress, fracture mechanics,a nd structural geologic data. The geologic conditions are typical of the Basin and Range Province; a variety of sedimentary and igneous intrusive and extrusive rocks have been subjected to both compressional and extensional deformation. Faulting and associated fracturing is pervasive and greatly affects ground-water flow patterns. Faults may become preferred conduits or barriers to flow depending on whether they are in relative tension, compression, or shear and other factors such as the degree of dislocations of geologic units caused by faulting, the rock types involved, the fault zone materials, and the depth below the surface. The current crustal stress field was combined with fault orientations to predict potential effects of faults on the regional ground-water flow regime. Numerous examples of fault-controlled ground-water flow exist within the study area. Hydrologic data provided an independent method for checking some of the assumptions concerning preferential flow paths. 97 refs., 20 figs., 5 tabs

  18. Modelling ground movements at Campi Flegrei caldera (Italy): the role of the shallow geothermal system

    Science.gov (United States)

    Troiano, Antonio; Giulia di Giuseppe, Maria; Petrillo, Zaccaria; Troise, Claudia; de Natale, Giuseppe

    2010-05-01

    Campi Flegrei caldera is characterized by large ground movements, well known since Roman times. Superimposed to a general secular subsidence occurring at a rate of 1.5-2.0 cm/year, an episode of sharp uplift is in progress since 1969, with peak rates up to 1 m/year (in 1982-1984), similar to another episode which culminated with the 1538 eruption. Peak uplift episodes are often followed by some amount of subsidence, which prevent a simple interpretation in terms of purely magmatic inflation phenomena. Such up and down episodes of ground deformations are rather common at large calderas, like in Yellowstone (USA), Long Valley (USA), etc. Here we propose an interpretation based on a mixed mechanical-fluid-dynamical model, in which part of the uplift is generated by increase of water pressure in the shallow geothermal system, as a response to rapid inflow of magmatic fluids exsolved from a deeper magma chamber. We use the program THOUGH2 to model the changes of temperature and pressure in the geothermal system due to the magmatic fluids inflow. Changes in pressure in the caldera volume are then used to compute ground deformations. This way, a theoretical time evolution of ground deformation has been obtained, which compares well with the observed one, if appropriate values of permeability are used. We discuss the implication of such a model for eruption forecast purposes, and the extent at which the required values of permeability can be really representative of the real medium.

  19. Characterizing movement of ground-dwelling arthropods with a novel mark-capture method using fluorescent powder

    Science.gov (United States)

    Kayla I. Perry; Kimberly F. Wallin; John W. Wenzel; Daniel A. Herms

    2017-01-01

    A major knowledge gap exists in understanding dispersal potential of ground-dwelling arthropods, especially in forest ecosystems. Movement of the ground-dwelling arthropod community was quantified using a novel markcapture technique in which three different colored fluorescent powders in two separate mixtures were applied to the floor of a deciduous forest in...

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

    International Nuclear Information System (INIS)

    Sabihi, Ahmad

    2014-01-01

    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

  1. 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.

  2. 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...

  3. 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.

  4. A model predictive speed tracking control approach for autonomous ground vehicles

    Science.gov (United States)

    Zhu, Min; Chen, Huiyan; Xiong, Guangming

    2017-03-01

    This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

  5. 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.

  6. 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.

  7. The Politics of Bicycle Innovation: Comparing the American and Dutch Human-Powered Vehicle Movements, 1970s—present

    NARCIS (Netherlands)

    Stoffers, M.; Oldenziel, R; Trischler, H

    2016-01-01

    This paper deals with the history of the international Human-Powered Vehicle (HPV) movement, originally launched in the 1970s by engineers and scientists who believed that bicycle innovation could give a major impetus to a coveted western bicycle renaissance. Based on a reading of magazines and

  8. Long-distance fiber optic sensing solutions for pipeline leakage, intrusion, and ground movement detection

    Science.gov (United States)

    Nikles, Marc

    2009-05-01

    An increasing number of pipelines are constructed in remote regions affected by harsh environmental conditions where pipeline routes often cross mountain areas which are characterized by unstable grounds and where soil texture changes between winter and summer increase the probability of hazards. Third party intentional interference or accidental intrusions are a major cause of pipeline failures leading to large leaks or even explosions. Due to the long distances to be monitored and the linear nature of pipelines, distributed fiber optic sensing techniques offer significant advantages and the capability to detect and localize pipeline disturbance with great precision. Furthermore pipeline owner/operators lay fiber optic cable parallel to transmission pipelines for telecommunication purposes and at minimum additional cost monitoring capabilities can be added to the communication system. The Brillouin-based Omnisens DITEST monitoring system has been used in several long distance pipeline projects. The technique is capable of measuring strain and temperature over 100's kilometers with meter spatial resolution. Dedicated fiber optic cables have been developed for continuous strain and temperature monitoring and their deployment along the pipeline has enabled permanent and continuous pipeline ground movement, intrusion and leak detection. This paper presents a description of the fiber optic Brillouin-based DITEST sensing technique, its measurement performance and limits, while addressing future perspectives for pipeline monitoring. The description is supported by case studies and illustrated by field data.

  9. Ground movement analysis in the north of Belgium by radar interferometry

    International Nuclear Information System (INIS)

    Declercq, Pierre-Yves; Devleeschouwer, Xavier; Brassinnes, Stephane

    2012-01-01

    Document available in extended abstract form only. In the frame of the long-term management of high-level and/or long-lived radioactive waste in Belgium, the Belgian Agency for Radioactive Waste and Enriched Fissile Materials (ONDRAF/NIRAS) presently investigates the plastic clays (i.e., Boom Clay and the Ypresian clays) occurring in the northern part of Belgium as a potential host-rock for geological disposal. Boom Clay is a Rupelian (i.e., 34-28 Ma) silici-clastic sediment deposited in an open marine environment at the southern border of the epi-continental North Sea Basin. The Ypresian clays refer to the nearly continuous sequence of the clay-rich sediments deposited early in the Ypresian stage (i.e., 56-48 Ma) in a similar basin configuration. The investigated area (6400 km 2 extents E-W from the Roer valley graben in The Netherlands to Antwerpen and N-S from Tilburg to Diest) is characterized by a succession of sub-horizontal (1-2 deg. dip towards N to NE) layers of Cenozoic clays and sands; this thick sedimentary cover overlies an old Palaeozoic basement and is covered by some Quaternary sediments. Moreover, the northern end of the region of interest (ROI) is characterized by the famous Roer Valley Graben. At Mol, a reference site for the research, development and demonstration of the safety and the feasibility of geological disposal, the Boom Clay is present at a depth of approximately 190 to 290 meters below a thick Neogene sandy sequence. At Doel, another reference site for the RD and D, Boom Clay is present at shallow depth (from 56 m to 113 m) whereas Ypresian clays occur at depth relevant for geological disposal (i.e., 340-440 m). Both clay units are separated by a mid to latest Eocene intercalation of sands, clayey sands and clay layers. Boom clay at the Doel site is overlain by Neogene deposits and by the alluvium of the Quaternary Flemish Valley. The aim of the study is to determine, quantify and cartography ground movements, if any, in the region of

  10. 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.

  11. An investigation of drag reduction on box-shaped ground vehicles

    Science.gov (United States)

    Muirhead, V. U.

    1976-01-01

    A wind tunnel investigation was conducted to determine the reduction in drag which could be obtained by making various configuration changes to a box-shaped ground vehicle. Tests were conducted at yaw (relative wind) angles of 0, 5, 10, 20, and 30 degrees and Reynolds numbers of 300,000 to 850,000. The power required to overcome the aerodynamic drag was reduced by a maximum of 73% for a head wind for the best configuration relative to the smooth bottom box-shape, or 75% relative to the rough bottom box-shape. The reduction for a 20 MPH wind at 30 deg to the vehicle path was, respectively, 77% and 79%.

  12. 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.

  13. 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

  14. A pose estimation method for unmanned ground vehicles in GPS denied environments

    Science.gov (United States)

    Tamjidi, Amirhossein; Ye, Cang

    2012-06-01

    This paper presents a pose estimation method based on the 1-Point RANSAC EKF (Extended Kalman Filter) framework. The method fuses the depth data from a LIDAR and the visual data from a monocular camera to estimate the pose of a Unmanned Ground Vehicle (UGV) in a GPS denied environment. Its estimation framework continuy updates the vehicle's 6D pose state and temporary estimates of the extracted visual features' 3D positions. In contrast to the conventional EKF-SLAM (Simultaneous Localization And Mapping) frameworks, the proposed method discards feature estimates from the extended state vector once they are no longer observed for several steps. As a result, the extended state vector always maintains a reasonable size that is suitable for online calculation. The fusion of laser and visual data is performed both in the feature initialization part of the EKF-SLAM process and in the motion prediction stage. A RANSAC pose calculation procedure is devised to produce pose estimate for the motion model. The proposed method has been successfully tested on the Ford campus's LIDAR-Vision dataset. The results are compared with the ground truth data of the dataset and the estimation error is ~1.9% of the path length.

  15. Factors that influence ground reaction force profiles during counter movement jumping.

    Science.gov (United States)

    Eagles, Alexander N; Sayers, Mark G; Lovell, Dale I

    2017-05-01

    The purpose of this study was to examine how hip, knee and ankle kinetics and kinematics influence effective impulse production during countermovement jumps. Eighteen semi-professional soccer players (22.8±2.2 years) volunteered to participate in the study. Participants completed three maximal countermovement jumps on two force platforms (1000 Hz) that were linked to a nine camera infrared motion capture system (500 Hz). Kinetic and kinematic data revealed jumpers who fail to achieve uniform ground reaction force curves that result in optimal impulse production during their jump always display hip adduction and or hip internal rotation during the concentric phase of the countermovement jump. The variation of hip adduction and or internal rotation likely represents failed joint transition during the concentric phase of the countermovement jump and appears to account for a non-uniform force trace seen in these jumpers. The findings suggest rehabilitation and conditioning exercises for injury prevention and performance may benefit from targeting frontal and transverse plane movement.

  16. 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.

  17. 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.

  18. Flow Characteristics of Ground Vehicle Wake and Its Response to Flow Control

    Science.gov (United States)

    Sellappan, Prabu; McNally, Jonathan; Alvi, Farrukh

    2017-11-01

    Air pollution, fuel shortages, and cost savings are some of the many incentives for improving the aerodynamics of vehicles. Reducing wake-induced aerodynamic drag, which is dependent on flow topology, on modern passenger vehicles is important for improving fuel consumption rates which directly affect the environment. In this research, an active flow control technique is applied on a generic ground vehicle, a 25°Ahmed model, to investigate its effect on the flow topology in the near-wake. The flow field of this canonical bluff body is extremely rich, with complex and unsteady flow features such as trailing wake vortices and c-pillar vortices. The spatio-temporal response of these flow features to the application of steady microjet actuators is investigated. The responses are characterized independently through time-resolved and volumetric velocity field measurements. The accuracy and cost of volumetric measurements in this complex flow field through Stereoscopic- and Tomographic- Particle Image Velocimetry (PIV) will also be commented upon. National Science Foundation PIRE Program.

  19. 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. PMID:22736999

  20. Estimating changes in lichen mat volume through time and related effects on barren ground caribou (Rangifer tarandus groenlandicus) movement.

    Science.gov (United States)

    Rickbeil, Gregory J M; Hermosilla, Txomin; Coops, Nicholas C; White, Joanne C; Wulder, Michael A

    2017-01-01

    Lichens form a critical portion of barren ground caribou (Rangifer tarandus groenlandicus) diets, especially during winter months. Here, we assess lichen mat volume across five herd ranges in the Northwest Territories and Nunavut, Canada, using newly developed composite Landsat imagery. The lichen volume estimator (LVE) was adapted for use across 700 000 km2 of barren ground caribou habitat annually from 1984-2012. We subsequently assessed how LVE changed temporally throughout the time series for each pixel using Theil-Sen's slopes, and spatially by assessing whether slope values were centered in local clusters of similar values. Additionally, we assessed how LVE estimates resulted in changes in barren ground caribou movement rates using an extensive telemetry data set from 2006-2011. The Ahiak/Beverly herd had the largest overall increase in LVE (median = 0.033), while the more western herds had the least (median slopes below zero in all cases). LVE slope pixels were arranged in significant clusters across the study area, with the Cape Bathurst, Bathurst, and Bluenose East herds having the most significant clusters of negative slopes (more than 20% of vegetated land in each case). The Ahiak/Beverly and Bluenose West had the most significant positive clusters (16.3% and 18.5% of vegetated land respectively). Barren ground caribou displayed complex reactions to changing lichen conditions depending on season; the majority of detected associations with movement data agreed with current understanding of barren ground caribou foraging behavior (the exception was an increase in movement velocity at high lichen volume estimates in Fall). The temporal assessment of LVE identified areas where shifts in ecological conditions may have resulted in changing lichen mat conditions, while assessing the slope estimates for clustering identified zones beyond the pixel scale where forage conditions may be changing. Lichen volume estimates associated with barren ground caribou

  1. Estimating changes in lichen mat volume through time and related effects on barren ground caribou (Rangifer tarandus groenlandicus) movement

    Science.gov (United States)

    Hermosilla, Txomin; Coops, Nicholas C.; White, Joanne C.; Wulder, Michael A.

    2017-01-01

    Lichens form a critical portion of barren ground caribou (Rangifer tarandus groenlandicus) diets, especially during winter months. Here, we assess lichen mat volume across five herd ranges in the Northwest Territories and Nunavut, Canada, using newly developed composite Landsat imagery. The lichen volume estimator (LVE) was adapted for use across 700 000 km2 of barren ground caribou habitat annually from 1984–2012. We subsequently assessed how LVE changed temporally throughout the time series for each pixel using Theil-Sen’s slopes, and spatially by assessing whether slope values were centered in local clusters of similar values. Additionally, we assessed how LVE estimates resulted in changes in barren ground caribou movement rates using an extensive telemetry data set from 2006–2011. The Ahiak/Beverly herd had the largest overall increase in LVE (median = 0.033), while the more western herds had the least (median slopes below zero in all cases). LVE slope pixels were arranged in significant clusters across the study area, with the Cape Bathurst, Bathurst, and Bluenose East herds having the most significant clusters of negative slopes (more than 20% of vegetated land in each case). The Ahiak/Beverly and Bluenose West had the most significant positive clusters (16.3% and 18.5% of vegetated land respectively). Barren ground caribou displayed complex reactions to changing lichen conditions depending on season; the majority of detected associations with movement data agreed with current understanding of barren ground caribou foraging behavior (the exception was an increase in movement velocity at high lichen volume estimates in Fall). The temporal assessment of LVE identified areas where shifts in ecological conditions may have resulted in changing lichen mat conditions, while assessing the slope estimates for clustering identified zones beyond the pixel scale where forage conditions may be changing. Lichen volume estimates associated with barren ground caribou

  2. 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.

  3. Unmanned Ground Vehicle for Autonomous Non-Destructive Testing of FRP Bridge Decks

    Science.gov (United States)

    Klinkhachorn, P.; Mercer, A. Scott; Halabe, Udaya B.; GangaRao, Hota V. S.

    2007-03-01

    Current non-destructive techniques for defect analysis of FRP bridge decks have a narrow scope. These techniques are very good at detecting certain types of defects but are not robust enough to detect all defects by themselves. For example, infrared thermography (IRT) can detect air filled defects and Ground Penetrating Radar (GPR) is good at detecting water filled ones. These technologies can be combined to create a more robust defect detection scheme. To accomplish this, an Unmanned Ground Vehicle (UGV) has been designed that incorporates both IR and GPR analysis to create a comprehensive defect map of a bridge deck. The UGV autonomously surveys the deck surface and acquires data. The UGV has two 1.5 GHz ground coupled GPR antennas that are mounted on the front of the UGV to collect GPR data. It also incorporates an active heating source and a radiometric IR camera to capture IR images of the deck, even in less than ideal weather scenarios such as cold cloudy days. The UGV is designed so that it can collect data in an assembly line fashion. It moves in 1 foot increments. When moving, it collects GPR data from the two antennas. When it stops it heats a section of the deck. The next time it stops to heat a section, the IR camera is analyzing the preheated deck section while preparing for the next section. Because the data is being continually collected using this method, the UGV can survey the entire deck in an efficient and timely manner.

  4. 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

  5. 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.

  6. 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.

  7. Effects of slip-induced changes in ankle movement on muscle activity and ground reaction forces during running acceleration

    DEFF Research Database (Denmark)

    Ketabi, Shahin; Kersting, Uwe G.

    2013-01-01

    Ground contact in running is always linked to a minimum amount of slipping, e.g., during the early contact phase when horizontal forces are high compared to vertical forces. Studies have shown altered muscular activation when expecting slips [2-4]. It is not known what the mechanical effect of su...... of such slip episodes are on joint loading or performance. The aim of the present study was to examine the effect of changes in ankle movement on ankle joint loading, muscle activity, and ground reaction forces during linear acceleration....

  8. 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.

  9. Modeling Human Steering Behavior During Path Following in Teleoperation of Unmanned Ground Vehicles.

    Science.gov (United States)

    Mirinejad, Hossein; Jayakumar, Paramsothy; Ersal, Tulga

    2018-04-01

    This paper presents a behavioral model representing the human steering performance in teleoperated unmanned ground vehicles (UGVs). Human steering performance in teleoperation is considerably different from the performance in regular onboard driving situations due to significant communication delays in teleoperation systems and limited information human teleoperators receive from the vehicle sensory system. Mathematical models capturing the teleoperation performance are a key to making the development and evaluation of teleoperated UGV technologies fully simulation based and thus more rapid and cost-effective. However, driver models developed for the typical onboard driving case do not readily address this need. To fill the gap, this paper adopts a cognitive model that was originally developed for a typical highway driving scenario and develops a tuning strategy that adjusts the model parameters in the absence of human data to reflect the effect of various latencies and UGV speeds on driver performance in a teleoperated path-following task. Based on data collected from a human subject test study, it is shown that the tuned model can predict both the trend of changes in driver performance for different driving conditions and the best steering performance of human subjects in all driving conditions considered. The proposed model with the tuning strategy has a satisfactory performance in predicting human steering behavior in the task of teleoperated path following of UGVs. The established model is a suited candidate to be used in place of human drivers for simulation-based studies of UGV mobility in teleoperation systems.

  10. The design and results of an algorithm for intelligent ground vehicles

    Science.gov (United States)

    Duncan, Matthew; Milam, Justin; Tote, Caleb; Riggins, Robert N.

    2010-01-01

    This paper addresses the design, design method, test platform, and test results of an algorithm used in autonomous navigation for intelligent vehicles. The Bluefield State College (BSC) team created this algorithm for its 2009 Intelligent Ground Vehicle Competition (IGVC) robot called Anassa V. The BSC robotics team is comprised of undergraduate computer science, engineering technology, marketing students, and one robotics faculty advisor. The team has participated in IGVC since the year 2000. A major part of the design process that the BSC team uses each year for IGVC is a fully documented "Post-IGVC Analysis." Over the nine years since 2000, the lessons the students learned from these analyses have resulted in an ever-improving, highly successful autonomous algorithm. The algorithm employed in Anassa V is a culmination of past successes and new ideas, resulting in Anassa V earning several excellent IGVC 2009 performance awards, including third place overall. The paper will discuss all aspects of the design of this autonomous robotic system, beginning with the design process and ending with test results for both simulation and real environments.

  11. 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.

  12. 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.

  13. Development of a Model-Based Systems Engineering Application for the Ground Vehicle Robotics Sustainment Industrial Base

    Science.gov (United States)

    2013-02-04

    Ground Vehicle Systems Engineering Technology Symposium HC Human Capital HIIT Helsinki Institute of Information Technology UNCLASSIFIED vii...Technology (TKK), and the Helsinki Institute of Information Technology ( HIIT ), the report introduced the concept and the state-of-the-art in the market

  14. Effect of vertical ground motion on earthquake-induced derailment of railway vehicles over simply-supported bridges

    Science.gov (United States)

    Jin, Zhibin; Pei, Shiling; Li, Xiaozhen; Liu, Hongyan; Qiang, Shizhong

    2016-11-01

    The running safety of railway vehicles on bridges can be negatively affected by earthquake events. This phenomenon has traditionally been investigated with only the lateral ground excitation component considered. This paper presented results from a numerical investigation on the contribution of vertical ground motion component to the derailment of vehicles on simply-supported bridges. A full nonlinear wheel-rail contact model was used in the investigation together with the Hertzian contact theory and nonlinear creepage theory, which allows the wheel to jump vertically and separate from the rail. The wheel-rail relative displacement was used as the criterion for derailment events. A total of 18 ground motion records were used in the analysis to account for the uncertainty of ground motions. The results showed that inclusion of vertical ground motion will likely increase the chance of derailment. It is recommended to include vertical ground motion component in earthquake induced derailment analysis to ensure conservative estimations. The derailment event on bridges was found to be more closely related to the deck acceleration rather than the ground acceleration.

  15. Dealing with the Empty Vehicle Movements in Personal Rapid Transit System with Batteries Constraints in a Dynamic Context

    Directory of Open Access Journals (Sweden)

    Ezzeddine Fatnassi

    2017-01-01

    Full Text Available The Personal Rapid Transit is a new emergent transportation tool. It relies on using a set of small driverless electric vehicles to transport people on demand. Because of the specific on-demand characteristic of the Personal Rapid Transit system, many Personal Rapid Transit vehicles would move empty which results in a high level of wasted transportation capacity. This is enhanced while using Personal Rapid Transit vehicles with limited electric battery capacity. This paper deals with this problem in a real time context while minimizing the set of empty vehicle movements. First, a mathematical formulation to benchmark waiting time of passengers in Personal Rapid Transit systems is proposed. Then, a simulation model that captures the main features of the Personal Rapid Transit system is developed. A decision support system which integrates several real time solution strategies as well as a simulation module is proposed. Our dispatching strategies are evaluated and compared based on our simulation model. The efficiency of our method is tested through extensive test studies.

  16. Aircraft and ground vehicle friction correlation test results obtained under winter runway conditions during joint FAA/NASA Runway Friction Program

    Science.gov (United States)

    Yager, Thomas J.; Vogler, William A.; Baldasare, Paul

    1988-01-01

    Aircraft and ground vehicle friction data collected during the Joint FAA/NASA Runway Friction Program under winter runway conditions are discussed and test results are summarized. The relationship between the different ground vehicle friction measurements obtained on compacted snow- and ice-covered conditions is defined together with the correlation to aircraft tire friction performance under similar runway conditions.

  17. Quantitative determination of sediment movement at the landward spoil ground in the Yangtze Estuary with radioactive tracer

    International Nuclear Information System (INIS)

    Li Zhangsu

    1993-01-01

    A radioactive tracer experiment was carried out at the landward spoil ground of the North Passage in the Yangtze Estuary in June of 1991. The scandium-46 was selected as the tracer, the total activity released is 17.95 x 10 10 Bq(4.85 Ci), the amount of the scandium-46 glass is 495 g. The purpose of the experiment is to determine the sediment movement direction, path, velocity and transport rate. The experiment provides the direct evidence for using the landward spoil ground in the future. The experiment results show the sediment movement was governed by the ebb tide current during the period of middle and neap tides when the radioactive tracer was injected both on the flood and ebb tides, and the sediment moved from the injection points to the middle of the North Passage near the navigation buoy No. 269. The direction of the sediment movement is 110 degree, the particle velocity is 758 m/d, and the sediment transport rate per unit width is 47.8 m 3 /md

  18. Covering Ground: Movement Patterns and Random Walk Behavior in Aquilonastra anomala Sea Stars.

    Science.gov (United States)

    Lohmann, Amanda C; Evangelista, Dennis; Waldrop, Lindsay D; Mah, Christopher L; Hedrick, Tyson L

    2016-10-01

    The paths animals take while moving through their environments affect their likelihood of encountering food and other resources; thus, models of foraging behavior abound. To collect movement data appropriate for comparison with these models, we used time-lapse photography to track movements of a small, hardy, and easy-to-obtain organism, Aquilonastra anomala sea stars. We recorded the sea stars in a tank over many hours, with and without a food cue. With food present, they covered less distance, as predicted by theory; this strategy would allow them to remain near food. We then compared the paths of the sea stars to three common models of animal movement: Brownian motion, Lévy walks, and correlated random walks; we found that the sea stars' movements most closely resembled a correlated random walk. Additionally, we compared the search performance of models of Brownian motion, a Lévy walk, and a correlated random walk to that of a model based on the sea stars' movements. We found that the behavior of the modeled sea star walk was similar to that of the modeled correlated random walk and the Brownian motion model, but that the sea star walk was slightly more likely than the other walks to find targets at intermediate distances. While organisms are unlikely to follow an idealized random walk in all details, our data suggest that comparing the effectiveness of an organism's paths to those from theory can give insight into the organism's actual movement strategy. Finally, automated optical tracking of invertebrates proved feasible, and A. anomala was revealed to be a tractable, 2D-movement study system.

  19. MOVEMENT CHARACTERISTICS OF ELITE TENNIS PLAYERS ON HARD COURTS WITH RESPECT TO THE DIRECTION OF GROUND STROKES

    Directory of Open Access Journals (Sweden)

    Rafael Martínez-Gallego

    2013-06-01

    Full Text Available Previous studies of movement characteristics in tennis have considered the effect of playing surface but have assumed that playing strategies are simply determined by the surface as opposed to being under an individual's control. This study considered the selection of cross court or down the line ground strokes as being indicative of playing strategy and measured the outcome of playing these shots in terms of the opponent's movements. Matches (N = 8 at the 2011 ATP tournament 500 Valencia were recorded and analysed using SAGIT, a computer vision tracking system that allowed both players' movements to be tracked automatically, albeit with operator supervision. The data was split into (N = 188 games for analysis purposes and these lasted a median 174.24 seconds with active time (ball in play a median proportion of 34.89% (IQR = 10.64% of total time. During the active time losers of games tended to cover less distance (median = 80.17 m, move quicker (median = 1.38 m·s-1, spend more time in the defensive zones (median = 14.24 s and less in the offensive zones (median = 44.74 s. These results suggested that game winners tended to dominate game losers, forcing them to exhibit behaviors typically associated with a defensive strategy. Defensive and offensive strategy are not well defined currently and future investigations should consider movements in relation to individual shots, in particular their velocities, at the rally level and by different individuals to better understand successful performance

  20. 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

  1. Influence of Traffic Vehicles Against Ground Fundamental Frequency Prediction using Ambient Vibration Technique

    Science.gov (United States)

    Kamarudin, A. F.; Noh, M. S. Md; Mokhatar, S. N.; Anuar, M. A. Mohd; Ibrahim, A.; Ibrahim, Z.; Daud, M. E.

    2018-04-01

    Ambient vibration (AV) technique is widely used nowadays for ground fundamental frequency prediction. This technique is easy, quick, non-destructive, less operator required and reliable result. The input motions of ambient vibration are originally collected from surrounding natural and artificial excitations. But, careful data acquisition controlled must be implemented to reduce the intrusion of short period noise that could imply the quality of frequency prediction of an investigated site. In this study, investigation on the primary noise intrusion under peak (morning, afternoon and evening) and off peak (early morning) traffic flows (only 8 meter from sensor to road shoulder) against the stability and quality of ground fundamental frequency prediction were carried out. None of specific standard is available for AV data acquisition and processing. Thus, some field and processing parameters recommended by previous studies and guideline were considered. Two units of 1 Hz tri-axial seismometer sensor were closely positioned in front of the main entrance Universiti Tun Hussein Onn Malaysia. 15 minutes of recording length were taken during peak and off peak periods of traffic flows. All passing vehicles were counted and grouped into four classes. Three components of ambient vibration time series recorded in the North-South: NS, East-West: EW and vertical: UD directions were automatically computed into Horizontal to Vertical Spectral Ratio (HVSR), by using open source software of GEOPSY for fundamental ground frequency, Fo determination. Single sharp peak pattern of HVSR curves have been obtained at peak frequencies between 1.33 to 1.38 Hz which classified under soft to dense soil classification. Even identical HVSR curves pattern with close frequencies prediction were obtained under both periods of AV measurement, however the total numbers of stable and quality windows selected for HVSR computation were significantly different but both have satisfied the requirement

  2. Further development of the methodical instruments to calculate ground water movements at repository sites

    International Nuclear Information System (INIS)

    Arens, G.; Clauser, C.; Fein, E.; Karpinski, P.; Storck, R.

    1990-06-01

    In addition to the subsequent requirements concerning the Konrad plan approval procedure, other ground water and propagation calculations were also made. All available programs were used. Simple one- and two-dimensional models were considered for which an analytical solution exists. In some cases such analytical solutions are only approximate under certain conditions. By calculating such simple problems, the programs used were tested and verified, and the use of those programs was reviewed and documented. In addition to the finite-difference program SWIFT and the finite-element program CFEST, two other ground water and propagation programs were applied: 1) Finite-difference program MOL, two-dimensional propagation program for ground water flow; 2) SUTRA, two-dimensional hybrid finite-element and integrated finite-difference model for ground water flow and radionuclide migration. (orig./HP) [de

  3. 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.

