WorldWideScience

Sample records for terrain vehicles two

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

    International Nuclear Information System (INIS)

    Zhou, Ling; Cheng, Xianghong; Zhu, Yixian

    2016-01-01

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

  2. 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

  3. What Influences Youth to Operate All-Terrain Vehicles Safely?

    Science.gov (United States)

    Grummon, A. H.; Heaney, C. A.; Dellinger, W. A.; Wilkins, J. R., III

    2014-01-01

    The operation of all-terrain vehicles (ATVs) by youth has contributed to the incidence of serious and fatal injuries among children. This study explored factors related to the frequency with which youth wore a helmet and refrained from engaging in three risky driving behaviors (driving at risky speeds, on paved roads and on unfamiliar terrain)…

  4. Lunar All-Terrain Utility Vehicle for EVA, Phase I

    Data.gov (United States)

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

  5. Lunar All-Terrain Utility Vehicle for EVA, Phase II

    Data.gov (United States)

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

  6. What influences youth to operate all-terrain vehicles safely?

    Science.gov (United States)

    Grummon, A. H.; Heaney, C. A.; Dellinger, W. A.; Wilkins, J. R.

    2014-01-01

    The operation of all-terrain vehicles (ATVs) by youth has contributed to the incidence of serious and fatal injuries among children. This study explored factors related to the frequency with which youth wore a helmet and refrained from engaging in three risky driving behaviors (driving at risky speeds, on paved roads and on unfamiliar terrain) while operating an ATV. Youth (n = 248) aged 9–14 from central Ohio and one of their parents completed self-report measures of ATV safety behaviors, youth general propensity for risk taking, protection motivation and parental behaviors to facilitate youth safety. Data from two focus groups provided insight on quantitative results. Analyses revealed considerable variation in the frequency with which youth performed the safety behaviors, with 13- and 14-year-olds reporting less frequent safe behavior than 9- to 12-year-olds. Multiple regression analyses suggested that parental behaviors, such as providing reminders to wear a helmet, were associated with more frequent helmet use but were not associated with risky driving behaviors. Youth’s general propensity toward risk taking was not associated with helmet use and only associated with riskydriving behaviors among the 13- and 14-year-olds. Self-efficacy was an important predictor across both age groups and behaviors. Implications for injury prevention are discussed. PMID:24740837

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

    Science.gov (United States)

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

    2002-01-01

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

  8. AERIAL TERRAIN MAPPING USING UNMANNED AERIAL VEHICLE APPROACH

    Directory of Open Access Journals (Sweden)

    K. N. Tahar

    2012-08-01

    Full Text Available This paper looks into the latest achievement in the low-cost Unmanned Aerial Vehicle (UAV technology in their capacity to map the semi-development areas. The objectives of this study are to establish a new methodology or a new algorithm in image registration during interior orientation process and to determine the accuracy of the photogrammetric products by using UAV images. Recently, UAV technology has been used in several applications such as mapping, agriculture and surveillance. The aim of this study is to scrutinize the usage of UAV to map the semi-development areas. The performance of the low cost UAV mapping study was established on a study area with two image processing methods so that the results could be comparable. A non-metric camera was attached at the bottom of UAV and it was used to capture images at both sites after it went through several calibration steps. Calibration processes were carried out to determine focal length, principal distance, radial lens distortion, tangential lens distortion and affinity. A new method in image registration for a non-metric camera is discussed in this paper as a part of new methodology of this study. This method used the UAV Global Positioning System (GPS onboard to register the UAV image for interior orientation process. Check points were established randomly at both sites using rapid static Global Positioning System. Ground control points are used for exterior orientation process, and check point is used for accuracy assessment of photogrammetric product. All acquired images were processed in a photogrammetric software. Two methods of image registration were applied in this study, namely, GPS onboard registration and ground control point registration. Both registrations were processed by using photogrammetric software and the result is discussed. Two results were produced in this study, which are the digital orthophoto and the digital terrain model. These results were analyzed by using the root

  9. Path Planning Software and Graphics Interface for an Autonomous Vehicle, Accounting for Terrain Features

    National Research Council Canada - National Science Library

    Hurezeanu, Vlad

    2000-01-01

    .... This vehicle performs tasks to include surveying fields, laying mines, and teleoperation. The capability of the vehicle will be increased if its supporting software plans paths that take into account the terrain features...

  10. Dirt bikes and all terrain vehicles: the real threat to pediatric kidneys.

    Science.gov (United States)

    Wu, Hsi-Yang; Gaines, Barbara A

    2007-10-01

    Recent reviews show that bicycles are the major cause of significant renal injury with few injuries occurring during contact sports. All-terrain vehicles are also responsible for significant pediatric renal trauma. We determined whether dirt bikes and all-terrain vehicles cause more significant renal injuries than contact sports. A retrospective review of our pediatric trauma database revealed 115 consecutive patients treated for renal trauma from 2000 to 2005. A total of 20 bicycle injuries occurred, including 6 on dirt bikes. A total of 13 all-terrain vehicle injuries occurred, including 4 involving rollovers. A total of 12 contact sport injuries occurred, including 2 during pick-up games. The mean grade of renal injury was compared among the mechanisms, with grades III-V considered high grade. In descending order of renal injury the mechanisms were dirt bike (2.8), all-terrain vehicle rollover (2.8), bicycle (2.3), all-terrain vehicle (2.1), contact sports (1.8) and organized contact sports (1.4). Dirt bikes and all-terrain vehicle rollovers caused significantly greater renal trauma than organized contact sports (2.8 vs 1.4, p = 0.007 and 0.02, respectively), whereas overall bicycle and all-terrain vehicle accidents resulted in similar renal trauma grades compared to those of all contact sports. The 2 high grade renal injuries during contact sports occurred during pick-up football games without protective gear. Physician advice regarding children with a solitary kidney should include avoiding dirt bikes and all-terrain vehicles. Efforts to limit all-terrain vehicle use in children younger than 16 years would decrease the risk of significant renal injury in this population more effectively than limiting contact sports participation.

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

    DEFF Research Database (Denmark)

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

    2010-01-01

    Manufacturers of construction machinery are challenged in several ways concerning dynamic loads. Considering off-highway dump trucks that travel through high amplitude short wave irregular terrain with considerable speed two aspects concerning dynamics are important. The first is the legal...... between simulated data and experimental data obtained from full vehicle testing. The experimental work is carried out by letting a dump truck pass a set of well defined obstacles. Based on the obtained agreement between simulated and measured results the tire model is considered suitable for describing...... joints, spring-damper elements and the welded structures it is crucial to have information on the time history of the loads. For trucks carrying payloads the most important load contribution is undoubtedly the reaction forces between terrain and tires. By use of virtual prototypes it is possible...

  12. A method for separation of the terrain and non-terrain from Vehicle-borne Laser Scanning Data

    International Nuclear Information System (INIS)

    Wei, Jiangxia; Zhong, Ruofei

    2014-01-01

    Half the points from vehicle-borne laser scanning data are terrain data. If you want to extract features such as trees, street lights and buildings, terrain points must be removed. Nowadays, either airborne or vehicle-borne laser data, are mostly used to set an elevation threshold based on the scanning line or POS data to determine whether the point is a terrain point or not, but the disadvantage is part of low buildings or other feature objects will be lost. If the study area has high differences in the horizontal or the forward direction, this method is not applicable. This paper investigates a new methodology to extract the terrain points, which has great significance for data reduction and classification. The procedure includes the following steps: 1)Pre-processing: to remove discrete points and abnormal points. 2) Divided all the points into grid, calculating the average value of the XY and the minimum value of the Z of all the points in the same grid as the central point of the grid.3) Choose nearest six points which are close to the centre point to fitting the quadratic surface.4)Compare the normal vector of the fitting surface of the grid to the normal vector of the 8-neighborhood, if the difference is too big, it will be smoothed.5) Determine whether the point in the grid is on the surface, if the point belongs to the surface, it will be classified as terrain point. The results and evaluation have shown the effectiveness of the method and its potential in separation of the terrain of various areas

  13. Performance of a Battery Electric Vehicle in the Cold Climate and Hilly Terrain of Vermont

    Science.gov (United States)

    2008-12-23

    The goal of this research project was to determine the performance of a battery electric vehicle (BEV) in the cold climate and hilly terrain of Vermont. For this study, a 2005 Toyota Echo was converted from an internal combustion engine (ICE) vehicle...

  14. Design and analysis of a magneto-rheological damper for an all terrain vehicle

    Science.gov (United States)

    Krishnan Unni, R.; Tamilarasan, N.

    2018-02-01

    A shock absorber design intended to replace the existing conventional shock absorber with a controllable system using a Magneto-rheological damper is introduced for an All Terrain Vehicle (ATV) that was designed for Baja SAE competitions. Suspensions are a vital part of an All Terrain Vehicles as it endures various surfaces and requires utmost attention while designing. COMSOL multi-physics software is used for applications that have coupled physics problems and is a unique tool that is used for the designing and analysis phase of the Magneto-rheological damper for the considered application and the model is optimized based on Taguchi using DOE software. The magneto-rheological damper is designed to maximize the damping force with the measured geometric constraints for the All Terrain Vehicle.

  15. An image-based method to measure all-terrain vehicle dimensions for engineering safety purposes.

    Science.gov (United States)

    Jennissen, Charles A; Miller, Nathan S; Tang, Kaiyang; Denning, Gerene M

    2014-04-01

    All-terrain vehicle (ATV) crashes are a serious public health and safety concern. Engineering approaches that address ATV injury prevention are critically needed. Avenues to pursue include evidence-based seat design that decreases risky behaviours, such as carrying passengers and operation of adult-size vehicles by children. The goal of this study was to create and validate an image-based method to measure ATV seat length and placement. Publicly available ATV images were downloaded. Adobe Photoshop was then used to generate a vertical grid through the centre of the vehicle, to define the grid scale using the manufacturer's reported wheelbase, and to determine seat length and placement relative to the front and rear axles using this scale. Images that yielded a difference greater than 5% between the calculated and the manufacturer's reported ATV lengths were excluded from further analysis. For the 77 images that met inclusion criteria, the mean±SD for the difference in calculated versus reported vehicle length was 1.8%±1.2%. The Pearson correlation coefficient for comparing image-based seat lengths determined by two independent measurers (20 models) and image-based lengths versus lengths measured at dealerships (12 models) were 0.95 and 0.96, respectively. The image-based method provides accurate and reproducible results for determining ATV measurements, including seat length and placement. This method greatly expands the number of ATV models that can be studied, and may be generalisable to other motor vehicle types. These measurements can be used to guide engineering approaches that improve ATV safety design.

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

    Science.gov (United States)

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

    2017-03-25

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

  17. All-terrain vehicle, trampoline and scooter injuries and their prevention in children.

    Science.gov (United States)

    Levine, Deborah

    2006-06-01

    Childhood injuries are the leading cause of death in children and result in significant healthcare utilization. Injuries specifically related to all terrain vehicles, trampolines and scooter usage can be devastating and are often preventable. Our understanding of how and why these injuries occur can aid in preventing morbidity and mortality. The popularity of all-terrain vehicles, nonmotorized scooters and trampolines has soared over recent years. This increased usage has led to a tremendous rise in injuries in children utilizing these recreational activities. Many of the injuries occur in younger children who may not possess the motor and cognitive skills necessary to safely engage in these activities. These activities lead to a number of head and extremity injuries, most of which can be attenuated by the use of protective gear such as helmets and protective padding. Understanding the nature of these injuries can lead to advocacy and hopefully legislation to prevent further injuries from occurring.

  18. Compaction-Based Deformable Terrain Model as an Interface for Real-Time Vehicle Dynamics Simulations

    Science.gov (United States)

    2013-04-16

    N.Y. [20] Wulfsohn, D., and Upadhyaya, S. K., 1992, "Prediction of traction and soil compaction using three-dimensional soil- tyre contact profile," Journal of Terramechanics, 29(6), pp. 541-564. ...the relative speedup of utilizing GPUs for computational acceleration. INTRODUCTION In order to enable off- road vehicle dynamics analysis...ANSI Std Z39-18 Page 2 of 8 Figure 2. Tire geometry used to determine collision points with the terrain In the context of off- road vehicle

  19. Imaging findings in 512 children following all-terrain vehicle injuries

    International Nuclear Information System (INIS)

    Shah, Chetan C.; Greenberg, Bruce S.; Ramakrishnaiah, Raghu H.; Bhutta, Sadaf T.; Parnell-Beasley, Donna N.

    2009-01-01

    Injuries related to all-terrain vehicle (ATV) use by children have increased in recent years, and the pattern of these injuries is not well known among radiologists. Our purpose was to identify different radiologically diagnosed injuries in children suffering ATV-related trauma and determine associations among various injuries as well as between injuries and outcome. The study included 512 consecutive children suffering from ATV injuries treated at a tertiary care pediatric hospital. All imaging studies were reviewed and correlated with injury frequency and outcome using multivariate analysis. Head injuries occurred in 244 children (48%) and in five of six deaths. Calvarial skull fractures occurred in 104 children and were associated with brain, subdural and epidural injuries. Brain and orbit injuries were associated with long-term disability. A total of 227 extremity fractures were present in 172 children (34%). The femur was the most commonly fractured bone. Nine children had partial foot amputations. Multiorgan injuries occurred in nearly half of the 97 children with torso injuries. Determinants for long-term disability or death were head injuries (odds ratio 3.4) and extremity fractures (odds ratio 3.3). Head and extremity injuries are the two most common injuries in children suffering ATV injuries and are associated with long-term disability. ATV use by children is dangerous and is a significant threat to child safety. (orig.)

  20. All-terrain vehicle dealership point-of-sale child safety compliance in Illinois.

    Science.gov (United States)

    Hafner, John W; Getz, Marjorie A; Begley, Brandon

    2012-08-01

    In 2008, an estimated 37,700 children younger than 16 were treated in US emergency departments for nonfatal all-terrain vehicle (ATV) injuries. This study identifies safety guidelines and recommendations dealers convey to consumers at the point of sale. A telephone survey of all 2004 licensed motorcycle dealers in Illinois was conducted. Trained investigators, using aliases and posing as a parent of a 13-year-old teenager, spoke with dealership personnel. Investigators indicated they wished to purchase an ATV with the dealership, but had no knowledge of ATV use or safety issues. The telephone call's true purpose was concealed during the survey. Specific responses from the salesperson, models and brands of ATVs, price quotes, engine sizes, and safety information/recommendations were recorded in a written survey instrument. One hundred twenty-seven ATV dealers completed the survey. A salesperson most often fielded the telephone interview (124/127). Telephone interviews by male investigators were longer than those by female interviewers (5 minutes 37 seconds vs 3 minutes 51 seconds; P = 0.001). Dealers recommended Consumer Product Safety Commission-based child-size ATVs (vehicles as "safe." Most dealers (83.5%) recommended some form of rider training, with half (49.6%) offered point-of-purchase training. All-terrain vehicle dealers in Illinois recommend child-size vehicles, safety training, and helmet use for the majority of telephone inquiries. Injury prevention efforts targeting ATV dealers may be less needed than those using other populations.

  1. Design and analysis of magneto rheological fluid brake for an all terrain vehicle

    Science.gov (United States)

    George, Luckachan K.; Tamilarasan, N.; Thirumalini, S.

    2018-02-01

    This work presents an optimised design for a magneto rheological fluid brake for all terrain vehicles. The actuator consists of a disk which is immersed in the magneto rheological fluid surrounded by an electromagnet. The braking torque is controlled by varying the DC current applied to the electromagnet. In the presence of a magnetic field, the magneto rheological fluid particle aligns in a chain like structure, thus increasing the viscosity. The shear stress generated causes friction in the surfaces of the rotating disk. Electromagnetic analysis of the proposed system is carried out using finite element based COMSOL multi-physics software and the amount of magnetic field generated is calculated with the help of COMSOL. The geometry is optimised and performance of the system in terms of braking torque is carried out. Proposed design reveals better performance in terms of braking torque from the existing literature.

  2. The characteristics and use patterns of all-terrain vehicle drivers in the United States.

    Science.gov (United States)

    Rodgers, G B

    1999-07-01

    The consent decrees between the US Consumer Product Safety Commission and the major distributors of all-terrain vehicles (ATV), which were designed to address ATV-related injuries and deaths, expired in April, 1998. While national estimates of nonfatal and fatal injuries involving ATVs declined after the consent decrees went into effect 10 years ago, the injury estimates have stabilized in recent years. To gain a better understanding of current ATV use patterns, the CPSC sponsored a national probability survey of ATV drivers in the fall of 1997. The survey was designed to collect information about the characteristics and use patterns of ATV drivers and to quantify the numbers and types of ATVs in use. It employed a single stage list-assisted random-digit-dial sample design. This article describes the results of the survey, and discusses long term ATV usage trends.

  3. Prognostic framing of stakeholders' subjectivities: A case of all-terrain vehicle management on state public lands

    Science.gov (United States)

    Stanley T. Asah; David N. Bengston; Keith Wendt; Leif. DeVaney

    2012-01-01

    Management of all-terrain vehicle (ATV) use on Minnesota state forest lands has a contentious history and land managers are caught between ATV riders, nonmotorized recreationists, private landowners, and environmental advocates. In this paper, we demonstrate the usefulness of framing distinct perspectives about ATV management on Minnesota state public forests,...

  4. Are all-terrain vehicle riders willing to pay trail user fees to ride on public lands in the USA?

    Science.gov (United States)

    Stephanie A. Snyder; Robert A. Smail

    2009-01-01

    Some public lands in the USA offer opportunities for all-terrain vehicle (ATV) riding, but few charge trail use fees. In a case study in the US state of Wisconsin, the contingent valuation method was used to examine riders' willingness to pay (WTP) to ride on public lands. Information on riders' habits, preferences and responses to a dichotomous choice WTP...

  5. Etiologies of pediatric craniofacial injuries: a comparison of injuries involving all-terrain vehicles and golf carts.

    Science.gov (United States)

    White, Lauren C; McKinnon, Brian J; Hughes, C Anthony

    2013-03-01

    To determine incidence and etiologies of craniofacial injuries in the pediatric population through comparison of injuries caused by all-terrain vehicles and golf cart trauma. Case series with chart review. Level 1 trauma center. Retrospective review of pediatric traumas at a tertiary academic medical center from 2003 to 2012 identified 196 patients whose injuries resulted from accidents involving either all-terrain vehicles or golf carts. Data was collected and variables such as age, gender, driver vs. passenger, location of accident, Glasgow coma scale, Injury severity scale, Abbreviated injury scale, and presence or absence of helmet use were examined. 196 pediatric patients were identified: 68 patients had injuries resulting from golf cart accidents, and 128 patients from ATV accidents. 66.4% of ATV-related traumas were male, compared to 52.9% of golf cart-related traumas. Ages of injured patients were similar between the two modalities with average age of ATV traumas 10.8 (±4.0) years and golf cart traumas 10.0 (±4.6) years. Caucasians were most commonly involved in both ATV (79.7%) and golf cart traumas (85.3%). 58.6% of all ATV related trauma and 69.1% of all golf cart trauma resulted in craniofacial injuries. The most common craniofacial injury was a closed head injury with brief loss of consciousness, occurring in 46.1% of the ATV traumas and 54.4% of the golf cart traumas. Temporal bone fractures were the second most common type of craniofacial injury, occurring in 5.5% of ATV accidents and 7.4% of the golf cart traumas. Length of hospital stay and, cases requiring surgery and severity scores were similar between both populations. Intensive care admissions and injury severity scores approached but not reach statistical significance (0.096 and 0.083, respectively). The only statistically significant differences between the two modalities were helmet use (P=0.00018%) and days requiring ventilator assistance (P=0.025). ATVs and golf carts are often exempt

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

    Science.gov (United States)

    Page, Lance; Shen, C. N.

    1991-01-01

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

  7. All-terrain vehicles (ATVs) on the road: a serious traffic safety and public health concern.

    Science.gov (United States)

    Denning, Gerene; Jennissen, Charles; Harland, Karisa; Ellis, David; Buresh, Christopher

    2013-01-01

    On-road all-terrain vehicle (ATV) crashes are frequent occurrences that disproportionately impact rural communities. These crashes occur despite most states having laws restricting on-road ATV use. A number of overall risk factors for ATV-related injuries have been identified (e.g., lack of helmet, carrying passengers). However, few studies have determined the relative contribution of these and other factors to on-road crashes and injuries. The objective of our study was to determine whether there were differences between on- and off-road ATV crashes in their demographics and/or mechanisms and outcomes of injuries. Data were derived from our statewide ATV injury surveillance database (2002-2009). Crash location and crash and injury mechanisms were coded using a modification of the Department of Transportation (DOT) coding system. Descriptive analyses and statistical comparisons (chi-square test) of variables were performed. Multivariate logistic regression analysis was used to determine relative risk. 976 records were included in the final analysis, with 38 percent of the injured individuals from on-road crashes. Demographics were similar for crashes at each location, with approximately 80 percent males, 30 percent under the age of 16, and 15 percent passengers. However, females and youths under 16 were over 4 times more likely to be passengers (P ≤ 0.0001), regardless of crash location. Compared to those off-road, on-road crash victims were approximately 10 times more likely to be involved in a vehicle-vehicle collision (P road crashes were also twice as likely to test positive for alcohol as those off-road (P road victims were only half as likely to be helmeted (P road crashes involved a collision with another vehicle, suggesting that ATVs on the road represent a potential traffic safety concern. Of note, helmets were associated with reduced risk for the number and severity of brain injuries, providing further support for the importance of helmet use. Finally

  8. Dynamic Modeling and Vibration Analysis for the Vehicles with Rigid Wheels Based on Wheel-Terrain Interaction Mechanics

    Directory of Open Access Journals (Sweden)

    Jianfeng Wang

    2015-01-01

    Full Text Available The contact mechanics for a rigid wheel and deformable terrain are complicated owing to the rigid flexible coupling characteristics. Bekker’s equations are used as the basis to establish the equations of the sinking rolling wheel, to vertical load pressure relationship. Since vehicle movement on the Moon is a complex and on-going problem, the researcher is poised to simplify this problem of vertical loading of the wheel. In this paper, the quarter kinetic models of a manned lunar rover, which are both based on the rigid road and deformable lunar terrain, are used as the simulation models. With these kinetic models, the vibration simulations were conducted. The simulation results indicate that the quarter kinetic model based on the deformable lunar terrain accurately reflects the deformable terrain’s influence on the vibration characteristics of a manned lunar rover. Additionally, with the quarter kinetic model of the deformable terrain, the vibration simulations of a manned lunar rover were conducted, which include a parametric analysis of the wheel parameters, vehicle speed, and suspension parameters. The results show that a manned lunar rover requires a lower damping value and stiffness to achieve better vibration performance.

  9. Pediatric anthropometrics are inconsistent with current guidelines for assessing rider fit on all-terrain vehicles.

    Science.gov (United States)

    Bernard, Andrew C; Mullineaux, David R; Auxier, James T; Forman, Jennifer L; Shapiro, Robert; Pienkowski, David

    2010-07-01

    This study sought to establish objective anthropometric measures of fit or misfit for young riders on adult and youth-sized all-terrain vehicles and use these metrics to test the unproved historical reasoning that age alone is a sufficient measure of rider-ATV fit. Male children (6-11 years, n=8; and 12-15 years, n=11) were selected by convenience sampling. Rider-ATV fit was quantified by five measures adapted from published recommendations: (1) standing-seat clearance, (2) hand size, (3) foot vs. foot-brake position, (4) elbow angle, and (5) handlebar-to-knee distance. Youths aged 12-15 years fit the adult-sized ATV better than the ATV Safety Institute recommended age-appropriate youth model (63% of subjects fit all 5 measures on adult-sized ATV vs. 20% on youth-sized ATV). Youths aged 6-11 years fit poorly on ATVs of both sizes (0% fit all 5 parameters on the adult-sized ATV vs 12% on the youth-sized ATV). The ATV Safety Institute recommends rider-ATV fit according to age and engine displacement, but no objective data linking age or anthropometrics with ATV engine or frame size has been previously published. Age alone is a poor predictor of rider-ATV fit; the five metrics used offer an improvement compared to current recommendations. Copyright 2010 Elsevier Ltd. All rights reserved.

  10. Making the message meaningful: a qualitative assessment of media promoting all-terrain vehicle safety.

    Science.gov (United States)

    Brann, Maria; Mullins, Samantha Hope; Miller, Beverly K; Eoff, Shane; Graham, James; Aitken, Mary E

    2012-08-01

    Millions of all-terrain vehicles (ATV) are used around the world for recreation by both adults and youth. This increase in use has led to a substantial increase in the number of injuries and fatalities each year. Effective strategies for reducing this incidence are clearly needed; however, minimal research exists regarding effective educational interventions. This study was designed to assess rural ATV riders' preferences for and assessment of safety messages. 13 focus group discussions with youth and adult ATV riders were conducted. 88 formative research participants provided feedback on existing ATV safety materials, which was used to develop more useful ATV safety messages. 60 evaluative focus group participants critiqued the materials developed for this project. Existing ATV safety materials have limited effectiveness, in part because they may not address the content or design needs of the target population. ATV riders want educational and action-oriented safety messages that inform youth and adult riders about their responsibilities to learn, educate and implement safety behaviours (eg, appropriate-sized ATV, safety gear, solo riding, speed limits, riding locations). In addition, messages should be clear, realistic, visually appealing and easily accessible. Newly designed ATV safety materials using the acronym TRIPSS (training, ride off-road, impairment, plan ahead, safety gear, single rider) meet ATV riders' safety messaging needs. To reach a target population, it is crucial to include them in the development and assessment of safety messages. Germane to this particular study, ATV riders provided essential information for creating useful ATV safety materials.

  11. Youths operating all-terrain vehicles--implications for safety education.

    Science.gov (United States)

    Burgus, Shari K; Madsen, Murray D; Sanderson, Wayne T; Rautiainen, Risto H

    2009-01-01

    All-terrain vehicle (ATV) use has increased in recent years. ATV injuries and deaths have also increased, particularly among youth. The authors administered a survey at a National FFA convention to identify safety-related behaviors, injuries, and effects of ATV safety training. There were 624 participants aged 12 to 20 with a median age of 16; 56% were male and 69% lived on a farm. The median age for first riding an ATV was 9. ATV size recommendations were rarely observed; nearly all ATVs operated by youth less than 16 years of age were over 90 cc. Safety-related behaviors were reported as follows: always wearing a helmet (24%), never taking passengers (12%), never riding as a passenger (16%), and never riding on paved road (19%). A small percentage (22%) had participated in ATV safety training; 41% were willing, but 46% said such training was not available. ATV training was positively associated with always wearing a helmet (odds ratio [OR]: 1.72, 95% confidence interval [CI]: 1.12-2.63), never taking passengers (OR: 2.31, 95% CI: 1.36-3.91), never riding as a passenger (OR: 3.02, 95% CI: 1.90-4.79), and never riding on paved road (OR: 1.57, 95% CI: 0.99-2.50). However, training was also associated with an increase in injuries (OR: 1.96, 95% CI: 1.31-2.94), although this effect was not found in multivariable models. It was not known if the injuries occurred before or after the training and no exposure time data were available. Gender differences were found in behaviors and injury rates (males 37%, females 20%). The results suggest ATV safety training improved behaviors. Gender differences in operation, behaviors, and injuries should be considered in training.

  12. Customer loads of two-wheeled vehicles

    Science.gov (United States)

    Gorges, C.; Öztürk, K.; Liebich, R.

    2017-12-01

    Customer usage profiles are the most unknown influences in vehicle design targets and they play an important role in durability analysis. This publication presents a customer load acquisition system for two-wheeled vehicles that utilises the vehicle's onboard signals. A road slope estimator was developed to reveal the unknown slope resistance force with the help of a linear Kalman filter. Furthermore, an automated mass estimator was developed to consider the correct vehicle loading. The mass estimation is performed by an extended Kalman filter. Finally, a model-based wheel force calculation was derived, which is based on the superposition of forces calculated from measured onboard signals. The calculated wheel forces were validated by measurements with wheel-load transducers through the comparison of rainflow matrices. The calculated wheel forces correspond with the measured wheel forces in terms of both quality and quantity. The proposed methods can be used to gather field data for improved vehicle design loads.

  13. 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...

  14. Cardiac Injury After All-Terrain Vehicle Accidents in 2 Children and a Review of the Literature.

    Science.gov (United States)

    Ngo, Kimberly D; Pian, Phillip; Hanfland, Robert; Nichols, Christopher S; Merritt, Glenn R; Campbell, David; Ing, Richard J

    2016-07-01

    All-terrain vehicle (ATV) accidents leading to severe morbidity and mortality are common. At our institution, 2 children presented within weeks of each other after ATV accidents. Both children required cardiac valve surgery. The surgical management of these 2 children is discussed, and the literature is reviewed. On initial patient presentation, the diagnosis of a ruptured cardiac valve or ventricular septal defect (VSD) associated with these types of accidents is often delayed. We propose that patients presenting with evidence of high-energy blunt thoracic trauma after an ATV accident should undergo an electrocardiogram, cardiac enzyme assessment, and cardiac echocardiogram as part of the initial work-up to rule out significant myocardial injury.

  15. Path Planning Software and Graphics Interface for an Autonomous Vehicle, Accounting for Terrain Features

    National Research Council Canada - National Science Library

    Hurezeanu, Vlad

    2000-01-01

    A Navigation Test Vehicle (NTV) is being developed at the Center for Intelligent Machines and Robots at the University of Florida under the sponsorship of the Air Force Research Laboratory at Tyndall Air Force Base...

  16. The Effect of Terrain Inclination on Performance and the Stability Region of Two-Wheeled Mobile Robots

    Directory of Open Access Journals (Sweden)

    Zareena Kausar

    2012-11-01

    Full Text Available Two-wheeled mobile robots (TWMRs have a capability of avoiding the tip-over problem on inclined terrain by adjusting the centre of mass position of the robot body. The effects of terrain inclination on the robot performance are studied to exploit this capability. Prior to the real-time implementation of position control, an estimation of the stability region of the TWMR is essential for safe operation. A numerical method to estimate the stability region is applied and the effects of inclined surfaces on the performance and stability region of the robot are investigated. The dynamics of a TWMR is modelled on a general uneven terrain and reduced for cases of inclined and horizontal flat terrain. A full state feedback (FSFB controller is designed based on optimal gains with speed tracking on a horizontal flat terrain. The performance and stability regions are simulated for the robot on a horizontal flat and inclined terrain with the same controller. The results endorse a variation in equilibrium points and a reduction in stability region for robot motion on inclined terrain.

  17. Design, Fabrication and Testing of Carbon Fiber Reinforced Epoxy Drive Shaft for All Terrain Vehicle using Filament Winding

    Directory of Open Access Journals (Sweden)

    Yeshwant Nayak Suhas

    2018-01-01

    Full Text Available Filament winding is a composite material fabrication technique that is used to manufacture concentric hollow components. In this study Carbon/Epoxy composite drive shafts were fabricated using filament winding process with a fiber orientation of [852/±452/252]s. Carbon in the form of multifilament fibers of Tairyfil TC-33 having 3000 filaments/strand was used as reinforcement with low viscosity epoxy resin as the matrix material. The driveshaft is designed to be used in SAE Baja All Terrain Vehicle (ATV that makes use of a fully floating axle in its rear wheel drive system. The torsional strength of the shaft was tested and compared to that of an OEM steel shaft that was previously used in the ATV. Results show that the composite shaft had 8.5% higher torsional strength in comparison to the OEM steel shaft and was also lighter by 60%. Scanning electron microscopy (SEM micrographs were studied to investigate the probable failure mechanism. Delamination, matrix agglomeration, fiber pull-out and matrix cracking were the prominent failure mechanisms identified.

