Modeling Continuous IED Supply Chains

Improvised Explosive Devices (IEDs) continue to be a main weapon used by terrorists against coalition forces overseas. This thesis intends to provide methods that can give coalition forces a new perspective on fighting IEDs. We begin by first developing a model of the supply chain terrorists use to develop, emplace and detonate IEDs. Our model contains four states in which IEDs can exist in: construction (C), emplaced (E), detonated (D) and found by coalition forces (F). We also have rate parameters representing the flow rates of IEDs. Over a given period of time, coalition forces can collect data on the number of IEDs that they find as well as the number of IEDs that detonate. From here, we apply a least squares method to obtain the parameter set for our supply chain model that best fits the collected IED data. Minimizing our least squares equation allows us to estimate where the IEDs are located as well as how fast they are being moved throughout the entire supply chain. Using this, we can judge the impact of our past efforts in stopping IEDs and determine how to best move forward

Aeronautical engineering: A continuing bibliography with indexes, supplement 100

This bibliography lists 295 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System in August 1978

Magnetic Actuators and Suspension for Space Vibration Control

The research on microgravity vibration isolation performed at the University of Virginia is summarized. This research on microgravity vibration isolation was focused in three areas: (1) the development of new actuators for use in microgravity isolation; (2) the design of controllers for multiple-degree-of-freedom active isolation; and (3) the construction of a single-degree-of-freedom test rig with umbilicals. Described are the design and testing of a large stroke linear actuator; the conceptual design and analysis of a redundant coarse-fine six-degree-of-freedom actuator; an investigation of the control issues of active microgravity isolation; a methodology for the design of multiple-degree-of-freedom isolation control systems using modern control theory; and the design and testing of a single-degree-of-freedom test rig with umbilicals

Internationales Kolloquium über Anwendungen der Informatik und Mathematik in Architektur und Bauwesen : 20. bis 22.7. 2015, Bauhaus-Universität Weimar

The 20th International Conference on the Applications of Computer Science and Mathematics in Architecture and Civil Engineering will be held at the Bauhaus University Weimar from 20th till 22nd July 2015. Architects, computer scientists, mathematicians, and engineers from all over the world will meet in Weimar for an interdisciplinary exchange of experiences, to report on their results in research, development and practice and to discuss. The conference covers a broad range of research areas: numerical analysis, function theoretic methods, partial differential equations, continuum mechanics, engineering applications, coupled problems, computer sciences, and related topics. Several plenary lectures in aforementioned areas will take place during the conference. We invite architects, engineers, designers, computer scientists, mathematicians, planners, project managers, and software developers from business, science and research to participate in the conference

Charting the Galactic acceleration field II. A global mass model of the Milky Way from the STREAMFINDER Atlas of Stellar Streams detected in Gaia DR3

We present an atlas and follow-up spectroscopic observations of 87 thin stream-like structures detected with the STREAMFINDER algorithm in Gaia DR3, of which 29 are new discoveries. Here we focus on using these streams to refine mass models of the Galaxy. Fits with a double power law halo with the outer power law slope set to $-\beta_h=3$ yield an inner power law slope $-\gamma_h=0.97^{+0.17}_{-0.21}$, a scale radius of $r_{0, h}=14.7^{+4.7}_{-1.0}$ kpc, a halo density flattening $q_{m, h}=0.75\pm0.03$, and a local dark matter density of $\rho_{h, \odot}=0.0114\pm0.0007 {\rm M_\odot pc^{-3}}$. Freeing $\beta$ yields $\beta=2.53^{+0.42}_{-0.16}$, but this value is heavily influenced by our chosen virial mass limit. The stellar disks are found to have a combined mass of $4.20^{+0.44}_{-0.53}\times10^{10} {\rm M_\odot}$, with the thick disk contributing $12.4\pm0.7$\% to the local stellar surface density. The scale length of the thin and thick disks are $2.17^{+0.18}_{-0.08}$ kpc and $1.62^{+0.72}_{-0.13}$ kpc, respectively, while their scale heights are $0.347^{+0.007}_{-0.010}$ kpc and $0.86^{+0.03}_{-0.02}$ kpc, respectively. The virial mass of the favored model is $M_{200}=1.09^{+0.19}_{-0.14}\times 10^{12} {\rm M_\odot}$, while the mass inside of 50 kpc is $M_{R<50}=0.46\pm0.03\times 10^{12} {\rm M_\odot}$. We introduce the Large Magellanic Cloud (LMC) into the derived potential models, and fit the "Orphan" stream therein, finding a mass for the LMC that is consistent with recent estimates. Some highlights of the atlas include the nearby trailing arm of $\omega$-Cen, and a nearby very metal-poor stream that was once a satellite of the Sagittarius dwarf galaxy. Finally, we unambiguously detect a hot component around the GD-1 stream, consistent with it having been tidally pre-processed within its own DM subhalo.Comment: 43 pages, 26 figures, submitted to Ap

