Journal of Robotics and Mechatronics, Vol. 24, No.

Boxerbaum, A.

Burgess, S.

Harkins, R.

Klein, M.

Kline, J.

Quinn, R.

Vaidyanathan, R.

Boxerbaum, A

Klein, A

Kline, J

Burgess, Stuart C

Quinn, R

Harkins, R

Vaidyanathan, Ravi

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Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

Calhoun, Institutional Archive of the Naval Postgraduate School

Calhoun: The NPS Institutional ArchiveFaculty and Researcher Publications Faculty and Researcher Publications2012Design, Simulation, Fabrication andTesting of Bio-Inspired AmphibiousRobot with Multiple Modes of MobilityBoxerbaum, A.Boxerbaum, A., Klein, M., Kline, J.,Burgess, S., Quinn, R., Harkins, R., Vaidyanatham, R., 2012,"Design, Simulation, Fabrication and Testing of Bio-Inspired Amphibious Robot with MultipleModes of Mobility," Journal of Robotics and Mechatronics, Vol. 24, No.4http://hdl.handle.net/10945/38203JTF Commander: "Send Me Our Combat Analysts"CAPT jeff Kline, USN, NWDC Chair of Warfare Innovation, aval Postgraduate School, jekline@nps.navy.milEditor's Note: Thisarticle was devel-oped for the MORSWorkshop. CombatAnalyst: DeployingQuall/itative Supportto the CombatantCommander, held28-30 January 2003at Boo'!. Allen and Hamilton at TysonsComer. More infomw.tioll on the work-shop will be published in the June 2003PHALANX and presented in a special ses-sion at the 71st MORS Symposium to beheld at the Marine Corps Base Quantico,Virginia 10-12 June 2003.Combat: adjective I: relating tocombat (-missions) 2: designed ordestined for combat (-troops)Analyst: noun I: a person who analyzes orwho is skilled in analysis'Combat Analyst: Pro-active crisis-plan-ning operator capable of applying criticalthinking and problem SOlving techniquesto war fighting environments at the JointTask Force (JTF) level. Not to be con-fused with an Analyst of Combat.The Army's Sowhe", European TaskForce (SETAF) Commanding Generalreceives a call from European Commlllldstaff-he is to prepare to lead a Joint TaskForce in Westem Africa. He is given ageneral mission. strategic goals, told whatforces will be available. and asked tobegin planning. After he breaks the phoneconnecTion. he [lunches his speed dial tothe G~J and direcls, "Send me our combatanalysts! "Well, maybe not. Certainly not now.But in the future?For years, military officers educated inOperations Analysis (OAl have beenclosely allied with Washington program-ming, budgeting and procurement. Ana-lytical tools leamed in their graduate pro-grams are applied to future force structureanalysis. major systems acquisition ortraining. Have they been there too long?PHALANXIs OA becoming synonymous for pro-gramming rationale, requirements assess-ments, and budget justification? Are wecapitalizing on military OA specialists'unique combination of operational experi-ence and analytical education by focusingthis select group's efforts on future plan-ning instead of immediate crisis planning?My view: Yes, Yes, and No. Our ser-vices should re-focus our training, educa-tion, and assignment of Army ORSA offi-cers, Air Force Operations Researchspecialists, and Naval OA officers toallow them to pro-actively contribute toJoint Task Force crisis action planningand execution at the operational level ofwarfare. Let's make them combat ana-lysts!Versed in Operations Rese=h history,the reader may cite many examples ofproblem formulation, applied search theo-ry, decision theory, game theory, linearprogramming, networks, simulation, dataanalysis and other forms of applied mathe-matics used in operations from WorldWarn to the recent Operation EnduringFreedom. He may be skeptical there is aproblem. To the reader's credit, recentconflict analyses have been extremelybeneficial in targeting and weapon analy-ses, logistics scheduling, and post-eonflictlessons learned (e.g. Center for NavalAnalyses post-Gulf War Tomahawkanalysis positively influenced weapon andoperational doctrine). This work is accom-plished by dedicated, experienced civil-ians and officers stationed in Washingtonand around the world. They are fine ana-lysts of combat and produce critical work- but we can do bener. We can put someof them to work in the 13 organizations ofbrigade and fleet-level commands whereJTFs are formed to execute our nation'swars.Military