Path Planning For Persistent Surveillance Applications Using Fixed-Wing Unmanned Aerial Vehicles

This thesis addresses coordinated path planning for fixed-wing Unmanned Aerial Vehicles (UAVs) engaged in persistent surveillance missions. While uniquely suited to this mission, fixed wing vehicles have maneuver constraints that can limit their performance in this role. Current technology vehicles are capable of long duration flight with a minimal acoustic footprint while carrying an array of cameras and sensors. Both military tactical and civilian safety applications can benefit from this technology. We make three main contributions: C1 A sequential path planner that generates a C2 flight plan to persistently acquire a covering set of data over a user designated area of interest. The planner features the following innovations: • A path length abstraction that embeds kino-dynamic motion constraints to estimate feasible path length • A Traveling Salesman-type planner to generate a covering set route based on the path length abstraction • A smooth path generator that provides C2 routes that satisfy user specified curvature constraints C2 A set of algorithms to coordinate multiple UAVs, including mission commencement from arbitrary locations to the start of a coordinated mission and de-confliction of paths to avoid collisions with other vehicles and fixed obstacles iv C3 A numerically robust toolbox of spline-based algorithms tailored for vehicle routing validated through flight test experiments on multiple platforms. A variety of tests and platforms are discussed. The algorithms presented are based on a technical approach with approximately equal emphasis on analysis, computation, dynamic simulation, and flight test experimentation. Our planner (C1) directly takes into account vehicle maneuverability and agility constraints that could otherwise render simple solutions infeasible. This is especially important when surveillance objectives elevate the importance of optimized paths. Researchers have devel oped a diverse range of solutions for persistent surveillance applications but few directly address dynamic maneuver constraints. The key feature of C1 is a two stage sequential solution that discretizes the problem so that graph search techniques can be combined with parametric polynomial curve generation. A method to abstract the kino-dynamics of the aerial platforms is then presented so that a graph search solution can be adapted for this application. An A* Traveling Salesman Problem (TSP) algorithm is developed to search the discretized space using the abstract distance metric to acquire more data or avoid obstacles. Results of the graph search are then transcribed into smooth paths based on vehicle maneuver constraints. A complete solution for a single vehicle periodic tour of the area is developed using the results of the graph search algorithm. To execute the mission, we present a simultaneous arrival algorithm (C2) to coordinate execution by multiple vehicles to satisfy data refresh requirements and to ensure there are no collisions at any of the path intersections. We present a toolbox of spline-based algorithms (C3) to streamline the development of C2 continuous paths with numerical stability. These tools are applied to an aerial persistent surveillance application to illustrate their utility. Comparisons with other parametric poly nomial approaches are highlighted to underscore the benefits of the B-spline framework. Performance limits with respect to feasibility constraints are documented

Regulated Deficit Irrigation Alters Anthocyanins, Tannins and Sensory Properties of Cabernet Sauvignon Grapes and Wines

Four regulated deficit irrigation (RDI) regimes were applied to Cabernet Sauvignon grapes, which were analyzed for phenolics and also made into wine over three consecutive growing seasons. Relative to an industry standard regime (IS), yield was reduced over the three years by 37% in a full-deficit (FD) regime and by 18% in an early deficit (ED) regime, whereas no yield reduction occurred with a late deficit (LD) regime. Relative to IS, skin anthocyanin concentration (fresh weight basis) was 18% and 24% higher in ED and FD, respectively, whereas no effect was seen in LD. Seed tannin concentration was 3% and 8% higher in ED and FD, respectively, relative to the other two RDI regimes, whereas seed tannin content (amount per berry) was higher in IS than in FD. There were no practically relevant effects on the basic chemistry of the wines. The finished wines showed concentrations of tannins and anthocyanins that generally mirrored observed differences in skin and seed phenolic concentrations, although these were amplified in FD wines. Descriptive sensory analysis of the 2008 wines showed that FD wines were the most saturated in color, with higher purple hue, roughness, dryness and harshness, followed by ED wines, whereas IS and LD wines were less saturated in color and with higher brown and red hues. Overall, FD and ED seemed to yield fruit and wine with greater concentrations of phenolics than IS and LD, with the additional advantage of reducing water usage. However, these apparent benefits need to be balanced out with reductions in crop yields and potential long-term effects associated with pre-véraison water deficitsEEA MendozaFil: Casassa, Luis Federico. Washington State University. Irrigated Agriculture Research and Extension Center. School of Food Science; Estados Unidos. Instituto Nacional de Tecnología Agropecuaria (INTA). Estación Experimental Agropecuaria Mendoza. Centro de Estudios de Enología; Argentina.Fil: Keller, Markus. Washington State University. Department of Horticulture; Estados UnidosFil: Harbertson, James F. Washington State University. Irrigated Agriculture Research and Extension Center. School of Food Science; Estados Unido