Electrical impedance tomography applied to body-support interface pressure measurement

SIGLEAvailable from British Library Document Supply Centre-DSC:DXN009081 / BLDSC - British Library Document Supply CentreGBUnited Kingdo

OBJECT PERCEPTION IN UNDERWATER ENVIRONMENTS: A SURVEY ON SENSORS AND SENSING METHODOLOGIES

Underwater robots play a critical role in the marine industry. Object perception is the foundation for the automatic operations of submerged vehicles in dynamic aquatic environments. However, underwater perception encounters multiple environmental challenges, including rapid light attenuation, light refraction, or backscattering effect. These problems reduce the sensing devices’ signal-to-noise ratio (SNR), making underwater perception a complicated research topic. This paper describes the state-of-the-art sensing technologies and object perception techniques for underwater robots in different environmental conditions. Due to the current sensing modalities’ various constraints and characteristics, we divide the perception ranges into close-range, medium-range, and long-range. We survey and describe recent advances for each perception range and suggest some potential future research directions worthy of investigating in this field

Design and modeling of a portable hemodialysis system

Research to improve artificial renal replacement therapies is varied across the many different parts of a hemodialysis system. Work largely focuses on developing a better dialyzer - the component that is directly responsible for removing wastes from the blood - but less study is devoted to the entire hemodialysis system. This work seeks to improve hemodialysis in two ways: by proposing a new renal replacement therapy that does not rely on traditional hemodialysis components, and by investigating the feasibility of adapting current hemodialysis practices to a portable format. While an alternative renal replacement therapy may be the best solution to today's dialysis problems, this work further focuses on reducing hemodialysis to a portable format through systematic engineering design. In that process, a detailed system model is made in Simulink that can account for the large number of inputs of such a system - the blood flow rate, dialyzer size, treatment time, etc. - allowing for detailed exploration of the design space. Once the model is completed, it is verified through in vitro experiments carried out with porcine blood. Additionally, the model is verified against published human hemodialysis data. After model verification, hemodialysis concepts are generated that allow for maximum portability under different patient conditions.M.S.Committee Chair: Rosen, David; Committee Member: Ku, David; Committee Member: Paredis, Chri