  4. Development of Vehicle Platoon Distribution Models and Simulation of Platoon Movements on Indiana Rural Corridors

    OpenAIRE

    Jiang, Yi; Li, Shou; Shamo, Daniel E.

    2003-01-01

    Since the 1980s, traffic volumes have experienced a rapid growth of approximately 30% in Indiana. Traffic data indicates that more than 70% of vehicles travel in platoons on Indiana highway corridors in the vicinity of urban areas. At a rural highway intersection consisting of a major road with high traffic volume and a minor road with low traffic volume, it is very common that the green time cannot be used efficiently, especially when the vehicle detectors on the major road are imbedded clos...

  5. The Use of Ground Penetrating Radar and Electrical Resistivity Imaging for the Characterisation of Slope Movements in Expansive Marls

    Science.gov (United States)

    Rey, Isabel; Martínez, Julián; Cortada, Unai; Hildago, Mª Carmen

    2017-04-01

    Slope movements are one of the natural hazards that most affect linear projects, becoming an important waste of money and time for building companies. Thus, studies to identify the processes that provoke these movements, as well as to characterise the landslides are necessary. For this purpose, geophysical prospecting techniques as Ground Penetrating Radar (GPR) and Electrical Resistivity Imaging (ERI) could become useful. However, the effectiveness of these techniques in slope movement characterisation is affected by many factors, like soil humidity, grain size or failure plane depth. Therefore, studies that determine the usefulness of these techniques in different kind of soils and slope movements are required. In this study, GPR and ERI techniques efficiency for the analysis of slope movements in Upper Miocene expansive marls was evaluated. In particular, two landslides in an old regional road in the province of Jaen (Spain) were studied. A total of 53 GPR profiles were made, 31 with a 250 MHz frequency antenna and 22 with an 800 MHz frequency antenna. Marl facies rapidly attenuated the signal of the electromagnetic waves, which means that this technique only provided information of the first two meters of the subsoil. In spite of this low depth of penetration, it is necessary to point out the precision and detail undertaken. Thus, both GPR antennas gave information of the thicknesses and quality-continuity of the different soil layers. In addition, several restoration phases of the linear work were detected. Therefore, this technique was useful to detect the current state and history of the structure, even though it could not detect the shear surface of the slope movement. On the other hand, two profiles of electrical tomography were made, one in each studied sector. The profiles were configured with a total length of 189 m, with 64 electrodes and a spacing of 3 m. This allowed investigating up to 35 m depth. This penetration capability enabled to detect the

  6. Technologies for low-bandwidth high-latency unmanned ground vehicle control

    Science.gov (United States)

    Pace, Teresa; Cogan, Ken; Hunt, Lee; Restine, Paul

    2014-05-01

    Automation technology has evolved at a rapid pace in recent years; however, many real-world problems require contextual understanding, problem solving, and other forms of higher-order thinking that extends beyond the capabilities of robots for the foreseeable future. This limits the complexity of automation which can be supplied to modern unmanned ground robots (UGV) and necessitates human-in-the-loop monitoring and control for some portions of missions. In order for the human operator to make decisions and provide tasking during key portions of the mission, existing solutions first derive significant information from a potentially dense reconstruction of the scene utilizing LIDAR, video, and other onboard sensors. A dense reconstruction contains too much data for real-time transmission over a modern wireless data link, so the robot electronics must first condense the scene representation prior to transmission. The control station receives this condensed scene representations and provides visual information to the human operator; the human operator then provides tele-operation commands in real-time to the robot. This paper discusses approaches to dense scene reduction of the data required to transmit to a human-in-the loop as well as the challenges associated with them. In addition, the complex and unstructured nature of real-world environments increases the need for tele-operation. Furthermore, many environments reduce the bandwidth and increase the latency of the link. Ultimately, worsening conditions will cause the tele-operation control process to break down, rendering the robot ineffective. In a worst-case scenario, extreme conditions causing a complete loss-of-communications could result in mission failure and loss of the vehicle.

  7. 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.

  8. Movement of radionuclides from river to ground water in vicinity of location for nuclear power plant

    International Nuclear Information System (INIS)

    Knezevic, Lj.; Lazic, S.; Vukovic, Z.

    1984-01-01

    The possibility of ground water contamination caused by radionuclide from river water to which liquid effluents were released from a nuclear power station was estimated using one-dimensional transport model. This model is suitable for a homogeneous medium and takes into account hydraulic convection and dispersion as well as physical-chemical retardation for the various radionuclides. (author)

  9. Turning movements, vehicle offsets and ageing drivers driving behaviour at channelized and unchannelized intersections.

    Science.gov (United States)

    Choi, Jaisung; Tay, Richard; Kim, Sangyoup; Jeong, Seungwon

    2017-11-01

    Ageing drivers experience a higher risk of intersection crashes because of their decrease in driving efficiency, including the decline in cognitive ability, head and neck flexibility, and visual acuity. Although several studies have been conducted to examine the factors associated with ageing driver crashes at intersections, little research has been conducted to examine the differences in the factors related to ageing drivers' turning paths and intersection geometric features. This study aims to improve the safety of ageing drivers at intersections by identifying the maneuvers that are risky for them and tracking their turning movements at selected intersections. We find that ageing drivers experience more crashes at intersections than younger drivers, especially crashes involving turning movements. Furthermore, ageing drivers experience more crashes at unchannelized intersections compared to channelized intersections. In addition, this study finds that ageing drivers exhibit greater and more inconsistent offsets during turning movements compared to those of younger drivers at both channelized and unchannelized intersections. Ageing drivers also tend to make relatively sharper or tighter turns than younger drivers. Hence, transportation engineers and road safety professionals should consider appropriate countermeasures to reduce the risks of crashes involving ageing drivers at intersections. Copyright © 2017 Elsevier Ltd. All rights reserved.

  10. 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

  11. Intelligent Terrain Analysis and Tactical Support System (ITATSS) for Unmanned Ground Vehicles

    National Research Council Canada - National Science Library

    Jones, Randolph M; Arkin, Ron; Sidki, Nahid

    2005-01-01

    ...). The system enable unmanned combat and support vehicles to achieve significant new levels of autonomy, mobility, rapid response, coordination and effectiveness, while simultaneously enriching human...

  12. 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.

  13. Improved Ground Hydrology Calculations for Global Climate Models (GCMs): Soil Water Movement and Evapotranspiration.

    Science.gov (United States)

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

    1988-09-01

    A physically based ground hydrology model is developed to improve the land-surface sensible and latent heat calculations in global climate models (GCMs). The processes of transpiration, evaporation from intercepted precipitation and dew, evaporation from bare soil, infiltration, soil water flow, and runoff are explicitly included in the model. The amount of detail in the hydrologic calculations is restricted to a level appropriate for use in a GCM, but each of the aforementioned processes is modeled on the basis of the underlying physical principles. Data from the Goddard Institute for Space Studies (GISS) GCM are used as inputs for off-line tests of the ground hydrology model in four 8° × 10° regions (Brazil, Sahel, Sahara, and India). Soil and vegetation input parameters are calculated as area-weighted means over the 8° × 10° gridhox. This compositing procedure is tested by comparing resulting hydrological quantities to ground hydrology model calculations performed on the 1° × 1° cells which comprise the 8° × 10° gridbox. Results show that the compositing procedure works well except in the Sahel where lower soil water levels and a heterogeneous land surface produce more variability in hydrological quantities, indicating that a resolution better than 8° × 10° is needed for that region. Modeled annual and diurnal hydrological cycles compare well with observations for Brazil, where real world data are available. The sensitivity of the ground hydrology model to several of its input parameters was tested; it was found to be most sensitive to the fraction of land covered by vegetation and least sensitive to the soil hydraulic conductivity and matric potential.

  14. 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.

  15. Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations

    Directory of Open Access Journals (Sweden)

    Rongrong Wang

    2013-01-01

    Full Text Available A vehicle stability control approach for four-wheel independently actuated (FWIA electric vehicles is presented. The proposed control method consists of a higher-level controller and a lower-level controller. An adaptive control-based higher-level controller is designed to yield the vehicle virtual control efforts to track the desired vehicle motions due to the possible modeling inaccuracies and parametric uncertainties. The lower-level controller considering tire force saturation is given to allocate the required control efforts to the four in-wheel motors for providing the desired tire forces. An analytic method is given to distribute the high-level control efforts, without using the numerical-optimization-based control allocation algorithms. Simulations based on a high-fidelity, CarSim, and full-vehicle model show the effectiveness of the control approach.

  16. Analysis of the dynamics of movement of the landing vehicle with an inflatable braking device on the final trajectory under the influence of wind load

    Science.gov (United States)

    Koryanov, V.; Kazakovtsev, V.; Harri, A.-M.; Heilimo, J.; Haukka, H.; Aleksashkin, S.

    2015-10-01

    This research work is devoted to analysis of angular motion of the landing vehicle (LV) with an inflatable braking device (IBD), taking into account the influence of the wind load on the final stage of the movement. Using methods to perform a calculation of parameters of angular motion of the landing vehicle with an inflatable braking device based on the availability of small asymmetries, which are capable of complex dynamic phenomena, analyzes motion of the landing vehicle at the final stage of motion in the atmosphere.

  17. Shielding factors for vehicles to gamma radiation from activity deposited on structures and ground surfaces

    International Nuclear Information System (INIS)

    Lauridsen, B.; Hedemann Jensen, P.

    1982-04-01

    This report describes a measuring procedure for the determination of shielding factors for vehicles passing through areas that have been contaminated by activity released to the atmosphere from a reactor accident. A simulated radiation field from fallout has been approximated by a point source that has been placed in a matrix around and above the vehicle. Modifying factors are discussed such as mutual shielding by nearby buildings and passengers. From measurements on different vehicles with and without passengers shielding factors are recommended for ordinary cars and busses in both urban and open areas, and areas with single family houses. (author)

  18. Stable isotope study of ground water recharge and movement in the Shogawa Fan, Toyama

    International Nuclear Information System (INIS)

    Mizutani, Yoshihiko; Oda, Matsuhisa

    1983-01-01

    Deuterium and oxygen-18 measurements of ground and river waters of the Shogawa Fan, Toyama, have been used to identify sources of water in aquifers in the Fan. A significant difference exists in deltaD and delta 18 O values between two major rivers flowing onto the Fan. On the basis of this difference, it is indicated that aquifers in the eastern half of the Fan are recharged from the Sho River and those in the western half of the Fan are from the Oyabe River. Chloride measurements of the waters support this identification of water sources. Contributions of other water sources to the aquifers are also indicated. The flow rate of infiltration from the Sho River is estimated to be 10-13 m/day in the confined aquifers in the northern part of the Fan. (author)

  19. Gaining Efficiency of Computational Experiments in Modeling the Flight Vehicle Movement

    Directory of Open Access Journals (Sweden)

    I. K. Romanova

    2017-01-01

    -dimensional cube, where N is the number of variable parameters, the calculations of functions on which meet the specified accuracy.In computational experiments the grid sizes have been increased step-by-step, with the data sets being reconstructed and the residuals being calculated. The tolerance values were visualized using the level lines on the functions of errors. Special attention was paid to the pitching moment, which is directly connected with the stability problem of of the body movement. Here not only answering the question on the mean square error of calculations is important, but also the change of the sign of the moment coefficient.It turned out that despite the available errors, there was no sign change observed. We have also identified areas of overstatement and understatement of the aerodynamic coefficients (ADC when using the larger grids. Noted that when preparing the grid, the prerequisite is to identify areas of finding the system at the boundaries of stability.The calculation results have shown that as compared to the exact calculations the moment is underestimated. Moreover, taking into account the opposite sign of the dependence on the angle of attack in modulus, the moment is overstated; there are overestimations of the lifting force, resistance in the modulus and damping in the operating range.The choice of the optimal grid for evaluation of the mean square error led to a rather small grid, so a capability to introduce a grid of the variable size was considered. It was proposed to divide the grid into two parts. In the region of problem areas an estimate of the allowable increase of size is based on the analysis of a Pareto front of the relative derivative (increment function. After scaling we have obtained the Nash equilibrium point. For the remaining areas the grid is to be selected either according to the tolerable error (with a constant size or using an equality principle of the function increments.The proposed approach to select the mixed grids enables

  20. Evaluation of New Methodology for Health Hazard Assessment of Repeated Shock in Military Tactical Ground Vehicles

    National Research Council Canada - National Science Library

    Alem, Nabih; Hiltz, Ernest; Breaux-Sims, Arlene; Bumgardner, Bradley

    2004-01-01

    .... The research culminated with the development of a new HHA method for repeated jolt that is tailored for TGVs but is valid for most vehicles where the seated occupant is exposed to repeated (multiple) low-level shocks (jolt...

  1. Standards for the Mobility Common Operational Picture (M-COP): Elements of Ground Vehicle Maneuver

    National Research Council Canada - National Science Library

    Richmond, Paul W; Blais, Curtis L; Nagle, Joyce A; Goerger, Niki C; Gates, Burhman Q; Burk, Robin K; Willis, John; Keeter, Robert

    2007-01-01

    ...-structured information between human forces and robotic systems. Addressing this operational challenge begins with a clear understanding of the information content needed for ground mobility planning...

  2. 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...STD-1472G provides little quantitative guidance for vehicle layout , so it is open to interpretation and is difficult for designers to apply...seats, in which the crew are required to interact with vehicle controls and displays using hands and forward vision (Zerehsaz, Ebert, and Reed, 2014

  3. US Army TARDEC Ground Vehicle Mobility: Dynamics Modeling, Simluation, and Research

    Science.gov (United States)

    2011-10-24

    DRIVEN. WARFIGHTER FOCUSED. For official use only Stair Climbing of a Small Robot Robotic Vehicle Step Climbing UNCLASSIFIED For official use only...NOTES NASA Jet Propulsion Laboratory, mobility, and robotics section. Briefing to the jet propulsion lab. 14. ABSTRACT N/A 15. SUBJECT TERMS 16...JLTV GCV M2 M915 ASV FTTS HMMWV Platforms Supported APDSmall Robot UNCLASSIFIED For official use only Mobility Events • Vehicle stability • Ride

  4. A nonlinear model predictive control formulation for obstacle avoidance in high-speed autonomous ground vehicles in unstructured environments

    Science.gov (United States)

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

    2018-06-01

    This paper presents a nonlinear model predictive control (MPC) formulation for obstacle avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre of gravity (CoG) that operate in unstructured environments, such as military vehicles. The term 'unstructured' in this context denotes that there are no lanes or traffic rules to follow. Existing MPC formulations for passenger vehicles in structured environments do not readily apply to this context. Thus, a new nonlinear MPC formulation is developed to navigate an AGV from its initial position to a target position at high-speed safely. First, a new cost function formulation is used that aims to find the shortest path to the target position, since no reference trajectory exists in unstructured environments. Second, a region partitioning approach is used in conjunction with a multi-phase optimal control formulation to accommodate the complicated forms the obstacle-free region can assume due to the presence of multiple obstacles in the prediction horizon in an unstructured environment. Third, the no-wheel-lift-off condition, which is the major dynamical safety concern for high-speed, high-CoG AGVs, is ensured by limiting the steering angle within a range obtained offline using a 14 degrees-of-freedom vehicle dynamics model. Thus, a safe, high-speed navigation is enabled in an unstructured environment. Simulations of an AGV approaching multiple obstacles are provided to demonstrate the effectiveness of the algorithm.

  5. Protected Turning Movements of Noncooperative Automated Vehicles: Geometrics, Trajectories, and Saturation Flow

    Directory of Open Access Journals (Sweden)

    Xiaobo Liu

    2018-01-01

    Full Text Available This study is the first to quantify throughput (saturation flow of noncooperative automated vehicles when performing turning maneuvers, which are critical bottlenecks in arterial road networks. We first develop a constrained optimization problem based on AVs’ kinematic behavior during a protected signal phase which considers both ABS-enabled and wheels-locked braking, as well as avoiding encroaching into oncoming traffic or past the edge-of-receiving-lane. We analyze noncooperative (“defensive” behavior, in keeping with the Assured Clear Distance Ahead legal standard to which human drivers are held and AVs will likely also be for the foreseeable future. We demonstrate that, under plausible behavioral parameters, AVs appear likely to have positive impacts on throughput of turning traffic streams at intersections, in the range of +0.2% (under the most conservative circumstances to +43% for a typical turning maneuver. We demonstrate that the primary mechanism of impact of turning radius is its effect on speed, which is likely to be constrained by passenger comfort. We show heterogeneous per-lane throughput in the case of “double turn lanes.” Finally, we demonstrate limited sensitivity to crash-risk criterion, with a 4% difference arising from a change from 1 in 10,000 to 1 in 100,000,000. The paper concludes with a brief discussion of policy implications and future research needs.

  6. The Application of the Human Engineering Modeling and Performance Laboratory for Space Vehicle Ground Processing Tasks at Kennedy Space Center

    Science.gov (United States)

    Woodbury, Sarah K.

    2008-01-01

    The introduction of United Space Alliance's Human Engineering Modeling and Performance Laboratory began in early 2007 in an attempt to address the problematic workspace design issues that the Space Shuttle has imposed on technicians performing maintenance and inspection operations. The Space Shuttle was not expected to require the extensive maintenance it undergoes between flights. As a result, extensive, costly resources have been expended on workarounds and modifications to accommodate ground processing personnel. Consideration of basic human factors principles for design of maintenance is essential during the design phase of future space vehicles, facilities, and equipment. Simulation will be needed to test and validate designs before implementation.

  7. Influence of Vehicle Speed on the Characteristics of Driver's Eye Movement at a Highway Tunnel Entrance during Day and Night Conditions: A Pilot Study.

    Science.gov (United States)

    Qin, Li; Dong, Li-Li; Xu, Wen-Hai; Zhang, Li-Dong; Leon, Arturo S

    2018-04-02

    The aim of this study was to investigate how vehicle speed influences the characteristics of driver's eye movement at highway tunnel entrances during day and night. In this study, six drivers' eye movement data (from 200 m before tunnel entrance to 200 m inside tunnel entrance) under five predetermined vehicle speeds (40, 50, 60, 70 and 80 km/h) in the daytime and three predetermined vehicle speeds (40, 60 and 80 km/h) in the nighttime were recorded using the non-intrusive Dikablis Professional eye-tracking system. Pupil size, the average fixation duration time and the average number of fixation were analyzed and then the influence of the vehicle speed on these parameters was evaluated by means of IBM SPSS Statistics 20.0. The results for pupil size in daytime increased when approaching the tunnel entrance, while as for nighttime, pupil size decreased when approaching the tunnel entrance and then increased after entering the tunnel. The pupil size in daytime has a significant negative correlation with vehicle speed, while the pupil size in nighttime did not show a significant association with vehicle speed. Furthermore, the average fixation duration in daytime increased when entering the tunnel, and had a significant negative correlation with vehicle speed. Also, the average number of fixations in daytime decreased when entering the tunnel and has a significant negative correlation with vehicle speed. However, the average fixation duration and the average number of fixations in nighttime did not show any significant association with vehicle speed. Moreover, limitations and future directions of the study are discussed for the further investigation.

  8. 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.

  9. Application of a distributed systems architecture for increased speed in image processing on an autonomous ground vehicle

    Science.gov (United States)

    Wright, Adam A.; Momin, Orko; Shin, Young Ho; Shakya, Rahul; Nepal, Kumud; Ahlgren, David J.

    2010-01-01

    This paper presents the application of a distributed systems architecture to an autonomous ground vehicle, Q, that participates in both the autonomous and navigation challenges of the Intelligent Ground Vehicle Competition. In the autonomous challenge the vehicle is required to follow a course, while avoiding obstacles and staying within the course boundaries, which are marked by white lines. For the navigation challenge, the vehicle is required to reach a set of target destinations, known as way points, with given GPS coordinates and avoid obstacles that it encounters in the process. Previously the vehicle utilized a single laptop to execute all processing activities including image processing, sensor interfacing and data processing, path planning and navigation algorithms and motor control. National Instruments' (NI) LabVIEW served as the programming language for software implementation. As an upgrade to last year's design, a NI compact Reconfigurable Input/Output system (cRIO) was incorporated to the system architecture. The cRIO is NI's solution for rapid prototyping that is equipped with a real time processor, an FPGA and modular input/output. Under the current system, the real time processor handles the path planning and navigation algorithms, the FPGA gathers and processes sensor data. This setup leaves the laptop to focus on running the image processing algorithm. Image processing as previously presented by Nepal et. al. is a multi-step line extraction algorithm and constitutes the largest processor load. This distributed approach results in a faster image processing algorithm which was previously Q's bottleneck. Additionally, the path planning and navigation algorithms are executed more reliably on the real time processor due to the deterministic nature of operation. The implementation of this architecture required exploration of various inter-system communication techniques. Data transfer between the laptop and the real time processor using UDP packets

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

    Science.gov (United States)

    2014-02-09

    Government or the DoA, and shall not be used for advertising or product endorsement purposes. REFERENCES [1] Thompson, D., Luke, E., Newman III, J., Janus...of a Loading Model for Simulating Blast Mine Effects on Armoured Vehicles,” 7th International LS-DYNA Users Conference, Detroit, MI, 2002. [6

  11. 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

  12. Numerical study of flow control strategies for a simplified square back ground vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Eulalie, Yoann; Gilotte, Philippe [Plastic Omnium, Avenue du bois des vergnes, F-01150 Sainte-Julie (France); Mortazavi, Iraj, E-mail: iraj.mortazavi@cnam.fr [Team M2N, CNAM Paris, 292 Rue St. Martin, 75003 Paris (France)

    2017-06-15

    Current automotive trends lead to vertical shapes in the region of the rear tailgates, which induce high aerodynamical losses at the rear wall of vehicles. It is therefore important to work on turbulent wake in order to find drag reduction solutions for the current vehicle design. This paper focuses on flow control strategies, which are designed to interact with shear layers backward from the detachment region, in order to increase pressure values in the wake of a square back bluff body. This study involves large eddy simulation results validated by experimental data. After the first section, which represents experimental validation of LES computations with and without active flow control on an Ahmed bluff body, we will present a wide range of numerical results describing several active and passive flow control solutions leading to drag reductions of up to 10%. The last part of this paper will focus on some fluid mechanisms, which could explain these aerodynamical performances. (paper)

  13. Numerical study of flow control strategies for a simplified square back ground vehicle

    International Nuclear Information System (INIS)

    Eulalie, Yoann; Gilotte, Philippe; Mortazavi, Iraj

    2017-01-01

    Current automotive trends lead to vertical shapes in the region of the rear tailgates, which induce high aerodynamical losses at the rear wall of vehicles. It is therefore important to work on turbulent wake in order to find drag reduction solutions for the current vehicle design. This paper focuses on flow control strategies, which are designed to interact with shear layers backward from the detachment region, in order to increase pressure values in the wake of a square back bluff body. This study involves large eddy simulation results validated by experimental data. After the first section, which represents experimental validation of LES computations with and without active flow control on an Ahmed bluff body, we will present a wide range of numerical results describing several active and passive flow control solutions leading to drag reductions of up to 10%. The last part of this paper will focus on some fluid mechanisms, which could explain these aerodynamical performances. (paper)

  14. Model based Fault Detection and Isolation for Driving Motors of a Ground Vehicle

    Directory of Open Access Journals (Sweden)

    Young-Joon Kim

    2016-04-01

    Full Text Available This paper proposes model based current sensor and position sensor fault detection and isolation algorithm for driving motor of In-wheel independent drive electric vehicle. From low level perspective, fault diagnosis conducted and analyzed to enhance robustness and stability. Composing state equation of interior permanent magnet synchronous motor (IPMSM, current sensor fault and position sensor fault diagnosed with parity equation. Validation and usefulness of algorithm confirmed based on IPMSM fault occurrence simulation data.

  15. Non-Chromate, ZVOC Coatings for Steel Substrates on Army and Navy Aircraft and Ground Vehicles

    Science.gov (United States)

    2014-12-01

    been coated without any corrosion inhibitive pretreatment or conversion coating. The products demonstrated satisfy the hexavalent chrome ...that generates 2.4 million pounds of VOC; 852,000 pounds of HAPs; and 24,000 pounds of hexavalent chrome . Although effective at mitigating corrosion...satisfy the hexavalent chrome prohibition for both vehicles while minimizing environmental impact and promoting worker safety. This demonstration was

  16. Development and Evaluation of the Stingray, an Amphibious Maritime Interdiction Operations Unmanned Ground Vehicle

    Science.gov (United States)

    2014-05-01

    include: • Size and weight: The robot should fit in a Modular Lightweight Load-carrying Equipment ( MOLLE ) pouch and weigh approximately 1.5 Kg. • Ground...volumetric envelope for the Stingray was determined by the requirement to fit in a MOLLE pouch. It had repercussions in terms of the wheelbase, width

  17. 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.

  18. Potential for ground-water contamination from movement of wastewater through the unsaturated zone, upper Mojave River Basin, California

    Science.gov (United States)

    Umari, A.M.; Martin, P.M.; Schroeder, R.A.; Duell, L.F.; Fay, R.G.

    1993-01-01

    Septic-tank wastewater disposed in 30-foot-deep seepage pits (dry wells) at 46,000 residences is estimated to equal 18 percent of the natural recharge to the sole-source aquifer in the rapidly developing upper Mojave River Basin (Victor Valley) in the high desert northeast of Los Angeles. Vertical rates of movement of the wastewater wetting front through the unsaturated zone at three newly occupied residences ranged from 0.07 to 1.0 foot per day. These rates translate to traveltimes of several months to several years for the wastewater wetting front to reach the water table and imply that wastewater from many disposal systems already has reached the water table, which averages about 150 feet below land surface in the Victor Valley. As wastewater percolates from seepage pits into the adjacent unsaturated zone, the nitrogen present in reduced form is rapidly converted to nitrate. Analyses on soil-core extracts and soil moisturefrom suction lysimeters installed beneath the seepage pits at eight residences showed that nitrate concentrations and nitrate/ chloride ratios generally become lower with increasing depth. The intervals of greatest decline seemed to coincide with finer soil texture or were near the water table. Nitrate-reducing bacteria were tested for and found to be present in soil cores from two residences. Sparse nitrogen-15 data from suction lysimeters at one of these residences, where thenitrate concentration decreased by about one-half at a depth of 200 feet, indicate that the nitrate decline was accompanied by nitrogen-15 enrichment in the residual nitrate with an isotope-separation factor of about -10 permil. Despite the potential input of abundant nitrogen with the domestic wastewater recharge, nitrate concentrations in the area's ground water are generally low. The absence of high nitrate concentrations in the ground water is consistent with the existence of denitrification, a microbial nitrogen-removal mechanism, as wastewater moves through the

  19. 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.

  20. 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.

  1. High-Throughput Phenotyping of Plant Height: Comparing Unmanned Aerial Vehicles and Ground LiDAR Estimates.

    Science.gov (United States)

    Madec, Simon; Baret, Fred; de Solan, Benoît; Thomas, Samuel; Dutartre, Dan; Jezequel, Stéphane; Hemmerlé, Matthieu; Colombeau, Gallian; Comar, Alexis

    2017-01-01

    The capacity of LiDAR and Unmanned Aerial Vehicles (UAVs) to provide plant height estimates as a high-throughput plant phenotyping trait was explored. An experiment over wheat genotypes conducted under well watered and water stress modalities was conducted. Frequent LiDAR measurements were performed along the growth cycle using a phénomobile unmanned ground vehicle. UAV equipped with a high resolution RGB camera was flying the experiment several times to retrieve the digital surface model from structure from motion techniques. Both techniques provide a 3D dense point cloud from which the plant height can be estimated. Plant height first defined as the z -value for which 99.5% of the points of the dense cloud are below. This provides good consistency with manual measurements of plant height (RMSE = 3.5 cm) while minimizing the variability along each microplot. Results show that LiDAR and structure from motion plant height values are always consistent. However, a slight under-estimation is observed for structure from motion techniques, in relation with the coarser spatial resolution of UAV imagery and the limited penetration capacity of structure from motion as compared to LiDAR. Very high heritability values ( H 2 > 0.90) were found for both techniques when lodging was not present. The dynamics of plant height shows that it carries pertinent information regarding the period and magnitude of the plant stress. Further, the date when the maximum plant height is reached was found to be very heritable ( H 2 > 0.88) and a good proxy of the flowering stage. Finally, the capacity of plant height as a proxy for total above ground biomass and yield is discussed.

  2. Separation flow control on a generic ground vehicle using steady microjet arrays

    Energy Technology Data Exchange (ETDEWEB)

    Aubrun, Sandrine; Kourta, Azeddine [Universite d' Orleans, Laboratoire PRISME, Orleans cedex (France); McNally, Jonathan; Alvi, Farrukh [Florida State University, FAMU-FSU College of Engineering, Tallahassee, FL (United States)

    2011-11-15

    A model of a generic vehicle shape, the Ahmed body with a 25 slant, is equipped with an array of blowing steady microjets 6 mm downstream of the separation line between the roof and the slanted rear window. The goal of the present study is to evaluate the effectiveness of this actuation method in reducing the aerodynamic drag, by reducing or suppressing the 3D closed separation bubble located on the slanted surface. The efficiency of this control approach is quantified with the help of aerodynamic load measurements. The changes in the flow field when control is applied are examined using PIV and wall pressure measurements and skin friction visualisations. By activating the steady microjet array, the drag coefficient was reduced by 9-14% and the lift coefficient up to 42%, depending on the Reynolds number. The strong modification of the flow topology under progressive flow control is particularly studied. (orig.)