officers with the ORSA andOA designations are unique. Combinedwith an education in analytical tools tosupport decision making and operationalexecution, they have operational air. fieldor sea experience. Their talents couldmake a serious contribution during a jointstaffs 96-hour crisis action planning cycleor long-term deliberate planning cycle -ISgiven they are in a position to do so andtheir education is oriented toward combatapplication.The Navy codes several at-sea staffoperations jobs for unrestricted line OAsub-specialists in an attempt to capturethis operations experience and analystsynergy. In theory, the Marines, Armyand Air Force could adopt a similar modelto place their analysts knowledgeable incombat arms at the division, regiment,brigade and wing level. Due to a lack ofNavy unrestricted line OA sub-specialists,however, analysts rarely fill these billets.The priority fill Navy OA jobs are those inWashington. Great sea-going officers fiJIthe operations positions, do a wonderful,effective job, and never consider applyingthe problem formulation or tools of OA totheir planning and execution efforts.Meanwhile, our Navy OA specialistsmarch on and accomplish great work inthe service's programming, acquisition,and test and evaluation fields.The Navy is actively seeking moreunrestricted line officers to study Opera-tions Rese=h and hopes to increase theirfill rate of jobs designated to be OA sub-specialists. A priority should be placed onthose billets at sea. All services should beplacing their OA educated officers withintheir operations organizations to be tappedduring the planning and execution phaseof combat, and where these officers candevelop into the future joint war-fightingFlag and General Officer leaders.Our officers' OA education also needsto place emphasis on becoming combatanalysts. How? At each phase of theJoint Planning Process (Note One to edu-cators: combat analysts need to know thecurrent Joint Planning Process) the futurecombat analyst can make positive contri-butions. For example, during the Com-mander's Estimate, his education in prob-lem formulation and critical thinking canhelp derive centers of gravity, decisivepoints. objectives. and tasks (Note Two toeducators: combat analysts must be famil-iar with theories of war). In course ofaction fonnulation. knowledge of cam-paign analysis. networks. search theory.(See COMMANDER, p. 19)March 2003NEW TECHNIQUES(contilluedfrom p. 14)using Data Resampling software. Finally,Prof Buttrey lectured on various aspects ofData Mining and their applications.Again, example software packages wereprovided to the attendees and classroomwork complemented the instruction.Specific applications presented includ-ed Resampling for the operational testcommunity and data mining for Home-land Security.As discussed earlier, the fonnat of eachtutorial called for theoretical presentationsin the JHU/APL Kossiakoff Center audi-torium followed by hands-on exercises inthe adjacent classrooms. A large numberof volunteers acted as ''Teaching Assis-tants (TAs)" to augment the primary lec-turers in the classrooms.For Agent-based Models, the TAsincluded: Steve Upton and Sarah John-son (both from MITRE), Ned Bent, DanCroghan, and Jessica Reed (all from L-3Com Analytics Corp.), Mary McDonald(SAle), Ed Bitinas and Zoe Mazur (bothfrom TRW), Matt Koehler (CAA), andDr Greg Cox (CNA). The SEAS modelwas covered by: Eric Frisco (SPARTA),Dorian Buitrago (Aerospace), and LtClint Clark (SMClXRA). A CounterDrug Scenario was covered by: Dr SergeyMalinckik and Dr Mike Neeley (bothfrom BiosGroup). [ntemational Trade andFinance were addressed by: Dr MatthewHendrey and Dr Rob Axtell (also bothfrom BiosGroup).For Optimization Heuristics, the TAsincluded: Steve Upton (MITRE), MAlRob Kewley (CAA), Lt Col Ray Hill, ColBee Carlton, Lt Col Alan Johnson, andLTC Darrall Henderson, and Dr KirkYost (L-3 Com Analytics Corp.).For Statistical Resampling and DataMining, the TAs included: Dr MikeCochrane (MTMCTEA), Lt Col PeteVanden Bosch, Lt Col Jerome J Aker-son, Capt August Roesener (the last threefrom 53rd Wing), Dr Bradley Warner(AFSPClXPY), Lt Col Daniel Zalewski(USAFA/XPY), and Maj Steven LForsythe (Arl'OAlDPYE).Featured SpeakersEach day, at lunch, speakers who arerecognized leaders in their fields presentedbriefings to