MULTISENSOR EQUIPPED UAV/UGV FOR AUTOMATED EXPLORATION

Directory of Open Access Journals (Sweden)

S. Batzdorfer

2017-08-01

Full Text Available The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn – german acronym for Automated Navigation and Communication for Exploration – a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras – RGB as well as IR – or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.

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 ...

Landmark-based robust navigation for tactical UGV control in GPS-denied communication-degraded environments

Science.gov (United States)

Endo, Yoichiro; Balloch, Jonathan C.; Grushin, Alexander; Lee, Mun Wai; Handelman, David

2016-05-01

Control of current tactical unmanned ground vehicles (UGVs) is typically accomplished through two alternative modes of operation, namely, low-level manual control using joysticks and high-level planning-based autonomous control. Each mode has its own merits as well as inherent mission-critical disadvantages. Low-level joystick control is vulnerable to communication delay and degradation, and high-level navigation often depends on uninterrupted GPS signals and/or energy-emissive (non-stealth) range sensors such as LIDAR for localization and mapping. To address these problems, we have developed a mid-level control technique where the operator semi-autonomously drives the robot relative to visible landmarks that are commonly recognizable by both humans and machines such as closed contours and structured lines. Our novel solution relies solely on optical and non-optical passive sensors and can be operated under GPS-denied, communication-degraded environments. To control the robot using these landmarks, we developed an interactive graphical user interface (GUI) that allows the operator to select landmarks in the robot's view and direct the robot relative to one or more of the landmarks. The integrated UGV control system was evaluated based on its ability to robustly navigate through indoor environments. The system was successfully field tested with QinetiQ North America's TALON UGV and Tactical Robot Controller (TRC), a ruggedized operator control unit (OCU). We found that the proposed system is indeed robust against communication delay and degradation, and provides the operator with steady and reliable control of the UGV in realistic tactical scenarios.

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.

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...

Enabling unmanned capabilities in the tactical wheeled vehicle fleet of the future

Science.gov (United States)

Zych, Noah

2012-06-01

From transporting troops and weapons systems to supplying beans, bullets, and Band-Aids to front-line warfighters, tactical wheeled vehicles serve as the materiel backbone anywhere there are boots on the ground. Drawing from the U.S. Army's Tactical Wheeled Vehicle Strategy and the Marine Corps Vision & Strategy 2025 reports, one may conclude that the services have modest expectations for the introduction of large unmanned ground systems into operational roles in the next 15 years. However, the Department of Defense has already invested considerably in the research and development of full-size UGVs-and commanders deployed in both Iraq and Afghanistan have advocated the urgent fielding of early incarnations of this technology, believing it could make a difference on their battlefields today. For military UGVs to evolve from mere tactical advantages into strategic assets with developed doctrine, they must become as trustworthy as a well-trained warfighter in performing their assigned task. Starting with the Marine Corps' ongoing Cargo Unmanned Ground Vehicle program as a baseline, and informed by feedback from previously deployed subject matter experts, this paper examines the gaps which presently exist in UGVs from a mission-capable perspective. It then considers viable near-term technical solutions to meet today's functional requirements, as well as long-term development strategies to enable truly robust performance. With future conflicts expected to be characterized by increasingly complex operational environments and a broad spectrum of rapidly adapting threats, one of the largest challenges for unmanned ground systems will be the ability to exhibit agility in unpredictable circumstances.

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.

SAFER vehicle inspection: a multimodal robotic sensing platform

Science.gov (United States)

Page, David L.; Fougerolle, Yohan; Koschan, Andreas F.; Gribok, Andrei; Abidi, Mongi A.; Gorsich, David J.; Gerhart, Grant R.

2004-09-01

The current threats to U.S. security both military and civilian have led to an increased interest in the development of technologies to safeguard national facilities such as military bases, federal buildings, nuclear power plants, and national laboratories. As a result, the Imaging, Robotics, and Intelligent Systems (IRIS) Laboratory at The University of Tennessee (UT) has established a research consortium, known as SAFER (Security Automation and Future Electromotive Robotics), to develop, test, and deploy sensing and imaging systems for unmanned ground vehicles (UGV). The targeted missions for these UGV systems include -- but are not limited to --under vehicle threat assessment, stand-off check-point inspections, scout surveillance, intruder detection, obstacle-breach situations, and render-safe scenarios. This paper presents a general overview of the SAFER project. Beyond this general overview, we further focus on a specific problem where we collect 3D range scans of under vehicle carriages. These scans require appropriate segmentation and representation algorithms to facilitate the vehicle inspection process. We discuss the theory for these algorithms and present results from applying them to actual vehicle scans.

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.

Vegetation Versus Man-Made Object Detection from Imagery for Unmanned Vehicles in Off-Road Environments

Science.gov (United States)

2013-05-01

saliency, natural scene statistics 1. INTRODUCTION Research into the area of autonomous navigation for unmanned ground vehicles (UGV) has accelerated in...recent years. This is partly due to the success of programs such as the DARPA Grand Challenge1 and the dream of driverless cars ,2 but is also due to the...NOTES 14. ABSTRACT There have been several major advances in autonomous navigation for unmanned ground vehicles in controlled urban environments in

Some Reliability Considerations of UGV for Remote-response in Nuclear Emergency Situation

International Nuclear Information System (INIS)

Eom, Heungseop; Cho, Jaiwan; Jeong, Kyungmin

2013-01-01

In Fukushima disaster, a number of different UGVs, such as Packbots, Warriors, Quince, and Survey Runner, are used for monitoring, collecting data, inspection, and cleaning up. In utilizing UGVs in a nuclear emergency situation, one of serious problems is reliability of UGVs which is not sufficient yet for required mission completion. In this paper we surveyed failures and reliability of field UGVs and draw some important reliability considerations of UGVs for remote-response in a nuclear emergency situation. We think that the findings in this study will be helpful for developers or researchers of UGVs for nuclear emergency situations. We studied failures and reliability of UGVs used in search/rescue, military, and nuclear field by literature survey. The results showed that a state of art field UGVs can't be expected to complete an entire mission without failures, which leads to needs of reliability improvement of them. Though part of failure data from the surveyed studies were not enough detailed to get reliability matrix, some meaningful insights were found through analysis. Based on these insights, we draw some important considerations for reliability improvement of UGVs for an NPP emergency situation, and those reliability considerations are classified according to life cycle of a UGV for developers and researchers. Finally, there were not reported failures related to radiation environments in surveyed literature, but radiation tolerant control boards and sensors are easily anticipated in a NPP emergency situation. Therefore studies about the radiation-tolerant design and the use of radiation-tolerant components also should be considered for high reliability of UGVs for a NPP application

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.

Supercapacitors in Tandem with Batteries to Prolong the Range of UGV Systems

Directory of Open Access Journals (Sweden)

Namin Shah

2018-01-01

Full Text Available The purpose of this study was to explore a novel approach to power hybridization in relation to its effectiveness in an unmanned ground vehicle (UGV. This hybridization method is modeled after the power distribution methods found in living organisms, which utilize glycogen stores and adipose tissue to optimize power and energy density strengths and weaknesses. A UGV rover was constructed with an appropriate distribution of power storage elements creating separate power buffers. The primary buffer consisted of a 10 W solar panel array and a 600 F, 5.4 V supercapacitor bank, and the secondary buffer consisted of a 3.7 V 6 Ah lithium-ion battery pack. The primary buffer provided virtually limitless charge cycles with a superior power density juxtaposed with a secondary buffer that provided superior energy density and volumetric versatility. The design of this rover is presented in this paper; it was tested under manual and autonomous modes. The rover was found to be capable of effectively operating solely on the primary power buffer in high to low luminous conditions while being able to carry out basic extravehicular activities. The rover could travel roughly 22 km without any input power on a full charge of both buffers, and could smoothly switch between its own power buffers during operation, all while transmitting live first person video (FPV and network data. The introduction of control algorithms on the onboard microcontroller unit (MCU was also explored in both manual and autonomous configurations. The latter integrated linear regression to intelligently manage power and locomotion based on sensory data from photoresistors.

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.

Adaptive Surveying and Early Treatment of Crops with a Team of Autonomous Vehicles

DEFF Research Database (Denmark)

Kazmi, Wajahat; Bisgaard, Morten; Garcia-Ruiz, Francisco

2011-01-01

The ASETA project (acronym for Adaptive Surveying and Early treatment of crops with a Team of Autonomous vehicles) is a multi-disciplinary project combining cooperating airborne and ground-based vehicles with advanced sensors and automated analysis to implement a smart treatment of weeds...... in agricultural fields. The purpose is to control and reduce the amount of herbicides, consumed energy and vehicle emissions in the weed detection and treatment process, thus reducing the environmental impact. The project addresses this issue through a closed loop cooperation among a team of unmanned aircraft...... system (UAS) and unmanned ground vehicles (UGV) with advanced vision sensors for 3D and multispectral imaging. This paper presents the scientific and technological challenges in the project, which include multivehicle estimation and guidance, heterogeneous multi-agent systems, task generation...

An Approach of Dynamic Object Removing for Indoor Mapping Based on UGV SLAM

Directory of Open Access Journals (Sweden)

Jian Tang

2015-07-01

Full Text Available The study of indoor mapping for Location Based Service (LBS becomes more and more popular in recent years. LiDAR SLAM based mapping method seems to be a promising indoor mapping solution. However, there are some dynamic objects such as pedestrians, indoor vehicles, etc. existing in the raw LiDAR range data. They have to be removal for mapping purpose. In this paper, a new approach of dynamic object removing called Likelihood Grid Voting (LGV is presented. It is a model free method and takes full advantage of the high scanning rate of LiDAR, which is moving at a relative low speed in indoor environment. In this method, a counting grid is allocated for recording the occupation of map position by laser scans. The lower counter value of this position can be recognized as dynamic objects and the point cloud will be removed from map. This work is a part of algorithms in our self- developed Unmanned Ground Vehicles (UGV simultaneous localization and Mapping (SLAM system- NAVIS. Field tests are carried in an indoor parking place with NAVIS to evaluate the effectiveness of the proposed method. The result shows that all the small size objects like pedestrians can be detected and removed quickly; large size of objects like cars can be detected and removed partly.

Software Systems for Robotics An Applied Research Perspective

Directory of Open Access Journals (Sweden)

Greg Broten

2006-03-01

Full Text Available Over the past 20 years, Defence Research and Development Canada has developed numerous tele-operated unmanned ground vehicles (UGV, many founded on the ANCÆUS command and control system. This paper relates how long experience with tele-operated UGVs influenced DRDC's shift in focus from tele-operated to autonomous unmanned vehicles (UV, the forces that guided DRDC's development approach and DRDC's experience adapting a specific tool set, MIRO, to a UGV implementation.

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

Unmanned Ground Systems Roadmap

Science.gov (United States)

2011-07-01

quality metric tracking history . 1.4.3.4 Technical Management Division The mission of the RS JPO Technical Management (Tech Mgt) Division is to...missions dictate radio capabilities. IP version 4 ( IPv4 ) is the common IP standard used on IP addressable devices of UGVs, however, Unmanned Ground...Systems Roadmap UNCLASSIFIED 26 UNCLASSIFIED July 2011 IPv4 addresses are projected to run out and UGV systems will need to migrate to IP version 6

Fast Fingerprint Database Maintenance for Indoor Positioning Based on UGV SLAM

Directory of Open Access Journals (Sweden)

Jian Tang

2015-03-01

Full Text Available Indoor positioning technology has become more and more important in the last two decades. Utilizing Received Signal Strength Indicator (RSSI fingerprints of Signals of OPportunity (SOP is a promising alternative navigation solution. However, as the RSSIs vary during operation due to their physical nature and are easily affected by the environmental change, one challenge of the indoor fingerprinting method is maintaining the RSSI fingerprint database in a timely and effective manner. In this paper, a solution for rapidly updating the fingerprint database is presented, based on a self-developed Unmanned Ground Vehicles (UGV platform NAVIS. Several SOP sensors were installed on NAVIS for collecting indoor fingerprint information, including a digital compass collecting magnetic field intensity, a light sensor collecting light intensity, and a smartphone which collects the access point number and RSSIs of the pre-installed WiFi network. The NAVIS platform generates a map of the indoor environment and collects the SOPs during processing of the mapping, and then the SOP fingerprint database is interpolated and updated in real time. Field tests were carried out to evaluate the effectiveness and efficiency of the proposed method. The results showed that the fingerprint databases can be quickly created and updated with a higher sampling frequency (5Hz and denser reference points compared with traditional methods, and the indoor map can be generated without prior information. Moreover, environmental changes could also be detected quickly for fingerprint indoor positioning.

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.

Improving UXS Network Availability with Asymmetric Polarized MIMO

Science.gov (United States)

2013-06-01

time video within line of sight (LOS) of a GCS [4]. Another type of UXS is an unmanned ground vehicle (UGV). UGVs are mostly wheeled or tracked and...formation. In graph theory, this corresponds to the maximum of the eccentricity of all vertices in G . For Figure 49(a-c) the minimum hop metric is

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...

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.

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

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.

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.

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 ...

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)

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

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.

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.

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

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.

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.

Algorithm for covert convoy of a moving target using a group of autonomous robots

Science.gov (United States)

Polyakov, Igor; Shvets, Evgeny

2018-04-01

An important application of autonomous robot systems is to substitute human personnel in dangerous environments to reduce their involvement and subsequent risk on human lives. In this paper we solve the problem of covertly convoying a civilian in a dangerous area with a group of unmanned ground vehicles (UGVs) using social potential fields. The novelty of our work lies in the usage of UGVs as compared to the unmanned aerial vehicles typically employed for this task in the approaches described in literature. Additionally, in our paper we assume that the group of UGVs should simultaneously solve the problem of patrolling to detect intruders on the area. We develop a simulation system to test our algorithms, provide numerical results and give recommendations on how to tune the potentials governing robots' behaviour to prioritize between patrolling and convoying tasks.

Ground Robotics Capabilities Conference and Exhibition

Science.gov (United States)

2008-03-06

SALON A... SALON B SALON C C O R R ID O R CROCKETT A CROCKETT B CROCKETT C CROCKETT D CROCKETT E CROCKETT F CROCKETT G CROCKETT H CROCKETT I ENTRANCE 2008 Ground...analysis for “ game changing” robotic technologies – “UGVs are significantly more complicated than UAVs, and will require much more

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

Water Detection Based on Object Reflections

Science.gov (United States)

Rankin, Arturo L.; Matthies, Larry H.

2012-01-01

Water bodies are challenging terrain hazards for terrestrial unmanned ground vehicles (UGVs) for several reasons. Traversing through deep water bodies could cause costly damage to the electronics of UGVs. Additionally, a UGV that is either broken down due to water damage or becomes stuck in a water body during an autonomous operation will require rescue, potentially drawing critical resources away from the primary operation and increasing the operation cost. Thus, robust water detection is a critical perception requirement for UGV autonomous navigation. One of the properties useful for detecting still water bodies is that their surface acts as a horizontal mirror at high incidence angles. Still water bodies in wide-open areas can be detected by geometrically locating the exact pixels in the sky that are reflecting on candidate water pixels on the ground, predicting if ground pixels are water based on color similarity to the sky and local terrain features. But in cluttered areas where reflections of objects in the background dominate the appearance of the surface of still water bodies, detection based on sky reflections is of marginal value. Specifically, this software attempts to solve the problem of detecting still water bodies on cross-country terrain in cluttered areas at low cost.

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...

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...

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

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...

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.

Autonomy and manual operation in a small robotic system for under-vehicle inspections at security checkpoints

Science.gov (United States)

Smuda, William; Muench, Paul L.; Gerhart, Grant R.; Moore, Kevin L.

2002-07-01

Unmanned ground vehicle (UGV) technology can be used in a number of ways to assist in counter-terrorism activities. In addition to the conventional uses of tele-operated robots for unexploded ordinance handling and disposal, water cannons and other crowd control devices, robots can also be employed for a host of terrorism deterrence and detection applications. In previous research USU developed a completely autonomous prototype robot for performing under- vehicle inspections in parking areas (ODIS). Testing of this prototype and discussions with the user community indicated that neither the technology nor the users are ready for complete autonomy. In this paper we present a robotic system based on ODIS that balances the users' desire/need for tele- operation with a limited level of autonomy that enhances the performance of the robot. The system can be used by both civilian law enforcement and military police to replace the traditional mirror on a stick system of looking under cars for bombs and contraband.

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.

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.

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.

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.

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

Using probabilistic model as feature descriptor on a smartphone device for autonomous navigation of unmanned ground vehicles

Science.gov (United States)

Desai, Alok; Lee, Dah-Jye

2013-12-01

There has been significant research on the development of feature descriptors in the past few years. Most of them do not emphasize real-time applications. This paper presents the development of an affine invariant feature descriptor for low resource applications such as UAV and UGV that are equipped with an embedded system with a small microprocessor, a field programmable gate array (FPGA), or a smart phone device. UAV and UGV have proven suitable for many promising applications such as unknown environment exploration, search and rescue operations. These applications required on board image processing for obstacle detection, avoidance and navigation. All these real-time vision applications require a camera to grab images and match features using a feature descriptor. A good feature descriptor will uniquely describe a feature point thus allowing it to be correctly identified and matched with its corresponding feature point in another image. A few feature description algorithms are available for a resource limited system. They either require too much of the device's resource or too much simplification on the algorithm, which results in reduction in performance. This research is aimed at meeting the needs of these systems without sacrificing accuracy. This paper introduces a new feature descriptor called PRObabilistic model (PRO) for UGV navigation applications. It is a compact and efficient binary descriptor that is hardware-friendly and easy for implementation.

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.

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

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...

Unmanned Ground Vehicles in Support of Irregular War: A Non-lethal Approach

Science.gov (United States)

2011-03-15

days to clear all buildings in a very fluid and dynamic operation.43 Given the fact that no UGV can climb stairs at the same rate a human can, one can...Naval Research Lab and Carnegie Mellon University’s Robotics Institute/National Robotics Engineering Consortium for designing the early test systems...Concept Technology Demonstrations (ACTD) paved the way for follow-on development of systems like the Modular Advanced Armed Robotic System (MAARS), an

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.

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

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%.

Multi-Sensor Mud Detection

Science.gov (United States)

Rankin, Arturo L.; Matthies, Larry H.

2010-01-01

Robust mud detection is a critical perception requirement for Unmanned Ground Vehicle (UGV) autonomous offroad navigation. A military UGV stuck in a mud body during a mission may have to be sacrificed or rescued, both of which are unattractive options. There are several characteristics of mud that may be detectable with appropriate UGV-mounted sensors. For example, mud only occurs on the ground surface, is cooler than surrounding dry soil during the daytime under nominal weather conditions, is generally darker than surrounding dry soil in visible imagery, and is highly polarized. However, none of these cues are definitive on their own. Dry soil also occurs on the ground surface, shadows, snow, ice, and water can also be cooler than surrounding dry soil, shadows are also darker than surrounding dry soil in visible imagery, and cars, water, and some vegetation are also highly polarized. Shadows, snow, ice, water, cars, and vegetation can all be disambiguated from mud by using a suite of sensors that span multiple bands in the electromagnetic spectrum. Because there are military operations when it is imperative for UGV's to operate without emitting strong, detectable electromagnetic signals, passive sensors are desirable. JPL has developed a daytime mud detection capability using multiple passive imaging sensors. Cues for mud from multiple passive imaging sensors are fused into a single mud detection image using a rule base, and the resultant mud detection is localized in a terrain map using range data generated from a stereo pair of color cameras.

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.

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...

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.

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...

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...

CAT/RF Simulation Lessons Learned

Science.gov (United States)

2003-06-11

IVSS-2003-MAS-7 CAT /RF Simulation Lessons Learned Christopher Mocnik Vetronics Technology Area, RDECOM TARDEC Tim Lee DCS Corporation...developed a re- configurable Unmanned Ground Vehicle (UGV) simulation for the Crew integration and Automation Test bed ( CAT ) and Robotics Follower (RF...Advanced Technology Demonstration (ATD) experiments. This simulation was developed as a component of the Embedded Simulation System (ESS) of the CAT

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.

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.

The Role of Spatial Ability in the Relationship Between Video Game Experience and Route Effectiveness Among Unmanned Vehicle Operators

Science.gov (United States)

2008-12-01

Effective route planning is essential to the successful operation of unmanned vehicles. Video game experience has been shown to affect route planning...and execution, but why video game experience helps has not been addressed. One answer may be that spatial skills, necessary for route planning and...mediates the relationship between video game experience and route planning. Results indicated that this mediated relationship existed for the UGV

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.

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

Technology of disaster response robot and issues

International Nuclear Information System (INIS)

Tadokoro, Satoshi

2013-01-01

The needs, function structure , ability of disaster response robot are stated. Robots are classified by move mode such as Unmanned Ground Vehicle (UGV), Legged Robots, Exoskeleton, Unmanned Aerial Vehicle (UAV), Wall Climbing Robots, robots for narrow space. Quince, disaster response robot, collected at first information in the building of Fukushima Daiichi Nuclear Power Station. Functions of rescue robots and technical problems under disaster conditions, shape and characteristics of robots and TRL, PackBot, Pelican, Quince, scope camera, and three-dimensional map made by Quince are illustrated. (S.Y.)

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...

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.

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.

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

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.

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%.

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.

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.

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.

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.

Tethered Contactless Mobile Nuclear Environment Monitoring Robot

International Nuclear Information System (INIS)

Choi, S. Y.; Lee, E. S.; Lee, Kun J.; Kim, Su H.; Rim, C. T.

2013-01-01

In fact, the nuclear environment monitoring is significantly crucial for early detection of NPP accident, radiological emergency, the estimation of radiation exposure to nearby residents as well as the long term radioactivity. In the UAE, the nuclear environment monitoring is, however, quite challenging because sampling locations are far from NPPs and the outdoor temperature and humidity are very high for NPP workers to collect soil, air, and water samples. Therefore, nuclear environment monitoring robots (Nubos) are strongly needed for the NPPs in the UAE. The Nubos can be remotely controlled to collect samples in extreme environment instead of NPP workers. Moreover, the Nubos can be unmanned ground vehicles (UGVs), unmanned aerial vehicles (UAVs) and unmanned marine vehicles (UMVs) to collect soil, air, and water samples, respectively. In this paper, the prototype development of UGV type Nubos using power cable for a long distance power delivery, called Tethered contactless mobile Nubo is introduced and validated by experiments. In this paper, the prototype development of Tethered Contactless Mobile (TeCoM) Nubo, which can be powered continuously within several km distance and avoid tangled cable, and the indoor test are finished. As further works, outdoor demonstration and a grand scale R and D proposal of practical Nubo will be proceeded

Tethered Contactless Mobile Nuclear Environment Monitoring Robot

Energy Technology Data Exchange (ETDEWEB)

Choi, S. Y.; Lee, E. S.; Lee, Kun J.; Kim, Su H.; Rim, C. T. [Korea Advanced Institute of Science and Technology, Daejeon (Korea, Republic of)

2013-05-15

In fact, the nuclear environment monitoring is significantly crucial for early detection of NPP accident, radiological emergency, the estimation of radiation exposure to nearby residents as well as the long term radioactivity. In the UAE, the nuclear environment monitoring is, however, quite challenging because sampling locations are far from NPPs and the outdoor temperature and humidity are very high for NPP workers to collect soil, air, and water samples. Therefore, nuclear environment monitoring robots (Nubos) are strongly needed for the NPPs in the UAE. The Nubos can be remotely controlled to collect samples in extreme environment instead of NPP workers. Moreover, the Nubos can be unmanned ground vehicles (UGVs), unmanned aerial vehicles (UAVs) and unmanned marine vehicles (UMVs) to collect soil, air, and water samples, respectively. In this paper, the prototype development of UGV type Nubos using power cable for a long distance power delivery, called Tethered contactless mobile Nubo is introduced and validated by experiments. In this paper, the prototype development of Tethered Contactless Mobile (TeCoM) Nubo, which can be powered continuously within several km distance and avoid tangled cable, and the indoor test are finished. As further works, outdoor demonstration and a grand scale R and D proposal of practical Nubo will be proceeded.

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.

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.

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

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.

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

Advanced wireless mobile collaborative sensing network for tactical and strategic missions

Science.gov (United States)

Xu, Hao

2017-05-01

In this paper, an advanced wireless mobile collaborative sensing network will be developed. Through properly combining wireless sensor network, emerging mobile robots and multi-antenna sensing/communication techniques, we could demonstrate superiority of developed sensing network. To be concrete, heterogeneous mobile robots including unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) are equipped with multi-model sensors and wireless transceiver antennas. Through real-time collaborative formation control, multiple mobile robots can team the best formation that can provide most accurate sensing results. Also, formatting multiple mobile robots can also construct a multiple-input multiple-output (MIMO) communication system that can provide a reliable and high performance communication network.

Augmented reality user interface for mobile ground robots with manipulator arms

Science.gov (United States)

Vozar, Steven; Tilbury, Dawn M.

2011-01-01

Augmented Reality (AR) is a technology in which real-world visual data is combined with an overlay of computer graphics, enhancing the original feed. AR is an attractive tool for teleoperated UGV UIs as it can improve communication between robots and users via an intuitive spatial and visual dialogue, thereby increasing operator situational awareness. The successful operation of UGVs often relies upon both chassis navigation and manipulator arm control, and since existing literature usually focuses on one task or the other, there is a gap in mobile robot UIs that take advantage of AR for both applications. This work describes the development and analysis of an AR UI system for a UGV with an attached manipulator arm. The system supplements a video feed shown to an operator with information about geometric relationships within the robot task space to improve the operator's situational awareness. Previous studies on AR systems and preliminary analyses indicate that such an implementation of AR for a mobile robot with a manipulator arm is anticipated to improve operator performance. A full user-study can determine if this hypothesis is supported by performing an analysis of variance on common test metrics associated with UGV teleoperation.

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.

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.

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

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.

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

International Conference on Intelligent Unmanned Systems (ICIUS)

CERN Document Server

Kartidjo, Muljowidodo; Yoon, Kwang-Joon; Budiyono, Agus; Autonomous Control Systems and Vehicles : Intelligent Unmanned Systems

2013-01-01

The International Conference on Intelligent Unmanned Systems 2011 was organized by the International Society of Intelligent Unmanned Systems and locally by the Center for Bio-Micro Robotics Research at Chiba University, Japan. The event was the 7th conference continuing from previous conferences held in Seoul, Korea (2005, 2006), Bali, Indonesia (2007), Nanjing, China (2008), Jeju, Korea (2009), and Bali, Indonesia (2010). ICIUS 2011 focused on both theory and application, primarily covering the topics of robotics, autonomous vehicles, intelligent unmanned technologies, and biomimetics. We invited seven keynote speakers who dealt with related state-of-the-art technologies including unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs), flapping wings (FWs), unmanned ground vehicles (UGVs), underwater vehicles (UVs), bio-inspired robotics, advanced control, and intelligent systems, among others. This book is a collection of excellent papers that were updated after presentation at ICIUS2011. All papers ...

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

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...

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.

Science on TeacherTube: A Mixed Methods Analysis of Teacher Produced Video

Science.gov (United States)

Chmiel, Margaret (Marjee)

Increased bandwidth, inexpensive video cameras and easy-to-use video editing software have made social media sites featuring user generated video (UGV) an increasingly popular vehicle for online communication. As such, UGV have come to play a role in education, both formal and informal, but there has been little research on this topic in scholarly literature. In this mixed-methods study, a content and discourse analysis are used to describe the most successful UGV in the science channel of an education-focused site called TeacherTube. The analysis finds that state achievement tests, and their focus on vocabulary and recall-level knowledge, drive much of the content found on TeacherTube.

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.

Stereo-vision-based terrain mapping for off-road autonomous navigation

Science.gov (United States)

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

2009-05-01

Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as nogo regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

Multiagent pursuit-evasion games: Algorithms and experiments

Science.gov (United States)

Kim, Hyounjin

Deployment of intelligent agents has been made possible through advances in control software, microprocessors, sensor/actuator technology, communication technology, and artificial intelligence. Intelligent agents now play important roles in many applications where human operation is too dangerous or inefficient. There is little doubt that the world of the future will be filled with intelligent robotic agents employed to autonomously perform tasks, or embedded in systems all around us, extending our capabilities to perceive, reason and act, and replacing human efforts. There are numerous real-world applications in which a single autonomous agent is not suitable and multiple agents are required. However, after years of active research in multi-agent systems, current technology is still far from achieving many of these real-world applications. Here, we consider the problem of deploying a team of unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV) to pursue a second team of UGV evaders while concurrently building a map in an unknown environment. This pursuit-evasion game encompasses many of the challenging issues that arise in operations using intelligent multi-agent systems. We cast the problem in a probabilistic game theoretic framework and consider two computationally feasible pursuit policies: greedy and global-max. We also formulate this probabilistic pursuit-evasion game as a partially observable Markov decision process and employ a policy search algorithm to obtain a good pursuit policy from a restricted class of policies. The estimated value of this policy is guaranteed to be uniformly close to the optimal value in the given policy class under mild conditions. To implement this scenario on real UAVs and UGVs, we propose a distributed hierarchical hybrid system architecture which emphasizes the autonomy of each agent yet allows for coordinated team efforts. We then describe our implementation on a fleet of UGVs and UAVs, detailing components such

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

Reconnaissance and Autonomy for Small Robots (RASR) team: MAGIC 2010 challenge

Science.gov (United States)

Lacaze, Alberto; Murphy, Karl; Del Giorno, Mark; Corley, Katrina

2012-06-01

The Reconnaissance and Autonomy for Small Robots (RASR) team developed a system for the coordination of groups of unmanned ground vehicles (UGVs) that can execute a variety of military relevant missions in dynamic urban environments. Historically, UGV operations have been primarily performed via tele-operation, requiring at least one dedicated operator per robot, and requiring substantial real-time bandwidth to accomplish those missions. Our team goal was to develop a system that can provide long-term value to the war-fighter, utilizing MAGIC-2010 as a stepping stone. To that end, we self-imposed a set of constraints that would force us to develop technology that could readily be used by the military in the near term: • Use a relevant (deployed) platform • Use low-cost, reliable sensors • Develop an expandable and modular control system with innovative software algorithms to minimize the computing footprint required • Minimize required communications bandwidth and handle communication losses • Minimize additional power requirements to maximize battery life and mission duration

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.

