Using humanoid robots to study human behavior

Our understanding of human behavior advances as our humanoid robotics work progresses-and vice versa. This team's work focuses on trajectory formation and planning, learning from demonstration, oculomotor control and interactive behaviors. They are programming robotic behavior based on how we humans “program” behavior in-or train-each other

Automatic Graphics And Game Content Generation Through Evolutionary Computation

Simulation and game content includes the levels, models, textures, items, and other objects encountered and possessed by players during the game. In most modern video games and simulation software, the set of content shipped with the product is static and unchanging, or at best, randomized within a narrow set of parameters. However, ideally, if game content could be constantly and automatically renewed, players would remain engaged longer in the evolving stream of content. This dissertation introduces three novel technologies that together realize this ambition. (1) The first, NEAT Particles, is an evolutionary method to enable users to quickly and easily create complex particle effects through a simple interactive evolutionary computation (IEC) interface. That way, particle effects become an evolvable class of content, which is exploited in the remainder of the dissertation. In particular, (2) a new algorithm called content-generating NeuroEvolution of Augmenting Topologies (cgNEAT) is introduced that automatically generates graphical and game content while the game is played, based on the past preferences of the players. Through cgNEAT, the game platform on its own can generate novel content that is designed to satisfy its players. Finally, (3) the Galactic Arms Race (GAR) multiplayer online video game is constructed to demonstrate these techniques working on a real online gaming platform. In GAR, which was made available to the public and playable online, players pilot space ships and fight enemies to acquire unique particle system weapons that are automatically evolved by the cgNEAT algorithm. The resulting study shows that cgNEAT indeed enables players to discover a wide variety of appealing content that is not only novel, but also based on and extended from previous content that they preferred in the past. The implication is that with cgNEAT it is now possible to create applications that generate their own content to satisfy users, potentially significantly reducing the cost of content creation and considerably increasing entertainment value with a constant stream of evolving content

Shooting Control Application from a Quadruped Robot with a Weapon System via Sliding mode Control Method

With the developing technological process, it is expected that the usage of robots will increase in defense systems as in every field. One of the main objectives of the robotic studies for the defense industry is to capture the targeted success under all kinds of disruptive effects with robotic systems and to present this technology to the service of the army. A weapon system with a single degree of freedom was placed on a quadruped robot. System’s dynamic behavior, which has 12 degrees of freedom and planar movements, is modeled mathematically. Simulations of the shots made to the fixed targets were carried out during the walking of the quadruped robot. The gun barrel stabilization was realized to achieve accurate shots under disruptive effects. The sliding-mode control method was used to perform the barrel stabilisation. In this study, it is shown that a quadruped robot with a weapon system can perform successful shots against fixed targets. MATLAB is used for simulations and the results are shown with figures, graphics, and tables

Advances in Remote Sensing-based Disaster Monitoring and Assessment

Remote sensing data and techniques have been widely used for disaster monitoring and assessment. In particular, recent advances in sensor technologies and artificial intelligence-based modeling are very promising for disaster monitoring and readying responses aimed at reducing the damage caused by disasters. This book contains eleven scientific papers that have studied novel approaches applied to a range of natural disasters such as forest fire, urban land subsidence, flood, and tropical cyclones

A technique for determining viable military logistics support alternatives

A look at today's US military will see them operating much beyond the scope of protecting and defending the United States. These operations now consist of, but are not limited to humanitarian aid, disaster relief, and conflict resolution. This broad spectrum of operational environments has necessitated a transformation of the individual military services into a hybrid force that can leverage the inherent and emerging capabilities from the strengths of those under the umbrella of the Department of Defense (DOD), this concept has been coined Joint Operations. Supporting Joint Operations requires a new approach to determining a viable military logistics support system. The logistics architecture for these operations has to accommodate scale, time, varied mission objectives, and imperfect information. Compounding the problem is the human in the loop (HITL) decision maker (DM) who is a necessary component for quickly assessing and planning logistics support activities. Past outcomes are not necessarily good indicators of future results, but they can provide a reasonable starting point for planning and prediction of specific needs for future requirements. Adequately forecasting the necessary logistical support structure and commodities needed for any resource intensive environment has progressed well beyond stable demand assumptions to one in which dynamic and nonlinear environments can be captured with some degree of fidelity and accuracy. While these advances are important, a holistic approach that allows exploration of the operational environment or design space does not exist to guide the military logistician in a methodical way to support military forecasting activities. To bridge this capability gap, a method called A Technique for Logistics Architecture Selection (ATLAS) has been developed. This thesis describes and applies the ATLAS method to a notional military scenario that involves the Navy concept of Seabasing and the Marine Corps concept of Distributed Operations applied to a platoon sized element. This work uses modeling and simulation to incorporate expert opinion and knowledge of military operations, dynamic reasoning methods, and certainty analysis to create a decisions support system (DSS) that can be used to provide the DM an enhanced view of the logistics environment and variables that impact specific measures of effectiveness.Ph.D.Committee Chair: Mavris, Dimitri; Committee Member: Fahringer, Philip; Committee Member: Nixon, Janel; Committee Member: Schrage, Daniel; Committee Member: Soban, Danielle; Committee Member: Vachtsevanos, Georg

