Autonomous vehicles offer means to complete unsafe military operations without endangering the lives of soldiers. Such solutions have fueled many efforts towards designing autonomous, or unmanned, systems. Military and academic research efforts alike continue to focus on developing these systems. While many different autonomous vehicles have been introduced, however, such complex systems have limited drive-by-wire operability. The complete process to up-fit a vehicle to fully autonomous operation involves the design, up-fit, testing and verification of many different subsystems. The objective of this thesis is to design and model an autonomous steering system requiring little modifications to an existing steering system. It is desirable to still operate the vehicle manually as well as preserve the vehicle's visual appearance. Up-fit and implementation of the designed steering system and verification of its functionality has been documented as well. Utilization of the supplied controller and software has enabled the testing and characterization of the system. The proposed design offers a solution to a wide variety of wheeled vehicles steered via the traditional and common steering wheel method. In addition, modifications have been made to an existing simulation of an unmanned vehicle in a military testbed environment (Fort Benning). The simulation accounts for the control methodology as it has been designed and tested with, which offers the ability to analyze the dynamics of the unmanned system. / Master of Science

The Internet Protocol Multimedia Subsystem (IMS) is a component of the 3G mobile network that has been specified by standards development organisations such as the 3GPP (3rd Generation Partnership Project) and ETSI (European Telecommunication Standards Institute). IMS seeks to guarantee that the telecommunication network of the future provides subscribers with seamless access to services across disparate networks. In order to achieve this, it defines a service architecture that hosts application servers that provide subscribers with value added services. Typically, an application server bundles all the functionality it needs to execute the services it delivers, however this view is currently being challenged. It is now thought that services should be synthesised from simple building blocks called service capabilities. This decomposition would facilitate the re-use of service capabilities across multiple services and would support the creation of new services that could not have originally been conceived. The shift from monolithic services to those built from service capabilities poses a challenge to the current service model in IMS. To accommodate this, the 3GPP has defined an entity known as a service capability interaction manager (SCIM) that would be responsible for managing the interactions between service capabilities in order to realise complex services. Some of these interactions could potentially lead to undesirable results, which the SCIM must work to avoid. As an added requirement, it is believed that the network should allow policies to be applied to network services which the SCIM should be responsible for enforcing. At the time of writing, the functional and structural architecture of the SCIM has not yet been standardised. This thesis explores the current serv ice architecture of the IMS in detail. Proposals that address the structure and functions of the SCIM are carefully compared and contrasted. This investigation leads to the presentation of key aspects of the SCIM, and provides solutions that explain how it should interact with service capabilities, manage undesirable interactions and factor user and network operator policies into its execution model. A modified design of the IMS service layer that embeds the SCIM is subsequently presented and described. The design uses existing IMS protocols and requires no change in the behaviour of the standard IMS entities. In order to develop a testbed for experimental verification of the design, the identification of suitable software platforms was required. This thesis presents some of the most popular platforms currently used by developers such as the Open IMS Core and OpenSER, as well as an open source, Java-based, multimedia communication platform called Mobicents. As a precursor to the development of the SCIM, a converged multimedia service is presented that describes how a video streaming application that is leveraged by a web portal was implemented for an IMS testbed using Mobicents components. The Mobicents SIP Servlets container was subsequently used to model an initial prototype of the SCIM, using a mUlti-component telephony service to illustrate the proposed service execution model. The design focuses on SIP-based services only, but should also work for other types of IMS application servers as well.

Humans learn to interact with many complex dynamic systems such as helicopters, bicycles, and automobiles. This dissertation develops a subsystem identification method to model the control strategies that human subjects use in experiments where they interact with dynamic systems. This work provides new results on the control strategies that humans learn. We present a novel subsystem identification algorithm, which can identify unknown linear time-invariant feedback and feedforward subsystems interconnected with a known linear time-invariant subsystem. These subsystem identification algorithms are analyzed in the cases of noiseless and noisy data. We present results from human-in-the-loop experiments, where human subjects in- teract with a dynamic system multiple times over several days. Each subject’s control behavior is assumed to have feedforward (or anticipatory) and feedback (or reactive) components, and is modeled using experimental data and the new subsystem identifi- cation algorithms. The best-fit models of the subjects’ behavior suggest that humans learn to control dynamic systems by approximating the inverse of the dynamic system in feedforward. This observation supports the internal model hypothesis in neuro- science. We also examine the impact of system zeros on a human’s ability to control a dynamic system, and on the control strategies that humans employ.

International Telemetering Conference Proceedings / October 23-26, 2000 / Town & Country Hotel and Conference Center, San Diego, California / The National Aeronautics and Space Administration’s (NASA) Marshall Space Flight Center (MSFC) in Huntsville, Alabama will launch the Propulsive Small Expendable Deployer System (ProSEDS) space experiment in late 2000. ProSEDS will demonstrate the use of an electrodynamic tether propulsion system and will utilize a conducting wire tether to generate limited spacecraft power. This paper will provide an overview of the ProSEDS mission and will discuss the design, and test of the spacecraft telemetry system. The ProSEDS telemetry subsystem employs a combination of Commercial Off-The-Shelf (COTS) hardware and launch vehicle telemetry system components to minimize costs as well as power consumption. Several measures were used to aid the conservation of spacecraft power resources. First, the transmitter was modified to limit input power consumption to less that 20 watts while providing approximately two watts Radio Frequency (RF) output power. Secondly, the ProSEDS on board Global Positioning System (GPS) receiver is being used to control input power to the transmitter in order to limit the telemetry operations to occasions when the spacecraft is in proximity to preprogrammed ground station locations.