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

    Directory of Open Access Journals (Sweden)

    Hwisoo Eom

    2015-06-01

    Full Text Available 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.

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

    Science.gov (United States)

    Eom, Hwisoo; Lee, Sang Hun

    2015-06-12

    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.

  5. Intercomparison of unmanned aerial vehicle and ground-based narrow band spectrometers applied to crop trait monitoring in organic potato production

    NARCIS (Netherlands)

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

    2017-01-01

    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

  6. 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.

  7. The applications of vehicle borne and ground gamma ray spectrometry in environmental radioactivity survey and monitoring: examples from the Philippines

    International Nuclear Information System (INIS)

    Reyes, R.Y.; Petrache, C.A.; Garcia, N.Q.; Tabora, E.U.; Juson, J.G.

    2002-01-01

    In the light of the nuclear development all over the world, there is an increasing global awareness on matters related to radioactivity and radioactive accidents. As such, the Philippine Nuclear Research Institute (PNRI) acquired through a technical cooperation project with the International Atomic Energy Agency the vehicle borne (car borne) and portable (ground) gamma ray, spectrometers. The objectives of this project were to establish environmental baseline information on the natural radioactivity of the entire country and to generate radioelement maps for geological mapping and mineral resource assessment. The purpose of this paper is to present the results of the different surveys including the methodologies and techniques conducted in the country using both spectrometers in effectively mapping natural and man-made sources of radiation. A pilot survey was successfully carried out over the small island of Marinduque (989 km 2 ) using the combined car borne and ground gamma ray spectrometric survey techniques. This was in preparation of the planned nationwide survey using this approach. Highlight of this study was the production of the first natural radioactivity maps within the country. Interestingly, these maps closely reflect the local geology of Marinduque Island. Car borne gamma ray spectrometric surveys were likewise undertaken at the former US naval base in Subic and US airforce base in Clark. This was due to mounting public concern over the presence of possible radioactive contamination or materials left behind by the US military forces in these bases. Results using the gamma-ray spectrum ratio technique indicated the absence of man-made sources of radiation in areas monitored within the two bases. A sizeable part of Metro Manila, the capital of the Philippines, has also been covered by the car borne survey. Results discovered an area with high measurements of thorium. The radiation source is coming from an establishment that uses thorium nitrate in

  8. 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.

  9. 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

  10. Design of Fuzzy Enhanced Hierarchical Motion Stabilizing Controller of Unmanned Ground Vehicle in Three DimensionalSpace

    Directory of Open Access Journals (Sweden)

    Yue Ma

    2011-12-01

    Full Text Available In this paper, stabilizing control of tracked unmanned ground vehicle in 3-D space was presented. Firstly, models of major modules of tracked UGV were established. Next, to reveal the mechanism of disturbances applied on the UGV, two kinds of representative disturbances (slope and general disturbances in yaw motion were discussed in depth. Consequently, an attempting PID method was employed to compensate the impacts of disturbances andsimulation results proved the validity for disturbance incited by slope force, but revealed the lack for general disturbance on yaw motion. Finally, a hierarchical fuzzy controller combined with PID controller was proposed. In lower level, there were two PID controllers to compensate the disturbance of slope force, and on top level, the fuzzy logic controller was employed to correct the yaw motion error based on the differences between the model and the real UGV, which was able to guide the UGV maintain on the stable state. Simulation results demonstrated the excellent effectiveness of the newly designed controller.

  11. Extrinsic Parameter Calibration for Line Scanning Cameras on Ground Vehicles with Navigation Systems Using a Calibration Pattern

    Directory of Open Access Journals (Sweden)

    Alexander Wendel

    2017-10-01

    Full Text Available Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world coordinates, an accurate estimate of the camera’s 6D pose is required. This paper focuses on the common case where a mobile platform is equipped with a rigidly mounted line scanning camera, whose pose is unknown, and a navigation system providing vehicle body pose estimates. We propose a novel method that estimates the camera’s pose relative to the navigation system. The approach involves imaging and manually labelling a calibration pattern with distinctly identifiable points, triangulating these points from camera and navigation system data and reprojecting them in order to compute a likelihood, which is maximised to estimate the 6D camera pose. Additionally, a Markov Chain Monte Carlo (MCMC algorithm is used to estimate the uncertainty of the offset. Tested on two different platforms, the method was able to estimate the pose to within 0.06 m/1.05 ∘ and 0.18 m/2.39 ∘ . We also propose several approaches to displaying and interpreting the 6D results in a human readable way.

  12. 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.

  13. 9 CFR 82.10 - Interstate movement of vehicles, cages, coops, containers, troughs, and other equipment from a...

    Science.gov (United States)

    2010-01-01

    ... after being moved interstate. (c) Before moving interstate any vehicles, cages, coops, containers... other containers or equipment used by or to move pet birds moved interstate in accordance with § 82.5(a... generated by or litter used by the birds or poultry, may be moved interstate from a quarantined area only in...

  14. 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

  15. Hydrogeology, ground-water flow, and tritium movement at low-level radioactive-waste disposal site near Sheffield, Illinois

    Science.gov (United States)

    Garklavs, George; Healy, R.W.

    1986-01-01

    Groundwater flow and tritium movement are described at and near a low-level radioactive waste disposal site near Sheffield, Illinois. Flow in the shallow aquifer is confined to three basins that ultimately drain into a stripmine lake. Most of the flow from the site is through a buried, pebbly sandfilled channel. Remaining flow is toward alluvium of an existing stream. Conceptual flow models for the two largest basins are used to improve definition of flow velocity and direction. Flow velocities range from about 25 to 2,500 ft/yr. Tritium was found in all three basins. The most extensive migration of tritium is coincident with buried channel. Tritium concentrations ranged from detection level to more than 300 nanocuries/L. (USGS)

  16. Association of Prehospital Mode of Transport With Mortality in Penetrating Trauma: A Trauma System-Level Assessment of Private Vehicle Transportation vs Ground Emergency Medical Services.

    Science.gov (United States)

    Wandling, Michael W; Nathens, Avery B; Shapiro, Michael B; Haut, Elliott R

    2018-02-01

    Time to definitive care following injury is important to the outcomes of trauma patients. Prehospital trauma care is provided based on policies developed by individual trauma systems and is an important component of the care of injured patients. Given a paucity of systems-level trauma research, considerable variability exists in prehospital care policies across trauma systems, potentially affecting patient outcomes. To evaluate whether private vehicle prehospital transport confers a survival advantage vs ground emergency medical services (EMS) transport following penetrating injuries in urban trauma systems. Retrospective cohort study of data included in the National Trauma Data Bank from January 1, 2010, through December 31, 2012, comprising 298 level 1 and level 2 trauma centers that contribute data to the National Trauma Data Bank that are located within the 100 most populous metropolitan areas in the United States. Of 2 329 446 patients assessed for eligibility, 103 029 were included in this study. All patients were 16 years or older, had a gunshot wound or stab wound, and were transported by ground EMS or private vehicle. In-hospital mortality. Of the 2 329 446 records assessed for eligibility, 103 029 individuals at 298 urban level 1 and level 2 trauma centers were included in the analysis. The study population was predominantly male (87.6%), with a mean age of 32.3 years. Among those included, 47.9% were black, 26.3% were white, and 18.4% were Hispanic. Following risk adjustment, individuals with penetrating injuries transported by private vehicle were less likely to die than patients transported by ground EMS (odds ratio [OR], 0.38; 95% CI, 0.31-0.47). This association remained statistically significant on stratified analysis of the gunshot wound (OR,  0.45; 95% CI, 0.36-0.56) and stab wound (OR,  0.32; 95% CI, 0.20-0.52) subgroups. Private vehicle transport is associated with a significantly lower likelihood of death when compared with

  17. 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.

  18. Ground-water flow in the surficial aquifer system and potential movement of contaminants from selected waste-disposal sites at Cecil Field Naval Air Station, Jacksonville, Florida

    Science.gov (United States)

    Halford, K.J.

    1998-01-01

    As part of the Installation Restoration Program, Cecil Field Naval Air Station, Jacksonville, Florida, is considering remedialaction alternatives to control the possible movement of contaminants from sites that may discharge to the surface. This requires a quantifiable understanding of ground-water flow through the surficial aquifer system and how the system will respond to any future stresses. The geologic units of interest in the study area consist of sediments of Holocene to Miocene age that extend from land surface to the base of the Hawthorn Group. The hydrogeology within the study area was determined from gamma-ray and geologists? logs. Ground-water flow through the surficial aquifer system was simulated with a seven-layer, finite-difference model that extended vertically from the water table to the top of the Upper Floridan aquifer. Results from the calibrated model were based on a long-term recharge rate of 6 inches per year, which fell in the range of 4 to 10 inches per year, estimated using stream hydrograph separation methods. More than 80 percent of ground-water flow circulates within the surficial-sand aquifer, which indicates that most contaminant movement also can be expected to move through the surficial-sand aquifer alone. The surficial-sand aquifer is the uppermost unit of the surficial aquifer system. Particle-tracking results showed that the distances of most flow paths were 1,500 feet or less from a given site to its discharge point. For an assumed effective porosity of 20 percent, typical traveltimes are 40 years or less. At all of the sites investigated, particles released 10 feet below the water table had shorter traveltimes than those released 40 feet below the water table. Traveltimes from contaminated sites to their point of discharge ranged from 2 to 300 years. The contributing areas of the domestic supply wells are not very extensive. The shortest traveltimes for particles to reach the domestic supply wells from their respective

  19. Categorical templates are more useful when features are consistent: Evidence from eye movements during search for societally important vehicles.

    Science.gov (United States)

    Hout, Michael C; Robbins, Arryn; Godwin, Hayward J; Fitzsimmons, Gemma; Scarince, Collin

    2017-08-01

    Unlike in laboratory visual search tasks-wherein participants are typically presented with a pictorial representation of the item they are asked to seek out-in real-world searches, the observer rarely has veridical knowledge of the visual features that define their target. During categorical search, observers look for any instance of a categorically defined target (e.g., helping a family member look for their mobile phone). In these circumstances, people may not have information about noncritical features (e.g., the phone's color), and must instead create a broad mental representation using the features that define (or are typical of) the category of objects they are seeking out (e.g., modern phones are typically rectangular and thin). In the current investigation (Experiment 1), using a categorical visual search task, we add to the body of evidence suggesting that categorical templates are effective enough to conduct efficient visual searches. When color information was available (Experiment 1a), attentional guidance, attention restriction, and object identification were enhanced when participants looked for categories with consistent features (e.g., ambulances) relative to categories with more variable features (e.g., sedans). When color information was removed (Experiment 1b), attention benefits disappeared, but object recognition was still better for feature-consistent target categories. In Experiment 2, we empirically validated the relative homogeneity of our societally important vehicle stimuli. Taken together, our results are in line with a category-consistent view of categorical target templates (Yu, Maxfield, & Zelinsky in, Psychological Science, 2016. doi: 10.1177/0956797616640237 ), and suggest that when features of a category are consistent and predictable, searchers can create mental representations that allow for the efficient guidance and restriction of attention as well as swift object identification.

  20. 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

    OpenAIRE

    Lawton, Teri; Shelley-Tremblay, John

    2017-01-01

    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...

  1. ENHANCING THE STABILITY OF UNMANNED GROUND SPORT UTILITY VEHICLES THROUGH COORDINATED CONTROL UNDER MU-SPLIT AND GUST OF WIND

    Directory of Open Access Journals (Sweden)

    FITRI YAKUB

    2016-10-01

    Full Text Available This study describes a comparative study of steering and yaw moment control manoeuvres in model predictive control (MPC and linear quadratic control approaches for path following unmanned vehicles for different control manoeuvres: two-wheel steering, four-wheel steering, and direct yaw moment control. We then propose MPC with a proportional-integral (PI controller for the coordination of active front steering (AFS and active braking system, which particularly highlights direct yaw moment control (DYC manoeuvres. Based on the known trajectory, we tested a vehicle at middle forward speed with the disturbance consideration of the road surface adhesion and the wind for a double lane change scenario in order to follow the desired trajectory as close as possible, minimizing tracking errors, and enhancing vehicle stability and drivability. We compared two different controllers; i MPC with PI of an AFS and, ii MPC with PI for coordination of AFS and DYC. The operation of the proposed integrated control is demonstrated in a Matlab simulation environment by manoeuvring the vehicle along the desired trajectory. Simulation results showed that the proposed method had yielded better tracking performances, and were able to enhance the vehicle’s stability at a given speed even under road surface coefficient and wind.

  2. The Impact of Armor on the Design, Utilization and Survivability of Ground Vehicles: The History of Armor Development and Use

    Science.gov (United States)

    2012-09-01

    85 Figure 59. An Example of Airless Tyre Installed on a Humvee (From Greenemeier 2008...the primary tasks of movement to contact , attack, exploitation and pursuit (Headquarters Department of the Army 2008, 3–6). • Defensive Operations...the road wheels and suspension systems against threats. Figure 41. A Jordanian Centurion MBT (Note the Side Skirt) (From IHS Jane’s 2012) 57

  3. Visible and thermal spectrum synthetic image generation with DIRSIG and MuSES for ground vehicle identification training

    Science.gov (United States)

    May, Christopher M.; Maurer, Tana O.; Sanders, Jeffrey S.

    2017-05-01

    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 (ROCV) 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 that has been developed 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.

  4. Rolling Toward Better Buying Power 2.0 and Portfolio Management with the Joint Center for Ground Vehicles

    Science.gov (United States)

    2013-08-01

    dionsendre dunt at, volenis eum iriure feu feum vel et volutat. Agnis alit aut aut volore eu faccums andrerci tat aut utat. Liqui tat ing exerilit...exercinibh et dolorti scincilis doloborer at. Ut pratis am, am, velisi bla feui eu faciduismod elessit wiscinci tem dipit vel in velFeum dolorper...Vehicles Daniel Pierson Pierson is deputy program executive officer for Land Systems (Marine Corps). hen it comes to acquisition, it’s safe to say

  5. Systems engineering and integration of control centers in support of multiple programs. [ground control for STS payloads and unmanned vehicles

    Science.gov (United States)

    Miller, David N.

    1989-01-01

    The NASA Johnson Space Center's new Multiprogram Control Center (MPCC) addresses the control requirements of complex STS payloads as well as unmanned vehicles. An account is given of the relationship of the MPCC to the STS Mission Control Center, with a view to significant difficulties that may be encountered and solutions thus far devised for generic problems. Examples of MPCC workstation applications encompass telemetry decommutation, engineering unit conversion, data-base management, trajectory processing, and flight design.

  6. 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.

  7. 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

  8. Evaluation of two transport aircraft and several ground test vehicle friction measurements obtained for various runway surface types and conditions. A summary of test results from joint FAA/NASA Runway Friction Program

    Science.gov (United States)

    Yager, Thomas J.; Vogler, William A.; Baldasare, Paul

    1990-01-01

    Tests with specially instrumented NASA Boeing 737 and 727 aircraft together with several different ground friction measuring devices were conducted for a variety of runway surface types and conditions. These tests are part of joint FAA/NASA Aircraft/Ground Vehicle Runway Friction Program aimed at obtaining a better understanding of aircraft ground handling performance under adverse weather conditions and defining relationships between aircraft and ground vehicle tire friction measurements. Aircraft braking performance on dry, wet, snow and ice-covered runway conditions is discussed as well as ground vehicle friction data obtained under similar runway conditions. For a given contaminated runway surface condition, the correlation between ground vehicles and aircraft friction data is identified. The influence of major test parameters on friction measurements such as speed, test tire characteristics, type and amount of surface contaminant, and ambient temperature are discussed. The effect of surface type on wet friction levels is also evaluated from comparative data collected on grooved and ungrooved concrete and asphalt surfaces.

  9. Model-based studies into ground water movement, with water density depending on salt content. Case studies and model validation with respect to the long-term safety of radwaste repositories. Final report

    International Nuclear Information System (INIS)

    Schelkes, K.

    1995-12-01

    Near-to-reality studies into ground water movement in the environment of planned radwaste repositories have to take into account that the flow conditions are influenced by the water density which in turn depends on the salt content. Based on results from earlier studies, computer programs were established that allow computation and modelling of ground water movement in salt water/fresh water systems, and the programs were tested and improved according to progress of the studies performed under the INTRAVAL international project. The computed models of ground water movement in the region of the Gorlebener Rinne showed for strongly simplified model profiles that the developing salinity distribution varies very sensitively in response to the applied model geometry, initial input data for salinity distribution, time frame of the model, and size of the transversal dispersion length. The WIPP 2 INTRAVAL experiment likewise studied a large-area ground water movement system influenced by salt water. Based on the concept of a hydraulically closed, regional ground water system (basin model), a sectional profile was worked out covering all relevant layers of the cap rock above the salt formation planned to serve as a repository. The model data derived to describe the salt water/fresh water movements in this profile resulted in essential enlargements and modifications of the ROCKFLOW computer program applied, (relating to input data for dispersion modelling, particle-tracker, computer graphics interface), and yielded important information for the modelling of such systems (relating to initial pressure data at the upper margin, network enhancement for important concentration boundary conditions, or treatment of permeability contrasts). (orig.) [de

  10. Ground-water flow in the surficial aquifer system and potential movement of contaminants from selected waste-disposal sites at Naval Station Mayport, Florida

    Science.gov (United States)

    Halford, K.J.

    1998-01-01

    Ground-water flow through the surficial aquifer system at Naval Station Mayport near Jacksonville, Florida, was simulated with a two-layer finite-difference model as part of an investigation conducted by the U.S. Geological Survey. The model was calibrated to 229 water-level measurements from 181 wells during three synoptic surveys (July 17, 1995; July 31, 1996; and October 24, 1996). A quantifiable understanding of ground-water flow through the surficial aquifer was needed to evaluate remedial-action alternatives under consideration by the Naval Station Mayport to control the possible movement of contaminants from sites on the station. Multi-well aquifer tests, single-well tests, and slug tests were conducted to estimate the hydraulic properties of the surficial aquifer system, which was divided into three geohydrologic units?an S-zone and an I-zone separated by a marsh-muck confining unit. The recharge rate was estimated to range from 4 to 15 inches per year (95 percent confidence limits), based on a chloride-ratio method. Most of the simulations following model calibration were based on a recharge rate of 8 inches per year to unirrigated pervious areas. The advective displacement of saline pore water during the last 200 years was simulated using a particle-tracking routine, MODPATH, applied to calibrated steady-state and transient models of the Mayport peninsula. The surficial aquifer system at Naval Station Mayport has been modified greatly by natural and anthropogenic forces so that the freshwater flow system is expanding and saltwater is being flushed from the system. A new MODFLOW package (VAR1) was written to simulate the temporal variation of hydraulic properties caused by construction activities at Naval Station Mayport. The transiently simulated saltwater distribution after 200 years of displacement described the chloride distribution in the I-zone (determined from measurements made during 1993 and 1996) better than the steady-state simulation. The

  11. 3-D model-based vehicle tracking.

    Science.gov (United States)

    Lou, Jianguang; Tan, Tieniu; Hu, Weiming; Yang, Hao; Maybank, Steven J

    2005-10-01

    This paper aims at tracking vehicles from monocular intensity image sequences and presents an efficient and robust approach to three-dimensional (3-D) model-based vehicle tracking. Under the weak perspective assumption and the ground-plane constraint, the movements of model projection in the two-dimensional image plane can be decomposed into two motions: translation and rotation. They are the results of the corresponding movements of 3-D translation on the ground plane (GP) and rotation around the normal of the GP, which can be determined separately. A new metric based on point-to-line segment distance is proposed to evaluate the similarity between an image region and an instantiation of a 3-D vehicle model under a given pose. Based on this, we provide an efficient pose refinement method to refine the vehicle's pose parameters. An improved EKF is also proposed to track and to predict vehicle motion with a precise kinematics model. Experimental results with both indoor and outdoor data show that the algorithm obtains desirable performance even under severe occlusion and clutter.

  12. Hot Ground Vibration Tests

    Data.gov (United States)

    National Aeronautics and Space Administration — Ground vibration tests or modal surveys are routinely conducted to support flutter analysis for subsonic and supersonic vehicles. However, vibration testing...

  13. Ground Movement in SSRL Ring

    International Nuclear Information System (INIS)

    Sunikumar, Nikita

    2011-01-01

    Users of the Stanford Synchrotron Radiation Lightsource (SSRL) are being affected by diurnal motion of the synchrotron's storage ring, which undergoes structural changes due to outdoor temperature fluctuations. In order to minimize the effects of diurnal temperature fluctuations, especially on the vertical motion of the ring floor, scientists at SSRL tried three approaches: painting the storage ring white, covering the asphalt in the middle of the ring with highly reflective Mylar and installing Mylar on a portion of the ring roof and walls. Vertical motion in the storage ring is measured by a Hydrostatic Leveling System (HLS), which calculates the relative height of water in a pipe that extends around the ring. The 24-hr amplitude of the floor motion was determined using spectral analysis of HLS data, and the ratio of this amplitude before and after each experiment was used to quantitatively determine the efficacy of each approach. The results of this analysis showed that the Mylar did not have any significant effect on floor motion, although the whitewash project did yield a reduction in overall HLS variation of 15 percent. However, further analysis showed that the reduction can largely be attributed to a few local changes rather than an overall reduction in floor motion around the ring. Future work will consist of identifying and selectively insulating these local regions in order to find the driving force behind diurnal floor motion in the storage ring.

  14. 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.

  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. 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.

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

    Directory of Open Access Journals (Sweden)

    Marston Héracles Domingues Franceschini

    2017-06-01

    Full Text Available 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

  18. 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.

  19. A Narrative Approach to Detect the Vehicles using color, texture and edge based techniques

    Directory of Open Access Journals (Sweden)

    Gaurav Ravi

    2016-01-01

    Full Text Available Vehicle recognition is the chief stride in observing the speeding vehicles in a thruway. The feature arrangements caught by a stationary camera demonstrate to us that there’s a requirement for a vehicle location calculation which handles sudden light change furthermore the situations where the closer view converges away from plain sight. This paper gives us a study of different foundation subtraction systems that are utilized for recognizing the vehicles effectively. Vehicles proceeding onward street are of significance on the grounds that issues like movement blockage, monetary waste, sticking on the underpasses and over-extensions (if the vehicle going through is not of the passable size are connected with them. Index Terms—Vehicle Detection, video sequences, foreground, background, MATLAB, RGB conversion.

  20. Human-robot interaction modeling and simulation of supervisory control and situational awareness during field experimentation with military manned and unmanned ground vehicles

    Science.gov (United States)

    Johnson, Tony; Metcalfe, Jason; Brewster, Benjamin; Manteuffel, Christopher; Jaswa, Matthew; Tierney, Terrance

    2010-04-01

    The proliferation of intelligent systems in today's military demands increased focus on the optimization of human-robot interactions. Traditional studies in this domain involve large-scale field tests that require humans to operate semiautomated systems under varying conditions within military-relevant scenarios. However, provided that adequate constraints are employed, modeling and simulation can be a cost-effective alternative and supplement. The current presentation discusses a simulation effort that was executed in parallel with a field test with Soldiers operating military vehicles in an environment that represented key elements of the true operational context. In this study, "constructive" human operators were designed to represent average Soldiers executing supervisory control over an intelligent ground system. The constructive Soldiers were simulated performing the same tasks as those performed by real Soldiers during a directly analogous field test. Exercising the models in a high-fidelity virtual environment provided predictive results that represented actual performance in certain aspects, such as situational awareness, but diverged in others. These findings largely reflected the quality of modeling assumptions used to design behaviors and the quality of information available on which to articulate principles of operation. Ultimately, predictive analyses partially supported expectations, with deficiencies explicable via Soldier surveys, experimenter observations, and previously-identified knowledge gaps.

  1. 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.

  2. 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.

  3. Vehicle with inclinable caterpillars

    International Nuclear Information System (INIS)

    Carra, O.; Delevallee, A.

    1991-01-01

    Vehicle has a body with propulsion assemblies that drive caterpillar tracks. When a propulsion unit inclines about its articulation axis it is aided by an advance movement of the caterpillar track in the opposite direction of rotation [fr

  4. Standard for Ground Vehicle Mobility

    Science.gov (United States)

    2005-02-01

    Zone Dry climates (2), humid mesothermal (3), See Appendix A humid microthermal (4), undifferentiated highland (6) Condition Dry, wet, snow See...represent the Dry, the Humid Mesothermal, and the Humid Microthermal climate zones, respectively. Scenarios ERDC-GSL was sponsored by WARSIM to...Coast D. Humid Microthermal Climates Humid Continental, Warm Summer, Humid Continental, Cool Summer, Sub-Arctic E. Polar Climates Tundra, Ice Caps F

  5. 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.

  6. Bowel Movement

    Science.gov (United States)

    A bowel movement is the last stop in the movement of food through your digestive tract. Your stool passes out of ... what you eat and drink. Sometimes a bowel movement isn't normal. Diarrhea happens when stool passes ...

  7. 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

    2008-12-09

    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.).

  8. Liquid Oxygen Propellant Densification Unit Ground Tested With a Large-Scale Flight-Weight Tank for the X-33 Reusable Launch Vehicle

    Science.gov (United States)

    Tomsik, Thomas M.

    2002-01-01

    Propellant densification has been identified as a critical technology in the development of single-stage-to-orbit reusable launch vehicles. Technology to create supercooled high-density liquid oxygen (LO2) and liquid hydrogen (LH2) is a key means to lowering launch vehicle costs. The densification of cryogenic propellants through subcooling allows 8 to 10 percent more propellant mass to be stored in a given unit volume, thereby improving the launch vehicle's overall performance. This allows for higher propellant mass fractions than would be possible with conventional normal boiling point cryogenic propellants, considering the normal boiling point of LO2 and LH2.

  9. 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

  10. 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.

    Science.gov (United States)

    Lawton, Teri; Shelley-Tremblay, John

    2017-01-01

    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 movement

  11. 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

    Science.gov (United States)

    Lawton, Teri; Shelley-Tremblay, John

    2017-01-01

    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 movement

  12. 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.

  13. The technology applying of inflatable devices to access adaptation, movement and landing descent vehicle from Martian environment to the Earth conditions

    Science.gov (United States)

    Koryanov, Vsevolod V.; Kazakovtsev, Victor P.

    2017-07-01

    At present, the idea has emerged to use special inflatable braking device (IBD) which permits to implement the landing vehicle (LV) "soft" landing on the planet's surface without a parachute system. Braking device (BD) unfolds still at the extra-atmospheric flight stage to provide the LV passive stabilisation, and the entire apparatus together with the braking device is twisted around its longitudinal axis. The advantage of an inflatable BD over traditional non-rigid brakes - parachutes is that it can be used at the atmospheric stage of the descent, starting from hypersonic speeds, and ending subsonic ones. These main theses are implemented in the project MetNet and its sequel project RITD, using Entry, Descent and Landing System (EDLS) system [1].

  14. 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.

  15. Movement - uncoordinated

    Science.gov (United States)

    ... Loss of coordination; Coordination impairment; Ataxia; Clumsiness; Uncoordinated movement ... Smooth graceful movement requires a balance between different muscle groups. A part of the brain called the cerebellum manages this balance.

  16. Slope movements

    International Nuclear Information System (INIS)

    Wagner, P.

    2009-01-01

    On this poster some reasons of slope movements on the territory of the Slovak Republic are presented. Slope movements induced deterioration of land and forests, endangering of towns villages, and communications as well as hydro-engineering structures. Methods of preventing and stabilisation of slope movements are presented.

  17. 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. Copyright © 2016 Elsevier B.V. All rights reserved.

  18. Reduced Order Modeling for Rapid Simulations of Blast and Rollover Events of a Ground Vehicle and its Occupants Using Rigid Body Dynamic Models

    Science.gov (United States)

    2013-03-11

    were developed and integrated with the vehicle hull model. Tire dimensions used in this model were (from Michelin 335/80R20): diameter – 40.7”, tread ...List of Figures Figure 2.1 Hull Parts, Materials and Thicknesses ...their thicknesses , are shown in Fig.2.1. Figure 2.1 Hull Parts, Materials and Thicknesses LS-Dyna material MAT_PIECEWISE_LINEAR_PLASTICITY for

  19. Movement - uncontrolled or slow

    Science.gov (United States)

    Dystonia; Involuntary slow and twisting movements; Choreoathetosis; Leg and arm movements - uncontrollable; Arm and leg movements - uncontrollable; Slow involuntary movements of large muscle groups; Athetoid movements

  20. 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.

  1. Simulation of car movement along circular path

    Science.gov (United States)

    Fedotov, A. I.; Tikhov-Tinnikov, D. A.; Ovchinnikova, N. I.; Lysenko, A. V.

