The Army-sponsored Institute for Soldier Nanotechnologies (ISN) was an entrepreneurial research institute established at the Massachusetts Institute of Technology (MIT) in 2002. Using Science and Technology Studies (STS) concepts from Actor-Network Theory, I study the founding era of this twenty-first century laboratory-based community, from 2002-2007. Actor-Network concepts of enrollment and translation, described by Bruno Latour, and heterogeneous engineering, described by John Law, are used as I 'follow the actors' founding this emergent institution. The operationalization of translation is traced through four case studies, structured around Defense funding constructs and Science and Technology communities: 6.0 Founding the Institute; 6.1 Building Basic Research Networks; 6.2 Shaping Applied Research for Cancer Research and Science Education to include non-users; and 6.3 Student Prototyping Teams Accelerating ISN Research for Traumatic Brain Injuries (TBI). Scientists, engineers, and transitioners partnered in new ways to transition innovative technologies to improve human protection, with soldiers as the first of many users. Using public information, I used qualitative and quantitative methodologies to assess the actor networks and research portfolio changes. These historical case studies extend STS with operationalization of translation and a new dynamic of bi-directional actor enrollment, as research teams transitioned nanotechnologies and prototypes. / Doctor of Philosophy / The Institute for Soldier Nanotechnologies (ISN) was an Army-sponsored entrepreneurial research institute established at the Massachusetts Institute of Technology (MIT) in 2002. This historical study examines the founding era, rarely described for start-up organizations. Science and Technology Studies (STS) concepts of Actor-Network Theory enrollment and translation are traced through four case studies: Founding the Institute; Building Basic Research Networks; Shaping Applied Research for Cancer Research and Science Education to include non-users; and Student Prototyping Teams Accelerating Research for Traumatic Brain Injuries (TBI). The scientists, engineers, and transitioners partnered in new ways to transition technologies to improve human protection, with soldiers as the first of many users. Using public information, I provide qualitative and quantitative methodologies to assess the social networks of actors, as well as the composition and changes in the research portfolio. These case studies show what the ISN members did and how the small teams innovated, operationalizing translation through enrollment, and transitioning nanotechnologies and other prototypes.

The bi-directional dc/dc converter is a very popular and effective tool for alternative energy applications. One way it can be utilized is to charge and discharge batteries used in residential solar energy systems. In the day, excess power from the PV panels is used to charge the batteries. During the night, the charged batteries will power the dc bus for loads in the house such as home appliances. The dual active bridge (DAB) converter is very useful because of its high power capability and efficiency. Its symmetry is effective in transferring power in both directions. However, the DAB converter has drawbacks in the start-up stage. These drawbacks in boost mode include high in-rush current during start-up, and the fact that the high side voltage cannot be lower than the low side voltage. A popular existing method to alleviate this problem is the use of an active clamp and a flyback transformer in the circuit topology to charge the high side before the converter is switched into normal boost operation. The active clamp not only helps eliminate the transient spike caused by the transformer leakage, but also continues to be used during steady state. However, this method introduces a new current spike occurring when the converter transitions from start-up mode to boost mode. To alleviate this new setback, an additional transitional stage is proposed to significantly reduce the current spike without the use of any additional components. The converter is current-fed on the low side, and voltage-fed on the high side. A simple phase shift control is used in buck mode and PWM control is used during the boost mode for both the start-up mode and the normal boost operation. This thesis discusses the performance results of a 48-400 V dc/dc converter with 1000 W power output. / Master of Science

