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Evaluation of airborne thermal, magnetic, and electromagnetic characterization technologies

The identification of Buried Structures (IBS) or Aerial Surveillance Project was initiated by the US Department of Energy (DOE) Office of Technology Development to demonstrate airborne methods for locating and identifying buried waste and ordnance at the Idaho National Engineering Laboratory (INEL). Two technologies were demonstrated: (a) a thermal infrared imaging system built by Martin Marietta Missile Systems and (b) a magnetic and electromagnetic (EM) geophysical surveying system operated b… more

Date: March 1, 1992

Creator: Josten, N.E.

Item Type: Report

Partner: UNT Libraries Government Documents Department

With the Possum and the Eagle: the Memoir of a Navigator's War Over Germany and Japan

Ralph H. Nutter was the lead navigator for Eighth Air Force raids over Germany when he was assigned as Maj. Gen. Curtis “the Eagle” LeMay’s group navigator. Later, as the strategic air war over Europe was winding down, the ace navigator was transferred to B-29 Superfortress duty with the Twentieth Air Force in the Pacific, where he was picked by Brigadier Gen. Haywood "Possum" Hansell to be his bomber navigator. After LeMay succeeded Hansell as bomber commander, Nutter returned to navigation du… more

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Date: August 15, 2005

Creator: Nutter, Ralph H.

Item Type: Book

Partner: UNT Press

open access

Autonomous navigation of a mobile robot using custom-designed qualitative reasoning VLSI chips and boards

Two types of computer boards including custom-designed VLSI chips have been developed to add a qualitative reasoning capability to the real-time control of autonomous mobile robots. The design and operation of these boards are first described and an example of their use for the autonomous navigation of a mobile robot is presented. The development of qualitative reasoning schemes emulating human-like navigation is a-priori unknown environments is discussed. The efficiency of such schemes, which … more

Date: January 1, 1991

Creator: Pin, F.G.; Pattay, R.S. (Oak Ridge National Lab., TN (United States)); Watanabe, H. & Symon, J. (North Carolina Univ., Chapel Hill, NC (United States). Dept. of Computer Science)

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

A capacitance-based proximity sensor for whole arm obstacle avoidance

This paper addresses the issue of collision avoidance in unknown or partially modeled environments using a capacitive sensor. An eight channel capacitance-based sensor system which can detect obstacles up to 400 mm (16 inches) away has been developed. This sensor can detect both conductive and non-conductive obstacles of arbitrary color and shape. The sensor hardware is reliable and inexpensive, and it may be fabricated using flexible printed circuit boards to provide whole-arm and joint protec… more

Date: January 1, 1991

Creator: Novak, J.L. & Feddema, J.T.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Development of Radar Navigation and Radio Data Transmission for Microhole Coiled Tubing Bottom Hole Assemblies

This Final Technical Report summarizes the research and development (R&D) work performed by Stolar Research Corporation (Stolar) under U.S. Department of Energy (DOE) Contract Number DE-FC26-04NT15477. This work involved the development of radar navigation and radio data transmission systems for integration with microhole coiled tubing bottom hole assemblies. Under this contract, Stolar designed, fabricated, and laboratory and field tested two advanced technologies of importance to the futu… more

Date: March 25, 2007

Creator: Stolarczyk, Larry G.; Stolarczyk, Gerald L.; Icerman, Larry; Howard, John & Tehrani, Hooman

Item Type: Report

Partner: UNT Libraries Government Documents Department

open access

A digital accelerometer array utilizing suprathreshold stochastic resonance for detection of sub-Brownian noise floor accelerations.

The goal of this LDRD project was to evaluate the possibilities of utilizing Stochastic resonance in micromechanical sensor systems as a means for increasing signal to noise for physical sensors. A careful study of this field reveals that in the case of a single sensing element, stochastic resonance offers no real advantage. We have, however, identified a system that can utilize very similar concepts to stochastic resonance in order to achieve an arrayed sensor system that could be superior to … more

Date: December 1, 2004

Creator: Carr, Dustin Wade & Olsson, Roy H.

Item Type: Report

Partner: UNT Libraries Government Documents Department

open access

Graduated embodiment for sophisticated agent evolution and optimization.