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

    Science.gov (United States)

    2016-08-02

    Mechergui, Srinivas Sanikommu UNCLASSIFIED: Distribution Statement A. Approved for public release; distribution is unlimited. (#28138) Outline • Motivation ...Distribution Statement A. Approved for public release; distribution is unlimited. (#28138) Motivation /NRMM • Mobility measures include: – Speed-made...Index (CI). – Terrain uphill grade. • Rest of the terrain parameters will be considered in future work. 4 Terrain map (22 km x 22 km) colored by

  19. Semi-automated extraction of longitudinal subglacial bedforms from digital terrain models - Two new methods

    Science.gov (United States)

    Jorge, Marco G.; Brennand, Tracy A.

    2017-07-01

    Relict drumlin and mega-scale glacial lineation (positive relief, longitudinal subglacial bedforms - LSBs) morphometry has been used as a proxy for paleo ice-sheet dynamics. LSB morphometric inventories have relied on manual mapping, which is slow and subjective and thus potentially difficult to reproduce. Automated methods are faster and reproducible, but previous methods for LSB semi-automated mapping have not been highly successful. Here, two new object-based methods for the semi-automated extraction of LSBs (footprints) from digital terrain models are compared in a test area in the Puget Lowland, Washington, USA. As segmentation procedures to create LSB-candidate objects, the normalized closed contour method relies on the contouring of a normalized local relief model addressing LSBs on slopes, and the landform elements mask method relies on the classification of landform elements derived from the digital terrain model. For identifying which LSB-candidate objects correspond to LSBs, both methods use the same LSB operational definition: a ruleset encapsulating expert knowledge, published morphometric data, and the morphometric range of LSBs in the study area. The normalized closed contour method was separately applied to four different local relief models, two computed in moving windows and two hydrology-based. Overall, the normalized closed contour method outperformed the landform elements mask method. The normalized closed contour method performed on a hydrological relief model from a multiple direction flow routing algorithm performed best. For an assessment of its transferability, the normalized closed contour method was evaluated on a second area, the Chautauqua drumlin field, Pennsylvania and New York, USA where it performed better than in the Puget Lowland. A broad comparison to previous methods suggests that the normalized relief closed contour method may be the most capable method to date, but more development is required.

  20. Finding Shortest Paths on Terrains by Killing Two Birds with One Stone

    DEFF Research Database (Denmark)

    Kaul, Manohar; Wong, Raymond Chi-Wing; Yang, Bin

    2013-01-01

    With the increasing availability of terrain data, e.g., from aerial laser scans, the management of such data is attracting increasing at- tention in both industry and academia. In particular, spatial queries, e.g., k -nearest neighbor and reverse nearest neighbor queries, in Euclidean and spatial...... network spaces are being extended to ter- rains. Such queries all rely on an important operation, that of finding shortest surface distances. However, shortest surface dis- tance computation is very time consuming. We propose techniques that enable efficient computation of lower and upper bounds...... of the shortest surface distance, which enable faster query processing by eliminating expensive distance computations. Empirical studies show that our bounds are much tighter than the best-known bounds in many cases and that they enable speedups of up to 43 times for some well-known spatial querie...

  1. All-terrain vehicle fatalities on paved roads, unpaved roads, and off-road: Evidence for informed roadway safety warnings and legislation.

    Science.gov (United States)

    Denning, Gerene M; Jennissen, Charles A

    2016-05-18

    All-terrain vehicles (ATVs) are designed for off-highway use only, and many of their features create increased risk with roadway travel. Over half of all ATV-related fatalities occur on roadways, and nonfatal roadway crashes result in more serious injuries than those off the road. A number of jurisdictions have passed or have considered legislation allowing ATVs on public roadways, sometimes limiting them to those unpaved, arguing that they are safe for ATVs. However, no studies have determined the epidemiology of ATV-related fatalities on different road surface types. The objective of the study was to compare ATV-related deaths on paved versus unpaved roads and to contrast them with off-road fatalities. Retrospective descriptive and multivariable analyses were performed using U.S. Consumer Product Safety Commission fatality data from 1982 through 2012. After 1998, ATV-related deaths increased at twice the rate on paved versus unpaved roads. Still, 42% of all roadway deaths during the study period occurred on unpaved surfaces. States varied considerably, ranging from 18% to 79% of their ATV-related roadway deaths occurring on unpaved roads. Paved road crashes were more likely than those on unpaved surfaces to involve males, adolescents and younger adults, passengers, and collisions with other vehicles. Both the pattern of other vehicles involved in collisions and which vehicle hit the other were different for the 2 road types. Alcohol use was higher, helmet use was lower, and head injuries were more likely in paved versus unpaved roadway crashes. However, head injuries still occurred in 76% of fatalities on unpaved roads. Helmets were associated with lower proportions of head injuries among riders, regardless of road surface type. Relative to off-road crashes, both paved and unpaved roads were more likely to involve collisions with another vehicle. The vast majority of roadway crashes, however, did not involve a traffic collision on either paved or unpaved roads

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

    Science.gov (United States)

    2015-06-01

    146 wounded when car bombs shattered two synagogues in Istanbul. Authorities identified two men from southeast Turkey as the suicide bombers...Qaeda with twin car bombs, leaving behind an official toll of 52 deaths and 146 injuries [18]. B. CURRENT COUNTERTERRORISM METHODS AND PROBLEMS 1...a UAV is “a powered, aerial vehicle that does not carry a human operator, uses aerodynamic forces to provide vehicle lift, can fly autonomously or

  3. Evaluating damping elements for two-stage suspension vehicles

    Directory of Open Access Journals (Sweden)

    Ronald M. Martinod R.

    2012-01-01

    Full Text Available The technical state of the damping elements for a vehicle having two-stage suspension was evaluated by using numerical models based on the multi-body system theory; a set of virtual tests used the eigenproblem mathematical method. A test was developed based on experimental modal analysis (EMA applied to a physical system as the basis for validating the numerical models. The study focused on evaluating vehicle dynamics to determine the influence of the dampers’ technical state in each suspension state.

  4. Vehicle - Bridge interaction, comparison of two computing models

    Science.gov (United States)

    Melcer, Jozef; Kuchárová, Daniela

    2017-07-01

    The paper presents the calculation of the bridge response on the effect of moving vehicle moves along the bridge with various velocities. The multi-body plane computing model of vehicle is adopted. The bridge computing models are created in two variants. One computing model represents the bridge as the Bernoulli-Euler beam with continuously distributed mass and the second one represents the bridge as the lumped mass model with 1 degrees of freedom. The mid-span bridge dynamic deflections are calculated for both computing models. The results are mutually compared and quantitative evaluated.

  5. 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.

  6. Gas-liquid two-phase flow behavior in terrain-inclined pipelines for gathering transport system of wet natural gas

    DEFF Research Database (Denmark)

    Yang, Yan; Li, Jingbo; Wang, Shuli

    2018-01-01

    The Volume of Fluid method and Re-Normalisation Group (RNG) k-ε turbulence model were employed to predict the gas-liquid two-phase flow in a terrain-inclined pipeline with deposited liquids. The simulation was carried out in a 22.5 m terrain-inclined pipeline with a 150 mm internal diameter...... on the liquid level under the suction force which caused by the negative pressure around the elbow, and then it touched to the top of the pipe. When the liquid blocked the pipe, the pressure drop between the upstream and downstream of the elbow increased with the increase of the gas velocity. At larger gas...

  7. Terrain and vegetation structural influences on local avian species richness in two mixed-conifer forests

    Science.gov (United States)

    Jody C. Vogeler; Andrew T. Hudak; Lee A. Vierling; Jeffrey Evans; Patricia Green; Kerri T. Vierling

    2014-01-01

    Using remotely-sensed metrics to identify regions containing high animal diversity and/or specific animal species or guilds can help prioritize forest management and conservation objectives across actively managed landscapes. We predicted avian species richness in two mixed conifer forests, Moscow Mountain and Slate Creek, containing different management contexts and...

  8. The Bekker Model Analysis for Small Robotic Vehicles

    National Research Council Canada - National Science Library

    Gerhart, Grant R

    2004-01-01

    .... This formalism consists or two fundamental equations. The ii ret uses the Coulomb-Mohr law and a linear, one degree or freedom spring/mass/damper model to predict terrain shear rates from maximum vehicle tractive effort...

  9. The Bekker Model Analysis for Small Robotic Vehicles

    National Research Council Canada - National Science Library

    Gerhart, Grant R

    2004-01-01

    .... This formalism consists of two fundamental equations. The first uses the Coulomb-Mohr law and a linear, one degree of freedom spring/mass/damper model to predict terrain shear rates from maximum vehicle tractive effort...

  10. A GPS inspired Terrain Referenced Navigation algorithm

    NARCIS (Netherlands)

    Vaman, D.

    2014-01-01

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

  11. Submarine Salt Karst Terrains

    Directory of Open Access Journals (Sweden)

    Nico Augustin

    2016-06-01

    Full Text Available Karst terrains that develop in bodies of rock salt (taken as mainly of halite, NaCl are special not only for developing in one of the most soluble of all rocks, but also for developing in one of the weakest rocks. Salt is so weak that many surface-piercing salt diapirs extrude slow fountains of salt that that gravity spread downslope over deserts on land and over sea floors. Salt fountains in the deserts of Iran are usually so dry that they flow at only a few cm/yr but the few rain storms a decade so soak and weaken them that they surge at dm/day for a few days. We illustrate the only case where the rates at which different parts of one of the many tens of subaerial salt karst terrains in Iran flows downslope constrains the rates at which its subaerial salt karst terrains form. Normal seawater is only 10% saturated in NaCl. It should therefore be sufficiently aggressive to erode karst terrains into exposures of salt on the thousands of known submarine salt extrusions that have flowed or are still flowing over the floors of hundreds of submarine basins worldwide. However, we know of no attempt to constrain the processes that form submarine salt karst terrains on any of these of submarine salt extrusions. As on land, many potential submarine karst terrains are cloaked by clastic and pelagic sediments that are often hundreds of m thick. Nevertheless, detailed geophysical and bathymetric surveys have already mapped likely submarine salt karst terrains in at least the Gulf of Mexico, and the Red Sea. New images of these two areas are offered as clear evidence of submarine salt dissolution due to sinking or rising aggressive fluids. We suggest that repeated 3D surveys of distinctive features (± fixed seismic reflectors of such terrains could measure any downslope salt flow and thus offer an exceptional opportunity to constrain the rates at which submarine salt karst terrains develop. Such rates are of interest to all salt tectonicians and the many

  12. 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.

  13. On characterizing terrain visibility graphs

    Directory of Open Access Journals (Sweden)

    William Evans

    2015-06-01

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

  14. 49 CFR 567.5 - Requirements for manufacturers of vehicles manufactured in two or more stages.

    Science.gov (United States)

    2010-10-01

    ... applicable Federal Motor Vehicle Safety Standards, [and Bumper and Theft Prevention Standards, if applicable... 49 Transportation 6 2010-10-01 2010-10-01 false Requirements for manufacturers of vehicles... CERTIFICATION § 567.5 Requirements for manufacturers of vehicles manufactured in two or more stages. (a...

  15. Terrain-Toolkit

    DEFF Research Database (Denmark)

    Wang, Qi; Kaul, Manohar; Long, Cheng

    2014-01-01

    , as will be shown, is used heavily for query processing in spatial databases; and (3) they do not provide the surface distance operator which is fundamental for many applications based on terrain data. Motivated by this, we developed a tool called Terrain-Toolkit for terrain data which accepts a comprehensive set......Terrain data is becoming increasingly popular both in industry and in academia. Many tools have been developed for visualizing terrain data. However, we find that (1) they usually accept very few data formats of terrain data only; (2) they do not support terrain simplification well which...

  16. Design of driving control strategy of torque distribution for two - wheel independent drive electric vehicle

    Science.gov (United States)

    Zhang, Chuanwei; Zhang, Dongsheng; Wen, Jianping

    2018-02-01

    In order to coordinately control the torque distribution of existing two-wheel independent drive electric vehicle, and improve the energy efficiency and control stability of the whole vehicle, the control strategies based on fuzzy control were designed which adopt the direct yaw moment control as the main line. For realizing the torque coordination simulation of the two-wheel independent drive vehicle, the vehicle model, motor model and tire model were built, including the vehicle 7 - DOF dynamics model, motion equation, torque equation. Finally, in the Carsim - Simulink joint simulation platform, the feasibility of the drive control strategy was verified.

  17. Air pollution modeling over very complex terrain: An evaluation of WRF-Chem over Switzerland for two 1-year periods

    Science.gov (United States)

    Ritter, Mathias; Müller, Mathias D.; Tsai, Ming-Yi; Parlow, Eberhard

    2013-10-01

    The fully coupled chemistry module (WRF-Chem) within the Weather Research and Forecasting (WRF) model has been implemented over a Swiss domain for the years 2002 and 1991. The very complex terrain requires a high horizontal resolution (2 × 2 km2), which is achieved by nesting the Swiss domain into a coarser European one. The temporal and spatial distribution of O3, NO2 and PM10 as well as temperature and solar radiation are evaluated against ground-based measurements. The model performs well for the meteorological parameters with Pearson correlation coefficients of 0.92 for temperature and 0.88-0.89 for solar radiation. Temperature has root mean square errors (RMSE) of 3.30 K and 3.51 K for 2002 and 1991 and solar radiation has RMSEs of 122.92 and 116.35 for 2002 and 1991, respectively. For the modeled air pollutants, a multi-linear regression post-processing was used to eliminate systematic bias. Seasonal variations of post-processed air pollutants are represented correctly. However, short-term peaks of several days are not captured by the model. Averaged daily maximum and daily values of O3 achieved Pearson correlation coefficients of 0.69-0.77 whereas averaged NO2 and PM10 had the highest correlations for yearly average values (0.68-0.78). The spatial distribution reveals the importance of PM10 advection from the Po valley to southern Switzerland (Ticino). The absolute errors are ranging from - 10 to 15 μg/m3 for ozone, - 9 to 3 μg/m3 for NO2 and - 4 to 3 μg/m3 for PM10. However, larger errors occur along heavily trafficked roads, in street canyons or on mountains. We also compare yearly modeled results against a dedicated Swiss dispersion model for NO2 and PM10. The dedicated dispersion model has a slightly better statistical performance, but WRF-Chem is capable of computing the temporal evolution of three-dimensional data for a variety of air pollutants and meteorological parameters. Overall, WRF-Chem with the application of post-processing algorithms can

  18. Two-wheeled motor vehicle technology in India: Evolution, prospects and issues

    International Nuclear Information System (INIS)

    Iyer, Narayan V.; Badami, Madhav G.

    2007-01-01

    By providing affordable mobility to millions of people, two-wheeled motor (M2W) vehicles play a vital role in urban transport in India and other low-income Asian countries. At the same time, these vehicles contribute significantly to urban transport impacts and energy consumption, and are characterized by high emissions and traffic mortalities per passenger-kilometre. Given the importance of technology in the popularity of these vehicles and their transport impacts, this paper discusses the evolution of M2W vehicle technology in India, and contributory factors including market forces, environmental regulation, and industry R and D efforts. It then discusses technologies that we expect to be implemented for M2W vehicles in India over the next two or three decades, the likely implications of these technologies in terms of vehicle price, emissions, fuel economy and service life, and issues related to vehicle technology development and implementation. The paper shows that while the Indian M2W vehicle industry has achieved a transformation in innovation, product development and quality in response to market demands and environmental concerns, various technological and institutional challenges need to be addressed by this and the oil and vehicle servicing industries, and government agencies at all levels, to successfully deploy advanced vehicle technologies

  19. Two models of the capacitated vehicle routing problem

    Directory of Open Access Journals (Sweden)

    Zuzana Borčinova

    2017-01-01

    Full Text Available The aim of the Capacitated Vehicle Routing Problem (CVRP is to find a set of minimum total cost routes for a fleet of capacitated vehicles based at a single depot, to serve a set of customers. There exist various integer linear programming models of the CVRP. One of the main differences lies in the way to eliminate sub-tours, i.e. cycles that do not go through the depot. In this paper, we describe a well-known flow formulation of CVRP, where sub-tour elimination constraints have a cardinality exponentially growing with the number of customers. Then we present a mixed linear programming formulation with polynomial cardinality of sub-tour elimination constraints. Both of the models were implemented and compared on several benchmarks.

  20. Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint

    OpenAIRE

    Aksun-Güvenc, B.; Güvenc, L.; Odenthal, D.; Bünte, T.

    2001-01-01

    Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the operating domain of the vehicle. The relevant design specifications are formulated as attaining Hurwitz stability a...

  1. Stability Analysis of a Predecessor-Following Platoon of Vehicles With Two Time Delays

    Directory of Open Access Journals (Sweden)

    Ali Ghasemi

    2015-03-01

    Full Text Available The problem of controlling a platoon of vehicles moving in one dimension is considered so that they all follow a lead vehicle with constant spacing between successive vehicles. The stability and the string stability of a platoon of vehicles with two independent and uncertain delays, one in the inter-vehicle distance and the other in the relative velocity information channels, are considered. The main objectives of this paper are: (1 using a simplifying factorization procedure and deploying the cluster treatment of characteristic roots (CTCR paradigm to obtain exact stability boundaries in the domain of the delays, and (2 for the purpose of disturbance attenuation, the string stability analysis is examined. Finally, a simulation example of multiple vehicle platoon control is used to demonstrate the effectiveness of the proposed method.

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

    NARCIS (Netherlands)

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

    2005-01-01

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

  3. IDEAL BRAKE FORCE DISTRIBUTION BETWEEN THE AXLES OF THE TWO-AXLE VEHICLE SERVICE BRAKE APPLICATIONS

    Directory of Open Access Journals (Sweden)

    M. Podryhalo

    2015-07-01

    Full Text Available The obtained analytical expressions allow us to evaluate the stability of two-axle vehicles at various slowdowns. An analytical expression for calculating the ideal according to condition stability ensuring of a two-axle vehicle at service brake applications of brake force distribution allows to offer automatic control devices for brake force adjucement. With decellerationg growth of the two-axle vehicle at service braking the braking force acting on the front axle should decrease relative to the brake force on the rear axle.

  4. Two wheel speed robust sliding mode control for electric vehicle drive

    Directory of Open Access Journals (Sweden)

    Abdelfatah Nasri

    2008-01-01

    Full Text Available Nowadays the uses of electrical power resources are integrated in the modern vehicle motion traction chain so new technologies allow the development of electric vehicles (EV by means of static converters-related electric motors. All mechanical transmission devices are eliminated and vehicle wheel motion can be controlled by means of power electronics. The proposed propulsing system consists of two induction motors (IM that ensure the drive of the two back driving wheels. The proposed control structure-called independent machines- for speed control permit the achievement of an electronic differential. The electronic differential system ensures the robust control of the vehicle behavior on the road. It also allows controlling independently, every driving wheel to turn at different speeds in any curve. This paper presents the study and the sliding mode control strategy of the electric vehicle driving wheels.

  5. 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 -. ’,’

  6. Characterizing information propagation through inter-vehicle communication on a simple network of two parallel roads

    Science.gov (United States)

    2010-10-01

    In this report, we study information propagation via inter-vehicle communication along two parallel : roads. By identifying an inherent Bernoulli process, we are able to derive the mean and variance of : propagation distance. A road separation distan...

  7. An extended two-lane car-following model accounting for inter-vehicle communication

    Science.gov (United States)

    Ou, Hui; Tang, Tie-Qiao

    2018-04-01

    In this paper, we develop a novel car-following model with inter-vehicle communication to explore each vehicle's movement in a two-lane traffic system when an incident occurs on a lane. The numerical results show that the proposed model can perfectly describe each vehicle's motion when an incident occurs, i.e., no collision occurs while the classical full velocity difference (FVD) model produces collision on each lane, which shows the proposed model is more reasonable. The above results can help drivers to reasonably adjust their driving behaviors when an incident occurs in a two-lane traffic system.

  8. Vehicle mass and injury risk in two-car crashes: A novel methodology.

    Science.gov (United States)

    Tolouei, Reza; Maher, Mike; Titheridge, Helena

    2013-01-01

    This paper introduces a novel methodology based on disaggregate analysis of two-car crash data to estimate the partial effects of mass, through the velocity change, on absolute driver injury risk in each of the vehicles involved in the crash when absolute injury risk is defined as the probability of injury when the vehicle is involved in a two-car crash. The novel aspect of the introduced methodology is in providing a solution to the issue of lack of data on the speed of vehicles prior to the crash, which is required to calculate the velocity change, as well as a solution to the issue of lack of information on non-injury two-car crashes in national accident data. These issues have often led to focussing on relative measures of injury risk that are not independent of risk in the colliding cars. Furthermore, the introduced methodology is used to investigate whether there is any effect of vehicle size above and beyond that of mass ratio, and whether there are any effects associated with the gender and age of the drivers. The methodology was used to analyse two-car crashes to investigate the partial effects of vehicle mass and size on absolute driver injury risk. The results confirmed that in a two-car collision, vehicle mass has a protective effect on its own driver injury risk and an aggressive effect on the driver injury risk of the colliding vehicle. The results also confirmed that there is a protective effect of vehicle size above and beyond that of vehicle mass for frontal and front to side collisions. Copyright © 2012 Elsevier Ltd. All rights reserved.

  9. Complex terrain and wind lidars

    Energy Technology Data Exchange (ETDEWEB)

    Bingoel, F.

    2009-08-15

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

  10. Nonlinear dynamics modeling and simulation of two-wheeled self-balancing vehicle

    Directory of Open Access Journals (Sweden)

    Yunping Liu

    2016-11-01

    Full Text Available Two-wheeled self-balancing vehicle system is a kind of naturally unstable underactuated system with high-rank unstable multivariable strongly coupling complicated dynamic nonlinear property. Nonlinear dynamics modeling and simulation, as a basis of two-wheeled self-balancing vehicle dynamics research, has the guiding effect for system design of the project demonstration and design phase. Dynamics model of the two-wheeled self-balancing vehicle is established by importing a TSi ProPac package to the Mathematica software (version 8.0, which analyzes the stability and calculates the Lyapunov exponents of the system. The relationship between external force and stability of the system is analyzed by the phase trajectory. Proportional–integral–derivative control is added to the system in order to improve the stability of the two-wheeled self-balancing vehicle. From the research, Lyapunov exponent can be used to research the stability of hyperchaos system. The stability of the two-wheeled self-balancing vehicle is better by inputting the proportional–integral–derivative control. The Lyapunov exponent and phase trajectory can help us analyze the stability of a system better and lay the foundation for the analysis and control of the two-wheeled self-balancing vehicle system.

  11. Treinta y Tres stratigraphic terrain: ex Cuchilla Dionisio terrain. Uruguay

    International Nuclear Information System (INIS)

    Bossi, J.

    2010-01-01

    From 1998 we are discussing if the eastern area of ZCSB is an allochtonous block named TCD or if it belongs to Dom Feliciano belt with an age of 500 - 700 Ma. This crustal block is difficult to study because Laguna Merin Graben cut it in two around 4000 k m2 crustal fragments distant s more de 100 km between them. Southern block which was named T PE by Masquelín (2006) was demonstrated as allochtonous by Bossi and Gaucher (2004) destroying the Cdf model but seriously complicating the stratigraphic terminology. It is proposed to do some changes in order to profit the general agreement about allochtomy. The CDT with change by Treinta y Tres terrane; T PE become sub - terrain Punta del Este; sub - terrain Cuchilla Dionisio for the septetrional block. From 1998 we are discussing if the eastern area of ZCSB is an allochtonous block named TCD or if it belongs to Dom Feliciano belt with an age of 500 - 700 Ma. This crustal block is difficult to study because Laguna Merín Graben cut it in two around 4000 k m2 crustal fragments distant s more de 100 km between them. Southern block which was named T PE by Masquelín (2006) was demonstrated as allochtonous by Bossi and Gaucher (2004) destroying the CDF model but seriously complicating the stratigraphic terminology. It is proposed to do some changes in order to profit the general agreement about allochtomy. The CDT with change by Treinta y Tres terrain; TPE become sub - terrain Punta del Este; sub - terrain Cuchilla Dionisio for the septetrional block

  12. Local-scale stratigraphy of grooved terrain on Ganymede

    Science.gov (United States)

    Murchie, Scott L.; Head, James W.; Helfenstein, Paul; Plescia, Jeffrey B.

    1987-01-01

    The surface of the Jovian satellite, Ganymede, is divided into two main units, dark terrain cut by arcuate and subradial furrows, and light terrain consisting largely of areas with pervasive U-shaped grooves. The grooved terrain may be subdivided on the basis of pervasive morphology of groove domains into four terrain types: (1) elongate bands of parallel grooves (groove lanes); (2) polygonal domains of parallel grooves (grooved polygons); (3) polygonal domains of two orthogonal groove sets (reticulate terrain); and (4) polygons having two to several complexly cross-cutting groove sets (complex grooved terrain). Reticulate terrain is frequently dark and not extensively resurfaced, and grades to a more hummocky terrain type. The other three grooved terrain types have almost universally been resurfaced by light material during their emplacement. The sequence of events during grooved terrain emplacement has been investigated. An attempt is made to integrate observed geologic and tectonic patterns to better constrain the relative ages and styles of emplacement of grooved terrain types. A revised model of grooved terrain emplacement is proposed and is tested using detailed geologic mapping and measurement of crater density.

  13. [Road safety in Italy: epidemiology of two-wheeled motor vehicles accidents. National statistics 2000].

    Science.gov (United States)

    Morandi, Anna; Berzolari, Francesca Gigli; Marinoni, Alessandra

    2004-01-01

    to describe road accidents occurred in Italy focusing, in particular, on two-wheeled motor vehicles. Analysis of road accidents based on current data referring to year 2000. Italy. In Italy, 67,127 two-wheeled motor vehicle accidents occurred in 2000. Two crash types account for 75% of the accidents: side impact and front-side impact. Per one million kilometres travelled 0.4 cars and 1.3 two-wheeled vehicles are involved (0.7 motorcycles and 2.2 mopeds). In 2000 there were 1,229 deaths and 69,543 injured riders. Males up to forty years old are the most represented. The masculinity ratio presents a decreasing trend from motorcycles to mopeds and to cars both for killed people and for injured people. The lethality rate increases with age for all types of vehicles but for mopeds this trend is much more evident. Most of the accident occur in urban road while most of the deaths happen in extra-urban road. Mopeds and motorcycles, which are a small subset of all motor vehicles (approximately 20%), are greatly overrepresented in crashes. Considering the kilometres travelled, the risk to be involved in a crash for mopeds is estimated to be 32.6 times higher than the comparable risk for cars and for motorcycles it is 17 times higher. The risk of death for riders is two times the risk for cars.

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

    Directory of Open Access Journals (Sweden)

    D. Bulatov

    2012-09-01

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

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

    Science.gov (United States)

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

    2009-01-01

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

  16. Integration of a Folding Electric two-wheeler vehicle for a future commuting transportation

    DEFF Research Database (Denmark)

    Gudmundsson, Bjami Freyr; Larsen, Esben

    2012-01-01

    The paper issues the development, building and testing of a Folding Electric Motorbike, a lightweight, low cost and all-electric two-wheeler vehicle taking full advantage on today's city infrastructure. The technology offers drivers to combine transportation methods, lowering cost, and greenhouse......-electric two-wheeler vehicle taking full advantage on today's city infrastructure is very prospective. The alpha-prototype was successfully constructed and is considered to be ready for further laboratory testing and test driving before continuations on a fully designed beta-prototype....

  17. TERRAIN, Norfolk County, Massachusetts

    Data.gov (United States)

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

  18. TERRAIN, WRIGHT COUNTY, IA

    Data.gov (United States)

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

  19. TERRAIN, RANKIN COUNTY, MS

    Data.gov (United States)

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

  20. TERRAIN, MITCHELL COUNTY, IA

    Data.gov (United States)

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

  1. TERRAIN, DAWSON COUNTY, NE

    Data.gov (United States)

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

  2. TERRAIN, HOWARD COUNTY, IA

    Data.gov (United States)

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

  3. TERRAIN, RICE COUNTY, MN

    Data.gov (United States)

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

  4. TERRAIN, PIERCE, COUNTY, USA

    Data.gov (United States)

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

  5. TERRAIN, DARKE COUNTY, OH

    Data.gov (United States)

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

  6. TERRAIN, JONES COUNTY, IA

    Data.gov (United States)

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

  7. TERRAIN, JEFFERSON COUNTY, USA

    Data.gov (United States)

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

  8. TERRAIN, Pierce County, WA

    Data.gov (United States)

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

  9. TERRAIN, BERKS COUNTY, USA

    Data.gov (United States)

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

  10. TERRAIN, NEWTON COUNTY, GA

    Data.gov (United States)

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

  11. TERRAIN, PIKE COUNTY, MS

    Data.gov (United States)

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

  12. TERRAIN, Lincoln County, AR

    Data.gov (United States)

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

  13. TERRAIN, KENDALL COUNTY, TEXAS

    Data.gov (United States)

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

  14. TERRAIN, LEON COUNTY, TEXAS

    Data.gov (United States)

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

  15. TERRAIN, SNOHOMISH COUNTY, WASHINGTON

    Data.gov (United States)

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

  16. TERRAIN, TRAVIS COUNTY, TEXAS

    Data.gov (United States)

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

  17. TERRAIN, Bennington County, Vermont

    Data.gov (United States)

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

  18. TERRAIN, FRANKLIN COUNTY, IA

    Data.gov (United States)

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

  19. TERRAIN, CLALLAM COUNTY, WASHINGTON

    Data.gov (United States)

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

  20. TERRAIN, BARNSTABLE COUNTY, MASSACHUSETTS

    Data.gov (United States)

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

  1. TERRAIN, Northampton COUNTY, USA

    Data.gov (United States)

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

  2. TERRAIN, POTTER COUNTY, USA

    Data.gov (United States)

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

  3. TERRAIN, KITSAP COUNTY, WASHINGTON

    Data.gov (United States)

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

  4. TERRAIN, WAYNE COUNTY, TENNESSEE

    Data.gov (United States)

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

  5. TERRAIN, TROUSDALE COUNTY, TENNESSEE

    Data.gov (United States)

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

  6. TERRAIN, UNION PARISH, LOUSIANA

    Data.gov (United States)

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

  7. Geological terrain models

    Science.gov (United States)

    Kaupp, V. H.; Macdonald, H. C.; Waite, W. P.

    1981-01-01

    The initial phase of a program to determine the best interpretation strategy and sensor configuration for a radar remote sensing system for geologic applications is discussed. In this phase, terrain modeling and radar image simulation were used to perform parametric sensitivity studies. A relatively simple computer-generated terrain model is presented, and the data base, backscatter file, and transfer function for digital image simulation are described. Sets of images are presented that simulate the results obtained with an X-band radar from an altitude of 800 km and at three different terrain-illumination angles. The simulations include power maps, slant-range images, ground-range images, and ground-range images with statistical noise incorporated. It is concluded that digital image simulation and computer modeling provide cost-effective methods for evaluating terrain variations and sensor parameter changes, for predicting results, and for defining optimum sensor parameters.

  8. ARAC terrain data base

    International Nuclear Information System (INIS)

    Walker, H.