Perception of Unstructured Environments for Autonomous Off-Road Vehicles

Autonome Fahrzeuge benötigen die Fähigkeit zur Perzeption als eine notwendige Voraussetzung für eine kontrollierbare und sichere Interaktion, um ihre Umgebung wahrzunehmen und zu verstehen. Perzeption für strukturierte Innen- und Außenumgebungen deckt wirtschaftlich lukrative Bereiche, wie den autonomen Personentransport oder die Industrierobotik ab, während die Perzeption unstrukturierter Umgebungen im Forschungsfeld der Umgebungswahrnehmung stark unterrepräsentiert ist. Die analysierten unstrukturierten Umgebungen stellen eine besondere Herausforderung dar, da die vorhandenen, natürlichen und gewachsenen Geometrien meist keine homogene Struktur aufweisen und ähnliche Texturen sowie schwer zu trennende Objekte dominieren. Dies erschwert die Erfassung dieser Umgebungen und deren Interpretation, sodass Perzeptionsmethoden speziell für diesen Anwendungsbereich konzipiert und optimiert werden müssen. In dieser Dissertation werden neuartige und optimierte Perzeptionsmethoden für unstrukturierte Umgebungen vorgeschlagen und in einer ganzheitlichen, dreistufigen Pipeline für autonome Geländefahrzeuge kombiniert: Low-Level-, Mid-Level- und High-Level-Perzeption. Die vorgeschlagenen klassischen Methoden und maschinellen Lernmethoden (ML) zur Perzeption bzw.~Wahrnehmung ergänzen sich gegenseitig. Darüber hinaus ermöglicht die Kombination von Perzeptions- und Validierungsmethoden für jede Ebene eine zuverlässige Wahrnehmung der möglicherweise unbekannten Umgebung, wobei lose und eng gekoppelte Validierungsmethoden kombiniert werden, um eine ausreichende, aber flexible Bewertung der vorgeschlagenen Perzeptionsmethoden zu gewährleisten. Alle Methoden wurden als einzelne Module innerhalb der in dieser Arbeit vorgeschlagenen Perzeptions- und Validierungspipeline entwickelt, und ihre flexible Kombination ermöglicht verschiedene Pipelinedesigns für eine Vielzahl von Geländefahrzeugen und Anwendungsfällen je nach Bedarf. Low-Level-Perzeption gewährleistet eine eng gekoppelte Konfidenzbewertung für rohe 2D- und 3D-Sensordaten, um Sensorausfälle zu erkennen und eine ausreichende Genauigkeit der Sensordaten zu gewährleisten. Darüber hinaus werden neuartige Kalibrierungs- und Registrierungsansätze für Multisensorsysteme in der Perzeption vorgestellt, welche lediglich die Struktur der Umgebung nutzen, um die erfassten Sensordaten zu registrieren: ein halbautomatischer Registrierungsansatz zur Registrierung mehrerer 3D~Light Detection and Ranging (LiDAR) Sensoren und ein vertrauensbasiertes Framework, welches verschiedene Registrierungsmethoden kombiniert und die Registrierung verschiedener Sensoren mit unterschiedlichen Messprinzipien ermöglicht. Dabei validiert die Kombination mehrerer Registrierungsmethoden die Registrierungsergebnisse in einer eng gekoppelten Weise. Mid-Level-Perzeption ermöglicht die 3D-Rekonstruktion unstrukturierter Umgebungen mit zwei Verfahren zur Schätzung der Disparität von Stereobildern: ein klassisches, korrelationsbasiertes Verfahren für Hyperspektralbilder, welches eine begrenzte Menge an Test- und Validierungsdaten erfordert, und ein zweites Verfahren, welches die Disparität aus Graustufenbildern mit neuronalen Faltungsnetzen (CNNs) schätzt. Neuartige Disparitätsfehlermetriken und eine Evaluierungs-Toolbox für die 3D-Rekonstruktion von Stereobildern ergänzen die vorgeschlagenen Methoden zur Disparitätsschätzung aus Stereobildern und ermöglichen deren lose gekoppelte Validierung. High-Level-Perzeption konzentriert sich auf die Interpretation von einzelnen 3D-Punktwolken zur Befahrbarkeitsanalyse, Objekterkennung und Hindernisvermeidung. Eine Domänentransferanalyse für State-of-the-art-Methoden zur semantischen 3D-Segmentierung liefert Empfehlungen für eine möglichst exakte Segmentierung in neuen Zieldomänen ohne eine Generierung neuer Trainingsdaten. Der vorgestellte Trainingsansatz für 3D-Segmentierungsverfahren mit CNNs kann die benötigte Menge an Trainingsdaten weiter reduzieren. Methoden zur Erklärbarkeit künstlicher Intelligenz vor und nach der Modellierung ermöglichen eine lose gekoppelte Validierung der vorgeschlagenen High-Level-Methoden mit Datensatzbewertung und modellunabhängigen Erklärungen für CNN-Vorhersagen. Altlastensanierung und Militärlogistik sind die beiden Hauptanwendungsfälle in unstrukturierten Umgebungen, welche in dieser Arbeit behandelt werden. Diese Anwendungsszenarien zeigen auch, wie die Lücke zwischen der Entwicklung einzelner Methoden und ihrer Integration in die Verarbeitungskette für autonome Geländefahrzeuge mit Lokalisierung, Kartierung, Planung und Steuerung geschlossen werden kann. Zusammenfassend lässt sich sagen, dass die vorgeschlagene Pipeline flexible Perzeptionslösungen für autonome Geländefahrzeuge bietet und die begleitende Validierung eine exakte und vertrauenswürdige Perzeption unstrukturierter Umgebungen gewährleistet

Improvements on the bees algorithm for continuous optimisation problems

This work focuses on the improvements of the Bees Algorithm in order to enhance the algorithm’s performance especially in terms of convergence rate. For the first enhancement, a pseudo-gradient Bees Algorithm (PG-BA) compares the fitness as well as the position of previous and current bees so that the best bees in each patch are appropriately guided towards a better search direction after each consecutive cycle. This method eliminates the need to differentiate the objective function which is unlike the typical gradient search method. The improved algorithm is subjected to several numerical benchmark test functions as well as the training of neural network. The results from the experiments are then compared to the standard variant of the Bees Algorithm and other swarm intelligence procedures. The data analysis generally confirmed that the PG-BA is effective at speeding up the convergence time to optimum. Next, an approach to avoid the formation of overlapping patches is proposed. The Patch Overlap Avoidance Bees Algorithm (POA-BA) is designed to avoid redundancy in search area especially if the site is deemed unprofitable. This method is quite similar to Tabu Search (TS) with the POA-BA forbids the exact exploitation of previously visited solutions along with their corresponding neighbourhood. Patches are not allowed to intersect not just in the next generation but also in the current cycle. This reduces the number of patches materialise in the same peak (maximisation) or valley (minimisation) which ensures a thorough search of the problem landscape as bees are distributed around the scaled down area. The same benchmark problems as PG-BA were applied against this modified strategy to a reasonable success. Finally, the Bees Algorithm is revised to have the capability of locating all of the global optimum as well as the substantial local peaks in a single run. These multi-solutions of comparable fitness offers some alternatives for the decision makers to choose from. The patches are formed only if the bees are the fittest from different peaks by using a hill-valley mechanism in this so called Extended Bees Algorithm (EBA). This permits the maintenance of diversified solutions throughout the search process in addition to minimising the chances of getting trap. This version is proven beneficial when tested with numerous multimodal optimisation problems