show the usefulness, potentialapplications, and ongoing research in par-PHALANXticular areas. On Tuesday, Dr EricBonabeau, Chairman and Chief ScientificOfficer of Icosystem Corporation, gave aninteresting presentation on complex sys-tems and distributed adaptive problemsolving. On Wednesday, Dr Kenneth DeJong, from George Mason University,spoke on the development of new eEvolu-tionary Aalgorithm (EA) theory and evo-lutionary programming. Finally, onThursday, Peter Bruce, Vice President ofResarnpling Stats, Inc., presented methodsof Data Resarnpling and their uses.Feedback from many attendees high-lighted the opinion that the combination ofCOMMANDER(colltilluedfromp.15)and game theory can assist in producingfeasible alternatives while wargaming,simulation, and decision theory can helpevaluate the fonnulated courses of actionand produce final recommendations forplan developmentWhen planning moves to operations,the combat analyst's knowledge of linearprogramnting, search theory, statistics,and decision theory can help schedule anddirect Intelligence, Sensor and Reconnais-sance (ISR) assets, generate effective tar-get lists within the rules of engagementguidelines, schedule air assets, or evaluateon-going operations. The combat analystcan apply his knowledge in the day-to-daywork of any Joint Task Force.To give the future combat analyst aproper frame of reference, educationalcourse material should be formulatedaround scenario-based instruction anddesigned to integrate into the JTF plan-ning process cited in the proceeding para-graphs. This allows the military OA stu-dent an opportunity to apply and evaluatetools learned in class to a planning or exe-cution action while still at school. Cours-es in Combat modeling and simulation,wargaming, and Campaign Analysisshould be magnet courses exercising asmany OA disciplines as possible in a plan-ning or execution scenario. This experi-ence allows the Combat Analyst to gradu-ate with an operational view of operationsresearch.For those unable to obtain graduateeducation in OA, the OA education com-munity can pair with the institutions19dynamic lectures and lively hands-ondemos (with take-away CDs includingsoftware from several of the demos theycould keep) helped them walk away witha much-improved understanding of cur-rent developments in these new tech-niques. Many attendees suggested futuretopics around which MORS might want tostructure another similar Mini-symposium(such as Design of Experiments and Mul-tivariate Resampling) while Ted Smythchallenged our community to publish theresults of using such new techniques asapplied to military analyses. 0responsible for Joint Professional MilitaryEducation (our War Colleges) to provideshort courses displaying how combat ana-lysts' skills in problem fonnulation andanalytical tools can be integrated into theJoint Planning Process. These shortcourses may also be taught independent ofWar College instruction to operationalstaffs as certificate programs. Either way,the intent of the instruction is to give theoperations and planning staffs an appreci-ation for what Combat Analysts can do forthem at the operational level of war.As specific OA tools' value are depen-dent on the nature of the problems towhich they are applied, the combat ana-lyst's best contributions to a Joint TaskForce staff is one of problem fonnulationand critical thinking. Combined with oper-ational experience, these attributes make alethal combination to any enemy. Whenfaced with crisis planning, it would cer-tainly tempt SETAF's Commander to firstcall for his combat analyst!ReferenceI. Webster's New Collegiate Dictionary,G.&C. Merriam Co, Springfield, MA1979.BiographyCAPTJeff Kline. USN, is a Surface War-fare Officer who commanded two ships.has extensive Combat Analyst experiencewhile serving as Deputy Operations onSttth Fleet and several CflF staffs, and isJlOW the Naval Warfare DevelopmentCommands Ops Research Chair of War-fare Innovation at rite Naval PostgraduateSchool. 0March 2003

Design, Simulation, Fabrication and Testing of Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

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Design, Simulation, Fabrication and Testing of Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

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