Traffic accidents are of concern for traffic safety; 1.25 million deaths are reported each year. Hence, it is crucial to have access to real-time data and rapidly detect or predict accidents. Predicting the occurrence of a highway car accident accurately any significant length of time into the future is not feasible since the vast majority of crashes occur due to unpredictable human negligence and/or error. However, rapid traffic incident detection could reduce incident-related congestion and secondary crashes, alleviate the waste of vehicles’ fuel and passengers’ time, and provide appropriate information for emergency response and field operation. While the focus of most previously proposed techniques is predicting the number of accidents in a certain region, the problem of predicting the accident occurrence or fast detection of the accident has been little studied. To address this gap, we propose a deep learning approach and build a deep neural network model based on long short term memory (LSTM). We apply it to forecast the expected speed values on freeways’ links and identify the anomalies as potential accident occurrences. Several detailed features such as weather, traffic speed, and traffic flow of upstream and downstream points are extracted from big datasets. We assess the proposed approach on a traffic dataset from Sacramento, California. The experimental results demonstrate the potential of the proposed approach in identifying the anomalies in speed value and matching them with accidents in the same area. We show that this approach can handle a high rate of rapid accident detection and be implemented in real-time travelers’ information or emergency management systems. / M.S. / Rapid traffic accident detection/prediction is essential for scaling down non-recurrent conges- tion caused by traffic accidents, avoiding secondary accidents, and accelerating emergency system responses. In this study, we propose a framework that uses large-scale historical traffic speed and traffic flow data along with the relevant weather information to obtain robust traffic patterns. The predicted traffic patterns can be coupled with the real traffic data to detect anomalous behavior that often results in traffic incidents in the roadways. Our framework consists of two major steps. First, we estimate the speed values of traffic at each point based on the historical speed and flow values of locations before and after each point on the roadway. Second, we compare the estimated values with the actual ones and introduce the ones that are significantly different as an anomaly. The anomaly points are the potential points and times that an accident occurs and causes a change in the normal behavior of the roadways. Our study shows the potential of the approach in detecting the accidents while exhibiting promising performance in detecting the accident occurrence at a time close to the actual time of occurrence.

Curved beams such as arches find ubiquitous applications in civil, mechanical and aerospace engineering, e.g., stiffened floors, fuselage, railway compartments, and wind turbine blades. The analysis of free vibrations of curved structures plays a critical role in their design to avoid transient loads with dominant frequencies close to their natural frequencies. One way to increase their areas of applications and possibly make them lighter without sacrificing strength is to make them of Functionally Graded Materials (FGMs) that are composites with continuously varying material properties in one or more directions. In this thesis, we study free vibrations of FGM circular beams by using a logarithmic shear deformation theory that incorporates through-the-thickness logarithmic variation of the circumferential displacement, and does not require a shear correction factor. The radial displacement of a point is assumed to depend only upon its angular position. Thus the beam theory can be regarded as a generalization of the Timoshenko beam theory. Equations governing transient deformations of the beam are derived by using Hamilton's principle. Assuming a time harmonic variation of the displacements, and by utilizing the generalized differential quadrature method (GDQM) the free vibration problem is reduced to solving an algebraic eigenvalue problem whose solution provides frequencies and the corresponding mode shapes. Results are presented for different spatial variations of the material properties, boundary conditions, and the aspect ratio. It is found that the radial and the circumferential gradation of material properties maintains their natural frequency within that of the homogeneous beam comprised of a constituent of the FGM beam. Furthermore, keeping every other variable fixed, the change in the beam opening angle results in very close frequencies of the first two modes of vibration, a phenomenon usually called mode transition. / Master of Science / Curved and straight beams of various cross-sections are one of the simplest and most fundamental structural elements that have been extensively studied because of their ubiquitous applications in civil, mechanical, biomedical and aerospace engineering. Many attempts have been made to enhance their material properties and designs for applications in harsh environments and reduce weight. One way of accomplishing this is to combine layerwise two or more distinct materials and take advantage of their directional properties. It results in a lightweight structure having overall specific strength superior to that of its constituents. Another possibility is to have volume fractions of two or more constituents gradually vary throughout the structure for enhancing its performance under anticipated applications. Functionally graded materials (FGMs) are a class of composites whose properties gradually vary along one or more space directions. In this thesis, we have numerically studied free vibrations of FGM circular beams to enhance their application domain and possibly use them for energy harvesting.