    1982-11-01

    A terrain data base covering the continental United States at 500-meter resolution has been generated. Its function is to provide terrain data for input to mesoscale atmospheric models that are used as part of the Atmospheric Release Advisory Capability at Lawrence Livermore Laboratory (LLNL). The structure of the data base as it exists on the LLNL computer system is described. The data base has been written to tapes for transfer to other systems and the format of these tapes is also described

  9. Advanced transportation system study: Manned launch vehicle concepts for two way transportation system payloads to LEO

    Science.gov (United States)

    Duffy, James B.

    1993-01-01

    The purpose of the Advanced Transportation System Study (ATSS) task area 1 study effort is to examine manned launch vehicle booster concepts and two-way cargo transfer and return vehicle concepts to determine which of the many proposed concepts best meets NASA's needs for two-way transportation to low earth orbit. The study identified specific configurations of the normally unmanned, expendable launch vehicles (such as the National Launch System family) necessary to fly manned payloads. These launch vehicle configurations were then analyzed to determine the integrated booster/spacecraft performance, operations, reliability, and cost characteristics for the payload delivery and return mission. Design impacts to the expendable launch vehicles which would be required to perform the manned payload delivery mission were also identified. These impacts included the implications of applying NASA's man-rating requirements, as well as any mission or payload unique impacts. The booster concepts evaluated included the National Launch System (NLS) family of expendable vehicles and several variations of the NLS reference configurations to deliver larger manned payload concepts (such as the crew logistics vehicle (CLV) proposed by NASA JSC). Advanced, clean sheet concepts such as an F-1A engine derived liquid rocket booster (LRB), the single stage to orbit rocket, and a NASP-derived aerospace plane were also included in the study effort. Existing expendable launch vehicles such as the Titan 4, Ariane 5, Energia, and Proton were also examined. Although several manned payload concepts were considered in the analyses, the reference manned payload was the NASA Langley Research Center's HL-20 version of the personnel launch system (PLS). A scaled up version of the PLS for combined crew/cargo delivery capability, the HL-42 configuration, was also included in the analyses of cargo transfer and return vehicle (CTRV) booster concepts. In addition to strictly manned payloads, two-way cargo

  10. Monitoring results of two PBS demonstration vehicles in the forestry industry in South Africa

    CSIR Research Space (South Africa)

    Nordengen, Paul A

    2010-03-01

    Full Text Available and manufactured to comply with the Level 2 safety standards of the Australian PBS system. This paper presents a summary of the monitoring data compiled during the first nine months of operation of the two PBS demonstration vehicles, which were commissioned...

  11. 75 FR 13809 - Reclassification of Motorcycles (Two and Three Wheeled Vehicles) in the Guide to Reporting...

    Science.gov (United States)

    2010-03-23

    ... Taxation, page 3-2. Item I.E.2. Motorcycles: This item includes two-wheeled and three-wheeled motorcycles... FHWA from their motor vehicle registration systems. As a result, such data is based on the definitions... bicycles. \\4\\ American National Standards Institute, http://webstore.ansi.org/?source=google&adgroup=ansi...

  12. A branch-and-cut algorithm for the symmetric two-echelon capacitated vehicle routing problem

    DEFF Research Database (Denmark)

    Jepsen, Mads Kehlet; Spoorendonk, Simon; Røpke, Stefan

    2013-01-01

    This paper presents an exact method for solving the symmetric two-echelon capacitated vehicle routing problem, a transportation problem concerned with the distribution of goods from a depot to a set of customers through a set of satellite locations. The presented method is based on an edge flow...

  13. Comparison between two braking control methods integrating energy recovery for a two-wheel front driven electric vehicle

    International Nuclear Information System (INIS)

    Itani, Khaled; De Bernardinis, Alexandre; Khatir, Zoubir; Jammal, Ahmad

    2016-01-01

    Highlights: • Comparison between two braking methods for an EV maximizing the energy recovery. • Wheels slip ratio control based on robust sliding mode and ECE R13 control methods. • Regenerative braking control strategy. • Energy recovery of a HESS with respect to road surface type and road condition. - Abstract: This paper presents the comparison between two braking methods for a two-wheel front driven Electric Vehicle maximizing the energy recovery on the Hybrid Energy Storage System. The first method consists in controlling the wheels slip ratio while braking using a robust sliding mode controller. The second method will be based on ECE R13H constraints for an M1 passenger vehicle. The vehicle model used for simulation is a simplified five degrees of freedom model. It is driven by two 30 kW permanent magnet synchronous motor (PMSM) recovering energy during braking phases. Several simulation results for extreme braking conditions will be performed and compared on various road type surfaces using Matlab/Simulink®. For an initial speed of 80 km/h, simulation results demonstrate that the difference of energy recovery efficiency between the two control braking methods is beneficial to the ECE constraints control method and it can vary from 3.7% for high friction road type to 11.2% for medium friction road type. At low friction road type, the difference attains 6.6% due to different reasons treated in the paper. The stability deceleration is also discussed and detailed.

  14. Cross-Coupled Control for All-Terrain Rovers

    Directory of Open Access Journals (Sweden)

    Giulio Reina

    2013-01-01

    Full Text Available Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors’ control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors.

  15. Position and force control of a vehicle with two or more steerable drive wheels

    Energy Technology Data Exchange (ETDEWEB)

    Reister, D.B.; Unseren, M.A.

    1992-10-01

    When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach to the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input. We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-III robot and have measured a dramatic reduction in error (more than a factor of 20) compared to motions without force control.

  16. Environmental policy-making in a difficult context: motorized two-wheeled vehicle emissions in India

    International Nuclear Information System (INIS)

    Badami, Madhav G.

    2004-01-01

    Motor vehicle activity is growing rapidly in India and other less-industrialized countries in Asia. This growth is contributing to serious health and welfare effects due to vehicle emissions, and energy insecurity, acidification and climate change. This paper applies the problem-structuring tools of 'value-focused thinking' to inform policy-making and implementation related to this complex problem in a difficult context, with specific reference to motorized two-wheeled vehicles, which play an important role in transport air pollution but also provide affordable mobility to millions with few other attractive options. The paper describes the process used to elicit and structure objectives and measures, based on interviews conducted by the author, and demonstrates how the objectives and measures can be used to more effectively characterize policy impacts, and create policy packages that have a better chance of long-term success

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

    Directory of Open Access Journals (Sweden)

    Wang Lihui

    2015-09-01

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

  18. Dynamic route guidance strategy in a two-route pedestrian-vehicle mixed traffic flow system

    Science.gov (United States)

    Liu, Mianfang; Xiong, Shengwu; Li, Bixiang

    2016-05-01

    With the rapid development of transportation, traffic questions have become the major issue for social, economic and environmental aspects. Especially, during serious emergencies, it is very important to alleviate road traffic congestion and improve the efficiency of evacuation to reduce casualties, and addressing these problems has been a major task for the agencies responsible in recent decades. Advanced road guidance strategies have been developed for homogeneous traffic flows, or to reduce traffic congestion and enhance the road capacity in a symmetric two-route scenario. However, feedback strategies have rarely been considered for pedestrian-vehicle mixed traffic flows with variable velocities and sizes in an asymmetric multi-route traffic system, which is a common phenomenon in many developing countries. In this study, we propose a weighted road occupancy feedback strategy (WROFS) for pedestrian-vehicle mixed traffic flows, which considers the system equilibrium to ease traffic congestion. In order to more realistic simulating the behavior of mixed traffic objects, the paper adopted a refined and dynamic cellular automaton model (RDPV_CA model) as the update mechanism for pedestrian-vehicle mixed traffic flow. Moreover, a bounded rational threshold control was introduced into the feedback strategy to avoid some negative effect of delayed information and reduce. Based on comparisons with the two previously proposed strategies, the simulation results obtained in a pedestrian-vehicle traffic flow scenario demonstrated that the proposed strategy with a bounded rational threshold was more effective and system equilibrium, system stability were reached.

  19. Probing the Terrain

    DEFF Research Database (Denmark)

    Johannessen, Runa

    2016-01-01

    Whether manifest in built structures or invisible infrastructures, architectures of control in the occupied Palestinian West Bank is structurally defined by endemic uncertainty. Shifting lines and frontiers are recorded on the terrain, creating elastic zones of uncertainty necessitating navigatio...... to the territory through its lines and laws, and how the very structure of the occupation has changed over the years, I seek to make visible the ways in which architectures of uncertainty compensate for the fleeting terrain that HH is probing.......Whether manifest in built structures or invisible infrastructures, architectures of control in the occupied Palestinian West Bank is structurally defined by endemic uncertainty. Shifting lines and frontiers are recorded on the terrain, creating elastic zones of uncertainty necessitating...

  20. Modelling and modal properties of the railway vehicle bogie with two individual wheelset drives

    Directory of Open Access Journals (Sweden)

    Zeman V.

    2007-10-01

    Full Text Available The paper deals with mathematical modelling of vibration and modal analysis of two-axled bogie of a railway vehicle. In comparison with recent publications introducing mathematical models of an individual wheelset drive, this paper is focused on modelling of complex bogie vibration. The bogie frame is linked by primary suspension to the two wheelset drives with hollow shafts and by secondary suspension to the car body. The method is based on the system decomposition into three subsystems – two individual wheelset drives including the mass of the rail and the bogie frame coupled with a half of the car body – and on modelling of couplings among subsystems. The eigenvalues of a linearized autonomous model and stability conditions are investigated in dependence on longitudinal creepage and forward velocity of the railway vehicle. The nonlinear model will be used for investigating the dynamic loading of bogie components caused by different types of excitation.

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

    Directory of Open Access Journals (Sweden)

    Lujin Hu

    2015-10-01

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

  2. Processing Terrain Point Cloud Data

    KAUST Repository

    DeVore, Ronald; Petrova, Guergana; Hielsberg, Matthew; Owens, Luke; Clack, Billy; Sood, Alok

    2013-01-01

    Terrain point cloud data are typically acquired through some form of Light Detection And Ranging sensing. They form a rich resource that is important in a variety of applications including navigation, line of sight, and terrain visualization

  3. Stability of the Small Electric Vehicle with Two In-Wheel Motors

    Directory of Open Access Journals (Sweden)

    Heerwan P.M.

    2017-01-01

    Full Text Available For a small electric vehicle (EV with the rear two in-wheel motors, the hydraulic brake system and the mechanical brake system are installed at the front and rear tire respectively. The mechanical brake system is used at the rear tire because there is no enough space for the hydraulic brake system. In a braking condition, the in-wheel motor at the rear tire will generate the regenerative braking force and it can improve the braking performance of the vehicle. However, during braking on the low adhesion road surface, anti-lock brake system (ABS is very crucial to prevent the tire from lock-up. To improve the safety and stability of the vehicle, the combination of anti-skid control system and direct yaw moment control system is proposed. The anti-skid control system contains a hydraulic unit of ABS at the front tires and regenerative brake timing control at the rear tires. The control method of the regenerative brake timing control is same as ABS and it will turn on and off to prevent the tire from lock-up. On the other hand, the direct yaw moment control system is developed to increase the steer performance of the vehicle. The optimal control is used as the control strategy method to control the yaw moment. The simulation is developed in MATLAB Simulink and the result shows that the proposed model can improve the stopping distance from 9 seconds to 8.2 seconds. In addition, the combination of skid control and yaw moment control also improved the steer performance of the vehicle.

  4. Complex Terrain and Wind Lidars

    DEFF Research Database (Denmark)

    Bingöl, Ferhat

    software WAsP Engineering 2.0 and was well predicted except for some sectors where the terrain is particularly steep. Subsequently, two experiments were performed in forested areas; where the measurements are recorded at a location deep-in forest and at the forest edge. Both sites were modelled with flow...... edge, LINCOM model was used by allocating a slope half-in half out of the forest based on the suggestions of previous studies. The optimum slope angle was reported as 17º. Thus, a suggestion was made to use WAsP Engineering 2.0 for forest edge modelling with known limitations and the applied method...

  5. Mapping Nearby Terrain in 3D by Use of a Grid of Laser Spots

    Science.gov (United States)

    Padgett, Curtis; Liebe, Carl; Chang, Johnny; Brown, Kenneth

    2007-01-01

    A proposed optoelectronic system, to be mounted aboard an exploratory robotic vehicle, would be used to generate a three-dimensional (3D) map of nearby terrain and obstacles for purposes of navigating the vehicle across the terrain and avoiding the obstacles. The difference between this system and the other systems would lie in the details of implementation. In this system, the illumination would be provided by a laser. The beam from the laser would pass through a two-dimensional diffraction grating, which would divide the beam into multiple beams propagating in different, fixed, known directions. These beams would form a grid of bright spots on the nearby terrain and obstacles. The centroid of each bright spot in the image would be computed. For each such spot, the combination of (1) the centroid, (2) the known direction of the light beam that produced the spot, and (3) the known baseline would constitute sufficient information for calculating the 3D position of the spot.

  6. The future of electric two-wheelers and electric vehicles in China

    International Nuclear Information System (INIS)

    Weinert, Jonathan; Ogden, Joan; Sperling, Dan; Burke, Andrew

    2008-01-01

    The method of force field analysis is used to examine the future technological and market evolution of electric two-wheelers (E2W) in China. The authors identify key forces driving and resisting future E2W market growth, root causes behind these forces, and important insights about the likelihood of a wide shift to larger three- and four-wheel electric vehicles (EV). The authors conclude that the key forces driving E2W market growth are: improvements in E2W and battery technology due to product modularity and modular industry structure, strong local regulatory support in the form of gasoline-powered motorcycle bans and loose enforcement of E2W standards, and deteriorating bus public transit service. The largest forces resisting E2W market growth are strong demand for gasoline-powered motorcycles, bans on E2Ws due to safety concerns in urban areas, and growing support for public transit. The balance of these forces appears to favor E2W market growth. This growth will likely drive vehicle electrification through continued innovation in batteries and motors, the switch from lead-acid to Li-ion batteries in E2Ws, and the development of larger E2Ws and EVs. There are however strong forces resisting vehicle electrification, including battery cost, charging infrastructure, and inherent complications with large battery systems. (author)

  7. A Concept of Two-Stage-To-Orbit Reusable Launch Vehicle

    Science.gov (United States)

    Yang, Yong; Wang, Xiaojun; Tang, Yihua

    2002-01-01

    Reusable Launch Vehicle (RLV) has a capability of delivering a wide rang of payload to earth orbit with greater reliability, lower cost, more flexibility and operability than any of today's launch vehicles. It is the goal of future space transportation systems. Past experience on single stage to orbit (SSTO) RLVs, such as NASA's NASP project, which aims at developing an rocket-based combined-cycle (RBCC) airplane and X-33, which aims at developing a rocket RLV, indicates that SSTO RLV can not be realized in the next few years based on the state-of-the-art technologies. This paper presents a concept of all rocket two-stage-to-orbit (TSTO) reusable launch vehicle. The TSTO RLV comprises an orbiter and a booster stage. The orbiter is mounted on the top of the booster stage. The TSTO RLV takes off vertically. At the altitude about 50km the booster stage is separated from the orbiter, returns and lands by parachutes and airbags, or lands horizontally by means of its own propulsion system. The orbiter continues its ascent flight and delivers the payload into LEO orbit. After completing orbit mission, the orbiter will reenter into the atmosphere, automatically fly to the ground base and finally horizontally land on the runway. TSTO RLV has less technology difficulties and risk than SSTO, and maybe the practical approach to the RLV in the near future.

  8. A two-pole Halbach permanent magnet guideway for high temperature superconducting Maglev vehicle

    International Nuclear Information System (INIS)

    Jing, H.; Wang, J.; Wang, S.; Wang, L.; Liu, L.; Zheng, J.; Deng, Z.; Ma, G.; Zhang, Y.; Li, J.

    2007-01-01

    In order to improve the levitation performance of the high temperature superconducting (HTS) magnetic levitation (Maglev) vehicle, a two-pole Halbach array's permanent magnet guideway (PMG) is proposed, which is called as Halbach PMG. The finite element method (FEM) calculations indicate that Halbach PMG has a wider high-field region than the present PMG of equal PM's transverse section. The levitation force of bulk HTSCs with the present PMG and Halbach PMG are measured. The results show that at different levitation gaps, the force ratios based on the Halbach PMG are about 2.3 times larger than that on the present PMG, which greatly increases the load capability of the system. Therefore, both the numerical analysis and experimental results have confirmed that the Halbach PMG will further enhance the performance of the vehicle and it is possible to decrease the total numbers of onboard HTSCs, reducing overall costs. So based on the Halbach PMG, we further study the width ratios between HTSCs and PMG for making the better use of the onboard HTSCs. Some preliminary results are given. These results are important for further HTS Maglev vehicle system designs using Halbach PMG

  9. Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology.

    Science.gov (United States)

    Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

    2017-06-15

    In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP's position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice.

  10. Vehicle barriers: emphasis on natural features

    International Nuclear Information System (INIS)

    Adams, K.G.; Roscoe, B.J.

    1985-07-01

    The recent increase in the use of car and truck bombs by terrorist organizations has led NRC to evaluate the adequacy of licensee security against such threats. As part of this evaluation, one of the factors is the effectiveness of terrain and vegetation in providing barriers against the vehicle entry. The effectiveness of natural features is presented in two contexts. First, certain natural features are presented. Second, the effectiveness of combinations of features is presented. In addition to the discussion of natural features, this report provides a discussion of methods to slow vehicles. Also included is an overview of man-made barrier systems, with particular attention to ditches. 17 refs., 49 figs

  11. Risky behavior of drivers of motorized two wheeled vehicles in India.

    Science.gov (United States)

    Dandona, Rakhi; Kumar, G Anil; Dandona, Lalit

    2006-01-01

    Motorized two-wheeled vehicles (MTV) account for a large proportion of road traffic in India and the riders of these vehicles have a high risk of road traffic injuries. We report on the availability of drivers licenses, use of a helmet, driver behavior, and condition of vehicles for MTV drivers in Hyderabad, a city in India Drivers of a MTV aged >16 years were interviewed at petrol filling stations There were 4,183 MTV drivers who participated in the study. Four hundred sixty one (11%; 95% CI 9.7-12.3%) drivers had not obtained a drivers license and 798 (21.4%) had obtained a license without taking the mandatory driving test. Two thousand nine hundred twenty (69.8%; 95% CI 67.9-71.7%) drivers reported no/very occasional use of a helmet, the significant predictors of which included that those driving borrowed a MTV (odds ratio 7.90; 95% CI 3.40-18.40) or driving moped/scooterette/scooter as compared with motorcycle (3.32; 2.76-3.98), lower education (3.10; 2.66-3.61), age >45 years (2.41; 1.63-3.57), and males (1.57; 1.16-2.13). Two thousand five hundred and eight (59.9%) drivers reported committing a traffic law violation at least once within the last 3 months. Overall, 1,222 (29.2%) drivers reported ever being caught by traffic police for a traffic law violation with data on violations available for 1,205 of these drivers, of whom 680 (56.4%) paid a fine, 310 (25.7%) paid by bribe, and 215 (17.8%) made no payment. The proportion of those who did not make payment for committed violation was significantly higher among females (46.8%) than males (16.3%). Two thousand fifty two (49%) of all MTVs had no rearview mirror These data suggest the need to enact and enforce policy interventions for improving the drivers license system, mandatory use of a helmet, effective traffic law enforcement, and ensuring good vehicle condition to reduce the risk factors that potentially contribute to mortality and morbidity in road traffic crashes in MTV drivers in Indian cities.

  12. Survivor shielding. Part C. Improvements in terrain shielding

    International Nuclear Information System (INIS)

    Egbert, Stephen D.; Kaul, Dean C.; Roberts, James A.; Kerr, George D.

    2005-01-01

    A number of atomic-bomb survivors were affected by shielding provided by terrain features. These terrain features can be a small hill, affecting one or two houses, or a high mountain that shields large neighborhoods. In the survivor dosimetry system, terrain shielding can be described by a transmission factor (TF), which is the ratio between the dose with and without the terrain present. The terrain TF typically ranges between 0.1 and 1.0. After DS86 was implemented at RERF, the terrain shielding categories were examined and found to either have a bias or an excessive uncertainty that could readily be removed. In 1989, an improvement in the terrain model was implemented at RERF in the revised DS86 code, but the documentation was not published. It is now presented in this section. The solution to the terrain shielding in front of a house is described in this section. The problem of terrain shielding of survivors behind Hijiyama mountain at Hiroshima and Konpirasan mountain at Nagasaki has also been recognized, and a solution to this problem has been included in DS02. (author)

  13. Enterprise Terrain Data Standards for Joint Training

    Science.gov (United States)

    2017-10-03

    e.g., bombs /shells, vehicles, etc.) or environmental factors (e.g., weather). • Riverine and ocean surface and bathymetry. o Wave/swell generation...Attachment 2 Terrain Generation Capability St an da rd iz ed S ch em a & At tr ib ut es...F or m at Pl at fo rm In de pe nd en t O pe ra tin g Sy st em In de pe nd en t Geospatial Source & Industry Formats Utilized by the Specification

  14. Using two detectors concurrently to monitor ambient dose equivalent rates in vehicle surveys of radiocesium contaminated land.

    Science.gov (United States)

    Takeishi, Minoru; Shibamichi, Masaru; Malins, Alex; Kurikami, Hiroshi; Murakami, Mitsuhiro; Saegusa, Jun; Yoneya, Masayuki

    2017-10-01

    In response to the accident at Tokyo Electric Power Company's Fukushima Dai-ichi Nuclear Power Plant (FDNPP), vehicle-borne monitoring was used to map radiation levels for radiological protection of the public. By convention measurements from vehicle-borne surveys are converted to the ambient dose equivalent rate at 1 m height in the absence of the vehicle. This allows for comparison with results from other types of survey, including surveys with hand-held or airborne instruments. To improve the accuracy of the converted results from vehicle-borne surveys, we investigated combining measurements from two detectors mounted on the vehicle at different heights above the ground. A dual-detector setup was added to a JAEA monitoring car and compared against hand-held survey meter measurements in Fukushima Prefecture. The results obtained by combining measurements from two detectors were within ±20% of the hand-held reference measurements. The mean absolute percentage deviation from the reference measurements was 7.2%. The combined results from the two detectors were more accurate than those from either the roof-mounted detector, or the detector inside the vehicle, taken alone. One issue with vehicle-borne surveys is that ambient dose equivalent rates above roads are not necessarily representative of adjacent areas. This is because radiocesium is often deficient on asphalt surfaces, as it is easily scrubbed off by rain, wind and vehicle tires. To tackle this issue, we investigated mounting heights for vehicle-borne detectors using Monte Carlo gamma-ray simulations. When radiocesium is deficient on a road compared to the adjacent land, mounting detectors high on vehicles yields results closer to the values adjacent to the road. The ratio of ambient dose equivalent rates reported by detectors mounted at different heights in a dual-detector setup indicates whether radiocesium is deficient on the road compared to the adjacent land. Copyright © 2017 Elsevier Ltd. All rights

  15. Implementation of Cooperation for Recycling Vehicle Routing Optimization in Two-Echelon Reverse Logistics Networks

    Directory of Open Access Journals (Sweden)

    Yong Wang

    2018-04-01

    Full Text Available The formation of a cooperative alliance is an effective means of approaching the vehicle routing optimization in two-echelon reverse logistics networks. Cooperative mechanisms can contribute to avoiding the inefficient assignment of resources for the recycling logistics operations and reducing long distance transportation. With regard to the relatively low performance of waste collection, this paper proposes a three-phase methodology to properly address the corresponding vehicle routing problem on two echelons. First, a bi-objective programming model is established to minimize the total cost and the number of vehicles considering semitrailers and vehicles sharing. Furthermore, the Clarke–Wright (CW savings method and the Non-dominated Sorting Genetic Algorithm-II (NSGA-II are combined to design a hybrid routing optimization heuristic, which is denoted CW_NSGA-II. Routes on the first and second echelons are obtained on the basis of sub-optimal solutions provided by CW algorithm. Compared to other intelligent algorithms, CW_NSGA-II reduces the complexity of the multi-objective solutions search and mostly converges to optimality. The profit generated by cooperation among retail stores and the recycling hub in the reverse logistics network is fairly and reasonably distributed to the participants by applying the Minimum Costs-Remaining Savings (MCRS method. Finally, an empirical study in Chengdu City, China, reveals the superiority of CW_NSGA over the multi-objective particle swarm optimization and the multi objective genetic algorithms in terms of solutions quality and convergence. Meanwhile, the comparison of MCRS method with the Shapley value model, equal profit method and cost gap allocation proves that MCRS method is more conducive to the stability of the cooperative alliance. In general, the implementation of cooperation in the optimization of the reverse logistics network effectively leads to the sustainable development of urban and sub

  16. Information measures for terrain visualization

    Science.gov (United States)

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

    2017-02-01

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

  17. Supporting Infrastructure and Acceptability Issues Associated With Two New Generation Vehicles: P2000 and EXS2

    Energy Technology Data Exchange (ETDEWEB)

    Das, S

    2000-06-06

    As the Partnership for a New Generation of Vehicles (PNGV) has been proceeding with the development of designs for high-fuel-economy vehicles, it also has been assessing whether impediments exist to the transition to these vehicles. Toward that end, as materials options and vehicle designs have been developed, Oak Ridge National Laboratory (ORNL) has been conducting analyses related to the attendant materials infrastructure requirements. This report addresses the question, what are the infrastructure requirements, acceptance issues, and life-cycle impacts associated with PNGV vehicles constructed of lightweight materials.

  18. Orion Multi-Purpose Crew Vehicle Solving and Mitigating the Two Main Cluster Pendulum Problem

    Science.gov (United States)

    Ali, Yasmin; Sommer, Bruce; Troung, Tuan; Anderson, Brian; Madsen, Christopher

    2017-01-01

    The Orion Multi-purpose Crew Vehicle (MPCV) Orion spacecraft will return humans from beyond earth's orbit, including Mars and will be required to land 20,000 pounds of mass safely in the ocean. The parachute system nominally lands under 3 main parachutes, but the system is designed to be fault tolerant and land under 2 main parachutes. During several of the parachute development tests, it was observed that a pendulum, or swinging, motion could develop while the Crew Module (CM) was descending under two parachutes. This pendulum effect had not been previously predicted by modeling. Landing impact analysis showed that the landing loads would double in some places across the spacecraft. The CM structural design limits would be exceeded upon landing if this pendulum motion were to occur. The Orion descent and landing team was faced with potentially millions of dollars in structural modifications and a severe mass increase. A multidisciplinary team was formed to determine root cause, model the pendulum motion, study alternate canopy planforms and assess alternate operational vehicle controls & operations providing mitigation options resulting in a reliability level deemed safe for human spaceflight. The problem and solution is a balance of risk to a known solution versus a chance to improve the landing performance for the next human-rated spacecraft.

  19. Two-dimensional statistical linear discriminant analysis for real-time robust vehicle-type recognition

    Science.gov (United States)

    Zafar, I.; Edirisinghe, E. A.; Acar, S.; Bez, H. E.

    2007-02-01

    Automatic vehicle Make and Model Recognition (MMR) systems provide useful performance enhancements to vehicle recognitions systems that are solely based on Automatic License Plate Recognition (ALPR) systems. Several car MMR systems have been proposed in literature. However these approaches are based on feature detection algorithms that can perform sub-optimally under adverse lighting and/or occlusion conditions. In this paper we propose a real time, appearance based, car MMR approach using Two Dimensional Linear Discriminant Analysis that is capable of addressing this limitation. We provide experimental results to analyse the proposed algorithm's robustness under varying illumination and occlusions conditions. We have shown that the best performance with the proposed 2D-LDA based car MMR approach is obtained when the eigenvectors of lower significance are ignored. For the given database of 200 car images of 25 different make-model classifications, a best accuracy of 91% was obtained with the 2D-LDA approach. We use a direct Principle Component Analysis (PCA) based approach as a benchmark to compare and contrast the performance of the proposed 2D-LDA approach to car MMR. We conclude that in general the 2D-LDA based algorithm supersedes the performance of the PCA based approach.

  20. A Two-Wheeled, Self-Balancing Electric Vehicle Used As an Environmentally Friendly Individual Means of Transport

    Science.gov (United States)

    Bździuch, D.; Grzegożek, W.

    2016-09-01

    This paper shows a concept of a model of a two-wheeled self-balancing vehicle with an electric motor drive as an environmentally-friendly personal transporter. The principle of work, modelling of construction and performing a simulation are presented and discussed. The visualization of the designed vehicle was made thanks to using Solid Works a computer-aided design program. The vehicle was modelled as an inverted pendulum. The stability of the mechanism in the equilibrium position was studied. An exemplary steering system was also subjected to the analysis that compared two controllers: PID and LQR which enabled to monitor the balance of the vehicle when the required conditions were fulfilled. Modelling of work of the controllers and the evaluation of the obtained results in required conditions were performed in the MATLAB environment.

  1. The Soyuz launch vehicle the two lives of an engineering triumph

    CERN Document Server

    Lardier, Christian

    2013-01-01

    The Soyuz launch vehicle has had a long and illustrious history. Built as the world's first intercontinental missile, it took the first man into space in April 1961, before becoming the workhorse of Russian spaceflight, launching satellites, interplanetary probes, every cosmonaut from Gagarin onwards, and, now, the multinational crews of the International Space Station. This remarkable book gives a complete and accurate description of the two lives of Soyuz, chronicling the cooperative space endeavor of Europe and Russia. First, it takes us back to the early days of astronautics, when technology served politics. From archives found in the Soviet Union the authors describe the difficulty of designing a rocket in the immediate post-war period. Then, in Soyuz's golden age, it launched numerous scientific missions and manned flights which were publicized worldwide while the many more numerous military missions were kept highly confidential! The second part of the book tells the contemporary story of the second li...

  2. Two-Stage Electric Vehicle Charging Coordination in Low Voltage Distribution Grids

    DEFF Research Database (Denmark)

    Bhattarai, Bishnu Prasad; Bak-Jensen, Birgitte; Pillai, Jayakrishnan Radhakrishna

    2014-01-01

    ). Being a sizable rated element, electric vehicles (EVs) can offer a great deal of demand flexibility in future intelligent grids. This paper first investigates and analyzes driving pattern and charging requirements of EVs. Secondly, a two-stage charging algorithm, namely local adaptive control...... encompassed by a central coordinative control, is proposed to realize the flexibility offered by EV. The local control enables adaptive charging; whereas the central coordinative control prepares optimized charging schedules. Results from various scenarios show that the proposed algorithm enables significant......Increased environmental awareness in the recent years has encouraged rapid growth of renewable energy sources (RESs); especially solar PV and wind. One of the effective solutions to compensate intermittencies in generation from the RESs is to enable consumer participation in demand response (DR...

  3. CAE for the development of two-wheeled vehicles. Nirinsha kaihatsu no tame no CAE

    Energy Technology Data Exchange (ETDEWEB)

    Hirose, T. (Suzuki Motor Co. Ltd., Shizuoka (Japan))

    1992-11-01

    Applications of CAE to the development of two-wheeled vehicles were outlined. The performance estimation program for 4-cycle engines featured by its easy execution was presented illustrating an estimation model and estimated results, and the FEM generator for strength/rigidity analysis CAE indicating analytical examples of a piston and frame which is featured by easy formation of models and easy execution of advanced analyses by beginners. The vibration analysis system to estimate exciting forces from engine specifications and to estimate vibration levels of bodies with FEM models was also presented together with the estimation system of rider's vibration sensitivity. Furthermore, the noise suppression/ exhaust pressure calculation program to support muffler designs by simultaneous calculation was presented together with the thermal flow analysis program featured by easy calculation with more suitable models illustrating the analytical example of thermal flow in a large luggage box. 7 refs., 15 figs.

