Propagation of uncertainty through coning, sculling, and scrolling corrections for inertial navigation

This thesis investigates the propagation of estimation errors through generalized coning, sculling, and scrolling algorithms used in modern day inertial navigation systems, in order to accurately quantify the uncertainty in the estimation of position, velocity, and attitude. The corrections for coning, sculling, and scrolling algorithms have an often unaccounted for effect on documented and empirically derived error statistics for measurements used to predict the uncertainty in a vehicle\u27s position, velocity, and attitude estimates. Through the development of an error analysis for these generalized algorithms, mappings of the measurement and estimation errors through the correction termare generated. Using the developed mappings, an efficient and consistent propagation of state uncertainty with the multiplicative extended Kalman filter is achieved. Asimulation environment is developed to investigate the performance of the algorithms within a descent-to-landing scenario. Monte Carlo analysis is used to analyze the effects of the developed error propagation and the accompanying algorithms to compare them with commonly used discrete dead-reckoning approaches --Abstract, page iii

Design and Characterization of CMOS/SOI Image Sensors

The design, operation, and characterization of CMOS imagers implemented using: 1) regular CMOS wafers with a 0.5-mum CMOS analog process; 2) regular CMOS wafers with a 0.35-mum CMOS analog process; and 3) silicon-on-insulator (SOI) wafers in conjunction with a 0.35-mum CMOS analog process, are discussed in this paper. The performances of the studied imagers are compared in terms of quantum efficiency, dark current, and optical bandwidth. It is found that there is strong dependence of quantum efficiency of the photodiodes on the architecture of the image sensor. The results of this paper are useful for designing and modeling CMOS/SOI image sensor

Ability of low profile cross-ventilated freestall barns to improve environmental conditions for dairy cattle

Recently, there has been interest in constructing mechanical ventilation with evaporative pads to improve the environmental conditions for cows during periods of heat stress. Low profile cross-ventilated freestalls with evaporative pads (LPCV) have become a popular system. The purpose of this study was to evaluate how well these LPCV systems improve the temperature-humidity index (THI) under different ambient conditions. As ambient humidity increases, ability of the LPCV to reduce THI is decreased. Producers wishing to construct LPCV barns should carefully evaluate the climate in which they want to construct LPCV structures.; Dairy Day, 2007, Kansas State University, Manhattan, KS, 2007; Dairy Research, 2007 is known as Dairy Day, 200

Influence of freestall building orientation on comfort of lactating dairy cattle during summer heat stress

A trial was conducted during the summer of 2000 to evaluate the effect of freestall building orientation ”east-west vs. northsouth ” on respiration rates of lactating dairy cows, temperature-humidity index (THI) in the barns, barn temperature, and barn humidity. Differences between ambient and barn temperature and THI were higher in east-west vs. north-south orientated barns. Respiration rates were higher in north-south than in east-west orientated structures. The magnitude of differences between barn and ambient temperatures and THI did not fully explain differences in respiration rates between north-south and east-west orientated barns. Other factors such as solar radiation, airflow, and animal stress may have contributed to the differences in respiration rates.; Dairy Day, 2001, Kansas State University, Manhattan, KS, 2001

Keeping cows cool

Heat stress occurs when a dairy cow’s internal heat load is greater than her capacity to lose unwanted heat to the environment. Effects of heat stress include: increased respiration rate, increased water intake, increased sweating, decreased dry matter intake, slower rate of feed passage, decreased blood flow to internal organs, decreased milk production, and poor reproductive performance. Lower milk production and reproductive performance cause economic losses to dairy producers. The ordered priorities for reducing heat are: increasing water availability; providing shade in the housing areas (both dry and lactating cows) and holding pen; reducing walking distance to the parlor; reducing time in the holding pen; improving holding pen ventilation and freestall ventilation; adding cooling for the holding pen and exit lane; cooling close-up cows (3 wk before calving); cooling housing for fresh and earlylactation cows; and cooling housing for midand late-lactation cows

