Statistical Approach to Quantifying Interceptability of Interaction Scenarios for Testing Autonomous Surface Vessels

This paper presents a probabilistic approach to quantifying interceptability of an interaction scenario designed to test collision avoidance of autonomous navigation algorithms. Interceptability is one of many measures to determine the complexity or difficulty of an interaction scenario. This approach uses a combined probability model of capability and intent to create a predicted position probability map for the system under test. Then, intercept-ability is quantified by determining the overlap between the system under test probability map and the intruder’s capability model. The approach is general; however, a demonstration is provided using kinematic capability models and an odometry-based intent model

Evaluation of cobalt mobility in soils from the Nevada Test Site

Nuclear testing at and around the Nevada Test Site (NTS) resulted in widespread contamination from transuranic and other radionuclides, as well as from other toxic inorganic and organic contaminants. The type of contamination, including spatial distribution and type of radionuclides present, depends on the type of testing performed. Remediation of the contaminated areas is currently under way. The optimum in situ or ex situ remediation technology depends on the degree of interaction between the particular radionuclide, or contaminant in general, and the soil matrix, among other factors. The objective of this project was to evaluate the sorption affinity of NTS soils for common non-transuranic radionuclides. The sorption of cobalt (Co) on soils from two different areas of the NTS, namely the Little Feller and Cabriolet event sites, was studied. Experiments were conducted as a function of pH, solid concentration, total Co concentration, ionic strength, and particle size fraction. Preliminary results indicate that both soils have a high sorption capacity for Co. The results suggest that Co uptake is controlled by sorption on either internal, permanent-charge, ion-exchange sites of clay minerals or on amphoteric, surface-hydroxyl sites of oxides. The results further indicate strong retardation of Co in these soils, under most conditions tested and expected to be found in the respective soil environments. These conclusions are applicable to transport of radionuclides which are expected to bind strongly on oxide surfaces (e.g., Co) but the results may not be representative of the behavior of weakly binding radionuclides. These studies clearly demonstrate the importance of evaluating the mobility of radionuclides and the degree of radionuclide-soil interaction before final selection of an in situ or ex situ remediation technology for a contaminated site

Synthesizing Maritime Interaction Scenarios for Testing Autonomy

This paper presents a method to deterministically synthesize maritime traffic interactions that can be presented to a system under test regardless of the state of the system under test. A background to the problem is given and the method is briefly outlined. Results indicate that the approach can enable more robust evaluation of maritime autonomous algorithms

Nursing Pain Assessment & Management: A 3D Interactive Simulation

In this design case, a team developed a 3D interactive simulation for nursing students and professional nurses to train and practice pain assessment and management procedures. In the simulation environment, the trainees interact with three emotionally expressive animated patients. The three patients vary in their ethnicity, age, and emotion intensity. Successful completion of the scenario requires that the trainee perform of a series of pain assessment and management tasks. The trainee is evaluated on the efficiency and appropriate sequencing of the tasks. The purpose of this paper is to describe the decisions made regarding the type of virtual patients used, the clickable objects, the pain assessment interview protocol, the visual representations in the simulation and the web portal. The paper also provides insight into the processes and steps taken during the design and development phases of this 3D interactive simulation including: the tasks analyses, motion capture, validation of the animations in the simulation, programming, and other tasks

High-Fidelity Roadway Modeling and Simulation

Roads are an essential feature in our daily lives. With the advances in computing technologies, 2D and 3D road models are employed in many applications, such as computer games and virtual environments. Traditional road models were generated by professional artists manually using modeling software tools such as Maya and 3ds Max. This approach requires both highly specialized and sophisticated skills and massive manual labor. Automatic road generation based on procedural modeling can create road models using specially designed computer algorithms or procedures, reducing the tedious manual editing needed for road modeling dramatically. But most existing procedural modeling methods for road generation put emphasis on the visual effects of the generated roads, not the geometrical and architectural fidelity. This limitation seriously restricts the applicability of the generated road models. To address this problem, this paper proposes a high-fidelity roadway generation method that takes into account road design principles practiced by civil engineering professionals, and as a result, the generated roads can support not only general applications such as games and simulations in which roads are used as 3D assets, but also demanding civil engineering applications, which requires accurate geometrical models of roads. The inputs to the proposed method include road specifications, civil engineering road design rules, terrain information, and surrounding environment. Then the proposed method generates in real time 3D roads that have both high visual and geometrical fidelities. This paper discusses in details the procedures that convert 2D roads specified in shape files into 3D roads and civil engineering road design principles. The proposed method can be used in many applications that have stringent requirements on high precision 3D models, such as driving simulations and road design prototyping. Preliminary results demonstrate the effectiveness of the proposed method