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

    Directory of Open Access Journals (Sweden)

    Andrew eStuntz

    2016-04-01

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

  5. Turbulence in complex terrain

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-03-01

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

  6. A new inventory for two-wheel vehicle emissions in West Africa for 2002

    Science.gov (United States)

    Assamoi, Eric-Michel; Liousse, Catherine

    2010-10-01

    Rather surprisingly, urban atmospheric particulate levels in West Africa compare with measured concentrations in Europe and Asia megacities (Liousse, C., Galy-Lacaux, C., Assamoi, E.-M., Ndiaye, A., Diop, B., Cachier, H., Doumbia, T., Gueye, P., Yoboue, V., Lacaux, J.-P., Guinot, B., Guillaume, B., Rosset, R., Castera, P., Gardrat, E., Zouiten, C., Jambert, C., Diouf, A., Koita, O., Baeza, A., Annesi-Maesano, I., Didier, A., Audry, S., Konare, A., 2009. Integrated Focus on West African Cities (Cotonou, Bamako, Dakar, Ouagadougou, Abidjan, Niamey): Emissions, Air Quality and Health Impacts of Gases and Aerosols. Third International AMMA Conference on Predictability of the West African Moosoon Weather, Climate and Impacts. Ouagadougou, Burkina Faso. July 20-24). This pollution mainly derives from road traffic emissions with, in some capitals (e.g. Cotonou), the strong contribution of two-wheel vehicles. Two key questions arise: are presently available emission inventories (e.g. Junker, C., Liousse, C., 2008. A global emission inventory of carbonaceous aerosol from historic records of fossil fuel and biofuel consumption for the period 1860-1997. Atmospheric Chemistry Physics, 8, 1-13; Bond, T.C., Streets, D.G., Yarber, K.F., Nelson, S.M., Woo, J.H., Klimont, Z., 2004. A technology-based global inventory of black and organic carbon emissions from combustion. Journal of Geophysical Research, 1009, D14203, DOI:10.1029/2003JD003697) able to account for these emissions? And, if not, how can we remedy this? The aim of this paper is to develop a methodology to estimate emissions produced by two-wheel vehicles in West Africa for 2002 in a context where reliable information is hardly available. Fuel consumption ratios between two-wheel engines (in this work) and all vehicles issued from UN database ( http://data.un.org/Data.aspx?d=EDATA&f=cmID%3aMO%3btrID%3a1221) are as high as 169%, 264% and 628%, for Burkina Faso, Mali and Chad respectively, indicating that this global

  7. An Efficient Two-Objective Hybrid Local Search Algorithm for Solving the Fuel Consumption Vehicle Routing Problem

    Directory of Open Access Journals (Sweden)

    Weizhen Rao

    2016-01-01

    Full Text Available The classical model of vehicle routing problem (VRP generally minimizes either the total vehicle travelling distance or the total number of dispatched vehicles. Due to the increased importance of environmental sustainability, one variant of VRPs that minimizes the total vehicle fuel consumption has gained much attention. The resulting fuel consumption VRP (FCVRP becomes increasingly important yet difficult. We present a mixed integer programming model for the FCVRP, and fuel consumption is measured through the degree of road gradient. Complexity analysis of FCVRP is presented through analogy with the capacitated VRP. To tackle the FCVRP’s computational intractability, we propose an efficient two-objective hybrid local search algorithm (TOHLS. TOHLS is based on a hybrid local search algorithm (HLS that is also used to solve FCVRP. Based on the Golden CVRP benchmarks, 60 FCVRP instances are generated and tested. Finally, the computational results show that the proposed TOHLS significantly outperforms the HLS.

  8. Study on the Control Algorithm of Two-Stage DC-DC Converter for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Changhao Piao

    2014-01-01

    Full Text Available The fast response, high efficiency, and good reliability are very important characteristics to electric vehicles (EVs dc/dc converters. Two-stage dc-dc converter is a kind of dc-dc topologies that can offer those characteristics to EVs. Presently, nonlinear control is an active area of research in the field of the control algorithm of dc-dc converters. However, very few papers research on two-stage converter for EVs. In this paper, a fixed switching frequency sliding mode (FSFSM controller and double-integral sliding mode (DISM controller for two-stage dc-dc converter are proposed. And a conventional linear control (lag is chosen as the comparison. The performances of the proposed FSFSM controller are compared with those obtained by the lag controller. In consequence, the satisfactory simulation and experiment results show that the FSFSM controller is capable of offering good large-signal operations with fast dynamical responses to the converter. At last, some other simulation results are presented to prove that the DISM controller is a promising method for the converter to eliminate the steady-state error.

  9. Experimental Semiautonomous Vehicle

    Science.gov (United States)

    Wilcox, Brian H.; Mishkin, Andrew H.; Litwin, Todd E.; Matthies, Larry H.; Cooper, Brian K.; Nguyen, Tam T.; Gat, Erann; Gennery, Donald B.; Firby, Robert J.; Miller, David P.; hide

    1993-01-01

    Semiautonomous rover vehicle serves as testbed for evaluation of navigation and obstacle-avoidance techniques. Designed to traverse variety of terrains. Concepts developed applicable to robots for service in dangerous environments as well as to robots for exploration of remote planets. Called Robby, vehicle 4 m long and 2 m wide, with six 1-m-diameter wheels. Mass of 1,200 kg and surmounts obstacles as large as 1 1/2 m. Optimized for development of machine-vision-based strategies and equipped with complement of vision and direction sensors and image-processing computers. Front and rear cabs steer and roll with respect to centerline of vehicle. Vehicle also pivots about central axle, so wheels comply with almost any terrain.

  10. Photometric diversity of terrains on Triton

    Science.gov (United States)

    Hillier, J.; Veverka, J.; Helfenstein, P.; Lee, P.

    1994-01-01

    Voyager disk-resolved images of Triton in the violet (0.41 micrometers) and green (0.56 micrometer wavelengths have been analyzed to derive the photometric characteristics of terrains on Triton. Similar conclusions are found using two distinct but related definitions of photometric units, one based on color ratio and albedo properties (A. S. McEwen, 1990), the other on albedo and brightness ratios at different phase angles (P. Lee et al., 1992). A significant diversity of photometric behavior, much broader than that discovered so far on any other icy satellite, occurs among Triton's terrains. Remarkably, differences in photometric behavior do not correlate well with geologic terrain boundaries defined on the basis of surface morphology. This suggests that in most cases photometric properties on Triton are controlled by thin deposits superposed on underlying geologic units. Single scattering albedos are 0.98 or higher and asymmetry factors range from -0.35 to -0.45 for most units. The most distinct scattering behavior is exhibited by the reddish northern units already identified as the Anomalously Scattering Region (ASR), which scatters light almost isotropically with g = -0.04. In part due to the effects of Triton's clouds and haze, it is difficult to constrain the value of bar-theta, Hapke's macroscopic roughness parameter, precisely for Triton or to map differences in bar-theta among the different photometric terrains. However, our study shows that Triton must be relatively smooth, with bar-theta less than 15-20 degs and suggests that a value of 14 degs is appropriate. The differences in photometric characteristics lead to significantly different phase angle behavior for the various terrains. For example, a terrain (e.g., the ASR) that appears dark relative to another at low phase angles will reverse its contrast (become relatively brighter) at larger phase angles. The photometric parameters have been used to calculate hemispherical albedos for the units and to

  11. Development of an Autonomous Navigation Technology Test Vehicle

    National Research Council Canada - National Science Library

    Tobler, Chad K

    2004-01-01

    .... In order to continue these research activities at CIMAR, a new Kawasaki Mule All-Terrain Vehicle was chosen to be automated as a test-bed for the purpose of developing and testing autonomous vehicle technologies...

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

    Directory of Open Access Journals (Sweden)

    Ticusor CIOBOTARU

    2009-12-01

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

  13. TERRAIN, HENRY COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  14. TERRAIN, BARREN COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  15. TERRAIN, LOWNDES COUNTY, ALABAMA USA

    Data.gov (United States)

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

  16. TERRAIN, FRANKLIN COUNTY, ALABAMA USA

    Data.gov (United States)

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

  17. TERRAIN, HARRISON COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  18. TERRAIN, LOGAN COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  19. TERRAIN, LAWRENCE COUNTY, Ohio USA

    Data.gov (United States)

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

  20. TERRAIN, SEBASTIAN COUNTY, AR, USA

    Data.gov (United States)

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

  1. TERRAIN, MONROE COUNTY, Michigan USA

    Data.gov (United States)

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

  2. TERRAIN, ALLENDALE COUNTY, SOUTH CAROLINA

    Data.gov (United States)

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

  3. TERRAIN, WAKULLA COUNTY, FL, USA

    Data.gov (United States)

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

  4. TERRAIN, BRADFORD COUNTY, FL, USA

    Data.gov (United States)

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

  5. TERRAIN, GADSDEN COUNTY, FL, USA

    Data.gov (United States)

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

  6. TERRAIN, LEVY COUNTY, FL, USA

    Data.gov (United States)

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

  7. TERRAIN, WOODFORD COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  8. TERRAIN, POWELL COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  9. TERRAIN, TALLAPOOSA COUNTY, ALABAMA USA

    Data.gov (United States)

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

  10. TERRAIN Submission for CHICKASAW, IA

    Data.gov (United States)

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

  11. TERRAIN, CHEROKEE COUNTY, ALABAMA USA

    Data.gov (United States)

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

  12. TERRAIN, JEFFERSON COUNTY, ALABAMA USA

    Data.gov (United States)

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

  13. TERRAIN, POWESHIEK COUNTY, IOWA USA

    Data.gov (United States)

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

  14. TERRAIN, RANDOLPH COUNTY, ALABAMA USA

    Data.gov (United States)

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

  15. TERRAIN, ELMORE COUNTY, ALABAMA USA

    Data.gov (United States)

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

  16. TERRAIN, ANNE ARUNDEL COUNTY, USA

    Data.gov (United States)

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

  17. TERRAIN, WASHINGTON COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  18. TERRAIN, WASHINGTON COUNTY, Ohio USA

    Data.gov (United States)

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

  19. TERRAIN, WINNESHIEK COUNTY, IOWA, USA

    Data.gov (United States)

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

  20. TERRAIN, WAYNE COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  1. TERRAIN, MCLEAN COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  2. TERRAIN, WINSTON COUNTY, ALABAMA USA

    Data.gov (United States)

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

  3. TERRAIN, CHAMBERS COUNTY, ALABAMA USA

    Data.gov (United States)

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

  4. TERRAIN, PERRY COUNTY, ALABAMA USA

    Data.gov (United States)

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

  5. TERRAIN, ESTILL COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  6. TERRAIN, NATCHITOCHES PARISH, LA, USA

    Data.gov (United States)

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

  7. TERRAIN, CLINTON COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  8. TERRAIN, CHILTON COUNTY, ALABAMA USA

    Data.gov (United States)

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

  9. TERRAIN, GRAYSON COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  10. TERRAIN, GARRARD COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  11. TERRAIN, Sedgwick COUNTY, Kansas USA

    Data.gov (United States)

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

  12. TERRAIN, MACOMB COUNTY, MI, USA

    Data.gov (United States)

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

  13. TERRAIN, MARSHALL COUNTY, ALABAMA USA

    Data.gov (United States)

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

  14. Terrain Data, Caroline COUNTY, USA

    Data.gov (United States)

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

  15. TERRAIN, SUWANNEE COUNTY, FLORIDA USA

    Data.gov (United States)

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

  16. TERRAIN, CHOCTAW COUNTY, ALABAMA USA

    Data.gov (United States)

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

  17. TERRAIN, CARLISLE COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  18. TERRAIN, SIMPSON COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  19. TERRAIN, GRAVES COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  20. TERRAIN, MADISON COUNTY, ALABAMA USA

    Data.gov (United States)

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

  1. TERRAIN, TANEY COUNTY, Missouri USA

    Data.gov (United States)

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

  2. TERRAIN, FRANKLIN PARISH, LA, USA

    Data.gov (United States)

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

  3. TERRAIN, Catahoula PARISH, LA, USA

    Data.gov (United States)

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

  4. TERRAIN, RICHLAND PARISH, LA, USA

    Data.gov (United States)

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

  5. TERRAIN, OVERTON COUNTY, TN, USA

    Data.gov (United States)

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

  6. TERRAIN, STEWART COUNTY, TN, USA

    Data.gov (United States)

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

  7. TERRAIN, MOREHOUSE PARISH, LA, USA

    Data.gov (United States)

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

  8. TERRAIN, ALLEN COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  9. TERRAIN, LEWIS COUNTY, Missouri USA

    Data.gov (United States)

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

  10. TERRAIN, BUFFALO COUNTY, WISCONSIN, USA

    Data.gov (United States)

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

  11. TERRAIN, MARENGO COUNTY, ALABAMA USA

    Data.gov (United States)

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

  12. TERRAIN, CLARKE COUNTY, ALABAMA USA

    Data.gov (United States)

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

  13. TERRAIN, HART COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  14. TERRAIN, HOUSTON COUNTY, TN, USA

    Data.gov (United States)

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

  15. TERRAIN, JESSAMINE COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  16. TERRAIN, LAWRENCE COUNTY, ALABAMA USA

    Data.gov (United States)

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

  17. TERRAIN, BALLARD COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  18. TERRAIN, NELSON COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  19. TERRAIN, EVANGELINE PARISH, LA, USA

    Data.gov (United States)

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

  20. Terrain Adaptive Reconfiguration of Mobility

    Data.gov (United States)

    National Aeronautics and Space Administration — Develop an algorithm (and software) to automatically adapt a reconfigurable robot to different types of terrains for improved mobility, that compared to SOA:...

  1. TERRAIN, MENIFEE COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  2. TERRAIN, SHELBY COUNTY, ALABAMA USA

    Data.gov (United States)

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

  3. TERRAIN, Platte County, Missouri USA

    Data.gov (United States)

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

  4. TERRAIN, SCOTT COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  5. TERRAIN, FAYETTE COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  6. TERRAIN, MUHLENBERG COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  7. TERRAIN, CAMPBELL COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  8. TERRAIN, CARTER COUNTY, KENTUCKY USA

    Data.gov (United States)

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

  9. TERRAIN, SANTA CRUZ COUNTY, AZ

    Data.gov (United States)

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

  10. Motor vehicle-related deaths around two major holidays in South Korea.

    Science.gov (United States)

    Sohn, Kitae

    2017-10-01

    South Korea has consistently exhibited high rates of motor vehicle-related deaths (MVDs) since the late 1980s. This study investigated the number of MVDs around two major public holidays in South Korea-Lunar New Year's Day and Thanksgiving Day. MVDs from records of all individual deaths in 1997-2014 were extracted; then, MVDs per day from 14 days before and after each holiday (ie, 29 days in total) were summed across the years. Eventually, the 3-day mean values of MVDs before and after the holiday were compared, when holiday-related traffic peaks. The 3-day mean before Lunar New Year's Day was 385 fatalities, but dropped to 324 after the holiday; the corresponding figures for Thanksgiving Day were 494 and 413. These results are contrary to those of other countries. It appears that the severe congestion of highway traffic around the holidays resulted in a decrease in MVDs. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/.

  11. Weight Analysis of Two-Stage-To-Orbit Reusable Launch Vehicles for Military Applications

    National Research Council Canada - National Science Library

    Caldwell, Richard A

    2005-01-01

    In response to Department of Defense (DoD) requirements for responsive and low-cost space access, this design study provides an objective empty weight analysis of potential reusable launch vehicle (RLV) configurations...

  12. Analyzing complex wake-terrain interactions and its implications on wind-farm performance.

    Science.gov (United States)

    Tabib, Mandar; Rasheed, Adil; Fuchs, Franz

    2016-09-01

    this vortex-terrain interactions on wind-farm performance is observed by comparing two LES simulations of a multi-turbine wind-farm layout (in real actual complex terrain and a made-up flat terrain scenario) with the observed annual power data at the actual wind-farm. The comparison reveals drop in power production due to terrain and wake effects for flatter terrain case. The insights from this study can serve as a step towards enhancing wake-dissipation through either artificial obstruction or artificial terrain modifications.

  13. A Multi-Depot Two-Echelon Vehicle Routing Problem with Delivery Options Arising in the Last Mile Distribution

    NARCIS (Netherlands)

    Zhou, Lin; Baldacci, Roberto; Vigo, Daniele; Wang, Xu

    2018-01-01

    In this paper, we introduce a new city logistics problem arising in the last mile distribution of e-commerce. The problem involves two levels of routing problems. The first requires a design of the routes for a vehicle fleet located at the depots to transport the customer demands to a subset of the

  14. NPSNET: Dynamic Terrain and Cultured Feature Depiction

    Science.gov (United States)

    1992-09-01

    defaults. bridge(terrain *ptr, vertex pos, bridge mattype bmat ); This constructor takes only the pointer to the underlying terrain, a placement, and a...material to use for construction. bridge(terrain *ptr, vertex pos, bridge-mattype bmat , float dir); This constructor takes a terrain pointer, a...placement position, a material to use, and a direction to run. bridge(terrain *ptr, vertex pos, bridge-mattype bmat , float dir, float width, float height

  15. 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.)

  16. NEW TWO-YEAR RESTRICTION APPLICABLE TO VEHICLES REGISTERED IN THE FRENCH'431 K' AND '431 CD' SERIES

    CERN Multimedia

    Relations with the Host States Service

    2002-01-01

    The French Ministry of Foreign Affairs has recently informed CERN that, with effect from 1st January 2002, owners of vehicles registered in the '431 K' and '431 CD' special series will not be able to change them for other vehicles in these series until two years have elapsed. The Ministry has also reminded us that members of the personnel with diplomatic status who are neither French nor permanent residents are entitled to register one vehicle in the '431 CD' series if they are single and two if they are married. However, irrespective of their marital status, members of the personnel holding an FI or AT carte spéciale, may register only one vehicle in the '431 K' series. CERN has requested the Ministry to clarify certain issues relating to the above and to arrange a transition period for the two-year restriction. Further information on this subject will be published shortly. Relations with the Host States Service http://www.cern.ch/relations/ Tel. 72848

  17. Comparative analysis of two hybrid energy storage systems used in a two front wheel driven electric vehicle during extreme start-up and regenerative braking operations

    International Nuclear Information System (INIS)

    Itani, Khaled; De Bernardinis, Alexandre; Khatir, Zoubir; Jammal, Ahmad

    2017-01-01

    Highlights: • Comparison of HESS Ultracapacitor and Flywheel for maximizing EV energy recovery. • Energy recovery performed for extreme two front-wheel driven EV brake conditions. • Regenerative EV braking control strategies and constraints for HESS. • Comparative cost effectiveness for two HESS solutions Ultracapacitors and Flywheel. - Abstract: This paper presents the comparative study of two hybrid energy storage systems (HESS) of a two front wheel driven electric vehicle. The primary energy source of the HESS is a Li-Ion battery, whereas the secondary energy source is either an ultracapacitor (UC) or a flywheel energy system (FES). The main role of the secondary source is to deliver/recover energy during high peak power demand, but also to increase battery lifetime, considered among the most expensive items in the electric vehicle. As a first step, a techno-economic comparative study, supported by strong literature research, is performed between the UC and the FES. The design and sizing of each element will be presented. The comparison criteria and specifications are also described. The adopted approach in this paper is based on an academic non-oriented point of view. In a second step, each of the HESS will be integrated in a more global Simulink model which includes the vehicle model, the traction control system (TCS), the regenerative braking system and the vehicle actuators. Simulation tests are performed for an extreme braking and vehicle starting-up operations. Tests are realized on two different surface road types and conditions (high and low friction roads) and for different initial system states. In order to show the most appropriate storage system regarding compactness, weight and battery constraints minimization, deep comparative analysis is provided.

  18. A Neural Network Combined Inverse Controller for a Two-Rear-Wheel Independently Driven Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Duo Zhang

    2014-07-01

    Full Text Available Vehicle active safety control is attracting ever increasing attention in the attempt to improve the stability and the maneuverability of electric vehicles. In this paper, a neural network combined inverse (NNCI controller is proposed, incorporating the merits of left-inversion and right-inversion. As the left-inversion soft-sensor can estimate the sideslip angle, while the right-inversion is utilized to decouple control. Then, the proposed NNCI controller not only linearizes and decouples the original nonlinear system, but also directly obtains immeasurable state feedback in constructing the right-inversion. Hence, the proposed controller is very practical in engineering applications. The proposed system is co-simulated based on the vehicle simulation package CarSim in connection with Matlab/Simulink. The results verify the effectiveness of the proposed control strategy.

  19. Study on Two-segment Electric-mechanical Composite Braking Strategy of Tracked Vehicle Hybrid Transmission System

    OpenAIRE

    Ma, Tian; Gai, Jiangtao; Ma, Xiaofeng

    2010-01-01

    In order to lighten abrasion of braking system of hybrid electric tracked vehicle, according to characteristic of hybrid electric transmission, electric-mechanical composite braking method was proposed. By means of analyzing performance of electric braking and mechanical braking and three-segment composite braking strategy, two-segment electric-mechanical composite braking strategy was put forward in this paper. Simulation results of Matlab/Simulink indicated that the two-segment electric-mec...

  20. Processing Terrain Point Cloud Data

    KAUST Repository

    DeVore, Ronald

    2013-01-10

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

  1. Factors associated with rear seating of children in motor vehicles: a study in two low-income, predominantly Hispanic communities.

    Science.gov (United States)

    Greenberg-Seth, Jennifer; Hemenway, David; Gallagher, Susan S; Lissy, Karen S; Ross, Julie B

    2004-07-01

    This study examined child seating patterns in two predominantly low-income, Hispanic communities in Massachusetts. The purpose was to determine the factors associated with child rear seating in the community as a whole and for a subset of Hispanic motorists. Five hundred and five vehicles carrying child passengers and no adult other than the driver were observed in parking lots of fast food restaurants and grocery stores. Four hundred and thirty-two vehicle drivers agreed to be interviewed. A child was defined as a passenger younger than age 12 as determined by appearance and height (head below the vehicle headrest when seated). Variables under study included driver gender, age, ethnicity, and educational attainment; driver shoulder belt use; driver perception of passenger-side airbag presence; and the number and ages of children in the car. Overall, 51% of vehicles were observed with all children seated in the rear. In a bivariate analysis, child rear seating was strongly associated with female drivers ( P = 0.01), younger drivers ( P = 0.02) driver shoulder belt use ( P safety behavior (e.g. seat belt use). Messages should be culturally appropriate and should emphasize driver seat belt use in conjunction with rear seating and the importance of rear seating regardless of the presence of a passenger-side airbag.

  2. A mixed logit analysis of two-vehicle crash severities involving a motorcycle.

    Science.gov (United States)

    Shaheed, Mohammad Saad B; Gkritza, Konstantina; Zhang, Wei; Hans, Zachary

    2013-12-01

    Using motorcycle crash data for Iowa from 2001 to 2008, this paper estimates a mixed logit model to investigate the factors that affect crash severity outcomes in a collision between a motorcycle and another vehicle. These include crash-specific factors (such as manner of collision, motorcycle rider and non-motorcycle driver and vehicle actions), roadway and environmental conditions, location and time, motorcycle rider and non-motorcycle driver and vehicle attributes. The methodological approach allows the parameters to vary across observations as opposed to a single parameter representing all observations. Our results showed non-uniform effects of rear-end collisions on minor injury crashes, as well as of the roadway speed limit greater or equal to 55mph, the type of area (urban), the riding season (summer) and motorcyclist's gender on low severity crashes. We also found significant effects of the roadway surface condition, clear vision (not obscured by moving vehicles, trees, buildings, or other), light conditions, speed limit, and helmet use on severe injury outcomes. Copyright © 2013 Elsevier Ltd. All rights reserved.

  3. Two-Level Control for Fast Electrical Vehicle Charging Stations with Multi Flywheel Energy Storage System

    DEFF Research Database (Denmark)

    SUN, BO; Dragicevic, Tomislav; Vasquez, Juan Carlos

    2015-01-01

    This paper applies a hierarchical control for a fast charging station (FCS) composed of paralleled PWM rectifier and dedicated paralleled multiple flywheel energy storage systems (FESSs), in order to mitigate peak power shock on grid caused by sudden connection of electrical vehicle (EV) chargers...

  4. Stability and uniformity of extemporaneous preparations of voriconazole in two liquid suspension vehicles at two storage temperatures.

    Science.gov (United States)

    Nguyen, Kyvan Q; Hawkins, Michelle G; Taylor, Ian T; Wiebe, Valerie J; Tell, Lisa A

    2009-07-01

    To determine the stability and distribution of voriconazole in 2 extemporaneously prepared (compounded) suspensions stored for 30 days at 2 temperatures. Voriconazole suspensions (40 mg/mL) compounded from commercially available 200-mg tablets suspended in 1 of 2 vehicles. One vehicle contained a commercially available suspending agent and a sweetening syrup in a 1:1 mixture (SASS). The other vehicle contained the suspending agent with deionized water in a 3:1 mixture (SADI). Voriconazole suspensions (40 mg/mL in 40-mL volumes) were compounded on day 0 and stored at room temperature (approx 21 degrees C) or refrigerated (approx 5 degrees C). To evaluate distribution, room-temperature aliquots of voriconazole were measured immediately after preparation. Refrigerated aliquots were measured after 3 hours of refrigeration. To evaluate stability, aliquots from each suspension were measured at approximately 7-day intervals for up to 30 days. Voriconazole concentration, color, odor, opacity, and pH were measured, and aerobic and anaerobic bacterial cultures were performed at various points. Drug distribution was uniform (coefficient of variation, suspensions. On day 0, 87.8% to 93.0% of voriconazole was recovered; percentage recovery increased to between 95.1% and 100.8% by day 7. On subsequent days, up to day 30, percentage recovery was stable (> 90%) for all suspensions. The pH of each suspension did not differ significantly throughout the 30-day period. Storage temperature did not affect drug concentrations at any time, nor was bacterial growth obtained. Extemporaneously prepared voriconazole in SASS and SADI resulted in suspensions that remained stable for at least 30 days. Refrigerated versus room-temperature storage of the suspensions had no effect on drug stability.

  5. A Two-Phase Heuristic Algorithm for the Common Frequency Routing Problem with Vehicle Type Choice in the Milk Run

    Directory of Open Access Journals (Sweden)

    Yu Lin

    2015-01-01

    Full Text Available High frequency and small lot size are characteristics of milk runs and are often used to implement the just-in-time (JIT strategy in logistical systems. The common frequency problem, which simultaneously involves planning of the route and frequency, has been extensively researched in milk run systems. In addition, vehicle type choice in the milk run system also has a significant influence on the operating cost. Therefore, in this paper, we simultaneously consider vehicle routing planning, frequency planning, and vehicle type choice in order to optimize the sum of the cost of transportation, inventory, and dispatch. To this end, we develop a mathematical model to describe the common frequency problem with vehicle type choice. Since the problem is NP hard, we develop a two-phase heuristic algorithm to solve the model. More specifically, an initial satisfactory solution is first generated through a greedy heuristic algorithm to maximize the ratio of the superior arc frequency to the inferior arc frequency. Following this, a tabu search (TS with limited search scope is used to improve the initial satisfactory solution. Numerical examples with different sizes establish the efficacy of our model and our proposed algorithm.

  6. Stratigraphy of the layered terrain in Valles Marineris, Mars

    Science.gov (United States)

    Komatsu, G.; Strom, Roger G.

    1991-01-01

    The layered terrain in Valles Marineris provides information about its origin and the geologic history of this canyon system. Whether the terrain is sedimentary material deposited in a dry or lacustrine environment, or volcanic material related to the tectonics of the canyon is still controversial. However, recent studies of Gangis Layered Terrain suggests a cyclic sequence of deposition and erosion under episodic lacustrine conditions. The stratigraphic studies are extended to four other occurrences of layered terrains in Valles Marineris in an attempt to correlate and distinguish between depositional environments. The Juvantae Chasma, Hebes Chasma, Ophir and Candor Chasmata, Melas Chasma, and Gangis Layered Terrain were examined. Although there are broad similarities among the layered terrains, no two deposits are exactly alike. This suggests that there was no synchronized regional depositional processes to form all the layered deposits. However, the similar erosional style of the lower massive weakly bedded unit in Hebes, Gangis, and Ophir-Candor suggests it may have been deposited under similar circumstances.

  7. Estimation of Road Vehicle Speed Using Two Omnidirectional Microphones: A Maximum Likelihood Approach

    Directory of Open Access Journals (Sweden)

    López-Valcarce Roberto

    2004-01-01

    Full Text Available We address the problem of estimating the speed of a road vehicle from its acoustic signature, recorded by a pair of omnidirectional microphones located next to the road. This choice of sensors is motivated by their nonintrusive nature as well as low installation and maintenance costs. A novel estimation technique is proposed, which is based on the maximum likelihood principle. It directly estimates car speed without any assumptions on the acoustic signal emitted by the vehicle. This has the advantages of bypassing troublesome intermediate delay estimation steps as well as eliminating the need for an accurate yet general enough acoustic traffic model. An analysis of the estimate for narrowband and broadband sources is provided and verified with computer simulations. The estimation algorithm uses a bank of modified crosscorrelators and therefore it is well suited to DSP implementation, performing well with preliminary field data.

  8. Properties of sound attenuation around a two-dimensional underwater vehicle with a large cavitation number

    International Nuclear Information System (INIS)

    Ye Peng-Cheng; Pan Guang

    2015-01-01

    Due to the high speed of underwater vehicles, cavitation is generated inevitably along with the sound attenuation when the sound signal traverses through the cavity region around the underwater vehicle. The linear wave propagation is studied to obtain the influence of bubbly liquid on the acoustic wave propagation in the cavity region. The sound attenuation coefficient and the sound speed formula of the bubbly liquid are presented. Based on the sound attenuation coefficients with various vapor volume fractions, the attenuation of sound intensity is calculated under large cavitation number conditions. The result shows that the sound intensity attenuation is fairly small in a certain condition. Consequently, the intensity attenuation can be neglected in engineering. (paper)

  9. A Hybrid Soft Soil Tire Model (HSSTM) For Vehicle Mobility And Deterministic Performance Analysis In Terramechanics Applications

    OpenAIRE

    Taheri, Shahyar

    2015-01-01

    Accurate and efficient tire models for deformable terrain operations are essential for performing vehicle simulations. Assessment of the forces and moments that occur at the tire-terrain interface, and the effect of the tire motion on properties of the terrain are crucial in understanding the performance of a vehicle. In order to model the dynamic behavior of the tire on different terrains, a lumped mass discretized tire model using Kelvin-Voigt elements is developed. To optimize the computat...

  10. Developing cross entropy genetic algorithm for solving Two-Dimensional Loading Heterogeneous Fleet Vehicle Routing Problem (2L-HFVRP)

    Science.gov (United States)

    Paramestha, D. L.; Santosa, B.