Design and pilot evaluation of the RAH-66 Comanche Core AFCS

This paper addresses the design and pilot evaluation of the Core Automatic Flight Control System (AFCS) for the Reconnaissance/Attack Helicopter (RAH-66) Comanche. During the period from November 1991 through February 1992, the RAH-66 Comanche control laws were evaluated through a structured pilot acceptance test using a motion base simulator. Design requirements, descriptions of the control law design, and handling qualities data collected from ADS-33 maneuvers are presented

The Star Formation History of the Carina Dwarf Galaxy

We have analyzed deep B and V photometry of the Carina dwarf spheroidal reaching below the old main-sequence turnoff to about V = 25. Using simulated color-magnitude diagrams to model a range of star formation scenarios, we have extracted a detailed, global star formation history. Carina experienced three significant episodes of star formation at about 15 Gyr, 7 Gyr, and 3 Gyr. Contrary to the generic picture of galaxy evolution, however, the bulk of star formation, at least 50%, occured during the episode 7 Gyr ago, which may have lasted as long as 2 Gyr. For unknown reasons, Carina formed only 10-20% of its stars at an ancient epoch and then remained quiescent for more than 4 Gyr. The remainder (~30%) formed relatively recently, only 3 Gyr ago. Interest in the local population of dwarf galaxies has increased lately due to their potential importance in the understanding of faint galaxy counts. We surmise that objects like Carina, which exhibits the most extreme episodic behavior of any of the dwarf spheroidal companions to the Galaxy, are capable of contributing to the observed excess of blue galaxies at B = 24 only if the star formation occurred instantaneously.Comment: 23 pages of text, 20 figures, 8 tables. AJ, in pres

Extension of the fuzzy integral for general fuzzy set-valued information

The fuzzy integral (FI) is an extremely flexible aggregation operator. It is used in numerous applications, such as image processing, multicriteria decision making, skeletal age-at-death estimation, and multisource (e.g., feature, algorithm, sensor, and confidence) fusion. To date, a few works have appeared on the topic of generalizing Sugeno's original real-valued integrand and fuzzy measure (FM) for the case of higher order uncertain information (both integrand and measure). For the most part, these extensions are motivated by, and are consistent with, Zadeh's extension principle (EP). Namely, existing extensions focus on fuzzy number (FN), i.e., convex and normal fuzzy set- (FS) valued integrands. Herein, we put forth a new definition, called the generalized FI (gFI), and efficient algorithm for calculation for FS-valued integrands. In addition, we compare the gFI, numerically and theoretically, with our non-EP-based FI extension called the nondirect FI (NDFI). Examples are investigated in the areas of skeletal age-at-death estimation in forensic anthropology and multisource fusion. These applications help demonstrate the need and benefit of the proposed work. In particular, we show there is not one supreme technique. Instead, multiple extensions are of benefit in different contexts and applications

Mucosal Infections and Invasive Potential of Nonencapsulated <i>Streptococcus pneumoniae</i> Are Enhanced by Oligopeptide Binding Proteins AliC and AliD.

Nonencapsulated &lt;i&gt;Streptococcus pneumoniae&lt;/i&gt; (NESp) is an emerging human pathogen that colonizes the nasopharynx and is associated with noninvasive diseases such as otitis media (OM), conjunctivitis, and nonbacteremic pneumonia. Since capsule expression was previously thought to be necessary for establishment of invasive pneumococcal disease (IPD), serotype-specific polysaccharide capsules are targeted by currently licensed pneumococcal vaccines. Yet, NESp expressing oligopeptide binding proteins AliC and AliD have been isolated during IPD. Thus, we hypothesize AliC and AliD are major NESp virulence determinants that facilitate persistence and development of IPD. Our study reveals that NESp expressing AliC and AliD have intensified virulence compared to isogenic mutants. Specifically, we demonstrate AliC and AliD enhance murine nasopharyngeal colonization and pulmonary infection and are required for OM in a chinchilla model. Furthermore, AliC and AliD increase pneumococcal survival in chinchilla whole blood and aid in resistance to killing by human leukocytes. Comparative proteome analysis revealed significant alterations in protein levels when AliC and AliD were absent. Virulence-associated proteins, including a pneumococcal surface protein C variant (CbpAC), were significantly downregulated, while starvation response indicators were upregulated in the double mutant relative to wild-type levels. We also reveal that differentially expressed CbpAC was essential for NESp adherence to epithelial cells, virulence during OM, reduction of C3b deposition on the NESp surface, and binding to nonspecific IgA. Altogether, the rise in NESp prevalence urges the need to understand how NESp establishes disease and persists in a host. This study highlights the roles of AliC, AliD, and CbpAC in the pathogenesis of NESp. &lt;b&gt;IMPORTANCE&lt;/b&gt; Despite the effective, widespread use of licensed pneumococcal vaccines over many decades, pneumococcal infections remain a worldwide burden resulting in high morbidity and mortality. NESp subpopulations are rapidly rising in the wake of capsule-targeted vaccine strategies, yet there is very little knowledge on NESp pathogenic potential and virulence mechanisms. Although NESp lacks a protective capsule, NESp lineages expressing AliC and AliD have been associated with systemic infections. Furthermore, higher antibiotic resistance rates and transformation efficiencies associated with emerging NESp threaten treatment strategies needed to control pneumococcal infections and transmission. Elucidating how NESp survives within a host and establishes disease is necessary for development of broadened pneumococcal prevention methods. Our study identifies virulence determinants and host survival mechanisms employed by NESp with a high pathogenic potential. Moreover, our study also identifies virulence determinants shared by NESp and encapsulated strains that may serve as broad prevention and therapeutic targets