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.

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.

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.

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

ARV robotic technologies (ART): a risk reduction effort for future unmanned systems

Science.gov (United States)

Jaster, Jeffrey F.

2006-05-01

The Army's ARV (Armed Robotic Vehicle) Robotic Technologies (ART) program is working on the development of various technological thrusts for use in the robotic forces of the future. The ART program will develop, integrate and demonstrate the technology required to advance the maneuver technologies (i.e., perception, mobility, tactical behaviors) and increase the survivability of unmanned platforms for the future force while focusing on reducing the soldiers' burden by providing an increase in vehicle autonomy coinciding with a decrease in the total number user interventions required to control the unmanned assets. This program will advance the state of the art in perception technologies to provide the unmanned platform an increasingly accurate view of the terrain that surrounds it; while developing tactical/mission behavior technologies to provide the Unmanned Ground Vehicle (UGV) the capability to maneuver tactically, in conjunction with the manned systems in an autonomous mode. The ART testbed will be integrated with the advanced technology software and associated hardware developed under this effort, and incorporate appropriate mission modules (e.g. RSTA sensors, MILES, etc.) to support Warfighter experiments and evaluations (virtual and field) in a military significant environment (open/rolling and complex/urban terrain). The outcome of these experiments as well as other lessons learned through out the program life cycle will be used to reduce the current risks that are identified for the future UGV systems that will be developed under the Future Combat Systems (FCS) program, including the early integration of an FCS-like autonomous navigation system onto a tracked skid steer platform.

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.

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.

The global armoured vehicles market / Dennis-P. Merklinghaus

Index Scriptorium Estoniae

Merklinghaus, Dennis-P.

2017-01-01

Ülevaade erinevate maailma riikide kaitsekulutustest, investeeringutest soomusmasinatesse ja sõjatehnikasse. Teiste riikide hulgas tutvustatakse ka Eesti kaitseväe käsutuses olevaid soomusmasinaid ning Milremi loodud relvasüsteemi THeMIS ja mehitamata roomiksõidukit UGV

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

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

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.

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.

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.

Radical advancement in multi-spectral imaging for autonomous vehicles (UAVs, UGVs, and UUVs) using active compensation.

Energy Technology Data Exchange (ETDEWEB)

Clark, Brian F.; Bagwell, Brett E.; Wick, David Victor

2007-01-01

The purpose of this LDRD was to demonstrate a compact, multi-spectral, refractive imaging systems using active optical compensation. Compared to a comparable, conventional lens system, our system has an increased operational bandwidth, provides for spectral selectivity and, non-mechanically corrects aberrations induced by the wavelength dependent properties of a passive refractive optical element (i.e. lens). The compact nature and low power requirements of the system lends itself to small platforms such as autonomous vehicles. In addition, the broad spectral bandwidth of our system would allow optimized performance for both day/night use, and the multi-spectral capability allows for spectral discrimination and signature identification.

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.

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 -. ’,’

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

Architecture for autonomy

Science.gov (United States)

Broten, Gregory S.; Monckton, Simon P.; Collier, Jack; Giesbrecht, Jared

2006-05-01

In 2002 Defence R&D Canada changed research direction from pure tele-operated land vehicles to general autonomy for land, air, and sea craft. The unique constraints of the military environment coupled with the complexity of autonomous systems drove DRDC to carefully plan a research and development infrastructure that would provide state of the art tools without restricting research scope. DRDC's long term objectives for its autonomy program address disparate unmanned ground vehicle (UGV), unattended ground sensor (UGS), air (UAV), and subsea and surface (UUV and USV) vehicles operating together with minimal human oversight. Individually, these systems will range in complexity from simple reconnaissance mini-UAVs streaming video to sophisticated autonomous combat UGVs exploiting embedded and remote sensing. Together, these systems can provide low risk, long endurance, battlefield services assuming they can communicate and cooperate with manned and unmanned systems. A key enabling technology for this new research is a software architecture capable of meeting both DRDC's current and future requirements. DRDC built upon recent advances in the computing science field while developing its software architecture know as the Architecture for Autonomy (AFA). Although a well established practice in computing science, frameworks have only recently entered common use by unmanned vehicles. For industry and government, the complexity, cost, and time to re-implement stable systems often exceeds the perceived benefits of adopting a modern software infrastructure. Thus, most persevere with legacy software, adapting and modifying software when and wherever possible or necessary -- adopting strategic software frameworks only when no justifiable legacy exists. Conversely, academic programs with short one or two year projects frequently exploit strategic software frameworks but with little enduring impact. The open-source movement radically changes this picture. Academic frameworks

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.

An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

Directory of Open Access Journals (Sweden)

Xiaoji Niu

2017-01-01

Full Text Available Multisensors (LiDAR/IMU/CAMERA integrated Simultaneous Location and Mapping (SLAM technology for navigation and mobile mapping in a GNSS-denied environment, such as indoor areas, dense forests, or urban canyons, becomes a promising solution. An online (real-time version of such system can extremely extend its applications, especially for indoor mobile mapping. However, the real-time response issue of multisensors is a big challenge for an online SLAM system, due to the different sampling frequencies and processing time of different algorithms. In this paper, an online Extended Kalman Filter (EKF integrated algorithm of LiDAR scan matching and IMU mechanization for Unmanned Ground Vehicle (UGV indoor navigation system is introduced. Since LiDAR scan matching is considerably more time consuming than the IMU mechanism, the real-time synchronous issue is solved via a one-step-error-state-transition method in EKF. Stationary and dynamic field tests had been performed using a UGV platform along typical corridor of office building. Compared to the traditional sequential postprocessed EKF algorithm, the proposed method can significantly mitigate the time delay of navigation outputs under the premise of guaranteeing the positioning accuracy, which can be used as an online navigation solution for indoor mobile mapping.

Advanced Technologies for Intelligent Systems of National Border Security

CERN Document Server

Simek, Krzysztof; Świerniak, Andrzej

2013-01-01

One of the world’s leading problems in the field of national security is protection of borders and borderlands. This book addresses multiple issues on advanced innovative methods of multi-level control of both ground (UGVs) and aerial drones (UAVs). Those objects combined with innovative algorithms become autonomous objects capable of patrolling chosen borderland areas by themselves and automatically inform the operator of the system about potential place of detection of a specific incident. This is achieved by using sophisticated methods of generation of non-collision trajectory for those types of objects and enabling automatic integration of both ground and aerial unmanned vehicles. The topics included in this book also cover presentation of complete information and communication technology (ICT) systems capable of control, observation and detection of various types of incidents and threats. This book is a valuable source of information for constructors and developers of such solutions for uniformed servi...

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

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

Single and Multiple UAV Cyber-Attack Simulation and Performance Evaluation

Directory of Open Access Journals (Sweden)

Ahmad Y. Javaid

2015-02-01

Full Text Available Usage of ground, air and underwater unmanned vehicles (UGV, UAV and UUV has increased exponentially in the recent past with industries producing thousands of these unmanned vehicles every year.With the ongoing discussion of integration of UAVs in the US National Airspace, the need of a cost-effective way to verify the security and resilience of a group of communicating UAVs under attack has become very important. The answer to this need is a simulation testbed which can be used to simulate the UAV Network (UAVNet. One of these attempts is - UAVSim (Unmanned Aerial Vehicle Simulation testbed developed at the University of Toledo. It has the capability of simulating large UAV networks as well as small UAV networks with large number of attack nodes. In this paper, we analyse the performance of the simulation testbed for two attacks, targeting single and multiple UAVs. Traditional and generic computing resource available in a regular computer laboratory was used. Various evaluation results have been presented and analysed which suggest the suitability of UAVSim for UAVNet attack and swarm simulation applications.

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).

Fast Sparse Coding for Range Data Denoising with Sparse Ridges Constraint

Directory of Open Access Journals (Sweden)

Zhi Gao

2018-05-01

Full Text Available Light detection and ranging (LiDAR sensors have been widely deployed on intelligent systems such as unmanned ground vehicles (UGVs and unmanned aerial vehicles (UAVs to perform localization, obstacle detection, and navigation tasks. Thus, research into range data processing with competitive performance in terms of both accuracy and efficiency has attracted increasing attention. Sparse coding has revolutionized signal processing and led to state-of-the-art performance in a variety of applications. However, dictionary learning, which plays the central role in sparse coding techniques, is computationally demanding, resulting in its limited applicability in real-time systems. In this study, we propose sparse coding algorithms with a fixed pre-learned ridge dictionary to realize range data denoising via leveraging the regularity of laser range measurements in man-made environments. Experiments on both synthesized data and real data demonstrate that our method obtains accuracy comparable to that of sophisticated sparse coding methods, but with much higher computational efficiency.

Fast Sparse Coding for Range Data Denoising with Sparse Ridges Constraint.

Science.gov (United States)

Gao, Zhi; Lao, Mingjie; Sang, Yongsheng; Wen, Fei; Ramesh, Bharath; Zhai, Ruifang

2018-05-06

Light detection and ranging (LiDAR) sensors have been widely deployed on intelligent systems such as unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) to perform localization, obstacle detection, and navigation tasks. Thus, research into range data processing with competitive performance in terms of both accuracy and efficiency has attracted increasing attention. Sparse coding has revolutionized signal processing and led to state-of-the-art performance in a variety of applications. However, dictionary learning, which plays the central role in sparse coding techniques, is computationally demanding, resulting in its limited applicability in real-time systems. In this study, we propose sparse coding algorithms with a fixed pre-learned ridge dictionary to realize range data denoising via leveraging the regularity of laser range measurements in man-made environments. Experiments on both synthesized data and real data demonstrate that our method obtains accuracy comparable to that of sophisticated sparse coding methods, but with much higher computational efficiency.

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.

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.

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 ...

On-Board Mining in the Sensor Web

Science.gov (United States)

Tanner, S.; Conover, H.; Graves, S.; Ramachandran, R.; Rushing, J.

2004-12-01

On-board data mining can contribute to many research and engineering applications, including natural hazard detection and prediction, intelligent sensor control, and the generation of customized data products for direct distribution to users. The ability to mine sensor data in real time can also be a critical component of autonomous operations, supporting deep space missions, unmanned aerial and ground-based vehicles (UAVs, UGVs), and a wide range of sensor meshes, webs and grids. On-board processing is expected to play a significant role in the next generation of NASA, Homeland Security, Department of Defense and civilian programs, providing for greater flexibility and versatility in measurements of physical systems. In addition, the use of UAV and UGV systems is increasing in military, emergency response and industrial applications. As research into the autonomy of these vehicles progresses, especially in fleet or web configurations, the applicability of on-board data mining is expected to increase significantly. Data mining in real time on board sensor platforms presents unique challenges. Most notably, the data to be mined is a continuous stream, rather than a fixed store such as a database. This means that the data mining algorithms must be modified to make only a single pass through the data. In addition, the on-board environment requires real time processing with limited computing resources, thus the algorithms must use fixed and relatively small amounts of processing time and memory. The University of Alabama in Huntsville is developing an innovative processing framework for the on-board data and information environment. The Environment for On-Board Processing (EVE) and the Adaptive On-board Data Processing (AODP) projects serve as proofs-of-concept of advanced information systems for remote sensing platforms. The EVE real-time processing infrastructure will upload, schedule and control the execution of processing plans on board remote sensors. These plans

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.

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

The IXV Ground Segment design, implementation and operations

Science.gov (United States)

Martucci di Scarfizzi, Giovanni; Bellomo, Alessandro; Musso, Ivano; Bussi, Diego; Rabaioli, Massimo; Santoro, Gianfranco; Billig, Gerhard; Gallego Sanz, José María

2016-07-01

The Intermediate eXperimental Vehicle (IXV) is an ESA re-entry demonstrator that performed, on the 11th February of 2015, a successful re-entry demonstration mission. The project objectives were the design, development, manufacturing and on ground and in flight verification of an autonomous European lifting and aerodynamically controlled re-entry system. For the IXV mission a dedicated Ground Segment was provided. The main subsystems of the IXV Ground Segment were: IXV Mission Control Center (MCC), from where monitoring of the vehicle was performed, as well as support during pre-launch and recovery phases; IXV Ground Stations, used to cover IXV mission by receiving spacecraft telemetry and forwarding it toward the MCC; the IXV Communication Network, deployed to support the operations of the IXV mission by interconnecting all remote sites with MCC, supporting data, voice and video exchange. This paper describes the concept, architecture, development, implementation and operations of the ESA Intermediate Experimental Vehicle (IXV) Ground Segment and outlines the main operations and lessons learned during the preparation and successful execution of the IXV Mission.

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.

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.

Lightning and surge protection of large ground facilities

Science.gov (United States)

Stringfellow, Michael F.

1988-04-01

The vulnerability of large ground facilities to direct lightning strikes and to lightning-induced overvoltages on the power distribution, telephone and data communication lines are discussed. Advanced electrogeometric modeling is used for the calculation of direct strikes to overhead power lines, buildings, vehicles and objects within the facility. Possible modes of damage, injury and loss are discussed. Some appropriate protection methods for overhead power lines, structures, vehicles and aircraft are suggested. Methods to mitigate the effects of transients on overhead and underground power systems as well as within buildings and other structures are recommended. The specification and location of low-voltage surge suppressors for the protection of vulnerable hardware such as computers, telecommunication equipment and radar installations are considered. The advantages and disadvantages of commonly used grounding techniques, such as single point, multiple and isolated grounds are compared. An example is given of the expected distribution of lightning flashes to a large airport, its buildings, structures and facilities, as well as to vehicles on the ground.

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...

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

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.

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.

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.

Swarm formation control utilizing elliptical surfaces and limiting functions.

Science.gov (United States)

Barnes, Laura E; Fields, Mary Anne; Valavanis, Kimon P

2009-12-01

In this paper, we present a strategy for organizing swarms of unmanned vehicles into a formation by utilizing artificial potential fields that were generated from normal and sigmoid functions. These functions construct the surface on which swarm members travel, controlling the overall swarm geometry and the individual member spacing. Nonlinear limiting functions are defined to provide tighter swarm control by modifying and adjusting a set of control variables that force the swarm to behave according to set constraints, formation, and member spacing. The artificial potential functions and limiting functions are combined to control swarm formation, orientation, and swarm movement as a whole. Parameters are chosen based on desired formation and user-defined constraints. This approach is computationally efficient and scales well to different swarm sizes, to heterogeneous systems, and to both centralized and decentralized swarm models. Simulation results are presented for a swarm of 10 and 40 robots that follow circle, ellipse, and wedge formations. Experimental results are included to demonstrate the applicability of the approach on a swarm of four custom-built unmanned ground vehicles (UGVs).

Dynamo: A Model Transition Framework for Dynamic Stability Control and Body Mass Manipulation

Science.gov (United States)

2011-11-01

driving at high speed, and you turn the steering wheel hard to the right and slam on the brakes, then you will end up in the oversteer regime. At the...sensors (GPS, IMU, LIDAR ) for vehicle control. Figure 17: Dynamo high-speed small UGV hardware platform We will perform experiments to measure the MTC

Sensor data fusion for automated threat recognition in manned-unmanned infantry platoons

Science.gov (United States)

Wildt, J.; Varela, M.; Ulmke, M.; Brüggermann, B.

2017-05-01

To support a dismounted infantry platoon during deployment we team it with several unmanned aerial and ground vehicles (UAV and UGV, respectively). The unmanned systems integrate seamlessly into the infantry platoon, providing automated reconnaissance during movement while keeping formation as well as conducting close range reconnaissance during halt. The sensor data each unmanned system provides is continuously analyzed in real time by specialized algorithms, detecting humans in live videos of UAV mounted infrared cameras as well as gunshot detection and bearing by acoustic sensors. All recognized threats are fused into a consistent situational picture in real time, available to platoon and squad leaders as well as higher level command and control (C2) systems. This gives friendly forces local information superiority and increased situational awareness without the need to constantly monitor the unmanned systems and sensor data.

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...

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.

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

Laser-Based Slam with Efficient Occupancy Likelihood Map Learning for Dynamic Indoor Scenes

Science.gov (United States)

Li, Li; Yao, Jian; Xie, Renping; Tu, Jinge; Feng, Chen

2016-06-01

Location-Based Services (LBS) have attracted growing attention in recent years, especially in indoor environments. The fundamental technique of LBS is the map building for unknown environments, this technique also named as simultaneous localization and mapping (SLAM) in robotic society. In this paper, we propose a novel approach for SLAMin dynamic indoor scenes based on a 2D laser scanner mounted on a mobile Unmanned Ground Vehicle (UGV) with the help of the grid-based occupancy likelihood map. Instead of applying scan matching in two adjacent scans, we propose to match current scan with the occupancy likelihood map learned from all previous scans in multiple scales to avoid the accumulation of matching errors. Due to that the acquisition of the points in a scan is sequential but not simultaneous, there unavoidably exists the scan distortion at different extents. To compensate the scan distortion caused by the motion of the UGV, we propose to integrate a velocity of a laser range finder (LRF) into the scan matching optimization framework. Besides, to reduce the effect of dynamic objects such as walking pedestrians often existed in indoor scenes as much as possible, we propose a new occupancy likelihood map learning strategy by increasing or decreasing the probability of each occupancy grid after each scan matching. Experimental results in several challenged indoor scenes demonstrate that our proposed approach is capable of providing high-precision SLAM results.

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

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.

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...

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.

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.

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.

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,

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 ...

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....

Design considerations to improve cognitive ergonomic issues of unmanned vehicle interfaces utilizing video game controllers.

Science.gov (United States)

Oppold, P; Rupp, M; Mouloua, M; Hancock, P A; Martin, J

2012-01-01

Unmanned (UAVs, UCAVs, and UGVs) systems still have major human factors and ergonomic challenges related to the effective design of their control interface systems, crucial to their efficient operation, maintenance, and safety. Unmanned system interfaces with a human centered approach promote intuitive interfaces that are easier to learn, and reduce human errors and other cognitive ergonomic issues with interface design. Automation has shifted workload from physical to cognitive, thus control interfaces for unmanned systems need to reduce mental workload on the operators and facilitate the interaction between vehicle and operator. Two-handed video game controllers provide wide usability within the overall population, prior exposure for new operators, and a variety of interface complexity levels to match the complexity level of the task and reduce cognitive load. This paper categorizes and provides taxonomy for 121 haptic interfaces from the entertainment industry that can be utilized as control interfaces for unmanned systems. Five categories of controllers were based on the complexity of the buttons, control pads, joysticks, and switches on the controller. This allows the selection of the level of complexity needed for a specific task without creating an entirely new design or utilizing an overly complex design.

An adaptable, low cost test-bed for unmanned vehicle systems research

Science.gov (United States)

Goppert, James M.

2011-12-01

An unmanned vehicle systems test-bed has been developed. The test-bed has been designed to accommodate hardware changes and various vehicle types and algorithms. The creation of this test-bed allows research teams to focus on algorithm development and employ a common well-tested experimental framework. The ArduPilotOne autopilot was developed to provide the necessary level of abstraction for multiple vehicle types. The autopilot was also designed to be highly integrated with the Mavlink protocol for Micro Air Vehicle (MAV) communication. Mavlink is the native protocol for QGroundControl, a MAV ground control program. Features were added to QGroundControl to accommodate outdoor usage. Next, the Mavsim toolbox was developed for Scicoslab to allow hardware-in-the-loop testing, control design and analysis, and estimation algorithm testing and verification. In order to obtain linear models of aircraft dynamics, the JSBSim flight dynamics engine was extended to use a probabilistic Nelder-Mead simplex method. The JSBSim aircraft dynamics were compared with wind-tunnel data collected. Finally, a structured methodology for successive loop closure control design is proposed. This methodology is demonstrated along with the rest of the test-bed tools on a quadrotor, a fixed wing RC plane, and a ground vehicle. Test results for the ground vehicle are presented.

Test bed for applications of heterogeneous unmanned vehicles

Directory of Open Access Journals (Sweden)

Filiberto Muñoz Palacios

2017-01-01

Full Text Available This article addresses the development and implementation of a test bed for applications of heterogeneous unmanned vehicle systems. The test bed consists of unmanned aerial vehicles (Parrot AR.Drones versions 1 or 2, Parrot SA, Paris, France, and Bebop Drones 1.0 and 2.0, Parrot SA, Paris, France, ground vehicles (WowWee Rovio, WowWee Group Limited, Hong Kong, China, and the motion capture systems VICON and OptiTrack. Such test bed allows the user to choose between two different options of development environments, to perform aerial and ground vehicles applications. On the one hand, it is possible to select an environment based on the VICON system and LabVIEW (National Instruments or robotics operating system platforms, which make use the Parrot AR.Drone software development kit or the Bebop_autonomy Driver to communicate with the unmanned vehicles. On the other hand, it is possible to employ a platform that uses the OptiTrack system and that allows users to develop their own applications, replacing AR.Drone’s original firmware with original code. We have developed four experimental setups to illustrate the use of the Parrot software development kit, the Bebop Driver (AutonomyLab, Simon Fraser University, British Columbia, Canada, and the original firmware replacement for performing a strategy that involves both ground and aerial vehicle tracking. Finally, in order to illustrate the effectiveness of the developed test bed for the implementation of advanced controllers, we present experimental results of the implementation of three consensus algorithms: static, adaptive, and neural network, in order to accomplish that a team of multiagents systems move together to track a target.

Control of a Quadcopter Aerial Robot Using Optic Flow Sensing

Science.gov (United States)

Hurd, Michael Brandon

This thesis focuses on the motion control of a custom-built quadcopter aerial robot using optic flow sensing. Optic flow sensing is a vision-based approach that can provide a robot the ability to fly in global positioning system (GPS) denied environments, such as indoor environments. In this work, optic flow sensors are used to stabilize the motion of quadcopter robot, where an optic flow algorithm is applied to provide odometry measurements to the quadcopter's central processing unit to monitor the flight heading. The optic-flow sensor and algorithm are capable of gathering and processing the images at 250 frames/sec, and the sensor package weighs 2.5 g and has a footprint of 6 cm2 in area. The odometry value from the optic flow sensor is then used a feedback information in a simple proportional-integral-derivative (PID) controller on the quadcopter. Experimental results are presented to demonstrate the effectiveness of using optic flow for controlling the motion of the quadcopter aerial robot. The technique presented herein can be applied to different types of aerial robotic systems or unmanned aerial vehicles (UAVs), as well as unmanned ground vehicles (UGV).

Real-time yield estimation based on deep learning

Science.gov (United States)

Rahnemoonfar, Maryam; Sheppard, Clay

2017-05-01

Crop yield estimation is an important task in product management and marketing. Accurate yield prediction helps farmers to make better decision on cultivation practices, plant disease prevention, and the size of harvest labor force. The current practice of yield estimation based on the manual counting of fruits is very time consuming and expensive process and it is not practical for big fields. Robotic systems including Unmanned Aerial Vehicles (UAV) and Unmanned Ground Vehicles (UGV), provide an efficient, cost-effective, flexible, and scalable solution for product management and yield prediction. Recently huge data has been gathered from agricultural field, however efficient analysis of those data is still a challenging task. Computer vision approaches currently face diffident challenges in automatic counting of fruits or flowers including occlusion caused by leaves, branches or other fruits, variance in natural illumination, and scale. In this paper a novel deep convolutional network algorithm was developed to facilitate the accurate yield prediction and automatic counting of fruits and vegetables on the images. Our method is robust to occlusion, shadow, uneven illumination and scale. Experimental results in comparison to the state-of-the art show the effectiveness of our algorithm.

Launch and Landing Effects Ground Operations (LLEGO) Model

Science.gov (United States)

2008-01-01

LLEGO is a model for understanding recurring launch and landing operations costs at Kennedy Space Center for human space flight. Launch and landing operations are often referred to as ground processing, or ground operations. Currently, this function is specific to the ground operations for the Space Shuttle Space Transportation System within the Space Shuttle Program. The Constellation system to follow the Space Shuttle consists of the crewed Orion spacecraft atop an Ares I launch vehicle and the uncrewed Ares V cargo launch vehicle. The Constellation flight and ground systems build upon many elements of the existing Shuttle flight and ground hardware, as well as upon existing organizations and processes. In turn, the LLEGO model builds upon past ground operations research, modeling, data, and experience in estimating for future programs. Rather than to simply provide estimates, the LLEGO model s main purpose is to improve expenses by relating complex relationships among functions (ground operations contractor, subcontractors, civil service technical, center management, operations, etc.) to tangible drivers. Drivers include flight system complexity and reliability, as well as operations and supply chain management processes and technology. Together these factors define the operability and potential improvements for any future system, from the most direct to the least direct expenses.

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

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

Pre-flight physical simulation test of HIMES reentry test vehicle

Science.gov (United States)

Kawaguchi, Jun'ichiro; Inatani, Yoshifumi; Yonemoto, Koichi; Hosokawa, Shigeru

ISAS is now developing a small reentry test vehicle, which is 2m long with a 1.5m wing span and weighs about 170 kg, for the purpose of exploring high angle-of-attack aerodynamic attitude control issue in supersonic and hypersonic speed. The flight test, employing 'Rockoon' launch system, is planned as a preliminary design verification for a fully reusable winged rocket named HIMES (Highly Maneuverable Experimental Space) vehicle. This paper describes the results of preflight ground test using a motion table system. This ground system test is called 'physical simulation' aimed at: (1) functional verification of side-jet system, aerodynamic surface actuators, battery and onboard avionics; and (2) guidance and control law evaluation, in total hardware-in-the-loop system. The pressure of side-jet nozzles was measured to provide exact thrust characteristics of reaction control. The dynamics of vehicle motion was calculated in real-time by the ground simulation computer.

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...

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

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.

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...

Emerging Needs for Pervasive Passive Wireless Sensor Networks on Aerospace Vehicles

Science.gov (United States)

Wilson, William C.; Juarez, Peter D.

2014-01-01

NASA is investigating passive wireless sensor technology to reduce instrumentation mass and volume in ground testing, air flight, and space exploration applications. Vehicle health monitoring systems (VHMS) are desired on all aerospace programs to ensure the safety of the crew and the vehicles. Pervasive passive wireless sensor networks facilitate VHMS on aerospace vehicles. Future wireless sensor networks on board aerospace vehicles will be heterogeneous and will require active and passive network systems. Since much has been published on active wireless sensor networks, this work will focus on the need for passive wireless sensor networks on aerospace vehicles. Several passive wireless technologies such as microelectromechanical systems MEMS, SAW, backscatter, and chipless RFID techniques, have all shown potential to meet the pervasive sensing needs for aerospace VHMS applications. A SAW VHMS application will be presented. In addition, application areas including ground testing, hypersonic aircraft and spacecraft will be explored along with some of the harsh environments found in aerospace applications.

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.

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.

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.

Analysis Methodology for Optimal Selection of Ground Station Site in Space Missions

Science.gov (United States)

Nieves-Chinchilla, J.; Farjas, M.; Martínez, R.

2013-12-01

Optimization of ground station sites is especially important in complex missions that include several small satellites (clusters or constellations) such as the QB50 project, where one ground station would be able to track several spatial vehicles, even simultaneously. In this regard the design of the communication system has to carefully take into account the ground station site and relevant signal phenomena, depending on the frequency band. To propose the optimal location of the ground station, these aspects become even more relevant to establish a trusted communication link due to the ground segment site in urban areas and/or selection of low orbits for the space segment. In addition, updated cartography with high resolution data of the location and its surroundings help to develop recommendations in the design of its location for spatial vehicles tracking and hence to improve effectiveness. The objectives of this analysis methodology are: completion of cartographic information, modelling the obstacles that hinder communication between the ground and space segment and representation in the generated 3D scene of the degree of impairment in the signal/noise of the phenomena that interferes with communication. The integration of new technologies of geographic data capture, such as 3D Laser Scan, determine that increased optimization of the antenna elevation mask, in its AOS and LOS azimuths along the horizon visible, maximizes visibility time with spatial vehicles. Furthermore, from the three-dimensional cloud of points captured, specific information is selected and, using 3D modeling techniques, the 3D scene of the antenna location site and surroundings is generated. The resulting 3D model evidences nearby obstacles related to the cartographic conditions such as mountain formations and buildings, and any additional obstacles that interfere with the operational quality of the antenna (other antennas and electronic devices that emit or receive in the same bandwidth

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

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.

A systematic analysis of the Braitenberg vehicle 2b for point-like stimulus sources

International Nuclear Information System (INIS)

Rañó, Iñaki

2012-01-01

Braitenberg vehicles have been used experimentally for decades in robotics with limited empirical understanding. This paper presents the first mathematical model of the vehicle 2b, displaying so-called aggression behaviour, and analyses the possible trajectories for point-like smooth stimulus sources. This sensory-motor steering control mechanism is used to implement biologically grounded target approach, target-seeking or obstacle-avoidance behaviour. However, the analysis of the resulting model reveals that complex and unexpected trajectories can result even for point-like stimuli. We also prove how the implementation of the controller and the vehicle morphology interact to affect the behaviour of the vehicle. This work provides a better understanding of Braitenberg vehicle 2b, explains experimental results and paves the way for a formally grounded application on robotics as well as for a new way of understanding target seeking in biology. (paper)

Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers

Directory of Open Access Journals (Sweden)

Cuauhtémoc Acosta Lúa

2018-01-01

Full Text Available This paper presents a reference generator for ground vehicles, based on potential fields adapted to the case of vehicular dynamics. The reference generator generates signals to be tracked by the vehicle, corresponding to a trajectory avoiding collisions with obstacles. This generator integrates artificial forces of potential fields of the object surrounding the vehicle. The reference generator is used with a controller to ensure the tracking of the accident-free reference. This approach can be used for vehicle autonomous driving or for active control of manned vehicles. Simulation results, presented for the autonomous driving, consider a scenario inspired by the so-called moose (or elk test, with the presence of other collaborative vehicles.