    2018-04-01

    Two-dimensional Loading Heterogeneous Fleet Vehicle Routing Problem (2L-HFVRP) is a combination of Heterogeneous Fleet VRP and a packing problem well-known as Two-Dimensional Bin Packing Problem (BPP). 2L-HFVRP is a Heterogeneous Fleet VRP in which these costumer demands are formed by a set of two-dimensional rectangular weighted item. These demands must be served by a heterogeneous fleet of vehicles with a fix and variable cost from the depot. The objective function 2L-HFVRP is to minimize the total transportation cost. All formed routes must be consistent with the capacity and loading process of the vehicle. Sequential and unrestricted scenarios are considered in this paper. We propose a metaheuristic which is a combination of the Genetic Algorithm (GA) and the Cross Entropy (CE) named Cross Entropy Genetic Algorithm (CEGA) to solve the 2L-HFVRP. The mutation concept on GA is used to speed up the algorithm CE to find the optimal solution. The mutation mechanism was based on local improvement (2-opt, 1-1 Exchange, and 1-0 Exchange). The probability transition matrix mechanism on CE is used to avoid getting stuck in the local optimum. The effectiveness of CEGA was tested on benchmark instance based 2L-HFVRP. The result of experiments shows a competitive result compared with the other algorithm.

  11. Parameter design and performance analysis of shift actuator for a two-speed automatic mechanical transmission for pure electric vehicles

    Directory of Open Access Journals (Sweden)

    Jianjun Hu

    2016-08-01

    Full Text Available Recent developments of pure electric vehicles have shown that pure electric vehicles equipped with two-speed or multi-speed gearbox possess higher energy efficiency by ensuring the drive motor operates at its peak performance range. This article presents the design, analysis, and control of a two-speed automatic mechanical transmission for pure electric vehicles. The shift actuator is based on a motor-controlled camshaft where a special geometric groove is machined, and the camshaft realizes the axial positions of the synchronizer sleeve for gear engaging, disengaging, and speed control of the drive motor. Based on the force analysis of shift process, the parameters of shift actuator and shift motor are designed. The drive motor’s torque control strategy before shifting, speed governing control strategy before engaging, shift actuator’s control strategy during gear engaging, and drive motor’s torque recovery strategy after shift process are proposed and implemented with a prototype. To validate the performance of the two-speed gearbox, a test bed was developed based on dSPACE that emulates various operation conditions. The experimental results indicate that the shift process with the proposed shift actuator and control strategy could be accomplished within 1 s under various operation conditions, with shift smoothness up to passenger car standard.

  12. A new method for determination of most likely landslide initiation points and the evaluation of digital terrain model scale in terrain stability mapping

    Directory of Open Access Journals (Sweden)

    P. Tarolli

    2006-01-01

    Full Text Available This paper introduces a new approach for determining the most likely initiation points for landslides from potential instability mapped using a terrain stability model. This approach identifies the location with critical stability index from a terrain stability model on each downslope path from ridge to valley. Any measure of terrain stability may be used with this approach, which here is illustrated using results from SINMAP, and from simply taking slope as an index of potential instability. The relative density of most likely landslide initiation points within and outside mapped landslide scars provides a way to evaluate the effectiveness of a terrain stability measure, even when mapped landslide scars include run out zones, rather than just initiation locations. This relative density was used to evaluate the utility of high resolution terrain data derived from airborne laser altimetry (LIDAR for a small basin located in the Northeastern Region of Italy. Digital Terrain Models were derived from the LIDAR data for a range of grid cell sizes (from 2 to 50 m. We found appreciable differences between the density of most likely landslide initiation points within and outside mapped landslides with ratios as large as three or more with the highest ratios for a digital terrain model grid cell size of 10 m. This leads to two conclusions: (1 The relative density from a most likely landslide initiation point approach is useful for quantifying the effectiveness of a terrain stability map when mapped landslides do not or can not differentiate between initiation, runout, and depositional areas; and (2 in this study area, where landslides occurred in complexes that were sometimes more than 100 m wide, a digital terrain model scale of 10 m is optimal. Digital terrain model scales larger than 10 m result in loss of resolution that degrades the results, while for digital terrain model scales smaller than 10 m the physical processes responsible for triggering

  13. Automatic terrain modeling using transfinite element analysis

    KAUST Repository

    Collier, Nathan; Calo, Victor M.

    2010-01-01

    An automatic procedure for modeling terrain is developed based on L2 projection-based interpolation of discrete terrain data onto transfinite function spaces. The function space is refined automatically by the use of image processing techniques

  14. TERRAIN, Kittitas, Washington

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — The Kittitas AOI consists of two areas. These areas were to be collected to the 'highest' accuracy requirement. Ground Control is collected throughout the AOI for...

  15. Design of a high-torque machine with two integrated motors axes reducing the electric vehicle consumption

    Directory of Open Access Journals (Sweden)

    M. Chaieb

    2008-03-01

    Full Text Available The motorization of electric vehicle needs to work at a constant power on a wide range of speed. In order to be able to satisfy these requirements, we describe in this paper a solution, which consists in modifying of a simple structure of a permanent magnet motor by a double rotor structure integrating two motor axes into the same machine. This article describes, then, a design methodology of a permanent magnet motor with double rotor, radial flux, and strong starting torque for electric vehicles. This work consists on the analytical dimensioning of the motor by taking into account several operation constraints followed by a modelling by the finite elements method. This study is followed by the comparison between this motor and a motor with one rotor. A global model of the motor- converter is developed for the purpose to answer several optimisation problems

  16. Two-vehicle injury severity models based on integration of pavement management and traffic engineering factors.

    Science.gov (United States)

    Jiang, Ximiao; Huang, Baoshan; Yan, Xuedong; Zaretzki, Russell L; Richards, Stephen

    2013-01-01

    The severity of traffic-related injuries has been studied by many researchers in recent decades. However, the evaluation of many factors is still in dispute and, until this point, few studies have taken into account pavement management factors as points of interest. The objective of this article is to evaluate the combined influences of pavement management factors and traditional traffic engineering factors on the injury severity of 2-vehicle crashes. This study examines 2-vehicle rear-end, sideswipe, and angle collisions that occurred on Tennessee state routes from 2004 to 2008. Both the traditional ordered probit (OP) model and Bayesian ordered probit (BOP) model with weak informative prior were fitted for each collision type. The performances of these models were evaluated based on the parameter estimates and deviances. The results indicated that pavement management factors played identical roles in all 3 collision types. Pavement serviceability produces significant positive effects on the severity of injuries. The pavement distress index (PDI), rutting depth (RD), and rutting depth difference between right and left wheels (RD_df) were not significant in any of these 3 collision types. The effects of traffic engineering factors varied across collision types, except that a few were consistently significant in all 3 collision types, such as annual average daily traffic (AADT), rural-urban location, speed limit, peaking hour, and light condition. The findings of this study indicated that improved pavement quality does not necessarily lessen the severity of injuries when a 2-vehicle crash occurs. The effects of traffic engineering factors are not universal but vary by the type of crash. The study also found that the BOP model with a weak informative prior can be used as an alternative but was not superior to the traditional OP model in terms of overall performance.

  17. Spectra of Velocity components over Complex Terrain

    DEFF Research Database (Denmark)

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

    1982-01-01

    : When air moves over terrain with changed characteristics, then (1) for wavelengths very short relative to the fetch over the new terrain, the spectral densities are in equilibrium with the new terrain. (1) for wavelengths long compared to this fetch, spectral densities remain unchanged if the ground...

  18. [CFD numerical simulation onto the gas-liquid two-phase flow behavior during vehicle refueling process].

    Science.gov (United States)

    Chen, Jia-Qing; Zhang, Nan; Wang, Jin-Hui; Zhu, Ling; Shang, Chao

    2011-12-01

    With the gradual improvement of environmental regulations, more and more attentions are attracted to the vapor emissions during the process of vehicle refueling. Research onto the vehicle refueling process by means of numerical simulation has been executed abroad since 1990s, while as it has never been involved so far domestically. Through reasonable simplification about the physical system of "Nozzle + filler pipe + gasoline storage tank + vent pipe" for vehicle refueling, and by means of volume of fluid (VOF) model for gas-liquid two-phase flow and Re-Normalization Group kappa-epsilon turbulence flow model provided in commercial computational fluid dynamics (CFD) software Fluent, this paper determined the proper mesh discretization scheme and applied the proper boundary conditions based on the Gambit software, then established the reasonable numerical simulation model for the gas-liquid two-phase flow during the refueling process. Through discussing the influence of refueling velocity on the static pressure of vent space in gasoline tank, the back-flowing phenomenon has been revealed in this paper. It has been demonstrated that, the more the flow rate and the refueling velocity of refueling nozzle is, the higher the gross static pressure in the vent space of gasoline tank. In the meanwhile, the variation of static pressure in the vent space of gasoline tank can be categorized into three obvious stages. When the refueling flow rate becomes higher, the back-flowing phenomenon of liquid gasoline can sometimes be induced in the head section of filler pipe, thus making the gasoline nozzle pre-shut-off. Totally speaking, the theoretical work accomplished in this paper laid some solid foundation for self-researching and self-developing the technology and apparatus for the vehicle refueling and refueling emissions control domestically.

  19. Declarative Terrain Modeling for Military Training Games

    Directory of Open Access Journals (Sweden)

    Ruben M. Smelik

    2010-01-01

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

  20. The research frontier and beyond: granitic terrains

    Science.gov (United States)

    Twidale, C. R.

    1993-07-01

    Investigations of granite forms and landscapes over the past two centuries suggest that many features, major and minor, are shaped by fracture-controlled subsurface weathering, and particularly moisture-driven alteration: in other words etch forms are especially well represented in granitic terrains. Commonly referred to as two stage forms, many are in reality multistage in origin, for the structural contrasts exploited by weathering and erosion that are essential to the mechanism originated as magmatic, thermal or tectonic events in the distant geological past. Fracture patterns are critical to landform and landscape development in granitic terrains, but other structural factors also come into play. Location with respect to water table and moisture contact are also important. Once exposed and comparatively dry, granite forms tend to stability; they are developed and diversified, and many are gradually destroyed as new, epigene, forms evolve, but many granite forms persist over long ages. Reinforcement effects frequently play a part in landform development. Several granite forms are convergent, i.e. features of similar morphology evolve under the influence of different processes, frequently in contrasted environments. On the other hand many landforms considered to be typical of granitic terrains are also developed in bedrock that is petrologically different but physically similar to granite; and in particular is subdivided by fractures of similar pattern and density. To date, most of the general statements concerning the evolution of granitic terrains have been based in work in the tropics but other climatic settings, and notably those of cold land, are now yielding significant results. Future research will extend and develop these avenues, but biotic factors, and particularly the role of bacteria, in such areas as weathering, will take on a new importance. Structural variations inherited from the magnetic, thermal and tectonic events to which granite bodies have

  1. Automatic Computer Mapping of Terrain

    Science.gov (United States)

    Smedes, H. W.

    1971-01-01

    Computer processing of 17 wavelength bands of visible, reflective infrared, and thermal infrared scanner spectrometer data, and of three wavelength bands derived from color aerial film has resulted in successful automatic computer mapping of eight or more terrain classes in a Yellowstone National Park test site. The tests involved: (1) supervised and non-supervised computer programs; (2) special preprocessing of the scanner data to reduce computer processing time and cost, and improve the accuracy; and (3) studies of the effectiveness of the proposed Earth Resources Technology Satellite (ERTS) data channels in the automatic mapping of the same terrain, based on simulations, using the same set of scanner data. The following terrain classes have been mapped with greater than 80 percent accuracy in a 12-square-mile area with 1,800 feet of relief; (1) bedrock exposures, (2) vegetated rock rubble, (3) talus, (4) glacial kame meadow, (5) glacial till meadow, (6) forest, (7) bog, and (8) water. In addition, shadows of clouds and cliffs are depicted, but were greatly reduced by using preprocessing techniques.

  2. Two phase genetic algorithm for vehicle routing and scheduling problem with cross-docking and time windows considering customer satisfaction

    Science.gov (United States)

    Baniamerian, Ali; Bashiri, Mahdi; Zabihi, Fahime

    2018-03-01

    Cross-docking is a new warehousing policy in logistics which is widely used all over the world and attracts many researchers attention to study about in last decade. In the literature, economic aspects has been often studied, while one of the most significant factors for being successful in the competitive global market is improving quality of customer servicing and focusing on customer satisfaction. In this paper, we introduce a vehicle routing and scheduling problem with cross-docking and time windows in a three-echelon supply chain that considers customer satisfaction. A set of homogeneous vehicles collect products from suppliers and after consolidation process in the cross-dock, immediately deliver them to customers. A mixed integer linear programming model is presented for this problem to minimize transportation cost and early/tardy deliveries with scheduling of inbound and outbound vehicles to increase customer satisfaction. A two phase genetic algorithm (GA) is developed for the problem. For investigating the performance of the algorithm, it was compared with exact and lower bound solutions in small and large-size instances, respectively. Results show that there are at least 86.6% customer satisfaction by the proposed method, whereas customer satisfaction in the classical model is at most 33.3%. Numerical examples results show that the proposed two phase algorithm could achieve optimal solutions in small-size instances. Also in large-size instances, the proposed two phase algorithm could achieve better solutions with less gap from the lower bound in less computational time in comparison with the classic GA.

  3. An adaptive large neighborhood search heuristic for Two-Echelon Vehicle Routing Problems arising in city logistics

    Science.gov (United States)

    Hemmelmayr, Vera C.; Cordeau, Jean-François; Crainic, Teodor Gabriel

    2012-01-01

    In this paper, we propose an adaptive large neighborhood search heuristic for the Two-Echelon Vehicle Routing Problem (2E-VRP) and the Location Routing Problem (LRP). The 2E-VRP arises in two-level transportation systems such as those encountered in the context of city logistics. In such systems, freight arrives at a major terminal and is shipped through intermediate satellite facilities to the final customers. The LRP can be seen as a special case of the 2E-VRP in which vehicle routing is performed only at the second level. We have developed new neighborhood search operators by exploiting the structure of the two problem classes considered and have also adapted existing operators from the literature. The operators are used in a hierarchical scheme reflecting the multi-level nature of the problem. Computational experiments conducted on several sets of instances from the literature show that our algorithm outperforms existing solution methods for the 2E-VRP and achieves excellent results on the LRP. PMID:23483764

  4. Non-Model-Based Control of a Wheeled Vehicle Pulling Two Trailers to Provide Early Powered Mobility and Driving Experiences.

    Science.gov (United States)

    Sanders Td Vr, David A

    2018-01-01

    Non-model-based control of a wheeled vehicle pulling two trailers is proposed. It is a fun train for disabled children consisting of a locomotive and two carriages. The fun train has afforded opportunities for both disabled and able bodied young people to share an activity and has provided early driving experiences for disabled children; it has introduced them to assistive and powered mobility. The train is a nonlinear system and subject to nonholonomic kinematic constraints, so that position and state depend on the path taken to get there. The train is described, and then, a robust control algorithm using proportional-derivative filtered errors is proposed to control the locomotive. The controller was not dependent on an accurate model of the train, because the mass of the vehicle and two carriages changed depending on the number, size, and shape of children and wheelchair seats on the train. The controller was robust and stable in uncertainty. Results are presented to show the effectiveness of the approach, and the suggested control algorithm is shown to be acceptable without knowing the exact plant dynamics.

  5. An adaptive large neighborhood search heuristic for Two-Echelon Vehicle Routing Problems arising in city logistics.

    Science.gov (United States)

    Hemmelmayr, Vera C; Cordeau, Jean-François; Crainic, Teodor Gabriel

    2012-12-01

    In this paper, we propose an adaptive large neighborhood search heuristic for the Two-Echelon Vehicle Routing Problem (2E-VRP) and the Location Routing Problem (LRP). The 2E-VRP arises in two-level transportation systems such as those encountered in the context of city logistics. In such systems, freight arrives at a major terminal and is shipped through intermediate satellite facilities to the final customers. The LRP can be seen as a special case of the 2E-VRP in which vehicle routing is performed only at the second level. We have developed new neighborhood search operators by exploiting the structure of the two problem classes considered and have also adapted existing operators from the literature. The operators are used in a hierarchical scheme reflecting the multi-level nature of the problem. Computational experiments conducted on several sets of instances from the literature show that our algorithm outperforms existing solution methods for the 2E-VRP and achieves excellent results on the LRP.

  6. Wind resource assessment in heterogeneous terrain

    Science.gov (United States)

    Vanderwel, C.; Placidi, M.; Ganapathisubramani, B.

    2017-03-01

    High-resolution particle image velocimetry data obtained in rough-wall boundary layer experiments are re-analysed to examine the influence of surface roughness heterogeneities on wind resource. Two different types of heterogeneities are examined: (i) surfaces with repeating roughness units of the order of the boundary layer thickness (Placidi & Ganapathisubramani. 2015 J. Fluid Mech. 782, 541-566. (doi:10.1017/jfm.2015.552)) and (ii) surfaces with streamwise-aligned elevated strips that mimic adjacent hills and valleys (Vanderwel & Ganapathisubramani. 2015 J. Fluid Mech. 774, 1-12. (doi:10.1017/jfm.2015.228)). For the first case, the data show that the power extraction potential is highly dependent on the surface morphology with a variation of up to 20% in the available wind resource across the different surfaces examined. A strong correlation is shown to exist between the frontal and plan solidities of the rough surfaces and the equivalent wind speed, and hence the wind resource potential. These differences are also found in profiles of graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="RSTA20160109IM1"/> and graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="RSTA20160109IM2"/> (where U is the streamwise velocity), which act as proxies for thrust and power output. For the second case, the secondary flows that cause low- and high-momentum pathways when the spacing between adjacent hills is beyond a critical value result in significant variations in wind resource availability. Contour maps of graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="RSTA20160109IM3"/> and graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="RSTA20160109IM4"/> show a large difference in thrust and power potential (over 50%) between hills and valleys (at a fixed vertical height). These variations do not seem to be present when adjacent hills are close to each other (i.e. when the spacing is much less than the boundary layer thickness). The

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

    CERN Document Server

    Taghavifar, Hamid

    2017-01-01

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

  8. Community-based education and public awareness for all-terrain vehicle (ATV) and side-by-side (SxS) safety to reduce roadway deaths and injuries : preventing roadway deaths and injuries from off-road vehicle crashes : research report summary.

    Science.gov (United States)

    2017-06-30

    ATVs and SxSs are designed for off-road use only. Vehicle design, lack of operator training, and other factors, like roadway speeds, all contribute to the risk of a crash. In fact, more than half of all ATV and SxS fatalities occur on public roads. A...

  9. An Efficient Two-Objective Hybrid Local Search Algorithm for Solving the Fuel Consumption Vehicle Routing Problem

    OpenAIRE

    Rao, Weizhen; Liu, Feng; Wang, Shengbin

    2016-01-01

    The classical model of vehicle routing problem (VRP) generally minimizes either the total vehicle travelling distance or the total number of dispatched vehicles. Due to the increased importance of environmental sustainability, one variant of VRPs that minimizes the total vehicle fuel consumption has gained much attention. The resulting fuel consumption VRP (FCVRP) becomes increasingly important yet difficult. We present a mixed integer programming model for the FCVRP, and fuel consumption is ...

  10. Object Georeferencing in UAV-Based SAR Terrain Images

    Directory of Open Access Journals (Sweden)

    Łabowski Michał

    2016-12-01

    Full Text Available Synthetic aperture radars (SAR allow to obtain high resolution terrain images comparable with the resolution of optical methods. Radar imaging is independent on the weather conditions and the daylight. The process of analysis of the SAR images consists primarily of identifying of interesting objects. The ability to determine their geographical coordinates can increase usability of the solution from a user point of view. The paper presents a georeferencing method of the radar terrain images. The presented images were obtained from the SAR system installed on board an Unmanned Aerial Vehicle (UAV. The system was developed within a project under acronym WATSAR realized by the Military University of Technology and WB Electronics S.A. The source of the navigation data was an INS/GNSS system integrated by the Kalman filter with a feed-backward correction loop. The paper presents the terrain images obtained during flight tests and results of selected objects georeferencing with an assessment of the accuracy of the method.

  11. THE INJURY SEVERITY RATE DIFFERENCES IN PASSENGER CARS AND PICK UP TRUCKS RELATED TWO VEHICLE INVOLVED MOTOR VEHICLE CRASHES IN BRITISH COLUMBIA, CANADA

    Directory of Open Access Journals (Sweden)

    E.B.R. DESAPRIYA

    2004-01-01

    Full Text Available The effect of large vehicle involvement on motor vehicle crash (MVC rates and severity has long been a concern in MVC analysis literature. Injuries in drivers and occupants are related to several key factors: the mass of the case vehicle and mass of its collision partner and speed of case vehicle and collision partner at the time of the crash. Objective: To evaluate the relative risk of injury occurrence in collisions between picks up trucks (PU and passenger sedan cars (PS. Methods: Data from the Insurance Corporation of British Columbia (ICBC crash data base was used to determine MVC rates and injury occurrence. Descriptive characteristics of the injury location and injury type were analyzed comparing the Odds Ratios and chi-squares. Results: PS occupants received more injuries; Odds Ratio was 2.49 (95% confidence interval: 2.15–2.88. Conclusion: Occupants in PS which collide with PU were at twice the risk of injuries. Concussion, whiplash, lacerations and abrasion were more frequent in PS drivers and occupants than in PU drivers and occupants. Overall, PS drivers/occupants experienced greater injuries than PU drivers/occupants in PU-PS collisions. In this paper, results are shown as odds ratios comparing occupants injuries in PS (case group with occupant injuries in PU (control group.

  12. Landing Control of Foot with Springs for Walking Robots on Rough Terrain

    Directory of Open Access Journals (Sweden)

    Moyuru Yamada

    2009-09-01

    Full Text Available Landing control is one of the important issues for biped walking robot, because robots are expected to walk on not only known flat surfaces but also unknown and uneven terrain for working at various fields. This paper presents a new controller design for a robotic foot to land on unknown terrain. The robotic foot considered in this study equips springs to reduce the impact force at the foot landing. There are two objectives in the landing control; achieving the desired ground reaction force and positioning the foot on unknown terrain. To achieve these two objectives simultaneously by adjusting the foot position, we propose a PI force controller with a desired foot position, which guarantees the robust stability of control system with respect to terrain variance, and exact positioning of the foot to unknown terrain. Simulation results using the Open Dynamics Engine demonstrate the effectiveness of the proposed controller.

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

    Directory of Open Access Journals (Sweden)

    N. Tyagur

    2016-06-01

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

  14. Atmospheric processes over complex terrain

    Science.gov (United States)

    Banta, Robert M.; Berri, G.; Blumen, William; Carruthers, David J.; Dalu, G. A.; Durran, Dale R.; Egger, Joseph; Garratt, J. R.; Hanna, Steven R.; Hunt, J. C. R.

    1990-06-01

    A workshop on atmospheric processes over complex terrain, sponsored by the American Meteorological Society, was convened in Park City, Utah from 24 vto 28 October 1988. The overall objective of the workshop was one of interaction and synthesis--interaction among atmospheric scientists carrying out research on a variety of orographic flow problems, and a synthesis of their results and points of view into an assessment of the current status of topical research problems. The final day of the workshop was devoted to an open discussion on the research directions that could be anticipated in the next decade because of new and planned instrumentation and observational networks, the recent emphasis on development of mesoscale numerical models, and continual theoretical investigations of thermally forced flows, orographic waves, and stratified turbulence. This monograph represents an outgrowth of the Park City Workshop. The authors have contributed chapters based on their lecture material. Workshop discussions indicated interest in both the remote sensing and predictability of orographic flows. These chapters were solicited following the workshop in order to provide a more balanced view of current progress and future directions in research on atmospheric processes over complex terrain.

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

    Science.gov (United States)

    2012-08-27

    ...; Physical sizing of ATVs 2. Consumer Awareness Suggested topics: Point-of-purchase information; on-product... safety require additional research that is beyond the Commission's current budget and resources. CPSC.... The Summit will take place over 2 days and will feature a mix of rulemaking and nonrulemaking topic...

  16. Effect of load carriage and natural terrain conditions on cognitive performance in desert environments.

    Science.gov (United States)

    Bhattacharyya, Debojyoti; Pal, Madhusudan; Chatterjee, Tirthankar; Majumdar, Dhurjati

    2017-10-01

    Correct decision making is a critical component of cognitive performance of a soldier, which may be influenced by the load carriage and terrain conditions during their deployment in desert environment. The present study was aimed to investigate the effects of loads and terrain conditions on the cognitive performance in a group of twelve healthy heat acclimatized infantry soldiers under natural desert environment. The soldiers participated in a 10min walking trial during carrying no load and also carrying 10.7, 21.4 and 30kg at two terrain conditions viz., sandy and hard. We studied attention, memory and executive function, which are having immense functional importance in military operations. Standardized cognitive test battery was applied to the participants after carrying each magnitude of load at each terrain. Baseline cognitive performance was recorded on a separate day and was compared with the performances recorded after the load carriage trials. An attempt was made to reveal the relationship between physiological workload (relative workload) and cognitive performance at the point of completion of load carriage trials. Load, terrains and load×terrain interaction did not produce any significant effect (p>0.05) on the cognitive performance. Attention and relative workload were found significantly correlated at hard terrain under no load, 21.4kg and 30kg. Significant correlation was found between executive function and relative workload at hard terrain under no load. Carrying upto 30kg load for 10min at 3.5-4kmph walking speed resulted in improvement in attention at sandy terrain, decrement in memory at both sandy and hard terrains and improvement in executive function at sandy terrain. Copyright © 2017 Elsevier Inc. All rights reserved.

  17. A Decoupled Control of 5-Legs PWM Inverter Feeding a two Induction Motors-based Electric Vehicle Powertrain

    Directory of Open Access Journals (Sweden)

    Bekheïra Tabbache

    2016-06-01

    Full Text Available This paper proposes a traction drive system for electric vehicles (EVs with two separate induction motor drive-based wheels. In this context, two three-phase induction motors are associated to five legs power inverter which one leg is shared by two phases of the motors. The independent control of the two induction motors allows replacing the mechanical differential speeds by an equivalent electrical module called electric differential (ED. In the proposed EV powertrain based on 5-leg inverter, the challenge is to achieve a decoupled control of the induction motors to ensure the EV stability while cornering or under slippery road condition. For this, the proposed independent control uses Indirect Field Oriented Control to ensure speed and rotor flux control of each induction motor , a Pulse Width Modulation to provide the command sequences to the 5-leg inverter and electric differential to generate the an appropriate reference when the two induction motors should be controlled at different speeds. For this, a numerical implementation of the independent controls on an embedded board (TMS 320F2812 to ensure a separate control of induction motor fed by the 5-leg inverter. Moreover, the proposed control takes into account the EV context such as the EV dynamic and uses European and American normalized driving cycles. EV-specific experimental tests on a digital signal processor TMS320LF2812 are carried-out to show the effectiveness of the proposed independent control for ED in terms of robustness and stability.

  18. A Branch-and-Price Algorithm for Two Multi-Compartment Vehicle Routing Problems

    DEFF Research Database (Denmark)

    Mirzaei, Samira; Wøhlk, Sanne

    2017-01-01

    by comparing the optimal costs of the two versions. Computational results are presented for instances with up to 100 customers and the algorithm can solve instances with up to 50 customers and 4 commodities to optimality. NOTE: An early version of the paper was made public on the website of the journal...

  19. Conically scanning lidar error in complex terrain

    Directory of Open Access Journals (Sweden)

    Ferhat Bingöl

    2009-05-01

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

  20. AN EXPERIMENTAL EVALUATION OF 3D TERRAIN MAPPING WITH AN AUTONOMOUS HELICOPTER

    Directory of Open Access Journals (Sweden)

    B. P. Hudzietz

    2012-09-01

    Full Text Available We demonstrate a method for unmanned aerial vehicle based structure from motion mapping and show it to be a viable option for large scale, high resolution terrain modeling. Current methods of large scale terrain modeling can be cost and time prohibitive. We present a method for integrating low cost cameras and unmanned aerial vehicles for the purpose of 3D terrain mapping. Using structure from motion, aerial images taken of the landscape can be reconstructed into 3D models of the terrain. This process is well suited for use on unmanned aerial vehicles due to the light weight and low cost of equipment. We discuss issues of flight path planning and propose an algorithm to assist in the generation of these paths. The structure from motion mapping process is experimentally evaluated in three distinct environments: ground based testing on man-made environments, ground based testing on natural environments, and airborne testing on natural environments. Ground based testing on natural environments was shown to be extremely useful for camera calibration, and the resulting models were found to have a maximum error of 4.26 cm and standard deviation of 1.50 cm. During airborne testing, several areas of approximately 30,000 m2 were mapped. These areas were mapped with acceptable accuracy and a resolution of 1.24 cm.

  1. A two-phase control algorithm for gear-shifting in a novel multi-speed transmission for electric vehicles

    Science.gov (United States)

    Roozegar, M.; Angeles, J.

    2018-05-01

    In light of the current low energy-storage capacity of electric batteries, multi-speed transmissions (MSTs) are being considered for applications in electric vehicles (EVs), since MSTs decrease the energy consumption of the EV via gear-shifting. Nonetheless, swiftness and seamlessness are the major concerns in gear-shifting. This study focuses on developing a gear-shifting control scheme for a novel MST designed for EVs. The main advantages of the proposed MST are simplicity and modularity. Firstly, the dynamics model of the transmission is formulated. Then, a two-phase algorithm is proposed for shifting between each two gear ratios, which guarantees a smooth and swift shift. In other words, a separate control set is applied for shifting between each gear pair, which includes two independent PID controllers, tuned using trial-and-error and a genetic algorithm (GA), for the two steps of the algorithm and a switch. A supervisory controller is also employed to choose the proper PID gains, called PID gain-scheduling. Simulation results for various controllers and conditions are reported and compared, indicating that the proposed scheme is highly promising for a desired gear-shifting even in the presence of an unknown external disturbance.

  2. Terrain and building effects on the transport of radioactive material at a nuclear site

    International Nuclear Information System (INIS)

    Jeong, Hyojoon; Park, Misun; Jeong, Haesun; Hwang, Wontae; Kim, Eunhan; Han, Moonhee

    2014-01-01

    Highlights: • This study is to quantify the building and terrain effects on the atmospheric dispersion. • Statistical methods with AERMOD-PRIME and CFD were used. • To assess the risk in nuclear power plants, terrain and building effects have to be considered. - Abstract: This study identified the terrain and building effects on the atmospheric dispersion of radioactive materials at the Wolsong Nuclear Site. To analyze the atmospheric dispersion of radioactive materials, the AERMOD-PRIME model, CFD model and meteorological data from 2010 were used. The terrain and building effects on the atmospheric dispersion of radioactive materials within a 1 km radius of the site were statistically significant. The maximum concentration of the radioactive material increased by 7 times compared to the concentration when the terrain and building effects were not considered. It was found that the terrain and building influenced the decrease in the concentration of radioactive material in a concentric circle with a 914 m radius from the center of the site. The concentration of radioactive material in a concentric circle with a 350 m radius was two-times higher than the concentration estimated at the backside of the building, which is the downwind side, without any consideration of the terrain and building effects. In consideration of the Korean situation, in which multiple nuclear reactors are built on the same nuclear site, it is necessary to evaluate the risk that may affect workers and nearby residents by reflecting the terrain and building effects

  3. Improved visibility computation on massive grid terrains

    NARCIS (Netherlands)

    Fishman, J.; Haverkort, H.J.; Toma, L.; Wolfson, O.; Agrawal, D.; Lu, C.-T.