    2017-10-01

    Under operating conditions, suspension system performance changes which negatively affects vehicle stability and handling. The paper aims to simulate the impact of changes in suspension system performance on vehicle stability and handling. Methods. The paper describes monitoring of suspension system performance, testing of vehicle stability and handling, analyzes methods of suspension system performance monitoring under operating conditions. The mathematical model of a car movement along a circular path was developed. Mathematical tools describing a circular movement of a vehicle along a horizontal road were developed. Turning car movements were simulated. Calculation and experiment results were compared. Simulation proves the applicability of a mathematical model for assessment of the impact of suspension system performance on vehicle stability and handling.

  2. 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.

  3. Digital Modeling Phenomenon Of Surface Ground Movement

    OpenAIRE

    Ioan Voina; Maricel Palamariu; Iohan Neuner; Tudor Salagean; Dumitru Onose; Mircea Ortelecan; Anca Maria Moscovici; Mariana Calin

    2016-01-01

    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 th...

  4. Safety of high speed ground transportation systems: X2000 US demonstration vehicle dynamics trials, preliminary test report. Report for October 1992-January 1993

    Energy Technology Data Exchange (ETDEWEB)

    Whitten, B.T.; Kesler, J.K.

    1993-01-01

    The report documents the procedures, events, and results of vehicle dynamic tests carried out on the ASEA-Brown Boveri (ABB) X2000 tilt body trainset in the US between October 1992 and January 1993. These tests, sponsored by Amtrak and supported by the FRA, were conducted to assess the suitability of the X2000 trainset for safe operation at elevated cant deficiencies and speeds in Amtrak's Northeast Corridor under existing track conditions in a revenue service demonstration. The report describes the safety criteria against which the performance of the X2000 test train was examined, the instrumentation used, the test locations, and the track conditions. Preliminary results are presented from tests conducted on Amtrak lines between Philadelphia and Harrisburg, PA, and between Washington DC and New York NY, in which cant deficiencies of 12.5 inches and speeds of 154 mph were reached in a safe and controlled manner. The significance of the results is discussed, and preliminary conclusions and recommendations are presented.

  5. Protest movements

    International Nuclear Information System (INIS)

    Rucht, D.

    1989-01-01

    The author describes the development of protest movements in postwar Germay and outlines two essential overlapping 'flow cycles'. The first of these was characterised by the restaurative postwar years. It culminated and ended in the students' revolt. This revolt is at the same time the start of a second cycle of protest which encompasses all subsequent individual movement and is initated by an economic, political and sociocultural procrastination of modernisation. This cycle culminates in the late 70s and early 80s and clearly lost momentum over the last few years. The follwoing phases and themes are described profoundly: against restauration and armament in the 1950; the revolutionary impatience of the students' movement, politisation of everyday life by the womens' movement and citizens' action groups, antinuclear- and ecological movement, differentiation and stabilisation of the movement in the 70s and 80s; break-up and continuity in the German protest behaviour. The paper contains a detailed chronicle of protest activities since 1945. (orig.) [de

  6. Vehicle to Vehicle Services

    DEFF Research Database (Denmark)

    Brønsted, Jeppe Rørbæk

    2008-01-01

    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...... be evaluated. Service composition mechanisms for pervasive computing are categorized and we discuss how the characteristics of pervasive computing can be supported by service composition mechanisms. Finally, we investigate how to make pervasive computing systems capable of being noticed and understood...

  7. Aerodynamic Problems of Launch Vehicles

    Directory of Open Access Journals (Sweden)

    Kyong Chol Chou

    1984-09-01

    Full Text Available The airflow along the surface of a launch vehicle together with vase flow of clustered nozzles cause problems which may affect the stability or efficiency of the entire vehicle. The problem may occur when the vehicle is on the launching pad or even during flight. As for such problems, local steady-state loads, overall steady-state loads, buffet, ground wind loads, base heating and rocket-nozzle hinge moments are examined here specifically.

  8. Vehicle barrier systems

    International Nuclear Information System (INIS)

    Sena, P.A.

    1986-01-01

    The ground vehicle is one of the most effective tools available to an adversary force. Vehicles can be used to penetrate many types of perimeter barriers, transport equipment and personnel rapidly over long distances, and deliver large amounts of explosives directly to facilities in suicide missions. The function of a vehicle barrier system is to detain or disable a defined threat vehicle at a selected distance from a protected facility. Numerous facilities are installing, or planning to install, vehicle barrier systems and many of these facilities are requesting guidance to do so adequately. Therefore, vehicle barriers are being evaluated to determine their stopping capabilities so that systems can be designed that are both balanced and capable of providing a desired degree of protection. Equally important, many of the considerations that should be taken into account when establishing a vehicle barrier system have been identified. These considerations which pertain to site preparation, barrier selection, system integration and operation, and vehicle/barrier interaction, are discussed in this paper

  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 those...

  10. 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 defined...... note onsets and short interaction times between player and instrument do not allow for much adjustment once a stroke is initiated. The paper surveys research that shows a close relationship between movement and sound production, and how playing conditions such as tempo and the rebound after impact...

  11. Mechanistic-Based Pavement Damage Associated Cost from Oversize and Overweight Vehicles in Nevada.

    Science.gov (United States)

    2017-10-16

    The movement of overweight (OW) vehicles has become more common over the years due to its vital necessity for many important industries such as chemical, oil, defense, etc. Using OW vehicles reduces the number of vehicles on highways, potentially dec...

  12. Movement disorders

    International Nuclear Information System (INIS)

    Leenders, K.L.

    1986-01-01

    This thesis describes the measurement of brain-tissue functions in patients with movement disorders using positron emission tomography (PET). This scanning technique is a method for direct in vivo quantitation of the regional tissue content of positron emitting radionuclides in brain (or other organs) in an essentially non-invasive way. Ch. 2 outlines some general features of PET and describes the scanner which has been used for the studies in this thesis. Also the tracer methodology, as applied to data investigations of movement disorders, are discussed. Ch. 3 contains the results of the PET investigations which were performed in the study of movement disorders. The results are presented in the form of 12 papers. The main goals of these studies were the understanding of the pathophysiology of Parkinson's disease, Huntington's chorea, Steele-Richardson-Olzewski syndrome and special case reports. Ch. 4 summarizes the results of these publications and Ch. 5 concludes the main part of this thesis with a general discussion of movement disorders in relation to PET investigations. 697 refs.; 60 figs.; 31 tabs

  13. Psychodynamic Movement

    DEFF Research Database (Denmark)

    Pedersen, Inge Nygaard

    2002-01-01

    This chapter/article describes the historical development of the disciplin Psychodynamic Movement. The importance of this disciplin for self-experience and for training in developing a therapist identy for the music therapy students are emphasized. Prototypeexercises developed and simplified...

  14. Mixed Movements

    DEFF Research Database (Denmark)

    Brabrand, Helle

    2010-01-01

    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....

  15. Techniques for assessing water resource potentials in the developing countries: with emphasis on streamflow, erosion and sediment transport, water movement in unsaturated soils, ground water, and remote sensing in hydrologic applications

    Science.gov (United States)

    Taylor, George C.

    1971-01-01

    . Nuclear methodology in hydrologic applications is generally more complex than the conventional and hence requires a high level of technical expertise for effective use. Application of nuclear techniques to hydrologic problems in the developing countries is likely to be marginal for some years to come, owing to the higher costs involved and expertise required. Nuclear techniques, however, would seem to have particular promise in studies of water movement in unsaturated soils and of erosion and sedimentation where conventional techniques are inadequate, inefficient and in some cases costly. Remote sensing offers great promise for synoptic evaluations of water resources and hydrologic processes, including the transient phenomena of the hydrologic cycle. Remote sensing is not, however, a panacea for deficiencies in hydrologic data programs in the developing countries. Rather it is a means for extending and augmenting on-the-ground observations ans surveys (ground truth) to evaluated water resources and hydrologic processes on a regionall or even continental scale. With respect to economic growth goals in developing countries, there are few identifiable gaps in existing hydrologic instrumentation and methodology insofar as appraisal, development and management of available water resources are concerned. What is needed is acceleration of institutional development and professional motivation toward more effective use of existing and proven methodology. Moreover, much sophisticated methodology can be applied effectively in the developing countries only when adequate levels of indigenous scientific skills have been reached and supportive institutional frameworks are evolved to viability.

  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. Remote vehicle survey tool

    International Nuclear Information System (INIS)

    Armstrong, G.A.; Burks, B.L.; Kress, R.L.; Wagner, D.G.; Ward, C.R.

    1993-01-01

    The Remote Vehicle Survey Tool (RVS7) is a color graphical display tool for viewing remotely acquired scientific data. The RVST displays the data in the form of a color two-dimensional world model map. The world model map allows movement of the remote vehicle to be tracked by the operator and the data from sensors to be graphically depicted in the interface. Linear and logarithmic meters, dual channel oscilloscopes, and directional compasses are used to display sensor information. The RVST is user-configurable by the use of ASCII text files. The operator can configure the RVST to work with any remote data acquisition system and teleoperated or autonomous vehicle. The modular design of the RVST and its ability to be quickly configured for varying system requirements make the RVST ideal for remote scientific data display in all environmental restoration and waste management programs

  18. 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

  19. Deriving Animal Movement Behaviors Using Movement Parameters Extracted from Location Data

    Directory of Open Access Journals (Sweden)

    Maryam Teimouri

    2018-02-01

    Full Text Available We present a methodology for distinguishing between three types of animal movement behavior (foraging, resting, and walking based on high-frequency tracking data. For each animal we quantify an individual movement path. A movement path is a temporal sequence consisting of the steps through space taken by an animal. By selecting a set of appropriate movement parameters, we develop a method to assess movement behavioral states, reflected by changes in the movement parameters. The two fundamental tasks of our study are segmentation and clustering. By segmentation, we mean the partitioning of the trajectory into segments, which are homogeneous in terms of their movement parameters. By clustering, we mean grouping similar segments together according to their estimated movement parameters. The proposed method is evaluated using field observations (done by humans of movement behavior. We found that on average, our method agreed with the observational data (ground truth at a level of 80.75% ± 5.9% (SE.

  20. Interpersonal communication and issues for autonomous vehicles.

    Science.gov (United States)

    2017-06-01

    Interpersonal roadway communication is a vital component of the transportation system. Road users communicate to coordinate movement and increase roadway safety. Future autonomous vehicle research needs to account for the role of interpersonal roadwa...

  1. 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

  2. Inspection vehicle

    International Nuclear Information System (INIS)

    Takahashi, Masaki; Omote, Tatsuyuki; Yoneya, Yutaka; Tanaka, Keiji; Waki, Tetsuro; Yoshida, Tomiji; Kido, Tsuyoshi.

    1993-01-01

    An inspection vehicle comprises a small-sized battery directly connected with a power motor or a direct power source from trolly lines and a switching circuit operated by external signals. The switch judges advance or retreat by two kinds of signals and the inspection vehicle is recovered by self-running. In order to recover the abnormally stopped inspection vehicle to the targeted place, the inspection vehicle is made in a free-running state by using a clutch mechanism and is pushed by an other vehicle. (T.M.)

  3. Ground System Survivability Overview

    Science.gov (United States)

    2012-03-27

    Avoidance Blast Mitigation Optimization Customer ILIR RDT&E Funding 5.0 % 0.5% GSS has a proven, technically proficient workforce that meets...Evaluation of Defensive-Aid Suites (ARMED) Common Automatic Fire Extinguishing System ( CAFES ) Transparent Armor Development Ground Combat Vehicle...Survey TRADOC (WFO, CNA, etc) Voice of the Customer Sy st em s En gi ne er in g Publish overarching MIL-STD, design guidelines, technical

  4. 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...

  5. Ground Vehicle Navigation Using Magnetic Field Variation

    Science.gov (United States)

    2012-09-13

    points on the sphere to resolve the calibration parameters. This approach is nearly identical to 5 Vasconcelos [44]. Additionally, the composition of...possible. 1.1.5 Three-axis Magnetometer Calibration. Vasconcelos et al., addressed three-dimensional ellipsoid calibration techniques for...Strangway, David W. History of the Earth’s Magnetic Field. McGraw-Hill, Inc., New York, NY, 1970. 44. Vasconcelos , J.F., G. Elkaim, C. Silvestre, P

  6. International Assessment of Unmanned Ground Vehicles

    Science.gov (United States)

    2008-02-01

    and its funding has since been approved in 4-year blocks. 16 EDA Web Page. Background. Available: http://www.eda.europa.eu/genericitem.aspx?area...Establishment for Applied Science)], Belgium (Royal Military Acad- emy), Italy (Oto Melara of Finmeccanica), and Spain (Sener Ingenieria y Sistemas SA...ability as an international standard. 30 NATO RTO Web Site: http://www.rta.nato.int/ (Accessed January

  7. Wall Climbing Micro Ground Vehicle (MGV)

    Science.gov (United States)

    2013-09-01

    Teheran, Iran, 2004. 4. Hill, P.; Peterson, C. The Centrifugal Compressor . In Mechanics and Thermodynamics of Propulsion, 2 nd ed.; Addison-Wesley...impeller one may choose from an axial or centrifugal impeller. Impellers are designed so that they are used for a specific application. If used for other...purposes, severe mechanical damage may be inflicted upon the impeller. In this situation, a centrifugal impeller is chosen due to its ability to

  8. Unmanned Ground Vehicle (UGV) Lessons Learned

    Science.gov (United States)

    2001-11-01

    tend to be less expensive under all measures of cost ( yachts, dinosaurs , UUVs, and computer software are familiar examples of this truth...by structural proteins . The top priority for a natural organism is to survive by acquiring energy, even if this takes the sacrifice of structural...with all vital mechanisms. We might venture to propose that autonomy is a fundamental property of DNA. The ability of DNA to manufacture proteins or

  9. 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...

  10. Unmanned Ground Vehicles for Integrated Force Protection

    Science.gov (United States)

    2004-04-01

    employed. 2 Force Protection 18 MAR 02 Security Posts Squad Laptop Fire Tm Ldr Wearable Computers OP/LP Def Fight Psn SRT Sensors USA, USMC, Allied...visual systems. Attaching sensors and response devices on a monorail proved to be much more technically challenging than expected. Film producers and...facilitate experimentation with weapon aiming and firing techniques from the MRHA. grated Marsupial Delivery System was developed to transport smaller

  11. Unmanned Ground Vehicle Tactical Behaviors Technology Assessment

    National Research Council Canada - National Science Library

    Childers, Marshal A; Bodt, Barry A; Hill, Susan G; Camden, Richard; Dean, Robert M; Dodson, William F; Sutton, Lyle G; Sapronov, Leonid

    2009-01-01

    During 4-14 February 2008, the U.S. Army Research Laboratory and General Dynamics Robotic Systems conducted an unmanned systems tactical behaviors technology assessment at three training areas of Ft. Indiantown Gap, PA...

  12. Advanced Composites for Air and Ground Vehicles

    Science.gov (United States)

    2015-08-01

    Identification 140 9.3.4 Materials and Process 142 9.3.5 Trials 145 9.3.6 Results 146 9.4 Interlaminar Reinforcement of Glass Fiber /Epoxy...carbon fiber – reinforced polymer (CFRP) (left) and 8-layer quasi-isotropic CFRP laminate (right...Halloysite Density 2.5 g/cc Elastic Modulus 140 GPa Poisson Ratio 0.4 Polypropylene Density 0.9 g/cc Elastic Modulus 1.3+ 0.04 GPa

  13. Unmanned Ground Vehicle Communications Relays: Lessons Learned

    Science.gov (United States)

    2014-04-01

    tested in an underground coal mine . If the node is thinner, then a variation is one that resembles a book with the front cover as the righting element...mitigate the line-of-sight problem associated with modern high-frequency wireless communications for more than 10 years. This report documents the...These topics are summarized below, organized into five functional groups: radio-frequency principles, wireless networking, mechanical design

  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

    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.

  15. Electric vehicles

    Science.gov (United States)

    1990-03-01

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

  16. AUTOMATED COMPUTER SYSTEM OF VEHICLE VOICE CONTROL

    Directory of Open Access Journals (Sweden)

    A. Kravchenko

    2009-01-01

    Full Text Available Domestic cars and foreign analogues are considered. Failings are marked related to absence of the auxiliary electronic system which serves for the increase of safety and comfort of vehicle management. Innovative development of the complex system of vocal management which provides reliability, comfort and simplicity of movement in a vehicle is offered.

  17. Constraint Embedding for Vehicle Suspension Dynamics

    OpenAIRE

    Jain Abhinandan; Kuo Calvin; Jayakumar Paramsothy; Cameron Jonathan

    2016-01-01

    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 ...

  18. 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.

  19. Vehicle regulations.

    NARCIS (Netherlands)

    2006-01-01

    In the Netherlands, all vehicles using public roads must meet so-called permanent requirements. This is enforced by the police and, for some categories, also during the MOT. In the Netherlands, most types of motor vehicle1 can only be introduced to the market if they meet the entry requirements. For

  20. Online Dispatching Rules For Vehicle-Based Internal Transport Systems

    NARCIS (Netherlands)

    T. Le-Anh (Tuan); M.B.M. de Koster (René)

    2004-01-01

    textabstractOn-line vehicles dispatching rules are widely used in many facilities such as warehouses to control vehicles' movements. Single-attribute dispatching rules, which dispatch vehicles based on only one parameter, are used commonly. However, multi-attribute dispatching rules prove to be

  1. 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.

  2. 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.

  3. Obstacle detection system for underground mining vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Cohen, P.; Polotski, V.; Piotte, M.; Melamed, F. [Ecole Polytechnique de Montreal, Montreal, PQ (Canada)

    1998-01-01

    A device for detecting obstacles by autonomous vehicles navigating in mine drifts is described. The device is based upon structured lighting and the extraction of relevant features from images of obstacles. The system uses image profile changes, ground and wall irregularities, disturbances of the vehicle`s trajectory, and impaired visibility to detect obstacles, rather than explicit three-dimensional scene reconstruction. 7 refs., 5 figs.

  4. Functional Movement Disorder

    Science.gov (United States)

    ... Publications Patient Organizations International Parkinson and Movement Disorder Society National Institute of Mental Health (NIMH) See all related organizations Publications Order NINDS Publications Definition Psychogenic movement is an unwanted muscle movement such ...

  5. 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

  6. 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.

  7. 14 CFR 415.117 - Ground safety.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 4 2010-01-01 2010-01-01 false Ground safety. 415.117 Section 415.117... TRANSPORTATION LICENSING LAUNCH LICENSE Safety Review and Approval for Launch of an Expendable Launch Vehicle From a Non-Federal Launch Site § 415.117 Ground safety. (a) General. An applicant's safety review...

  8. Connected vehicle applications : safety.

    Science.gov (United States)

    2016-01-01

    Connected vehicle safety applications are designed to increase situational awareness : and reduce or eliminate crashes through vehicle-to-infrastructure, vehicle-to-vehicle, : and vehicle-to-pedestrian data transmissions. Applications support advisor...

  9. Online Aerial Terrain Mapping for Ground Robot Navigation

    Directory of Open Access Journals (Sweden)

    John Peterson

    2018-02-01

    Full Text Available This work presents a collaborative unmanned aerial and ground vehicle system which utilizes the aerial vehicle’s overhead view to inform the ground vehicle’s path planning in real time. The aerial vehicle acquires imagery which is assembled into a orthomosaic and then classified. These terrain classes are used to estimate relative navigation costs for the ground vehicle so energy-efficient paths may be generated and then executed. The two vehicles are registered in a common coordinate frame using a real-time kinematic global positioning system (RTK GPS and all image processing is performed onboard the unmanned aerial vehicle, which minimizes the data exchanged between the vehicles. This paper describes the architecture of the system and quantifies the registration errors between the vehicles.

  10. 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.

  11. 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

  12. Structure-From for Calibration of a Vehicle Camera System with Non-Overlapping Fields-Of in AN Urban Environment

    Science.gov (United States)

    Hanel, A.; Stilla, U.

    2017-05-01

    Vehicle environment cameras observing traffic participants in the area around a car and interior cameras observing the car driver are important data sources for driver intention recognition algorithms. To combine information from both camera groups, a camera system calibration can be performed. Typically, there is no overlapping field-of-view between environment and interior cameras. Often no marked reference points are available in environments, which are a large enough to cover a car for the system calibration. In this contribution, a calibration method for a vehicle camera system with non-overlapping camera groups in an urban environment is described. A-priori images of an urban calibration environment taken with an external camera are processed with the structure-frommotion method to obtain an environment point cloud. Images of the vehicle interior, taken also with an external camera, are processed to obtain an interior point cloud. Both point clouds are tied to each other with images of both image sets showing the same real-world objects. The point clouds are transformed into a self-defined vehicle coordinate system describing the vehicle movement. On demand, videos can be recorded with the vehicle cameras in a calibration drive. Poses of vehicle environment cameras and interior cameras are estimated separately using ground control points from the respective point cloud. All poses of a vehicle camera estimated for different video frames are optimized in a bundle adjustment. In an experiment, a point cloud is created from images of an underground car park, as well as a point cloud of the interior of a Volkswagen test car is created. Videos of two environment and one interior cameras are recorded. Results show, that the vehicle camera poses are estimated successfully especially when the car is not moving. Position standard deviations in the centimeter range can be achieved for all vehicle cameras. Relative distances between the vehicle cameras deviate between

  13. 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.

  14. 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).

  15. Electric-Drive Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    None

    2017-09-01

    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).

  16. 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.

  17. Compressed Air Production Using Vehicle Suspension

    OpenAIRE

    Ninad Arun Malpure; Sanket Nandlal Bhansali

    2015-01-01

    Abstract Generally compressed air is produced using different types of air compressors which consumes lot of electric energy and is noisy. In this paper an innovative idea is put forth for production of compressed air using movement of vehicle suspension which normal is wasted. The conversion of the force energy into the compressed air is carried out by the mechanism which consists of the vehicle suspension system hydraulic cylinder Non-return valve air compressor and air receiver. We are co...

  18. Ground water

    International Nuclear Information System (INIS)

    Osmond, J.K.; Cowart, J.B.

    1982-01-01

    The subject is discussed under the headings: background and theory (introduction; fractionation in the hydrosphere; mobility factors; radioisotope evolution and aquifer classification; aquifer disequilibria and geochemical fronts); case studies (introduction; (a) conservative, and (b) non-conservative, behaviour); ground water dating applications (general requirements; radon and helium; radium isotopes; uranium isotopes). (U.K.)

  19. Ground water

    International Nuclear Information System (INIS)

    Osmond, J.K.; Cowart, J.B.

    1992-01-01

    The great variations in concentrations and activity ratios of 234 U/ 238 U in ground waters and the features causing elemental and isotopic mobility in the hydrosphere are discussed. Fractionation processes and their application to hydrology and other environmental problems such as earthquake, groundwater and aquifer dating are described. (UK)

  20. 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 ...

  1. 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 "crossed eyes" or "walleye." Nystagmus - fast, uncontrollable movements of the eyes, sometimes called "dancing eyes" Some ...

  2. Overview of Movement Disorders

    Science.gov (United States)

    ... of Delirium Additional Content Medical News Overview of Movement Disorders By Hector A. Gonzalez-Usigli, MD, Professor ... Neurology, HE UMAE Centro Médico Nacional de Occidente; Movement Disorders Clinic, Neurology at IMSS Alberto Espay, MD, ...

  3. Ground-water monitoring and modeling at the Hanford Site

    International Nuclear Information System (INIS)

    Mitchell, P.J.; Freshley, M.D.

    1987-01-01

    The ground-water monitoring program at the Hanford Site in southeastern Washington State is continually evolving in response to changing operations at the site, changes in the ground-water flow system, movement of the constituents in the aquifers, and regulatory requirements. Sampling and analysis of ground water, along with ground-water flow and solute transport modeling are used to evaluate the movement and resulting distributions of radionuclides and hazardous chemical constituents in the unconfined aquifer. Evaluation of monitoring results, modeling, and information on waste management practices are being combined to continually improve the network of ground-water monitoring wells at the site

  4. Ground-water monitoring and modeling at the Hanford Site

    International Nuclear Information System (INIS)

    Mitchell, P.J.; Freshley, M.D.

    1987-01-01

    The ground-water monitoring program at the Hanford Site in southeastern Washington State is continually evolving in response to changing operations at the site, changes in the ground-water flow system, movement of the constituents in the aquifers, and regulatory requirements. Sampling and analysis of ground water, along with ground-water flow and solute transport modeling are used ito evaluate the movement and resulting distributions of radionuclides and hazardous chemical constituents in the unconfined aquifer. Evaluation of monitoring results, modeling, and information on waste management practices are being combined to continually improve the network of ground-water monitoring wells at the site

  5. The Dependency Axiom and the Relation between Agreement and Movement

    Science.gov (United States)

    Linares Scarcerieau, Carlo Andrei

    2012-01-01

    Agreement and movement go hand in hand in a number of constructions across languages, and this correlation has played an important role in syntactic theory. The current standard approach to this "movement-agreement connection" is the Agree+EPP model, whose EPP component has often been questioned on conceptual grounds. The goal of this…

  6. Vehicle Controller

    Science.gov (United States)

    1985-01-01

    UNISTICK is an airplane-like joystick being developed by Johnson Engineering under NASA and VA sponsorship. It allows a driver to control a vehicle with one hand, and is based upon technology developed for the Apollo Lunar Landings of the 1970's. It allows severely handicapped drivers to operate an automobile or van easily. The system is expected to be in production by March 1986.

  7. Independence of Movement Preparation and Movement Initiation.

    Science.gov (United States)

    Haith, Adrian M; Pakpoor, Jina; Krakauer, John W

    2016-03-09

    Initiating a movement in response to a visual stimulus takes significantly longer than might be expected on the basis of neural transmission delays, but it is unclear why. In a visually guided reaching task, we forced human participants to move at lower-than-normal reaction times to test whether normal reaction times are strictly necessary for accurate movement. We found that participants were, in fact, capable of moving accurately ∼80 ms earlier than their reaction times would suggest. Reaction times thus include a seemingly unnecessary delay that accounts for approximately one-third of their duration. Close examination of participants' behavior in conventional reaction-time conditions revealed that they generated occasional, spontaneous errors in trials in which their reaction time was unusually short. The pattern of these errors could be well accounted for by a simple model in which the timing of movement initiation is independent of the timing of movement preparation. This independence provides an explanation for why reaction times are usually so sluggish: delaying the mean time of movement initiation relative to preparation reduces the risk that a movement will be initiated before it has been appropriately prepared. Our results suggest that preparation and initiation of movement are mechanistically independent and may have a distinct neural basis. The results also demonstrate that, even in strongly stimulus-driven tasks, presentation of a stimulus does not directly trigger a movement. Rather, the stimulus appears to trigger an internal decision whether to make a movement, reflecting a volitional rather than reactive mode of control. Copyright © 2016 the authors 0270-6474/16/363007-10$15.00/0.

  8. 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 interaction we will briefly introduce and discuss how learning, mapping and multi-user interaction are important when designing movement based interaction....

  9. Recent crustal movements

    Science.gov (United States)

    Maelzer, H.

    Calculation of temporal height changes for the determination of recent vertical crustal movements in northern, western, and southern Germany is described. Precise geodetic measurements and their analysis for the determination of recent crustal movements in north-eastern Iceland, western Venezuela, and central Peru are described. Determination of recent vertical crustal movements by leveling and gravity data; geodetic modeling of deformations and recent crustal movements; geodetic modeling of plate motions; and instrumental developments in geodetic measuring are discussed.

  10. 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...

  11. Ground Pollution Science

    International Nuclear Information System (INIS)

    Oh, Jong Min; Bae, Jae Geun

    1997-08-01

    This book deals with ground pollution science and soil science, classification of soil and fundamentals, ground pollution and human, ground pollution and organic matter, ground pollution and city environment, environmental problems of the earth and ground pollution, soil pollution and development of geological features of the ground, ground pollution and landfill of waste, case of measurement of ground pollution.

  12. Intelligent Control Of An Electric Vehicle ICEV

    Directory of Open Access Journals (Sweden)

    Taoufik Chaouachi

    2017-01-01

    Full Text Available The electric vehicle allows fast gentle quiet and environmentally friendly movements in industrial and urban environments. The automotive industry has seen the opportunity to revive its production by replacing existing vehicles due to the reluctance of oil reserves around the world. In order to greatly reduce countries dependence on oil strategic sectors such as transport must increasingly integrate technologies based primarily on clean and renewable energy. Governments must implement large-scale measures to equip themselves with electric vehicles and build large recharge networks. The traditional system for conversions of conventional vehicles into electric vehicles consists of replacing the internal combustion engine and the gearbox with electrical components engine and gearbox or engine and gearbox retaining the rest of the elements Transmission transmission shafts etc..

  13. 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.

  14. 29 CFR 1926.601 - Motor vehicles.

    Science.gov (United States)

    2010-07-01

    ... vehicles. (10) Trucks with dump bodies shall be equipped with positive means of support, permanently attached, and capable of being locked in position to prevent accidental lowering of the body while... material shall be secured to prevent movement when transported in the same compartment with employees. (8...

  15. Securing the Chernobyl exclusion zone against illegal movement of radioactive materials

    International Nuclear Information System (INIS)

    Bondarenko, O. O.; Proskura, M. I.; Duftschmid, K. E.; Kravchencko, N. E.