High clearance phenotyping systems for season-long measurement of corn, sorghum and other row crops to complement unmanned aerial vehicle systems

Science.gov (United States)

Murray, Seth C.; Knox, Leighton; Hartley, Brandon; Méndez-Dorado, Mario A.; Richardson, Grant; Thomasson, J. Alex; Shi, Yeyin; Rajan, Nithya; Neely, Haly; Bagavathiannan, Muthukumar; Dong, Xuejun; Rooney, William L.

2016-05-01

The next generation of plant breeding progress requires accurately estimating plant growth and development parameters to be made over routine intervals within large field experiments. Hand measurements are laborious and time consuming and the most promising tools under development are sensors carried by ground vehicles or unmanned aerial vehicles, with each specific vehicle having unique limitations. Previously available ground vehicles have primarily been restricted to monitoring shorter crops or early growth in corn and sorghum, since plants taller than a meter could be damaged by a tractor or spray rig passing over them. Here we have designed two and already constructed one of these self-propelled ground vehicles with adjustable heights that can clear mature corn and sorghum without damage (over three meters of clearance), which will work for shorter row crops as well. In addition to regular RGB image capture, sensor suites are incorporated to estimate plant height, vegetation indices, canopy temperature and photosynthetically active solar radiation, all referenced using RTK GPS to individual plots. These ground vehicles will be useful to validate data collected from unmanned aerial vehicles and support hand measurements taken on plots.

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

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

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

Routing the asteroid surface vehicle with detailed mechanics

Science.gov (United States)

Yu, Yang; Baoyin, He-Xi

2014-06-01

The motion of a surface vehicle on/above an irregular object is investigated for a potential interest in the insitu explorations to asteroids of the solar system. A global valid numeric method, including detailed gravity and geomorphology, is developed to mimic the behaviors of the test particles governed by the orbital equations and surface coupling effects. A general discussion on the surface mechanical environment of a specified asteroid, 1620 Geographos, is presented to make a global evaluation of the surface vehicle's working conditions. We show the connections between the natural trajectories near the ground and differential features of the asteroid surface, which describes both the good and bad of typical terrains from the viewpoint of vehicles' dynamic performances. Monte Carlo simulations are performed to take a further look at the trajectories of particles initializing near the surface. The simulations reveal consistent conclusions with the analysis, i.e., the open-field flat ground and slightly concave basins/valleys are the best choices for the vehicles' dynamical security. The dependence of decending trajectories on the releasing height is studied as an application; the results show that the pole direction (where the centrifugal force is zero) is the most stable direction in which the shift of a natural trajectory will be well limited after landing. We present this work as an example for pre-analysis that provides guidance to engineering design of the exploration site and routing the surface vehicles.

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.

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

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.

Operations Assessment of Launch Vehicle Architectures using Activity Based Cost Models

Science.gov (United States)

Ruiz-Torres, Alex J.; McCleskey, Carey

2000-01-01

The growing emphasis on affordability for space transportation systems requires the assessment of new space vehicles for all life cycle activities, from design and development, through manufacturing and operations. This paper addresses the operational assessment of launch vehicles, focusing on modeling the ground support requirements of a vehicle architecture, and estimating the resulting costs and flight rate. This paper proposes the use of Activity Based Costing (ABC) modeling for this assessment. The model uses expert knowledge to determine the activities, the activity times and the activity costs based on vehicle design characteristics. The approach provides several advantages to current approaches to vehicle architecture assessment including easier validation and allowing vehicle designers to understand the cost and cycle time drivers.

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.

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.

Vehicle state estimation using GPS/IMU integration

NARCIS (Netherlands)

Wang, Y.; Mangnus, J.; Kostić, D.; Nijmeijer, H.; Jansen, S.T.H.

2011-01-01

New driver support systems require knowledge of the vehicle position with great accuracy and reliability. Satellite navigation (GNSS) is generally insufficiently accurate for positioning and as an alternative to using a ground station, combinations with high quality motion sensors are used in

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

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

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.

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.

A MARKED POINT PROCESS MODEL FOR VEHICLE DETECTION IN AERIAL LIDAR POINT CLOUDS

Directory of Open Access Journals (Sweden)

A. Börcs

2012-07-01

Full Text Available In this paper we present an automated method for vehicle detection in LiDAR point clouds of crowded urban areas collected from an aerial platform. We assume that the input cloud is unordered, but it contains additional intensity and return number information which are jointly exploited by the proposed solution. Firstly, the 3-D point set is segmented into ground, vehicle, building roof, vegetation and clutter classes. Then the points with the corresponding class labels and intensity values are projected to the ground plane, where the optimal vehicle configuration is described by a Marked Point Process (MPP model of 2-D rectangles. Finally, the Multiple Birth and Death algorithm is utilized to find the configuration with the highest confidence.

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.

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.

Total dynamic response of a PSS vehicle negotiating asymmetric road excitations

Science.gov (United States)

Zhu, Jian Jun; Khajepour, Amir; Esmailzadeh, Ebrahim

2012-12-01

A planar suspension system (PSS) is a novel automobile suspension system in which an individual spring-damper strut is implemented in both the vertical and longitudinal directions, respectively. The wheels in a vehicle with such a suspension system can move back and forth relative to the chassis. When a PSS vehicle experiences asymmetric road excitations, the relative longitudinal motion of wheels with respect to the chassis in two sides of the same axle are not identical, and thus the two wheels at one axle will not be aligned in the same axis. The total dynamic responses, including those of the bounce, pitch and the roll of the PSS vehicle, to the asymmetric road excitation may exhibit different characteristics from those of a conventional vehicle. This paper presents an investigation into the comprehensive dynamic behaviour of a vehicle with the PSS, in such a road condition, on both the straight and curved roads. The study was carried out using an 18 DOF full-car model incorporating a radial-spring tyre-ground contact model and a 2D tyre-ground dynamic friction model. Results demonstrate that the total dynamic behaviour of a PSS vehicle is generally comparable with that of the conventional vehicle, while PSS exhibits significant improvement in absorbing the impact forces along the longitudinal direction when compared to the conventional suspension system. The PSS vehicle is found to be more stable than the conventional vehicle in terms of the directional performance against the disturbance of the road potholes on a straight line manoeuvre, while exhibiting a very similar handling performance on a curved line.

Using virtual environment for autonomous vehicle algorithm validation

Science.gov (United States)

Levinskis, Aleksandrs

2018-04-01

This paper describes possible use of modern game engine for validating and proving the concept of algorithm design. As the result simple visual odometry algorithm will be provided to show the concept and go over all workflow stages. Some of stages will involve using of Kalman filter in such a way that it will estimate optical flow velocity as well as position of moving camera located at vehicle body. In particular Unreal Engine 4 game engine will be used for generating optical flow patterns and ground truth path. For optical flow determination Horn and Schunck method will be applied. As the result, it will be shown that such method can estimate position of the camera attached to vehicle with certain displacement error respect to ground truth depending on optical flow pattern. For displacement rate RMS error is calculating between estimated and actual position.

Technology Improvement for the High Reliability LM-2F Launch Vehicle

Institute of Scientific and Technical Information of China (English)

QIN Tong; RONG Yi; ZHENG Liwei; ZHANG Zhi

2017-01-01

The Long March 2F (LM-2F) launch vehicle,the only launch vehicle designed for manned space flight in China,successfully launched the Tiangong 2 space laboratory and the Shenzhou ll manned spaceship into orbits in 2016 respectively.In this study,it introduces the technological improvements for enhancing the reliability of the LM-2F launch vehicle in the aspects of general technology,control system,manufacture and ground support system.The LM2F launch vehicle will continue to provide more contributions to the Chinese Space Station Project with its high reliability and 100％ success rate.

High-speed ground transportation development outside United States

Energy Technology Data Exchange (ETDEWEB)

Eastham, T.R. [Queen`s Univ., Kingston, Ontario (United Kingdom)

1995-09-01

This paper surveys the state of high-speed (in excess of 200 km/h) ground-transportation developments outside the United States. Both high-speed rail and Maglev systems are covered. Many vehicle systems capable of providing intercity service in the speed range 200--500 km/h are or will soon be available. The current state of various technologies, their implementation, and the near-term plans of countries that are most active in high-speed ground transportation development are reported.

A polynomial chaos approach to the analysis of vehicle dynamics under uncertainty

Science.gov (United States)

Kewlani, Gaurav; Crawford, Justin; Iagnemma, Karl

2012-05-01

The ability of ground vehicles to quickly and accurately analyse their dynamic response to a given input is critical to their safety and efficient autonomous operation. In field conditions, significant uncertainty is associated with terrain and/or vehicle parameter estimates, and this uncertainty must be considered in the analysis of vehicle motion dynamics. Here, polynomial chaos approaches that explicitly consider parametric uncertainty during modelling of vehicle dynamics are presented. They are shown to be computationally more efficient than the standard Monte Carlo scheme, and experimental results compared with the simulation results performed on ANVEL (a vehicle simulator) indicate that the method can be utilised for efficient and accurate prediction of vehicle motion in realistic scenarios.

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...

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...

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

Collaborative engagement experiment (CEE)

Science.gov (United States)

Wade, Robert L.; Reames, Joseph M.

2005-05-01

Unmanned ground and air systems operating in collaboration have the potential to provide future Joint Forces a significant capability for operations in complex terrain. Ground and air collaborative engagements potentially offer force conservation, perform timely acquisition and dissemination of essential combat information, and can eliminate high value and time critical targets. These engagements can also add considerably to force survivability by reducing soldier and equipment exposure during critical operations. The Office of the Secretary of Defense, Joint Robotics Program (JRP) sponsored Collaborative Engagement Experiment (CEE) is a consolidation of separate Air Force, Army and Navy collaborative efforts to provide a Joint capability. The Air Force Research Laboratory (AFRL), Material and Manufacturing Directorate, Aerospace Expeditionary Force Division, Force Protection Branch (AFRLMLQF), The Army Aviation and Missile Research, Development and Engineering Center (AMRDEC) Joint Technology Center (JTC)/Systems Integration Laboratory (SIL), and the Space and Naval Warfare Systems Center-San Diego (SSC San Diego) are conducting technical research and proof of principle for an envisioned operational concept for extended range, three dimensional, collaborative operations between unmanned systems, with enhanced situational awareness for lethal operations in complex terrain. This program will assess information requirements and conduct experiments to identify and resolve technical risks for collaborative engagements using Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). It will research, develop and physically integrate multiple unmanned systems and conduct live collaborative experiments. Modeling and Simulation systems will be upgraded to reflect engineering fidelity levels to greater understand technical challenges to operate as a team. This paper will provide an update of a multi-year program and will concentrate primarily on the JTC

Water Detection Based on Color Variation

Science.gov (United States)

Rankin, Arturo L.

2012-01-01

This software has been designed to detect water bodies that are out in the open on cross-country terrain at close range (out to 30 meters), using imagery acquired from a stereo pair of color cameras mounted on a terrestrial, unmanned ground vehicle (UGV). This detector exploits the fact that the color variation across water bodies is generally larger and more uniform than that of other naturally occurring types of terrain, such as soil and vegetation. Non-traversable water bodies, such as large puddles, ponds, and lakes, are detected based on color variation, image intensity variance, image intensity gradient, size, and shape. At ranges beyond 20 meters, water bodies out in the open can be indirectly detected by detecting reflections of the sky below the horizon in color imagery. But at closer range, the color coming out of a water body dominates sky reflections, and the water cue from sky reflections is of marginal use. Since there may be times during UGV autonomous navigation when a water body does not come into a perception system s field of view until it is at close range, the ability to detect water bodies at close range is critical. Factors that influence the perceived color of a water body at close range are the amount and type of sediment in the water, the water s depth, and the angle of incidence to the water body. Developing a single model of the mixture ratio of light reflected off the water surface (to the camera) to light coming out of the water body (to the camera) for all water bodies would be fairly difficult. Instead, this software detects close water bodies based on local terrain features and the natural, uniform change in color that occurs across the surface from the leading edge to the trailing edge.

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.

A signature correlation study of ground target VHF/UHF ISAR imagery

Science.gov (United States)

Gatesman, Andrew J.; Beaudoin, Christopher J.; Giles, Robert H.; Kersey, William T.; Waldman, Jerry; Carter, Steve; Nixon, William E.

2003-09-01

VV and HH-polarized radar signatures of several ground targets were acquired in the VHF/UHF band (171-342 MHz) by using 1/35th scale models and an indoor radar range operating from 6 to 12 GHz. Data were processed into medianized radar cross sections as well as focused, ISAR imagery. Measurement validation was confirmed by comparing the radar cross section of a test object with a method of moments radar cross section prediction code. The signatures of several vehicles from three vehicle classes (tanks, trunks, and TELs) were measured and a signature cross-correlation study was performed. The VHF/UHF band is currently being exploited for its foliage penetration ability, however, the coarse image resolution which results from the relatively long radar wavelengths suggests a more challenging target recognition problem. One of the study's goals was to determine the amount of unique signature content in VHF/UHF ISAR imagery of military ground vehicles. Open-field signatures are compared with each other as well as with simplified shapes of similar size. Signatures were also acquired on one vehicle in a variety of configurations to determine the impact of monitor target variations on the signature content at these frequencies.

Intelligence Level Performance Standards Research for Autonomous Vehicles.

Science.gov (United States)

Bostelman, Roger B; Hong, Tsai H; Messina, Elena

2015-01-01

United States and European safety standards have evolved to protect workers near Automatic Guided Vehicles (AGV's). However, performance standards for AGV's and mobile robots have only recently begun development. Lessons can be learned from research and standards efforts for mobile robots applied to emergency response and military applications. Research challenges, tests and evaluations, and programs to develop higher intelligence levels for vehicles can also used to guide industrial AGV developments towards more adaptable and intelligent systems. These other efforts also provide useful standards development criteria for AGV performance test methods. Current standards areas being considered for AGVs are for docking, navigation, obstacle avoidance, and the ground truth systems that measure performance. This paper provides a look to the future with standards developments in both the performance of vehicles and the dynamic perception systems that measure intelligent vehicle performance.

Mechanical Properties Experimental Study of Engineering Vehicle Refurbished Tire

Science.gov (United States)

Qiang, Wang; Xiaojie, Qi; Zhao, Yang; Yunlong, Wang; Guotian, Wang; Degang, Lv

2018-05-01

The vehicle refurbished tire test system was constructed, got load-deformation, load-stiffness, and load-compression ratio property laws of engineering vehicle refurbished tire under the working condition of static state and ground contact, and built radial direction loading deformation mathematics model of 26.5R25 engineering vehicle refurbished tire. The test results show that radial-direction and side-direction deformation value is a little less than that of the new tire. The radial-direction stiffness and compression ratio of engineering vehicle refurbished tire were greatly influenced by radial-direction load and air inflation pressure. When load was certain, radial-direction stiffness would increase with air inflation pressure increasing. When air inflation pressure was certain, compression ratio of engineering vehicle refurbished tire would enlarge with radial-direction load increasing, which was a little less than that of the new and the same type tire. Aging degree of old car-case would exert a great influence on deformation property of engineering vehicle refurbished tire, thus engineering vehicle refurbished tires are suitable to the working condition of low tire pressure and less load.

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.

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.

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)

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.

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

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.

Near-ground cooling efficacies of trees and high-albedo surfaces

Energy Technology Data Exchange (ETDEWEB)

Levinson, Ronnen M. [Univ. of California, Berkeley, CA (United States). Dept. of Mechanical Engineering

1997-05-01

Daytime summer urban heat islands arise when the prevalence of dark-colored surfaces and lack of vegetation make a city warmer than neighboring countryside. Two frequently-proposed summer heat island mitigation measures are to plant trees and to increase the albedo (solar reflectivity) of ground surfaces. This dissertation examines the effects of these measures on the surface temperature of an object near the ground, and on solar heating of air near the ground. Near-ground objects include people, vehicles, and buildings. The variation of the surface temperature of a near-ground object with ground albedo indicates that a rise in ground albedo will cool a near-ground object only if the object`s albedo exceeds a critical value. This critical value of object albedo depends on wind speed, object geometry, and the height of the atmospheric thermal boundary layer. It ranges from 0.15 to 0.37 for a person. If an object has typical albedo of 0.3, increasing the ground albedo by.

Space vehicle electromechanical system and helical antenna winding fixture

Science.gov (United States)

Judd, Stephen; Dallmann, Nicholas; Guenther, David; Enemark, Donald; Seitz, Daniel; Martinez, John; Storms, Steven

2017-12-26

A space vehicle electromechanical system may employ an architecture that enables convenient and practical testing, reset, and retesting of solar panel and antenna deployment on the ground. A helical antenna winding fixture may facilitate winding and binding of the helical antenna.

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

Real-time identification of vehicle motion-modes using neural networks

Science.gov (United States)

Wang, Lifu; Zhang, Nong; Du, Haiping

2015-01-01

A four-wheel ground vehicle has three body-dominated motion-modes, that is, bounce, roll, and pitch motion-modes. Real-time identification of these motion-modes can make vehicle suspensions, in particular, active suspensions, target on the dominant motion-mode and apply appropriate control strategies to improve its performance with less power consumption. Recently, a motion-mode energy method (MEM) was developed to identify the vehicle body motion-modes. However, this method requires the measurement of full vehicle states and road inputs, which are not always available in practice. This paper proposes an alternative approach to identify vehicle primary motion-modes with acceptable accuracy by employing neural networks (NNs). The effectiveness of the trained NNs is verified on a 10-DOF full-car model under various types of excitation inputs. The results confirm that the proposed method is effective in determining vehicle primary motion-modes with comparable accuracy to the MEM method. Experimental data is further used to validate the proposed method.

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.

A study on optimization of hybrid drive train using Advanced Vehicle Simulator (ADVISOR)

Energy Technology Data Exchange (ETDEWEB)

Same, Adam; Stipe, Alex; Grossman, David; Park, Jae Wan [Department of Mechanical and Aeronautical Engineering, University of California, Davis, One Shields Ave, Davis, CA 95616 (United States)

2010-10-01

This study investigates the advantages and disadvantages of three hybrid drive train configurations: series, parallel, and ''through-the-ground'' parallel. Power flow simulations are conducted with the MATLAB/Simulink-based software ADVISOR. These simulations are then applied in an application for the UC Davis SAE Formula Hybrid vehicle. ADVISOR performs simulation calculations for vehicle position using a combined backward/forward method. These simulations are used to study how efficiency and agility are affected by the motor, fuel converter, and hybrid configuration. Three different vehicle models are developed to optimize the drive train of a vehicle for three stages of the SAE Formula Hybrid competition: autocross, endurance, and acceleration. Input cycles are created based on rough estimates of track geometry. The output from these ADVISOR simulations is a series of plots of velocity profile and energy storage State of Charge that provide a good estimate of how the Formula Hybrid vehicle will perform on the given course. The most noticeable discrepancy between the input cycle and the actual velocity profile of the vehicle occurs during deceleration. A weighted ranking system is developed to organize the simulation results and to determine the best drive train configuration for the Formula Hybrid vehicle. Results show that the through-the-ground parallel configuration with front-mounted motors achieves an optimal balance of efficiency, simplicity, and cost. ADVISOR is proven to be a useful tool for vehicle power train design for the SAE Formula Hybrid competition. This vehicle model based on ADVISOR simulation is applicable to various studies concerning performance and efficiency of hybrid drive trains. (author)

Life Science on the International Space Station Using the Next Generation of Cargo Vehicles

Science.gov (United States)

Robinson, J. A.; Phillion, J. P.; Hart, A. T.; Comella, J.; Edeen, M.; Ruttley, T. M.

2011-01-01

With the retirement of the Space Shuttle and the transition of the International Space Station (ISS) from assembly to full laboratory capabilities, the opportunity to perform life science research in space has increased dramatically, while the operational considerations associated with transportation of the experiments has changed dramatically. US researchers have allocations on the European Automated Transfer Vehicle (ATV) and Japanese H-II Transfer Vehicle (HTV). In addition, the International Space Station (ISS) Cargo Resupply Services (CRS) contract will provide consumables and payloads to and from the ISS via the unmanned SpaceX (offers launch and return capabilities) and Orbital (offers only launch capabilities) resupply vehicles. Early requirements drove the capabilities of the vehicle providers; however, many other engineering considerations affect the actual design and operations plans. To better enable the use of the International Space Station as a National Laboratory, ground and on-orbit facility development can augment the vehicle capabilities to better support needs for cell biology, animal research, and conditioned sample return. NASA Life scientists with experience launching research on the space shuttle can find the trades between the capabilities of the many different vehicles to be confusing. In this presentation we will summarize vehicle and associated ground processing capabilities as well as key concepts of operations for different types of life sciences research being launched in the cargo vehicles. We will provide the latest status of vehicle capabilities and support hardware and facilities development being made to enable the broadest implementation of life sciences research on the ISS.

Impacts of Launch Vehicle Fairing Size on Human Exploration Architectures

Science.gov (United States)

Jefferies, Sharon; Collins, Tim; Dwyer Cianciolo, Alicia; Polsgrove, Tara

2017-01-01

Human missions to Mars, particularly to the Martian surface, are grand endeavors that place extensive demands on ground infrastructure, launch capabilities, and mission systems. The interplay of capabilities and limitations among these areas can have significant impacts on the costs and ability to conduct Mars missions and campaigns. From a mission and campaign perspective, decisions that affect element designs, including those based on launch vehicle and ground considerations, can create effects that ripple through all phases of the mission and have significant impact on the overall campaign. These effects result in impacts to element designs and performance, launch and surface manifesting, and mission operations. In current Evolvable Mars Campaign concepts, the NASA Space Launch System (SLS) is the primary launch vehicle for delivering crew and payloads to cis-lunar space. SLS is currently developing an 8.4m diameter cargo fairing, with a planned upgrade to a 10m diameter fairing in the future. Fairing diameter is a driving factor that impacts many aspects of system design, vehicle performance, and operational concepts. It creates a ripple effect that influences all aspects of a Mars mission, including: element designs, grounds operations, launch vehicle design, payload packaging on the lander, launch vehicle adapter design to meet structural launch requirements, control and thermal protection during entry and descent at Mars, landing stability, and surface operations. Analyses have been performed in each of these areas to assess and, where possible, quantify the impacts of fairing diameter selection on all aspects of a Mars mission. Several potential impacts of launch fairing diameter selection are identified in each of these areas, along with changes to system designs that result. Solutions for addressing these impacts generally result in increased systems mass and propellant needs, which can further exacerbate packaging and flight challenges. This paper

A fiber Bragg grating acceleration sensor for ground surveillance

Science.gov (United States)

Jiang, Shaodong; Zhang, Faxiang; Lv, Jingsheng; Ni, Jiasheng; Wang, Chang

2017-10-01

Ground surveillance system is a kind of intelligent monitoring equipment for detecting and tracking the ground target. This paper presents a fiber Bragg grating (FBG) acceleration sensor for ground surveillance, which has the characteristics of no power supply, anti-electromagnetic interference, easy large-scale networking, and small size. Which make it able to achieve the advantage of the ground surveillance system while avoiding the shortcoming of the electric sensing. The sensor has a double cantilever beam structure with a sensitivity of 1000 pm/g. Field experiment has been carried out on a flood beach to examine the sensor performance. The result shows that the detection distance on the walking of personnel reaches 70m, and the detection distance on the ordinary motor vehicle reaches 200m. The performance of the FBG sensor can satisfy the actual needs of the ground surveillance system.

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.

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.

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.

UAV-guided navigation for ground robot tele-operation in a military reconnaissance environment.

Science.gov (United States)

Chen, Jessie Y C

2010-08-01

A military reconnaissance environment was simulated to examine the performance of ground robotics operators who were instructed to utilise streaming video from an unmanned aerial vehicle (UAV) to navigate his/her ground robot to the locations of the targets. The effects of participants' spatial ability on their performance and workload were also investigated. Results showed that participants' overall performance (speed and accuracy) was better when she/he had access to images from larger UAVs with fixed orientations, compared with other UAV conditions (baseline- no UAV, micro air vehicle and UAV with orbiting views). Participants experienced the highest workload when the UAV was orbiting. Those individuals with higher spatial ability performed significantly better and reported less workload than those with lower spatial ability. The results of the current study will further understanding of ground robot operators' target search performance based on streaming video from UAVs. The results will also facilitate the implementation of ground/air robots in military environments and will be useful to the future military system design and training community.

Launch vehicle tracking enhancement through Global Positioning System Metric Tracking

Science.gov (United States)

Moore, T. C.; Li, Hanchu; Gray, T.; Doran, A.

United Launch Alliance (ULA) initiated operational flights of both the Atlas V and Delta IV launch vehicle families in 2002. The Atlas V and Delta IV launch vehicles were developed jointly with the US Air Force (USAF) as part of the Evolved Expendable Launch Vehicle (EELV) program. Both Launch Vehicle (LV) families have provided 100% mission success since their respective inaugural launches and demonstrated launch capability from both Vandenberg Air Force Base (VAFB) on the Western Test Range and Cape Canaveral Air Force Station (CCAFS) on the Eastern Test Range. However, the current EELV fleet communications, tracking, & control architecture & technology, which date back to the origins of the space launch business, require support by a large and high cost ground footprint. The USAF has embarked on an initiative known as Future Flight Safety System (FFSS) that will significantly reduce Test Range Operations and Maintenance (O& M) cost by closing facilities and decommissioning ground assets. In support of the FFSS, a Global Positioning System Metric Tracking (GPS MT) System based on the Global Positioning System (GPS) satellite constellation has been developed for EELV which will allow both Ranges to divest some of their radar assets. The Air Force, ULA and Space Vector have flown the first 2 Atlas Certification vehicles demonstrating the successful operation of the GPS MT System. The first Atlas V certification flight was completed in February 2012 from CCAFS, the second Atlas V certification flight from VAFB was completed in September 2012 and the third certification flight on a Delta IV was completed October 2012 from CCAFS. The GPS MT System will provide precise LV position, velocity and timing information that can replace ground radar tracking resource functionality. The GPS MT system will provide an independent position/velocity S-Band telemetry downlink to support the current man-in-the-loop ground-based commanded destruct of an anomalous flight- The system

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.

Intelligent systems for KSC ground processing

Science.gov (United States)

Heard, Astrid E.

1992-01-01

The ground processing and launch of Shuttle vehicles and their payloads is the primary task of Kennedy Space Center. It is a process which is largely manual and contains little inherent automation. Business is conducted today much as it was during previous NASA programs such as Apollo. In light of new programs and decreasing budgets, NASA must find more cost effective ways in which to do business while retaining the quality and safety of activities. Advanced technologies including artificial intelligence could cut manpower and processing time. This paper is an overview of the research and development in Al technology at KSC with descriptions of the systems which have been implemented, as well as a few under development which are promising additions to ground processing software. Projects discussed cover many facets of ground processing activities, including computer sustaining engineering, subsystem monitor and diagnosis tools and launch team assistants. The deployed Al applications have proven an effectiveness which has helped to demonstrate the benefits of utilizing intelligent software in the ground processing task.

Launch vehicle operations cost reduction through artificial intelligence techniques

Science.gov (United States)

Davis, Tom C., Jr.

1988-01-01

NASA's Kennedy Space Center has attempted to develop AI methods in order to reduce the cost of launch vehicle ground operations as well as to improve the reliability and safety of such operations. Attention is presently given to cost savings estimates for systems involving launch vehicle firing-room software and hardware real-time diagnostics, as well as the nature of configuration control and the real-time autonomous diagnostics of launch-processing systems by these means. Intelligent launch decisions and intelligent weather forecasting are additional applications of AI being considered.

VHF/UHF imagery and RCS measurements of ground targets in forested terrain

Science.gov (United States)

Gatesman, Andrew J.; Beaudoin, Christopher J.; Giles, Robert H.; Waldman, Jerry; Nixon, William E.

2002-08-01

The monostatic VV and HH-polarized radar signatures of several targets and trees have been measured at foliage penetration frequencies (VHF/UHF) by using 1/35th scale models and an indoor radar range operating at X-band. An array of high-fidelity scale model ground vehicles and test objects as well as scaled ground terrain and trees have been fabricated for the study. Radar measurement accuracy has been confirmed by comparing the signature of a test object with a method of moments radar cross section prediction code. In addition to acquiring signatures of targets located on a smooth, dielectric ground plane, data have also been acquired with targets located in simulated wooded terrain that included scaled tree trunks and tree branches. In order to assure the correct backscattering behavior, all dielectric properties of live tree wood and moist soil were scaled properly to match the complex dielectric constant of the full-scale materials. The impact of the surrounding tree clutter on the VHF/UHF radar signatures of ground vehicles was accessed. Data were processed into high-resolution, polar-formatted ISAR imagery and signature comparisons are made between targets in open-field and forested scenarios.

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...

Vertical Takeoff and Landing Vehicle with Increased Cruise Efficiency

Science.gov (United States)

Fredericks, William J. (Inventor); Moore, Mark D. (Inventor); Busan, Ronald C. (Inventor); Rothhaar, Paul M. (Inventor); North, David D. (Inventor); Langford, William M. (Inventor); Laws, Christopher T. (Inventor); Hodges, William T. (Inventor); Johns, Zachary R. (Inventor); Webb, Sandy R. (Inventor)

2018-01-01

Systems, methods, and devices are provided that combine an advance vehicle configuration, such as an advanced aircraft configuration, with the infusion of electric propulsion, thereby enabling a four times increase in range and endurance while maintaining a full vertical takeoff and landing ("VTOL") and hover capability for the vehicle. Embodiments may provide vehicles with both VTOL and cruise efficient capabilities without the use of ground infrastructure. An embodiment vehicle may comprise a wing configured to tilt through a range of motion, a first series of electric motors coupled to the wing and each configured to drive an associated wing propeller, a tail configured to tilt through the range of motion, a second series of electric motors coupled to the tail and each configured to drive an associated tail propeller, and an electric propulsion system connected to the first series of electric motors and the second series of electric motors.