    2009-01-01

    This paper describes the design and engineering of algorithms for computing visibility maps on massive grid terrains. Given a terrain T, specified by the elevations of points in a regular grid, and given a viewpoint v, the visibility map or viewshed of v is the set of grid points of T that are

  4. Computing visibility on terrains in external memory

    NARCIS (Netherlands)

    Haverkort, H.J.; Toma, L.; Zhuang, Yi

    2007-01-01

    We describe a novel application of the distribution sweeping technique to computing visibility on terrains. Given an arbitrary viewpoint v, the basic problem we address is computing the visibility map or viewshed of v, which is the set of points in the terrain that are visible from v. We give the

  5. Terrain Classification of Norwegian Slab Avalanche Accidents

    Science.gov (United States)

    Hallandvik, Linda; Aadland, Eivind; Vikene, Odd Lennart

    2016-01-01

    It is difficult to rely on snow conditions, weather, and human factors when making judgments about avalanche risk because these variables are dynamic and complex; terrain, however, is more easily observed and interpreted. Therefore, this study aimed to investigate (1) the type of terrain in which historical fatal snow avalanche accidents in Norway…

  6. Parallel Implementation of the Terrain Masking Algorithm

    Science.gov (United States)

    1994-03-01

    contains behavior rules which can define a computation or an algorithm. It can communicate with other process nodes, it can contain local data, and it can...terrain maskirg calculation is being performed. It is this algorithm that comsumes about seventy percent of the total terrain masking calculation time

  7. Outbreak of hepatitis A in two federal states of Germany: bakery products as vehicle of infection.

    Science.gov (United States)

    Schenkel, K; Bremer, V; Grabe, C; Van Treeck, U; Schreier, E; Höhne, M; Ammon, A; Alpers, K

    2006-12-01

    In April 2004, increased numbers of hepatitis A were noted in six neighbouring districts in Germany. Exploratory interviews showed that patients had consumed bakery products from company X where two employees had been diagnosed with hepatitis A in February. A case-control study of consumption of products of company X was carried out through telephone interviews. Altogether, 64 cases were identified. Fifty-two cases and 112 controls aged >or=16 years were included in the case-control study. In total, 46/52 cases and 37/112 controls had consumed company X products [odds ratio (OR) 15.5, 95% confidence interval (CI) 6.1-39.7]. Of these, 36/46 cases and 16/37 controls had consumed pastries (OR 4.7, 95% CI 1.8-12.3), 25/46 cases and 12/37 controls had consumed filled doughnuts (OR 2.5, 95% CI 1.0-6.1). Sequence analysis of the VP1-2A junction region indicated 100% strain homology between cases and an infected employee of company X. We recommended reinforcement of hygiene precautions, and consideration of a prolongation of compulsory work absence after post-exposure vaccination.

  8. Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles

    Science.gov (United States)

    Grymin, David J.

    This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems. A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, dynamically feasible trajectories are generated in real-time through concatenation of pre-specified motion primitives. The motion planning task is posed as a search over a directed graph, and the applicability of informed graph search techniques is investigated. Specifically, a locally greedy algorithm with effective backtracking ability is developed and compared to weighted A* search. The greedy algorithm shows an advantage with respect to solution cost and computation time when larger motion primitive libraries that do not operate on a regular state lattice are utilized. Linearization of the nonlinear system equations about the motion primitive library results in a hybrid linear time-varying model, and an optimal control algorithm using the l 2-induced norm as the performance measure is applied to ensure that the system tracks the desired trajectory. The ability of the resulting controller to closely track the trajectory obtained from the motion planner, despite various disturbances and uncertainties, is demonstrated through simulation. Additionally, an approach for obtaining dynamically feasible reference trajectories and feedback controllers for a small unmanned aerial vehicle (UAV) based on an aerodynamic model derived from flight tests is presented. The modeling approach utilizes the two step method (TSM) with stepwise multiple regression to determine relevant explanatory terms for the aerodynamic models. Dynamically feasible trajectories are then obtained through the solution of an optimal control problem using pseudospectral optimal control software. Discretetime feedback controllers are then obtained to regulate the vehicle along the desired reference trajectory

  9. Two-Stage Optimal Scheduling of Electric Vehicle Charging based on Transactive Control

    DEFF Research Database (Denmark)

    Liu, Zhaoxi; Wu, Qiuwei; Ma, Kang

    2018-01-01

    In this paper, a two-stage optimal charging scheme based on transactive control is proposed for the aggregator to manage day-ahead electricity procurement and real-time EV charging management in order to minimize its total operating cost. The day-ahead electricity procurement considers both the day......-ahead energy cost and expected real-time operation cost. In the real-time charging management, the cost of employing the charging flexibility from the EV owners is explicitly modelled. The aggregator uses a transactive market to manage the real-time charging demand to provide the regulating power. A model...... predictive control (MPC) based method is proposed for the aggregator to clear the transactive market. The realtime charging decisions of the EVs are determined by the clearing of the proposed transactive market according to the realtime requests and preferences of the EV owners. As such, the aggregators...

  10. New high-fidelity terrain modeling method constrained by terrain semanteme.

    Directory of Open Access Journals (Sweden)

    Bo Zhou

    Full Text Available Production of higher-fidelity digital elevation models is important; as such models are indispensable components of space data infrastructure. However, loss of terrain features is a constant problem for grid digital elevation models, although these models have already been defined in such a way that their distinct usage as data sources in terrain modeling processing is prohibited. Therefore, in this study, the novel concept-terrain semanteme is proposed to define local space terrain features, and a new process for generating grid digital elevation models based on this new concept is designed. A prototype system is programmed to test the proposed approach; the results indicate that terrain semanteme can be applied in the process of grid digital elevation model generation, and that usage of this new concept improves the digital elevation model fidelity. Moreover, the terrain semanteme technique can be applied for recovery of distorted digital elevation model regions containing terrain semantemes, with good recovery efficiency indicated by experiments.

  11. Terrain assessment guidelines : CAGC best practice. Version 3

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2009-07-01

    This terrain classification assessment guideline discussed the steps required for personnel to understand terrain hazards present during seismic operations. Maps and other sources must be used to classify terrain steepness and surface conditions using geographical information systems (GIS), LIDAR, or satellite photographs. The impact of managing steep terrain within projects must also be considered when class 3, 4, 5, or 6 terrain has been identified. Terrains must also be classified according to colours. Secondary terrain assessments must be conducted when class 3, 4, 5, or 6 terrain has been identified. Terrain management plans should included methods of keeping untrained workers out of areas with classes greater than 3. Methods of entering and exiting steep terrain must be identified. Workers must be trained to work in areas with steep terrains. Methods of rescue and evacuation must also be established. Procedures were outlined for all terrain classes. Footwear, head protection and general safety requirements were outlined. 14 figs.

  12. Comparison Study on Two Model-Based Adaptive Algorithms for SOC Estimation of Lithium-Ion Batteries in Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Yong Tian

    2014-12-01

    Full Text Available State of charge (SOC estimation is essential to battery management systems in electric vehicles (EVs to ensure the safe operations of batteries and providing drivers with the remaining range of the EVs. A number of estimation algorithms have been developed to get an accurate SOC value because the SOC cannot be directly measured with sensors and is closely related to various factors, such as ambient temperature, current rate and battery aging. In this paper, two model-based adaptive algorithms, including the adaptive unscented Kalman filter (AUKF and adaptive slide mode observer (ASMO are applied and compared in terms of convergence behavior, tracking accuracy, computational cost and estimation robustness against parameter uncertainties of the battery model in SOC estimation. Two typical driving cycles, including the Dynamic Stress Test (DST and New European Driving Cycle (NEDC are applied to evaluate the performance of the two algorithms. Comparison results show that the AUKF has merits in convergence ability and tracking accuracy with an accurate battery model, while the ASMO has lower computational cost and better estimation robustness against parameter uncertainties of the battery model.

  13. Sloped Terrain Segmentation for Autonomous Drive Using Sparse 3D Point Cloud

    Directory of Open Access Journals (Sweden)

    Seoungjae Cho

    2014-01-01

    Full Text Available A ubiquitous environment for road travel that uses wireless networks requires the minimization of data exchange between vehicles. An algorithm that can segment the ground in real time is necessary to obtain location data between vehicles simultaneously executing autonomous drive. This paper proposes a framework for segmenting the ground in real time using a sparse three-dimensional (3D point cloud acquired from undulating terrain. A sparse 3D point cloud can be acquired by scanning the geography using light detection and ranging (LiDAR sensors. For efficient ground segmentation, 3D point clouds are quantized in units of volume pixels (voxels and overlapping data is eliminated. We reduce nonoverlapping voxels to two dimensions by implementing a lowermost heightmap. The ground area is determined on the basis of the number of voxels in each voxel group. We execute ground segmentation in real time by proposing an approach to minimize the comparison between neighboring voxels. Furthermore, we experimentally verify that ground segmentation can be executed at about 19.31 ms per frame.

  14. Rough terrain motion planning for actively reconfigurable mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Brunner, Michael

    2015-02-05

    In the aftermath of the Tohoku earthquake and the nuclear meltdown at the power plant of Fukushima Daiichi in 2011, reconfigurable robots like the iRobot Packbot were deployed. Instead of humans, the robots were used to investigate contaminated areas. Other incidents are the two major earthquakes in Northern Italy in May 2012. Besides many casualties, a large number of historical buildings was severely damaged. Due to the imminent danger of collapse, it was too dangerous for rescue personnel to enter many of the buildings. Therefore, the sites were inspected by reconfigurable robots, which are able to traverse the rubble and debris of the partially destroyed buildings. This thesis develops a navigation system enabling wheeled and tracked robots to safely traverse rough terrain and challenging structures. It consists of a planning mechanism and a controller. The focus of this thesis, however, is on the contribution to motion planning. The planning scheme employs a hierarchical approach to motion planning for actively reconfigurable robots in rough environments. Using a map of the environment the algorithm estimates the traversability under the consideration of uncertainties. Based on this analysis, an initial path search determines an approximate solution with respect to the robot's operating limits.Subsequently, a detailed planning step refines the initial path where it is required. The refinement step considers the robot's actuators and stability in addition to the quantities of the first search. Determining the robot-terrain interaction is very important in rough terrain. This thesis presents two path refinement approaches: a deterministic and a randomized approach. The experimental evaluation investigates the separate components of the planning scheme, the robot-terrain interaction for instance.In simulation as well as in real world experiments the evaluation demonstrates the necessity of such a planning algorithm in rough terrain and it provides

  15. Rough terrain motion planning for actively reconfigurable mobile robots

    International Nuclear Information System (INIS)

    Brunner, Michael

    2015-01-01

    In the aftermath of the Tohoku earthquake and the nuclear meltdown at the power plant of Fukushima Daiichi in 2011, reconfigurable robots like the iRobot Packbot were deployed. Instead of humans, the robots were used to investigate contaminated areas. Other incidents are the two major earthquakes in Northern Italy in May 2012. Besides many casualties, a large number of historical buildings was severely damaged. Due to the imminent danger of collapse, it was too dangerous for rescue personnel to enter many of the buildings. Therefore, the sites were inspected by reconfigurable robots, which are able to traverse the rubble and debris of the partially destroyed buildings. This thesis develops a navigation system enabling wheeled and tracked robots to safely traverse rough terrain and challenging structures. It consists of a planning mechanism and a controller. The focus of this thesis, however, is on the contribution to motion planning. The planning scheme employs a hierarchical approach to motion planning for actively reconfigurable robots in rough environments. Using a map of the environment the algorithm estimates the traversability under the consideration of uncertainties. Based on this analysis, an initial path search determines an approximate solution with respect to the robot's operating limits.Subsequently, a detailed planning step refines the initial path where it is required. The refinement step considers the robot's actuators and stability in addition to the quantities of the first search. Determining the robot-terrain interaction is very important in rough terrain. This thesis presents two path refinement approaches: a deterministic and a randomized approach. The experimental evaluation investigates the separate components of the planning scheme, the robot-terrain interaction for instance.In simulation as well as in real world experiments the evaluation demonstrates the necessity of such a planning algorithm in rough terrain and it provides

  16. Estimating Soil Displacement from Timber Extraction Trails in Steep Terrain: Application of an Unmanned Aircraft for 3D Modelling

    Directory of Open Access Journals (Sweden)

    Marek Pierzchała

    2014-06-01

    Full Text Available Skid trails constructed for timber extraction in steep terrain constitute a serious environmental concern if not well planned, executed and ameliorated. Carrying out post-harvest surveys in monitoring constructed trails in such terrain is an onerous task for forest administrators, as hundreds of meters need to be surveyed per site, and the quantification of parameters and volumes is largely based on assumptions of trail symmetry and terrain uniformity. In this study, aerial imagery captured from a multi-rotor Unmanned Aerial Vehicle was used in generating a detailed post-harvest terrain model which included all skid trails. This was then compared with an Airborne Laser Scanning derived pre-harvest terrain model and the dimensions, slopes and cut-and-fill volumes associated with the skid trails were determined. The overall skid trail length was 954 m, or 381 m·ha−1 with segments varying from 40–60 m, inclinations from 3.9% to 9.6%, and cut volumes, from 1.7 to 3.7 m3 per running meter. The methods used in this work can be used in rapidly assessing the extent of disturbance and erosion risk on a wide range of sites. The multi-rotor Unmanned Aerial Vehicle (UAV was found to be highly suited to the task, given the relatively small size of harvested stands, their shape and their location in the mountainous terrain.

  17. Algorithm for automatic image dodging of unmanned aerial vehicle images using two-dimensional radiometric spatial attributes

    Science.gov (United States)

    Li, Wenzhuo; Sun, Kaimin; Li, Deren; Bai, Ting

    2016-07-01

    Unmanned aerial vehicle (UAV) remote sensing technology has come into wide use in recent years. The poor stability of the UAV platform, however, produces more inconsistencies in hue and illumination among UAV images than other more stable platforms. Image dodging is a process used to reduce these inconsistencies caused by different imaging conditions. We propose an algorithm for automatic image dodging of UAV images using two-dimensional radiometric spatial attributes. We use object-level image smoothing to smooth foreground objects in images and acquire an overall reference background image by relative radiometric correction. We apply the Contourlet transform to separate high- and low-frequency sections for every single image, and replace the low-frequency section with the low-frequency section extracted from the corresponding region in the overall reference background image. We apply the inverse Contourlet transform to reconstruct the final dodged images. In this process, a single image must be split into reasonable block sizes with overlaps due to large pixel size. Experimental mosaic results show that our proposed method reduces the uneven distribution of hue and illumination. Moreover, it effectively eliminates dark-bright interstrip effects caused by shadows and vignetting in UAV images while maximally protecting image texture information.

  18. A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

    Science.gov (United States)

    Li, Yuankai; Ding, Liang; Zheng, Zhizhong; Yang, Qizhi; Zhao, Xingang; Liu, Guangjun

    2018-05-01

    For motion control of wheeled planetary rovers traversing on deformable terrain, real-time terrain parameter estimation is critical in modeling the wheel-terrain interaction and compensating the effect of wheel slipping. A multi-mode real-time estimation method is proposed in this paper to achieve accurate terrain parameter estimation. The proposed method is composed of an inner layer for real-time filtering and an outer layer for online update. In the inner layer, sinkage exponent and internal frictional angle, which have higher sensitivity than that of the other terrain parameters to wheel-terrain interaction forces, are estimated in real time by using an adaptive robust extended Kalman filter (AREKF), whereas the other parameters are fixed with nominal values. The inner layer result can help synthesize the current wheel-terrain contact forces with adequate precision, but has limited prediction capability for time-variable wheel slipping. To improve estimation accuracy of the result from the inner layer, an outer layer based on recursive Gauss-Newton (RGN) algorithm is introduced to refine the result of real-time filtering according to the innovation contained in the history data. With the two-layer structure, the proposed method can work in three fundamental estimation modes: EKF, REKF and RGN, making the method applicable for flat, rough and non-uniform terrains. Simulations have demonstrated the effectiveness of the proposed method under three terrain types, showing the advantages of introducing the two-layer structure.

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

    Data.gov (United States)

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

  20. DCS Terrain Submission for Cass County, MO

    Data.gov (United States)

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

  1. DCS Terrain Submission for Bark River PMR

    Data.gov (United States)

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

  2. DCS Terrain Submission for Lee County MS

    Data.gov (United States)

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

  3. DCS Terrain Submission for Mono, CA

    Data.gov (United States)

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

  4. DCS Terrain for Greer County, Oklahoma, USA

    Data.gov (United States)

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

  5. DCS Terrain Submission for Angelina County, TX

    Data.gov (United States)

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

  6. Terrain Sumbission for Howard County NE

    Data.gov (United States)

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

  7. TERRAIN Submission for Outagamie Countywide DFIRM

    Data.gov (United States)

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

  8. DCS TERRAIN SUBMISSION FOR VOLUSIA COUNTY, FL

    Data.gov (United States)

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

  9. Terrain, CEDAR RAPIDS, LINN COUNTY, IA

    Data.gov (United States)

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

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

    Data.gov (United States)

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

  11. DCS Terrain Submission for Irwin, GA

    Data.gov (United States)

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

  12. DCS Terrain Submission for Stephens, OK

    Data.gov (United States)

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

  13. TERRAIN Submission for Waushara Countywide DFIRM

    Data.gov (United States)

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

  14. DCS Terrain Submission for Dawes County, NE

    Data.gov (United States)

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

  15. DCS Terrain for Middlesex County, NJ

    Data.gov (United States)

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

  16. DCS Terrain Submission for Seminole, GA

    Data.gov (United States)

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

  17. DCS Terrain Submission for Chemung County, NY

    Data.gov (United States)

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

  18. DCS Terrain Submission for Garvin, OK

    Data.gov (United States)

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

  19. DCS Terrain Submission for Winston County, AL

    Data.gov (United States)

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

  20. DCS Terrain for Jasper County, GA

    Data.gov (United States)

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

  1. TERRAIN DATA CAPTURE STANDARDS, Bedford PA, USA

    Data.gov (United States)

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

  2. TERRAIN DATA, CITY OF CARSON CITY, NV

    Data.gov (United States)

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

  3. TERRAIN, ESSEX COUNTY, MASSACHUSETTS - Coastal PMR

    Data.gov (United States)

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

  4. DCS Terrain Submission for Fulton County, IN

    Data.gov (United States)

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

  5. DCS Terrain Submission for Miami County, IN

    Data.gov (United States)

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

  6. DCS Terrain Submittal for Socorro County NM

    Data.gov (United States)

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

  7. DCS Terrain for HOUSTON COUNTY, ALABAMA

    Data.gov (United States)

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

  8. Digital Terrain Submittal for Duval County, FL

    Data.gov (United States)

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

  9. DCS Terrain for Clay County, GA

    Data.gov (United States)

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

  10. DCS TERRAIN SUBMISSION FOR KNOX COUNTY, TN

    Data.gov (United States)

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

  11. TERRAIN, UPPER CUMBERLAND WATERSHED, KENTUCKY USA

    Data.gov (United States)

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

  12. DCS TERRAIN SUBMISSION FOR PUTNAM COUNTY, FL

    Data.gov (United States)

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

  13. DCS Terrain Submission for Sioux Falls

    Data.gov (United States)

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

  14. DCS TERRAIN SUBMISSION FOR SHELBY COUNTY, TN

    Data.gov (United States)

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

  15. DCS Terrain Submission for Mohave, AZ

    Data.gov (United States)

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

  16. DCS Terrain Submission for Albany County NY

    Data.gov (United States)

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

  17. DCS Terrain Submission for Gunnison County, CO

    Data.gov (United States)

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

  18. DCS Terrain for Hancock County, GA

    Data.gov (United States)

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

  19. TERRAIN, ST. CLAIR COUNTY, ALABAMA USA

    Data.gov (United States)

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

  20. DCS Terrain for Lincoln County, GA

    Data.gov (United States)

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

  1. DCS Terrain for Greene County, GA

    Data.gov (United States)

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

  2. TERRAIN, CERRO GORDO COUNTY, IOWA, USA

    Data.gov (United States)

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

  3. DCS Terrain Submission for Merced, CA

    Data.gov (United States)

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

  4. DCS Terrain Submission for Ouachita, AR

    Data.gov (United States)

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

  5. DCS Terrain Submission for Lewis County, KY

    Data.gov (United States)

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

  6. DCS Terrain for Pickens County, GA

    Data.gov (United States)

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

  7. DCS Terrain for Williamson County, TX

    Data.gov (United States)

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

  8. DCS Terrain Submission for Clark, AR

    Data.gov (United States)

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

  9. DCS Terrain Submission for Lake County, Montana

    Data.gov (United States)

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

  10. DCS Terrain Submission for Drew AR

    Data.gov (United States)

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

  11. TERRAIN, Priest Lake, Bonner County, Idaho USA

    Data.gov (United States)

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

  12. DCS Terrain Submission for Mason County, KY

    Data.gov (United States)

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

  13. TERRAIN, Pointe Coupee PARISH, LA, USA

    Data.gov (United States)

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

  14. DCS Terrain Submission for Carter, OK

    Data.gov (United States)

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

  15. Terrain Data, Queen Anne's COUNTY, USA

    Data.gov (United States)

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

  16. DCS Terrain for Gilmer County, GA

    Data.gov (United States)

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

  17. DCS Terrain Submission for Houston TX

    Data.gov (United States)

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

  18. DCS Terrain for Marion County, GA

    Data.gov (United States)

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

  19. DCS Terrain for Washington County, GA

    Data.gov (United States)

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

  20. DCS Terrain Submission for Chippewa County, Wisconsin

    Data.gov (United States)

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

  1. DCS Terrain Submission for Lancaster County, NE

    Data.gov (United States)

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

  2. DCS Terrain Submission for Benton County, AR

    Data.gov (United States)

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

  3. DCS Terrain Submission for Cass County, TX

    Data.gov (United States)

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

  4. DCS Terrain Submission for Brazos TX

    Data.gov (United States)

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

  5. DCS Terrain for Cobb County, GA

    Data.gov (United States)

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

  6. DCS Terrain for Harris County, GA

    Data.gov (United States)

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

  7. TERRAIN Submission for CHISAGO COUNTY, MN

    Data.gov (United States)

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

  8. DCS Terrain Submission for Pike County, KY

    Data.gov (United States)

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

  9. DCS Terrain Submission for Chariton County, MO

    Data.gov (United States)

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

  10. AAN Tactical Roles in Complex Urban Terrain

    National Research Council Canada - National Science Library

    Funkhouser, Anthony

    1998-01-01

    .... The infantryman will assume the responsibility for tasks such as mobility. However, many experts predict the future battlefields will consist of complex urban terrain where much of the world population is occupying...

  11. TERRAIN, ST. LOUIS COUNTY, Missouri USA

    Data.gov (United States)

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

  12. DCS Terrain Submission for Lagrange County, IN

    Data.gov (United States)

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

  13. DCS TERRAIN Submission for STEARNS COUNTY, MN

    Data.gov (United States)

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

  14. DCS Terrain Submission for Logan, OK

    Data.gov (United States)

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

  15. electric vehicle

    Directory of Open Access Journals (Sweden)

    W. R. Lee

    1999-01-01

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

  16. Periodic spring–mass running over uneven terrain through feedforward control of landing conditions

    International Nuclear Information System (INIS)

    III, Luther R Palmer; Eaton, Caitrin E

    2014-01-01

    This work pursues a feedforward control algorithm for high-speed legged locomotion over uneven terrain. Being able to rapidly negotiate uneven terrain without visual or a priori information about the terrain will allow legged systems to be used in time-critical applications and alongside fast-moving humans or vehicles. The algorithm is shown here implemented on a spring-loaded inverted pendulum model in simulation, and can be configured to approach fixed running height over uneven terrain or self-stable terrain following. Offline search identifies unique landing conditions that achieve a desired apex height with a constant stride period over varying ground levels. Because the time between the apex and touchdown events is directly related to ground height, the landing conditions can be computed in real time as continuous functions of this falling time. Enforcing a constant stride period reduces the need for inertial sensing of the apex event, which is nontrivial for physical systems, and allows for clocked feedfoward control of the swing leg. (paper)

  17. Periodic spring-mass running over uneven terrain through feedforward control of landing conditions.

    Science.gov (United States)

    Palmer, Luther R; Eaton, Caitrin E

    2014-09-01

    This work pursues a feedforward control algorithm for high-speed legged locomotion over uneven terrain. Being able to rapidly negotiate uneven terrain without visual or a priori information about the terrain will allow legged systems to be used in time-critical applications and alongside fast-moving humans or vehicles. The algorithm is shown here implemented on a spring-loaded inverted pendulum model in simulation, and can be configured to approach fixed running height over uneven terrain or self-stable terrain following. Offline search identifies unique landing conditions that achieve a desired apex height with a constant stride period over varying ground levels. Because the time between the apex and touchdown events is directly related to ground height, the landing conditions can be computed in real time as continuous functions of this falling time. Enforcing a constant stride period reduces the need for inertial sensing of the apex event, which is nontrivial for physical systems, and allows for clocked feedfoward control of the swing leg.

  18. Productive uncertainty. Notes on Terrain Vague

    Directory of Open Access Journals (Sweden)

    Francesco Marullo

    2014-12-01

    Full Text Available Terrain vague is usually synonym for a place exceeding the traditional categories of the city. Juxtaposing entropy to definite zones of containment, abandonment and emptiness to consolidated urban fabric, ceaseless transformation to historical stratification, informality and illegal activities to controlled jurisdictions, the terrain vague acts a sort of ruin, where the city is at the point of both being forgotten and disclosing its imminent future, eluding any of its regular uses and functioning mechanisms.

  19. Automatic terrain modeling using transfinite element analysis

    KAUST Repository

    Collier, Nathan

    2010-05-31

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

  20. 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 ...

  1. Reorienting with terrain slope and landmarks.

    Science.gov (United States)

    Nardi, Daniele; Newcombe, Nora S; Shipley, Thomas F

    2013-02-01

    Orientation (or reorientation) is the first step in navigation, because establishing a spatial frame of reference is essential for a sense of location and heading direction. Recent research on nonhuman animals has revealed that the vertical component of an environment provides an important source of spatial information, in both terrestrial and aquatic settings. Nonetheless, humans show large individual and sex differences in the ability to use terrain slope for reorientation. To understand why some participants--mainly women--exhibit a difficulty with slope, we tested reorientation in a richer environment than had been used previously, including both a tilted floor and a set of distinct objects that could be used as landmarks. This environment allowed for the use of two different strategies for solving the task, one based on directional cues (slope gradient) and one based on positional cues (landmarks). Overall, rather than using both cues, participants tended to focus on just one. Although men and women did not differ significantly in their encoding of or reliance on the two strategies, men showed greater confidence in solving the reorientation task. These facts suggest that one possible cause of the female difficulty with slope might be a generally lower spatial confidence during reorientation.

  2. MRV - Modular Robotic Vehicle

    Science.gov (United States)

    Ridley, Justin; Bluethmann, Bill

    2015-01-01

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

  3. Remote collection of microorganisms at two depths in a freshwater lake using an unmanned surface vehicle (USV

    Directory of Open Access Journals (Sweden)

    Craig Powers

    2018-01-01

    Full Text Available Microorganisms are ubiquitous in freshwater aquatic environments, but little is known about their abundance, diversity, and transport. We designed and deployed a remote-operated water-sampling system onboard an unmanned surface vehicle (USV, a remote-controlled boat to collect and characterize microbes in a freshwater lake in Virginia, USA. The USV collected water samples simultaneously at 5 and 50 cm below the surface of the water at three separate locations over three days in October, 2016. These samples were plated on a non-selective medium (TSA and on a medium selective for the genus Pseudomonas (KBC to estimate concentrations of culturable bacteria in the lake. Mean concentrations ranged from 134 to 407 CFU/mL for microbes cultured on TSA, and from 2 to 8 CFU/mL for microbes cultured on KBC. There was a significant difference in the concentration of microbes cultured on KBC across three sampling locations in the lake (P = 0.027, suggesting an uneven distribution of Pseudomonas across the locations sampled. There was also a significant difference in concentrations of microbes cultured on TSA across the three sampling days (P = 0.038, demonstrating daily fluctuations in concentrations of culturable bacteria. There was no significant difference in concentrations of microbes cultured on TSA (P = 0.707 and KBC (P = 0.641 across the two depths sampled, suggesting microorganisms were well-mixed between 5 and 50 cm below the surface of the water. About 1 percent (7/720 of the colonies recovered across all four sampling missions were ice nucleation active (ice+ at temperatures warmer than −10 °C. Our work extends traditional manned observations of aquatic environments to unmanned systems, and highlights the potential for USVs to understand the distribution and diversity of microbes within and above freshwater aquatic environments.

  4. Assessing CO2 emissions of electric vehicles for e-sharing and home care. Two cases developed at Valencian region

    Energy Technology Data Exchange (ETDEWEB)

    Iacono Ferreira, V.G. Lo; Torregrosa Lopez, J.I.; Colomer Ferrandiz, J.V.

    2016-07-01

    Assessing the environmental impact of transport has been an issue over the last decade. The general framework is established and the followings factors must be considered to obtain results as accurate as possible. Among others (a) the study should considered the entire life cycle if possible: building & materials, usage phase and waste treatment and (b) usage phase assessment must be developed under real conditions in addition to lab tests. When the object of study is urban private transport, some extra lines can be taken into account considering the high impact that environmental initiatives makes in society. The information that local authorities and community receives about the initiative is as relevant as the environmental benefits obtain of the implementation of the project. In this paper, we present the methodology developed to assess CO2 emissions of electric vehicles intendent to car-sharing and home care; two projects developed at Valencian region. We deepen in the relevance and type of information obtain and manage for both studies with a life cycle vision. As a result of usage phase assessment, field test proves to be revealing giving a more realistic vision of the benefits of the project. Theoretical assessments were useful to consider the implementation of a certain project and the necessary support complementing the entity of the study. Resources needed to develop field test might skew results by biasing the study. Attention need to be paid in order to manage resources to set up field tests and avoid setting up field tests due to available resources. Bibliographic studies have shown building, materials and waste treatment depends on available data. Life cycle assessment seems to be the most adequate tool to obtain accurate results although the cost of the assessment is high and might not show significant differences between cars of similar characteristics. (Author)

  5. Vehicle recovery and towing guideline

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2010-01-15

    This guideline was developed to provide light and medium duty vehicles operators in the oil and gas industry with a set of best practices for avoiding injury and damage during the recovery of stuck vehicles. The aim of the guideline was to increase awareness of safety issues and promote the safe usage of the vehicles by personnel throughout the petroleum industry and to establish minimum standards of practice for vehicle recovery. The guideline included a step-by-step guide for pulling out a vehicle with a recovery strap as well as vehicle-mounted winch procedures. Pre-job checklists for both procedures were provided. Issues related to the strength rating of vehicle tow hooks and hitch receivers were discussed, as well as some of the hazards associated with steep terrains and heavy mud. The guideline also included recommendations for a vehicle recovery kit with instructions on vehicle recovery, a recovery strap, a recovery hitch and shackle, a collapsible shovel, traffic cones and reflector flares, and a heavy blanket and gloves. 7 refs., 2 tabs., 13 figs.

  6. Autonomous underwater vehicle for research and rescue operations

    CSIR Research Space (South Africa)

    Holtzhausen S

    2008-11-01

    Full Text Available Autonomous under water vehicles are ideal platforms for search and rescue operations. They can also be used for inspection of underwater terrains. These vehicles need to be autonomous and robust to cope with unpredictable current and high pressures...