LiDAR Buoy Detection for Autonomous Marine Vessel Using Pointnet Classification

Maritime autonomy, specifically the use of autonomous and semi-autonomous maritime vessels, is a key enabling technology supporting a set of diverse and critical research areas, including coastal and environmental resilience, assessment of waterway health, ecosystem/asset monitoring and maritime port security. Critical to the safe, efficient and reliable operation of an autonomous maritime vessel is its ability to perceive on-the-fly the external environment through onboard sensors. In this paper, buoy detection for LiDAR images is explored by using several tools and techniques: machine learning methods, Unity Game Engine (herein referred to as Unity) simulation, and traditional image processing. The Unity Game Engine (herein referred to as Unity) simulation data was used for the training and testing of a Pointnet neural network model while the labeled real-world maritime environment point cloud data was used for the model validation. Fitting the Pointnet model on the simulation data, after some data alignment with the LiDAR images allowed for accurate classification of buoys on the real-world data with the 93% of accuracy. A traditional image processing approach using 2D occupancy maps to detect the buoys by shape was used as well and is outlined in the paper

Evaluation of Potential Hydrocarbon Transport at the UC-4 Emplacement Hole, Central Nevada Test Area

Emplacement hole UC-4 was drilled in 1969 at the Central Nevada Test Area and left filled with drilling mud. Surface characterization samples collected from abandoned mud pits in the area yielded elevated concentrations of total petroleum hydrocarbon, thereby raising a concern that the mud-filled emplacement hole may be leaching hydrocarbons into alluvial aquifers. This study was initiated to address this concern. An analytical solution for flow near a wellbore was used to calculate the amount of time it would take for a contaminant to move through the mud-filled well and into the surrounding aquifer. No hydraulic data are available from the emplacement hole; therefore, ranges of hydraulic conductivity and porosity were used in 100 Monte Carlo realizations to estimate a median travel time. Laboratory experiments were performed on samples collected from the central mud pit to determine the hydrocarbon release function for the bentonite drilling mud. The median contaminant breakthrough took about 12,000 years to travel 10 m, while the initial breakthrough took about 300 years and the final breakthrough took about 33,000 years. At a distance of about 10 m away from the emplacement hole, transport velocity is dominated by the hydraulics of the aquifer and not by the emplacement hole hydraulics. It would take an additional 45,500 years for the contaminant to travel 800 m to the U.S. Department of Energy land exclusion boundary. Travel times were primarily affected by the hydraulic conductivity and porosity of the drilling mud, then by the hydraulic conductivity, porosity and hydraulic gradient of the alluvial aquifer, followed by the hydrocarbon release function

Proof-of-Concept of a Networked Validation Environment for Distributed Air/Ground NextGen Concepts

The National Airspace System (NAS) must be improved to increase capacity, reduce flight delays, and minimize environmental impacts of air travel. NASA has been tasked with aiding the Federal Aviation Administration (FAA) in NAS modernization. Automatic Dependent Surveillance-Broadcast (ADS-B) is an enabling technology that is fundamental to realization of the Next Generation Air Transportation System (NextGen). Despite the 2020 FAA mandate requiring ADS-B Out equipage, airspace users are lacking incentives to equip with the requisite ADS-B avionics. A need exists to validate in flight tests advanced concepts of operation (ConOps) that rely on ADS-B and other data links without requiring costly equipage. A potential solution is presented in this paper. It is possible to emulate future data link capabilities using the existing in-flight Internet and reduced-cost test equipment. To establish proof-of-concept, a high-fidelity traffic operations simulation was modified to include a module that simulated Internet transmission of ADS-B messages. An advanced NASA ConOp, Flight Deck Interval Management (FIM), was used to evaluate technical feasibility. A preliminary assessment of the effects of latency and dropout rate on FIM was performed. Flight hardware that would be used by proposed test environment was connected to the simulation so that data transfer from aircraft systems to test equipment could be verified. The results indicate that the FIM ConOp, and therefore, many other advanced ConOps with equal or lesser response characteristics and data requirements, can be evaluated in flight using the proposed concept

Challenges in the Application of Fractional Derivative Models in Capturing Solute Transport in Porous Media: Darcy-Scale Fractional Dispersion and the Influence of Medium Properties

Heterogeneous media consisting of segregated flow regions are fractional-order systems, where the regional-scale anomalous diffusion can be described by the fractional derivative model (FDM). The standard FDM, however, first, cannot characterize the Darcy-scale dispersion through repacked sand columns, and second, the link between medium properties and model parameters remains unknown. To fill these two knowledge gaps, this study applies a tempered fractional derivative model (TFDM) to capture bromide transport through laboratory repacked sand. Column transport experiments are conducted first, where glass beads and silica sand with different diameters are repacked individually. Late-time tails are observed in the breakthrough curves (BTC) of bromide even in relatively homogeneous glass beads. The TFDM can capture the observed subdiffusion, especially the late-time BTC with a transient declining rate. Results also show that both the size distribution of repacked sand and the magnitude of fluid velocity can affect subdiffusion. In particular, a wider sand size distribution or a smaller flow rate can enhance the subdiffusion, leading to a smaller time index and a higher truncation parameter in the TFDM. Therefore, the Darcy-scale dispersion follows the tempered stable law, and the model parameters might be related to the soil size and flow conditions