Multi-Purpose Crew Vehicle Camera Asset Planning: Imagery Previsualization

Science.gov (United States)

Beaulieu, K.

2014-01-01

Using JSC-developed and other industry-standard off-the-shelf 3D modeling, animation, and rendering software packages, the Image Science Analysis Group (ISAG) supports Orion Project imagery planning efforts through dynamic 3D simulation and realistic previsualization of ground-, vehicle-, and air-based camera output.

Loading Deformation Characteristic Simulation Study of Engineering Vehicle Refurbished Tire

Science.gov (United States)

Qiang, Wang; Xiaojie, Qi; Zhao, Yang; Yunlong, Wang; Guotian, Wang; Degang, Lv

2018-05-01

The paper constructed engineering vehicle refurbished tire computer geometry model, mechanics model, contact model, finite element analysis model, did simulation study on load-deformation property of engineering vehicle refurbished tire by comparing with that of the new and the same type tire, got load-deformation of engineering vehicle refurbished tire under the working condition of static state and ground contact. The analysis result shows that change rules of radial-direction deformation and side-direction deformation of engineering vehicle refurbished tire are close to that of the new tire, radial-direction and side-direction deformation value is a little less than that of the new tire. When air inflation pressure was certain, radial-direction deformation linear rule of engineer vehicle refurbished tire would increase with load adding, however, side-direction deformation showed linear change rule, when air inflation pressure was low; and it would show increase of non-linear change rule, when air inflation pressure was very high.

Definition of technology development missions for early space stations orbit transfer vehicle serving. Phase 2, task 1: Space station support of operational OTV servicing

Science.gov (United States)

1983-01-01

Representative space based orbital transfer vehicles (OTV), ground based vehicle turnaround assessment, functional operational requirements and facilities, mission turnaround operations, a comparison of ground based versus space based tasks, activation of servicing facilities prior to IOC, fleet operations requirements, maintenance facilities, OTV servicing facilities, space station support requirements, and packaging for delivery are discussed.

Active debris removal GNC challenges over design and required ground validation

Science.gov (United States)

Colmenarejo, Pablo; Avilés, Marcos; di Sotto, Emanuele

2015-06-01

Because of the exponential growth of space debris, the access to space in the medium-term future is considered as being seriously compromised, particularly within LEO polar Sun-synchronous orbits and within geostationary orbits. The active debris removal (ADR) application poses new and challenging requirements on: first, the new required Guidance, Navigation and Control (GNC) technologies and, second, how to validate these new technologies before being applied in real missions. There is no doubt about the strong safety and collision risk aspects affecting the real operational ADR missions. But it shall be considered that even ADR demonstration missions will be affected by significant risk of collision during the demonstration, and that the ADR GNC systems/technologies to be used shall be well mature before using/demonstrating them in space. Specific and dedicated on-ground validation approaches, techniques and facilities are mandatory. The different ADR techniques can be roughly catalogued in three main groups (rigid capture, non-rigid capture and contactless). All of them have a strong impact on the GNC system of the active vehicle during the capture/proximity phase and, particularly, during the active vehicle/debris combo control phase after capture and during the de-orbiting phase. The main operational phases on an ADR scenario are: (1) ground controlled phase (ADR vehicle and debris are far), (2) fine orbit synchronization phase (ADR vehicle to reach debris ±V-bar), (3) short range phase (along track distance reduction till 10-100 s of metres), (4) terminal approach/capture phase and (5) de-orbiting. While phases 1-3 are somehow conventional and already addressed in detail during past/on-going studies related to rendezvous and/or formation flying, phases 4-5 are very specific and not mature in terms of GNC needed technologies and HW equipment. GMV is currently performing different internal activities and ESA studies/developments related to ADR mission, GNC and

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.

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

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.

Technique applied in electrical power distribution for Satellite Launch Vehicle

Directory of Open Access Journals (Sweden)

João Maurício Rosário

2010-09-01

Full Text Available The Satellite Launch Vehicle electrical network, which is currently being developed in Brazil, is sub-divided for analysis in the following parts: Service Electrical Network, Controlling Electrical Network, Safety Electrical Network and Telemetry Electrical Network. During the pre-launching and launching phases, these electrical networks are associated electrically and mechanically to the structure of the vehicle. In order to succeed in the integration of these electrical networks it is necessary to employ techniques of electrical power distribution, which are proper to Launch Vehicle systems. This work presents the most important techniques to be considered in the characterization of the electrical power supply applied to Launch Vehicle systems. Such techniques are primarily designed to allow the electrical networks, when submitted to the single-phase fault to ground, to be able of keeping the power supply to the loads.

TOP 01-1-011B Vehicle Test Facilities at Aberdeen Test Center and Yuma Test Center

Science.gov (United States)

2017-12-12

Test Center 400 Colleran Road Aberdeen Proving Ground, MD 21005-5059 U.S. Army Yuma Proving Ground Yuma Test Center 301 C. Street Yuma, AZ...22 2.6 Munson Test Area (MTA) ..................................................... 24 2.7 Land Vehicle Maintenance Facility...127 3.6 Maintenance Facilities ........................................................... 143

Path Planning Algorithms for Autonomous Border Patrol Vehicles

Science.gov (United States)

Lau, George Tin Lam

This thesis presents an online path planning algorithm developed for unmanned vehicles in charge of autonomous border patrol. In this Pursuit-Evasion game, the unmanned vehicle is required to capture multiple trespassers on its own before any of them reach a target safe house where they are safe from capture. The problem formulation is based on Isaacs' Target Guarding problem, but extended to the case of multiple evaders. The proposed path planning method is based on Rapidly-exploring random trees (RRT) and is capable of producing trajectories within several seconds to capture 2 or 3 evaders. Simulations are carried out to demonstrate that the resulting trajectories approach the optimal solution produced by a nonlinear programming-based numerical optimal control solver. Experiments are also conducted on unmanned ground vehicles to show the feasibility of implementing the proposed online path planning algorithm on physical applications.

Vehicle accelerated corrosion test procedures for automotive in Malaysia

Directory of Open Access Journals (Sweden)

Anuar Liza

2017-01-01

Full Text Available An accelerated corrosion test, known as proving ground accelerated test, is commonly performed by automotive manufacturers to evaluate the corrosion performance of a vehicle. The test combines corrosion and durability inputs to detect potential failures that may occur during in-service conditions. Currently, the test is conducted at an external test center overseas. Such test is aimed to simulate the effects of one year accelerated corrosion in severe corrosive environment of the north-east and south east of America. However, the test results obtained do not correlate with the actual corrosion conditions observed in the Malaysian market, which is likely attributed to the different test environment of the tropical climate of vehicles in service. Therefore, a vehicle accelerated corrosion test procedure that suits the Malaysian market is proposed and benchmarked with other global car manufacturers that have their own dedicated corrosion test procedure. In the present work, a test track is used as the corrosion test ground and consists of various types of roads for structural durability exposures. Corrosion related facilities like salt trough, mud trough and gravel road are constructed as addition to the existing facilities. The establishment of accelerated corrosion test facilities has contributed to the development of initial accelerated corrosion test procedure for the national car manufacturer. The corrosion exposure is monitored by fitting test coupons at the underbody of test vehicle using mass loss technique so that the desired corrosion rate capable of simulating the real time corrosion effects for its target market.

Ground operations and logistics in the context of the International Asteroid Mission

Science.gov (United States)

The role of Ground Operations and Logistics, in the context of the International Asteroid Mission (IAM), is to define the mission of Ground Operations; to identify the components of a manned space infrastructure; to discuss the functions and responsibilities of these components; to provide cost estimates for delivery of the spacecraft to LEO from Earth; to identify significant ground operations and logistics issues. The purpose of this dissertation is to bring a degree of reality to the project. 'One cannot dissociate development and set up of a manned infrastructure from its operational phase since it is this last one which is the most costly due to transportation costs which plague space station use' (Eymar, 1990). While this reference is to space stations, the construction and assembly of the proposed crew vehicle and cargo vehicles will face similar cost difficulties, and logistics complexities. The uniqueness of long duration space flight is complicated further by the lack of experience with human habitated, and non-refurbishable life support systems. These problems are addressed.

Visual Appearance-Based Unmanned Vehicle Sequential Localization

Directory of Open Access Journals (Sweden)

Wei Liu

2013-01-01

Full Text Available Localizationis of vital importance for an unmanned vehicle to drive on the road. Most of the existing algorithms are based on laser range finders, inertial equipment, artificial landmarks, distributing sensors or global positioning system(GPS information. Currently, the problem of localization with vision information is most concerned. However, vision-based localization techniquesare still unavailable for practical applications. In this paper, we present a vision-based sequential probability localization method. This method uses the surface information of the roadside to locate the vehicle, especially in the situation where GPS information is unavailable. It is composed of two step, first, in a recording stage, we construct a ground truthmap with the appearance of the roadside environment. Then in an on-line stage, we use a sequential matching approach to localize the vehicle. In the experiment, we use two independent cameras to observe the environment, one is left-orientated and the other is right. SIFT features and Daisy features are used to represent for the visual appearance of the environment. The experiment results show that the proposed method could locate the vehicle in a complicated, large environment with high reliability.

Ares-I-X Vehicle Preliminary Range Safety Malfunction Turn Analysis

Science.gov (United States)

Beaty, James R.; Starr, Brett R.; Gowan, John W., Jr.

2008-01-01

Ares-I-X is the designation given to the flight test version of the Ares-I rocket (also known as the Crew Launch Vehicle - CLV) being developed by NASA. As part of the preliminary flight plan approval process for the test vehicle, a range safety malfunction turn analysis was performed to support the launch area risk assessment and vehicle destruct criteria development processes. Several vehicle failure scenarios were identified which could cause the vehicle trajectory to deviate from its normal flight path, and the effects of these failures were evaluated with an Ares-I-X 6 degrees-of-freedom (6-DOF) digital simulation, using the Program to Optimize Simulated Trajectories Version 2 (POST2) simulation framework. The Ares-I-X simulation analysis provides output files containing vehicle state information, which are used by other risk assessment and vehicle debris trajectory simulation tools to determine the risk to personnel and facilities in the vicinity of the launch area at Kennedy Space Center (KSC), and to develop the vehicle destruct criteria used by the flight test range safety officer. The simulation analysis approach used for this study is described, including descriptions of the failure modes which were considered and the underlying assumptions and ground rules of the study, and preliminary results are presented, determined by analysis of the trajectory deviation of the failure cases, compared with the expected vehicle trajectory.

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

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.

Additive Manufacturing of Parts and Tooling in Robotic Systems

Energy Technology Data Exchange (ETDEWEB)

Love, Lonnie J. [ORNL; Hassen, Ahmed A. [ORNL; Chesser, Phillip C. [ORNL; Parsons, Jeremy [Mantaro Networks, Inc.

2018-04-01

ORNL worked with Transcend Robotics, LLC to explore additive manufacturing of the two-piece compression body for their ARTI mobile robot platform. Extrusion compression molding was identified as an effective means of manufacturing these parts. ORNL consulted on modifications to the housing design to accommodate the selected manufacturing process. Parts were printed using ORNL's FDM machines for testing and evaluation of the design as a precursor to molding the parts. The assembly and evaluation of the parts proved favorable and minor design changes to improve assembly and performance were identified.The goal is to develop a light weight and rugged two-part robotic enclosure for an unmanned ground vehicle UGV) that will be used in search and rescue applications. The FDM parts fabricated by ORNL allowed Transcend Robotics to assemble a prototype robot and verify that the new parts will meet the performance requirements. ORNL fabricated enclosure parts out of ABS and Nylon 12 materials such that the design could be tested prior to fabricating tooling for compression molding of Nylon 6 with carbon fiber fill. The robot was performance tested and compared with the previous manufacturing techniques and found to have superior performance.

INS/GPS/LiDAR Integrated Navigation System for Urban and Indoor Environments Using Hybrid Scan Matching Algorithm.

Science.gov (United States)

Gao, Yanbin; Liu, Shifei; Atia, Mohamed M; Noureldin, Aboelmagd

2015-09-15

This paper takes advantage of the complementary characteristics of Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) to provide periodic corrections to Inertial Navigation System (INS) alternatively in different environmental conditions. In open sky, where GPS signals are available and LiDAR measurements are sparse, GPS is integrated with INS. Meanwhile, in confined outdoor environments and indoors, where GPS is unreliable or unavailable and LiDAR measurements are rich, LiDAR replaces GPS to integrate with INS. This paper also proposes an innovative hybrid scan matching algorithm that combines the feature-based scan matching method and Iterative Closest Point (ICP) based scan matching method. The algorithm can work and transit between two modes depending on the number of matched line features over two scans, thus achieving efficiency and robustness concurrently. Two integration schemes of INS and LiDAR with hybrid scan matching algorithm are implemented and compared. Real experiments are performed on an Unmanned Ground Vehicle (UGV) for both outdoor and indoor environments. Experimental results show that the multi-sensor integrated system can remain sub-meter navigation accuracy during the whole trajectory.

Vertical Take-Off and Landing Vehicle with Increased Cruise Efficiency

Science.gov (United States)

Fredericks, William J. (Inventor); Moore, Mark D. (Inventor); Busan, Ronald C. (Inventor); Rothhaar, Paul M. (Inventor); North, David D. (Inventor); Langford, William M. (Inventor); Laws, Christopher T. (Inventor); Hodges, William T. (Inventor); Johns, Zachary R. (Inventor); Webb, Sandy R. (Inventor)

2016-01-01

Systems, methods, and devices are provided that combine an advance vehicle configuration, such as an advanced aircraft configuration, with the infusion of electric propulsion, thereby enabling a four times increase in range and endurance while maintaining a full vertical takeoff and landing ("VTOL") and hover capability for the vehicle. Embodiments may provide vehicles with both VTOL and cruise efficient capabilities without the use of ground infrastructure. An embodiment vehicle may comprise a wing configured to tilt through a range of motion, a first series of electric motors coupled to the wing and each configured to drive an associated wing propeller, a tail configured to tilt through the range of motion, a second series of electric motors coupled to the tail and each configured to drive an associated tail propeller, and an electric propulsion system connected to the first series of electric motors and the second series of electric motors.

Development of Ground Test System For RKX-200EB

Science.gov (United States)

Yudhi Irwanto, Herma

2018-04-01

After being postponed for seven years, the development of RKX-200EB now restarts by initiating a ground test, preceding the real flight test. The series of the development starts from simulation test using the real vehicle and its components, focusing on a flight sequence test using hardware in the loop simulation. The result of the simulation shows that the autonomous control system in development is able to control the X tail fin vehicle, since take off using booster, separating booster-sustainer, making flight maneuver using sustainer with average cruise speed of 1000 km/h, and doing bank to maneuver up to ±40 deg heading to the target. The simulation result also shows that the presence of sustainer in vehicle control can expand the distance range by 162% (12.6 km) from its ballistic range using only a booster.

Poster Abstract: Automatic Calibration of Device Attitude in Inertial Measurement Unit Based Traffic Probe Vehicles

KAUST Repository

Mousa, Mustafa

2016-04-28

Probe vehicles consist in mobile traffic sensor networks that evolve with the flow of vehicles, transmitting velocity and position measurements along their path, generated using GPSs. To address the urban positioning issues of GPSs, we propose to replace them with inertial measurement units onboard vehicles, to estimate vehicle location and attitude using inertial data only. While promising, this technology requires one to carefully calibrate the orientation of the device inside the vehicle to be able to process the acceleration and rate gyro data. In this article, we propose a scheme that can perform this calibration automatically by leveraging the kinematic constraints of ground vehicles, and that can be implemented on low-end computational platforms. Preliminary testing shows that the proposed scheme enables one to accurately estimate the actual accelerations and rotation rates in the vehicle coordinates. © 2016 IEEE.

Development of a new version of the Vehicle Protection Factor Code (VPF3)

Science.gov (United States)

Jamieson, Terrance J.

1990-10-01

The Vehicle Protection Factor (VPF) Code is an engineering tool for estimating radiation protection afforded by armoured vehicles and other structures exposed to neutron and gamma ray radiation from fission, thermonuclear, and fusion sources. A number of suggestions for modifications have been offered by users of early versions of the code. These include: implementing some of the more advanced features of the air transport rating code, ATR5, used to perform the air over ground radiation transport analyses; allowing the ability to study specific vehicle orientations within the free field; implementing an adjoint transport scheme to reduce the number of transport runs required; investigating the possibility of accelerating the transport scheme; and upgrading the computer automated design (CAD) package used by VPF. The generation of radiation free field fluences for infinite air geometries as required for aircraft analysis can be accomplished by using ATR with the air over ground correction factors disabled. Analysis of the effects of fallout bearing debris clouds on aircraft will require additional modelling of VPF.

Highly passable propulsive device for UGVs on rugged terrain

Directory of Open Access Journals (Sweden)

Gradetsky Valery

2018-01-01

Full Text Available One of the priority functional tasks of both industrial and mobile robotics is to perform operations for moving payloads in space. Typically, researchers pay attention to control the movement of the robot on different soils. It is necessary to underline the specificity of the movements of mobile robots, the main functional purpose of which is the movement of different objects. Unlike other robot applications there is the fact that transported cargo may have different mass-dimensional characteristics. The payload should be comparable to the mass of the mobile robot. This article addresses the issue of passability on rough terrain for a mobile robot performing the transport task and proposed a technical solution in the field of mechanics of propulsion to improve propelling of the traction wheel of the mobile robot with the ground.

A Leader-path-following formation system for AGVs with multi-sensor data fusion based vehicle tracking

Science.gov (United States)

Yao, Wen; Zhao, Xijun; Yu, Yufeng; Fang, Yongkun; Wang, Chao; Yang, Tianfu

2017-09-01

Caravans composed of vehicles with different functionality or trafficability raise the demand that formation system structure shall allow vehicles to deviate from the path to be followed when necessary. In this paper, a formation system is developed for autonomous ground vehicles (AGVs) who follow the path of a leader vehicle while retaining the ability of deviation from the reference path. In addition, it improves robustness of preceding vehicle localization by fusing Lidar tracking, camera tracking results with predecessor’s global position within an extended Kalman filter (EKF) in case that one or more sources of preceding vehicle localization is not reliable. The system is applied on real AGV platforms and won the 3rd place in an AGV competition in China.

Intelligent behaviors through vehicle-to-vehicle and vehicle-to-infrastructure communication

Science.gov (United States)

Garcia, Richard D.; Sturgeon, Purser; Brown, Mike

2012-06-01

The last decade has seen a significant increase in intelligent safety devices on private automobiles. These devices have both increased and augmented the situational awareness of the driver and in some cases provided automated vehicle responses. To date almost all intelligent safety devices have relied on data directly perceived by the vehicle. This constraint has a direct impact on the types of solutions available to the vehicle. In an effort to improve the safety options available to a vehicle, numerous research laboratories and government agencies are investing time and resources into connecting vehicles to each other and to infrastructure-based devices. This work details several efforts in both the commercial vehicle and the private auto industries to increase vehicle safety and driver situational awareness through vehicle-to-vehicle and vehicle-to-infrastructure communication. It will specifically discuss intelligent behaviors being designed to automatically disable non-compliant vehicles, warn tractor trailer vehicles of unsafe lane maneuvers such as lane changes, passing, and merging, and alert drivers to non-line-of-sight emergencies.

A Concept of Operations for an Integrated Vehicle Health Assurance System

Science.gov (United States)

Hunter, Gary W.; Ross, Richard W.; Berger, David E.; Lekki, John D.; Mah, Robert W.; Perey, Danie F.; Schuet, Stefan R.; Simon, Donald L.; Smith, Stephen W.

2013-01-01

This document describes a Concept of Operations (ConOps) for an Integrated Vehicle Health Assurance System (IVHAS). This ConOps is associated with the Maintain Vehicle Safety (MVS) between Major Inspections Technical Challenge in the Vehicle Systems Safety Technologies (VSST) Project within NASA s Aviation Safety Program. In particular, this document seeks to describe an integrated system concept for vehicle health assurance that integrates ground-based inspection and repair information with in-flight measurement data for airframe, propulsion, and avionics subsystems. The MVS Technical Challenge intends to maintain vehicle safety between major inspections by developing and demonstrating new integrated health management and failure prevention technologies to assure the integrity of vehicle systems between major inspection intervals and maintain vehicle state awareness during flight. The approach provided by this ConOps is intended to help optimize technology selection and development, as well as allow the initial integration and demonstration of these subsystem technologies over the 5 year span of the VSST program, and serve as a guideline for developing IVHAS technologies under the Aviation Safety Program within the next 5 to 15 years. A long-term vision of IVHAS is provided to describe a basic roadmap for more intelligent and autonomous vehicle systems.

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

The effect of track load correlation on ground-borne vibration from railways

Science.gov (United States)

Ntotsios, Evangelos; Thompson, David; Hussein, Mohammed

2017-08-01

In predictions of ground-borne vibration from railways, it is generally assumed that the unevenness profile of the wheel and rail is fully correlated between the two rails and the two wheels of an axle. This leads to identical contact forces at the two rails and can allow further simplifications of the vehicle model, the track model and the track/ground interface conditions. In the present paper, the level of correlation of the track loading at the wheel/rail interface due to rail unevenness and its influence on predictions of ground vibration is investigated. The extent to which the unevenness of the two rails is correlated has been estimated from measurements of track geometry obtained with track recording vehicles for four different tracks. It was found that for wavelengths longer than about 3 m the unevenness of the two rails can be considered to be strongly correlated and in phase. To investigate the effect of this on ground vibration, an existing model expressed in the wavenumber-frequency domain is extended to include separate inputs on the two rails. The track is modelled as an infinite invariant linear structure resting on an elastic stratified half-space. This is excited by the gravitational loading of a passing train and the irregularity of the contact surfaces between the wheels and the rails. The railway model is developed in this work to be versatile so that it can account or discard the effect of load correlations on the two rails beside the effects of variation of the tractions across the width of the track-ground interface and the vehicle sprung mass, as well as the roll motion of the sleepers and the axle. A comparative analysis is carried out on the influence of these factors on the response predictions using numerical simulations. It is shown that, when determining the vibration in the free field, it is important to include in the model the traction variation across the track-ground interface and the non-symmetrical loading at the two rails that

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)

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)

Autonomy-Enabled Fuel Savings for Military Vehicles: Report on 2016 Aberdeen Test Center Testing

Energy Technology Data Exchange (ETDEWEB)

Ragatz, Adam [National Renewable Energy Lab. (NREL), Golden, CO (United States); Prohaska, Robert [National Renewable Energy Lab. (NREL), Golden, CO (United States); Gonder, Jeff [National Renewable Energy Lab. (NREL), Golden, CO (United States)

2017-05-26

Fuel savings have never been the primary focus for autonomy-enabled military vehicles. However, studies have estimated that autonomy in passenger and commercial vehicles could improve fuel economy by as much as 22%-33% over various drive cycles. If even a fraction of this saving could be realized in military vehicles, significant cost savings could be realized each year through reduced fuel transport missions, reduced fuel purchases, less maintenance, fewer required personnel, and increased vehicle range. Researchers from the National Renewable Energy Laboratory installed advanced data logging equipment and instrumentation on two autonomy-enabled convoy vehicles configured with Lockheed Martin's Autonomous Mobility Applique System to determine system performance and improve on the overall vehicle control strategies of the vehicles. Initial test results from testing conducted at the U.S. Army Aberdeen Test Center at the Aberdeen Proving Grounds are included in this report. Lessons learned from in-use testing and performance results have been provided to the project partners for continued system refinement.

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...

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

Storage evaporator for vehicles with start-stop technology; Speicherverdampfer fuer Fahrzeuge mit Start-Stopp-Funktion

Energy Technology Data Exchange (ETDEWEB)

Wawzyniak, Markus; Link, Joachim [Behr GmbH und Co. KG, Stuttgart (Germany)

2013-04-15

Today, the use of engine start-stop technology - a system designed to cut fuel consumption when the vehicle stops or, in future applications, when vehicles are in coasting or ''sailing'' mode - is gaining ground in more and more vehicle classes. Shutting off the internal combustion engine, though, detrimentally affects cabin air conditioning because the belt-driven A/C compressor is likewise deactivated, thus bringing the vapor compression process to a standstill. As a result, during extended stop periods and in warm weather vent temperatures and air humidity rapidly increase.

Vehicle Detection for RCTA/ANS (Autonomous Navigation System)

Science.gov (United States)

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

2012-01-01

Using a stereo camera pair, imagery is acquired and processed through the JPLV stereo processing pipeline. From this stereo data, large 3D blobs are found. These blobs are then described and classified by their shape to determine which are vehicles and which are not. Prior vehicle detection algorithms are either targeted to specific domains, such as following lead cars, or are intensity- based methods that involve learning typical vehicle appearances from a large corpus of training data. In order to detect vehicles, the JPL Vehicle Detection (JVD) algorithm goes through the following steps: 1. Take as input a left disparity image and left rectified image from JPLV stereo. 2. Project the disparity data onto a two-dimensional Cartesian map. 3. Perform some post-processing of the map built in the previous step in order to clean it up. 4. Take the processed map and find peaks. For each peak, grow it out into a map blob. These map blobs represent large, roughly vehicle-sized objects in the scene. 5. Take these map blobs and reject those that do not meet certain criteria. Build descriptors for the ones that remain. Pass these descriptors onto a classifier, which determines if the blob is a vehicle or not. The probability of detection is the probability that if a vehicle is present in the image, is visible, and un-occluded, then it will be detected by the JVD algorithm. In order to estimate this probability, eight sequences were ground-truthed from the RCTA (Robotics Collaborative Technology Alliances) program, totaling over 4,000 frames with 15 unique vehicles. Since these vehicles were observed at varying ranges, one is able to find the probability of detection as a function of range. At the time of this reporting, the JVD algorithm was tuned to perform best at cars seen from the front, rear, or either side, and perform poorly on vehicles seen from oblique angles.

Integrated System Test Approaches for the NASA Ares I Crew Launch Vehicle

Science.gov (United States)

Cockrell, Charles

2008-01-01

NASA is maturing test and evaluation plans leading to flight readiness of the Ares I crew launch vehicle. Key development, qualification, and verification tests are planned . Upper stage engine sea-level and altitude testing. First stage development and qualification motors. Upper stage structural and thermal development and qualification test articles. Main Propulsion Test Article (MPTA). Upper stage green run testing. Integrated Vehicle Ground Vibration Testing (IVGVT). Aerodynamic characterization testing. Test and evaluation supports initial validation flights (Ares I-Y and Orion 1) and design certification.

Autonomous aerial vehicles : guidance, control, signal and image processing platform

International Nuclear Information System (INIS)

Al-Jarrah, M.; Adiansyah, S.; Marji, Z. M.; Chowdhury, M. S.

2011-01-01

used as fusion algorithm for position and poses estimation. Then path planning, trajectory generation and trajectory guidance alternative strategies is presented. One of the important UAV mission is target surveillance using an onboard vision system. AUS-UAV Mazari is using a gimbaled camera for target monitoring and target tracking using basic digital image processing and techniques. Successful moving target geo-location algorithms were developed and results will be presented. Future plan is to develop a cooperation strategy between several vehicles in the air and on the ground. Use of vision system to aid the vehicle in localization using ground features is also under consideration.

Classification of robotic battery service systems for unmanned aerial vehicles

Directory of Open Access Journals (Sweden)

Ngo Tien

2018-01-01

Full Text Available Existing examples of prototypes of ground-based robotic platforms used as a landing site for unmanned aerial vehicles are considered. In some cases, they are equipped with a maintenance mechanism for the power supply module. The main requirements for robotic multi-copter battery maintenance systems depending on operating conditions, required processing speed, operator experience and other parameters are analyzed. The key issues remain questions of the autonomous landing of the unmanned aerial vehicles on the platform and approach to servicing battery. The existing prototypes of service robotic platforms are differed in the complexity of internal mechanisms, speed of service, algorithms of joint work of the platform and unmanned aerial vehicles during the landing and maintenance of the battery. The classification of robotic systems for servicing the power supply of multi-copter batteries criteria is presented using the following: the type of basing, the method of navigation during landing, the shape of the landing pad, the method of restoring the power supply module. The proposed algorithmic model of the operation of battery power maintenance system of the multi-copter on ground-based robotic platform during solving the target agrarian problem is described. Wireless methods of battery recovery are most promising, so further development and prototyping of a wireless charging station for multi-copter batteries will be developed.

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.

Inflatable Re-Entry Vehicle Experiment (IRVE) Design Overview

Science.gov (United States)

Hughes, Stephen J.; Dillman, Robert A.; Starr, Brett R.; Stephan, Ryan A.; Lindell, Michael C.; Player, Charles J.; Cheatwood, F. McNeil

2005-01-01

Inflatable aeroshells offer several advantages over traditional rigid aeroshells for atmospheric entry. Inflatables offer increased payload volume fraction of the launch vehicle shroud and the possibility to deliver more payload mass to the surface for equivalent trajectory constraints. An inflatable s diameter is not constrained by the launch vehicle shroud. The resultant larger drag area can provide deceleration equivalent to a rigid system at higher atmospheric altitudes, thus offering access to higher landing sites. When stowed for launch and cruise, inflatable aeroshells allow access to the payload after the vehicle is integrated for launch and offer direct access to vehicle structure for structural attachment with the launch vehicle. They also offer an opportunity to eliminate system duplication between the cruise stage and entry vehicle. There are however several potential technical challenges for inflatable aeroshells. First and foremost is the fact that they are flexible structures. That flexibility could lead to unpredictable drag performance or an aerostructural dynamic instability. In addition, durability of large inflatable structures may limit their application. They are susceptible to puncture, a potentially catastrophic insult, from many possible sources. Finally, aerothermal heating during planetary entry poses a significant challenge to a thin membrane. NASA Langley Research Center and NASA's Wallops Flight Facility are jointly developing inflatable aeroshell technology for use on future NASA missions. The technology will be demonstrated in the Inflatable Re-entry Vehicle Experiment (IRVE). This paper will detail the development of the initial IRVE inflatable system to be launched on a Terrier/Orion sounding rocket in the fourth quarter of CY2005. The experiment will demonstrate achievable packaging efficiency of the inflatable aeroshell for launch, inflation, leak performance of the inflatable system throughout the flight regime, structural

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.