We summarize the results of a project to develop evolutionary computing methods for the design of behaviors of embodied agents in the form of autonomous vehicles. We conceived and implemented a strategy called graduated embodiment. This method allows high-level behavior algorithms to be developed using genetic programming methods in a low-fidelity, disembodied modeling environment for migration to high-fidelity, complex embodied applications. This project applies our methods to the problem doma… more

Date: January 1, 2005

Creator: Pierson, Arthurine Renee; Peters, Michael D. & Boslough, Mark Bruce Elrick

Item Type: Report

Partner: UNT Libraries Government Documents Department

open access

DSTiPE Algorithm for Fuzzy Spatio-Temporal Risk Calculation in Wireless Environments

Time and location data play a very significant role in a variety of factory automation scenarios, such as automated vehicles and robots, their navigation, tracking, and monitoring, to services of optimization and security. In addition, pervasive wireless capabilities combined with time and location information are enabling new applications in areas such as transportation systems, health care, elder care, military, emergency response, critical infrastructure, and law enforcement. A person/object… more

Date: September 1, 2008

Creator: Derr, Kurt & Manic, Milos

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Support for the Core Research Activities and Studies of the Computer Science and Telecommunications Board (CSTB)

The Computer Science and Telecommunications Board of the National Research Council considers technical and policy issues pertaining to computer science (CS), telecommunications, and information technology (IT). The functions of the board include: (1) monitoring and promoting the health of the CS, IT, and telecommunications fields, including attention as appropriate to issues of human resources and funding levels and program structures for research; (2) initiating studies involving CS, IT, and t… more

Date: May 13, 2008

Creator: Eisenberg, Jon

Item Type: Report

Partner: UNT Libraries Government Documents Department

open access

Cooperative sentry vehicles and differential GPS leapfrog

As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories Intelligent Systems and Robotics Center is developing and testing the feasibility of using a cooperative team of robotic sentry vehicles to guard a perimeter, perform a surround task, and travel extended distances. This paper describes the authors most recent activities. In particular, this paper highlights the development of a Differential Global Positioning System (DGPS) leapfrog capability th… more

Date: June 7, 2000

Creator: Feddema, John T.; Lewis, Christopher L. & LaFarge, Robert A.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Optimal sensor fusion for land vehicle navigation

Position location is a fundamental requirement in autonomous mobile robots which record and subsequently follow x,y paths. The Dept. of Energy, Office of Safeguards and Security, Robotic Security Vehicle (RSV) program involves the development of an autonomous mobile robot for patrolling a structured exterior environment. A straight-forward method for autonomous path-following has been adopted and requires digitizing'' the desired road network by storing x,y coordinates every 2m along the roads.… more

Date: October 1, 1990

Creator: Morrow, J. D.

Item Type: Report

Partner: UNT Libraries Government Documents Department

open access

Technology transfer from the space exploration initiative

Space exploration has demonstrated that it stimulates the national economy by creating new and improved products, increased employment, and provides a stimulus to education. The exploration of the Moon and Mars under the Space Exploration Initiative has the potential of accelerating this stimulates to the economy. It is difficult to identify all of the concrete ways this will be accomplished. However, many areas can be identified. The space exploration building blocks of power, propulsion, spac… more

Date: June 14, 1991

Creator: Buden, D.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Vehicle tracking systems

Several systems have been developed to accomplish vehicle location. The systems consist of three types: Dead Reckoning, Satellite, and LORAN C. If the information is to be sent back to a central location, some type of radiocommunication system is needed. One can use the existing voice radio or add a radio system just for transmitting the data.

Date: January 1, 1987

Creator: Schwalm, R.W.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Workload induced spatio-temporal distortions and safety of flight

A theoretical analysis of the relationship between cognitive complexity and the perception of time and distance is presented and experimentally verified. Complex tasks produce high rates of mental representation which affect the subjective sense of duration and, through the subjective time scale, the percept of distance derived from dynamic visual cues (i.e., visual cues requiring rate integration). The analysis of the interrelationship of subjective time and subjective distance yields the pred… more

Date: January 1, 1989

Creator: Barrett, C. L.; Weisgerber, S. A. & Naval Weapons Center, China Lake, CA (USA))

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Practical path planning among movable obstacles

Path planning among movable obstacles is a practical problem that is in need of a solution. In this paper an efficient heuristic algorithm that uses a generate-and-test paradigm: a good'' candidate path is hypothesized by a global planner and subsequently verified by a local planner. In the process of formalizing the problem, we also present a technique for modeling object interactions through contact. Our algorithm has been tested on a variety of examples, and was able to generate solutions wi… more

Date: September 5, 1990

Creator: Chen, Pang C. & Hwang, Yong K.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Design of an omnidirectional and holonomic wheeled platform prototype