    2004-01-01

    . Within the framework of the IAEA Nuclear Security Program the technical cooperation project S trengthening Security of Nuclear Materials in Ukraine ( UKR/0/008) is aimed primarily to strengthen protection the entrance/exit checkpoints of the Chernobyl exclusion zone and adjacent State borders of Ukraine against illicit movement of radioactive materials (including nuclear materials). The particular situation of the exclusion zone presents a high risk of uncontrolled movement of radioactive materials from and into the exclusion zone. In view of the future construction of the S helter-2 a nd decommissioning of the three closed reactor blocks it is expected that the traffic through the exclusion zone will considerably increase in the next years and those large amounts of possibly contaminated metal scrap, construction material and equipment will leave the zone. There is also a risk of illegal movement of radioactive waste into the zone, possibly also through the international border, which could make the zone to an illegal dumping ground for radioactive waste. As practice shows theft of nuclear materials cannot be excluded. The general concept of the project is based on modernization of old and deployment of new vehicle (road and railway) and pedestrian monitoring equipment at all checkpoints of the exclusion zone including road checkpoints, train stations and river ports. A central station of data acquisition and management is to be located in Chernobyl. The equipment to be installed has to meet new technical requirements developed by IAEA. This includes, e.g. sensitivity of gamma and neutron detection, identification of innocent alarms caused by NORM materials or medical radioisotopes, accurate indication of the source position in the vehicle, and remote identification of license plate by advanced video systems. The implementation of the project and deployment of the equipment is expected to start in 2003 and should be completed in 2005. (Author)

  16. Communication grounding facility

    International Nuclear Information System (INIS)

    Lee, Gye Seong

    1998-06-01

    It is about communication grounding facility, which is made up twelve chapters. It includes general grounding with purpose, materials thermal insulating material, construction of grounding, super strength grounding method, grounding facility with grounding way and building of insulating, switched grounding with No. 1A and LCR, grounding facility of transmission line, wireless facility grounding, grounding facility in wireless base station, grounding of power facility, grounding low-tenton interior power wire, communication facility of railroad, install of arrester in apartment and house, install of arrester on introduction and earth conductivity and measurement with introduction and grounding resistance.

  17. Reusable Launch Vehicle Technology Program

    Science.gov (United States)

    Freeman, Delma C., Jr.; Talay, Theodore A.; Austin, R. Eugene

    1997-01-01

    Industry/NASA reusable launch vehicle (RLV) technology program efforts are underway to design, test, and develop technologies and concepts for viable commercial launch systems that also satisfy national needs at acceptable recurring costs. Significant progress has been made in understanding the technical challenges of fully reusable launch systems and the accompanying management and operational approaches for achieving a low cost program. This paper reviews the current status of the RLV technology program including the DC-XA, X-33 and X-34 flight systems and associated technology programs. It addresses the specific technologies being tested that address the technical and operability challenges of reusable launch systems including reusable cryogenic propellant tanks, composite structures, thermal protection systems, improved propulsion and subsystem operability enhancements. The recently concluded DC-XA test program demonstrated some of these technologies in ground and flight test. Contracts were awarded recently for both the X-33 and X-34 flight demonstrator systems. The Orbital Sciences Corporation X-34 flight test vehicle will demonstrate an air-launched reusable vehicle capable of flight to speeds of Mach 8. The Lockheed-Martin X-33 flight test vehicle will expand the test envelope for critical technologies to flight speeds of Mach 15. A propulsion program to test the X-33 linear aerospike rocket engine using a NASA SR-71 high speed aircraft as a test bed is also discussed. The paper also describes the management and operational approaches that address the challenge of new cost effective, reusable launch vehicle systems.

  18. 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.

  19. Tracking the movement of Hawaiian volcanoes; Global Positioning System (GPS) measurement

    Science.gov (United States)

    Dvorak, J.J.

    1992-01-01

    Most, if not all, volcanic eruptions are preceded by surface movements near the volcano. These ground movements are the response of the shallow crust to the accumulation of the magma or the buildup of magma pressure within a subterranean reservoir beneath the volcano. As the magma reservoir expands, the summit and the flanks of the volcano rise and spread apart. Measurements made at many volcanoes show that slow ground movement may precede an eruption by as many as several years. Sudden increases in the rate of ground movement often precede an eruption by a few hours or days.

  20. Connected vehicle application : safety.

    Science.gov (United States)

    2015-01-01

    Connected vehicle safety applications are designed to increase situational awareness : and reduce or eliminate crashes through vehicle-to-infrastructure (V2I), vehicle-to-vehicle (V2V), and vehicle-to-pedestrian (V2P) data transmissions. Applications...

  1. Movement monitoring device

    International Nuclear Information System (INIS)

    Ichikawa, Takashi; Yoneda, Yasuaki; Hanatsumi, Masaharu.

    1997-01-01

    The present invention provides a device suitable to accurate recognition for the moving state of reactor core fuels as an object to be monitored in a nuclear power plant. Namely, the device of the present invention prepares each of scheduled paths for the movement of the object to be monitored and executed moving paths along with the movement based on the information of the movement obtained from scheduled information for the movement of the reactor core fuels as a object to be monitored and the actual movement of the object to be monitored. The results of the preparation are outputted. As an output mode, (1) the results of preparation for each of the paths for movement and the results of the monitoring obtained by monitoring the state of the object to be monitored are jointed and outputted, (2) images showing each of the paths for the movement are formed, and the formed images are displayed on a screen, and (3) each of the moving paths is prepared as an image, and the image is displayed together with the image of the regions before and after the movement of the object to be monitored. In addition, obtained images of each of the paths for the movement and the monitored images obtained by monitoring the state of the object to be monitored are joined and displayed. (I.S.)

  2. Classification of movement disorders.

    Science.gov (United States)

    Fahn, Stanley

    2011-05-01

    The classification of movement disorders has evolved. Even the terminology has shifted, from an anatomical one of extrapyramidal disorders to a phenomenological one of movement disorders. The history of how this shift came about is described. The history of both the definitions and the classifications of the various neurologic conditions is then reviewed. First is a review of movement disorders as a group; then, the evolving classifications for 3 of them--parkinsonism, dystonia, and tremor--are covered in detail. Copyright © 2011 Movement Disorder Society.

  3. Sensation of Movement

    DEFF Research Database (Denmark)

    Sensation of Movement will discuss the role of sensation in the control of action, bodily self-recognition, and sense of agency. Sensing movement is dependent on a range of information received by the brain, from signalling in the peripheral sensory organs to the establishment of higher order goals....... This volume will question whether one type of information is more relevant for the ability to sense and control movements, and demonstrate the importance of integrating neuroscientific knowledge with philosophical perspectives, in order to arrive at new insights into how sensation of movement can be studied...

  4. '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...... ethnic and religious diversity of the neighbourhood and, further, to frame what they see as the deterioration of genuine Danish identity....

  5. Evaluation of the dispersion effect in through movement bicycles at signalized intersection via cellular automata simulation

    Science.gov (United States)

    Jiang, Hang; Ma, Yongjian; Jiang, Lin; Chen, Guozhou; Wang, Dongwei

    2018-05-01

    At signalized intersection areas, bicycle traffic presents a dispersion feature which may influence the movements of vehicles during peak period. The primary objective of this study is to simulate the dispersion effect in through-movement bicycle traffic at intersection areas and evaluate its influence on through-movement traffic. A cellular automata (CA) model is developed and validated to simulate the operations of through-movement bicycle traffic departing from two types of intersection approaches. Simulation results show that bicycles benefit from the dispersion effect when they depart from the approach with an exclusive right-turn vehicle lane. But when bicycles travel from the approach with a shared right-turn and through vehicle lane, the dispersion effect will result in friction interference and block interference on through-movement vehicles. Bicycle interferences reduce the vehicle speed and increase the delay of through-movement vehicles. The policy implications in regard to the dispersion effect from two types of approaches are discussed to improve the performance of through-movement traffic operations at signalized intersections.

  6. The Rastafarian Movement in South Africa: A Religion or Way of Life ...

    African Journals Online (AJOL)

    Rastafarians object to the classification of their movement as a religion. Their objection is based on the belief that the movement is more of a way of life than a religion. This is in spite of the fact that the movement is grounded on religious principles which makes non-Rastafarians to view it as a religion. In order to understand ...

  7. Dynamic performances analysis of a real vehicle driving

    Science.gov (United States)

    Abdullah, M. A.; Jamil, J. F.; Salim, M. A.

    2015-12-01

    Vehicle dynamic is the effects of movement of a vehicle generated from the acceleration, braking, ride and handling activities. The dynamic behaviours are determined by the forces from tire, gravity and aerodynamic which acting on the vehicle. This paper emphasizes the analysis of vehicle dynamic performance of a real vehicle. Real driving experiment on the vehicle is conducted to determine the effect of vehicle based on roll, pitch, and yaw, longitudinal, lateral and vertical acceleration. The experiment is done using the accelerometer to record the reading of the vehicle dynamic performance when the vehicle is driven on the road. The experiment starts with weighing a car model to get the center of gravity (COG) to place the accelerometer sensor for data acquisition (DAQ). The COG of the vehicle is determined by using the weight of the vehicle. A rural route is set to launch the experiment and the road conditions are determined for the test. The dynamic performance of the vehicle are depends on the road conditions and driving maneuver. The stability of a vehicle can be controlled by the dynamic performance analysis.

  8. Monitoring current rates of salt dome movement

    International Nuclear Information System (INIS)

    Thoms, R.L.; Manning, T.A.

    1977-01-01

    The tectonic stability of salt domes is a major concern for long-term domal storage of noxious wastes. A necessary phase of the many faceted dome storage study includes obtaining a measure of current vertical movement of any potential storage dome. This information then can be combined with data obtained from studies involving geologic time scales so as to provide a history of dome movement that includes present time. A system of instrumentation for monitoring current rates of dome movement is described. Complimentary finite element modelling of plausible dome movement also is presented. The proposed instrumentation system includes tiltmeters, precise levelling, laser ranging, and monitoring of microseisms. Thus, components of rotation and vertical and horizontal movements at the ground surface over a dome can be monitored. In addition, a measure of dome movement also may be obtained acoustically. The finite element modelling furnishes an aid for: (1) locating instrument sites over a dome so as to maximize instrument sensitivity, and (2) interpreting data obtained from the instrumentation system. An example of tiltmeter installation and operation over a dome in northwest Louisiana is included. Typical tiltmeter output is presented and discussed

  9. Connected vehicles and cybersecurity.

    Science.gov (United States)

    2016-01-01

    Connected vehicles are a next-generation technology in vehicles and in infrastructure that will make travel safer, cleaner, and more efficient. The advanced wireless technology enables vehicles to share and communicate information with each other and...

  10. Development of collaborative system of multicopter and Unmanned-Ground-Vehicle for exploration of the high altitude area in the building. Foldable-Arm-Multicopter and Tethered-Landing-System

    International Nuclear Information System (INIS)

    Kiribayashi, Seiga; Nagatani, Keiji

    2016-01-01

    Since the accident at Fukushima Daiichi Nuclear Power Station in 2011, the robots for exploring the power station buildings have been working and developing. Each floor of the building has a high ceiling, and it is important to check the pipes near the ceiling. However, the existing robots used for exploring high places in the building have lift mechanisms attached to them and cannot climb stairs because of their heavy weight and little traveling performance. In this paper, we propose a system for exploring a high place of the upper floor by using Unmanned Aerial Vehicles (UAVs), especially multicopters and UGVs as substitutes for the lift-type robots. In the power station building, robots go through passageways to explore, so the size of the robots is defined by the width of the passageway. On the other hand, the multicopter is more efficient and can carry heavier payload when it uses large propellers. Therefore, we have developed a multicopter whose arm can fold when on the UGV to decrease the width of the robot and automatically extend when it flies. Furthermore, we have developed a tether-winding helipad to land the multicopter automatically with high accuracy. Finally, we have tested and confirmed the availability of the proposed system with the UGV. (author)

  11. 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.

  12. 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

  13. [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…

  14. Dynamics of human movement

    NARCIS (Netherlands)

    Koopman, Hubertus F.J.M.

    2010-01-01

    The part of (bio)mechanics that studies the interaction of forces on the human skeletal system and its effect on the resulting movement is called rigid body dynamics. Some basic concepts are presented: A mathematical formulation to describe human movement and how this relates on the mechanical loads

  15. The effects of pushback delays on airport ground movement

    OpenAIRE

    Stergianos, Christofas; Atkin, Jason; Schittekat, Patrick; Nordlander, Tomas Eric; Gerada, C.; Morvan, Herve

    2015-01-01

    With the constant increase in air traffic, airports are facing capacity problems. Optimisation methods for specific airport processes are starting to be increasingly utilised by many large airports. However, many processes do happen in parallel, and maximising the potential benefits will require a more complex optimisation model, which can consider multiple processes simultaneously and take into account the detailed complexities of the processes where necessary, rather than using more abstrac...

  16. 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...... deals with theory....

  17. Ground water movements around a repository. Rock mechanics analyses

    International Nuclear Information System (INIS)

    Ratigan, J.L.

    1977-09-01

    The determination and rational assessment of groundwater flow around a repository depends upon the accurate analysis of several interdependent and coupled phenomenological events occuring within the rock mass. In particular, the groundwater flow pathways (joints) are affected by the excavation and thermomechanical stresses developed within the rock mass, and the properties, of the groundwater are altered by the temperature perturbations in the rock mass. The objective of this report is to present the results of the rock mechanics analysis for the repository excavation and the thermally-induced loadings. Qualitative analysis of the significance of the rock mechanics results upon the groundwater flow is provided in this report whenever such an analysis can be performed. Non-linear rock mechanics calculations have been completed for the repository storage tunnels and the global repository domain. The rock mass has been assumed to possess orthoganol joint sets or planes of weakness with finite strength characteristics. In the local analyses of the repository storage tunnels the effects of jointorientation and repository ventilation have been examined. The local analyses indicated that storage room support requirements and regions of strength failure are highly dependent upon joint orientation. The addition of storage tunnel ventilation was noted to reduce regions of strength failure, particularly during the 30 year operational phase of the repository. Examination of the local stresses around the storage tunnels indicated the potential for perturbed hydraulic permeabilities. The permeabilities can be expected to be altered to a greater degree by the stresses resulting from excavation than from stresses which are thermally induced. The thermal loading provided by the instantaneous waste emplacement resulted in stress states and displacements quite similar to those provided by the linear waste emplacement sequence

  18. The Anadyomene Movement: metamorphics of figure-ground

    OpenAIRE

    Morley, Simon

    2012-01-01

    ‘Figure-ground’ is about the production of meaning based on the perception of contrasts or binary oppositions and segregations. Viewers of my paintings, and of the kind of paintings that interest me, have the impression that the ‘figure’ subsides or slips or fades into ‘ground’, or that the ‘ground’ is more powerful or dominant than the‘figure’, or that the ‘figure’ is insecurely attached, suggesting it is incapable, unwilling, too acquiescent or complicit to fully differentiate itself from t...

  19. 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...

  20. 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

  1. Ground-Water Protection and Monitoring Program

    International Nuclear Information System (INIS)

    Dresel, P.E.

    1995-01-01

    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

  2. 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.

  3. Islamic Puritanism Movements in Indonesia as Transnational Movements

    Directory of Open Access Journals (Sweden)

    Benny Baskara

    2017-04-01

    Full Text Available Islamic puritanism movements are the movements compelling to return to the teachings of Quran and Sunnah, as the pure teachings of Islam and abandon even abolish other teachings outside the teachings of Quran and Sunnah. The movements of Islamic puritanism can be considered as transnational movements because they spread their teachings and ideologies, create organizations, networks, and provide financial supports across nations. This paper describes Islamic puritanism movements in Indonesia and their transnational connections. Some Islamic puritanism movements in Indonesia can be considered as part of Islamic transnational movements, in which most of the movements are centered in the Middle East. In Indonesia, Islamic puritanism movements firstly appeared in the beginning of the nineteenth century, called Padri movement in West Sumatra. It was then continued to the emergence of Islamic organizations in the twentieth century. Recently, Islamic puritanism movements in Indonesia mostly take form as Salafism-Wahabism movements.

  4. Mobility Systems For Robotic Vehicles

    Science.gov (United States)

    Chun, Wendell

    1987-02-01

    The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

  5. The Irish Women's Movement

    OpenAIRE

    Cullen, Pauline

    2015-01-01

    Ireland’s long history of patriarchy is matched by the ongoing evolution of its women’s movements. Today’s complex, transnational feminism finds its precursor in the colonial era. The first wave of the Irish women’s movement dates from the mid-19th century, with the franchise secured for women in 1918 while still under British colonial rule. First-wave feminists played a role in the nationalist movement, but their demands were sidelined later, during the construction of a conserva...

  6. Music and movement

    OpenAIRE

    Nasev, Lence

    2012-01-01

    Rhythm is one of the fundamental elements without which music would not exist. In plays with singing, a child learns to synchronize its movements with the rhythm of music from a very early age. The skill of movement plays a major role in the learning of music and thus deserves an important place in the school curriculum. In this paper, an overview is made of the most important music pedagogues who introduced movement, and at the same time perceived its importance in learning musical conte...

  7. Electric and hybrid vehicles

    Science.gov (United States)

    1979-01-01

    Report characterizes state-of-the-art electric and hybrid (combined electric and heat engine) vehicles. Performance data for representative number of these vehicles were obtained from track and dynamometer tests. User experience information was obtained from fleet operators and individual owners of electric vehicles. Data on performance and physical characteristics of large number of vehicles were obtained from manufacturers and available literature.

  8. Pollutant infiltration and ground water management

    International Nuclear Information System (INIS)

    1993-01-01

    Following a short overview of hazard potentials for ground water in Germany, this book, which was compiled by the technical committee of DVWK on ground water use, discusses the natural scientific bases of pollutant movement to and in ground water. It points out whether and to what extent soil/ground water systems can be protected from harmful influences, and indicates relative strategies. Two zones are distinguished: the unsaturated zone, where local defence and remedial measures are frequently possible, and the saturated zone. From the protective function of geological systems, which is always pollutant-specific, criteria are derived for judging the systems generally, or at least regarding entire classes of pollutants. Finally, the impact of the infiltration of pollutants into ground water on its use as drinking water is pointed out and an estimate of the cost of remedial measures is given. (orig.) [de

  9. The French ecological movement

    International Nuclear Information System (INIS)

    Sansen, Bernard

    1977-01-01

    The analysis of the ecological Movement in France is presented: its organisation, its topics, its position with respect to the main political trends. The accent is put in particular on the antinuclear contestation [fr

  10. 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.

  11. Movement and personality development

    Directory of Open Access Journals (Sweden)

    Aida M. Aylamazyan

    2017-06-01

    Full Text Available The paper discusses the role of the movement in the process of shaping the personality, its importance as a mechanism for personality development is considered. The issue of the movement has always occupied a central place in Russian psychology. However, subsequently the movement began to be considered primarily as an executive action in human life. The role of movement in personality development can vary depending on the level it occupies in the hierarchical structure of activity, and also on the type of movement, its character, and the way it is constructed. Under certain conditions, the movement can express the attitude of the subject to the surrounding world and people. Many foreign and Russian psychologists point to a special place of the postural tonic component of the motor movement, the posture in personal regulation. The posture reflects his/her personal attitudes, the system of relationships, and, above all, the emotional attitude or emotional assessment of the current situation, the interest in the actions performed. Mastering the tonic level of motor management is based on the emotional regulation, so the ability to regulate one’s own pose is an important stage in the personality development. Posture tonic regulation of motor movements in humans reveals a qualitatively different character than in animals, this being due to the person’s facing the task of mastering his’her posture, arbitrary retention of the body in one or another position. Maintaining a vertical posture requires constant activity at an arbitrary and involuntary level of mental regulation. Mastering the posture of an unstable equilibrium presupposes the emergence of the «I» and is the last stage of the development. The way a person solves the motor task of maintaining the vertical position of the body reflects his/her specific personal strategy or attitude.

  12. Rooted in Movement

    DEFF Research Database (Denmark)

    The result of the synergy between four doctoral projects and an advanced MA-level course on Bronze Age Europe, this integrated assemblage of articles represents a variety of different subjects united by a single theme: movement. Ranging from theoretical discussion of the various responses to and ...... period of European prehistory. In so doing, the text not only addresses transmission and reception, but also the conceptualization of mobility within a world which was literally Rooted in Movement....

  13. Energy Intensity of the Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Mieczysław Dziubiński

    2017-12-01

    Full Text Available Continuous energy intensity is a dependency between continuous energy intensity and energy intensity of movement. In the paper it is proposed analyze energy intensity of the movement, as the size specifying the power demand to the wheel drive and presented the balance of power of an electric car moving in the urban cycle. The object of the test was the hybrid vehicle with an internal combustion engine and electric motor. The measurements were carried out for 4 speeds and 2 driving profiles.

  14. Vehicle Based Vector Sensor

    Science.gov (United States)

    2015-09-28

    buoyant underwater vehicle with an interior space in which a length of said underwater vehicle is equal to one tenth of the acoustic wavelength...underwater vehicle with an interior space in which a length of said underwater vehicle is equal to one tenth of the acoustic wavelength; an...unmanned underwater vehicle that can function as an acoustic vector sensor. (2) Description of the Prior Art [0004] It is known that a propagating

  15. Paraneoplastic autoimmune movement disorders.

    Science.gov (United States)

    Lim, Thien Thien

    2017-11-01

    To provide an overview of paraneoplastic autoimmune disorders presenting with various movement disorders. The spectrum of paraneoplastic autoimmune disorders has been expanding with the discovery of new antibodies against cell surface and intracellular antigens. Many of these paraneoplastic autoimmune disorders manifest as a form of movement disorder. With the discovery of new neuronal antibodies, an increasing number of idiopathic or neurodegenerative movement disorders are now being reclassified as immune-mediated movement disorders. These include anti-N-methyl-d-aspartate receptor (NMDAR) encephalitis which may present with orolingual facial dyskinesia and stereotyped movements, CRMP-5 IgG presenting with chorea, anti-Yo paraneoplastic cerebellar degeneration presenting with ataxia, anti-VGKC complex (Caspr2 antibodies) neuromyotonia, opsoclonus-myoclonus-ataxia syndrome, and muscle rigidity and episodic spasms (amphiphysin, glutamic acid decarboxylase, glycine receptor, GABA(A)-receptor associated protein antibodies) in stiff-person syndrome. Movement disorders may be a presentation for paraneoplastic autoimmune disorders. Recognition of these disorders and their common phenomenology is important because it may lead to the discovery of an occult malignancy. Copyright © 2017 Elsevier Ltd. All rights reserved.

  16. Nuclear movement in fungi.

    Science.gov (United States)

    Xiang, Xin

    2017-12-11

    Nuclear movement within a cell occurs in a variety of eukaryotic organisms including yeasts and filamentous fungi. Fungal molecular genetic studies identified the minus-end-directed microtubule motor cytoplasmic dynein as a critical protein for nuclear movement or orientation of the mitotic spindle contained in the nucleus. Studies in the budding yeast first indicated that dynein anchored at the cortex via its anchoring protein Num1 exerts pulling force on an astral microtubule to orient the anaphase spindle across the mother-daughter axis before nuclear division. Prior to anaphase, myosin V interacts with the plus end of an astral microtubule via Kar9-Bim1/EB1 and pulls the plus end along the actin cables to move the nucleus/spindle close to the bud neck. In addition, pushing or pulling forces generated from cortex-linked polymerization or depolymerization of microtubules drive nuclear movements in yeasts and possibly also in filamentous fungi. In filamentous fungi, multiple nuclei within a hyphal segment undergo dynein-dependent back-and-forth movements and their positioning is also influenced by cytoplasmic streaming toward the hyphal tip. In addition, nuclear movement occurs at various stages of fungal development and fungal infection of plant tissues. This review discusses our current understanding on the mechanisms of nuclear movement in fungal organisms, the importance of nuclear positioning and the regulatory strategies that ensure the proper positioning of nucleus/spindle. Published by Elsevier Ltd.

  17. Antiglobalization movements and their critics

    DEFF Research Database (Denmark)

    Corry, Olaf

    2012-01-01

    inequity, organize transnationally, and maintain a critical stance toward significant aspects of the state system. For this reason, many supporters favor other terms such as alterglobalization movement, global justice movement , or simply the movement of movements . Critics accuse the movements...... of ideological incoherence, self-interested protectionism, and illiberal and undemocratic political methods, and point to Western liberal elite dominance within the movements. The debate has ...

  18. Hybrid Aerial/Rover Vehicle

    Science.gov (United States)

    Bachelder, Aaron

    2003-01-01

    A proposed instrumented robotic vehicle called an "aerover" would fly, roll along the ground, and/or float on bodies of liquid, as needed. The aerover would combine features of an aerobot (a robotic lighter-than-air balloon) and a wheeled robot of the "rover" class. An aerover would also look very much like a variant of the "beach-ball" rovers. Although the aerover was conceived for use in scientific exploration of Titan (the largest moon of the planet Saturn), the aerover concept could readily be adapted to similar uses on Earth.

  19. Reusable launch vehicle development research

    Science.gov (United States)

    1995-01-01

    NASA has generated a program approach for a SSTO reusable launch vehicle technology (RLV) development which includes a follow-on to the Ballistic Missile Defense Organization's (BMDO) successful DC-X program, the DC-XA (Advanced). Also, a separate sub-scale flight demonstrator, designated the X-33, will be built and flight tested along with numerous ground based technologies programs. For this to be a successful effort, a balance between technical, schedule, and budgetary risks must be attained. The adoption of BMDO's 'fast track' management practices will be a key element in the eventual success of NASA's effort.

  20. 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.

  1. 9 CFR 82.24 - Other interstate movements and special permits.

    Science.gov (United States)

    2010-01-01

    ... issued, and the special conditions under which the interstate movement, or cleaning and disinfection, may...; and (iv) The reason for the interstate movement. (2) For cleaning and disinfection, the special permit... prescribed by this subpart. A special permit is required for the disinfection of vehicles, premises, cages...

  2. 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.

  3. [Scenes in movement. Movement disorders on film].

    Science.gov (United States)

    Olivares Romero, J

    2010-03-01

    There are publications in which various neurological diseases are analysed on film. However, no references have been found on movement disorders in this medium. A total of 104 documents were collected and reviewed using the internet movie data base (IMDb). The majority were associated with dystonia, Parkinson's and tics, were American commercial productions, and the most common genre was drama. The cinema usually depicts old men with developed Parkinson's disease. However, motor complications only appear in 19% and non-motor symptoms in 14%. The image of dystonia is generally that of a young man, with disabling dystonia secondary to childhood cerebral palsy. Tics appear associated with Tourette's syndrome, with the excessive use of obscene expressions and with very few references to other important aspects of this syndrome, such as mood and behavioural changes. The majority of tremors portrayed on film are associated with Parkinsonism and are not pathological. Myoclonus appears anecdotically and is normally symptomatic. Parkinson's disease is the type of movement disorder that the cinema portrays with greater neurological honesty and in a more dignified manner.

  4. Ground water '89

    International Nuclear Information System (INIS)

    1989-01-01

    The proceedings of the 5th biennial symposium of the Ground Water Division of the Geological Society of South Africa are presented. The theme of the symposium was ground water and mining. Papers were presented on the following topics: ground water resources; ground water contamination; chemical analyses of ground water and mining and its influece on ground water. Separate abstracts were prepared for 5 of the papers presented. The remaining papers were considered outside the subject scope of INIS

  5. 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.

  6. Design of a stable fuzzy controller for an articulated vehicle.

    Science.gov (United States)

    Tanaka, K; Kosaki, T

    1997-01-01

    This paper presents a backward movement control of an articulated vehicle via a model-based fuzzy control technique. A nonlinear dynamic model of the articulated vehicle is represented by a Takagi-Sugeno fuzzy model. The concept of parallel distributed compensation is employed to design a fuzzy controller from the Takagi-Sugeno fuzzy model of the articulated vehicle. Stability of the designed fuzzy control system is guaranteed via Lyapunov approach. The stability conditions are characterized in terms of linear matrix inequalities since the stability analysis is reduced to a problem of finding a common Lyapunov function for a set of Lyapunov inequalities. Simulation results and experimental results show that the designed fuzzy controller effectively achieves the backward movement control of the articulated vehicle.

  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...... together this literature, which has often been spread across disciplines. This makes it difficult to identify the various challenges (and their interrelation) facing participant observers. Consequently, this article first reviews how participant observation roles have been conceptualised in general...... 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. Crewed Space Vehicle Battery Safety Requirements

    Science.gov (United States)

    Jeevarajan, Judith A.; Darcy, Eric C.