Multi-Task Vehicle Detection with Region-of-Interest Voting.

Science.gov (United States)

Chu, Wenqing; Liu, Yao; Shen, Chen; Cai, Deng; Hua, Xian-Sheng

2017-10-12

Vehicle detection is a challenging problem in autonomous driving systems, due to its large structural and appearance variations. In this paper, we propose a novel vehicle detection scheme based on multi-task deep convolutional neural networks (CNN) and region-of-interest (RoI) voting. In the design of CNN architecture, we enrich the supervised information with subcategory, region overlap, bounding-box regression and category of each training RoI as a multi-task learning framework. This design allows the CNN model to share visual knowledge among different vehicle attributes simultaneously, thus detection robustness can be effectively improved. In addition, most existing methods consider each RoI independently, ignoring the clues from its neighboring RoIs. In our approach, we utilize the CNN model to predict the offset direction of each RoI boundary towards the corresponding ground truth. Then each RoI can vote those suitable adjacent bounding boxes which are consistent with this additional information. The voting results are combined with the score of each RoI itself to find a more accurate location from a large number of candidates. Experimental results on the real-world computer vision benchmarks KITTI and the PASCAL2007 vehicle dataset show that our approach achieves superior performance in vehicle detection compared with other existing published works.

Numerical Simulation of the Ground Response to the Tire Load Using Finite Element Method

Science.gov (United States)

Valaskova, Veronika; Vlcek, Jozef

2017-10-01

Response of the pavement to the excitation caused by the moving vehicle is one of the actual problems of the civil engineering practice. The load from the vehicle is transferred to the pavement structure through contact area of the tires. Experimental studies show nonuniform distribution of the pressure in the area. This non-uniformity is caused by the flexible nature and the shape of the tire and is influenced by the tire inflation. Several tire load patterns, including uniform distribution and point load, were involved in the numerical modelling using finite element method. Applied tire loads were based on the tire contact forces of the lorry Tatra 815. There were selected two procedures for the calculations. The first one was based on the simplification of the vehicle to the half-part model. The characteristics of the vehicle model were verified by the experiment and by the numerical model in the software ADINA, when vehicle behaviour during the ride was investigated. Second step involved application of the calculated contact forces for the front axle as the load on the multi-layered half space representing the pavement structure. This procedure was realized in the software Plaxis and considered various stress patterns for the load. The response of the ground to the vehicle load was then analyzed. Axisymmetric model was established for this procedure. The paper presents the results of the investigation of the contact pressure distribution and corresponding reaction of the pavement to various load distribution patterns. The results show differences in some calculated quantities for different load patterns, which need to be verified by the experimental way when also ground response should be observed.

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

Vehicle Health Management Communications Requirements for AeroMACS

Science.gov (United States)

Kerczewski, Robert J.; Clements, Donna J.; Apaza, Rafael D.

2012-01-01

As the development of standards for the aeronautical mobile airport communications system (AeroMACS) progresses, the process of identifying and quantifying appropriate uses for the system is progressing. In addition to defining important elements of AeroMACS standards, indentifying the systems uses impacts AeroMACS bandwidth requirements. Although an initial 59 MHz spectrum allocation for AeroMACS was established in 2007, the allocation may be inadequate; studies have indicated that 100 MHz or more of spectrum may be required to support airport surface communications. Hence additional spectrum allocations have been proposed. Vehicle health management (VHM) systems, which can produce large volumes of vehicle health data, were not considered in the original bandwidth requirements analyses, and are therefore of interest in supporting proposals for additional AeroMACS spectrum. VHM systems are an emerging development in air vehicle safety, and preliminary estimates of the amount of data that will be produced and transmitted off an aircraft, both in flight and on the ground, have been prepared based on estimates of data produced by on-board vehicle health sensors and initial concepts of data processing approaches. This allowed an initial estimate of VHM data transmission requirements for the airport surface. More recently, vehicle-level systems designed to process and analyze VHM data and draw conclusions on the current state of vehicle health have been undergoing testing and evaluation. These systems make use of vehicle system data that is mostly different from VHM data considered previously for airport surface transmission, and produce processed system outputs that will be also need to be archived, thus generating additional data load for AeroMACS. This paper provides an analysis of airport surface data transmission requirements resulting from the vehicle level reasoning systems, within the context of overall VHM data requirements.

Zero Rare-Earth Magnet Integrated Starter-Generator Development for Military Vehicle Applications

Science.gov (United States)

2013-08-14

platform. – Support of on-board hybrid electric features such as regenerative braking , torque assist and stop-start operation. 14 August 2013 4...13. SUPPLEMENTARY NOTES GROUND VEHICLE SYSTEMS ENGINEERING AND TECHNOLOGY SYMPOSIUM (GVSETS), SET FOR AUG. 21-22, 2013 14. ABSTRACT Briefing Charts

Aerothermodynamics of blunt body entry vehicles

Science.gov (United States)

Hollis, Brian R.; Borrelli, Salvatore

2012-01-01

In this chapter, the aerothermodynamic phenomena of blunt body entry vehicles are discussed. Four topics will be considered that present challenges to current computational modeling techniques for blunt body environments: turbulent flow, non-equilibrium flow, rarefied flow, and radiation transport. Examples of comparisons between computational tools to ground and flight-test data will be presented in order to illustrate the challenges existing in the numerical modeling of each of these phenomena and to provide test cases for evaluation of computational fluid dynamics (CFD) code predictions.

Transient Acoustic Environment Prediction Tool for Launch Vehicles in Motion during Early Lift-Off, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Launch vehicles experience extreme acoustic loads dominated by rocket exhaust plume interactions with ground structures during lift-off, which can produce damaging...

ELECTROMAGNETIC BIOSPHERE POLLUTION BY MOTOR TRANSPORT (VEHICLES, ELECTRIC VEHICLES, HYBRID VEHICLES

Directory of Open Access Journals (Sweden)

S. Selivanov

2009-01-01

Full Text Available The physics of the electromagnetic field is considered. The analysis of electromagnetic radiation on the human-being, the origin of which is the vehicle the electric vehicle, the hybrid vehicle is being considered. The monitoring of electromagnetic radiation of vehicles is carried out.

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.

Detail design of empennage of an unmanned aerial vehicle

Science.gov (United States)

Sarker, Md. Samad; Panday, Shoyon; Rasel, Md; Salam, Md. Abdus; Faisal, Kh. Md.; Farabi, Tanzimul Hasan

2017-12-01

In order to maintain the operational continuity of air defense systems, unmanned autonomous or remotely controlled unmanned aerial vehicle (UAV) plays a great role as a target for the anti-aircraft weapons. The aerial vehicle must comply with the requirements of high speed, remotely controlled tracking and navigational aids, operational sustainability and sufficient loiter time. It can also be used for aerial reconnaissance, ground surveillance and other intelligence operations. This paper aims to develop a complete tail design of an unmanned aerial vehicle using Systems Engineering approach. The design fulfils the requirements of longitudinal and directional trim, stability and control provided by the horizontal and vertical tail. Tail control surfaces are designed to provide sufficient control of the aircraft in critical conditions. Design parameters obtained from wing design are utilized in the tail design process as required. Through chronological calculations and successive iterations, optimum values of 26 tail design parameters are determined.

Modal Analysis of In-Wheel Motor-Driven Electric Vehicle Based on Bond Graph Theory

Directory of Open Access Journals (Sweden)

Di Tan

2017-01-01

Full Text Available A half-car vibration model of an electric vehicle driven by rear in-wheel motors was developed using bond graph theory and the modular modeling method. Based on the bond graph model, modal analysis was carried out to study the vibration characteristics of the electric vehicle. To verify the effectiveness of the established model, the results were compared to ones computed on the ground of modal analysis and Newton equations. The comparison shows that the vibration model of the electric vehicle based on bond graph theory not only is able to better compute the natural frequency but also can easily determine the deformation mode, momentum mode, and other isomorphism modes and describe the dynamic characteristics of an electric vehicle driven by in-wheel motors more comprehensively than other modal analysis methods.

Experimental investigation of a quad-rotor biplane micro air vehicle

Science.gov (United States)

Bogdanowicz, Christopher Michael

Micro air vehicles are expected to perform demanding missions requiring efficient operation in both hover and forward flight. This thesis discusses the development of a hybrid air vehicle which seamlessly combines both flight capabilities: hover and high-speed forward flight. It is the quad-rotor biplane, which weighs 240 grams and consists of four propellers with wings arranged in a biplane configuration. The performance of the vehicle system was investigated in conditions representative of flight through a series of wind tunnel experiments. These studies provided an understanding of propeller-wing interaction effects and system trim analysis. This showed that the maximum speed of 11 m/s and a cruise speed of 4 m/s were achievable and that the cruise power is approximately one-third of the hover power. Free flight testing of the vehicle successfully highlighted its ability to achieve equilibrium transition flight. Key design parameters were experimentally investigated to understand their effect on overall performance. It was found that a trade-off between efficiency and compactness affects the final choice of the design. Design improvements have allowed for decreases in vehicle weight and ground footprint, while increasing structural soundness. Numerous vehicle designs, models, and flight tests have proven system scalability as well as versatility, including an upscaled model to be utilized in an extensive commercial package delivery system. Overall, the quad-rotor biplane is proven to be an efficient and effective multi-role vehicle.

Sensor Architecture and Task Classification for Agricultural Vehicles and Environments

Directory of Open Access Journals (Sweden)

Francisco Rovira-Más

2010-12-01

Full Text Available The long time wish of endowing agricultural vehicles with an increasing degree of autonomy is becoming a reality thanks to two crucial facts: the broad diffusion of global positioning satellite systems and the inexorable progress of computers and electronics. Agricultural vehicles are currently the only self-propelled ground machines commonly integrating commercial automatic navigation systems. Farm equipment manufacturers and satellite-based navigation system providers, in a joint effort, have pushed this technology to unprecedented heights; yet there are many unresolved issues and an unlimited potential still to uncover. The complexity inherent to intelligent vehicles is rooted in the selection and coordination of the optimum sensors, the computer reasoning techniques to process the acquired data, and the resulting control strategies for automatic actuators. The advantageous design of the network of onboard sensors is necessary for the future deployment of advanced agricultural vehicles. This article analyzes a variety of typical environments and situations encountered in agricultural fields, and proposes a sensor architecture especially adapted to cope with them. The strategy proposed groups sensors into four specific subsystems: global localization, feedback control and vehicle pose, non-visual monitoring, and local perception. The designed architecture responds to vital vehicle tasks classified within three layers devoted to safety, operative information, and automatic actuation. The success of this architecture, implemented and tested in various agricultural vehicles over the last decade, rests on its capacity to integrate redundancy and incorporate new technologies in a practical way.

Full-Scale Passive Earth Entry Vehicle Landing Tests: Methods and Measurements

Science.gov (United States)

Littell, Justin D.; Kellas, Sotiris

2018-01-01

During the summer of 2016, a series of drop tests were conducted on two passive earth entry vehicle (EEV) test articles at the Utah Test and Training Range (UTTR). The tests were conducted to evaluate the structural integrity of a realistic EEV vehicle under anticipated landing loads. The test vehicles were lifted to an altitude of approximately 400m via a helicopter and released via release hook into a predesignated 61 m landing zone. Onboard accelerometers were capable of measuring vehicle free flight and impact loads. High-speed cameras on the ground tracked the free-falling vehicles and data was used to calculate critical impact parameters during the final seconds of flight. Additional sets of high definition and ultra-high definition cameras were able to supplement the high-speed data by capturing the release and free flight of the test articles. Three tests were successfully completed and showed that the passive vehicle design was able to withstand the impact loads from nominal and off-nominal impacts at landing velocities of approximately 29 m/s. Two out of three test resulted in off-nominal impacts due to a combination of high winds at altitude and the method used to suspend the vehicle from the helicopter. Both the video and acceleration data captured is examined and discussed. Finally, recommendations for improved release and instrumentation methods are presented.

Two-dimensional laser servoing for precision motion control of an ODV robotic license plate recognition system

Science.gov (United States)

Song, Zhen; Moore, Kevin L.; Chen, YangQuan; Bahl, Vikas

2003-09-01

As an outgrowth of series of projects focused on mobility of unmanned ground vehicles (UGV), an omni-directional (ODV), multi-robot, autonomous mobile parking security system has been developed. The system has two types of robots: the low-profile Omni-Directional Inspection System (ODIS), which can be used for under-vehicle inspections, and the mid-sized T4 robot, which serves as a ``marsupial mothership'' for the ODIS vehicles and performs coarse resolution inspection. A key task for the T4 robot is license plate recognition (LPR). For a successful LPR task without compromising the recognition rate, the robot must be able to identify the bumper locations of vehicles in the parking area and then precisely position the LPR camera relative to the bumper. This paper describes a 2D-laser scanner based approach to bumper identification and laser servoing for the T4 robot. The system uses a gimbal-mounted scanning laser. As the T4 robot travels down a row of parking stalls, data is collected from the laser every 100ms. For each parking stall in the range of the laser during the scan, the data is matched to a ``bumper box'' corresponding to where a car bumper is expected, resulting in a point cloud of data corresponding to a vehicle bumper for each stall. Next, recursive line-fitting algorithms are used to determine a line for the data in each stall's ``bumper box.'' The fitting technique uses Hough based transforms, which are robust against segmentation problems and fast enough for real-time line fitting. Once a bumper line is fitted with an acceptable confidence, the bumper location is passed to the T4 motion controller, which moves to position the LPR camera properly relative to the bumper. The paper includes examples and results that show the effectiveness of the technique, including its ability to work in real-time.

Potential Science and Technology Game Changers for the Ground Warfare of 2050: Selected Projections Made in 2017

Science.gov (United States)

2018-02-01

ARL-TR-8283 ● FEB 2018 US Army Research Laboratory Potential Science and Technology Game Changers for the Ground Warfare of 2050...Science and Technology Game Changers for the Ground Warfare of 2050: Selected Projections Made in 2017 by Alexander Kott Office of the Director...Brian Sadler Vehicle Technology Directorate, ARL Ananthram Swami Computational and Information Sciences Directorate, ARL Approved for

X-33/RLV System Health Management/Vehicle Health Management

Science.gov (United States)

Mouyos, William; Wangu, Srimal

1998-01-01

To reduce operations costs, Reusable Launch Vehicles (RLVS) must include highly reliable robust subsystems which are designed for simple repair access with a simplified servicing infrastructure, and which incorporate expedited decision-making about faults and anomalies. A key component for the Single Stage To Orbit (SSTO) RLV system used to meet these objectives is System Health Management (SHM). SHM incorporates Vehicle Health Management (VHM), ground processing associated with the vehicle fleet (GVHM), and Ground Infrastructure Health Management (GIHM). The primary objective of SHM is to provide an automated and paperless health decision, maintenance, and logistics system. Sanders, a Lockheed Martin Company, is leading the design, development, and integration of the SHM system for RLV and for X-33 (a sub-scale, sub-orbit Advanced Technology Demonstrator). Many critical technologies are necessary to make SHM (and more specifically VHM) practical, reliable, and cost effective. This paper will present the X-33 SHM design which forms the baseline for the RLV SHM, and it will discuss applications of advanced technologies to future RLVs. In addition, this paper will describe a Virtual Design Environment (VDE) which is being developed for RLV. This VDE will allow for system design engineering, as well as program management teams, to accurately and efficiently evaluate system designs, analyze the behavior of current systems, and predict the feasibility of making smooth and cost-efficient transitions from older technologies to newer ones. The RLV SHM design methodology will reduce program costs, decrease total program life-cycle time, and ultimately increase mission success.

Ground Robotic Hand Applications for the Space Program study (GRASP)

Science.gov (United States)

Grissom, William A.; Rafla, Nader I. (Editor)

1992-01-01

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

Sensor-driven area coverage for an autonomous fixed-wing unmanned aerial vehicle.

Science.gov (United States)

Paull, Liam; Thibault, Carl; Nagaty, Amr; Seto, Mae; Li, Howard

2014-09-01

Area coverage with an onboard sensor is an important task for an unmanned aerial vehicle (UAV) with many applications. Autonomous fixed-wing UAVs are more appropriate for larger scale area surveying since they can cover ground more quickly. However, their non-holonomic dynamics and susceptibility to disturbances make sensor coverage a challenging task. Most previous approaches to area coverage planning are offline and assume that the UAV can follow the planned trajectory exactly. In this paper, this restriction is removed as the aircraft maintains a coverage map based on its actual pose trajectory and makes control decisions based on that map. The aircraft is able to plan paths in situ based on sensor data and an accurate model of the on-board camera used for coverage. An information theoretic approach is used that selects desired headings that maximize the expected information gain over the coverage map. In addition, the branch entropy concept previously developed for autonomous underwater vehicles is extended to UAVs and ensures that the vehicle is able to achieve its global coverage mission. The coverage map over the workspace uses the projective camera model and compares the expected area of the target on the ground and the actual area covered on the ground by each pixel in the image. The camera is mounted on a two-axis gimbal and can either be stabilized or optimized for maximal coverage. Hardware-in-the-loop simulation results and real hardware implementation on a fixed-wing UAV show the effectiveness of the approach. By including the already developed automatic takeoff and landing capabilities, we now have a fully automated and robust platform for performing aerial imagery surveys.

Editorial for special issue on Perception and Navigation for Autonomous Vehicles

OpenAIRE

Laugier , Christian; Philippe , Martinet; Urbano , Nunes

2014-01-01

International audience; This Special Issue of the IEEE Robotics and Automation Magazine has been prepared in the scope of the activities of the Technical Committee on "Autonomous Ground Vehicle and Intelligent Transportation System" (AGV-ITS) (http://www.ieee-ras.org/autonomous-groundvehicles- and-intelligent-transportation-systems) of the IEEE Robotics and Automation Society (IEEE RAS).

Future orbital transfer vehicle technology study. Volume 2: Technical report

Science.gov (United States)

Davis, E. E.

1982-01-01

Missions for future orbit transfer vehicles (1995-2010) are identified and the technology, operations and vehicle concepts that satisfy the transportation requirements are defined. Comparison of reusable space and ground based LO2/LH2 OTV's was made. Both vehicles used advanced space engines and aero assist capability. The SB OTV provided advantages in life cycle cost, performance and potential for improvement. Comparison of an all LO2/LH2 OTV fleet with a fleet of LO2/LH2 OTVs and electric OTV's was also made. The normal growth technology electric OTV used silicon cells with heavy shielding and argon ion thrusters. This provided a 23% advantage in total transportation cost. The impact of accelerated technology was considered in terms of improvements in performance and cost effectiveness. The accelerated technology electric vehicle used GaAs cells and annealing but did not result in the mixed fleet being any cheaper than an all LO2/LH2 OTV fleet. It is concluded that reusable LO2/LH2 OTV's can serve all general purpose cargo roles between LEO and GEO for the forseeable future. The most significant technology for the second generation vehicle would be space debris protection, on-orbit propellant storage and transfer and on-orbit maintenance capability.

Detection of Changes in Ground-Level Ozone Concentrations via Entropy

Directory of Open Access Journals (Sweden)

Yuehua Wu

2015-04-01

Full Text Available Ground-level ozone concentration is a key indicator of air quality. Theremay exist sudden changes in ozone concentration data over a long time horizon, which may be caused by the implementation of government regulations and policies, such as establishing exhaust emission limits for on-road vehicles. To monitor and assess the efficacy of these policies, we propose a methodology for detecting changes in ground-level ozone concentrations, which consists of three major steps: data transformation, simultaneous autoregressive modelling and change-point detection on the estimated entropy. To show the effectiveness of the proposed methodology, the methodology is applied to detect changes in ground-level ozone concentration data collected in the Toronto region of Canada between June and September for the years from 1988 to 2009. The proposed methodology is also applicable to other climate data.

Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration

Directory of Open Access Journals (Sweden)

Haijian Bai

2017-01-01

Full Text Available Considering the complexity of lane changing using automated vehicles and the frequency of turning lanes in city settings, this paper aims to generate an accelerated lane-changing trajectory using vehicle-to-vehicle collaboration (V2VC. Based on the characteristics of accelerated lane changing, we used a polynomial method and cooperative strategies for trajectory planning to establish a lane-changing model under different degrees of collaboration with the following vehicle in the target lane by considering vehicle kinematics and comfort requirements. Furthermore, considering the shortcomings of the traditional elliptical vehicle and round vehicle models, we established a rectangular vehicle model with collision boundary conditions by analysing the relationships between the possible collision points and the outline of the vehicle. Then, we established a simulation model for the accelerated lane-changing process in different environments under different degrees of collaboration. The results show that, by using V2VC, we can achieve safe accelerated lane-changing trajectories and simultaneously satisfy the requirements of vehicle kinematics and comfort control.

Inertial navigation sensor integrated motion analysis for autonomous vehicle navigation

Science.gov (United States)

Roberts, Barry; Bhanu, Bir

1992-01-01

Recent work on INS integrated motion analysis is described. Results were obtained with a maximally passive system of obstacle detection (OD) for ground-based vehicles and rotorcraft. The OD approach involves motion analysis of imagery acquired by a passive sensor in the course of vehicle travel to generate range measurements to world points within the sensor FOV. INS data and scene analysis results are used to enhance interest point selection, the matching of the interest points, and the subsequent motion-based computations, tracking, and OD. The most important lesson learned from the research described here is that the incorporation of inertial data into the motion analysis program greatly improves the analysis and makes the process more robust.

Contrast model for three-dimensional vehicles in natural lighting and search performance analysis

Science.gov (United States)

Witus, Gary; Gerhart, Grant R.; Ellis, R. Darin

2001-09-01

Ground vehicles in natural lighting tend to have significant and systematic variation in luminance through the presented area. This arises, in large part, from the vehicle surfaces having different orientations and shadowing relative to the source of illumination and the position of the observer. These systematic differences create the appearance of a structured 3D object. The 3D appearance is an important factor in search, figure-ground segregation, and object recognition. We present a contrast metric to predict search and detection performance that accounts for the 3D structure. The approach first computes the contrast of the front (or rear), side, and top surfaces. The vehicle contrast metric is the area-weighted sum of the absolute values of the contrasts of the component surfaces. The 3D structure contrast metric, together with target height, account for more than 80% of the variance in probability of detection and 75% of the variance in search time. When false alarm effects are discounted, they account for 89% of the variance in probability of detection and 95% of the variance in search time. The predictive power of the signature metric, when calibrated to half the data and evaluated against the other half, is 90% of the explanatory power.

Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints

Directory of Open Access Journals (Sweden)

Daehee Won

2015-01-01

Full Text Available A navigation algorithm is proposed to increase the inertial navigation performance of a ground vehicle using magnetic measurements and dynamic constraints. The navigation solutions are estimated based on inertial measurements such as acceleration and angular velocity measurements. To improve the inertial navigation performance, a three-axis magnetometer is used to provide the heading angle, and nonholonomic constraints (NHCs are introduced to increase the correlation between the velocity and the attitude equation. The NHCs provide a velocity feedback to the attitude, which makes the navigation solution more robust. Additionally, an acceleration-based roll and pitch estimation is applied to decrease the drift when the acceleration is within certain boundaries. The magnetometer and NHCs are combined with an extended Kalman filter. An experimental test was conducted to verify the proposed method, and a comprehensive analysis of the performance in terms of the position, velocity, and attitude showed that the navigation performance could be improved by using the magnetometer and NHCs. Moreover, the proposed method could improve the estimation performance for the position, velocity, and attitude without any additional hardware except an inertial sensor and magnetometer. Therefore, this method would be effective for ground vehicles, indoor navigation, mobile robots, vehicle navigation in urban canyons, or navigation in any global navigation satellite system-denied environment.

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.

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments.

Science.gov (United States)

Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

2015-07-10

A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies-INS and LiDAR SLAM-into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform-NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment.

Towards Human-Friendly Efficient Control of Multi-Robot Teams

Science.gov (United States)

Stoica, Adrian; Theodoridis, Theodoros; Barrero, David F.; Hu, Huosheng; McDonald-Maiers, Klaus

2013-01-01

This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots' autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context.

Hyper-X Vehicle Model - Side View

Science.gov (United States)

1996-01-01

A side-view of an early desk-top model of NASA's X-43A 'Hyper-X,' or Hypersonic Experimental Vehicle, which has been developed to flight test 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 fuel. By eliminating the need to carry oxygen, future hypersonic

Hyper-X Vehicle Model - Front View

Science.gov (United States)

1996-01-01

A front view of an early desk-top model of NASA's X-43A 'Hyper-X,' or Hypersonic Experimental Vehicle, which has been developed to flight test 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 fuel. By eliminating the need to carry oxygen, future hypersonic

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.

The Use of Unmanned Aerial Vehicle for Geothermal Exploitation Monitoring: Khankala Field Example

Directory of Open Access Journals (Sweden)

Sergey V. Cherkasov

2018-06-01

Full Text Available The article is devoted to the use of unmanned aerial vehicle for geothermal waters exploitation monitoring. Development of a geothermal reservoir usually requires a system of wells, pipelines and pumping equipment and control of such a system is quite complicated. In this regard, use of unmanned aerial vehicle is relevant. Two test unmanned aerial vehicle based infrared surveys have been conducted at the Khankala field (Chechen Republic with the Khankala geothermal plant operating at different regimes: during the first survey – with, and the second – without reinjection of used geothermal fluid. Unmanned aerial vehicle Geoscan 201 equipped with digital (Sony DSX-RX1 and thermal imaging (Thermoframe-MX-TTX cameras was used. Besides different images of the geothermal plant obtained by the surveys, 13 thermal anomalies have been identified. Analysis of the shape and temperature facilitated determination of their different sources: fire, heating systems, etc., which was confirmed by a ground reconnaissance. Results of the study demonstrate a high potential of unmanned aerial vehicle based thermal imagery use for environmental and technological monitoring of geothermal fields under operation.

Integrating small satellite communication in an autonomous vehicle network: A case for oceanography

Science.gov (United States)

Guerra, André G. C.; Ferreira, António Sérgio; Costa, Maria; Nodar-López, Diego; Aguado Agelet, Fernando

2018-04-01

Small satellites and autonomous vehicles have greatly evolved in the last few decades. Hundreds of small satellites have been launched with increasing functionalities, in the last few years. Likewise, numerous autonomous vehicles have been built, with decreasing costs and form-factor payloads. Here we focus on combining these two multifaceted assets in an incremental way, with an ultimate goal of alleviating the logistical expenses in remote oceanographic operations. The first goal is to create a highly reliable and constantly available communication link for a network of autonomous vehicles, taking advantage of the small satellite lower cost, with respect to conventional spacecraft, and its higher flexibility. We have developed a test platform as a proving ground for this network, by integrating a satellite software defined radio on an unmanned air vehicle, creating a system of systems, and several tests have been run successfully, over land. As soon as the satellite is fully operational, we will start to move towards a cooperative network of autonomous vehicles and small satellites, with application in maritime operations, both in-situ and remote sensing.

Effects of vehicle power on passenger vehicle speeds.

Science.gov (United States)

McCartt, Anne T; Hu, Wen

2017-07-04

During the past 2 decades, there have been large increases in mean horsepower and the mean horsepower-to-vehicle weight ratio for all types of new passenger vehicles in the United States. This study examined the relationship between travel speeds and vehicle power, defined as horsepower per 100 pounds of vehicle weight. Speed cameras measured travel speeds and photographed license plates and drivers of passenger vehicles traveling on roadways in Northern Virginia during daytime off-peak hours in spring 2013. The driver licensing agencies in the District of Columbia, Maryland, and Virginia provided vehicle information numbers (VINs) by matching license plate numbers with vehicle registration records and provided the age, gender, and ZIP code of the registered owner(s). VINs were decoded to obtain the curb weight and horsepower of vehicles. The study focused on 26,659 observed vehicles for which information on horsepower was available and the observed age and gender of drivers matched vehicle registration records. Log-linear regression estimated the effects of vehicle power on mean travel speeds, and logistic regression estimated the effects of vehicle power on the likelihood of a vehicle traveling over the speed limit and more than 10 mph over the limit. After controlling for driver characteristics, speed limit, vehicle type, and traffic volume, a 1-unit increase in vehicle power was associated with a 0.7% increase in mean speed, a 2.7% increase in the likelihood of a vehicle exceeding the speed limit by any amount, and an 11.6% increase in the likelihood of a vehicle exceeding the limit by 10 mph. All of these increases were highly significant. Speeding persists as a major factor in crashes in the United States. There are indications that travel speeds have increased in recent years. The current findings suggest the trend toward substantially more powerful vehicles may be contributing to higher speeds. Given the strong association between travel speed and crash

Canadian high speed magnetically levitated vehicle system

Energy Technology Data Exchange (ETDEWEB)

Atherton, D L [Queen' s Univ., Kingston, Ont.; Belanger, P R; Burke, P E; Dawson, G E; Eastham, A R; Hayes, W F; Ooi, B T; Silvester, P; Slemon, G R

1978-04-01

A technically feasible high speed (400 to 480 km/h) guided ground transportation system, based on the use of the vehicle-borne superconducting magnets for electrodynamic suspension and guidance and for linear synchronous motor propulsion was defined as a future modal option for Canadian application. Analysis and design proposals were validated by large-scale tests on a rotating wheel facility and by modelling system components and their interactions. Thirty ton vehicles carrying 100 passengers operate over a flat-topped elevated guideway, which minimizes system down-time due to ice and snow accumulation and facilitates the design of turn-outs. A clearance of up to 15 cm is produced by the electrodynamic interaction between the vehicle-borne superconducting magnets and aluminum guideway strips. Propulsion and automatic system control is provided by the superconducting linear synchronous motor which operates at good efficiency (0.74) and high power factor (0.95). The vehicle is guided primarily by the interaction between the LSM field magnet array and flat null-flux loops overlying the stator windings in the guideway. The linear synchronous motor, electrodynamic suspension as well as levitation strip joints, parasitic LSM winding losses and limitations to the use of ferromagnetic guideway reinforcement were investigated experimentally on the test wheel facility. The use of a secondary suspension assures adequate dynamic stability, and good ride quality is achieved by optimized passive components with respect to lateral modes and by an actively controlled secondary suspension with respect to vertical motion.