This paper presents the concepts for a new family of wheeled platforms which feature full omnidirectionality with simultaneous and independent rotational and translational motion capabilities. We first describe the original orthogonal-wheels assembly'' on which these platforms are based and discuss how a combination of these assemblies is used to generate an omnidirectional capability. The design and control of a prototype platform developed to test and demonstrate the proposed concepts is then… more

Date: January 1, 1991

Creator: Killough, S.M. & Pin, F.G.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

A Bayes-Maximum Entropy method for multi-sensor data fusion

In this paper we introduce a Bayes-Maximum Entropy formalism for multi-sensor data fusion, and present an application of this methodology to the fusion of ultrasound and visual sensor data as acquired by a mobile robot. In our approach the principle of maximum entropy is applied to the construction of priors and likelihoods from the data. Distances between ultrasound and visual points of interest in a dual representation are used to define Gibbs likelihood distributions. Both one- and two-dimen… more

Date: January 1, 1991

Creator: Beckerman, M.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Ship tracks and velocities for WCSEX 1991

Enclosed in this report are plots of the wave generating ship tracks and velocities for the West Coast Scotland Experiment (WCSEX) 1991.

Date: October 3, 1991

Creator: Yorkey, T.J.

Item Type: Report

Partner: UNT Libraries Government Documents Department

open access

Time optimal trajectories for a two wheeled robot

This paper addresses the problem of time-optimal motions for a mobile platform in a 2-D planar environment. The platform is assumed to be of the skid-steer type, with two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories between these configurations assuming an unobstructed enviro… more

Date: January 1, 1991

Creator: Reister, D.B. & Pin, F.G.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Terrain following of arbitrary surfaces using a high intensity LED proximity sensor

Many robotic operations, e.g., mapping, scanning, feature following, etc., require accurate surface following of arbitrary targets. This paper presents a versatile surface following and mapping system designed to promote hardware, software and application independence, modular development, and upward expandability. These goals are met by: a full, a priori specification of the hardware and software interfaces; a modular system architecture; and a hierarchical surface-data analysis method, permit… more

Date: January 1, 1992

Creator: Baker, J.E.

Item Type: Report

Partner: UNT Libraries Government Documents Department

open access

Overview of the DART project

DART (DSP Arrary for Reconfigurable Tasks) is a parallel architecture of two high-performance SDP (digital signal processing) chips with the flexibility to handle a wide range of real-time applications. Each of the 32-bit floating-point DSP processes in DART is programmable in a high-level languate ( C'' or Ada). We have added extensions to the real-time operating system used by DART in order to support parallel processor. The combination of high-level language programmability, a real-time oper… more

Date: January 1, 1992

Creator: Berry, K. R.; Hansen, F. R.; Napolitano, L. M.; McKelvey, E. L.; Andaleon, D. D. & Leeper, J. E.

Item Type: Report

Partner: UNT Libraries Government Documents Department

open access

Low-cost teleoperator-controlled vehicle for damage assessment and radiation dose measurement

A low-cost, disposable, radio-controlled, remote-reading, ionizing radiation and surveillance teleoperator re-entry vehicle has been built. The vehicle carries equipment, measures radiation levels, and evaluates building conditions. The basic vehicle, radio control with amplifiers, telemetry, elevator, and video camera with monitor cost less than $2500. Velcro-mounted alpha, beta-gamma, and neutron sensing equipment is used in the present system. Many types of health physics radiation measuring… more

Date: January 1, 1991

Creator: Tyree, W.H.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

DOE Robotics Project

This document provide the bimonthly progress reports on the Department of Energy (DOE) Robotics Project by the University of Michigan. Reports are provided for the time periods of December 90/January 91 through June 91/July 91. (FI)

Date: January 1, 1991

Item Type: Report

Partner: UNT Libraries Government Documents Department

open access

Unsteady flow model of Priest Rapids Dam releases at Hanford Reach, Columbia River, Washington

A model was developed to simulate water levels at three locations on the Columbia River between Priest Rapids Dam River Mile 396.1 (River Kilometer 639.0) and River Mile 361.50 (River Kilometer 581.7). The model was calibrated and verified over a range of flows. The results of calibration and verification indicate that the model, with reasonable accuracy, simulates stages to within +-0.08 m (+- 0.25 ft) and surface wave timing to within +-20 min. The model can be used by researchers, river syst… more

Date: February 1, 1983

Creator: Sneider, S.C. & Skaggs, R.L.

Item Type: Report

Partner: UNT Libraries Government Documents Department