    2014-01-01

    This requirements document is applicable to all batteries on crewed spacecraft, including vehicle, payload, and crew equipment batteries. It defines the specific provisions required to design a battery that is safe for ground personnel and crew members to handle and/or operate during all applicable phases of crewed missions, safe for use in the enclosed environment of a crewed space vehicle, and safe for use in launch vehicles, as well as in unpressurized spaces adjacent to the habitable portion of a space vehicle. The required provisions encompass hazard controls, design evaluation, and verification. The extent of the hazard controls and verification required depends on the applicability and credibility of the hazard to the specific battery design and applicable missions under review. Evaluation of the design and verification program results shall be completed prior to certification for flight and ground operations. This requirements document is geared toward the designers of battery systems to be used in crewed vehicles, crew equipment, crew suits, or batteries to be used in crewed vehicle systems and payloads (or experiments). This requirements document also applies to ground handling and testing of flight batteries. Specific design and verification requirements for a battery are dependent upon the battery chemistry, capacity, complexity, charging, environment, and application. The variety of battery chemistries available, combined with the variety of battery-powered applications, results in each battery application having specific, unique requirements pertinent to the specific battery application. However, there are basic requirements for all battery designs and applications, which are listed in section 4. Section 5 includes a description of hazards and controls and also includes requirements.

  9. Movement Without Boundaries

    Directory of Open Access Journals (Sweden)

    Jennifer Fortuna

    2017-10-01

    Full Text Available Johnson Simon, an artist based in West Palm Beach, FL, provided the cover art for the Fall 2017 edition of The Open Journal of Occupational Therapy (OJOT. “Dancing in Motion” is a 36” x 60” painting made from acrylic on canvas. Johnson always wanted to become a dancer. He was born with cerebral palsy, and therefore physical limitations make it difficult for Johnson to coordinate his body movements. Through use of vibrant colors and bold strokes, Johnson’s expressionist paintings evoke movement and motion. Occupational therapy helped Johnson discover his artistic abilities. Painting empowered him to move without limitations

  10. The movement model for small roundabouts with minor roads capacity estimating

    Directory of Open Access Journals (Sweden)

    ElŜbieta MACIOSZEK

    2007-01-01

    Full Text Available Base on measurements and movement analysis, movement model for smallroundabouts has been built. Model can be useful for minor roads capacity estimating. The gap acceptance problem for small roundabouts has been presented in this article. This is one of the burning issue in modelling traffic flow on small roundabouts. At roundabout,vehicle circle counterclockwise. Approaching flow give priority to circulating flows. This ensures an uninterrupted flow in the circulating roadway. Circulating and approaching flows merge immediately at the entrance to the circulating roadway. Each vehicle must make two right turns. All other movements are eliminated. As a subordinate vehicle enters the circulating roadway it became a priority vehicle. The value of critical gap is very important in merging process.

  11. Compressed Air Production Using Vehicle Suspension

    Directory of Open Access Journals (Sweden)

    Ninad Arun Malpure

    2015-08-01

    Full Text Available Abstract Generally compressed air is produced using different types of air compressors which consumes lot of electric energy and is noisy. In this paper an innovative idea is put forth for production of compressed air using movement of vehicle suspension which normal is wasted. The conversion of the force energy into the compressed air is carried out by the mechanism which consists of the vehicle suspension system hydraulic cylinder Non-return valve air compressor and air receiver. We are collecting air in the cylinder and store this energy into the tank by simply driving the vehicle. This method is non-conventional as no fuel input is required and is least polluting.

  12. Fallout radiation protection provided by transportation vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Burson, Z.G.

    1972-10-20

    Fallout radiation protection factors (PF's) were estimated for a variety of civilian transportation vehicles using measurements of the natural terrain radiation as a source. The PF values are below 2 in light vehicles, truck beds, or trailers; from 2.5 to 3 in the cabs of heavy trucks and in a railway guard car; and from 3.0 to 3.5 in the engineer's seat of heavy locomotives. This information can be useful in planning the possible movement of personnel from or through areas contaminated either by a wartime incident or a peacetime accident. The information may also be useful for studying the reduction of exposure to the natural terrestrial radiation environment provided by vehicles.

  13. Bridge vehicle impact assessment.

    Science.gov (United States)

    2011-12-01

    Bridges in New York State have been experiencing close to 200 bridge hits a year. These : accidents are attributed to numerous factors including: improperly stored equipment on trucks; : violation of vehicle posting signs; illegal commercial vehicles...

  14. 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...... in three aspects-city environment, government and stakeholders. Then the paper discusses the promotion ways and role of government and consumer. Finally, the paper offers some suggestions to promote electric vehicles in China: focusing on feasibility and adaptability of electric vehicles, playing...... of electric vehicles is not that good. This paper selects four cities-Los Angeles, Kanagawa, Hamburg, Amsterdam-that promote electric vehicles successfully and deeply analyzes the development of electric vehicles in these four cities and analyzes the factors that affect the development of electric vehicles...

  15. Energy harvesting water vehicle

    KAUST Repository

    Singh, Devendra

    2018-01-01

    An efficient energy harvesting (EEH) water vehicle is disclosed. The base of the EEH water vehicle is fabricated with rolling cylindrical drums that can rotate freely in the same direction of the water medium. The drums reduce the drag

  16. 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.

  17. Rationality in Human Movement.

    Science.gov (United States)

    O'Brien, Megan K; Ahmed, Alaa A

    2016-01-01

    It long has been appreciated that humans behave irrationally in economic decisions under risk: they fail to objectively consider uncertainty, costs, and rewards and instead exhibit risk-seeking or risk-averse behavior. We hypothesize that poor estimates of motor variability (influenced by motor task) and distorted probability weighting (influenced by relevant emotional processes) contribute to characteristic irrationality in human movement decisions.

  18. 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...

  19. Knowledge through movement

    DEFF Research Database (Denmark)

    Jensen, Søren Kjær; Moser, T.

    2003-01-01

    In: Children and adolescents in movement - perspectives and ideas. The Danish Ministry of Culture, pages 150 - 162. 2003 Short description: the article debunks a lot of the myths surrounding body and learning, and replace them with a vision about another kind of learning. The aim is to reintroduce...

  20. 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...

  1. The Evidence Movement

    DEFF Research Database (Denmark)

    Hansen, Hanne Foss; Rieper, Olaf

    2009-01-01

    The evidence movement and the idea of systematic reviews, defined as summaries of the results of already existing evaluation and research projects, have gained considerable support in recent years as many international as well as national evidence-producing organizations have been established...

  2. Managing Movement as Partnership

    Science.gov (United States)

    Kimbrell, Sinead

    2011-01-01

    The associate director of education at Hubbard Street Dance Chicago recounts her learning and teaching through managing the Movement as Partnership program. Included are detailed descriptions of encounters with teachers and students as they create choreography reflective of their inquiry into integrating dance and literacy arts curriculum in the…

  3. 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…

  4. Editorial: Body Movements

    Directory of Open Access Journals (Sweden)

    Carina Assuncao

    2018-01-01

    Full Text Available Today, the juxtaposition between physical bodies and the gameworld is ever more fluid. Virtual Reality headsets are available at game stores with more AAA games being created for the format. The release of the Nintendo Switch and its dynamic JoyCon controllers reintroduce haptic movement based controls.  Pokémon GO’s augmented reality took gamers outdoors and has encouraged the Harry Potter franchise to follow in its mobile footsteps. Each development encourages a step further into the digital world. At the same time, the movement of bodies always has political dimensions. We live in a world where walls seem like solutions to the movement of bodies, while the mere meeting of bodies elsewhere – for sex, marriage and other reasons – is still forbidden by many states’ rules. Games and game-like interfaces have shown the ability to bend those rules, and to sometimes project other worlds and rule systems over our world in order to make bodies move and meet. For this special issue on ‘Body Movements’, Press Start invited authors to focus on embodiment, body movements, political bodies, community bodies, virtual bodies, physical bodies, feminine, masculine, trans- bodies, agency or its lack, and anything else in between. The response to this invitation was variegated, and provocative, as outlined here.

  5. Morocco's February 20 Movement

    African Journals Online (AJOL)

    2018-02-20

    Feb 20, 2018 ... Council for the Development of Social Science Research in Africa, 2017 ... revolted several times, namely in big cities like Casablanca, Marrakech or .... region in order to take advantage of their experience and acquire a regional ..... Undoubtedly, with social networking, the dynamics of protest movements.

  6. [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.

  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. Supercavitating Vehicle Control

    Science.gov (United States)

    2008-10-10

    401) 832-1511. DISTRIBUTION STATEMENT Approved for Public Release Distribution is unlimited 20081027289 Attorney Docket No. 96674 SUPERCAVITATING ...methods and more specifically to systems and methods for controlling a trajectory of a supercavitating vehicle. (2) Description of the Prior Art [0004...1 [0005) Some investigations into reducing the drag of high-speed, underwater vehicles have focused attention on supercavitating underwater vehicles

  9. MRV - Modular Robotic Vehicle

    Science.gov (United States)

    Ridley, Justin; Bluethmann, Bill

    2015-01-01

    The Modular Robotic Vehicle, or MRV, completed in 2013, was developed at the Johnson Space Center in order to advance technologies which have applications for future vehicles both in space and on Earth. With seating for two people, MRV is a fully electric vehicle modeled as a "city car", suited for busy urban environments.

  10. Longer combination vehicles : an estimation of their benefits and public perception of their use.

    Science.gov (United States)

    2012-03-01

    Longer Combination Vehicles (LCVs) are able to carry more freight than conventional single trailer trucks. As a result, these trucks can increase : efficiencies and benefits for freight movements as less fuel and less labor is used per ton of cargo. ...

  11. Stability control for high speed tracked unmanned vehicles

    Science.gov (United States)

    Pape, Olivier; Morillon, Joel G.; Houbloup, Philippe; Leveque, Stephane; Fialaire, Cecile; Gauthier, Thierry; Ropars, Patrice

    2005-05-01

    The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "automatic speed adjustment" behavior (named SYR4), developed by Giat Industries Company, which main goal is to secure the teleoperated mobility of high speed tracked vehicles on rough grounds; more precisely, the validated low level behavior continuously adjusts the vehicle speed taking into account the teleperator wish AND the maximum speed that the vehicle can manage safely according to the commanded radius of curvature. The algorithm is based on a realistic physical model of the ground-tracks relation, taking into account many vehicle and ground parameters (such as ground adherence and dynamic specificities of tracked vehicles). It also deals with the teleoperator-machine interface, providing a balanced strategy between both extreme behaviors: a) maximum speed reduction before initiating the commanded curve; b) executing the minimum possible radius without decreasing the commanded speed. The paper presents the results got from the military acceptance tests performed on tracked SYRANO vehicle (French Operational Demonstrator).

  12. Procurement Policy for Armored Vehicles

    National Research Council Canada - National Science Library

    Jolliffe, Richard B; Burton, Bruce A; Carros, Deborah L; Schaefer, Beth K; Truong, Linh; Palmer, Kevin A; Chun, Judy M; Smith, Jessica M; Abraham, Amanda M; Peters, Anthony R

    2007-01-01

    ...., and Armor Holdings, Inc., for armored vehicles. This report addresses armored vehicles, specifically the Buffalo Mine Protected Clearance Vehicle, the Cougar, the Joint Explosive Ordnance Disposal Rapid Response Vehicle (JERRV...

  13. Trajectories and Maneuvers of Surrounding Vehicles with Panoramic Camera Arrays

    DEFF Research Database (Denmark)

    Dueholm, Jacob Velling; Kristoffersen, Miklas Strøm; Satzoda, Ravi K.

    2016-01-01

    Vision-based research for intelligent vehicles have traditionally focused on specific regions around a vehicle, such as a front looking camera for, e.g., lane estimation. Traffic scenes are complex and vital information could be lost in unobserved regions. This paper proposes a framework that uses...... four visual sensors for a full surround view of a vehicle in order to achieve an understanding of surrounding vehicle behaviors. The framework will assist the analysis of naturalistic driving studies by automating the task of data reduction of the observed trajectories. To this end, trajectories...... are estimated using a vehicle detector together with a multiperspective optimized tracker in each view. The trajectories are transformed to a common ground plane, where they are associated between perspectives and analyzed to reveal tendencies around the ego-vehicle. The system is tested on sequences from 2.5 h...

  14. 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)

  15. Vertical dynamics of the Maglev vehicle Transrapid

    International Nuclear Information System (INIS)

    Haegele, Nora; Dignath, Florian

    2009-01-01

    The Maglev vehicle Transrapid is levitated by magnetic forces which pull the vehicles levitation frames toward the guideway from below. The magnets possess poles with alternating fluxes which are part of the synchronous long stator linear motor. Although the Transrapid glides along its guideway without mechanical contact, this alternation as well as the loading and unloading of the guideway girders excite vibrations of the ground. In order to calculate the time behavior of the vibrational emissions, a simulation of the transfer of a Transrapid vehicle over several guideway girders is proposed. The equations of motion for the vehicle and the girders are calculated separately by the MBS software NEWEUL and assembled and numerically integrated in MATLAB/SIMULINK. The control law for the magnet forces is simplified by the characteristics of linear spring-damper elements. The controlled magnet forces travel along the guideway continuously and include the dynamic component due to the alternating fluxes and the geometry of the poles and stator. Results of a complete vehicle moving along a guideway consisting of several girders can be obtained within a few minutes of computation time. Therefore, the mechanism of excitations can be analyzed by numerical time integration in the full state space. The results are validated by measurements of the forces in the joints of the guideway girders. The vibrational emission along the Transrapid guideway differs from the vibrations of contact-afflicted vehicles as no impacts and fewer stochastic effects occur

  16. Vertical dynamics of the Maglev vehicle Transrapid

    Energy Technology Data Exchange (ETDEWEB)

    Haegele, Nora [University of Stuttgart, Institute of Engineering and Computational Mechanics (Germany)], E-mail: Nora.Haegele@gmx.de; Dignath, Florian [ThyssenKrupp Transrapid, Basic Technologies (Germany)], E-mail: Florian.Dignath@ThyssenKrupp.com

    2009-04-15

    The Maglev vehicle Transrapid is levitated by magnetic forces which pull the vehicles levitation frames toward the guideway from below. The magnets possess poles with alternating fluxes which are part of the synchronous long stator linear motor. Although the Transrapid glides along its guideway without mechanical contact, this alternation as well as the loading and unloading of the guideway girders excite vibrations of the ground. In order to calculate the time behavior of the vibrational emissions, a simulation of the transfer of a Transrapid vehicle over several guideway girders is proposed. The equations of motion for the vehicle and the girders are calculated separately by the MBS software NEWEUL and assembled and numerically integrated in MATLAB/SIMULINK. The control law for the magnet forces is simplified by the characteristics of linear spring-damper elements. The controlled magnet forces travel along the guideway continuously and include the dynamic component due to the alternating fluxes and the geometry of the poles and stator. Results of a complete vehicle moving along a guideway consisting of several girders can be obtained within a few minutes of computation time. Therefore, the mechanism of excitations can be analyzed by numerical time integration in the full state space. The results are validated by measurements of the forces in the joints of the guideway girders. The vibrational emission along the Transrapid guideway differs from the vibrations of contact-afflicted vehicles as no impacts and fewer stochastic effects occur.

  17. Space vehicle chassis

    Science.gov (United States)

    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.

  18. Ariane transfer vehicle scenario

    Science.gov (United States)

    Deutscher, Norbert; Cougnet, Claude

    1990-10-01

    ESA's Ariane Transfer Vehicle (ATV) is a vehicle design concept for the transfer of payloads from Ariane 5 launch vehicle orbit insertion to a space station, on the basis of the Ariane 5 program-developed Upper Stage Propulsion Module and Vehicle Equipment Bay. The ATV is conceived as a complement to the Hermes manned vehicle for lower cost unmanned carriage of logistics modules and other large structural elements, as well as waste disposal. It is also anticipated that the ATV will have an essential role in the building block transportation logistics of any prospective European space station.

  19. Evaluating the movement of active faults on buried pipelines | Parish ...

    African Journals Online (AJOL)

    During the earthquake, a buried pipeline may be experienced extreme loading that is the result of the relatively large displacement of the Earth along the pipe. Large movements of ground could occur by faulting, liquefaction, lateral spreading, landslides, and slope failures. Since the pipelines are widely spread, and in ...

  20. Mobile Ground-Based Radar Sensor for Localization and Mapping: An Evaluation of two Approaches

    Directory of Open Access Journals (Sweden)

    Damien Vivet

    2013-08-01

    Full Text Available This paper is concerned with robotic applications using a ground-based radar sensor for simultaneous localization and mapping problems. In mobile robotics, radar technology is interesting because of its long range and the robustness of radar waves to atmospheric conditions, making these sensors well-suited for extended outdoor robotic applications. Two localization and mapping approaches using data obtained from a 360° field of view microwave radar sensor are presented and compared. The first method is a trajectory-oriented simultaneous localization and mapping technique, which makes no landmark assumptions and avoids the data association problem. The estimation of the ego-motion makes use of the Fourier-Mellin transform for registering radar images in a sequence, from which the rotation and translation of the sensor motion can be estimated. The second approach uses the consequence of using a rotating range sensor in high speed robotics. In such a situation, movement combinations create distortions in the collected data. Velocimetry is achieved here by explicitly analysing these measurement distortions. As a result, the trajectory of the vehicle and then the radar map of outdoor environments can be obtained. The evaluation of experimental results obtained by the two methods is presented on real-world data from a vehicle moving at 30 km/h over a 2.5 km course.

  1. Soldier Cognitive Processes: Supporting Teleoperated Ground Vehicle Operations

    Science.gov (United States)

    2014-12-01

    They also examined training materials available to train robotic operators. Materials came from a pilot SUGV Master Trainer Course as well as from the...Allocation of Scarce Mental Resources. It is increasingly difficult to multitask if the similarity of the mental resources used in each task...1984). If separate tasks are not competing as much for the same mental resources, multitasking can be accomplished more effectively. Further, when

  2. Army Transitions Hybrid Electric Technology to FCS Manned Ground Vehicles

    Science.gov (United States)

    2007-12-01

    completely new way of maneuvering on the battlefield. The system’s advanced energy storage, power generation, regenerative braking and power management... categories , including mixing, coat- ing and winding; electrolyte filling; cir- cuit breaker bussing and closing; electri- cal formation; and battery

  3. 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.

  4. Social Media Participation in an Activist Movement for Racial Equality.

    Science.gov (United States)

    De Choudhury, Munmun; Jhaver, Shagun; Sugar, Benjamin; Weber, Ingmar

    2016-05-01

    From the Arab Spring to the Occupy Movement, social media has been instrumental in driving and supporting socio-political movements throughout the world. In this paper, we present one of the first social media investigations of an activist movement around racial discrimination and police violence, known as "Black Lives Matter". Considering Twitter as a sensor for the broader community's perception of the events related to the movement, we study participation over time, the geographical differences in this participation, and its relationship to protests that unfolded on the ground. We find evidence for continued participation across four temporally separated events related to the movement, with notable changes in engagement and language over time. We also find that participants from regions of historically high rates of black victimization due to police violence tend to express greater negativity and make more references to loss of life. Finally, we observe that social media attributes of affect, behavior and language can predict future protest participation on the ground. We discuss the role of social media in enabling collective action around this unique movement and how social media platforms may help understand perceptions on a socially contested and sensitive issue like race.

  5. [Neuropsychiatry Of Movement Disorders].

    Science.gov (United States)

    Orjuela-Rojas, Juan Manuel; Barrios Vincos, Gustavo Adolfo; Martínez Gallego, Melisa Alejandra

    2017-10-01

    Movement disorders can be defined as neurological syndromes presenting with excessive or diminished automatic or voluntary movements not related to weakness or spasticity. Both Parkinson's disease (PD) and Huntington's disease (HD) are well-known examples of these syndromes. The high prevalence of comorbid psychiatric symptoms like depression, anxiety, obsessive-compulsive symptoms, hallucinations, delusions, impulsivity, sleep disorders, apathy and cognitive impairment mean that these conditions must be regarded as neuropsychiatric diseases. In this article, we review neuroanatomical (structural and functional), psychopathological and neuropsychological aspects of PD and HD. The role of fronto-subcortical loops in non-motor functions is particularly emphasised in order to understand the clinical spectrum of both diseases, together with the influence of genetic, psychological and psychosocial aspects. A brief description of the main psychopharmacological approaches for both diseases is also included. Copyright © 2017 Asociación Colombiana de Psiquiatría. Publicado por Elsevier España. All rights reserved.

  6. 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.

  7. A Low-Cost Vehicle Anti-Theft System Using Obsolete Smartphone

    OpenAIRE

    Liu, Bang; Liu, Nianbo; Chen, Guihai; Dai, Xili; Liu, Ming

    2018-01-01

    In modern society, vehicle theft has become an increasing problem to the general public. Deploying onboard anti-theft systems could relieve this problem, but it often requires extra investment for vehicle owners. In this paper, we propose the idea of PhoneInside, which does not need a special device but leverages an obsolete smartphone to build a low-cost vehicle anti-theft system. After being fixed in the vehicle body with a car charger, the smartphone can detect vehicle movement and adaptiv...

  8. Anti-nuclear movements

    International Nuclear Information System (INIS)

    Ruedig, W.

    1990-01-01

    Nuclear power, heralded in the years after World War II as the answer to the world's energy needs, has in more recent times become the focus of intense ecological, political and economic debate. In this study, the current worldwide opposition to nuclear power is examined from its origins in expert dissent to the widespread development of grassroots activity. Chapter headings include: Social Movements: A Theoretical Framework; Creating the Preconditions for Public Protest; Local and Regional Opposition: Mobilizing the Grass Roots; Local Opposition and the Politicization of Nuclear Power; The Use of Local Opposition as a Political Resource; Local Opposition and Social Movement Analysis; The Removal of Political Stimuli: The Unpolitics of Nuclear Siting; Analyzing Host Community Attitudes: The Survey Evidence; Attitudes and Political Action of Nuclear Host Communities: Approaches and Explanations; Novel Siting Approaches and their Political Implications; Siting and Social Movement Analysis; Patterns and Outcomes of Nuclear Energy Conflicts; The Future of the Nuclear Energy Conflict. Throughout the text, analysis and theory are blended with detailed accounts of the growth and activities of individual anti-nuclear organizations in different countries. (author)

  9. Sleep-related movement disorders.

    Science.gov (United States)

    Merlino, Giovanni; Gigli, Gian Luigi

    2012-06-01

    Several movement disorders may occur during nocturnal rest disrupting sleep. A part of these complaints is characterized by relatively simple, non-purposeful and usually stereotyped movements. The last version of the International Classification of Sleep Disorders includes these clinical conditions (i.e. restless legs syndrome, periodic limb movement disorder, sleep-related leg cramps, sleep-related bruxism and sleep-related rhythmic movement disorder) under the category entitled sleep-related movement disorders. Moreover, apparently physiological movements (e.g. alternating leg muscle activation and excessive hypnic fragmentary myoclonus) can show a high frequency and severity impairing sleep quality. Clinical and, in specific cases, neurophysiological assessments are required to detect the presence of nocturnal movement complaints. Patients reporting poor sleep due to these abnormal movements should undergo non-pharmacological or pharmacological treatments.

  10. The concept of family in the EU free movement law

    Directory of Open Access Journals (Sweden)

    Janićijević Dejan

    2014-01-01

    Full Text Available This paper examines the concepts of spouse, civil partner and partner in European Union (EU law, particularly in regulations referring to the free movement of persons, criticizing the unharmonized approach to defining family in this context. It argues that the narrow interpretation of the term spouse could lead to discrimination on the grounds of sexual orientation. Likewise, grounding free movement rights of civil partners on host state recognition of such partnerships could lead to the same result, which is not compatible with the equality principle in the EU law. The position of unmarried or unregistered partners is also considered; in particular, the paper analyses the requirement to duly attest durability of the relationship and its impact on the same-sex partners wishing to immigrate to a Member State. The author holds that it is necessary to reconsider the law in this area and adjust it to the EU's efforts to eliminate discrimination on the grounds of sexual orientation.

  11. Remotely Operated Vehicle for Surveilance Applications On and Under Water Surface

    Directory of Open Access Journals (Sweden)

    Mahfuzh Shah Mustari

    2017-03-01

    Full Text Available This paper presents the low cost hardware prototype of a Remotely Operated Vehicle (ROV for surveilance applications. The vehicle is designed to make maneuvers under water and on surface of water, where its movement is guided remotely via a GHz-scale wireless communication system. The main electronic control unit (ECU of the vehicle is an 8-bit microcontroller, which is used to control 6 motor actuators. Two motors are embedded in a ballast tank used for pumping and draining in and out of the ballast tank. While, the other four motors are used for vehicle movements on water surface. One wireless transceiver is embedded in a joystick and the other is separately placed in the waterproof box mounted on the vehicle. The performance tests present that, in general, the ROV can be controlled well with limited performance. The total weight of the vehicle is 10.35kg with weight density of 0.89kg/ltr

  12. Remotely detected vehicle mass from engine torque-induced frame twisting

    Science.gov (United States)

    McKay, Troy R.; Salvaggio, Carl; Faulring, Jason W.; Sweeney, Glenn D.

    2017-06-01

    Determining the mass of a vehicle from ground-based passive sensor data is important for many traffic safety requirements. This work presents a method for calculating the mass of a vehicle using ground-based video and acoustic measurements. By assuming that no energy is lost in the conversion, the mass of a vehicle can be calculated from the rotational energy generated by the vehicle's engine and the linear acceleration of the vehicle over a period of time. The amount of rotational energy being output by the vehicle's engine can be calculated from its torque and angular velocity. This model relates remotely observed, engine torque-induced frame twist to engine torque output using the vehicle's suspension parameters and engine geometry. The angular velocity of the engine is extracted from the acoustic emission of the engine, and the linear acceleration of the vehicle is calculated by remotely observing the position of the vehicle over time. This method combines these three dynamic signals; engine induced-frame twist, engine angular velocity, and the vehicle's linear acceleration, and three vehicle specific scalar parameters, into an expression that describes the mass of the vehicle. This method was tested on a semitrailer truck, and the results demonstrate a correlation of 97.7% between calculated and true vehicle mass.

  13. Social Movements and Institutions

    Directory of Open Access Journals (Sweden)

    Maria Francisca Pinheiro Coelho

    2017-04-01

    Full Text Available Abstract This study approaches the relationship between social movements and institutions in Brazil concerning three different stages of the process of re-democratization: the political transition; the National Constituent Assembly; and the new Constitutional Order. The general question is: what is the interface, reciprocity or conflict, between social movements and institutions in this context of social change? The paper examines the different roles of social movements and institutions in each specific period: in the pre-democratization moment, the movement for direct elections for president, Diretas-Já, is analyzed; in the National Constituent Assembly, the movement in defense for free public education is examined;  in the new constitutional order, the pro-reform political movement is studied.  The work focuses on the scope of the studies on social movements and democracy.  It belongs to the field of the studies about the representativeness and legitimacy of the demands of social movements in the context of democracy and its challenges. Key words: social movement, institution, reciprocity, conflict, democracy.   Social Movements and Institutions                               Resumen El estudio aborda la relación entre los movimientos sociales e instituciones en Brasil en tres etapas diferentes del proceso de redemocratización en las últimas décadas: la transición política; la Asamblea Nacional Constituyente; y el nuevo orden constitucional. La pregunta general es: ¿cuál es la relación, la reciprocidad o el conflito, entre los movimientos sociales y las instituciones en este contexto de cambio social? El artículo examina los diferentes roles de los movimientos sociales e instituciones en cada período específico: en el momento de la transición política analiza el movimiento de las elecciones directas para presidente, las Diretas-Já; en la Asamblea Nacional Constituyente aborda el movimiento en

  14. Autonomous vehicles: from paradigms to technology

    Science.gov (United States)

    Ionita, Silviu

    2017-10-01

    Mobility is a basic necessity of contemporary society and it is a key factor in global economic development. The basic requirements for the transport of people and goods are: safety and duration of travel, but also a number of additional criteria are very important: energy saving, pollution, passenger comfort. Due to advances in hardware and software, automation has penetrated massively in transport systems both on infrastructure and on vehicles, but man is still the key element in vehicle driving. However, the classic concept of ‘human-in-the-loop’ in terms of ‘hands on’ in driving the cars is competing aside from the self-driving startups working towards so-called ‘Level 4 autonomy’, which is defined as “a self-driving system that does not requires human intervention in most scenarios”. In this paper, a conceptual synthesis of the autonomous vehicle issue is made in connection with the artificial intelligence paradigm. It presents a classification of the tasks that take place during the driving of the vehicle and its modeling from the perspective of traditional control engineering and artificial intelligence. The issue of autonomous vehicle management is addressed on three levels: navigation, movement in traffic, respectively effective maneuver and vehicle dynamics control. Each level is then described in terms of specific tasks, such as: route selection, planning and reconfiguration, recognition of traffic signs and reaction to signaling and traffic events, as well as control of effective speed, distance and direction. The approach will lead to a better understanding of the way technology is moving when talking about autonomous cars, smart/intelligent cars or intelligent transport systems. Keywords: self-driving vehicle, artificial intelligence, deep learning, intelligent transport systems.

  15. Human preference for air movement

    DEFF Research Database (Denmark)

    Toftum, Jørn; Melikov, Arsen Krikor; Tynel, A.

    2002-01-01

    Human preference for air movement was studied at slightly cool, neutral, and slightly warm overall thermal sensations and at temperatures ranging from 18 deg.C to 28 deg.C. Air movement preference depended on both thermal sensation and temperature, but large inter-individual differences existed...... between subjects. Preference for less air movement was linearly correlated with draught discomfort, but the percentage of subjects who felt draught was lower than the percentage who preferred less air movement....