Search and Pursuit with Unmanned Aerial Vehicles in Road Networks

Science.gov (United States)

2013-11-01

landmark tracking, Andersen and Taylor [7] show that with a planar ground assumption, a homography-based visual odometry algorithm can be combined with...7] Evan D. Andersen and Clark N. Taylor. Improving MAV pose estimation using visual information. In IEEE International Conference on Intelligent...patrol and surveillance missions using multiple unmanned air vehicles. In IEEE Confer- ence on Decision and Control, 2004. [53] Arthur S. Goldstein

Development of heavy load carrying vehicle for nuclear power station

International Nuclear Information System (INIS)

Terabayashi, Yasuharu; Oono, Hiroo; Aizu, Takao; Kawaguchi, Kaname; Yamanaka, Masayuki; Hirobe, Tamio; Inagaki, Yoshiaki.

1985-01-01

In nuclear power stations, in order to carry out sound and stable operation, the routine inspection and regular inspection of machinery and equipment are performed, therefore, the transportation of heavy things is frequently carried out. Especially, the transportation of heavy things over the steps of passages and stairs requires much labor. Therefore, Chubu Electric Power Co., Inc. and Chubu Plant Service Co., Ltd. carried out the research on the development of a vehicle for transporting heavy components of nuclear power plants. In this research, it was aimed at developing a vehicle which can carry heavy components and get over a step, climb and descend stairs, and run through a narrow passage having many curves as well as running on flat ground. For this purpose, the actual state of the transportation of heavy things was investigated during the regular inspection of a nuclear power station, and on the basis of this results, a prototype vehicle was made and tested. Thereafter, a transporting vehicle of actual scale was made and tested. The investigation of actual state and the examination of the fundamental concept, the design, trial manufacture and verifying test are reported. (Kako, I.)

Acoustic-Seismic Coupling in Porous Ground - Measurements and Analysis for On-Site-Inspection Support

Science.gov (United States)

Liebsch, Mattes; Gorschlüter, Felix; Altmann, Jürgen

2014-05-01

During on-site inspections (OSI) of the Comprehensive Nuclear Test Ban Treaty Organisation (CTBTO) a local seismic network can be installed to measure seismic aftershock signals of an assumed underground nuclear explosion. These signals are caused by relaxation processes in and near the cavity created by the explosion and when detected can lead to a localisation of the cavity. This localisation is necessary to take gas samples from the ground which are analysed for radioactive noble gas isotopes to confirm or dismiss the suspicion of a nuclear test. The aftershock signals are of very low magnitude so they can be masked by different sources, in particular periodic disturbances caused by vehicles and aircraft in the inspection area. Vehicles and aircraft (mainly helicopters) will be used for the inspection activities themselves, e.g. for overhead imagery or magnetic-anomaly sensing. While vehicles in contact with the ground can excite soil vibrations directly, aircraft and vehicles alike emit acoustic waves which excite soil vibrations when hitting the ground. These disturbing signals are of periodic nature while the seismic aftershock signals are pulse-shaped, so their separation is possible. The understanding of the coupling of acoustic waves to the ground is yet incomplete, a better understanding is necessary to improve the performance of an OSI, e.g. to address potential consequences for the sensor placement, the helicopter trajectories etc. In a project funded by the Young Scientist Research Award of the CTBTO to one of us (ML), we investigated the acoustic-seismic coupling of airborne signals of jet aircraft and artificially induced ones by a speaker. During a measurement campaign several acoustic and seismic sensors were placed below the take-off trajectory of an airport at 4 km distance. Therefore taking off and landing jet aircraft passed nearly straightly above the setup. Microphones were placed close to the ground to record the sound pressure of incident

Electric vehicle equipment for grid-integrated vehicles

Science.gov (United States)

Kempton, Willett

2013-08-13

Methods, systems, and apparatus for interfacing an electric vehicle with an electric power grid are disclosed. An exemplary apparatus may include a station communication port for interfacing with electric vehicle station equipment (EVSE), a vehicle communication port for interfacing with a vehicle management system (VMS), and a processor coupled to the station communication port and the vehicle communication port to establish communication with the EVSE via the station communication port, receive EVSE attributes from the EVSE, and issue commands to the VMS to manage power flow between the electric vehicle and the EVSE based on the EVSE attributes. An electric vehicle may interface with the grid by establishing communication with the EVSE, receiving the EVSE attributes, and managing power flow between the EVE and the grid based on the EVSE attributes.

New Vehicle Detection Method with Aspect Ratio Estimation for Hypothesized Windows

Directory of Open Access Journals (Sweden)

Jisu Kim

2015-12-01

Full Text Available All kinds of vehicles have different ratios of width to height, which are called the aspect ratios. Most previous works, however, use a fixed aspect ratio for vehicle detection (VD. The use of a fixed vehicle aspect ratio for VD degrades the performance. Thus, the estimation of a vehicle aspect ratio is an important part of robust VD. Taking this idea into account, a new on-road vehicle detection system is proposed in this paper. The proposed method estimates the aspect ratio of the hypothesized windows to improve the VD performance. Our proposed method uses an Aggregate Channel Feature (ACF and a support vector machine (SVM to verify the hypothesized windows with the estimated aspect ratio. The contribution of this paper is threefold. First, the estimation of vehicle aspect ratio is inserted between the HG (hypothesis generation and the HV (hypothesis verification. Second, a simple HG method named a signed horizontal edge map is proposed to speed up VD. Third, a new measure is proposed to represent the overlapping ratio between the ground truth and the detection results. This new measure is used to show that the proposed method is better than previous works in terms of robust VD. Finally, the Pittsburgh dataset is used to verify the performance of the proposed method.

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.

Dynamic Design of Ground Transport With the Help of Computational Experiment

Directory of Open Access Journals (Sweden)

Kravets Victor

2015-05-01

Full Text Available Objectives of ground transport (motor transport vehicle have been considered. Mathematical model of nonlinear dynamics in spatial motion of asymmetric carriage in the form of Euler-Lagrange equations represented as symmetrical block structure in quaternion matrices has been developed. Kinematic equations and partition matrices of external action in which Rodrigues-Hamilton parameters have been applied describe quaternionic matrices.

Street-side vehicle detection, classification and change detection using mobile laser scanning data

Science.gov (United States)

Xiao, Wen; Vallet, Bruno; Schindler, Konrad; Paparoditis, Nicolas

2016-04-01

Statistics on street-side car parks, e.g. occupancy rates, parked vehicle types, parking durations, are of great importance for urban planning and policy making. Related studies, e.g. vehicle detection and classification, mostly focus on static images or video. Whereas mobile laser scanning (MLS) systems are increasingly utilized for urban street environment perception due to their direct 3D information acquisition, high accuracy and movability. In this paper, we design a complete system for car park monitoring, including vehicle recognition, localization, classification and change detection, from laser scanning point clouds. The experimental data are acquired by an MLS system using high frequency laser scanner which scans the streets vertically along the system's moving trajectory. The point clouds are firstly classified as ground, building façade, and street objects which are then segmented using state-of-the-art methods. Each segment is treated as an object hypothesis, and its geometric features are extracted. Moreover, a deformable vehicle model is fitted to each object. By fitting an explicit model to the vehicle points, detailed information, such as precise position and orientation, can be obtained. The model parameters are also treated as vehicle features. Together with the geometric features, they are applied to a supervised learning procedure for vehicle or non-vehicle recognition. The classes of detected vehicles are also investigated. Whether vehicles have changed across two datasets acquired at different times is detected to estimate the durations. Here, vehicles are trained pair-wisely. Two same or different vehicles are paired up as training samples. As a result, the vehicle recognition, classification and change detection accuracies are 95.9%, 86.0% and 98.7%, respectively. Vehicle modelling improves not only the recognition rate, but also the localization precision compared to bounding boxes.

RFB research and development in WIG vehicles

Science.gov (United States)

Fischer, Hanno

An account is given of the development history of wing-in-ground (WIG) effect aircraft at a major West German aircraft manufacturer since 1964; these efforts have encompassed the development of the X113 and X114 'airfoilboat' WIG seaplanes. Attention is given to the aerodynamic efficiency and operational economy trends that result from up-scaling of WIG craft configurations to takeoff gross weights of the order of 300 tons. Also noted is the illustration of comparative efficiency among types of transportation, including WIG vehicles, given by the von Karman-Gabrielli diagram.

Design And Ground Testing For The Expert PL4/PL5 'Natural And Roughness Induced Transition'

Science.gov (United States)

Masutti, Davie; Chazot, Olivier; Donelli, Raffaele; de Rosa, Donato

2011-05-01

Unpredicted boundary layer transition can impact dramatically the stability of the vehicle, its aerodynamic coefficients and reduce the efficiency of the thermal protection system. In this frame, ESA started the EXPERT (European eXPErimental Reentry Testbed) program to pro- vide and perform in-flight experiments in order to obtain aerothermodynamic data for the validation of numerical models and of ground-to-flight extrapolation methodologies. Considering the boundary layer transition investigation, the EXPERT vehicle is equipped with two specific payloads, PL4 and PL5, concerning respectively the study of the natural and roughness induced transition. The paper is a survey on the design process of these two in-flight experiments and it covers the major analyses and findings encountered during the development of the payloads. A large amount of transition criteria have been investigated and used to estimate either the dangerousness of the height of the distributed roughness, arising due to nose erosion, or the effectiveness of height of the isolated roughness element forcing the boundary layer transition. Supporting the PL4 design, linear stability computations and CFD analyses have been performed by CIRA on the EXPERT flight vehicle to determine the amplification factor of the boundary layer instabilities at different point of the re-entry trajectory. Ground test experiments regarding the PL5 are carried on in the Mach 6 VKI H3 Hypersonic Wind Tunnel with a Reynolds numbers ranging from 18E6/m to 26E6/m. Infrared measurements (Stanton number) and flow visualization are used on a 1/16 scaled model of the EXPERT vehicle and a flat plate to validate the Potter and Whitfield criterion as a suitable methodology for ground-to-flight extrapolation and the payload design.

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

Below- and above-ground effects of deadwood and termites in plantation forests

Science.gov (United States)

Michael D. Ulyshen; Richard Shefferson; Scott Horn; Melanie K. Taylor; Bryana Bush; Cavell Brownie; Sebastian Seibold; Michael S. Strickland

2017-01-01

Deadwood is an important legacy structure in managed forests, providing continuity in shelter and resource availability for many organisms and acting as a vehicle by which nutrients can be passed from one stand to the next following a harvest. Despite existing at the interface between below- and above-ground systems, however, much remains unknown about the role woody...

Evolution of on-road vehicle exhaust emissions in Delhi

Science.gov (United States)

Goel, Rahul; Guttikunda, Sarath K.

2015-03-01

For a 40-year horizon (1990-2030), on-road vehicle exhaust emissions were evaluated, retrospectively and prospectively, for the largest urban agglomeration in India - the Greater Delhi region with a combined population of 22 million in 2011 (Delhi along with Ghaziabad, Noida, Greater Noida, Faridabad and Gurgaon). Emissions of particulate matter, sulfur dioxide, carbon monoxide and volatile organic compounds (VOCs) reached their peak during late 1990s through early 2000s after which they reduced significantly through year 2012. On the other hand, nitrogen oxides (NOx) and carbon dioxide show an increasing trend. The most reduction in emissions between 1998 and 2012 occurred as a result of implementation of four sets of vehicular emission standards, removal of lead, reduction of sulfur content, mandatory retirement of older commercial vehicles, and conversion of diesel and petrol run public transport vehicles to compressed natural gas. In addition, changes in the vehicular technology have also contributed to controlling emissions especially in case of auto-rickshaws and motorized two-wheelers, which changed from two-stroke to four-stroke. The rising trend of NOx along with the presence of VOCs indicates increasing tendency to form ground-level ozone and as a result, smog in the region. We predict that the current regime of vehicle technology, fuel standards, and high growth rate of private vehicles, is likely to nullify all the past emission reductions by the end of 2020s.

Battery Electric Vehicles can reduce greenhouse has emissions and make renewable energy cheaper in India

Energy Technology Data Exchange (ETDEWEB)

Gopal, Anand R [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Witt, Maggie [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Sheppard, Colin [Humboldt State Univ., Arcata, CA (United States); Harris, Andrew [Humboldt State Univ., Arcata, CA (United States)

2015-07-01

India's National Mission on Electric Mobility (NMEM) sets a countrywide goal of deploying 6 to 7 million hybrid and electric vehicles (EVs) by 2020. There are widespread concerns, both within and outside the government, that the Indian grid is not equipped to accommodate additional power demand from battery electric vehicles (BEVs). Such concerns are justified on the grounds of India's notorious power sector problems pertaining to grid instability and chronic blackouts. Studies have claimed that deploying BEVs in India will only

Development of Matlab Simulink model for dynamics analysis of passive suspension system for lightweight vehicle

Science.gov (United States)

Jamali, M. S.; Ismail, K. A.; Taha, Z.; Aiman, M. F.

2017-10-01

In designing suitable isolators to reduce unwanted vibration in vehicles, the response from a mathematical model which characterizes the transmissibility ratio of the input and output of the vehicle is required. In this study, a Matlab Simulink model is developed to study the dynamic behaviour performance of passive suspension system for a lightweight electric vehicle. The Simulink model is based on the two degrees of freedom system quarter car model. The model is compared to the theoretical plots of the transmissibility ratios between the amplitudes of the displacements and accelerations of the sprung and unsprung masses to the amplitudes of the ground, against the frequencies at different damping values. It was found that the frequency responses obtained from the theoretical calculations and from the Simulink simulation is comparable to each other. Hence, the model may be extended to a full vehicle model.

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...

Metrological approach to the force exerted by the axle of a road vehicle in motion carrying liquid

International Nuclear Information System (INIS)

Faruolo, Luciano Bruno; Pinto, Fernando Augusto de Noronha Castro

2016-01-01

Weigh-in-motion (WIM) systems are used for identifying the dynamic force exerted on the ground by axles of a vehicle. These systems are important for monitoring the gross vehicle weight and the vehicle axle load. Overweighted trucks on the roads increase pavement damage and traffic accidents. Knowing the accuracy of WIM systems is necessary. In the case of liquid transport the ‘sloshing effect’ affects this accuracy. This paper aims to analyze the dynamic measurement of the axle forces in vehicles carrying liquid during WIM up to 6 km h −1 . Laboratory experiments using one vehicle with six axles and liquid loads on different levels in weighing instruments are presented. A non-linear computational multi-mass-springs model was developed and laboratory experiments were carried out to show the acceleration influences on axle forces of vehicles with six axles and with and without baffles to vary the ‘sloshing effect’. (paper)

Platform for Testing Robotic Vehicles on Simulated Terrain

Science.gov (United States)

Lindemann, Randel

2006-01-01

The variable terrain tilt platform (VTTP) is a means of providing simulated terrain for mobility testing of engineering models of the Mars Exploration Rovers. The VTTP could also be used for testing the ability of other robotic land vehicles (and small vehicles in general) to move across terrain under diverse conditions of slope and surface texture, and in the presence of obstacles of various sizes and shapes. The VTTP consists mostly of a 16-ft-(4.88-m)-square tilt table. The tilt can be adjusted to any angle between 0 (horizontal) and 25 . The test surface of the table can be left bare; can be covered with hard, high-friction material; or can be covered with sand, gravel, and/or other ground-simulating material or combination of materials to a thickness of as much as 6 in. (approx. 15 cm). Models of rocks, trenches, and other obstacles can be placed on the simulated terrain. For example, for one of the Mars- Rover tests, a high-friction mat was attached to the platform, then a 6-in.- ( 15 cm) deep layer of dry, loose beach sand was deposited on the mat. The choice of these two driving surface materials was meant to bound the range of variability of terrain that the rover was expected to encounter on the Martian surface. At each of the different angles at which tests were performed, for some of the tests, rocklike concrete obstacles ranging in height from 10 to 25 cm were placed in the path of the rover (see figure). The development of the VTTP was accompanied by development of a methodology of testing to characterize the performance and modes of failure of a vehicle under test. In addition to variations in slope, ground material, and obstacles, testing typically includes driving up-slope, down-slope, cross-slope, and at intermediate angles relative to slope. Testing includes recording of drive-motor currents, wheel speeds, articulation of suspension mechanisms, and the actual path of the vehicle over the simulated terrain. The collected data can be used to

Hyper-X Mach 7 Scramjet Design, Ground Test and Flight Results

Science.gov (United States)

Ferlemann, Shelly M.; McClinton, Charles R.; Rock, Ken E.; Voland, Randy T.

2005-01-01

The successful Mach 7 flight test of the Hyper-X (X-43) research vehicle has provided the major, essential demonstration of the capability of the airframe integrated scramjet engine. This flight was a crucial first step toward realizing the potential for airbreathing hypersonic propulsion for application to space launch vehicles. However, it is not sufficient to have just achieved a successful flight. The more useful knowledge gained from the flight is how well the prediction methods matched the actual test results in order to have confidence that these methods can be applied to the design of other scramjet engines and powered vehicles. The propulsion predictions for the Mach 7 flight test were calculated using the computer code, SRGULL, with input from computational fluid dynamics (CFD) and wind tunnel tests. This paper will discuss the evolution of the Mach 7 Hyper-X engine, ground wind tunnel experiments, propulsion prediction methodology, flight results and validation of design methods.

Detection, recognition, identification, and tracking of military vehicles using biomimetic intelligence

Science.gov (United States)

Pace, Paul W.; Sutherland, John

2001-10-01

This project is aimed at analyzing EO/IR images to provide automatic target detection/recognition/identification (ATR/D/I) of militarily relevant land targets. An increase in performance was accomplished using a biomimetic intelligence system functioning on low-cost, commercially available processing chips. Biomimetic intelligence has demonstrated advanced capabilities in the areas of hand- printed character recognition, real-time detection/identification of multiple faces in full 3D perspectives in cluttered environments, advanced capabilities in classification of ground-based military vehicles from SAR, and real-time ATR/D/I of ground-based military vehicles from EO/IR/HRR data in cluttered environments. The investigation applied these tools to real data sets and examined the parameters such as the minimum resolution for target recognition, the effect of target size, rotation, line-of-sight changes, contrast, partial obscuring, background clutter etc. The results demonstrated a real-time ATR/D/I capability against a subset of militarily relevant land targets operating in a realistic scenario. Typical results on the initial EO/IR data indicate probabilities of correct classification of resolved targets to be greater than 95 percent.

Electric vehicle station equipment for grid-integrated vehicles

Science.gov (United States)

Kempton, Willett; Kiamilev, Fouad; McGee, Rodney; Waite, Nick

2017-09-05

Methods, systems, and apparatus transferring power between the grid and an electric vehicle are disclosed. The apparatus may include at least one vehicle communication port for interfacing with electric vehicle equipment (EVE) and a processor coupled to the at least one vehicle communication port to establish communication with the EVE, receive EVE attributes from the EVE, and transmit electric vehicle station equipment (EVSE) attributes to the EVE. Power may be transferred between the grid and the electric vehicle by maintaining EVSE attributes, establishing communication with the EVE, and transmitting the EVSE maintained attributes to the EVE.

Field evaluation of a self-propelled sprayer and effects of the application rate on spray deposition and losses to the ground in greenhouse tomato crops.

Science.gov (United States)

Sánchez-Hermosilla, Julián; Rincón, Víctor J; Páez, Francisco; Agüera, Francisco; Carvajal, Fernando

2011-08-01

In the greenhouses of south-eastern Spain, plant protection products are applied using mainly sprayers at high pressures and high volumes. This results in major losses on the ground and less than uniform spray deposition on the canopy. Recently, self-propelled vehicles equipped with vertical spray booms have appeared on the market. In this study, deposition on the canopy and the losses to the ground at different spray volumes have been compared, using a self-propelled vehicle with vertical spray booms versus a gun sprayer. Three different spray volumes have been tested with a boom sprayer, and two with a spray gun. The vehicle with the vertical spray boom gave similar depositions to those made with the gun, but at lower application volumes. Also, the distribution of the vertical spray boom was more uniform, with lower losses to the ground. The vertical spray booms used in tomato crops improve the application of plant protection products with respect to the spray gun, reducing the application volumes and the environmental risks of soil pollution. Copyright © 2011 Society of Chemical Industry.

Aerothermodynamics of Blunt Body Entry Vehicles. Chapter 3

Science.gov (United States)

Hollis, Brian R.; Borrelli, Salvatore

2011-01-01

In this chapter, the aerothermodynamic phenomena of blunt body entry vehicles are discussed. Four topics will be considered that present challenges to current computational modeling techniques for blunt body environments: turbulent flow, non-equilibrium flow, rarefied flow, and radiation transport. Examples of comparisons between computational tools to ground and flight-test data will be presented in order to illustrate the challenges existing in the numerical modeling of each of these phenomena and to provide test cases for evaluation of Computational Fluid Dynamics (CFD) code predictions.

Aerodynamic Reconstruction Applied to Parachute Test Vehicle Flight Data Analysis

Science.gov (United States)

Cassady, Leonard D.; Ray, Eric S.; Truong, Tuan H.

2013-01-01

The aerodynamics, both static and dynamic, of a test vehicle are critical to determining the performance of the parachute cluster in a drop test and for conducting a successful test. The Capsule Parachute Assembly System (CPAS) project is conducting tests of NASA's Orion Multi-Purpose Crew Vehicle (MPCV) parachutes at the Army Yuma Proving Ground utilizing the Parachute Test Vehicle (PTV). The PTV shape is based on the MPCV, but the height has been reduced in order to fit within the C-17 aircraft for extraction. Therefore, the aerodynamics of the PTV are similar, but not the same as, the MPCV. A small series of wind tunnel tests and computational fluid dynamics cases were run to modify the MPCV aerodynamic database for the PTV, but aerodynamic reconstruction of the flights has proven an effective source for further improvements to the database. The acceleration and rotational rates measured during free flight, before parachute inflation but during deployment, were used to con rm vehicle static aerodynamics. A multibody simulation is utilized to reconstruct the parachute portions of the flight. Aerodynamic or parachute parameters are adjusted in the simulation until the prediction reasonably matches the flight trajectory. Knowledge of the static aerodynamics is critical in the CPAS project because the parachute riser load measurements are scaled based on forebody drag. PTV dynamic damping is critical because the vehicle has no reaction control system to maintain attitude - the vehicle dynamics must be understood and modeled correctly before flight. It will be shown here that aerodynamic reconstruction has successfully contributed to the CPAS project.

Design, testing, and performance of a hybrid micro vehicle---The Hopping Rotochute

Science.gov (United States)

Beyer, Eric W.

The Hopping Rotochute is a new hybrid micro vehicle that has been developed to robustly explore environments with rough terrain while minimizing energy consumption over long periods of time. The device consists of a small coaxial rotor system housed inside a lightweight cage. The vehicle traverses an area by intermittently powering a small electric motor which drives the rotor system, allowing the vehicle to hop over obstacles of various shapes and sizes. A movable internal mass controls the direction of travel while the egg-like exterior shape and low mass center allows the vehicle to passively reorient itself to an upright attitude when in contact with the ground. This dissertation presents the design, fabrication, and testing of a radio-controlled Hopping Rotochute prototype as well as an analytical study of the flight performance of the device. The conceptual design iterations are first outlined which were driven by the mission and system requirements assigned to the vehicle. The aerodynamic, mechanical, and electrical design of a prototype is then described, based on the final conceptual design, with particular emphasis on the fundamental trades that must be negotiated for this type of hopping vehicle. The fabrication and testing of this prototype is detailed as well as experimental results obtained from a motion capture system. Basic flight performance of the prototype are reported which demonstrates that the Hopping Rotochute satisfies all appointed system requirements. A dynamic model of the Hopping Rotochute is also developed in this thesis and employed to predict the flight performance of the vehicle. The dynamic model includes aerodynamic loads from the body and rotor system as well as a soft contact model to estimate the forces and moments during ground contact. The experimental methods used to estimate the dynamic model parameters are described while comparisons between measured and simulated motion are presented. Good correlation between these motions

Adding Theoretical Grounding to Grounded Theory: Toward Multi-Grounded Theory

OpenAIRE

Göran Goldkuhl; Stefan Cronholm

2010-01-01

The purpose of this paper is to challenge some of the cornerstones of the grounded theory approach and propose an extended and alternative approach for data analysis and theory development, which the authors call multi-grounded theory (MGT). A multi-grounded theory is not only empirically grounded; it is also grounded in other ways. Three different grounding processes are acknowledged: theoretical, empirical, and internal grounding. The authors go beyond the pure inductivist approach in GT an...

Harnessing Wind Power in Moving Reference Frames with Application to Vehicles

Science.gov (United States)

Goushcha, Oleg; Felicissimo, Robert; Danesh-Yazdi, Amir; Andreopoulos, Yiannis

2017-11-01

The extraction of wind power from unique configurations embedded in moving vehicles by using micro-turbine devices has been investigated. In such moving environments, the specific power of the air motion is much greater and less intermittent than in stationary wind turbines anchored to the ground in open atmospheric conditions. In a translational frame of reference, the rate of work done by the drag force acting on the wind harnessing device due the relative motion of air should be taken into account in the overall performance evaluation through an energy balance. A device with a venting tube has been tested that connects a high-pressure stagnating flow region in the front of the vehicle with a low-pressure region at its rear. Our analysis identified two key areas to focus on for potentially significant rewards: (1) Vehicles with high energy conversion efficiency which require a high mass flow rate through the venting duct, and (2) low efficiency vehicles with wakes, which will be globally affected by the introduction of the venting duct device in a manner that reduces their drag so that there is a net gain in power generation.

Vehicle Detection with Occlusion Handling, Tracking, and OC-SVM Classification: A High Performance Vision-Based System

Science.gov (United States)

Velazquez-Pupo, Roxana; Sierra-Romero, Alberto; Torres-Roman, Deni; Shkvarko, Yuriy V.; Romero-Delgado, Misael

2018-01-01

This paper presents a high performance vision-based system with a single static camera for traffic surveillance, for moving vehicle detection with occlusion handling, tracking, counting, and One Class Support Vector Machine (OC-SVM) classification. In this approach, moving objects are first segmented from the background using the adaptive Gaussian Mixture Model (GMM). After that, several geometric features are extracted, such as vehicle area, height, width, centroid, and bounding box. As occlusion is present, an algorithm was implemented to reduce it. The tracking is performed with adaptive Kalman filter. Finally, the selected geometric features: estimated area, height, and width are used by different classifiers in order to sort vehicles into three classes: small, midsize, and large. Extensive experimental results in eight real traffic videos with more than 4000 ground truth vehicles have shown that the improved system can run in real time under an occlusion index of 0.312 and classify vehicles with a global detection rate or recall, precision, and F-measure of up to 98.190%, and an F-measure of up to 99.051% for midsize vehicles. PMID:29382078

Hyper-X Vehicle Model - Top Front View

Science.gov (United States)

1996-01-01

A top front view of an early desk-top model of NASA's X-43A 'Hyper-X,' or Hypersonic Experimental Vehicle, developed to flight test 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 fuel. By eliminating the need to carry oxygen, future hypersonic vehicles will

Hyper-X Vehicle Model - Top Rear View

Science.gov (United States)

1996-01-01

This aft-quarter model view of NASA's X-43A 'Hyper-X' or Hypersonic Experimental Vehicle shows its sleek, geometric design. The X-43A was developed to flight test 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 fuel. By eliminating the need to carry oxygen

Unmanned aerial vehicle-based structure from motion biomass inventory estimates

Science.gov (United States)

Bedell, Emily; Leslie, Monique; Fankhauser, Katie; Burnett, Jonathan; Wing, Michael G.; Thomas, Evan A.

2017-04-01

Riparian vegetation restoration efforts require cost-effective, accurate, and replicable impact assessments. We present a method to use an unmanned aerial vehicle (UAV) equipped with a GoPro digital camera to collect photogrammetric data of a 0.8-ha riparian restoration. A three-dimensional point cloud was created from the photos using "structure from motion" techniques. The point cloud was analyzed and compared to traditional, ground-based monitoring techniques. Ground-truth data were collected on 6.3% of the study site and averaged across the entire site to report stem heights in stems/ha in three height classes. The project site was divided into four analysis sections, one for derivation of parameters used in the UAV data analysis and the remaining three sections reserved for method validation. Comparing the ground-truth data to the UAV generated data produced an overall error of 21.6% and indicated an R2 value of 0.98. A Bland-Altman analysis indicated a 95% probability that the UAV stems/section result will be within 61 stems/section of the ground-truth data. The ground-truth data are reported with an 80% confidence interval of ±1032 stems/ha thus, the UAV was able to estimate stems well within this confidence interval.

77 FR 17105 - Identification of Interstate Motor Vehicles: City of Chicago, IL Registration Emblem Requirement...

Science.gov (United States)

2012-03-23

... section 31704; (2) Under the International Fuel Tax Agreement under section 31705 or under an applicable... through the International Fuel Tax Agreement; (3) Under a State law regarding motor vehicle license plates... Chicago Ground Transportation Tax is preempted by Federal law. Federal law prohibits States and their...

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.

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...

An arm wearable haptic interface for impact sensing on unmanned aerial vehicles

Science.gov (United States)

Choi, Yunshil; Hong, Seung-Chan; Lee, Jung-Ryul

2017-04-01

In this paper, an impact monitoring system using fiber Bragg grating (FBG) sensors and vibro-haptic actuators has been introduced. The system is suggested for structural health monitoring (SHM) for unmanned aerial vehicles (UAVs), by making a decision with human-robot interaction. The system is composed with two major subsystems; an on-board system equipped on UAV and an arm-wearable interface for ground pilot. The on-board system acquires impact-induced wavelength changes and performs localization process, which was developed based on arrival time calculation. The arm-wearable interface helps ground pilots to make decision about impact location themselves by stimulating their tactile-sense with motor vibration.