No / This project seeks to address the lack of geomagnetic field data for the territory of Romania by sampling and analysing burnt archaeological features and sediments. The aim of this paper is to present the initial directional results and some magnetic mineralogical determinations from five features sampled during the first field season. Representative examples of directional and magnetic mineralogical analyses are presented, and dates are obtained using the REN-DATE software [Lanos, P., Kovacheva, M., Chauvin, A., 1999. Archaeomagnetism, methodology and applications: implementation and practice of the archaeomagnetic method in France and Bulgaria. Journal of European Archaeology, 2, 365¿392] and the published moving window averaged data from Hungary [Ma´rton, P., 2003. Recent achievements in archaeomagnetism in Hungary. Geophysical Journal International 153(3), 675¿690]. A comparison is made of the data obtained in this study with the published directional data from Bulgaria, Hungary and Ukraine.

Yes / Archaeomagnetic dating offers a valuable chronological tool for archaeological investigations, particularly for dating fired material. The method depends on the establishment of a dated record of secular variation of the Earth's magnetic field and this paper presents new and updated archaeomagnetic directional data from the UK and geomagnetic secular variation curves arising from them. The data are taken from publications from the 1950's to the present day; 422 dated entries derived from existing archaeo and geomagnetic databases are re-evaluated and 487 new directions added, resulting in 909 entries with corresponding dates, the largest collection of dated archaeomagnetic directions from a single country. An approach to improving the largest source of uncertainty, the independent dating, is proposed and applied to the British Iron Age, resulting in 145 directions from currently available databases being updated with revised ages and/or uncertainties, and a large scale reassessment of age assignments prior to inclusion into the Magnetic Moments of the Past and GEOMAGIA50 databases. From the significantly improved dataset a new archaeomagnetic dating curve for the UK is derived through the development of a temporally continuous geomagnetic field model, and is compared with previous UK archaeomagnetic dating curves and global field models. The new model, ARCH-UK.1 allows model predictions for any location in the UK with associated uncertainties. It is shown to improve precision and accuracy in archaeomagnetic dating, and to provide new insight into past geomagnetic field changes. / Arts and Humanities Research Council

Bipedal locomotion in humanoid robots is a very challenging problem within the field of robot locomotion. In this thesis, we propose and demonstrate an omni-directional walking engine that achieves stable walking using feedback from an inertial measurement unit. Our walking engine generates gaits for which the zero moment point is on the center of the supporting foot. The mechanical structure of CHARLI-L, a humanoid robot used as our test platform in this thesis, is first introduced by describing the inverse kinematics of its legs. The principles of the omni-directional gait generator that creates walking motions and overcomes the robot's mechanical deficiencies is discussed. We develop and implement two kinds of feedback controllers; one is the gait feedback controller and the other is the joint feedback controller. Both feedback controllers use proportional-derivative of the angle of the pelvis from an inertial measurement unit. The results of the experiments are presented the efficacy of our proposed walking engine. / Master of Science

As the mission field for autonomous vehicles expands into a larger variety of territories, the development of autonomous surface vehicles (ASVs) becomes increasingly important. ASVs have the potential to travel for long periods of time in areas that cannot be reached by aerial, ground, or underwater autonomous vehicles. ASVs are useful for a variety of missions, including bathymetric mapping, communication with other autonomous vehicles, military reconnaissance and surveillance, and environmental data collecting. Critical to an ASV's ability to maneuver without human intervention is its ability to detect obstacles, including the shoreline. Prior topological knowledge of the environment is not always available or, in dynamic environments, reliable. While many existing obstacle detection systems can only detect 3D obstacles at close range via a laser or radar signal, vision systems have the potential to detect obstacles both near and far, including "flat" obstacles such as the shoreline. The challenge lies in processing the images acquired by the vision system and extracting useful information. While this thesis does not address the issue of processing the images to locate the pixel positions of the obstacles, we assume that we have these processed images available. We present an algorithm that takes these processed images and, by incorporating the kinematic model of the ASV, maps the pixel locations of the obstacles into a global coordinate system. An Extended Kalman Filter is used to localize the ASV and the surrounding obstacles. / Master of Science