  7. Spine Trauma Associated with Off-Road Vehicles.

    Science.gov (United States)

    Reid, David C.; And Others

    1988-01-01

    A seven-year review of 1,447 cases of spine trauma showed that 53 cases were associated with the use of off-road vehicles, such as all-terrain vehicles, snowmobiles, and motorized dirt bikes. The development of safe riding areas, legislation governing safe operation, and public safety education are advised to curb this trend. (Author/JL)

  8. An evaluation of WRF's ability to reproduce the surface wind over complex terrain based on typical circulation patterns.

    NARCIS (Netherlands)

    Jiménez, P.A.; Dudhia, J.; González-Rouco, J.F.; Montávez, J.P.; Garcia-Bustamante, E.; Navarro, J.; Vilà-Guerau de Arellano, J.; Munoz-Roldán, A.

    2013-01-01

    [1] The performance of the Weather Research and Forecasting (WRF) model to reproduce the surface wind circulations over complex terrain is examined. The atmospheric evolution is simulated using two versions of the WRF model during an over 13¿year period (1992 to 2005) over a complex terrain region

  9. Turbulent Characterization of atmospheric surface layer over non-homogeneous terrain

    International Nuclear Information System (INIS)

    Artinano Rodriguez de Torres, B.

    1989-01-01

    About 15000 wind and temperature profiles from a 100 m tower located in CEDER (Soria, Spain) have been analyzed. Using profiles in close neutral conditions, two main parameters of surface layer were obtained. Results show a great dependence of these parameters (Z 0 roughness length and u friction velocity) on flow conditions and terrain (tinctures. Difficulty finding neutral conditions in this type of terrain (gently rolling and scattered bush) and in this latitude , is also remarkable. (Author) 91 refs

  10. Pneumatic tyres interacting with deformable terrains

    Science.gov (United States)

    Bekakos, C. A.; Papazafeiropoulos, G.; O'Boy, D. J.; Prins, J.

    2016-09-01

    In this study, a numerical model of a deformable tyre interacting with a deformable road has been developed with the use of the finite element code ABAQUS (v. 6.13). Two tyre models with different widths, not necessarily identical to any real industry tyres, have been created purely for research use. The behaviour of these tyres under various vertical loads and different inflation pressures is studied, initially in contact with a rigid surface and then with a deformable terrain. After ensuring that the tyre model gives realistic results in terms of the interaction with a rigid surface, the rolling process of the tyre on a deformable road was studied. The effects of friction coefficient, inflation pressure, rebar orientation and vertical load on the overall performance are reported. Regarding the modelling procedure, a sequence of models were analysed, using the coupling implicit - explicit method. The numerical results reveal that not only there is significant dependence of the final tyre response on the various initial driving parameters, but also special conditions emerge, where the desired response of the tyre results from specific optimum combination of these parameters.

  11. Clap-and-fling mechanism in a hovering insect-like two-winged flapping-wing micro air vehicle.

    Science.gov (United States)

    Phan, Hoang Vu; Au, Thi Kim Loan; Park, Hoon Cheol

    2016-12-01

    This study used numerical and experimental approaches to investigate the role played by the clap-and-fling mechanism in enhancing force generation in hovering insect-like two-winged flapping-wing micro air vehicle (FW-MAV). The flapping mechanism was designed to symmetrically flap wings at a high flapping amplitude of approximately 192°. The clap-and-fling mechanisms were thereby implemented at both dorsal and ventral stroke reversals. A computational fluid dynamic (CFD) model was constructed based on three-dimensional wing kinematics to estimate the force generation, which was validated by the measured forces using a 6-axis load cell. The computed forces proved that the CFD model provided reasonable estimation with differences less than 8%, when compared with the measured forces. The measurement indicated that the clap and flings at both the stroke reversals augmented the average vertical force by 16.2% when compared with the force without the clap-and-fling effect. In the CFD simulation, the clap and flings enhanced the vertical force by 11.5% and horizontal drag force by 18.4%. The observations indicated that both the fling and the clap contributed to the augmented vertical force by 62.6% and 37.4%, respectively, and to the augmented horizontal drag force by 71.7% and 28.3%, respectively. The flow structures suggested that a strong downwash was expelled from the opening gap between the trailing edges during the fling as well as the clap at each stroke reversal. In addition to the fling phases, the influx of air into the low-pressure region between the wings from the leading edges also significantly contributed to augmentation of the vertical force. The study conducted for high Reynolds numbers also confirmed that the effect of the clap and fling was insignificant when the minimum distance between the two wings exceeded 1.2c (c = wing chord). Thus, the clap and flings were successfully implemented in the FW-MAV, and there was a significant improvement in the

  12. 3D Fractal reconstruction of terrain profile data based on digital elevation model

    International Nuclear Information System (INIS)

    Huang, Y.M.; Chen, C.-J.

    2009-01-01

    Digital Elevation Model (DEM) often makes it difficult for terrain reconstruction and data storage due to the failure in acquisition of details with higher resolution. If original terrain of DEM can be simulated, resulting in geographical details can be represented precisely while reducing the data size, then an effective reconstruction scheme is essential. This paper adopts two sets of real-world 3D terrain profile data to proceed data reducing, i.e. data sampling randomly, then reconstruct them through 3D fractal reconstruction. Meanwhile, the quantitative and qualitative difference generated from different reduction rates were evaluated statistically. The research results show that, if 3D fractal interpolation method is applied to DEM reconstruction, the higher reduction rate can be obtained for DEM of larger data size with respect to that of smaller data size under the assumption that the entire terrain structure is still maintained.

  13. Knowledge-inducing Global Path Planning for Robots in Environment with Hybrid Terrain

    Directory of Open Access Journals (Sweden)

    Yi-nan Guo

    2010-09-01

    Full Text Available In complex environment with hybrid terrain, different regions may have different terrain. Path planning for robots in such environment is an open NP-complete problem, which lacks effective methods. The paper develops a novel global path planning method based on common sense and evolution knowledge by adopting dual evolution structure in culture algorithms. Common sense describes terrain information and feasibility of environment, which is used to evaluate and select the paths. Evolution knowledge describes the angle relationship between the path and the obstacles, or the common segments of paths, which is used to judge and repair infeasible individuals. Taken two types of environments with different obstacles and terrain as examples, simulation results indicate that the algorithm can effectively solve path planning problem in complex environment and decrease the computation complexity for judgment and repair of infeasible individuals. It also can improve the convergence speed and have better computation stability.

  14. Evaluation of terrain geomorphometric characteristics for ground clearance charts production

    Directory of Open Access Journals (Sweden)

    Mirko A. Borisov

    2011-01-01

    into the standard military procedure OCOKA (Observation and fields of fires; Cover and concealment; Obstacles and movement; Key terrain; Avenues of approach. A few parameters of relief significantly influencing the possibilities for cover and concealment (visibility, slope and aspect were included into the definition of the model of terrain spatial analysis The morphometric data included in partial assessment categories were determined on the basis of the digital model relief analysis and by using GIS tools and given morphometric relief exploration methods. Analysis of vegetation effects on ground clearance for military forces Vegetation, in addition to terrain slope, presents one of the main factors in cross-country analyses and ground clearance assessments. In classification and extraction of vegetation from satellite images, numerous algorithms of two basic classification types, supervised and unsupervised classification, are applied. Supervised classification requires the identification of cover types of interest by user. Samples of pixels are then selected, based on available ground real information to represent each cover type. These samples are called training areas. The selection of appropriate training areas is based on the analyst's familiarity with the geographical area and his knowledge of the actual surface cover types presented in the image. Thus, the analyst 'supervises' the categorization of a set of specific classes. Unsupervised classification basically reverses the supervised classification process. Spectral classes are grouped first, based solely on the numerical information in the data, and then they are matched by the analyst to information classes (if possible. Programs, called clustering algorithms, are used to determine the natural (statistical groupings or structures in the data. The analyst usually specifies how many groups or clusters are to be looked for in the data. In addition to specifying the desired number of classes, the analyst may

  15. Selection method of terrain matching area for TERCOM algorithm

    Science.gov (United States)

    Zhang, Qieqie; Zhao, Long

    2017-10-01

    The performance of terrain aided navigation is closely related to the selection of terrain matching area. The different matching algorithms have different adaptability to terrain. This paper mainly studies the adaptability to terrain of TERCOM algorithm, analyze the relation between terrain feature and terrain characteristic parameters by qualitative and quantitative methods, and then research the relation between matching probability and terrain characteristic parameters by the Monte Carlo method. After that, we propose a selection method of terrain matching area for TERCOM algorithm, and verify the method correctness with real terrain data by simulation experiment. Experimental results show that the matching area obtained by the method in this paper has the good navigation performance and the matching probability of TERCOM algorithm is great than 90%

  16. Terrain Simplification Research in Augmented Scene Modeling

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

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

  17. A two stage launch vehicle for use as an advanced space transportation system for logistics support of the space station

    Science.gov (United States)

    1987-01-01

    This report describes the preliminary design specifications for an Advanced Space Transportation System consisting of a fully reusable flyback booster, an intermediate-orbit cargo vehicle, and a shuttle-type orbiter with an enlarged cargo bay. It provides a comprehensive overview of mission profile, aerodynamics, structural design, and cost analyses. These areas are related to the overall feasibility and usefullness of the proposed system.

  18. Army Justified Initial Production Plan for the Paladin Integrated Management Program but Has Not Resolved Two Vehicle Performance Deficiencies (Redacted)

    Science.gov (United States)

    2016-08-05

    model oversight organization in the Federal Government by leading change, speaking truth, and promoting excellence—a diverse organization, working ...VIRGINIA 22350-1500 August 5, 2016 MEMORANDUM FOR AUDITOR GENERAL, DEPARTMENT OF THE ARMY SUBJECT: Army Justified Initial Production Plan for the Paladin... Family of Vehicles, M109A7 Self-Propelled Howitzer and M992A3 Carrier, Ammunition, Tracked, October 2015; • M109A7 AFES Overview, September 2015

  19. Passive cannabis smoke exposure and oral fluid testing. II. Two studies of extreme cannabis smoke exposure in a motor vehicle.

    Science.gov (United States)

    Niedbala, R Sam; Kardos, Keith W; Fritch, Dean F; Kunsman, Kenneth P; Blum, Kristen A; Newland, Gregory A; Waga, Joe; Kurtz, Lisa; Bronsgeest, Matth; Cone, Edward J

    2005-10-01

    Two studies were conducted to determine if extreme passive exposure to cannabis smoke in a motor vehicle would produce positive results for delta-tetrahydrocannabinol (THC) in oral fluid. Passive exposure to cannabis smoke in an unventilated room has been shown to produce a transient appearance of THC in oral fluid for up to 30 min. However, it is well known that such factors as room size and extent of smoke exposure can affect results. Questions have also been raised concerning the effects of tobacco when mixed with marijuana and THC content. We conducted two passive cannabis studies under severe passive smoke exposure conditions in an unventilated eight-passenger van. Four passive subjects sat alongside four active cannabis smokers who each smoked a single cannabis cigarette containing either 5.4%, 39.5 mg THC (Study 1) or 10.4%, 83.2 mg THC (Study 2). The cigarettes in Study 1 contained tobacco mixed with cannabis; cigarettes in Study 2 contained only cannabis. Oral fluid specimens were collected from passive and active subjects with the Intercept Oral Specimen Collection Device for 1 h after smoking cessation while inside the van (Study 1) and up to 72 h (passive) or 8 h (active) outside the van. Additionally in Study 1, Intercept collectors were exposed to smoke in the van to assess environmental contamination during collection procedures. For Study 2, all oral fluid collections were outside the van following smoking cessation to minimize environmental contamination. Oral samples were analyzed with the Cannabinoids Intercept MICRO-PLATE EIA and quantitatively by gas chromatography-tandem mass spectrometry (GC-MS-MS). THC concentrations were adjusted for dilution (x 3). The screening and confirmation cutoff concentrations for THC in neat oral fluid were 3 ng/mL and 1.5 ng/mL, respectively. The limits of detection (LOD) and quantitation (LOQ) for THC in the GC-MS-MS assay were 0.3 and 0.75 ng/mL, respectively. Urine specimens were collected, screened (EMIT, 50

  20. A Research on Wind Farm Micro-sitting Optimization in Complex Terrain

    DEFF Research Database (Denmark)

    Xu, Chang; Yang, Jianchuan; Li, Chenqi

    2013-01-01

    Wind farm layout optimization in complex terrain is a pretty difficult issue for onshore wind farm. In this article, a novel optimization method is proposed to optimize the layout for wind farms in complex terrain. This method utilized Lissaman and Jensen wake models for taking the terrain height...... that the CPSO method has a higher optimal value, and could be used to optimize the actual wind farm micro-sitting engineering projects.......Wind farm layout optimization in complex terrain is a pretty difficult issue for onshore wind farm. In this article, a novel optimization method is proposed to optimize the layout for wind farms in complex terrain. This method utilized Lissaman and Jensen wake models for taking the terrain height...... turbines’ park coordinates which subject to the boundary and minimum distance conditions between two wind turbines. A Cross Particle Swarm Optimization (CPSO) method is developed and applied to optimize the layout for a certain wind farm case. Compared with the uniform and experience method, results show...

  1. 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...

  2. Constraint Embedding for Vehicle Suspension Dynamics

    Directory of Open Access Journals (Sweden)

    Jain Abhinandan

    2016-06-01

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

  3. Maintaining Contour Trees of Dynamic Terrains

    DEFF Research Database (Denmark)

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

    2015-01-01

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

  4. Declarative terrain modeling for military training games

    NARCIS (Netherlands)

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

    2010-01-01

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

  5. Wind turbine wake measurement in complex terrain

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  6. A Terrain-Vehicle Interaction Model for Analysis of Steering Performance of Track-Laying Vehicles

    Science.gov (United States)

    1979-05-01

    by C !Gerge Y" Baladi and BDhzad Roheni 4.Structures Labratory’J .Army Enghimer waterway, Expeuinsftt Staton "II U . 0.O. Box 631, Vi&sburg, Miss...CONTRACT OR GRANT NUMER(*) George VI/ Baladi -4.Behzad(Rohani . . ERFRMIG ORGANIZTION NAME AND ADDRESS -T0. PROGRAM LEMENT. PROJECT. TASK( U. S.. Army...Project 4A161102AT24, Task A3/E3, Work Unit 003, "Soil Response to Nonlinear Loading Systems." This investigation was conducted by Drs. G. Y. Baladi and

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

    Science.gov (United States)

    Hafiz Mahayudin, Mohd; Che Mat, Ruzinoor

    2016-06-01

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

  8. A method to harness global crowd-sourced data to understand travel behavior in avalanche terrain.

    Science.gov (United States)

    Hendrikx, J.; Johnson, J.

    2015-12-01

    To date, most studies of the human dimensions of decision making in avalanche terrain has focused on two areas - post-accident analysis using accident reports/interviews and, the development of tools as decision forcing aids. We present an alternate method using crowd-sourced citizen science, for understanding decision-making in avalanche terrain. Our project combines real-time GPS tracking via a smartphone application, with internet based surveys of winter backcountry users as a method to describe and quantify travel practices in concert with group decision-making dynamics, and demographic data of participants during excursions. Effectively, we use the recorded GPS track taken within the landscape as an expression of the decision making processes and terrain usage by the group. Preliminary data analysis shows that individual experience levels, gender, avalanche hazard, and group composition all influence the ways in which people travel in avalanche terrain. Our results provide the first analysis of coupled real-time GPS tracking of the crowd while moving in avalanche terrain combined with psychographic and demographic correlates. This research will lead to an improved understanding of real-time decision making in avalanche terrain. In this paper we will specifically focus on the presentation of the methods used to solicit, and then harness the crowd to obtain data in a unique and innovative application of citizen science where the movements within the terrain are the desired output data (Figure 1). Figure 1: Example GPS tracks sourced from backcountry winter users in the Teton Pass area (Wyoming), from the 2014-15 winter season, where tracks in red represent those recorded as self-assessed experts (as per our survey), and where tracks in blue represent those recorded as self-assessed intermediates. All tracks shown were obtained under similar avalanche conditions. Statistical analysis of terrain metrics showed that the experts used steeper terrain than the

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

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  10. Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic

    Directory of Open Access Journals (Sweden)

    Kun-Lin Wu

    2016-01-01

    Full Text Available In this paper, mobile robot navigation on a 3D terrain with a single obstacle is addressed. The terrain is modelled as a smooth, complete manifold with well-defined tangent planes and the hazardous region is modelled as an enclosing circle with a hazard grade tuned radius representing the obstacle projected onto the terrain to allow efficient path-obstacle intersection checking. To resolve the intersections along the initial geodesic, by resorting to the geodesic ideas from differential geometry on surfaces and manifolds, we present a geodesic-based planning and replanning algorithm as a new method for obstacle avoidance on a 3D terrain without using boundary following on the obstacle surface. The replanning algorithm generates two new paths, each a composition of two geodesics, connected via critical points whose locations are found to be heavily relying on the exploration of the terrain via directional scanning on the tangent plane at the first intersection point of the initial geodesic with the circle. An advantage of this geodesic path replanning procedure is that traversability of terrain on which the detour path traverses could be explored based on the local Gauss-Bonnet Theorem of the geodesic triangle at the planning stage. A simulation demonstrates the practicality of the analytical geodesic replanning procedure for navigating a constant speed point robot on a 3D hill-like terrain.

  11. GIS TECHNOLOGY AND TERRAIN ORTHOPHOTOMAP MAKING FOR MILITARY APPLICATION

    Directory of Open Access Journals (Sweden)

    Elshan Hashimov

    2017-11-01

    Full Text Available In this paper, it is shown that GIS and photogrammetry technologiyes, determination of searching target coordinates for the operational desicion making are very important for the military application, for the combat control. With aim of orthophotomap making of the terrain and identification of terrain supervision there has been constructed 3D model for choosen mountainous terrain of Azerbaijan Republic using GIS technology. Based on this model there has been obtained a terrain profile and carried out mapping. Using ArcGis software there has been investigated possibility remain control on obserbvable and unobservable parties of terrain on supervision line from supervision point to target point.

  12. Wind farms in hostile terrain

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-07-01

    This report summarises the results of a study aimed at reducing risks associated with wind farms in hostile conditions, evaluating and refining design procedures for such sites, and reviewing the results in terms of the current design practice. The scientific and technical background to the study is described, and measurements taken at two hostile sites in the UK and Italy, the wind data, wind turbine loads, the impact of icing, and wind turbine design for hostile conditions are examined, and actual and planned activities are compared.

  13. Effect of an isolated elliptical terrain (Jeju Island on rainfall enhancement in a moist environment

    Directory of Open Access Journals (Sweden)

    Keun-OK Lee

    2014-03-01

    Full Text Available A series of idealised experiments using a cloud-resolving storm simulator (CReSS was performed to investigate the effects of the isolated elliptically shaped terrain of Jeju Island (oriented east–west, southern Korea, on the enhancement of pre-existing rainfall systems under the influence of prevailing southwesterly moist flows. Control parameters were the low-altitude wind speed (Froude numbers: 0.2, 0.4, 0.55 and the initial location of the elongated (oriented north–east rainfall system (off the northwestern or western shores of the island. Simulations were conducted for all combinations of initial location and wind regime. Overall, results indicate that weak southwesterlies flowing around the steep mountain on the island (height, 2 km generate two local convergences, on the northern lateral side and on the lee side of the island, both in regions of moist environments, thus producing conditions favourable for enhanced rainfall. As an eastward-moving rainfall system approaches the northwestern shore of the island, the southwesterlies at low altitudes accelerate between the system and the terrain, generating a local updraft region that causes rainfall enhancement onshore in advance of the system's arrival over the terrain. Thus, the prevailing southwesterlies at low altitudes that are parallel to the terrain are a crucial element for the enhancement. Relatively weak southwesterlies at low altitudes allow system enhancement on the lee side by generating a convergence of relatively weak go-around northwesterlies from the northern island and relatively strong moist southwesterlies from the southern island, thus producing a relatively long-lived rainfall system. As the southwesterlies strengthen, a dry descending air mass intensifies on the northeastern downwind side of the terrain, rapidly dissipating rainfall and resulting in a relatively short-lived rainfall system. A coexisting terrain-generated local convergence, combined with the absence

  14. Application of Digital Terrain Model to volcanology

    Directory of Open Access Journals (Sweden)

    V. Achilli

    2006-06-01

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

  15. Single Stator Dual PM Rotor Synchronous Machine with two-frequency single-inverter control, for the propulsion of hybrid electric vehicles

    Directory of Open Access Journals (Sweden)

    Topor Marcel

    2017-01-01

    Full Text Available This paper introduces a novel brushless, single winding and single stator, dual PM rotor axial-air-gap machine capable to deliver independently torque at the two rotors by adequate dual vector control. The proposed topologies, the circuit model, controlled dynamics simulation and preliminary 3D FEM torque production on a case study constitute the core of the paper. The proposed dual mechanical port system should be instrumental in parallel (with planetary gears or series hybrid electric vehicles (HEV aiming at a more compact and efficient electric propulsion system solution.

  16. EARTHWORK VOLUME CALCULATION FROM DIGITAL TERRAIN MODELS

    Directory of Open Access Journals (Sweden)

    JANIĆ Milorad

    2015-06-01

    Full Text Available Accurate calculation of cut and fill volume has an essential importance in many fields. This article shows a new method, which has no approximation, based on Digital Terrain Models. A relatively new mathematical model is developed for that purpose, which is implemented in the software solution. Both of them has been tested and verified in the praxis on several large opencast mines. This application is developed in AutoLISP programming language and works in AutoCAD environment.

  17. Dose rate calculations for a reconnaissance vehicle

    International Nuclear Information System (INIS)

    Grindrod, L.; Mackey, J.; Salmon, M.; Smith, C.; Wall, S.

    2005-01-01

    A Chemical Nuclear Reconnaissance System (CNRS) has been developed by the British Ministry of Defence to make chemical and radiation measurements on contaminated terrain using appropriate sensors and recording equipment installed in a land rover. A research programme is under way to develop and validate a predictive capability to calculate the build-up of contamination on the vehicle, radiation detector performance and dose rates to the occupants of the vehicle. This paper describes the geometric model of the vehicle and the methodology used for calculations of detector response. Calculated dose rates obtained using the MCBEND Monte Carlo radiation transport computer code in adjoint mode are presented. These address the transient response of the detectors as the vehicle passes through a contaminated area. Calculated dose rates were found to agree with the measured data to be within the experimental uncertainties, thus giving confidence in the shielding model of the vehicle and its application to other scenarios. (authors)

  18. Connected Vehicle Technologies for Efficient Urban Transportation

    Science.gov (United States)

    2016-10-24

    Connected vehicle technology is employed to optimize the vehicle's control system in real-time to reduce congestion, improve fuel economy, and reduce emissions. This project's goal was to develop a two-way communication system to upload vehicle data ...

  19. Jumping robots: a biomimetic solution to locomotion across rough terrain.

    Science.gov (United States)

    Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard

    2007-09-01

    This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

  20. TERRAIN TECTONICS OF THE CENTRAL ASIAN FOLDED BELT

    Directory of Open Access Journals (Sweden)

    M. M. Buslov

    2014-01-01

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

  1. Estimation of State of Charge for Two Types of Lithium-Ion Batteries by Nonlinear Predictive Filter for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Yin Hua

    2015-04-01

    Full Text Available Estimation of state of charge (SOC is of great importance for lithium-ion (Li-ion batteries used in electric vehicles. This paper presents a state of charge estimation method using nonlinear predictive filter (NPF and evaluates the proposed method on the lithium-ion batteries with different chemistries. Contrary to most conventional filters which usually assume a zero mean white Gaussian process noise, the advantage of NPF is that the process noise in NPF is treated as an unknown model error and determined as a part of the solution without any prior assumption, and it can take any statistical distribution form, which improves the estimation accuracy. In consideration of the model accuracy and computational complexity, a first-order equivalent circuit model is applied to characterize the battery behavior. The experimental test is conducted on the LiCoO2 and LiFePO4 battery cells to validate the proposed method. The results show that the NPF method is able to accurately estimate the battery SOC and has good robust performance to the different initial states for both cells. Furthermore, the comparison study between NPF and well-established extended Kalman filter for battery SOC estimation indicates that the proposed NPF method has better estimation accuracy and converges faster.

  2. Characterizing Land Surface Anisotropic Reflectance over Rugged Terrain: A Review of Concepts and Recent Developments

    Directory of Open Access Journals (Sweden)

    Jianguang Wen

    2018-02-01

    Full Text Available Rugged terrain, including mountains, hills, and some high lands are typical land surfaces around the world. As a physical parameter for characterizing the anisotropic reflectance of the land surface, the importance of the bidirectional reflectance distribution function (BRDF has been gradually recognized in the remote sensing community, and great efforts have been dedicated to build BRDF models over various terrain types. However, on rugged terrain, the topography intensely affects the shape and magnitude of the BRDF and creates challenges in modeling the BRDF. In this paper, after a brief introduction of the theoretical background of the BRDF over rugged terrain, the status of estimating land surface BRDF properties over rugged terrain is comprehensively reviewed from a historical perspective and summarized in two categories: BRDFs describing solo slopes and those describing composite slopes. The discussion focuses on land surface reflectance retrieval over mountainous areas, the difference in solo slope and composite slope BRDF models, and suggested future research to improve the accuracy of BRDFs derived with remote sensing satellites.

  3. Control of Multiple Robotic Sentry Vehicles

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-04-01

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

  4. Alkyl polyglucoside vs. ethoxylated surfactant-based microemulsions as vehicles for two poorly water-soluble drugs: physicochemical characterization and in vivo skin performance

    Directory of Open Access Journals (Sweden)

    Pajić Nataša Z. Bubić

    2017-12-01

    Full Text Available Two types of biocompatible surfactants were evaluated for their capability to formulate skin-friendly/non-irritant microemulsions as vehicles for two poorly water-soluble model drugs differing in properties and concentrations: alkyl polyglucosides (decyl glucoside and caprylyl/capryl glucoside and ethoxylated surfactants (glycereth-7-caprylate/ caprate and polysorbate 80. Phase behavior, structural inversion and microemulsion solubilization potential for sertaconazole nitrate and adapalene were found to be highly dependent on the surfactants structure and HLB value. Performed characterization (polarized light microscopy, pH, electrical conductivity, rheological, FTIR and DSC measurements indicated a formulation containing glycereth- 7-caprylate/caprate as suitable for incorporation of both drugs, whereas alkyl polyglucoside-based systems did not exhibit satisfying solubilization capacity for sertaconazole nitrate. Further, monitored parameters were strongly affected by sertaconazole nitrate incorporation, while they remained almost unchanged in adapalene-loaded vehicles. In addition, results of the in vivo skin performance study supported acceptable tolerability for all investigated formulations, suggesting selected microemulsions as promising carriers worth exploring further for effective skin delivery of model drugs.

  5. Alkyl polyglucoside vs. ethoxylated surfactant-based microemulsions as vehicles for two poorly water-soluble drugs: physicochemical characterization and in vivo skin performance.

    Science.gov (United States)

    Pajić, Nataša Z Bubić; Todosijević, Marija N; Vuleta, Gordana M; Cekić, Nebojša D; Dobričić, Vladimir D; Vučen, Sonja R; Čalija, Bojan R; Lukić, Milica Ž; Ilić, Tanja M; Savić, Snežana D

    2017-12-20

    Two types of biocompatible surfactants were evaluated for their capability to formulate skin-friendly/non-irritant microemulsions as vehicles for two poorly water-soluble model drugs differing in properties and concentrations: alkyl polyglucosides (decyl glucoside and caprylyl/capryl glucoside) and ethoxylated surfactants (glycereth-7-caprylate/ caprate and polysorbate 80). Phase behavior, structural inversion and microemulsion solubilization potential for sertaconazole nitrate and adapalene were found to be highly dependent on the surfactants structure and HLB value. Performed characterization (polarized light microscopy, pH, electrical conductivity, rheological, FTIR and DSC measurements) indicated a formulation containing glycereth- 7-caprylate/caprate as suitable for incorporation of both drugs, whereas alkyl polyglucoside-based systems did not exhibit satisfying solubilization capacity for sertaconazole nitrate. Further, monitored parameters were strongly affected by sertaconazole nitrate incorporation, while they remained almost unchanged in adapalene-loaded vehicles. In addition, results of the in vivo skin performance study supported acceptable tolerability for all investigated formulations, suggesting selected microemulsions as promising carriers worth exploring further for effective skin delivery of model drugs.

  6. Simulating Sand Behavior through Terrain Subdivision and Particle Refinement

    Science.gov (United States)

    Clothier, M.

    2013-12-01

    Advances in computer graphics, GPUs, and parallel processing hardware have provided researchers with new methods to visualize scientific data. In fact, these advances have spurred new research opportunities between computer graphics and other disciplines, such as Earth sciences. Through collaboration, Earth and planetary scientists have benefited by using these advances in hardware technology to process large amounts of data for visualization and analysis. At Oregon State University, we are collaborating with the Oregon Space Grant and IGERT Ecosystem Informatics programs to investigate techniques for simulating the behavior of sand. In addition, we have also been collaborating with the Jet Propulsion Laboratory's DARTS Lab to exchange ideas on our research. The DARTS Lab specializes in the simulation of planetary vehicles, such as the Mars rovers. One aspect of their work is testing these vehicles in a virtual "sand box" to test their performance in different environments. Our research builds upon this idea to create a sand simulation framework to allow for more complex and diverse environments. As a basis for our framework, we have focused on planetary environments, such as the harsh, sandy regions on Mars. To evaluate our framework, we have used simulated planetary vehicles, such as a rover, to gain insight into the performance and interaction between the surface sand and the vehicle. Unfortunately, simulating the vast number of individual sand particles and their interaction with each other has been a computationally complex problem in the past. However, through the use of high-performance computing, we have developed a technique to subdivide physically active terrain regions across a large landscape. To achieve this, we only subdivide terrain regions where sand particles are actively participating with another object or force, such as a rover wheel. This is similar to a Level of Detail (LOD) technique, except that the density of subdivisions are determined by

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

    Directory of Open Access Journals (Sweden)

    Mateja Rihtaršič

    1992-12-01

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

  8. Improved progressive morphological filter for digital terrain model generation from airborne lidar data.

    Science.gov (United States)

    Hui, Zhenyang; Wu, Beiping; Hu, Youjian; Ziggah, Yao Yevenyo

    2017-12-01

    Obtaining high-precision filtering results from airborne lidar point clouds in complex environments has always been a hot topic. Mathematical morphology was widely used for filtering, owing to its simplicity and high efficiency. However, the morphology-based algorithms are deficient in preserving terrain details. In order to obtain a better filtering effect, this paper proposed an improved progressive morphological filter based on hierarchical radial basis function interpolation (PMHR) to refine the classical progressive morphological filter. PMHR involved two main improvements, namely, automatic setting of self-adaptive thresholds and terrain details preservation, respectively. The performance of PMHR was evaluated using datasets provided by the International Society for Photogrammetry and Remote Sensing. Experimental results show that PMHR achieved good performance under variant terrain features with an average total error of 4.27% and average Kappa coefficient of 84.57%.

  9. Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains

    OpenAIRE

    Jun , Jae-Yun; Saut , Jean-Philippe; Benamar , Faïz

    2015-01-01

    International audience; A novel path-planning algorithm is proposed for a tracked mobile robot to traverse uneven terrains, which can efficiently search for stability sub-optimal paths. This algorithm consists of combining two RRT-like algorithms (the Transition-based RRT (T-RRT) and the Dynamic-Domain RRT (DD-RRT) algorithms) bidirectionally and of representing the robot-terrain interaction with the robot’s quasi-static tip-over stability measure (assuming that the robot traverses uneven ter...