Development of a Berry Processing Score for Sorghum Silage

This study was done in an effort to develop a berry processing score (BPS) for sorghum silage, similar to the kernel processing score (KPS) currently used for corn silage. Sorghum silage samples were collected from 3 dairies in Kansas and processed in the Grain Science & Industry grain processing laboratory at Kansas State University using one of four different roll gap settings to give four differently processed samples: unprocessed, 1.5, 1.0, or 0.5 mm. After drying, samples were placed into a Ro-Tap particle separation machine for 10 minutes until the whole sample was separated. Whole samples, as well as separated fiber and whole berry portions were analyzed for percent starch retained on each screen. As the roll gap was reduced, mean particle size (MPS) was also reduced. Percent starch passing through the 1.7 mm screen was greater at the 0.5 mm roll gap for both the whole sample and the whole berry samples, indicating successful processing of the samples. Using these data, we have determined that the appropriate screen to use in determining a BPS for sorghum silage is the 1.7 mm screen. A BPS for any sorghum silage sample can be calculated by analyzing the whole sample for the percent starch that passes through the 1.7 mm screen. This study is still ongoing and more research is needed to determine the recommended BPS in sorghum silage

An analysis of the U.S. meat industry from consumers' and processors’ points of view

Master of ScienceDepartment of Agricultural EconomicsAllen M FeatherstoneThis thesis consists of two research papers on the meat industry focusing on locally processed meat. The first paper is based on a survey distributed to meat consumers throughout the U.S. with the objective of understanding their willingness to pay for locally processed meat. This goal was achieved with two economic models. The first was a Probit model to understand the likelihood of a consumer choosing to purchase meat as a portion of a carcass. The second was a bivariate Tobit model that was used to directly compare consumer purchasing levels between local and grocery providers. In the first paper, multiple results were discovered about the willingness to pay (WTP) of consumers for meat as both carcasses and cuts. For the probit model results, chicken was the most sensitive to price changes. Of the demographic variables analyzed, the one with the most significance in the purchase of carcasses was gender. Males were more likely to buy a carcass. Additionally, freezer space was positive and significant for the purchase of beef and pork carcasses. For the Tobit model, cross-price, and own prices elasticities for local and grocery were estimated across all the meat cuts and an average WTP were calculated. Across most of the cuts, there was little difference between grocery and local WTPs, and, in most models, grocery cuts had a larger WTP. For the demographic variables in the Tobit model, there was variation of statistical significance across all cuts, except for household size that presented a significant positive impact on the purchase of most cuts. The second paper is based on a survey distributed to meat processors throughout the U.S. with the goal of understanding processor interest in expansion and how it might line up with consumers’ willingness to pay from the first paper. The main finding from the survey was that the top barriers of expansion for the processors was employee availability and space and there was limited evidence of financial constraints for plant expansion. These discoveries have implications for U.S. local meat processors, especially the findings related to the willingness to pay for local that were lower across most cuts. Additionally, the research contributes to the literature regarding consumer behavior on meat purchases in the U.S. using a direct comparison of local and grocery cut WTP and combining it with processor expansion interest. The low WTP that was found for local means that small and median processors will need to make a profit by a different means if consumers are not willing to pay a premium. If there are not profits to be made from sales expansion will need to be made with care. The research also includes a presentation of the current state of a sample of U.S. meat processors and their expansion plans and finances, which are relevant aspects to consider given the consumer side findings and make this thesis an informative tool for processors, and policy makers interested on incentivize small meat processing. With processors not being financially constrained to expand, future support for processors may need to consider a different approach than financing

Drinking water requirements for lactating dairy cows

A study to determine the amount and location of water consumption in dairy freestall barns located in northeastern Kansas was conducted during the summer of 2000. Three farms, two Holstein farms with either 2-row or 4-row freestall barns and one Jersey farm with 4-row freestall buildings, were used. Summer water usage averaged 30 to 40 gallons per Holstein cow/day and 20 to 40 gallons/cow/day for Jersey cows depending on age and stage of lactation. The farms with Holstein cows had a water usage ratio of 4 to 4.5 lb of water per lb of milk produced and Jersey cows required 3.1 lb of water per lb of milk production. However, at the Holstein dairies, only about 85% of this water was consumed and the other 15% was utilized to refill the tanks after tipping twice daily to clean cross-overs and water troughs. In addition, 35 to 45% of the water consumed is from a water station in the center crossover of each pen. Cattle also drank the least amount of water from the trough located in the crossover furthest from the pen entrance. When given access to a water trough on the milking parlor exit, cattle consumed 10% (3.5 gallons/cow/day) of the daily water intake at this location. Water usage for drinking increased as milk production increased. Adequate water system capacity and water rights are needed to make allowances for future increases in milk production. Water consumption was greater at the center alleys. Therefore, engineers should consider additional space and/or water troughs at these watering stations.; Dairy Day, 2001, Kansas State University, Manhattan, KS, 2001