Multi-user investigation organizer

A system that allows a team of geographically dispersed users to collaboratively analyze a mishap event. The system includes a reconfigurable ontology, including instances that are related to and characterize the mishap, a semantic network that receives, indexes and stores, for retrieval, viewing and editing, the instances and links between the instances, a network browser interface for retrieving and viewing screens that present the instances and links to other instances and that allow editing thereof, and a rule-based inference engine, including a collection of rules associated with establishment of links between the instances. A possible conclusion arising from analysis of the mishap event may be characterized as one or more of: not a credible conclusion; an unlikely conclusion; a credible conclusion; conclusion needs analysis; conclusion needs supporting data; conclusion proposed to be closed; and an un-reviewed conclusion

Surface superconductivity and Hc3H_{c3} in UPt3_3

Surface superconductivity is studied within Ginzburg-Landau theory for two classes of models for the order parameter of UPt$_{3}$. The first class assumes two independent one-dimensional order parameters ($AB$ models), while the second assumes a single two-dimensional order parameter ($E$ models). $H_{c3}$ is calculated for all cases where the surface normal and magnetic field lie along high symmetry directions. Assuming specular reflection, it is found that except when ${\bf H}\parallel{\bf\hat c}$, the ratio $H_{c3}/H_{c2}$ is either unity or equals its `s-wave' value 1.695, although the precise $H_{c3}$ vs. $T$ curve predicted by the $AB$ and $E$ models differs for various geometries. The results are compared with recent experiments, and predictions are made for future experiments.Comment: 26 pages, with 6 figure

Sensory Impact of Extended Maceration and Regulated Deficit Irrigation on Washington State Cabernet Sauvignon Wines

Irrigation practices such as regulated deficit irrigation (RDI) and winemaking practices such as extended maceration have been experimentally evaluated from a chemical perspective but their impacts on sensory composition and interactive effects merit scientific attention. This study evaluated the sensory impact of extended maceration applied to Cabernet Sauvignon grapes sourced from a vineyard subjected to four RDI treatments: replenishment of 100%, 70%, and 25% of full-vine crop evapotranspiration (ETc) from fruit set until veraison followed by 100% ETc until harvest (labeled 100% ETc, 70% ETc, and 25% ETc, respectively) and 25% ETc from fruit set to veraison followed by 100% ETc from veraison to harvest (labeled 25/100% ETc). Each RDI treatment was replicated four times (n = 4) and made into wine, with two replicates designated as controls (10 day skin contact) and two as extended maceration (30 day skin contact). Wines were evaluated by descriptive analysis with a trained panel (n = 15) and chemical and sensory data were correlated using canonical correlation analysis. Wine-perceived saturation and purple component ratings were highest in 25% ETc wines and were highly correlated with the concentration of flavonols, malvidin- and delphinidin-derivatives, and small polymeric pigments. Fruit-based aroma descriptors were highest in the 25/100% ETc and 70% ETc wines. Extended maceration increased perceived astringency and bitterness, which were in turn correlated with the concentration of flavan-3-ol and oligomeric proanthocyanidins. These results suggest that moderate RDI protocols such as 70% ETc and 25/100% ETc impact positively the fruity aroma component (black and red fruit), whereas extended maceration lowered fruity aromas, possibly due to the masking effect of the oxidized character perceived in these wines.EEA MendozaFil: Casassa, Luis Federico. Washington State University. Irrigated Agriculture Research and Extension Center. School of Food Science; Estados Unidos. Instituto Nacional de Tecnología Agropecuaria (INTA). Estación Experimental Agropecuaria Mendoza. Centro de Estudios de Enología; Argentina.Fil: Larsen, Richard C. Washington State University. Viticulture and Enology Program; Estados UnidosFil: Beaver, Christopher W. Washington State University. Irrigated Agriculture Research and Extension Center. School of Food Science; Estados UnidosFil: Mireles, María S. Washington State University. Irrigated Agriculture Research and Extension Center. School of Food Science; Estados UnidosFil: Keller, Markus. Washington State University. Department of Horticulture; Estados UnidosFil: Riley, William R. Ste. Michelle Wine Estates; Estados UnidosFil: Smithyman, Russell. Ste. Michelle Wine Estates; Estados UnidosFil: Harbertson, James F. Washington State University. Irrigated Agriculture Research and Extension Center. School of Food Science; Estados Unido