Kinodynamic Motion Planning for Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Jiwung Choi

2014-06-01

Full Text Available This article proposes a computationally effective motion planning algorithm for autonomous ground vehicles operating in a semi-structured environment with a mission specified by waypoints, corridor widths and obstacles. The algorithm switches between two kinds of planners, (i static planners and (ii moving obstacle avoidance manoeuvre planners, depending on the mobility of any detected obstacles. While the first is broken down into a path planner and a controller, the second generates a sequence of controls without global path planning. Each subsystem is implemented as follows. The path planner produces an optimal piecewise linear path by applying a variant of cell decomposition and dynamic programming. The piecewise linear path is smoothed by Bézier curves such that the maximum curvatures of the curves are minimized. The controller calculates the highest allowable velocity profile along the path, consistent with the limits on both tangential and radial acceleration and the steering command for the vehicle to track the trajectory using a pure pursuit method. The moving obstacle avoidance manoeuvre produces a sequence of time-optimal local velocities, by minimizing the cost as determined by the safety of the current velocity against obstacles in the velocity obstacle paradigm and the deviation of the current velocity relative to the desired velocity, to satisfy the waypoint constraint. The algorithms are shown to be robust and computationally efficient, and to demonstrate a viable methodology for autonomous vehicle control in the presence of unknown obstacles.

Effective teaming of airborne and ground assets for surveillance and interdiction

OpenAIRE

Muratore, Mark J.

2010-01-01

Approved for public release; distribution is unlimited As Unmanned Aerial Vehicles (UAVs) become more prevalent on the battlefield, ground forces will have to increasingly rely on them for intelligence, surveillance, and reconnaissance (ISR), as well as target marking, and overwatch operations. The Situational Awareness for Surveillance and Interdiction Operations (SASIO) simulation analysis tool uses Design of Experiments (DOX) to study of aspects of UAV surveillance characteristics in co...

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.

STS-49 Endeavour, Orbiter Vehicle (OV) 105, Planning Team in MCC Bldg 30 FCR

Science.gov (United States)

1992-01-01

STS-49 Endeavour, Orbiter Vehicle (OV) 105, Planning Team with Flight Director (FD) James M. Heflin, Jr (front right next to ship model) poses in JSC's Mission Control Center (MCC) Bldg 30 Flight Control Room (FCR). The group stands in front of visual displays projecting STS-49 data and ground track map.

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).

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).

Environmental Evaluation of New Generation Vehicles and Vehicle Components

Energy Technology Data Exchange (ETDEWEB)

Schexnayder, S.M.

2002-02-06

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

Reduction of Ground Vibration by Means of Barriers or Soil Improvement along a Railway Track

DEFF Research Database (Denmark)

Andersen, Lars; Nielsen, Søren R.K.

2005-01-01

Trains running in built-up areas are a source to ground-borne noise. A careful design of the track may be one way of minimizing the vibrations in the surroundings. For example, open or infilled trenches may be constructed along the track, or the soil underneath the track may be improved...... the vehicle. The computations are carried out in the frequency domain for various combinations of the vehicle speed and the excitation frequency. The analyses indicate that open trenches are more efficient than infilled trenches or soil stiffening–even at low frequencies. However, the direction of the load...

Description of light-vehicle pre-crash scenarios for safety applications based on vehicle-to-vehicle communications

Science.gov (United States)

2013-05-31

This report describes pre-crash scenarios that might be addressed by vehicle-to-vehicle communications. The focus is on crashes involving at least 1 light vehicle with a gross vehicle weight rating of 10,000 pounds or less. The 2004-2008 General Esti...

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.

Near-ground cooling efficacies of trees and high-albedo surfaces

Energy Technology Data Exchange (ETDEWEB)

Levinson, Ronnen Michael [Univ. of California, Berkeley, CA (United States)

1997-05-01

Daytime summer urban heat islands arise when the prevalence of dark-colored surfaces and lack of vegetation make a city warmer than neighboring countryside. Two frequentlyproposed summer heat island mitigation measures are to plant trees and to increase the albedo (solar reflectivity) of ground surfaces. This dissertation examines the effects of these measures on the surface temperature of an object near the ground, and on solar heating of air near the ground. Near-ground objects include people, vehicles, and buildings. The variation of the surface temperature of a near-ground object with ground albedo indicates that a rise in ground albedo will cool a near-ground object only if the object’s albedo exceeds a critical value. This critical value of object albedo depends on wind speed, object geometry, and the height of the atmospheric thermal boundary layer. It ranges from 0.15 to 0.37 for a person. If an object has typical albedo of 0.3, increasing the ground albedo by 0.25 perturbs the object’s surface temperature by -1 to +2 K. Comparing a tree’s canopy-to-air convection to the reduction in ground-to-air convection induced by tree shading of the ground indicates that the presence of a tree can either increase or decrease solar heating of ground-level air. The tree’s net effect depends on the extent to which solar heating of the canopy is dissipated by evaporation, and on the fraction of air heated by the canopy that flows downward and mixes with the ground-level air. A two-month lysimeter (plant-weighing) experiment was conducted to measure instantaneous rates of water loss from a tree under various conditions of weather and soil-moisture. Calculations of canopy-to-air convection and the reduction of ground-to-air convection based on this data indicate that canopy-induced heating would negate shadowinduced cooling if approximately 45% of the canopy-heated air mixed with ground level air. This critical fraction is comparable to typical downward mixing

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

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.

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.

NASA Mission Operations Directorate Preparations for the COTS Visiting Vehicles

Science.gov (United States)

Shull, Sarah A.; Peek, Kenneth E.

2011-01-01

With the retirement of the Space Shuttle looming, a series of new spacecraft is under development to assist in providing for the growing logistical needs of the International Space Station (ISS). Two of these vehicles are being built under a NASA initiative known as the Commercial Orbital Transportation Services (COTS) program. These visiting vehicles ; Space X s Dragon and Orbital Science Corporation s Cygnus , are to be domestically produced in the United States and designed to add to the capabilities of the Russian Progress and Soyuz workhorses, the European Automated Transfer Vehicle (ATV) and the Japanese H-2 Transfer Vehicle (HTV). Most of what is known about the COTS program has focused on the work of Orbital and SpaceX in designing, building, and testing their respective launch and cargo vehicles. However, there is also a team within the Mission Operations Directorate (MOD) at NASA s Johnson Space Center working with their operational counterparts in these companies to provide operational safety oversight and mission assurance via the development of operational scenarios and products needed for these missions. Ensuring that the operational aspect is addressed for the initial demonstration flights of these vehicles is the topic of this paper. Integrating Dragon and Cygnus into the ISS operational environment has posed a unique challenge to NASA and their partner companies. This is due in part to the short time span of the COTS program, as measured from initial contract award until first launch, as well as other factors that will be explored in the text. Operational scenarios and products developed for each COTS vehicle will be discussed based on the following categories: timelines, on-orbit checkout, ground documentation, crew procedures, software updates and training materials. Also addressed is an outline of the commonalities associated with the operations for each vehicle. It is the intent of the authors to provide their audience with a better

Vehicle classification in WAMI imagery using deep network

Science.gov (United States)

Yi, Meng; Yang, Fan; Blasch, Erik; Sheaff, Carolyn; Liu, Kui; Chen, Genshe; Ling, Haibin

2016-05-01

Humans have always had a keen interest in understanding activities and the surrounding environment for mobility, communication, and survival. Thanks to recent progress in photography and breakthroughs in aviation, we are now able to capture tens of megapixels of ground imagery, namely Wide Area Motion Imagery (WAMI), at multiple frames per second from unmanned aerial vehicles (UAVs). WAMI serves as a great source for many applications, including security, urban planning and route planning. These applications require fast and accurate image understanding which is time consuming for humans, due to the large data volume and city-scale area coverage. Therefore, automatic processing and understanding of WAMI imagery has been gaining attention in both industry and the research community. This paper focuses on an essential step in WAMI imagery analysis, namely vehicle classification. That is, deciding whether a certain image patch contains a vehicle or not. We collect a set of positive and negative sample image patches, for training and testing the detector. Positive samples are 64 × 64 image patches centered on annotated vehicles. We generate two sets of negative images. The first set is generated from positive images with some location shift. The second set of negative patches is generated from randomly sampled patches. We also discard those patches if a vehicle accidentally locates at the center. Both positive and negative samples are randomly divided into 9000 training images and 3000 testing images. We propose to train a deep convolution network for classifying these patches. The classifier is based on a pre-trained AlexNet Model in the Caffe library, with an adapted loss function for vehicle classification. The performance of our classifier is compared to several traditional image classifier methods using Support Vector Machine (SVM) and Histogram of Oriented Gradient (HOG) features. While the SVM+HOG method achieves an accuracy of 91.2%, the accuracy of our deep

In-situ electric field in human body model in different postures for wireless power transfer system in an electrical vehicle

International Nuclear Information System (INIS)

Shimamoto, Takuya; Laakso, Ilkka; Hirata, Akimasa

2015-01-01

The in-situ electric field of an adult male model in different postures is evaluated for exposure to the magnetic field leaked from a wireless power transfer system in an electrical vehicle. The transfer system is located below the centre of the vehicle body and the transferred power and frequency are 7 kW and 85 kHz, respectively. The in-situ electric field is evaluated for a human model (i) crouching near the vehicle, (ii) lying on the ground with or without his arm stretched, (iii) sitting in the driver’s seat, and (iv) standing on a transmitting coil without a receiving coil. In each scenario, the maximum in-situ electric fields are lower than the allowable limit prescribed by international guidelines, although the local magnetic field strength in regions of the human body is higher than the allowable external magnetic field strength. The highest in-situ electric field is observed when the human body model is placed on the ground with his arm extended toward the coils, because of a higher magnetic field around the arm. (paper)

In-situ electric field in human body model in different postures for wireless power transfer system in an electrical vehicle.

Science.gov (United States)

Shimamoto, Takuya; Laakso, Ilkka; Hirata, Akimasa

2015-01-07

The in-situ electric field of an adult male model in different postures is evaluated for exposure to the magnetic field leaked from a wireless power transfer system in an electrical vehicle. The transfer system is located below the centre of the vehicle body and the transferred power and frequency are 7 kW and 85 kHz, respectively. The in-situ electric field is evaluated for a human model (i) crouching near the vehicle, (ii) lying on the ground with or without his arm stretched, (iii) sitting in the driver's seat, and (iv) standing on a transmitting coil without a receiving coil. In each scenario, the maximum in-situ electric fields are lower than the allowable limit prescribed by international guidelines, although the local magnetic field strength in regions of the human body is higher than the allowable external magnetic field strength. The highest in-situ electric field is observed when the human body model is placed on the ground with his arm extended toward the coils, because of a higher magnetic field around the arm.

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.)

Identification, synchronisation and composition of user-generated videos

OpenAIRE

Bano, Sophia

2016-01-01

Cotutela Universitat Politècnica de Catalunya i Queen Mary University of London The increasing availability of smartphones is facilitating people to capture videos of their experience when attending events such as concerts, sports competitions and public rallies. Smartphones are equipped with inertial sensors which could be beneficial for event understanding. The captured User-Generated Videos (UGVs) are made available on media sharing websites. Searching and mining of UGVs of the same eve...

Predicted buffer zones to protect temporary pond invertebrates from ground-based insecticide applications against desert locusts.

NARCIS (Netherlands)

Lahr, J.; Gadji, B.; Dia, D.

2000-01-01

To estimate safe downwind distances (i.e. buffer zone widths) for temporary ponds from ULV-treatments with current locust insecticides, experimental trials with two ground-based sprayers, the hand-held Micro-Ulva® and the vehicle-mounted Ulva-Mast® X15 Mark I, were conducted with fenitrothion

Traffic Information Unit, Traffic Information System, Vehicle Management System, Vehicle, and Method of Controlling a Vehicle

NARCIS (Netherlands)

Papp, Z.; Doodeman, G.J.N.; Nelisse, M.W.; Sijs, J.; Theeuwes, J.A.C.; Driessen, B.J.F.

2010-01-01

A traffic information unit (MD1, MD2, MD3) according to the invention comprises a facility (MI) for tracking vehicle state information of individual vehicles present at a traffic infrastructure and a facility (T) for transmitting said vehicle state information to a vehicle (70B, 70E). A traffic

Vehicle Tracking System, Vehicle Infrastructure Provided with Vehicle Tracking System and Method for Tracking

NARCIS (Netherlands)

Papp, Z.; Doodeman, G.J.N.; Nelisse, M.W.; Sijs, J.; Theeuwes, J.A.C.; Driessen, B.J.F.

2010-01-01

A vehicle tracking system is described comprising - a plurality of sensor nodes (10) that each provide a message (D) indicative for an occupancy status of a detection area of an vehicle infrastructure monitored by said sensor node, said sensor nodes (10) being arranged in the vehicle infrastructure

Hyper-X Research Vehicle - Artist Concept in Flight

Science.gov (United States)

1997-01-01

An artist's conception of the X-43A Hypersonic Experimental Vehicle, or 'Hyper-X' in flight. The X-43A was developed to flight test 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 fuel. By eliminating the need to carry oxygen, future hypersonic vehicles will

Oak Ridge National Laboratory Wireless Charging of Electric Vehicles - CRADA Report

Energy Technology Data Exchange (ETDEWEB)

Onar, Omer C [ORNL; Campbell, Steven L [ORNL; Seiber, Larry Eugene [ORNL; White, Cliff P [ORNL; Chinthavali, Madhu Sudhan [ORNL; Tang, Lixin [ORNL; Chambon, Paul H [ORNL; Ozpineci, Burak [ORNL; Smith, David E [ORNL

2016-06-20

Wireless power transfer (WPT) is a paradigm shift in electric-vehicle (EV) charging that offers the consumer an autonomous, safe, and convenient option to conductive charging and its attendant need for cables. With WPT, charging process can be fully automated due to the vehicle and grid side radio communication systems, and is non-contacting; therefore issues with leakage currents, ground faults, and touch potentials do not exist. It also eliminates the need for touching the heavy, bulky, dirty cables and plugs. It eliminates the fear of forgetting to plug-in and running out of charge the following day and eliminates the tripping hazards in public parking lots and in highly populated areas such as shopping malls, recreational areas, parking buildings, etc. Furthermore, the high-frequency magnetic fields employed in power transfer across a large air gap are focused and shielded, so that fringe fields (i.e., magnetic leakage/stray fields) attenuate rapidly over a transition region to levels well below limits set by international standards for the public zone (which starts at the perimeter of the vehicle and includes the passenger cabin). Oak Ridge National Laboratory s approach to WPT charging places strong emphasis on radio communications in the power regulation feedback channel augmented with software control algorithms. The over-arching goal for WPT is minimization of vehicle on-board complexity by keeping the secondary side content confined to coil tuning, rectification, filtering, and interfacing to the regenerative energy-storage system (RESS). This report summarizes the CRADA work between the Oak Ridge National Laboratory and the Toyota Research Institute of North America, Toyota Motor Engineering and Manufacturing North America (TEMA) on the wireless charging of electric vehicles which was funded by Department of Energy under DE-FOA-000667. In this project, ORNL is the lead agency and Toyota TEMA is one of the major partners. Over the course of the project

Advanced APS Impacts on Vehicle Payloads

Science.gov (United States)

Schneider, Steven J.; Reed, Brian D.

1989-01-01

Advanced auxiliary propulsion system (APS) technology has the potential to both, increase the payload capability of earth-to-orbit (ETO) vehicles by reducing APS propellant mass, and simplify ground operations and logistics by reducing the number of fluids on the vehicle and eliminating toxic, corrosive propellants. The impact of integrated cryogenic APS on vehicle payloads is addressed. In this system, launch propulsion system residuals are scavenged from integral launch propulsion tanks for use in the APS. Sufficient propellant is preloaded into the APS to return to earth with margin and noncomplete scavenging assumed. No propellant conditioning is required by the APS, but ambient heat soak is accommodated. High temperature rocket materials enable the use of the unconditioned hydrogen/oxygen in the APS and are estimated to give APS rockets specific impulse of up to about 444 sec. The payload benefits are quantified and compared with an uprated monomethyl hydrazine/nitrogen tetroxide system in a conservative fashion, by assuming a 25.5 percent weight growth for the hydrogen/oxygen system and a 0 percent weight growth for the uprated system. The combination and scavenging and high performance gives payload impacts which are highly mission specific. A payload benefit of 861 kg (1898 lbm) was estimated for a Space Station Freedom rendezvous mission and 2099 kg (4626 lbm) for a sortie mission, with payload impacts varying with the amount of launch propulsion residual propellants. Missions without liquid propellant scavenging were estimated to have payload penalties, however, operational benefits were still possible.

How important is vehicle safety in the new vehicle purchase process?

Science.gov (United States)

Koppel, Sjaanie; Charlton, Judith; Fildes, Brian; Fitzharris, Michael

2008-05-01

Whilst there has been a significant increase in the amount of consumer interest in the safety performance of privately owned vehicles, the role that it plays in consumers' purchase decisions is poorly understood. The aims of the current study were to determine: how important vehicle safety is in the new vehicle purchase process; what importance consumers place on safety options/features relative to other convenience and comfort features, and how consumers conceptualise vehicle safety. In addition, the study aimed to investigate the key parameters associated with ranking 'vehicle safety' as the most important consideration in the new vehicle purchase. Participants recruited in Sweden and Spain completed a questionnaire about their new vehicle purchase. The findings from the questionnaire indicated that participants ranked safety-related factors (e.g., EuroNCAP (or other) safety ratings) as more important in the new vehicle purchase process than other vehicle factors (e.g., price, reliability etc.). Similarly, participants ranked safety-related features (e.g., advanced braking systems, front passenger airbags etc.) as more important than non-safety-related features (e.g., route navigation systems, air-conditioning etc.). Consistent with previous research, most participants equated vehicle safety with the presence of specific vehicle safety features or technologies rather than vehicle crash safety/test results or crashworthiness. The key parameters associated with ranking 'vehicle safety' as the most important consideration in the new vehicle purchase were: use of EuroNCAP, gender and education level, age, drivers' concern about crash involvement, first vehicle purchase, annual driving distance, person for whom the vehicle was purchased, and traffic infringement history. The findings from this study are important for policy makers, manufacturers and other stakeholders to assist in setting priorities with regard to the promotion and publicity of vehicle safety features

Reducing environmental damage through the use of unmanned aerial vehicles as the best available technology

Science.gov (United States)

Fedulova, E. A.; Akulov, A. O.; Rada, A. O.; Alabina, T. A.; Savina, Ju Ju

2018-01-01

The article examines the possibilities of using unmanned aerial vehicles as the best available technologies in the field of agriculture and mining. The object of the study is the use of unmanned aerial vehicles as the best available technology. The main areas of application of this technology are identified: agro technical operations, aerial photography of mining operations. The technology of unmanned aerial vehicles is compared with the technologies of ground agricultural machinery. The research methodology includes an expert evaluation of the unmanned aerial vehicle technology belonging to the class of the best available technologies by the criteria: the level of environmental impact, resource saving, the use of low-waste, non-waste processes, the existence of at least two objects, economic efficiency. Expert evaluations were processed using the apparatus of fuzzy sets, which make it possible to construct membership functions. This allowed us to prove that the technology of unmanned aerial vehicles belongs to a fuzzy set of the best available technologies. The results of the research show that the use of unmanned aerial vehicles provides a saving of resources, especially non-renewable combustible minerals, reduces emissions and discharges of pollutants into the atmosphere, and also reduces soil erosion. Unmanned aerial vehicles should be included in the national directories of the best available technologies for the mining industry and agriculture.

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments

Directory of Open Access Journals (Sweden)

Jian Tang

2015-07-01

Full Text Available A new scan that matches an aided Inertial Navigation System (INS with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR and Simultaneous Localization and Mapping (SLAM technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies—INS and LiDAR SLAM—into one navigation frame with a loosely coupled Extended Kalman Filter (EKF to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV platform—NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment.

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

Measurement and modelling of noise emission of road vehicles for use in prediction models

Energy Technology Data Exchange (ETDEWEB)

Jonasson, H.G.

2000-07-01

The road vehicle as sound source has been studied within a wide frequency range. Well defined measurements have been carried out on moving and stationary vehicles. Measurement results have been checked against theoretical simulations. A Nordtest measurement method to obtain input data for prediction methods has been proposed and tested in four different countries. The effective sound source of a car has its centre close to the nearest wheels. For trucks this centre seems to be closer to the centre of the car. The vehicle as sound source is directional both in the vertical and the horizontal plane. The difference between SEL and L{sub pFmax} during a pass-by varies with frequency. At low frequencies interference effects between correlated sources may be the problem. At high frequencies the directivity of tyre/road noise affects the result. The time when L{sub pFmax} is obtained varies with frequency. Thus traditional maximum measurements are not suitable for frequency band applications. The measurements support the fact that the tyre/road noise source is very low. Measurements on a stationary vehicle indicate that the engine source is also very low. Engine noise is screened by the body of the car. The ground attenuation, also at short distances, will be significant whenever we use low microphone positions and have some 'soft' ground in between. Unless all measurements are restricted to propagation over 'hard' surfaces only it is necessary to use rather high microphone positions. The Nordtest method proposed will yield a reproducibility standard deviation of 1-3 dB depending on frequency. High frequencies are more accurate. In order to get accurate results at low frequencies large numbers of vehicles are required. To determine the sound power level from pass-by measurement requires a proper source and propagation model. As these models may change it is recommended to measure and report both SEL and L{sub pFmax} normalized to a specified distance.

Comfort-oriented vehicle suspension design with skyhook inerter configuration

Science.gov (United States)

Hu, Yinlong; Chen, Michael Z. Q.; Sun, Yonghui

2017-09-01

This paper is concerned with the comfort-oriented vehicle suspension design problem by using a skyhook inerter configuration. The rationale of the skyhook inerter is to use a grounded inerter to virtually increase the sprung mass of a vehicle, as it is analytically demonstrated that increasing the sprung mass can always improve the ride comfort performance. Semi-active means to realize the skyhook inerter configuration are investigated by using semi-active inerters. Three control laws, that is the on-off control, the anti-chatter on-off control, and the continuous control, are proposed for the semi-active inerter to approximate the skyhook inerter. Numerical simulations are performed to demonstrate the effectiveness and performances of these control laws. It is shown that the semi-active realizations of the skyhook inerter by using the proposed control laws can achieve over 10% improvement compared with the traditional strut, and similar performances are obtained for these control laws, with slight differences with respect to different static stiffnesses of the suspension system.

Saturn V First Stage Lowered to the Ground After Static Test

Science.gov (United States)

1966-01-01

This vintage photograph shows the 138-foot long first stage of the Saturn V being lowered to the ground following a successful static test firing at Marshall Space flight Center's S-1C test stand. The firing provided NASA engineers information on the booster's systems. The towering 363-foot Saturn V was a multi-stage, multi-engine launch vehicle standing taller than the Statue of Liberty. Altogether, the Saturn V engines produced as much power as 85 Hoover Dams.

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.

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

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles.

Science.gov (United States)

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-04-22

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional-integral-derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.

Aerodynamic Ground Effect in Fruitfly Sized Insect Takeoff.

Directory of Open Access Journals (Sweden)

Dmitry Kolomenskiy

Full Text Available Aerodynamic ground effect in flapping-wing insect flight is of importance to comparative morphologies and of interest to the micro-air-vehicle (MAV community. Recent studies, however, show apparently contradictory results of either some significant extra lift or power savings, or zero ground effect. Here we present a numerical study of fruitfly sized insect takeoff with a specific focus on the significance of leg thrust and wing kinematics. Flapping-wing takeoff is studied using numerical modelling and high performance computing. The aerodynamic forces are calculated using a three-dimensional Navier-Stokes solver based on a pseudo-spectral method with volume penalization. It is coupled with a flight dynamics solver that accounts for the body weight, inertia and the leg thrust, while only having two degrees of freedom: the vertical and the longitudinal horizontal displacement. The natural voluntary takeoff of a fruitfly is considered as reference. The parameters of the model are then varied to explore possible effects of interaction between the flapping-wing model and the ground plane. These modified takeoffs include cases with decreased leg thrust parameter, and/or with periodic wing kinematics, constant body pitch angle. The results show that the ground effect during natural voluntary takeoff is negligible. In the modified takeoffs, when the rate of climb is slow, the difference in the aerodynamic forces due to the interaction with the ground is up to 6%. Surprisingly, depending on the kinematics, the difference is either positive or negative, in contrast to the intuition based on the helicopter theory, which suggests positive excess lift. This effect is attributed to unsteady wing-wake interactions. A similar effect is found during hovering.

Does Driving Range of Electric Vehicles Influence Electric Vehicle Adoption?

Directory of Open Access Journals (Sweden)

Seiho Kim

2017-10-01

Full Text Available This study aims to determine the influential factors on the market share of electric vehicles through panel data analysis based on time series data from 2011 to 2015 in 31 countries. We selected five significant independent variables that are expected to affect electric vehicle adoption based on literature review. The econometric model in this study suggests that the relative price of electric vehicle compared to internal combustion engine vehicle, driving range, and number of models available in markets are correlated to the market share of electric vehicles. On the other hand, relationship between recharging infrastructure—an important factor for electric vehicle adoption in many studies—and market share of electric vehicles turned out to be insignificant in this study. From a political point of view, we argue that policy makers need to allocate more resources to research and development in order to extend driving range at the early stage of electric vehicle deployment in the markets.

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.)

Development of a prototype radiation surveillance equipment for a mid-sized unmanned aerial vehicle

International Nuclear Information System (INIS)

Smolander, P.; Kurvinen, K.; Poellaenen, R.; Kettunen, M.; Lyytinen, J.

2003-01-01

A prototype radiation surveillance equipment has been developed to be used in a mid-sized Ranger unmanned aerial vehicle (UAV) acquired by the Finnish Defence Forces. A multi-detector assembly was designed for the acquisition of dose rate and radionuclide concentration in the release plume. Detector assembly includes a GM-tube based dose rate meter, an inorganic scintillator detector and a semiconductor detector operating at room temperature. A sampling unit was designed for the collection of an aerosol sample of the plume for a detailed analysis in a ground based laboratory. The measurement data from all three detectors and several environmental parameters are collected by the onboard data acquisition computer. Real-time data dissemination is implemented with a TETRA based radio network. Test flights have been carried out with target drones and a small manned airplane. The Northrop KD2R-5 target drones have been used to simulate the high-G launch and vibration environment of the Ranger aerial vehicle. Target drones have been used because their air vehicle classification allows small test packages to be installed without tedious air safety protocols. Stability and survivability of the detectors, GPS navigation and radio frequency communication have been studied with the target drone test flights. Ground station software was developed to visualise the measurement data and to track the position of the air vehicle on a digital map. Test flights with the small manned airplane have been used to study the operational aspects of the detectors with greater detail. The housing for the instruments has been designed and constructed based on the experiences gained with the test flights and the laboratory measurements. The housing satisfies the aviation authority standards. Special attention has been paid to the high modularity, quick installation and ease of use. (orig.)

Development of a prototype radiation surveillance equipment for a mid-sized unmanned aerial vehicle

Energy Technology Data Exchange (ETDEWEB)

Smolander, P.; Kurvinen, K.; Poellaenen, R. [Radiation and Nuclear Safety Authority, Helsinki (Finland); Kettunen, M. [Forces Research Institute of Technology, Lakiala (Finland); Lyytinen, J. [Helsinki University of Technology, Laboratory of Lightweight Structures, Otaniemi (Finland)

2003-06-01

A prototype radiation surveillance equipment has been developed to be used in a mid-sized Ranger unmanned aerial vehicle (UAV) acquired by the Finnish Defence Forces. A multi-detector assembly was designed for the acquisition of dose rate and radionuclide concentration in the release plume. Detector assembly includes a GM-tube based dose rate meter, an inorganic scintillator detector and a semiconductor detector operating at room temperature. A sampling unit was designed for the collection of an aerosol sample of the plume for a detailed analysis in a ground based laboratory. The measurement data from all three detectors and several environmental parameters are collected by the onboard data acquisition computer. Real-time data dissemination is implemented with a TETRA based radio network. Test flights have been carried out with target drones and a small manned airplane. The Northrop KD2R-5 target drones have been used to simulate the high-G launch and vibration environment of the Ranger aerial vehicle. Target drones have been used because their air vehicle classification allows small test packages to be installed without tedious air safety protocols. Stability and survivability of the detectors, GPS navigation and radio frequency communication have been studied with the target drone test flights. Ground station software was developed to visualise the measurement data and to track the position of the air vehicle on a digital map. Test flights with the small manned airplane have been used to study the operational aspects of the detectors with greater detail. The housing for the instruments has been designed and constructed based on the experiences gained with the test flights and the laboratory measurements. The housing satisfies the aviation authority standards. Special attention has been paid to the high modularity, quick installation and ease of use. (orig.)

Quasi steady-state aerodynamic model development for race vehicle simulations

Science.gov (United States)

Mohrfeld-Halterman, J. A.; Uddin, M.

2016-01-01

Presented in this paper is a procedure to develop a high fidelity quasi steady-state aerodynamic model for use in race car vehicle dynamic simulations. Developed to fit quasi steady-state wind tunnel data, the aerodynamic model is regressed against three independent variables: front ground clearance, rear ride height, and yaw angle. An initial dual range model is presented and then further refined to reduce the model complexity while maintaining a high level of predictive accuracy. The model complexity reduction decreases the required amount of wind tunnel data thereby reducing wind tunnel testing time and cost. The quasi steady-state aerodynamic model for the pitch moment degree of freedom is systematically developed in this paper. This same procedure can be extended to the other five aerodynamic degrees of freedom to develop a complete six degree of freedom quasi steady-state aerodynamic model for any vehicle.