  10. Annex 1: Simulation of the Serso underground heat storage - Calibration using data from two-years measurements; Annexe 1: simulation du stockage de chaleur dans le terrain de l'installation Serso et calibrage sur deux ans de mesure

    Energy Technology Data Exchange (ETDEWEB)

    Pahud, D.

    2006-12-15

    This is the Annex 1 of the annual report 2006 of the Serso project. The basic idea of the Serso project is to defrost a road bridge in winter with heat produced by the bridge in summer by solar radiation absorption and stored in a diffusive underground store. Pipes are imbedded in the bridge surface material and connected to a set of underground borehole heat exchangers ('geothermal probes'). A heat transfer fluid is circulated by a pump. The store is loaded in summer and discharged in winter. In the present Annex the computer code developed to simulate the underground heat store is validated and tuned on the basis of a two-years series of field measurements. The agreement between predicted and measured values is good. A limitation of the computer model is that it cannot simulate only a part of the borehole heat exchangers, a feature that were implemented in the pilot store, to enable discharging the peripheral heat exchangers and leave the central ones untouched. The authors investigated the relevance of such a feature and found out that it does not significantly improve the store efficiency. As it is an additional hardware complication they recommend to ignore such a feature in future projects.

  11. Modelo matemático Two-echelon Capacitated Vehicle Routing Problem para a logística de distribuição de encomendas

    Directory of Open Access Journals (Sweden)

    Karina Pedrini Fraga

    2016-12-01

    Full Text Available Many cities are facing difficulties in urban mobility and therefore are imposing restrictions on the movement of larger trucks. Thus, logistics companies developed a two level logistics strategy based on Urban Distribution Centers (CDU that receives larger trucks and split the cargo to put in small trucks to distribute to customers. To support this type of logistics planning, this paper presents an adaptation of a mathematical model based on the Two-echelon capacitated Vehicle Routing Problem (2E-CVRP to plan the routes from the central depot to the satelites and from these to the clients. The model was applied to the logistics of Correios in the metropolitan area of the Espírito Santo, Brazil, and instances with up to 4 CDU and 25 clients were tested using CPLEX solver 12.6 obtaining routes for deliveries at both levels.

  12. Neuro-fuzzy controller to navigate an unmanned vehicle.

    Science.gov (United States)

    Selma, Boumediene; Chouraqui, Samira

    2013-12-01

    A Neuro-fuzzy control method for an Unmanned Vehicle (UV) simulation is described. The objective is guiding an autonomous vehicle to a desired destination along a desired path in an environment characterized by a terrain and a set of distinct objects, such as obstacles like donkey traffic lights and cars circulating in the trajectory. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Fuzzy Logic Controller can very well describe the desired system behavior with simple "if-then" relations owing the designer to derive "if-then" rules manually by trial and error. On the other hand, Neural Networks perform function approximation of a system but cannot interpret the solution obtained neither check if its solution is plausible. The two approaches are complementary. Combining them, Neural Networks will allow learning capability while Fuzzy-Logic will bring knowledge representation (Neuro-Fuzzy). In this paper, an artificial neural network fuzzy inference system (ANFIS) controller is described and implemented to navigate the autonomous vehicle. Results show several improvements in the control system adjusted by neuro-fuzzy techniques in comparison to the previous methods like Artificial Neural Network (ANN).

  13. Four-Wheel Vehicle Suspension System

    Science.gov (United States)

    Bickler, Donald B.

    1990-01-01

    Four-wheel suspension system uses simple system of levers with no compliant components to provide three-point suspension of chassis of vehicle while maintaining four-point contact with uneven terrain. Provides stability against tipping of four-point rectangular base, without rocking contact to which rigid four-wheel frame susceptible. Similar to six-wheel suspension system described in "Articulated Suspension Without Springs" (NPO-17354).

  14. Morphological modeling of terrains and volume data

    CERN Document Server

    Comic, Lidija; Magillo, Paola; Iuricich, Federico

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Denizar Blitzkow

    2009-12-01

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

  16. Gravity Terrain Effect of the Seafloor Topography in Taiwan

    Directory of Open Access Journals (Sweden)

    Lun-Tao Tong Tai-Rong Guo

    2007-01-01

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

  17. Wind flow simulation over flat terrain using CFD based software

    International Nuclear Information System (INIS)

    Petrov, Peter; Terziev, Angel; Genovski, Ivan

    2009-01-01

    Velocity distribution recognition over definite place (terrain) is very important because due to that the zones with high energy potential could be defined (the fields with high velocities). This is a precondition for optimal wind turbine generators micro-sitting. In current work a simulation of the open flow over the flat terrain using the CFD based software is reviewed. The simulations are made of a real fluid flow in order to be defined the velocity fields over the terrain

  18. 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.

  19. Open tube guideway for high speed air cushioned vehicles

    Science.gov (United States)

    Goering, R. S. (Inventor)

    1974-01-01

    This invention is a tubular shaped guideway for high-speed air-cushioned supported vehicles. The tubular guideway is split and separated such that the sides of the guideway are open. The upper portion of the tubular guideway is supported above the lower portion by truss-like structural members. The lower portion of the tubular guideway may be supported by the terrain over which the vehicle travels, on pedestals or some similar structure.

  20. Terrain Commander: Unattended Ground-Based Surveillance System

    National Research Council Canada - National Science Library

    Steadman, Bob

    2000-01-01

    .... Terrain Commander OASIS provides next generation target detection, classification, and tracking through smart sensor fusion of beamforming acoustic, seismic, passive infrared, and magnetic sensors...

  1. Functional Decomposition of Modeling and Simulation Terrain Database Generation Process

    National Research Council Canada - National Science Library

    Yakich, Valerie R; Lashlee, J. D

    2008-01-01

    .... This report documents the conceptual procedure as implemented by Lockheed Martin Simulation, Training, and Support and decomposes terrain database construction using the Integration Definition for Function Modeling (IDEF...

  2. Estimating Slopes In Images Of Terrain By Use Of BRDF

    Science.gov (United States)

    Scholl, Marija S.

    1995-01-01

    Proposed method of estimating slopes of terrain features based on use of bidirectional reflectivity distribution function (BRDF) in analyzing aerial photographs, satellite video images, or other images produced by remote sensors. Estimated slopes integrated along horizontal coordinates to obtain estimated heights; generating three-dimensional terrain maps. Method does not require coregistration of terrain features in pairs of images acquired from slightly different perspectives nor requires Sun or other source of illumination to be low in sky over terrain of interest. On contrary, best when Sun is high. Works at almost all combinations of illumination and viewing angles.

  3. Advanced Vehicle and Power Initiative

    Science.gov (United States)

    2010-07-29

    optimize vehicle operation, and capture vehicle kinetic energy during braking ( regenerative energy). As much as two-thirds of this imported oil comes... categories . Figure 4 provides a visual representation of many of the HEV and BEV options available on the 2010 GSA Schedule. Figure 4 - GSA...gallon • Renewable energy generated 24 • Vehicle miles driven by vehicle category • Implementation costs – Infrastructure modifications required

  4. Addressing terrain masking in orbital reconnaissance

    Science.gov (United States)

    Mehta, Sharad; Cico, Luke

    2012-06-01

    During aerial orbital reconnaissance, a sensor system is mounted on an airborne platform for imaging a region on the ground. The latency between the image acquisition and delivery of information to the end-user is critical and must be minimized. Due to fine ground pixel resolution and a large field-of-view for wide-area surveillance applications, a massive volume of data is gathered and imagery products are formed using a real-time multi-processor system. The images are taken at oblique angles, stabilized and ortho-rectified. The line-of-sight of the sensor to the ground is often interrupted by terrain features such as mountains or tall structures as depicted in Figure1. The ortho-rectification process renders the areas hidden from the line-of sight of the sensor with spurious information. This paper discusses an approach for addressing terrain masking in size, weight, and power (SWaP) and memory-restricted onboard processing systems.

  5. 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.

  6. Energy harvesting water vehicle

    KAUST Repository

    Singh, Devendra

    2018-01-04

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

  7. Improved Path Loss Simulation Incorporating Three-Dimensional Terrain Model Using Parallel Coprocessors

    Directory of Open Access Journals (Sweden)

    Zhang Bin Loo

    2017-01-01

    Full Text Available Current network simulators abstract out wireless propagation models due to the high computation requirements for realistic modeling. As such, there is still a large gap between the results obtained from simulators and real world scenario. In this paper, we present a framework for improved path loss simulation built on top of an existing network simulation software, NS-3. Different from the conventional disk model, the proposed simulation also considers the diffraction loss computed using Epstein and Peterson’s model through the use of actual terrain elevation data to give an accurate estimate of path loss between a transmitter and a receiver. The drawback of high computation requirements is relaxed by offloading the computationally intensive components onto an inexpensive off-the-shelf parallel coprocessor, which is a NVIDIA GPU. Experiments are performed using actual terrain elevation data provided from United States Geological Survey. As compared to the conventional CPU architecture, the experimental result shows that a speedup of 20x to 42x is achieved by exploiting the parallel processing of GPU to compute the path loss between two nodes using terrain elevation data. The result shows that the path losses between two nodes are greatly affected by the terrain profile between these two nodes. Besides this, the result also suggests that the common strategy to place the transmitter in the highest position may not always work.

  8. Two stage catalytic converter system to reduce exhaust emissions of HC, CO and NO in a motor vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Nagalingam, B; Gopalakrishnan, K V; Murthy, B S

    1978-09-01

    Two-stage catalytic converter system is currently receiving considerable attention as a means to control the primary pollutants, namely, HC, CO and NO in the automobile exhaust. In order to explore the possibility of developing catalysts from indigenous and inexpensive sources of materials, sponge iron for NO reduction and manganese ore pebbles for HC/CO oxidation were tested as candidate-catalysts in an engine dynamometer test bed to study their catalytic activity. The results of these experiments are reported.

  9. Some cases of terrain unstability from the Dolenjska karst area

    Directory of Open Access Journals (Sweden)

    Magda Čarman

    2010-12-01

    Full Text Available The paper presents some cases of terrain unstability from the Dolenjska karst area formed in the last yearsaround Žužemberk and Dolenjske Toplice. The Dolenjska karst has its own characteristic way of development. Themain features are thick soil top, mainly composed of clay, and high and strongly fluctuating water table. Presentedare a landslide, two rockfalls and a sinkhole collapse. A landslide nearby Žužemberk was initiated in soil top. Bothrockfalls appeared in tectonically highly disturbed carbonate rocks along the Žužemberk fault. The sinkhole collapsein the area around Dolenjske Toplice developed in tectonically damaged rocks inside the Dolenjska - Notranjskahorst and during a period of heavy rain.

  10. 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.

  11. Archaean TTG of Vodlozero Terrain, Fennoscandian Shield

    Science.gov (United States)

    Chekulaev, Valery; Arestova, Natalia

    2014-05-01

    The Vodlozero terrain is the largest (about 270*240 km) early Archaean fragment of Fennoscandian Shield and composes its eastern part. The granitoids of TTG suite are predominant component of the terrain. The greenstone belts are placed along the margins of the terrain. Several stages of TTG formation can be distinguished in Achaean crust history. (1) The oldest TTG are trondhjemites and tonalities with age of 3240 Ma. They contain rare and small amphibolite inclusions of the same age. These TTG are characterized by high Sr (av. 412 ppm), Sr/Y (70), (La/Yb)n (54) and low Y (av. 7 ppm), Yb (0.32 ppm) and Nb (4 ppm). It was shown (Lobach-Zhuchenko et al., 2000), that the source of these TTG could be basic rocks, having composition similar with TH1 by K.Condie. (2) The tonalities and granodiorites with age of 3150 Ma are disposed near greenstone belts and contain compared to TTG of the first group less Sr (av. 250 ppm), Sr/Y (22), (La/Yb)n (18) and more K, Rb (av. 70 ppm), Ba (470 ppm), Y (11 ppm),Yb (1.16 ppm). TTG of both groups have identical T(DM)Nd (3250-3400 Ma) and differences in composition is evidently connected with lower level of source melting of the second group and also with K-metasomatism. The volcanics of the greenstone belts have age 3020 - 2940 Ma. Dykes of gabbro-amphibolites and andesites with the same age and composition cut TTG of the first and the second groups. The age of the third TTG group is about 2900 Ma ago. These rocks form leucosoma of migmatites within TTG of the second group. The composition of the third TTG and Nd isotope data suppose their origin by the melting of ancient TTG crust simultaneously with greenstone belt emplacement. The fourth TTG group with age 2780-2850 Ma forms a small intrusions, cutting older TTG and greenstone rocks. Their composition is similar to 3150 Ma TTG. Nd isotope data indicate that these TTG have younger (about 2850 Ma) source. Thus there are four TTG groups formed into interval more 400 Ma. The age and

  12. Wind Ressources in Complex Terrain investigated with Synchronized Lidar Measurements

    Science.gov (United States)

    Mann, J.; Menke, R.; Vasiljevic, N.

    2017-12-01

    The Perdigao experiment was performed by a number of European and American universities in Portugal 2017, and it is probably the largest field campaign focussing on wind energy ressources in complex terrain ever conducted. 186 sonic anemometers on 50 masts, 20 scanning wind lidars and a host of other instruments were deployed. The experiment is a part of an effort to make a new European wind atlas. In this presentation we investigate whether scanning the wind speed over ridges in this complex terrain with multiple Doppler lidars can lead to an efficient mapping of the wind resources at relevant positions. We do that by having pairs of Doppler lidars scanning 80 m above the ridges in Perdigao. We compare wind resources obtained from the lidars and from the mast-mounted sonic anemometers at 80 m on two 100 m masts, one on each of the two ridges. In addition, the scanning lidar measurements are also compared to profiling lidars on the ridges. We take into account the fact that the profiling lidars may be biased due to the curvature of the streamlines over the instrument, see Bingol et al, Meteorolog. Z. vol. 18, pp. 189-195 (2009). We also investigate the impact of interruptions of the lidar measurements on the estimated wind resource. We calculate the relative differences of wind along the ridge from the lidar measurements and compare those to the same obtained from various micro-scale models. A particular subject investigated is how stability affects the wind resources. We often observe internal gravity waves with the scanning lidars during the night and we quantify how these affect the relative wind speed on the ridges.

  13. Investigation of Microphysical Parameters within Winter and Summer Type Precipitation Events over Mountainous [Complex] Terrain

    International Nuclear Information System (INIS)

    Stalker, James R.; Bossert, James E.

    1997-10-01

    In this study we investigate complex terrain effects on precipitation with RAMS for both in winter and summer cases from a microphysical perspective. We consider a two dimensional east-west topographic cross section in New Mexico representative of the Jemez mountains on the west and the Sangre de Cristo mountains on the east. Located between these two ranges is the Rio Grande Valley. In these two dimensional experiments, variations in DSDs are considered to simulate total precipitation that closely duplicate observed precipitation

  14. Vehicle regulations.

    NARCIS (Netherlands)

    2006-01-01

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

  15. ATRAN Terrain Sensing Guidance-The Grand-Daddy System

    Science.gov (United States)

    Koch, Richard F.; Evans, Donald C.

    1980-12-01

    ATRAN was the pioneer terrain sensing guidance system developed in the 1950 era and deployed in Europe on the Air Force's mobile, ground launched TM-76A MACE cruise missile in the late 1950's and early 1960's. The background, principles and technology are described for this system which was the forerunner of todays modern autonomous standoff terrain sensing guided weapons.

  16. 47 CFR 1.959 - Computation of average terrain elevation.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 1 2010-10-01 2010-10-01 false Computation of average terrain elevation. 1.959 Section 1.959 Telecommunication FEDERAL COMMUNICATIONS COMMISSION GENERAL PRACTICE AND PROCEDURE Wireless Radio Services Applications and Proceedings Application Requirements and Procedures § 1.959 Computation of average terrain elevation. Except a...

  17. 47 CFR 80.759 - Average terrain elevation.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 5 2010-10-01 2010-10-01 false Average terrain elevation. 80.759 Section 80.759 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED) SAFETY AND SPECIAL RADIO SERVICES STATIONS IN THE MARITIME SERVICES Standards for Computing Public Coast Station VHF Coverage § 80.759 Average terrain elevation. (a)(1) Draw radials...

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

    Directory of Open Access Journals (Sweden)

    Fuchida Masataka

    2016-09-01

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

  19. Modeling and Implementing Two-Stage AdaBoost for Real-Time Vehicle License Plate Detection

    Directory of Open Access Journals (Sweden)

    Moon Kyou Song

    2014-01-01

    Full Text Available License plate (LP detection is the most imperative part of the automatic LP recognition system. In previous years, different methods, techniques, and algorithms have been developed for LP detection (LPD systems. This paper proposes to automatical detection of car LPs via image processing techniques based on classifier or machine learning algorithms. In this paper, we propose a real-time and robust method for LPD systems using the two-stage adaptive boosting (AdaBoost algorithm combined with different image preprocessing techniques. Haar-like features are used to compute and select features from LP images. The AdaBoost algorithm is used to classify parts of an image within a search window by a trained strong classifier as either LP or non-LP. Adaptive thresholding is used for the image preprocessing method applied to those images that are of insufficient quality for LPD. This method is of a faster speed and higher accuracy than most of the existing methods used in LPD. Experimental results demonstrate that the average LPD rate is 98.38% and the computational time is approximately 49 ms.

  20. Experiment S-5: Synoptic Terrain Photography

    Science.gov (United States)

    Lowman, Paul D., Jr.

    1966-01-01

    The Synoptic Terrain Photography Experiment (S-5) was successfully conducted during the Gemini V mission, the second of the Gemini flights on which it was carried. This report summarizes briefly the methods and results of the experiment. Interpretation of the many excellent pictures obtained is in progress, and a full report is not possible at this time; instead, representative pictures will be presented and described. The purpose of the experiment was to obtain a large number of high-quality color photographs of selected land areas from geologic and geographic study. Southern Mexico, eastern Africa, and Australia were given high priority, but it was stressed that good pictures of any cloud-free land area would be useful. The same camera (Hasselblad 500 C) and film (Ektachrome MS) used on the Gemini III and IV missions were carried on the Gemini V flight.

  1. Slip estimation methods for proprioceptive terrain classification using tracked mobile robots

    CSIR Research Space (South Africa)

    Masha, Ditebogo F

    2017-11-01

    Full Text Available Recent work has shown that proprioceptive measurements such as terrain slip can be used for terrain classification. This paper investigates the suitability of four simple slip estimation methods for differentiating between indoor and outdoor terrain...

  2. 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.

  3. A New Terrain Classification Framework Using Proprioceptive Sensors for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Kai Zhao

    2017-01-01

    Full Text Available Mobile robots that operate in real-world environments interact with the surroundings to generate complex acoustics and vibration signals, which carry rich information about the terrain. This paper presents a new terrain classification framework that utilizes both acoustics and vibration signals resulting from the robot-terrain interaction. As an alternative to handcrafted domain-specific feature extraction, a two-stage feature selection method combining ReliefF and mRMR algorithms was developed to select optimal feature subsets that carry more discriminative information. As different data sources can provide complementary information, a multiclassifier combination method was proposed by considering a priori knowledge and fusing predictions from five data sources: one acoustic data source and four vibration data sources. In this study, four conceptually different classifiers were employed to perform the classification, each with a different number of optimal features. Signals were collected using a tracked robot moving at three different speeds on six different terrains. The new framework successfully improved classification performance of different classifiers using the newly developed optimal feature subsets. The greater improvement was observed for robot traversing at lower speeds.

  4. Atmospheric dispersion experiments over complex terrain in a spanish valley site (Guardo-90)

    International Nuclear Information System (INIS)

    Ibarra, J.I.

    1991-01-01

    An intensive field experimental campaign was conducted in Spain to quantify atmospheric diffusion within a deep, steep-walled valley in rough, mountainous terrain. The program has been sponsored by the spanish companies of electricity and is intended to validate existing plume models and to provide the scientific basis for future model development. The atmospheric dispersion and transport processes in a 40x40 km domain were studied in order to evaluate SO 2 and SF 6 releases from an existing 185 m chimney and ground level sources in a complex terrain valley site. Emphasis was placed on the local mesoscale flows and light wind stable conditions. Although the measuring program was intensified during daytime for dual tracking of SO 2 /SF 6 from an elevated source, nighttime experiments were conducted for mountain-valley flows characterization. Two principle objectives were pursued: impaction of plumes upon elevated terrain, and diffusion of gases within the valley versus diffusion over flat, open terrain. Artificial smoke flows visualizations provided qualitative information: quantitative diffusion measurements were obtained using sulfur hexafluoride gas with analysis by highly sensitive electron capture gas chromatographs systems. Fourteen 2 hours gaseous tracer releases were conducted

  5. Numerical simulation of radiation fog in complex terrain

    Science.gov (United States)

    Zhang, X.; Musson-Genon, L.; Carissimo, B.; Dupont, E.

    2009-09-01

    The interest for micro-scale modeling of the atmosphere is growing for environmental applications related, for example, to energy production, transport and urban development. The turbulence in the stable layers where pollutant dispersion is low and can lead to strong pollution events. This could be further complicated by the presence of clouds or fog and is specifically difficult in urban or industrial area due to the presence of buildings. In this context, radiation fog formation and dissipation over complex terrain were therefore investigated with a state-of-the-art model. This study is divided into two phases. The first phase is a pilot stage, which consist of employing a database from the ParisFog campaign which took place in the south of Paris during winter 2006-07 to assess the ability of the cloud model to reproduce the detailed structure of radiation fog. The second phase use the validated model for the study of influence of complex terrain on fog evolution. Special attention is given to the detailed and complete simulations and validation technique used is to compare the simulated results using the 3D cloud model of computational fluid dynamical software Code_Saturne with one of the best collected in situ data during the ParisFog campaign. Several dynamical, microphysical parameterizations and simulation conditions have been described. The resulting 3D cloud model runs at a horizontal resolution of 30 m and a vertical resolution comparable to the 1D model. First results look very promising and are able to reproduce the spatial distribution of fog. The analysis of the behavior of the different parameterized physical processes suggests that the subtle balance between the various processes is achieved.

  6. Space robot simulator vehicle

    Science.gov (United States)

    Cannon, R. H., Jr.; Alexander, H.

    1985-01-01

    A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.

  7. Environmental impacts of forest road construction on mountainous terrain.

    Science.gov (United States)

    Caliskan, Erhan

    2013-03-15

    Forest roads are the base infrastructure foundation of forestry operations. These roads entail a complex engineering effort because they can cause substantial environmental damage to forests and include a high-cost construction. This study was carried out in four sample sites of Giresun, Trabzon(2) and Artvin Forest Directorate, which is in the Black Sea region of Turkey. The areas have both steep terrain (30-50% gradient) and very steep terrain (51-80% gradient). Bulldozers and hydraulic excavators were determined to be the main machines for forest road construction, causing environmental damage and cross sections in mountainous areas.As a result of this study, the percent damage to forests was determined as follows: on steep terrain, 21% of trees were damaged by excavators and 33% of trees were damaged by bulldozers during forest road construction, and on very steep terrain, 27% of trees were damaged by excavators and 44% of trees were damaged by bulldozers during forest road construction. It was also determined that on steep terrain, when excavators were used, 12.23% less forest area was destroyed compared with when bulldozers were used and 16.13% less area was destroyed by excavators on very steep terrain. In order to reduce the environmental damage on the forest ecosystem, especially in steep terrains, hydraulic excavators should replace bulldozers in forest road construction activities.

  8. Environmental Impacts of Forest Road Construction on Mountainous Terrain

    Directory of Open Access Journals (Sweden)

    Erhan Caliskan

    2013-03-01

    Full Text Available Forest roads are the base infrastructure foundation of forestry operations. These roads entail a complex engineering effort because they can cause substantial environmental damage to forests and include a high-cost construction. This study was carried out in four sample sites of Giresun, Trabzon(2 and Artvin Forest Directorate, which is in the Black Sea region of Turkey. The areas have both steep terrain (30-50% gradient and very steep terrain (51-80% gradient. Bulldozers and hydraulic excavators were determined to be the main machines for forest road construction, causing environmental damage and cross sections in mountainous areas.As a result of this study, the percent damage to forests was determined as follows: on steep terrain, 21% of trees were damaged by excavators and 33% of trees were damaged by bulldozers during forest road construction, and on very steep terrain, 27% of trees were damaged by excavators and 44% of trees were damaged by bulldozers during forest road construction. It was also determined that on steep terrain, when excavators were used, 12.23% less forest area was destroyed compared with when bulldozers were used and 16.13% less area was destroyed by excavators on very steep terrain. In order to reduce the environmental damage on the forest ecosystem, especially in steep terrains, hydraulic excavators should replace bulldozers in forest road construction activities.

  9. Abandoned vehicles

    CERN Multimedia

    Relations with the Host States Service

    2004-01-01

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

  10. Vehicle dynamics theory and application

    CERN Document Server

    Jazar, Reza N

    2017-01-01

    This intermediate textbook is appropriate for students in vehicle dynamics courses, in their last year of undergraduate study or their first year of graduate study. It is also appropriate for mechanical engineers, automotive engineers, and researchers in the area of vehicle dynamics for continuing education or as a reference. It addresses fundamental and advanced topics, and a basic knowledge of kinematics and dynamics, as well as numerical methods, is expected. The contents are kept at a theoretical-practical level, with a strong emphasis on application. This third edition has been reduced by 25%, to allow for coverage over one semester, as opposed to the previous edition that needed two semesters for coverage. The textbook is composed of four parts: Vehicle Motion: covers tire dynamics, forward vehicle dynamics, and driveline dynamics Vehicle Kinematics: covers applied kinematics, applied mechanisms, steering dynamics, and suspension mechanisms Vehicle Dynamics: covers applied dynamics, vehicle planar dynam...

  11. Assessing the Utility of Temporally Dynamic Terrain Indices in Alaskan Moose Resource Selection

    Science.gov (United States)

    Jennewein, J. S.; Hebblewhite, M.; Meddens, A. J.; Gilbert, S.; Vierling, L. A.; Boelman, N.; Eitel, J.

    2017-12-01

    The accelerated warming in arctic and boreal regions impacts ecosystem structure and plant species distribution, which have secondary effects on wildlife. In summer months, moose (Alces alces) are especially vulnerable to changes in the availability and quality of forage and foliage cover due to their thermoregulatory needs and high energetic demands post calving. Resource selection functions (RSFs) have been used with great success to model such tradeoffs in habitat selection. Recently, RSFs have expanded to include more dynamic representations of habitat selection through the use of time-varying covariates such as dynamic habitat indices. However, to date few studies have investigated dynamic terrain indices, which incorporate long-term, highly-dynamic meteorological data (e.g., albedo, air temperature) and their utility in modeling habitat selection. The purpose of this study is to compare two dynamic terrain indices (i.e., solar insolation and topographic wetness) to their static counterparts in Alaskan moose resource selection over a ten-year period (2008-2017). Additionally, the utility of a dynamic wind-shelter index is assessed. Three moose datasets (n=130 total), spanning a north-to-south gradient in Alaska, are analyzed independently to assess location-specific resource selection. The newly-released, high-resolution Arctic Digital Elevation Model (5m2) is used as the terrain input into both dynamic and static indices. Dynamic indices are programmed with meteorological data from the North American Regional Analysis (NARR) and NASA's Goddard Earth Sciences Data and Information Services Center (GES-DISC) databases. Static wetness and solar insolation indices are estimated using only topographic parameters (e.g., slope, aspect). Preliminary results from pilot analyses suggest that dynamic terrain indices may provide novel insights into resource selection of moose that could not be gained when using static counterparts. Future applications of such dynamic

  12. SIMULTANEOUS SPACE VECTOR MODULATION DIRECT TORQUE CONTROL OF TWO INDUCTION MOTORS USED IN ELECTRIC VEHICLES BY A NINE-SWITCH INVERTER

    Directory of Open Access Journals (Sweden)

    A. R. SHAMLOU

    2017-12-01

    Full Text Available In this paper, a novel two output nine switch-inverter is proposed in order to increase the synchronization speed of induction motors used in electric vehicles (EVs while improving the efficiency and controllability of the system. The number of switches in the proposed inverter is reduced by 25% compared to double six-switch inverters which conventionally used in EVs. The main characteristics of the considered inverter can be noted as follows: sinusoidal input and outputs, unity output power factor, and specifically, low construction cost due to active switch number reduction. The classical direct torque control method causes torque ripple and speed fluctuations. Therefore, in order to increase accuracy and dynamics of drive system, the SVM-DTC method is proposed, leading to less torque ripple and constant switching frequency. The obtained torque ripple is 2% which is less than the existing structures In order to illustrate advantages of the proposed approach, performance of the EVs in the standard cycles is evaluated.

  13. 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...

  14. SIMULATION OF ADAPTIVE BEHAVIOR IN THE CONTEXT OF SOLVING AN AUTONOMOUS ROBOTIC VEHICLE MOTION TASK ON TWO-DIMENSIONAL PLANE WITH OBSTACLES

    Directory of Open Access Journals (Sweden)

    R. A. Prakapovich

    2014-01-01

    Full Text Available An adaptive neurocontroller for autonomous robotic vehicle control, which is designed to generate control signals (according to preprogrammed motion algorithm and to develop individual reactions to some external impacts during functioning process, that allows the robot to adapt to external environment changes, is suggested. To debug and test the proposed neurocontroller a specially designed program, able to simulate the sensory and executive systems operation of the robotic vehicle, is used.

  15. Fallout radiation protection provided by transportation vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Burson, Z.G.

    1972-10-20

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

  16. 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

  17. DCS Terrain submission for Washoe County NV PMR

    Data.gov (United States)

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

  18. DCS Terrain Submission for Lewis and Clark County, Montana

    Data.gov (United States)

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

  19. DCS Terrain for Bullcoh County GA MAPMOD04-08

    Data.gov (United States)

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

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

    Data.gov (United States)

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

  1. DIGITAL TERRAIN DCS DATABASE for ALLEN PARISH, LA, USA

    Data.gov (United States)

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

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

    Data.gov (United States)

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

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

    Data.gov (United States)

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

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

    Data.gov (United States)

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

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

    Data.gov (United States)

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

  6. DCS Terrain Submission for Monmouth County, New Jersey

    Data.gov (United States)

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

  7. DCS Terrain Submission for Los Alamos County, New Mexico, USA

    Data.gov (United States)

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

  8. DCS Terrain Submission for Los Angeles County, CA

    Data.gov (United States)

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

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

    Data.gov (United States)

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

  10. DCS Terrain for Appling County GA MapMod08

    Data.gov (United States)

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

  11. DCS Terrain for Laurens County GA MAPMOD04-08

    Data.gov (United States)

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

  12. TERRAIN, City of El Dorado, Butler County, KS

    Data.gov (United States)

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

  13. DCS Terrain Submittal for Santa Fe County, New Mexico, USA

    Data.gov (United States)

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

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

    Data.gov (United States)

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

  15. Terrain Submission for Dickinson County, MI (Countywide DFIRM)

    Data.gov (United States)

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

  16. DCS Terrain Submittal for Sumter County, Georgia, USA

    Data.gov (United States)

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

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

    Data.gov (United States)

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

  18. Terrain Submission for Alcona County, MI (Countywide DFIRM)

    Data.gov (United States)

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

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

    Data.gov (United States)

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

  20. DCS Terrain for Wayne County GA MapMod08

    Data.gov (United States)

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