京都大学 / 新制・課程博士 / 博士(工学) / 甲第24897号 / 工博第5177号 / 新制||工||1988(附属図書館) / 京都大学大学院工学研究科都市社会工学専攻 / (主査)教授 五十嵐 晃, 教授 高橋 良和, 教授 後藤 浩之 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

Phased microphone arrays are valuable tools for aeroacoustic measurements that can measure the directivity of multiple acoustic sources. However, when deployed in closed test-section wind tunnels, the acoustics suffer due to intense pressure fluctuations contained in the wall-bound turbulent boundary layer. Furthermore, phased microphone arrays require many sensors distributed over a large aperture to ensure good spatial resolution over a wide frequency range. Microphone arrays of such large count are not always feasible due to constraints in space and cost. This thesis describes an alternative approach for measuring single broadband acoustic sources that uses an acoustic metasurface. The metasurface is comprised of a meandering channel of quarter-wave cavities and an array of equally spaced half-wave open through-cavities. A series of tests were conducted in Virginia Tech's Anechoic Wall-Jet Tunnel where combinations of a wall-bound turbulent jet-flow and a single broadband acoustic source were used to excite the metasurface and produce acoustic surface waves. Measurements of the acoustic surface waves were performed using two methods: a pair of traversing microphones scanning the pressure field along the length of the metasurface 0.25 mm beneath its bottom face, and an array of unequally spaced microphones embedded inside the metasurface. Spectral analysis on the measurements revealed that the inclusion of multiple through-cavities leads to constructive reinforcement of select acoustic surface waves as a function of the acoustic source location. In the case of the embedded microphones, acoustic beamforming was applied in order to extract spatial information. This reinforcement was observed during measurements made with both flow and acoustic excitation, up to Wall-Jet Tunnel nozzle exit speeds of 40 m/s beyond which it was no longer seen. A series of quiescent measurements made with a range of speaker locations constituted a calibration for the metasurface which was used to locate an unknown broadband acoustic source within an The Root-Mean-Square (RMS) error of 1.06 degrees. / Master of Science / Phased microphone arrays are valuable tools for aeroacoustic measurements that can measure the directivity of multiple acoustic sources within a sound field. When used in conjunction with signal processing techniques, such as delay-and-sum beamforming, a researcher or engineer can obtain an intuitive view of the sound field and distinguish between multiple sources over a wide frequency range. However, these microphone arrays often utilize dozens of microphones which raises the array's complexity and cost. Furthermore, when a phased microphone array is mounted flush to the wall of a wind tunnel test section, it is submerged under a turbulent boundary layer which imposes intense pressure fluctuations on the microphones making it difficult to identify acoustic sources. Boundary layers form at the interface between a fluid and solid interface. This thesis describes experimentation performed in the Virginia Tech Anechoic Wall-Jet Tunnel on a new type of pressure sensing microphone array that leverage acoustic metamaterial technology. The acoustic metamaterial shields the microphones from the flow, lessening the influence of the turbulent boundary layer on the measurement. The focus in this thesis is on the novel array's ability to locate a single broadband acoustic source using as few as six microphones. The metasurface was installed in the Wall-Jet Tunnel test plate such that an array of evenly spaced through-cavities are flush to the surface. The through-cavities communicate the pressure field on top of the test surface to a meandering channel of interconnected closed cavities below. Near the resonant depth frequencies of the closed cavities, acoustic surface waves form which are evanescent pressure waves that are bound to the surface or structure that support them. The interference between the acoustic surface waves generated at each through-cavity leads to reinforced acoustic surface waves which are sensitive to the direction of a broadband source. In all, an acoustic metamaterial was tested under a variety of conditions such as: Wall-Jet Tunnel flow speed, speaker location, and the number of through-cavities open. The performance of the novel array and future plans are discussed.