Orbital transfer vehicle concept definition and system analysis study, 1985. Volume 2: OTV concept definition and evaluation. Book 4: Operations

Science.gov (United States)

Mitchell, Jack C.; Keeley, J. T.

1985-01-01

The benefits of the reusable Space Shuttle and the advent of the new Space Station hold promise for increasingly effective utilization of space by the scientific and commercial as well as military communities. A high energy reusable oribital transfer vehicle (OTV) represents an additional capability which also exhibits potential for enhancing space access by allowing more ambitious missions and at the same time reducing launch costs when compared to existing upper stages. This section, Vol. 2: Book 4, covers launch operations and flight operations. The launch operations section covers analyses of ground based and space based vehicles, launch site facilities, logistics requirements, propellant loading, space based maintenance and aft cargo carrier access options. The flight operations sections contain summary descriptions of ground based and space based OTV missions, operations and support requirements, and a discussion of fleet implications.

Mini-Sniffer III on Lakebed with Ground Support Crew

Science.gov (United States)

1976-01-01

The third version of the Mini-Sniffer remotely-piloted research vehicle on Rogers Dry Lake, adjacent to NASA's Dryden Flight Research Center, Edwards, California. The futuristic-looking ground crew are in white, self-contained suits, because the engine on this third version of the Mini-Sniffer was powered by hydrazine, which is a very hazardous material. The Mini-Sniffer was a remotely controlled, propeller-driven vehicle developed at the NASA Flight Research Center (which became the Dryden Flight Research Center, Edwards, California, in 1976) as a potential platform to sample the upper atmosphere for pollution. The vehicle, flown from 1975 to 1977, was one of the earliest attempts by NASA to develop an aircraft that could sense turbulence and measure natural and human-produced atmospheric pollutants at altitudes above 80,000 feet with a variable-load propeller that was never flight-tested. Three Mini-Sniffer vehicles were built. The number 1 Mini-Sniffer vehicle had swept wings with a span of 18 feet and canards on the nose. It flew 12 flights with the gas-powered engine at low altitudes of around 2,500 feet. The number 1 vehicle was then modified into version number 2 by removing the canards and wing rudders and adding wing tips and tail booms. Twenty flights were made with this version, up to altitudes of 20,000 feet. The number 3 vehicle had a longer fuselage, was lighter in weight, and was powered by the non-air-breathing hydrazine engine designed by NASA's Johnson Space Center in Houston, Texas. This version was designed to fly a 25-pound payload to an altitude of 70,000 feet for one hour or to climb to 90,000 feet and glide back. The number 3 Mini-Sniffer made one flight to 20,000 feet and was not flown again because of a hydrazine leak problem. All three versions used a pusher propeller to free the nose area for an atmospheric-sampling payload. At various times the Mini-Sniffer has been considered for exploration in the carbon dioxide atmosphere of the

Study on the Vehicle Dynamic Load Considering the Vehicle-Pavement Coupled Effect

Science.gov (United States)

Xu, H. L.; He, L.; An, D.

2017-11-01

The vibration of vehicle-pavement interaction system is sophisticated random vibration process and the vehicle-pavement coupled effect was not considered in the previous study. A new linear elastic model of the vehicle-pavement coupled system was established in the paper. The new model was verified with field measurement which could reflect the real vibration between vehicle and pavement. Using the new model, the study on the vehicle dynamic load considering the vehicle-pavement coupled effect showed that random forces (centralization) between vehicle and pavement were influenced largely by vehicle-pavement coupled effect. Numerical calculation indicated that the maximum of random forces in coupled model was 2.4 times than that in uncoupled model. Inquiring the reason, it was found that the main vibration frequency of the vehicle non-suspension system was similar with that of the vehicle suspension system in the coupled model and the resonance vibration lead to vehicle dynamic load increase significantly.

Establishing bonds between vehicle certification data and real-world vehicle fuel consumption – A Vehicle Specific Power approach

International Nuclear Information System (INIS)

Duarte, G.O.; Gonçalves, G.A.; Baptista, P.C.; Farias, T.L.

2015-01-01

Highlights: • Innovative methodology to estimate VSP fuel consumption based on public available data. • Model validation with accurate fuel consumption results (absolute deviation from 4.7% to 9.2%). • Best-selling vehicles in Portugal case study was developed for different driving cycles. - Abstract: A method to perform the energy characterization of a vehicle according to the specific power required while driving was developed using public vehicle certification data. Using a portable emission measurement system, fuel consumption was quantified in a second-by-second basis under on-road conditions for 19 vehicles (spark-ignition, compression-ignition and hybrids). This data allowed building generic curves of fuel consumption as a function of the specific power, according to Vehicle Specific Power methodology. Comparing on-road measurements and the model estimates, a R 2 higher than 0.9 for conventional and hybrid vehicles was obtained regarding modal fuel consumption. Comparing the fuel consumption measured on the drive cycles performed by each vehicle and the correspondent estimates, an absolute deviation of 9.2% ± 9.2% was found for conventional vehicles and 4.7% ± 1.8% for hybrids vehicles. This methodology was validated and applied to estimate the energy impacts of the best-selling vehicles in Portugal for different driving cycles. This prompt method, that does not require vehicle monitoring, can estimate curves of fuel consumption in g/s, as a function of specific power, which allows quantifying the absolute fuel use for any driving cycle

Vehicle Trajectory Estimation Using Spatio-Temporal MCMC

Directory of Open Access Journals (Sweden)

Francois Bardet

2010-01-01

Full Text Available This paper presents an algorithm for modeling and tracking vehicles in video sequences within one integrated framework. Most of the solutions are based on sequential methods that make inference according to current information. In contrast, we propose a deferred logical inference method that makes a decision according to a sequence of observations, thus processing a spatio-temporal search on the whole trajectory. One of the drawbacks of deferred logical inference methods is that the solution space of hypotheses grows exponentially related to the depth of observation. Our approach takes into account both the kinematic model of the vehicle and a driver behavior model in order to reduce the space of the solutions. The resulting proposed state model explains the trajectory with only 11 parameters. The solution space is then sampled with a Markov Chain Monte Carlo (MCMC that uses a model-driven proposal distribution in order to control random walk behavior. We demonstrate our method on real video sequences from which we have ground truth provided by a RTK GPS (Real-Time Kinematic GPS. Experimental results show that the proposed algorithm outperforms a sequential inference solution (particle filter.

TFTR grounding scheme and ground-monitor system

International Nuclear Information System (INIS)

Viola, M.

1983-01-01

The Tokamak Fusion Test Reactor (TFTR) grounding system utilizes a single-point ground. It is located directly under the machine, at the basement floor level, and is tied to the building perimeter ground. Wired to this single-point ground, via individual 500 MCM insulated cables, are: the vacuum vessel; four toroidal field coil cases/inner support structure quadrants; umbrella structure halves; the substructure ring girder; radial beams and columns; and the diagnostic systems. Prior to the first machine operation, a ground-loop removal program was initiated. It required insulation of all hangers and supports (within a 35-foot radius of the center of the machine) of the various piping, conduits, cable trays, and ventilation systems. A special ground-monitor system was designed and installed. It actively monitors each of the individual machine grounds to insure that there are no inadvertent ground loops within the machine structure or its ground and that the machine grounds are intact prior to each pulse. The TFTR grounding system has proven to be a very manageable system and one that is easy to maintain

Characterizing the sponge grounds of Grays Canyon, Washington, USA

Science.gov (United States)

Powell, Abby N.; Clarke, M. Elizabeth; Fruh, Erica; Chaytor, Jason; Reiswig, Henry M.; Whitmire, Curt E.

2018-01-01

Deep-sea sponge grounds are relatively understudied ecosystems that may provide key habitats for a large number of fish and invertebrates including commercial species. Glass sponge grounds have been discovered from the tropics to polar regions but there are only a few places with high densities of dictyonine sponges. Dictyonine glass sponges have a fused skeleton, which stays intact when they die and in some areas the accumulation of successive generations of sponges leads to the formation of reefs. In 2010 and 2016, we surveyed an area near Grays Canyon in Washington, USA, where dense aggregations of glass sponges and potential sponge reefs were discovered in 2007. Our primary aims were to make a preliminary assessment of whether the glass sponges form reefs at this location, characterize the sponge assemblage present at this site and examine associations between the sponges and commercially important species. Multibeam mapping and sub-bottom profiling indicate that the glass sponges at this site do not form reefs and are mostly attached to hard substrates. Analysis of photographs collected by an autonomous underwater vehicle and samples collected by a remotely operated vehicle guided by telepresence revealed the presence of two abundant dictyonine sponge species at this site, Heterochone calyx and Aphrocallistes vastus (mean densities = 1.43 ± 0.057 per 10 m2, max = 24 per 10 m2). We also observed a large number of non-reef-building glass sponges and various demosponges including a potentially new species in the genus Acarnus. A diverse fish assemblage was recorded at this site including eight species of rockfish. Rockfish abundance was positively related to sponge abundance. Spot prawns (Pandalus platyceros) were also abundant and were strongly associated with sponges. Despite not finding sponge reefs, this is an ecologically significant area. Further research is necessary to determine the environmental factors that give rise to the abundance of large

A performance comparison of urban utility vehicles powered with IC engine and solid polymer fuel cell technologies

International Nuclear Information System (INIS)

Teachman, M.E.; Scott, D.S.

1993-01-01

Utility vehicles provide ground transportation for crew and electric power at work sites that lack grid supply. The performances of utility vehicles designed with conventional architectures (spark ignition engine for propulsion and a motor generator for electric power) and with a fuel cell/battery architectures, are compared over a range of vehicle missions. Results indicate that fuel cell/battery hybrid systems are lighter than conventional systems for missions requiring short driving distances and work site power levels exceeding 10 kW. Conventional spark ignition engine/gen-set power systems are lighter for missions requiring more than 1 hour of driving and less than 10 kW of work site power. Fuel cell/battery systems are more efficient than spark ignition engine/gen-set systems for all missions. 7 figs., 3 tabs., 20 refs

Vehicle State Estimator based regenerative braking implementation on an electric vehicle to improve lateral vehicle stability

NARCIS (Netherlands)

Jansen, S.T.H.; van Boekel, J.J.P.; Iersel, van S.S.; Besselink, I.J.M.; Nijmeijer, H.

2013-01-01

The driving range of electric vehicles can be extended using regenerative braking. Regenerative braking uses the electric drive system, and therefore only the driven wheels, for decelerating the vehicle. Braking on one axle affects the stability of the vehicle, especially for road conditions with

Vehicle state estimator based regenerative braking implementation on an electric vehicle to improve lateral vehicle stability

NARCIS (Netherlands)

Jansen, S.T.H.; Boekel, J.J.P. van; Iersel, S.S. van; Besselink, I.J.M.; Nijmeijer, H.

2013-01-01

The driving range of electric vehicles can be extended using regenerative braking. Regenerative braking uses the elctric drive system, and therefore only the driven wheels, for decelerating the vehicle. Braking on one axle affects the stability of the vehicle, especially for road conditions with

41 CFR 102-34.85 - What motor vehicles require motor vehicle identification?

Science.gov (United States)

2010-07-01

... 41 Public Contracts and Property Management 3 2010-07-01 2010-07-01 false What motor vehicles require motor vehicle identification? 102-34.85 Section 102-34.85 Public Contracts and Property Management... 34-MOTOR VEHICLE MANAGEMENT Identifying and Registering Motor Vehicles Motor Vehicle Identification...

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...

Experimental Investigation of Brazilian 14-X B Hypersonic Scramjet Aerospace Vehicle

OpenAIRE

de Araujo Martos, João Felipe; da Silveira Rêgo, Israel; Pachon Laiton, Sergio Nicholas; Lima, Bruno Coelho; Costa, Felipe Jean; de Paula Toro, Paulo Gilberto

2017-01-01

The Brazilian hypersonic scramjet aerospace vehicle 14-X B is a technological demonstrator of a hypersonic airbreathing propulsion system based on the supersonic combustion (scramjet) to be tested in flight into the Earth’s atmosphere at an altitude of 30 km and Mach number 7. The 14-X B has been designed at the Prof. Henry T. Nagamatsu Laboratory of Aerothermodynamics and Hypersonics, Institute for Advanced Studies (IEAv), Brazil. The IEAv T3 Hypersonic Shock Tunnel is a ground-test facility...

PhoneSat: Ground Testing of a Phone-Based Prototype Bus

Science.gov (United States)

Felix, Carmen; Howard, Benjamin; Reyes, Matthew; Snarskiy, Fedor; Hickman, Ryan; Boshuizen, Christopher; Marshall, William

2010-01-01

Most of the key capabilities that are requisite of a satellite bus are housed in today's smart phones. PhoneSat refers to an initiative to build a ground-based prototype vehicle that could all the basic functionality of a satellite, including attitude control, using a smart Phone as its central hardware. All components used were also low cost Commercial off the Shelf (COTS). In summer 2009, an initial prototype was created using the LEGO Mindstorm toolkit demonstrating simple attitude control. Here we report on a follow up initiative to design, build and test a vehicle based on the Google s smart phone Nexus One. The report includes results from initial thermal-vacuum chamber tests and low altitude sub-orbital rocket flights which show that, at least for short durations, the Nexus One phone is able to withstand key aspects of the space environment without failure. We compare the sensor data from the Phone's accelerometers and magnetometers with that of an external microelectronic inertial measurement unit.

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...

Vehicle following controller design for autonomous intelligent vehicles

Science.gov (United States)

Chien, C. C.; Lai, M. C.; Mayr, R.

1994-01-01

A new vehicle following controller is proposed for autonomous intelligent vehicles. The proposed vehicle following controller not only provides smooth transient maneuvers for unavoidable nonzero initial conditions but also guarantees the asymptotic platoon stability without the availability of feedforward information. Furthermore, the achieved asymptotic platoon stability is shown to be robust to sensor delays and an upper bound for the allowable sensor delays is also provided in this paper.

Light vehicle crash avoidance needs and countermeasure profiles for safety applications based on vehicle-to-vehicle communications

Science.gov (United States)

2013-04-30

This report discusses light-vehicle crash countermeasure profiles and functions for five target pre-crash scenario groups based on vehicle-to-vehicle (V2V) communications. Target pre-crash scenario groups include rear-end, lane change, opposite direc...

Vision-based guidance for an automated roving vehicle

Science.gov (United States)

Griffin, M. D.; Cunningham, R. T.; Eskenazi, R.

1978-01-01

A controller designed to guide an automated vehicle to a specified target without external intervention is described. The intended application is to the requirements of planetary exploration, where substantial autonomy is required because of the prohibitive time lags associated with closed-loop ground control. The guidance algorithm consists of a set of piecewise-linear control laws for velocity and steering commands, and is executable in real time with fixed-point arithmetic. The use of a previously-reported object tracking algorithm for the vision system to provide position feedback data is described. Test results of the control system on a breadboard rover at the Jet Propulsion Laboratory are included.

Control concepts for vehicle drive line to reduce fuel consumption

Energy Technology Data Exchange (ETDEWEB)

Ossyra, J.C.

2005-07-01

In this work advanced drive line control concepts for off-road vehicles have been developed and investigated to reduce the power losses and finally the fuel consumption of the entire drive system by use of on-line optimization procedure. Two separate closed loop speed controls have been developed for the use on a microcontroller onboard the vehicle: one to control the hydrostatic transmission and the other to control the engine speed. Considering the loss characteristics of the displacement machines in the hydrostatic transmission and the steady state characteristics of the combustion engine by use of pure mathematical approximations of measured curves, a direct optimization strategy is used, which works on-line on a microcontroller. A laboratory hardware-in-the loop test rig has been used to investigate the proposed control concepts. For different typical and desired work cycles of an off-road machine on level ground and uphill a slope the effectiveness of the proposed control concepts have been proven. (orig.)

State-of-the-art assessment of electric vehicles and hybrid vehicles

Science.gov (United States)

1977-01-01

The Electric and Hybrid Vehicle Research, Development, and Demonstration Act of 1976 (PL 94-413) requires that data be developed to characterize the state of the art of vehicles powered by an electric motor and those propelled by a combination of an electric motor and an internal combustion engine or other power sources. Data obtained from controlled tests of a representative number of sample vehicles, from information supplied by manufacturers or contained in the literature, and from surveys of fleet operators of individual owners of electric vehicles is discussed. The results of track and dynamometer tests conducted by NASA on 22 electric, 2 hybrid, and 5 conventional vehicles, as well as on 5 spark-ignition-engine-powered vehicles, the conventional counterparts of 5 of the vehicles, are presented.

Disaggregate demand for conventional and alternative fuelled vehicles in the Census Metropolitan Area of Hamilton, Canada

Science.gov (United States)

Potoglou, Dimitrios

The focus of this thesis is twofold. First, it offers insight on how households' car-ownership behaviour is affected by urban form and availability of local-transit at the place of residence, after controlling for socio-economic and demographic characteristics. Second, it addresses the importance of vehicle attributes, household and individual characteristics as well as economic incentives and urban form to potential demand for alternative fuelled vehicles. Data for the empirical analyses of the aforementioned research activities were obtained through an innovative Internet survey, which is also documented in this thesis, conducted in the Census Metropolitan Area of Hamilton. The survey included a retrospective questionnaire of households' number and type of vehicles and a stated choices experiment for assessing the potential demand for alternative fuelled vehicles. Established approaches and emerging trends in automobile demand modelling identified early on in this thesis suggest a disaggregate approach and specifically, the estimation of discrete choice models both for explaining car ownership and vehicle-type choice behaviour. It is shown that mixed and diverse land uses as well as short distances between home and work are likely to decrease the probability of households to own a large number of cars. Regarding the demand for alternative fuelled vehicles, while vehicle attributes are particularly important, incentives such as free parking and access to high occupancy vehicle lanes will not influence the choice of hybrids or alternative fuelled vehicles. An improved understating of households' behaviour regarding the number of cars as well as the factors and trade-offs for choosing cleaner vehicles can be used to inform policy designed to reduce car ownership levels and encourage adoption of cleaner vehicle technologies in urban areas. Finally, the Internet survey sets the ground for further research on implementation and evaluation of this data collection method.

Orbital transfer vehicle concept definition and system analysis study. Volume 2: OTV concept definition and evaluation. Book 1: Mission and system requirements

Science.gov (United States)

Kofal, Allen E.

1987-01-01

The mission and system requirements for the concept definition and system analysis of the Orbital Transfer Vehicle (OTV) are established. The requirements set forth constitute the single authority for the selection, evaluation, and optimization of the technical performance and design of the OTV. This requirements document forms the basis for the Ground and Space Based OTV concept definition analyses and establishes the physical, functional, performance and design relationships to STS, Space Station, Orbital Maneuvering Vehicle (OMV), and payloads.

Aerodynamic characteristics of NACA 4412 airfoil section with flap in extreme ground effect

Directory of Open Access Journals (Sweden)

Alex E. Ockfen

2009-09-01

Full Text Available Wing-in-Ground vehicles and aerodynamically assisted boats take advantage of increased lift and reduced drag of wing sections in the ground proximity. At relatively low speeds or heavy payloads of these craft, a flap at the wing trailing-edge can be applied to boost the aerodynamic lift. The influence of a flap on the two-dimensional NACA 4412 airfoil in viscous ground-effect flow is numerically investigated in this study. The computational method consists of a steady-state, incompressible, finite volume method utilizing the Spalart-Allmaras turbulence model. Grid generation and solution of the Navier-Stokes equations are completed using computer program Fluent. The code is validated against published experimental and numerical results of unbounded flow with a flap, as well as ground-effect motion without a flap. Aerodynamic forces are calculated, and the effects of angle of attack, Reynolds number, ground height, and flap deflection are presented for a split and plain flap. Changes in the flow introduced with the flap addition are also discussed. Overall, the use of a flap on wings with small attack angles is found to be beneficial for small flap deflections up to 5% of the chord, where the contribution of lift augmentation exceeds the drag increase, yielding an augmented lift-to-drag ratio.

Ground standoff mine detection system (GSTAMIDS) engineering, manufacturing, and development (EMD) Block 0

Science.gov (United States)

Pressley, Jackson R.; Pabst, Donald; Sower, Gary D.; Nee, Larry; Green, Brian; Howard, Peter

2001-10-01

The United States Army has contracted EG&G Technical Services to build the GSTAMIDS EMD Block 0. This system autonomously detects and marks buried anti-tank land mines from an unmanned vehicle. It consists of a remotely operated host vehicle, standard teleoperation system (STS) control, mine detection system (MDS) and a control vehicle. Two complete systems are being fabricated, along with a third MDS. The host vehicle for Block 0 is the South African Meerkat that has overpass capability for anti-tank mines, as well as armor anti-mine blast protection and ballistic protection. It is operated via the STS radio link from within the control vehicle. The Main Computer System (MCS), located in the control vehicle, receives sensor data from the MDS via a high speed radio link, processes and fuses the data to make a decision of a mine detection, and sends the information back to the host vehicle for a mark to be placed on the mine location. The MCS also has the capability to interface into the FBCB2 system via SINGARS radio. The GSTAMIDS operator station and the control vehicle communications system also connect to the MCS. The MDS sensors are mounted on the host vehicle and include Ground Penetrating Radar (GPR), Pulsed Magnetic Induction (PMI) metal detector, and (as an option) long-wave infrared (LWIR). A distributed processing architecture is used so that pre-processing is performed on data at the sensor level before transmission to the MCS, minimizing required throughput. Nine (9) channels each of GPR and PMI are mounted underneath the meerkat to provide a three-meter detection swath. Two IR cameras are mounted on the upper sides of the Meerkat, providing a field of view of the required swath with overlap underneath the vehicle. Also included on the host vehicle are an Internal Navigation System (INS), Global Positioning System (GPS), and radio communications for remote control and data transmission. The GSTAMIDS Block 0 is designed as a modular, expandable system

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...

Fluxgate vector magnetometers: A multisensor device for ground, UAV, and airborne magnetic surveys

OpenAIRE

Gavazzi , Bruno; Le Maire , Pauline; Munschy , Marc; Dechamp , Aline

2016-01-01

International audience; Fluxgate magnetometers are quite uncommon in geophysics. Recent advances in calibration of the devices and their magnetic compensation ability led Institut de Physique du Globe de Stras-bourg to develop instruments for magnetic measurements at different scales for a wide range of applications — from submetric measurements on the ground to aircraft-conducted acquisition by unmanned aerial vehicles (UAVs). A case study on the aerial military base BA112 shows the usefulne...

Vehicle to grid: electric vehicles as an energy storage solution

Science.gov (United States)

McGee, Rodney; Waite, Nicholas; Wells, Nicole; Kiamilev, Fouad E.; Kempton, Willett M.

2013-05-01

With increased focus on intermittent renewable energy sources such as wind turbines and photovoltaics, there comes a rising need for large-scale energy storage. The vehicle to grid (V2G) project seeks to meet this need using electric vehicles, whose high power capacity and existing power electronics make them a promising energy storage solution. This paper will describe a charging system designed by the V2G team that facilitates selective charging and backfeeding by electric vehicles. The system consists of a custom circuit board attached to an embedded linux computer that is installed both in the EVSE (electric vehicle supply equipment) and in the power electronics unit of the vehicle. The boards establish an in-band communication link between the EVSE and the vehicle, giving the vehicle internet connectivity and the ability to make intelligent decisions about when to charge and discharge. This is done while maintaining compliance with existing charging protocols (SAEJ1772, IEC62196) and compatibility with standard "nonintelligent" cars and chargers. Through this system, the vehicles in a test fleet have been able to successfully serve as portable temporary grid storage, which has implications for regulating the electrical grid, providing emergency power, or supplying power to forward military bases.

RFID-based vehicle positioning and its applications in connected vehicles.

Science.gov (United States)

Wang, Jianqiang; Ni, Daiheng; Li, Keqiang

2014-03-04

This paper proposed an RFID-based vehicle positioning approach to facilitate connected vehicles applications. When a vehicle passes over an RFID tag, the vehicle position is given by the accurate position stored in the tag. At locations without RFID coverage, the vehicle position is estimated from the most recent tag location using a kinematics integration algorithm till updates from the next tag. The accuracy of RFID positioning is verified empirically in two independent ways with one using radar and the other a photoelectric switch. The former is designed to verify whether the dynamic position obtained from RFID tags matches the position measured by radar that is regarded as accurate. The latter aims to verify whether the position estimated from the kinematics integration matches the position obtained from RFID tags. Both means supports the accuracy of RFID-based positioning. As a supplement to GPS which suffers from issues such as inaccuracy and loss of signal, RFID positioning is promising in facilitating connected vehicles applications. Two conceptual applications are provided here with one in vehicle operational control and the other in Level IV intersection control.

A simple approach to a vision-guided unmanned vehicle

Science.gov (United States)

Archibald, Christopher; Millar, Evan; Anderson, Jon D.; Archibald, James K.; Lee, Dah-Jye

2005-10-01

This paper describes the design and implementation of a vision-guided autonomous vehicle that represented BYU in the 2005 Intelligent Ground Vehicle Competition (IGVC), in which autonomous vehicles navigate a course marked with white lines while avoiding obstacles consisting of orange construction barrels, white buckets and potholes. Our project began in the context of a senior capstone course in which multi-disciplinary teams of five students were responsible for the design, construction, and programming of their own robots. Each team received a computer motherboard, a camera, and a small budget for the purchase of additional hardware, including a chassis and motors. The resource constraints resulted in a simple vision-based design that processes the sequence of images from the single camera to determine motor controls. Color segmentation separates white and orange from each image, and then the segmented image is examined using a 10x10 grid system, effectively creating a low resolution picture for each of the two colors. Depending on its position, each filled grid square influences the selection of an appropriate turn magnitude. Motor commands determined from the white and orange images are then combined to yield the final motion command for video frame. We describe the complete algorithm and the robot hardware and we present results that show the overall effectiveness of our control approach.

Broadband vehicle-to-vehicle communication using an extended autonomous cruise control sensor

Science.gov (United States)

Heddebaut, M.; Rioult, J.; Ghys, J. P.; Gransart, Ch; Ambellouis, S.

2005-06-01

For several years road vehicle autonomous cruise control (ACC) systems as well as anti-collision radar have been developed. Several manufacturers currently sell this equipment. The current generation of ACC sensors only track the first preceding vehicle to deduce its speed and position. These data are then used to compute, manage and optimize a safety distance between vehicles, thus providing some assistance to car drivers. However, in real conditions, to elaborate and update a real time driving solution, car drivers use information about speed and position of preceding and following vehicles. This information is essentially perceived using the driver's eyes, binocular stereoscopic vision performed through the windscreens and rear-view mirrors. Furthermore, within a line of vehicles, the frontal road perception of the first vehicle is very particular and highly significant. Currently, all these available data remain strictly on-board the vehicle that has captured the perception information and performed these measurements. To get the maximum effectiveness of all these approaches, we propose that this information be shared in real time with the following vehicles, within the convoy. On the basis of these considerations, this paper technically explores a cost-effective solution to extend the basic ACC sensor function in order to simultaneously provide a vehicle-to-vehicle radio link. This millimetre wave radio link transmits relevant broadband perception data (video, localization...) to following vehicles, along the line of vehicles. The propagation path between the vehicles uses essentially grazing angles of incidence of signals over the road surface including millimetre wave paths beneath the cars.

Measuring water level in rivers and lakes from lightweight Unmanned Aerial Vehicles

DEFF Research Database (Denmark)

Bandini, Filippo; Jakobsen, Jakob; Olesen, Daniel Haugård

2017-01-01

The assessment of hydrologic dynamics in rivers, lakes, reservoirs and wetlands requires measurements of water level, its temporal and spatial derivatives, and the extent and dynamics of open water surfaces. Motivated by the declining number of ground-based measurement stations, research efforts...... complex water dynamics. Unmanned Aerial Vehicles (UAVs) can fill the gap between spaceborne and ground-based observations, and provide high spatial resolution and dense temporal coverage data, in quick turn-around time, using flexible payload design. This study focused on categorizing and testing sensors......, which comply with the weight constraint of small UAVs (around 1.5 kg), capable of measuring the range to water surface. Subtracting the measured range from the vertical position retrieved by the onboard Global Navigation Satellite System (GNSS) receiver, we can determine the water level (orthometric...

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.

"Can Vehicle-to-Grid Revenue Help Electric Vehicles on the Market?"

OpenAIRE

George R. Parsons; Michael K. Hidrue; Willett Kempton; Meryl P. Gardner

2011-01-01

Vehicle-to-grid (V2G) electric vehicles can return power stored in their batteries back to the power grid and be programmed to do so at times when power prices are high. Since providing this service can lead to payments to owners of vehicles, it effectively reduces the cost of electric vehicles. Using data from a national stated preference survey (n = 3029), this paper presents the first study of the potential consumer demand for V2G electric vehicles. In our choice experiment, 3029 responden...

Aerodynamic analysis of an isolated vehicle wheel

Science.gov (United States)

Leśniewicz, P.; Kulak, M.; Karczewski, M.

2014-08-01

Increasing fuel prices force the manufacturers to look into all aspects of car aerodynamics including wheels, tyres and rims in order to minimize their drag. By diminishing the aerodynamic drag of vehicle the fuel consumption will decrease, while driving safety and comfort will improve. In order to properly illustrate the impact of a rotating wheel aerodynamics on the car body, precise analysis of an isolated wheel should be performed beforehand. In order to represent wheel rotation in contact with the ground, presented CFD simulations included Moving Wall boundary as well as Multiple Reference Frame should be performed. Sliding mesh approach is favoured but too costly at the moment. Global and local flow quantities obtained during simulations were compared to an experiment in order to assess the validity of the numerical model. Results of investigation illustrates dependency between type of simulation and coefficients (drag and lift). MRF approach proved to be a better solution giving result closer to experiment. Investigation of the model with contact area between the wheel and the ground helps to illustrate the impact of rotating wheel aerodynamics on the car body.