Word hypothesis of phonetic strings using hidden Markov models

This thesis investigates a stochastic modeling approach to word hypothesis of phonetic strings for a speaker independent, large vocabulary, continuous speech recognition system. The stochastic modeling technique used is Hidden Markov Modeling. Hidden Markov Models (HMM) are probabilistic modeling tools most often used to analyze complex systems. This thesis is part of a speaker independent, large vocabulary, continuous speech understanding system under development at the Rochester Institute of Technology Research Corporation. The system is primarily data-driven and is void of complex control structures such as the blackboard approach used in many expert systems. The software modules used to implement the HMM were created in COMMON LISP on a Texas Instruments Explorer II workstation. The HMM was initially tested on a digit lexicon and then scaled up to a U.S. Air Force cockpit lexicon. A sensitivity analysis was conducted using varying error rates. The results are discussed and a comparison with Dynamic Time Warping results is made

Maritime threat response

This report was prepared by Systems Engineering and Analysis Cohort Nine (SEA-9) Maritime Threat Response, (MTR) team members.Background: The 2006 Naval Postgraduate School (NPS) Cross-Campus Integrated Study, titled “Maritime Threat Response” involved the combined effort of 7 NPS Systems Engineering students, 7 Singaporean Temasek Defense Systems Institute (TDSI) students, 12 students from the Total Ship Systems Engineering (TSSE) curriculum, and numerous NPS faculty members from different NPS departments. After receiving tasking provided by the Wayne E. Meyer Institute of Systems Engineering at NPS in support of the Office of the Assistant Secretary of Defense for Homeland Defense, the study examined ways to validate intelligence and respond to maritime terrorist attacks against United States coastal harbors and ports. Through assessment of likely harbors and waterways to base the study upon, the San Francisco Bay was selected as a representative test-bed for the integrated study. The NPS Systems Engineering and Analysis Cohort 9 (SEA-9) Maritime Threat Response (MTR) team, in conjunction with the TDSI students, used the Systems Engineering Lifecycle Process (SELP) [shown in Figure ES-1, p. xxiii ] as a systems engineering framework to conduct the multi-disciplinary study. While not actually fabricating any hardware, such a process was well-suited for tailoring to the team’s research efforts and project focus. The SELP was an iterative process used to bound and scope the MTR problem, determine needs, requirements, functions, and to design architecture alternatives to satisfy stakeholder needs and desires. The SoS approach taken [shown in Figure ES-2, p. xxiv ]enabled the team to apply a systematic approach to problem definition, needs analysis, requirements, analysis, functional analysis, and then architecture development and assessment.In the twenty-first century, the threat of asymmetric warfare in the form of terrorism is one of the most likely direct threats to the United States homeland. It has been recognized that perhaps the key element in protecting the continental United States from terrorist threats is obtaining intelligence of impending attacks in advance. Enormous amounts of resources are currently allocated to obtaining and parsing such intelligence. However, it remains a difficult problem to deal with such attacks once intelligence is obtained. In this context, the Maritime Threat Response Project has applied Systems Engineering processes to propose different cost-effective System of Systems (SoS) architecture solutions to surface-based terrorist threats emanating from the maritime domain. The project applied a five-year time horizon to provide near-term solutions to the prospective decision makers and take maximum advantage of commercial off-the-shelf (COTS) solutions and emphasize new Concepts of Operations (CONOPS) for existing systems. Results provided insight into requirements for interagency interactions in support of Maritime Security and demonstrated the criticality of timely and accurate intelligence in support of counterterror operations.This report was prepared for the Office of the Assistant Secretary of Defense for Homeland DefenseApproved for public release; distribution is unlimited

AFIT School of Engineering Contributions to Air Force Research and Technology. Calendar Year 1972

This report contains abstracts of Master of Science Theses, Doctoral Dissertations, and faculty publications completed during the 1972 calendar year at the School of Engineering, Air Force Institute of Technology, at Wright-Patterson Air Force Base, Ohio

Securing a UAV Using Features from an EEG Signal

This thesis focuses on an approach which entails the extraction of Beta component of the EEG (Electroencephalogram) signal of a user and uses his/her EEG beta data to generate a random AES (Advanced Encryption Standard) encryption key. This Key is used to encrypt the communication between the UAVs (Unmanned aerial vehicles) and the ground control station. UAVs have attracted both commercial and military organizations in recent years. The progress in this field has reached significant popularity, and the research has incorporated different areas from the scientific domain. UAV communication became a significant concern when an attack on a Predator UAV occurred in 2009, which allowed the hijackers to get the live video stream. Since a UAVs major function depend on its onboard auto pilot, it is important to harden the system against vulnerabilities. In this thesis, we propose a biometric system to encrypt the UAV communication by generating a key which is derived from Beta component of the EEG signal of a user. We have developed a safety mechanism that gets activated in case the communication of the UAV from the ground control station gets attacked. This system was validated on a commercial UAV under malicious attack conditions during which we implement a procedure where the UAV return safely to an initially deployed "home" position

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space