  16. 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.

  17. Segmenting Trajectories by Movement States

    NARCIS (Netherlands)

    Buchin, M.; Kruckenberg, H.; Kölzsch, A.; Timpf, S.; Laube, P.

    2013-01-01

    Dividing movement trajectories according to different movement states of animals has become a challenge in movement ecology, as well as in algorithm development. In this study, we revisit and extend a framework for trajectory segmentation based on spatio-temporal criteria for this purpose. We adapt

  18. FUNdamental Movement in Early Childhood.

    Science.gov (United States)

    Campbell, Linley

    2001-01-01

    Noting that the development of fundamental movement skills is basic to children's motor development, this booklet provides a guide for early childhood educators in planning movement experiences for children between 4 and 8 years. The booklet introduces a wide variety of appropriate practices to promote movement skill acquisition and increased…

  19. Task and Motion Planning for Selective Weed Conrol using a Team of Autonomous Vehicles

    DEFF Research Database (Denmark)

    Hameed, Ibrahim; la Cour-Harbo, Anders; Hansen, Karl Damkjær

    2014-01-01

    with the right amount. In this article, a task and motion planning for a team of autonomous vehicles to reduce chemicals in farming is presented. Field data are collected by small unmanned helicopters equipped with a range of sensors, including multispectral and thermal cameras. Data collected are transmitted...... to a ground station to be analyzed and triggers aerial and ground-based vehicles to start close inspection and/or plant/weed treatment in specified areas. A complete trajectory is generated to enable ground-based vehicle to visit infested areas and start chemical/mechanical weed treatment....

  20. Electrical Subsurface Grounding Analysis

    International Nuclear Information System (INIS)

    J.M. Calle

    2000-01-01

    The purpose and objective of this analysis is to determine the present grounding requirements of the Exploratory Studies Facility (ESF) subsurface electrical system and to verify that the actual grounding system and devices satisfy the requirements

  1. Vehicle underbody fairing

    Science.gov (United States)

    Ortega, Jason M.; Salari, Kambiz; McCallen, Rose

    2010-11-09

    A vehicle underbody fairing apparatus for reducing aerodynamic drag caused by a vehicle wheel assembly, by reducing the size of a recirculation zone formed under the vehicle body immediately downstream of the vehicle wheel assembly. The fairing body has a tapered aerodynamic surface that extends from a front end to a rear end of the fairing body with a substantially U-shaped cross-section that tapers in both height and width. Fasteners or other mounting devices secure the fairing body to an underside surface of the vehicle body, so that the front end is immediately downstream of the vehicle wheel assembly and a bottom section of the tapered aerodynamic surface rises towards the underside surface as it extends in a downstream direction.

  2. The ground based plan

    International Nuclear Information System (INIS)

    1989-01-01

    The paper presents a report of ''The Ground Based Plan'' of the United Kingdom Science and Engineering Research Council. The ground based plan is a plan for research in astronomy and planetary science by ground based techniques. The contents of the report contains a description of:- the scientific objectives and technical requirements (the basis for the Plan), the present organisation and funding for the ground based programme, the Plan, the main scientific features and the further objectives of the Plan. (U.K.)

  3. Control of Electric Vehicle

    OpenAIRE

    Huang, Qi; Chen, Yong; Li, Jian

    2010-01-01

    In this chapter, the modeling of electric vehicle is discussed in detail. Then, the control of electric vehicle driven by different motors is discussed. Both brushed and brushless DC (Direct Current) motors are discussed. And for AC (Alternative Current) motors, the discussion is focused on induction motor and permanent magnet synchronous motor. The design of controllers for different motor-driven electric vehicle is discussed in-depth, and the tested high-performance control strategies for d...

  4. Trust in vehicle technology

    OpenAIRE

    Walker, Guy, H.; Stanton, Neville, A.; Salmon, Paul

    2016-01-01

    Driver trust has potentially important implications for how vehicle technology is used and interacted with. In this paper it will be seen how driver trust functions and how it can be understood and manipulated by insightful vehicle design. It will review the theoretical literature to define steps that can be taken establish trust in vehicle technology in the first place, maintain trust in the long term, and even re-establish trust that has been lost along the way. The implication throughout i...

  5. On Autonomous Articulated Vehicles

    OpenAIRE

    Nayl, Thaker

    2015-01-01

    The objective of this thesis is to address the problems of modeling, path planning and path following for an articulated vehicle in a realistic environment and in the presence of multiple obstacles.In greater detail, the problem of the kinematic modeling of an articulated vehicle is revisited through the proposal of a proper model in which the dimensions and properties of the vehicle can be fully described, rather than considering it as a unit point. Based on this approach, nonlinear and line...

  6. Constructivist Grounded Theory?

    Directory of Open Access Journals (Sweden)

    Barney G. Glaser, PhD, Hon. PhD

    2012-06-01

    Full Text Available AbstractI refer to and use as scholarly inspiration Charmaz’s excellent article on constructivist grounded theory as a tool of getting to the fundamental issues on why grounded theory is not constructivist. I show that constructivist data, if it exists at all, is a very, very small part of the data that grounded theory uses.

  7. Communication, concepts and grounding

    NARCIS (Netherlands)

    van der Velde, Frank; van der Velde, F.

    2015-01-01

    This article discusses the relation between communication and conceptual grounding. In the brain, neurons, circuits and brain areas are involved in the representation of a concept, grounding it in perception and action. In terms of grounding we can distinguish between communication within the brain

  8. 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.

  9. Amphibious vehicles come of age

    Energy Technology Data Exchange (ETDEWEB)

    Mowers, J.

    2007-11-15

    This article highlighted the most popular amphibious vehicles used for oil patch applications. The Argo, designed and built by Ontario Drive and Gear Ltd. of New Hamburg, Ontario, was first introduced into the market in 1967. By 1994, it was commonly used by the oil patch when it was made more robust with a liquid-cooled engine. The all-season and all-terrain vehicle can carry up to 1,150 pounds and pull up to 1,800 pounds. More than 40,000 units have been sold for use in seismic, slashing, carrying in supplies for camps, pipeline and other facility maintenance. Its counterpart, the Centaur, has a bigger load capacity and more powerful liquid-cooled petrol or diesel engine that drives like a truck, with steering wheel and gas and brake pedals. It has certified rollover protection, can carry up to 1,500 pounds or pull 2,000 pounds and can travel at speeds of up to 28 miles per hour. The mammoth ARKTOS Craft was designed, engineered and built in British Columbia and can handle any terrain including thick mud, quicksand, muskeg, ice, water and snow. It is primarily used in the oil patch as an evacuation craft for offshore drilling in shallow waters. It has room for 52 passengers. With a 13-ton load capacity, the vehicle can manoeuvre through ice-water mixtures and can climb onto solid ice. Five units are being used as evacuation crafts on stand-by offshore drilling in shallow waters near Alaska, and 8 are being used for the same purpose for drilling beneath the Caspian Sea. It was also used in the Bohai Delta in China for a seismic survey. A modified craft is being developed for use in Fort McMurray's oil sand tailings ponds. This article also highlighted the prototype AmphibAlaska which has been under development for the past 25 years by an Alaskan entrepreneur. The utilitarian vehicle is being designed with a payload that can accommodate a crew of 5 and the gear needed for emergency response and fieldwork. It is designed to travel safely through hard ground

  10. Normal movement selectivity in autism.

    Science.gov (United States)

    Dinstein, Ilan; Thomas, Cibu; Humphreys, Kate; Minshew, Nancy; Behrmann, Marlene; Heeger, David J

    2010-05-13

    It has been proposed that individuals with autism have difficulties understanding the goals and intentions of others because of a fundamental dysfunction in the mirror neuron system. Here, however, we show that individuals with autism exhibited not only normal fMRI responses in mirror system areas during observation and execution of hand movements but also exhibited typical movement-selective adaptation (repetition suppression) when observing or executing the same movement repeatedly. Movement selectivity is a defining characteristic of neurons involved in movement perception, including mirror neurons, and, as such, these findings argue against a mirror system dysfunction in autism. Copyright 2010 Elsevier Inc. All rights reserved.

  11. Stereotypic movement disorders.

    Science.gov (United States)

    Singer, Harvey S

    2011-01-01

    Stereotypic movements are repetitive, rhythmic, fixed, patterned in form, amplitude, and localization, but purposeless (e.g., hand shaking, waving, body rocking, head nodding). They are commonly seen in children; both in normal children (primary stereotypy) and in individuals with additional behavioral or neurological signs and symptoms (secondary stereotypy). They should be differentiated from compulsions (OCD), tics (tic disorders), trichotillomania, skin picking disorder, or the direct physiological effect of a substance. There is increasing evidence to support a neurobiological mechanism. Response to behavioral and pharmacological therapies is variable. Copyright © 2011 Elsevier B.V. All rights reserved.

  12. The tactile movement aftereffect.

    Science.gov (United States)

    Hollins, M; Favorov, O

    1994-01-01

    The existence of a tactile movement aftereffect was established in a series of experiments on the palmar surface of the hand and fingers of psychophysical observers. During adaptation, observers cupped their hand around a moving drum for up to 3 min; following this period of stimulation, they typically reported an aftereffect consisting of movement sensations located on and deep to the skin, and lasting for up to 1 min. Preliminary experiments comparing a number of stimulus materials mounted on the drum demonstrated that a surface approximating a low-spatial-frequency square wave, with a smooth microtexture, was especially effective at inducing the aftereffect; this adapting stimulus was therefore used throughout the two main experiments. In Experiment 1, the vividness of the aftereffect produced by 2 min of adaptation was determined under three test conditions: with the hand (1) remaining on the now stationary drum; (2) in contact with a soft, textured surface; or (3) suspended in air. Subjects' free magnitude estimates of the peak vividness of the aftereffect were not significantly different across conditions; each subject experienced the aftereffect at least once under each condition. Thus the tactile movement aftereffect does not seem to depend critically on the ponditions of stimulation that obtain while it is being experienced. In Experiment 2, the vividness and duration of the aftereffect were measured as a function of the duration of the adapting stimulus. Both measures increased steadily over the range of durations explored (30-180 sec). In its dependence on adapting duration, the aftereffect resembles the waterfall illusion in vision. An explanation for the tactile movement aftereffect is proposed, based on the model of cortical dynamics of Whitsel et al. (1989, 1991). With assumed modest variation of one parameter across individuals, this application of the model is able to account both for the data of the majority of subjects, who experienced the

  13. Fetal body movement monitoring.

    Science.gov (United States)

    Rayburn, W F

    1990-03-01

    Recording fetal activity serves as an indirect measure of central nervous system integrity and function. The coordination of whole body movement, which requires complex neurologic control, is likely similar to that of the newborn infant. Short-term observations of the fetus are best performed using real-time ultrasound imaging. Monitoring fetal motion has been shown to be clinically worthwhile in predicting impending death or compromise, especially when placental insufficiency is longstanding. The presence of a vigorous fetus is reassuring. Perceived inactivity requires a reassessment of any underlying antepartum complication and a more precise evaluation by fetal heart rate testing or real-time ultrasonography before delivery is contemplated.

  14. West African Antislavery Movements

    DEFF Research Database (Denmark)

    Hahonou, Eric Komlavi; Pelckmans, Lotte

    2011-01-01

    In the context of liberalization of West African political regimes, the upsurge of audacious political entrepreneurs who want to end chattel slavery in their nation-state, resulted in the legal criminalisation of slavery in both Mauritania (2007) and Niger (2003) and in a proposal to revise......-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...

  15. Using Ground Radar Interferometry for Precise Determining of Deformation and Vertical Deflection of Structures

    Science.gov (United States)

    Talich, Milan

    2017-12-01

    The paper describes possibilities of the relatively new technics - ground based radar interferometry for precise determining of deformation of structures. Special focus on the vertical deflection of bridge structures and on the horizontal movements of high-rise buildings and structural objects is presented. The technology of ground based radar interferometry can be used in practice to the contactless determination of deformations of structures with accuracy up to 0.01 mm in real time. It is also possible in real time to capture oscillations of the object with a frequency up to 50 Hz. Deformations can be determined simultaneously in multiple places of the object, for example a bridge structure at points distributed on the bridge deck at intervals of one or more meters. This allows to obtain both overall and detailed information about the properties of the structure during the dynamic load and monitoring the impact of movements either individual vehicles or groups. In the case of high-rise buildings, it is possible to monitor the horizontal vibration of the whole object at its different height levels. It is possible to detect and determine the compound oscillations that occur in some types of buildings. Then prevent any damage or even disasters in these objects. In addition to the necessary theory basic principles of using radar interferometry for determining of deformation of structures are given. Practical examples of determining deformation of bridge structures, water towers reservoirs, factory chimneys and wind power plants are also given. The IBIS-S interferometric radar of the Italian IDS manufacturer was used for the measurements.

  16. Dynamics of a motor vehicle taking into consideration the interaction of wheels and road pavement surface

    Directory of Open Access Journals (Sweden)

    O. Prentkovskis

    2002-12-01

    Full Text Available The authors of this article focus on the simulation of the motor vehicle on a certain road and propose their specific solution of this problem. A mathematical model of the system “motor vehicle – road” is presented. The motor vehicle is simulated by concentrated masses interconnected by elastic and dissipative links. The presented model of the motor vehicle evaluates the movement of the motor vehicle body in space; the movement and turning of front and rear suspensions with respect to the body; the interaction of the wheel with the road pavement surface; the blocking of the wheel; the changing cohesive forces which influence the motor vehicle. The investigated road pavement surface is simulated by triangular finite elements, the certain height of road pavement surface roughness and the cohesion coefficients of road pavement surface and the motor vehicle wheel in the longitudinal and transverse directions of the wheel are selected in each finite element nodal point. The presented results illustrate: the motor vehicle movement trajectories braking at various initial conditions and on a certain pavement surface of the road section under investigation and the motor vehicle driving on the speed reduction bump (“sleeping policeman”.

  17. 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.

  18. 9 CFR 80.4 - Segregation of animals positive to an official Johne's disease test during interstate movement.

    Science.gov (United States)

    2010-01-01

    ... official Johne's disease test during interstate movement. 80.4 Section 80.4 Animals and Animal Products... animals positive to an official Johne's disease test during interstate movement. Animals that are positive... from the animals positive to an official Johne's disease test to the healthy animals in the vehicle. ...

  19. Movement ecology of migration in turkey vultures.

    Science.gov (United States)

    Mandel, J T; Bildstein, K L; Bohrer, G; Winkler, D W

    2008-12-09

    We develop individual-based movement ecology models (MEM) to explore turkey vulture (Cathartes aura) migration decisions at both hourly and daily scales. Vulture movements in 10 migration events were recorded with satellite-reporting GPS sensors, and flight behavior was observed visually, aided by on-the-ground VHF radio-tracking. We used the North American Regional Reanalysis dataset to obtain values for wind speed, turbulent kinetic energy (TKE), and cloud height and used a digital elevation model for a measure of terrain ruggedness. A turkey vulture fitted with a heart-rate logger during 124 h of flight during 38 contiguous days showed only a small increase in mean heart rate as distance traveled per day increased, which suggests that, unlike flapping, soaring flight does not lead to greatly increased metabolic costs. Data from 10 migrations for 724 hourly segments and 152 daily segments showed that vultures depended heavily upon high levels of TKE in the atmospheric boundary layer to increase flight distances and maintain preferred bearings at both hourly and daily scales. We suggest how the MEM can be extended to other spatial and temporal scales of avian migration. Our success in relating model-derived atmospheric variables to migration indicates the potential of using regional reanalysis data, as here, and potentially other regional, higher-resolution, atmospheric models in predicting changing movement patterns of soaring birds under various scenarios of climate and land use change.

  20. AWARE: Platform for Autonomous self-deploying and operation of Wireless sensor-actuator networks cooperating with unmanned AeRial vehiclEs

    NARCIS (Netherlands)

    Ollero, Anibal; Bernard, Markus; La Civita, Marco; van Hoesel, L.F.W.; Marron, Pedro J.; Lepley, Jason; de Andres, Eduardo

    This paper presents the AWARE platform that seeks to enable the cooperation of autonomous aerial vehicles with ground wireless sensor-actuator networks comprising both static and mobile nodes carried by vehicles or people. Particularly, the paper presents the middleware, the wireless sensor network,

  1. Modelling group dynamic animal movement

    DEFF Research Database (Denmark)

    Langrock, Roland; Hopcraft, J. Grant C.; Blackwell, Paul G.

    2014-01-01

    makes its movement decisions relative to the group centroid. The basic idea is framed within the flexible class of hidden Markov models, extending previous work on modelling animal movement by means of multi-state random walks. While in simulation experiments parameter estimators exhibit some bias......, to date, practical statistical methods which can include group dynamics in animal movement models have been lacking. We consider a flexible modelling framework that distinguishes a group-level model, describing the movement of the group's centre, and an individual-level model, such that each individual......Group dynamic movement is a fundamental aspect of many species' movements. The need to adequately model individuals' interactions with other group members has been recognised, particularly in order to differentiate the role of social forces in individual movement from environmental factors. However...

  2. Camera Movement in Narrative Cinema

    DEFF Research Database (Denmark)

    Nielsen, Jakob Isak

    2007-01-01

    section unearths what characterizes the literature on camera movement. The second section of the dissertation delineates the history of camera movement itself within narrative cinema. Several organizational principles subtending the on-screen effect of camera movement are revealed in section two...... but they are not organized into a coherent framework. This is the task that section three meets in proposing a functional taxonomy for camera movement in narrative cinema. Two presumptions subtend the taxonomy: That camera movement actively contributes to the way in which we understand the sound and images on the screen......, commentative or valuative manner. 4) Focalization: associating the movement of the camera with the viewpoints of characters or entities in the story world. 5) Reflexive: inviting spectators to engage with the artifice of camera movement. 6) Abstract: visualizing abstract ideas and concepts. In order...

  3. Illumination compensation in ground based hyperspectral imaging

    Science.gov (United States)

    Wendel, Alexander; Underwood, James

    2017-07-01

    Hyperspectral imaging has emerged as an important tool for analysing vegetation data in agricultural applications. Recently, low altitude and ground based hyperspectral imaging solutions have come to the fore, providing very high resolution data for mapping and studying large areas of crops in detail. However, these platforms introduce a unique set of challenges that need to be overcome to ensure consistent, accurate and timely acquisition of data. One particular problem is dealing with changes in environmental illumination while operating with natural light under cloud cover, which can have considerable effects on spectral shape. In the past this has been commonly achieved by imaging known reference targets at the time of data acquisition, direct measurement of irradiance, or atmospheric modelling. While capturing a reference panel continuously or very frequently allows accurate compensation for illumination changes, this is often not practical with ground based platforms, and impossible in aerial applications. This paper examines the use of an autonomous unmanned ground vehicle (UGV) to gather high resolution hyperspectral imaging data of crops under natural illumination. A process of illumination compensation is performed to extract the inherent reflectance properties of the crops, despite variable illumination. This work adapts a previously developed subspace model approach to reflectance and illumination recovery. Though tested on a ground vehicle in this paper, it is applicable to low altitude unmanned aerial hyperspectral imagery also. The method uses occasional observations of reference panel training data from within the same or other datasets, which enables a practical field protocol that minimises in-field manual labour. This paper tests the new approach, comparing it against traditional methods. Several illumination compensation protocols for high volume ground based data collection are presented based on the results. The findings in this paper are

  4. The Apache Longbow-Hellfire Missile Test at Yuma Proving Ground: Introduction and Problem Formulation for a Multiple Stressor Risk Assessment

    International Nuclear Information System (INIS)

    Efroymson, Rebecca Ann; Peterson, Mark J.; Jones, Daniel Steven; Suter, Glenn

    2008-01-01

    An ecological risk assessment was conducted at Yuma Proving Ground, Arizona, as a demonstration of the Military Ecological Risk Assessment Framework (MERAF). The focus of the assessment was a testing program at Cibola Range, which involved an Apache Longbow helicopter firing Hellfire missiles at moving targets, i.e., M60-A1 tanks. The problem formulation for the assessment included conceptual models for three component activities of the test, helicopter overflight, missile firing, and tracked vehicle movement, and two ecological endpoint entities, woody desert wash communities and desert mule deer (Odocoileus hemionus crooki) populations. An activity-specific risk assessment framework was available to provide guidance for assessing risks associated with aircraft overflights. Key environmental features of the study area include barren desert pavement and tree-lined desert washes. The primary stressors associated with helicopter overflights were sound and the view of the aircraft. The primary stressor associated with Hellfire missile firing was sound. 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 ponding, infiltration and/or evaporation associated with disturbances to desert pavement. A plan for estimating integrated risks from the three military activities was included in the problem formulation

  5. Rigour and grounded theory.

    Science.gov (United States)

    Cooney, Adeline

    2011-01-01

    This paper explores ways to enhance and demonstrate rigour in a grounded theory study. Grounded theory is sometimes criticised for a lack of rigour. Beck (1993) identified credibility, auditability and fittingness as the main standards of rigour for qualitative research methods. These criteria were evaluated for applicability to a Straussian grounded theory study and expanded or refocused where necessary. The author uses a Straussian grounded theory study (Cooney, In press) to examine how the revised criteria can be applied when conducting a grounded theory study. Strauss and Corbin (1998b) criteria for judging the adequacy of a grounded theory were examined in the context of the wider literature examining rigour in qualitative research studies in general and grounded theory studies in particular. A literature search for 'rigour' and 'grounded theory' was carried out to support this analysis. Criteria are suggested for enhancing and demonstrating the rigour of a Straussian grounded theory study. These include: cross-checking emerging concepts against participants' meanings, asking experts if the theory 'fit' their experiences, and recording detailed memos outlining all analytical and sampling decisions. IMPLICATIONS FOR RESEARCH PRACTICE: The criteria identified have been expressed as questions to enable novice researchers to audit the extent to which they are demonstrating rigour when writing up their studies. However, it should not be forgotten that rigour is built into the grounded theory method through the inductive-deductive cycle of theory generation. Care in applying the grounded theory methodology correctly is the single most important factor in ensuring rigour.

  6. Aircraft operability methods applied to space launch vehicles

    Science.gov (United States)

    Young, Douglas

    1997-01-01

    The commercial space launch market requirement for low vehicle operations costs necessitates the application of methods and technologies developed and proven for complex aircraft systems. The ``building in'' of reliability and maintainability, which is applied extensively in the aircraft industry, has yet to be applied to the maximum extent possible on launch vehicles. Use of vehicle system and structural health monitoring, automated ground systems and diagnostic design methods derived from aircraft applications support the goal of achieving low cost launch vehicle operations. Transforming these operability techniques to space applications where diagnostic effectiveness has significantly different metrics is critical to the success of future launch systems. These concepts will be discussed with reference to broad launch vehicle applicability. Lessons learned and techniques used in the adaptation of these methods will be outlined drawing from recent aircraft programs and implementation on phase 1 of the X-33/RLV technology development program.

  7. Dynamic tire pressure sensor for measuring ground vibration.

    Science.gov (United States)

    Wang, Qi; McDaniel, James Gregory; Wang, Ming L

    2012-11-07

    This work presents a convenient and non-contact acoustic sensing approach for measuring ground vibration. This approach, which uses an instantaneous dynamic tire pressure sensor (DTPS), possesses the capability to replace the accelerometer or directional microphone currently being used for inspecting pavement conditions. By measuring dynamic pressure changes inside the tire, ground vibration can be amplified and isolated from environmental noise. In this work, verifications of the DTPS concept of sensing inside the tire have been carried out. In addition, comparisons between a DTPS, ground-mounted accelerometer, and directional microphone are made. A data analysis algorithm has been developed and optimized to reconstruct ground acceleration from DTPS data. Numerical and experimental studies of this DTPS reveal a strong potential for measuring ground vibration caused by a moving vehicle. A calibration of transfer function between dynamic tire pressure change and ground acceleration may be needed for different tire system or for more accurate application.

  8. 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.

  9. Water budget for SRP burial ground area

    International Nuclear Information System (INIS)

    Hubbard, J.E.; Emslie, R.H.

    1984-01-01

    Radionuclide migration from the SRP burial ground for solid low-level waste has been studied extensively. Most of the buried radionuclides are fixed on the soil and show negligible movement. The major exception is tritium, which when leached from the waste by percolating rainfall, forms tritiated water and moves with the groundwater. The presence of tritium has been useful in tracing groundwater flow paths to outcrop. A subsurface tritium plume moving from the southwest corner of the burial ground toward an outcrop near Four Mile Creek has been defined. Groundwater movement is so slow that much of the tritium decays before reaching the outcrop. The burial ground tritium plume defined to date is virtually all in the uppermost sediment layer, the Barnwell Formation. The purpose of the study reported in this memorandum was to investigate the hypothesis that deeper flow paths, capable of carrying substantial amounts of tritium, may exist in the vicinity of the burial ground. As a first step in seeking deeper flow paths, a water budget was constructed for the burial ground site. The water budget, a materials balance used by hydrologists, is expressed in annual area inches of rainfall. Components of the water budget for the burial ground area were analyzed to determine whether significant flow paths may exist below the tan clay. Mean annual precipitation was estimated as 47 inches, with evapotranspiration, run-off, and groundwater recharge estimated as 30, 2, and 15 inches, respectively. These estimates, when combined with groundwater discharge data, suggest that 5 inches of the groundwater recharge flow above the tan clay and that 10 inches flow below the tan clay. Therefore, two-thirds of the groundwater recharge appears to follow flow paths that are deeper than those previously found. 13 references, 10 figures, 5 tables

  10. 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.

  11. Vehicle electrification. Quo vadis?

    Energy Technology Data Exchange (ETDEWEB)

    Brinkman, N. [GM Global Research and Development, Warren, MI (United States); Eberle, U.; Formanski, V.; Grebe, U.D.; Matthe, R. [General Motors Europe, Ruesselsheim (Germany)

    2012-11-01

    This publication describes the development of electrified propulsion systems from the invention of the automobile to the present and then provides an outlook on expected technology progress. Vehicle application areas for the various systems are identified based on a range of energy supply chains and the technological limits of electric powertrain components. GM anticipates that vehicle electrification will increase in the future. Battery-electric vehicles will become competitive for some applications, especially intra-urban, short-distance driving. Range-extended electric vehicles provide longer driving range and offer full capability; with this technology, electric vehicles can serve as the prime vehicle for many customers. Hydrogen-powered fuel cell-electric powertrains have potential for application across most of the vehicle segments. They produce zero emissions during all phases of operation, offer short refueling times, but have powertrain cooling and hydrogen storage packaging constraints. While the market share of electrified vehicles is expected to increase significantly, GM expects conventional powertrains with internal combustion engines to also have a long future - however, a lot of them will be supported by various levels of electrification. (orig.)

  12. Vehicle usage verification system

    NARCIS (Netherlands)

    Scanlon, W.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

  13. Optimal vehicle control

    NARCIS (Netherlands)

    Alirezaei, M.; Kanarachos, S.A.; Scheepers, B.T.M.; Maurice, J.P.

    2013-01-01

    The Integrated Vehicle Safety Department of TNO (Dutch Organization for Applied Scientific Research) investigates the application of modern control methods in the Integrated Vehicle Dynamics Control (IVDC) field, as a strategic research topic of the Beyond Safe framework. The aim of IVDC is to

  14. 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.

  15. Easy-to-Use UAV Ground Station Software for Low-Altitude Civil Operations, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to design and develop easy-to-use Ground Control Station (GCS) software for low-altitude civil Unmanned Aerial Vehicle (UAV) operations. The GCS software...

  16. Long term subsidence movements and behavior of subsidence-damaged structures

    International Nuclear Information System (INIS)

    Mahar, J.W.; Marino, G.G.

    1999-01-01

    Surface ground movement related to sag mine subsidence has been monitored above Illinois abandoned room and pillar coal workings for periods of more than 15 years. The long term movement related to a specific mine subsidence is typically small relative to the initial displacements but have caused crack and tilt damage in both repaired and unrepaired structures. Seasonal variations in ground surface elevations are superimposed on the downward movement related to mine subsidence. Thus it is necessary to measure long term subsidence movement at about the same time each year in order to minimize environmental factors. This paper presents long term monitoring data from five subsidence sags in central and southern Illinois. The abandoned coal mine workings are located at depths of 160 to 460 ft below the ground surface. measured residual mine subsidence ranges between 1.4 and 3.6 in. 4.4 to 15 years after mine failure. The magnitude of downward displacement is greater than settlement design values (1 in.) and are at rates (0.0004 to 0.0056 ft/month) that cause damage to structures. Most of the damage in unrepaired structures occurs along existing cracks and separations. In all five cases, the ground movements are continuing at residual rates. Sag subsidence movement in Illinois takes place for a minimum of five years after the damage is manifested at the ground surface. A classification of say development is provided based on the displacement-time data

  17. Genetics Home Reference: congenital mirror movement disorder

    Science.gov (United States)

    ... Health Conditions Congenital mirror movement disorder Congenital mirror movement disorder Printable PDF Open All Close All Enable ... view the expand/collapse boxes. Description Congenital mirror movement disorder is a condition in which intentional movements ...

  18. Vehicle Emissions Risk Management

    International Nuclear Information System (INIS)

    Ibrahem, L.G.

    2004-01-01

    Vehicle emissions are considered as a main source for air pollution. Emissions regulation is now well developed in most countries to meet cleaner air quality. Reducing emissions by using cleaner fuels, which meet certain specification, is not enough to get cleaner air, yet the vehicle technology is not improved. Here we will outline the following: - development in fuel specification and emissions regulation. main facts linking vehicle emissions, fuel properties and air quality. catalytic converter technology. Emissions sources: In modem cities, vehicle traffic is potentially a major source of emissions. However sometimes other sources of emissions from industry and other stationary sources can be equally important and include emissions that are of greater toxicity than those from vehicles

  19. 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.

  20. 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.

  1. Energy harvesting water vehicle

    KAUST Repository

    Singh, Devendra

    2018-01-04

    An efficient energy harvesting (EEH) water vehicle is disclosed. The base of the EEH water vehicle is fabricated with rolling cylindrical drums that can rotate freely in the same direction of the water medium. The drums reduce the drag at the vehicle-water interface. This reduction in drag corresponds to an increase in speed and/or greater fuel efficiency. The mechanical energy of the rolling cylindrical drums is also transformed into electrical energy using an electricity producing device, such as a dynamo or an alternator. Thus, the efficiency of the vehicle is enhanced in two parallel modes: from the reduction in drag at the vehicle-water interface, and from capturing power from the rotational motion of the drums.

  2. Justice foundations for the Comprehensive Law Movement.

    Science.gov (United States)

    Dewhurst, Dale

    2010-01-01

    Authors examining the developing dispute resolution alternatives to the adversarial system have identified nine converging "vectors" or alternatives in what has been termed the Comprehensive Law Movement. These authors have sought to understand how the developing vectors can remain separate and vibrant movements while sharing common ground. Some analyze these developments as being within law and legal practice, others see them as alternative approaches to law, and still others take a combined approach. It will be impossible to understand how these vectors have meaningful differences from law and legal practice if the search is limited to looking within law and legal practice. It will be impossible to understand how these vectors have meaningful commonalities with law and legal practice if the search is limited to looking external to law and legal practice. Instead of comparing the vectors with the adversarial system, higher order criteria are required. What is needed is a comprehensive and internally consistent super-system of norms; one that can be used to evaluate the adversarial system and the evolving vectors on an equal footing. An Aristotelian natural law virtue theory of justice can: (a) provide a functional guiding definition of justice; (b) serve as a comprehensive and internally consistent super-system of norms; and (c) provide the theoretical and evaluative foundation required to clarify the relationships among the adversarial system and the developing vectors. Finally, it will become clear why the Comprehensive Law Movement might be more appropriately conceptualized as the Comprehensive Justice Movement. Copyright © 2010 Elsevier Ltd. All rights reserved.

  3. Autism: The Micro-Movement Perspective

    Directory of Open Access Journals (Sweden)

    Elizabeth B Torres

    2013-07-01

    Full Text Available The current assessment of behaviors in the inventories to diagnose autism spectrum disorders (ASD focus on observation and discrete categorizations. Behaviors require movements, yet measurements of physical movements are seldom included. Their inclusion however, could provide an objective characterization of behavior to help unveil interactions between the peripheral and the central nervous systems. Such interactions are critical for the development and maintenance of spontaneous autonomy, self-regulation and voluntary control. At present, current approaches cannot deal with the heterogeneous, dynamic and stochastic nature of development. Accordingly, they leave no avenues for real-time or longitudinal assessments of change in a coping system continuously adapting and developing compensatory mechanisms. We offer a new unifying statistical framework to reveal re-afferent kinesthetic features of the individual with ASD. The new methodology is based on the non-stationary stochastic patterns of minute fluctuations (micro-movements inherent to our natural actions. Such patterns of behavioral variability provide re-entrant sensory feedback contributing to the autonomous regulation and coordination of the motor output. From an early age, this feedback supports centrally driven volitional control and fluid, flexible transitions between intentional and spontaneous behaviors. We show that in ASD there is a disruption in the maturation of this form of proprioception. Despite this disturbance, each individual has unique adaptive compensatory capabilities that we can unveil and exploit to evoke faster and more accurate decisions. Measuring the kinesthetic re-afference in tandem with stimuli variations we can detect changes in their micro-movements indicative of a more predictive and reliable kinesthetic percept. Our methods address the heterogeneity of ASD with a personalized approach grounded in the inherent sensory-motor abilities that the individual has

  4. Contamination and decontamination of vehicles when driven in radioactive areas

    International Nuclear Information System (INIS)

    Ulvsand, T.; Nygren, U.

    1999-10-01

    There is reason to ask whether it is beneficial to decontaminate vehicles, in view of the great effort applied. If the level of contamination is low before the decontamination process, then the cost is not motivated, even if the decontamination is shown to be effective in relative terms. The report describes two trials at the National NBC Defence School in Umeaa and one trial at the French test site in Bourges. The aim is to investigate how vehicles are contaminated and at which ground deposition levels troublesome levels of contamination will arise. In the trials, a non-radioactive agent substituting real radioactivity was used. The trials in Sweden so far have used the oversnow vehicle BV 206, during both winter and summer conditions. The vehicles were driven a specific distance along a road on which a known amount of the test substance had been dispersed. Samples were taken on pre-determined areas on one side of the vehicles to measure the amount of test substance. Later, the vehicles continued along a 'clean' road where additional samples were taken, but on the other side of the vehicles. The largest amount of test substance was collected on the tracks and on the back of the vehicle. The tracks and mud-flaps were effectively decontaminated when the vehicles were driven along a clean road, while most of the contamination remained on the backside. The purpose of the trials in France was to compare the results from our non-radioactive and their radioactive method, based on the radioactive La-140. Due to ground conditions, the level of contamination on the vehicles was much less than in the trials in Umeaa, but the effect decontamination could be measured after all

  5. Contamination and decontamination of vehicles driven in radioactive areas

    International Nuclear Information System (INIS)

    Ulvsand, T.; Nygren, U.

    1999-03-01

    There is reason to ask whether it is beneficial to decontaminate vehicles, in view of the great effort applied. If the level of contamination is low before the decontamination process, then the cost is not motivated, even if the decontamination is shown to be effective in relative terms. The report describes two trials at the National NBC Defence School in Umeaa and one trial at the French test site in Bourges. The aim is to investigate how vehicles are contaminated and at which ground deposition levels troublesome levels of contamination will arise. In the trials, a non-radioactive agent substituting real radioactivity was used. The trials in Sweden so far have used the oversnow vehicle BV 206, during both winter and summer conditions. The vehicles were driven a specific distance along a road on which a known amount of the test substance had been dispersed. Samples were taken on pre-determined areas on one side of the vehicles to measure the amount of test substance. Later, the vehicles continued along a 'clean' road where additional samples were taken, but on the other side of the vehicles. The largest amount of test substance was collected on the tracks and on the back of the vehicle. The tracks and mud-flaps were effectively decontaminated when the vehicles were driven along a clean road, while most of the contamination remained on the backside. The purpose of the trials in France was to compare the results from our non-radioactive and their radioactive method, based on the radioactive La-140. Due to ground conditions, the level of contamination on the vehicles was much less than in the trials in Umeaa, but the effect decontamination could be measured after all

  6. 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.

  7. Hydrogen vehicle fueling station

    Energy Technology Data Exchange (ETDEWEB)

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

    1995-09-01

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

  8. Gaze-Based Controlling a Vehicle

    DEFF Research Database (Denmark)

    Mardanbeigi, Diako; Witzner Hansen, Dan

    ) as an example of a complex gaze-based task in environment. This paper discusses the possibilities and limitations of how gaze interaction can be performed for controlling vehicles not only using a remote gaze tracker but also in general challenging situations where the user and robot are mobile...... modality if gaze trackers are embedded into the head- mounted devices. The domain of gaze-based interactive applications increases dramatically as interaction is no longer constrained to 2D displays. This paper proposes a general framework for gaze-based controlling a non- stationary robot (vehicle...... and the movements may be governed by several degrees of freedom (e.g. flying). A case study is also introduced where the mobile gaze tracker is used for controlling a Roomba vacuum cleaner....

  9. Localizing Ground Penetrating RADAR: A Step Towards Robust Autonomous Ground Vehicle Localization

    Science.gov (United States)

    2016-07-14

    can be made on future passes. The highway and subsurface move based on seasonal and water based varia - tions, which offer the potential to reduce the...effect on wave propagation velocity. As a result, the regis- tration process may be impacted when soil moisture content is variable between the baseline

  10. Temporomandibular joint movement

    International Nuclear Information System (INIS)

    Maeda, M.; Itou, S.; Ishii, Y.; Yamamoto, K.; Kawamura, Y.; Matsuda, T.; Hayashi, N.; Ishii, J.

    1992-01-01

    Ten temporomandibular joints (TMJs) of 5 healthy volunteers and 19 TMJs of internal derangements in 16 patients with splint therapy were examined with MR imaging. T1-weighted images were obtained only in the closed mouth position, and gradient recalled acquisition in steady state (GRASS) images were obtained in active opening and closing phases, allowing a pseudodynamic display of TMJ movement. All patients received protrusive splint treatment. The usefulness of MR imaging to assess the efficacy of splint therapy was evaluated. Corrected disk position with the splint in place was clearly demonstrated in 9 TMJs, corresponding with elimination of reciprocal clicking. Ten other TMJs of anterior disk displacement without reduction showed uncorrected disk position by the splint. This information could confirm the therapeutic efficacy, or suggest other treatment alternatives. GRASS MR imaging can provide accurate and physiologic information about disk function in initial and follow-up assessment of protrusive splint therapy. (orig.)

  11. Tracking the Poster Movement

    DEFF Research Database (Denmark)

    Christensen, Line Hjorth

    2015-01-01

    Summary: This article considers the display of posters as a distinctive activity and defining aspect of British modernism between the two wars, looking to a cardinal event, the Exhibition of British and Foreign Posters at the Victoria and Albert Museum in 1931. This manifestation was the first...... in the Museum to expose the poster-image as a medium in its own artistic, technical, historical and popular right; the article examines the event as a sign holding core characteristics of a ‘poster movement’ prevailing during the interwar years. The period made a varied scene for exhibitions promoting...... commercial and graphic design of various kinds of which British and Foreign Posters offers a particularly rich example. The exhibition attracted commercial, artistic and curatorial forces substantiating the idea of a movement, and approached commercial art from a perspective that raised new awareness towards...

  12. 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...... repeatedly to convey the feeling of a man and a woman falling in love. This raises the question of why producers and directors choose certain stylistic features to narrate certain categories of content. Through the analysis of several short film and TV clips, this article explores whether...... or not there are perceptual aspects related to specific stylistic features that enable them to be used for delimited narrational purposes. The article further attempts to reopen this particular stylistic debate by exploring the embodied aspects of visual perception in relation to specific stylistic features...

  13. 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...... of individual experiences of school and everyday school life as it unfolds in and beyond the formal teaching situations. The chapter follows in the wake of a growing attention to the aspects of everyday life and lived life at school in the history of education. It also develops tools for and demonstrates how...... the use of spoken memories is a rewarding source for the writing about school from the pupils’ perspective....

  14. Evidence for intermittency and a truncated power law from highly resolved aphid movement data.

    Science.gov (United States)

    Mashanova, Alla; Oliver, Tom H; Jansen, Vincent A A

    2010-01-06

    Power laws are increasingly used to describe animal movement. Despite this, the use of power laws has been criticized on both empirical and theoretical grounds, and alternative models based on extensions of conventional random walk theory (Brownian motion) have been suggested. In this paper, we analyse a large volume of data of aphid walking behaviour (65,068 data points), which provides a highly resolved dataset to investigate the pattern of movement. We show that aphid movement is intermittent--with alternations of a slow movement with frequent change of direction and a fast, relatively directed movement--and that the fast movement consists of two phases--a strongly directed phase that gradually changes into an uncorrelated random walk. By measuring the mean-squared displacement and the duration of non-stop movement episodes we found that both spatial and temporal aspects of aphid movement are best described using a truncated power law approach. We suggest that the observed spatial pattern arises from the duration of non-stop movement phases rather than from correlations in turning angles. We discuss the implications of these findings for interpreting movement data, such as distinguishing between movement and non-movement, and the effect of the range of data used in the analysis on the conclusions.

  15. Seamless Mode Switching for Shared Control of Semiautonomous Vehicles, Phase I

    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...

  16. Ares I-X Ground Diagnostic Prototype

    Science.gov (United States)

    Schwabacher, Mark A.; Martin, Rodney Alexander; Waterman, Robert D.; Oostdyk, Rebecca Lynn; Ossenfort, John P.; Matthews, Bryan

    2010-01-01

    The automation of pre-launch diagnostics for launch vehicles offers three potential benefits: improving safety, reducing cost, and reducing launch delays. The Ares I-X Ground Diagnostic Prototype demonstrated anomaly detection, fault detection, fault isolation, and diagnostics for the Ares I-X first-stage Thrust Vector Control and for the associated ground hydraulics while the vehicle was in the Vehicle Assembly Building at Kennedy Space Center (KSC) and while it was on the launch pad. The prototype combines three existing tools. The first tool, TEAMS (Testability Engineering and Maintenance System), is a model-based tool from Qualtech Systems Inc. for fault isolation and diagnostics. The second tool, SHINE (Spacecraft Health Inference Engine), is a rule-based expert system that was developed at the NASA Jet Propulsion Laboratory. We developed SHINE rules for fault detection and mode identification, and used the outputs of SHINE as inputs to TEAMS. The third tool, IMS (Inductive Monitoring System), is an anomaly detection tool that was developed at NASA Ames Research Center. The three tools were integrated and deployed to KSC, where they were interfaced with live data. This paper describes how the prototype performed during the period of time before the launch, including accuracy and computer resource usage. The paper concludes with some of the lessons that we learned from the experience of developing and deploying the prototype.

  17. Steering assistance for backing up articulated vehicles

    Directory of Open Access Journals (Sweden)

    Dieter Zoebel

    2003-10-01

    Full Text Available Articulated vehicles belong to the category of nonholonomous wheelers. Under the aspect of control theory they require a sophisticated handling. This corresponds to the experience of unexercised drivers, for instance maneuvering a car and its caravan into a parking box. In this context some adequate advice for the right steering movements would give an appreciable assistance. Here a visual assistance is proposed and realized. The decisive advice for the driver is derived from kinematic modeling. The system is designed to be integrated into standard cars and trucks. For testing purposes the actual system has been incorporated into an existing backing up simulator.

  18. Design and Experimental Investigation of Pneumatic Movement Mechanism Supported by Mechanic Cam and Crank Shaft

    Directory of Open Access Journals (Sweden)

    Salih KORUCU

    2015-02-01

    Full Text Available The pressurized air is applied to many sectors required purity and velocity. One of these sectors is to use of air as impulsive force in the moving mechanisms. In this study, the movement mechanism prototype worked with compressed air was designed and produced forlight vehicle engine as motorbike and ATV (All-Terrain Vehicle. In developed mechanisms, pneumatic artificial muscles were used for a given movement of crankshaft. A cam system was also designed for synchronization pneumatic muscles. In this way, these muscles transmit the synchronous movement to crankshaft. At the end of the study, the developed mechanism was mounted on an ATV vehicle(110 cc/ Cubic Centimeter, engine displacement capacityand its performance was tested using the four different weights (50, 75, 100 and 150 kg, three different pressures (4, 5 and 6 bar and two different hoses (Ø 6 and Ø 8 mm. By considering experimental results and design criteria, power of the movement mechanism was obtained as 886 Watt. With this study, minimization of energy consumption for movement of passenger cars, and using clean and cheap energy as ATV which can be alternative for single or two passenger vehicles.

  19. Clinical features of movement disorders.

    Science.gov (United States)

    Yung, C Y

    1983-08-01

    The descriptive aspects of all types of movement disorders and their related syndromes and terminologies used in the literature are reviewed and described. This comprises the features of (a) movement disorders secondary to neurological diseases affecting the extrapyramidal motor system, such as: athetosis, chorea, dystonia, hemiballismus, myoclonus, tremor, tics and spasm, (b) drug induced movement disorders, such as: akathisia, akinesia, hyperkinesia, dyskinesias, extrapyramidal syndrome, and tardive dyskinesia, and (c) abnormal movements in psychiatric disorders, such as: mannerism, stereotyped behaviour and psychomotor retardation. It is intended to bring about a more comprehensive overview of these movement disorders from a phenomenological perspective, so that clinicians can familiarize with these features for diagnosis. Some general statements are made in regard to some of the characteristics of movement disorders.

  20. [Introduction to grounded theory].

    Science.gov (United States)

    Wang, Shou-Yu; Windsor, Carol; Yates, Patsy

    2012-02-01

    Grounded theory, first developed by Glaser and Strauss in the 1960s, was introduced into nursing education as a distinct research methodology in the 1970s. The theory is grounded in a critique of the dominant contemporary approach to social inquiry, which imposed "enduring" theoretical propositions onto study data. Rather than starting from a set theoretical framework, grounded theory relies on researchers distinguishing meaningful constructs from generated data and then identifying an appropriate theory. Grounded theory is thus particularly useful in investigating complex issues and behaviours not previously addressed and concepts and relationships in particular populations or places that are still undeveloped or weakly connected. Grounded theory data analysis processes include open, axial and selective coding levels. The purpose of this article was to explore the grounded theory research process and provide an initial understanding of this methodology.

  1. Normal Movement Selectivity in Autism

    OpenAIRE

    Dinstein, Ilan; Thomas, Cibu; Humphreys, Kate; Minshew, Nancy; Behrmann, Marlene; Heeger, David J.

    2010-01-01

    It has been proposed that individuals with autism have difficulties understanding the goals and intentions of others because of a fundamental dysfunction in the mirror neuron system. Here, however, we show that individuals with autism exhibited not only normal fMRI responses in mirror system areas during observation and execution of hand movements, but also exhibited typical movement-selective adaptation (repetition suppression) when observing or executing the same movement repeatedly. Moveme...

  2. 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.

  3. Robotic Ground-Penetrating-Radar (GPR) Surveys to Support the 2014 Greenland Inland Traverse

    Science.gov (United States)

    2016-06-01

    return via the same route to Thule in late May for over- winter equipment storage. The first 100 km of the route onto the main ice cap is ridden with...vehicle has a nominal ground pressure of 20 kPa through 0.51 m diameter all-terrain vehicle (ATV) tires . Yeti there- fore can drive safely over most

  4. The Explanatory Range of Movement

    DEFF Research Database (Denmark)

    Thrane, Torben

    2005-01-01

    Drawing a distinction between systemic and functional explanations of movement in general, I shall argue that the Chomskyan view of movement in language is originally functional. With the advent of the Minimimalist Program, however, it has become systemic, but no argument for this change has been...... forthcoming. I'll then present data (from Danish) to sustain the view that only functional type explanations of movement can be empirically motivated, and these only if movement is reinterpreted as transition states between representations of different kinds....

  5. Bewitched - The Tea Party Movement

    DEFF Research Database (Denmark)

    Ashbee, Edward

    2011-01-01

    This article considers the development of the Tea Party movement, the character of its thinking and the nature of the interests and constituencies to which it is tied. The article suggests that despite the importance of ideas and interests, and the process of interaction between them, the movement....... The political friction that this creates has contributed to the anger that has characterised the movement. While the Tea Party movement may, as such, have only an ephemeral existence, independent conservatives are likely to remain a significant and potent constituency and will, within the institutional...

  6. The Grounded Theory Bookshelf

    Directory of Open Access Journals (Sweden)

    Vivian B. Martin, Ph.D.

    2005-03-01

    Full Text Available Bookshelf will provide critical reviews and perspectives on books on theory and methodology of interest to grounded theory. This issue includes a review of Heaton’s Reworking Qualitative Data, of special interest for some of its references to grounded theory as a secondary analysis tool; and Goulding’s Grounded Theory: A practical guide for management, business, and market researchers, a book that attempts to explicate the method and presents a grounded theory study that falls a little short of the mark of a fully elaborated theory.Reworking Qualitative Data, Janet Heaton (Sage, 2004. Paperback, 176 pages, $29.95. Hardcover also available.

  7. Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

    Science.gov (United States)

    Chen, Hongbin

    2018-03-01

    Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

  8. Movement Matters: Observing the Benefits of Movement Practice

    Science.gov (United States)

    Fuchs, Melani Alexander

    2015-01-01

    Montessori's first premise is that movement and cognition are closely entwined, and movement can enhance thinking and learning (Lillard, 2005). Children must move, and practice moving, to develop strength, balance, and the stability needed to fully participate in the rigors of daily life. It is imperative for young children's motor…

  9. Social-movement analysis of the American antinuclear movement

    International Nuclear Information System (INIS)

    Ladd, A.E.

    1981-01-01

    Utilizing data from a survey of participants at the May 6, 1979 antinuclear rally in Washington, DC (N = 420), this dissertation explored some of the major structural and ideological characteristics of the American Antinuclear Movement. By organizing the data around three of the key analytical concepts in the study of social movements - mobilization, recruitment, and ideology - the author was able to derive from the demonstration sample a descriptive and illustrative analysis of those individuals, organizations, and processes involved in the national antinuclear crusade. Given that few researchers have actively studied the antinuclear movement beyond the scope of local or regional protests, this work constitutes the only empirical study to date examining a cross section of the movement's participants from a sociological perspective. It is also one of the few attempts to use a national demonstration as a social laboratory for the study of a social movement in general. In terms of the mobilization variables examined in the study, it was found that organizational networks, past movement activism, and individual resources were important factors in the May 6 mobilization effort. While less than one-half of the demonstrators were part of the antinuclear organizational network per se, most of them had been active in the major protest movements of the 1960's and 1970's. The demonstrators were relatively high in socio-economic resources and had occupational or educational schedules conducive to creating the necessary discretionary time for movement participation

  10. Blast resistant vehicle seat

    Science.gov (United States)

    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.

  11. Natural gas for vehicles

    International Nuclear Information System (INIS)

    Tissot-Favre, V.; Sudour, D.; Binutti, M.; Zanetta, P.; Rieussec, J.L.

    2005-01-01

    As a true alternative to oil products, and environment friendly fuel, Natural Gas for Vehicles complies with requirements for sustainable development. In addition, it is part of the European Union policy which underlines the importance of energy diversification through alternative fuels. This workshop will look into the current offer to the public transport segment, waste collection vehicles, and commercial vehicle fleets. Actions taken to spread the use of natural gas to all types of cars will also be covered. This article gathers 5 presentations about this topic given at the gas conference

  12. Bidirectional DC-DC converter fed drive for electric vehicle system ...

    African Journals Online (AJOL)

    Batteries are the primary energy-storage devices in ground vehicles. Now days battery fed electric drives are commonly being used for electric vehicles applications, due to various advantages, such as: nearly zero emission, guaranteed load leveling, good transient operation and energy recovery during braking operation.

  13. Analysis of Non-Tactical Vehicle Utilization at Fort Carson Colorado

    Science.gov (United States)

    2012-01-01

    regenerative braking energy recovery. The mass of the vehicles monitored in this study was not known. However, some useful information may be...Unclassified: Distribution A. Approved for Public Release 2012 NDIA GROUND VEHICLE SYSTEMS ENGINEERING AND TECHNOLOGY SYMPOSIUM MODELING... regenerative energy recovery potential for specific duty cycles was also quantified through a cumulative assessment of the number and severity of deceleration

  14. Reliability analysis of high-speed tracked vehicles in the polish army

    Directory of Open Access Journals (Sweden)

    Kończak Jarosław

    2017-06-01

    Full Text Available The Polish Armed Forces use tracked vehicles that serve as a core element of the ground combat forces. These vehicles are capable of fighting in all kinds of terrain conditions, in any season of the year. Combat missions are often fought in areas where even no dirt roads are available. The present paper assesses the reliability of tracked vehicles in the context of their irregular operation, as well as service- and maintenance-related vulnerability.

  15. Developing Autonomous Vehicles That Learn to Navigate by Mimicking Human Behavior

    Science.gov (United States)

    2006-09-28

    navigate in an unstructured environment to a specific target or location. 15. SUBJECT TERMS autonomous vehicles , fuzzy logic, learning behavior...ANSI-Std Z39-18 Developing Autonomous Vehicles That Learn to Navigate by Mimicking Human Behavior FINAL REPORT 9/28/2006 Dean B. Edwards Department...the future, as greater numbers of autonomous vehicles are employed, it is hoped that lower LONG-TERM GOALS Use LAGR (Learning Applied to Ground Robots

  16. Sustainable ground transportation – review of technologies, challenges and opportunities

    Energy Technology Data Exchange (ETDEWEB)

    Agarwal, Ramesh K. [Department of Mechanical Engineering and Materials Science, Washington University, St. Louis, MO 63130 (United States)

    2013-07-01

    Currently there are nearly 750 million ground vehicles in service worldwide. They are responsible for 50% of petroleum (oil) consumption and 60% of all greenhouse gas (GHG) emissions worldwide. The number of vehicles is forecasted to double by 2050. Therefore the environmental issues such as noise, emissions and fuel burn have become important for energy and environmental sustainability. This paper provides an overview of specific energy and environmental issues related to ground transportation. The technologies related to reduction in energy requirements such as reducing the vehicle mass by using the high strength low weight materials and reducing the viscous drag by active flow control and smoothing the operational profile, and reducing the contact friction by special tire materials are discussed along with the portable energy sources for reducing the GHG emissions such as low carbon fuels (biofuels), Lithium-ion batteries with high energy density and stability, and fuel cells. The technological challenges and opportunities for innovations are discussed.

  17. Intelligent Unmanned Vehicle Systems Suitable For Individual or Cooperative Missions

    Energy Technology Data Exchange (ETDEWEB)

    Matthew O. Anderson; Mark D. McKay; Derek C. Wadsworth

    2007-04-01

    The Department of Energy’s Idaho National Laboratory (INL) has been researching autonomous unmanned vehicle systems for the past several years. Areas of research have included unmanned ground and aerial vehicles used for hazardous and remote operations as well as teamed together for advanced payloads and mission execution. Areas of application include aerial particulate sampling, cooperative remote radiological sampling, and persistent surveillance including real-time mosaic and geo-referenced imagery in addition to high resolution still imagery. Both fixed-wing and rotary airframes are used possessing capabilities spanning remote control to fully autonomous operation. Patented INL-developed auto steering technology is taken advantage of to provide autonomous parallel path swathing with either manned or unmanned ground vehicles. Aerial look-ahead imagery is utilized to provide a common operating picture for the ground and air vehicle during cooperative missions. This paper will discuss the various robotic vehicles, including sensor integration, used to achieve these missions and anticipated cost and labor savings.

  18. Control of an Autonomous Vehicle for Registration of Weed and Crop in Precision Agriculture

    DEFF Research Database (Denmark)

    Nielsen, Kirsten Mølgaard; Andersen, Palle; Pedersen, Tom Søndergaard

    2002-01-01

    The paper describes the development of an autonomous electrical vehicle to be used for weed mapping in precision agriculture with special focus on the conceptual framework of the control system. The lowest layer of the control system is the propulsion and steering control, the second layer...... coordinates the movements of the wheel units, the third layer is path execution and perception and the upper layer performs planning and reasoning. The control system is implemented on an autonomous vehicle. The vehicle has been tested for path following and position accuracy. Based on the results a new...... vehicle is under construction....

  19. A review of dynamic characteristics of magnetically levitated vehicle systems

    Energy Technology Data Exchange (ETDEWEB)

    Cai, Y.; Chen, S.S.

    1995-11-01

    The dynamic response of magnetically levitated (maglev) ground transportation systems has important consequences for safety and ride quality, guideway design, and system costs. Ride quality is determined by vehicle response and by environmental factors such as humidity and noise. The dynamic response of the vehicles is the key element in determining ride quality, while vehicle stability is an important safety-related element. To design a guideway that provides acceptable ride quality in the stable region, vehicle dynamics must be understood. Furthermore, the trade-off between guideway smoothness and levitation and control systems must be considered if maglev systems are to be economically feasible. The link between the guideway and the other maglev components is vehicle dynamics. For a commercial maglev system, vehicle dynamics must be analyzed and tested in detail. This report, which reviews various aspects of the dynamic characteristics, experiments and analysis, and design guidelines for maglev systems, discusses vehicle stability, motion dependent magnetic force components, guideway characteristics, vehicle/ guideway interaction, ride quality, suspension control laws, aerodynamic loads and other excitations, and research needs.

  20. Building Blocks for Transport-Class Hybrid and Turboelectric Vehicles

    Science.gov (United States)

    Jankovsky, Amy; Bowman, Cheryl; Jansen, Ralph

    2016-01-01

    NASA has been investing in research efforts to define potential vehicles that use hybrid and turboelectric propulsion to enable savings in fuel burn and carbon usage. This paper overviews the fundamental building blocks that have been derived from those studies and details what key performance parameters have been defined, what key ground and flight tests need to occur, and highlights progress toward each.