Approved for public release; distribution is unlimited / This thesis investigates the problems in current naval aircraft cockpits as perceived by fleet naval aviators who are students at the U.S. Naval Aviation Safety School. A critical incident questionnaire provides data that examines the deficiencies of an individual aircraft. These individual aircraft deficiencies are then categorized into twelve major deficiency categories which are common to ore than one aircraft. Various recommendations are made concerning standards, specifications, cockpit research and cockpit design. / http://archive.org/details/pilotreportedhum00dani / Commander, United States Navy

In this paper, we discuss the need for quantum error correction. We also describe some basic techniques used in quantum error correction which includes decoherence-free subspaces and subsystems. These subspaces and subsystems are described in detail. We also introduce a numerical algorithm that was used previously to search for these decoherence-free subspaces and subsystems under collective error. It is useful to search for them as they can be used to store quantum information. We use this algorithm in some specific examples involving qubits and qutrits. The results of these algorithm are then compared with the error algebra obtained using Young tableaux. We use these results to describe how the specific numerical algorithm can be used for the search of approximate decoherence-free subspaces and subsystems and minimal noise subsystems.

Submitted by Rosina Valeria Lanzellotti Mattiussi Teixeira (rosina.teixeira@unisantos.br) on 2015-04-07T19:16:15Z No. of bitstreams: 1 Elainy Maria D. de Medeiros Fran¿a.pdf: 914636 bytes, checksum: fdb80c933ecf327e4af40a7a56f7a289 (MD5) / Made available in DSpace on 2015-04-07T19:16:15Z (GMT). No. of bitstreams: 1 Elainy Maria D. de Medeiros Fran¿a.pdf: 914636 bytes, checksum: fdb80c933ecf327e4af40a7a56f7a289 (MD5) Previous issue date: 2014-10-08 / Introduction: Sleep is one of the main responsible for homeostasis and restoration of the organism. A good night's sleep gives people a good performance in their daily activities. Ageing affects in changes in the quality and quantity of sleep. And at this stage are frequent complaints of sleep disorders. The quality of life, health and longevity may depend on good nights of sleep, because during this period the proteins are synthesized in order to maintain or expand neural networks linked to memory and learning. Objective: Evaluate the elderly´s sleep quality in public and private subsystems in the city of Patos-PB. Methodology: cross-sectional study conducted with 236 elderly between 2013 and 2014. The probabilistic sample was divided into two groups according to the healthcare used to supply matched by sex and age: 118 elderly in private service and 118 elderly in the public sector. The instrument includes biodemográficos data collection, validated questionnaires and auto applied assessing sleep quality index (Pittsburgh), the functional capacity (Barthel index) and the mental state of the elderly (MEEM Mental State examination). Descriptive analysis was performed, and Chi-square tests and Mann-Whitney U test. The significance level was 5%. Results: The age average of the elderly by the private sector is 71.1 years and the elderly by the public sector is 72.3 years, showing homogeneity regarding age. Differed in relation to income and education (largest in the private sector). The most widely used antihypertensive medication was in both groups, especially in the private sector (84%) and the public (64.2%). Hypertension and depression was reported by 84.9% and 25.2% respectively of private sector users. These 40.8% had caregiver, and more than 30.6% of the caregivers were remunerated. The elderly in the private sector reported a poorer quality of sleep (81.7%) than those of the public sector (65%). With regard to functional independence, the groups mostly independent presented to the AVDS. There was no significant relationship between poor sleep quality and its interference in the activities of daily living of the elderly. It was observed an association between access to private service and a greater number of comorbidities, which may be related to greater ease of specialist medical assistance and earlier in this group. Conclusion: Sleep quality is an important factor for health and general wellbeing of the elderly the findings of this study can provide the professionals in the implementation of measures to improve the sleep of elderly and promote a better quality of life for these individuals. / Introdução: O sono é um dos principais responsáveis pela homeostasia e restauração do organismo. Dormir bem concede as pessoas um bom desempenho em suas atividades diárias. Envelhecer repercute em alterações na qualidade e quantidade do sono. E nesta fase são freqüentes as queixas dos distúrbios do sono. A qualidade de vida, a saúde e a longevidade podem depender de boas noites de sono, porque nesse período as proteínas são sintetizadas com o objetivo de manter ou expandir as redes neuronais ligadas à memória e ao aprendizado. Objetivo: Avaliar a qualidade do sono de idosos atendidos nos sub-sistemas público e privado no município de Patos-PB. Metodologia: Estudo transversal realizado com 236 idosos entre 2013 e 2014. A amostra probabilística foi dividida em dois grupos de acordo com o setor de saúde utilizado para atendimento pareados por sexo e idade: 118 idosos no serviço privado e 118 idosos no setor público. O instrumento de coleta inclui dados biodemográficos e questionários validados e auto aplicados que avaliam a qualidade do sono (índice de Pittsburg), a capacidade funcional (Índice de Barthel) e o estado mental dos idosos (MEEM Exame do Estado Mental). Foi realizada a analise descritiva, e os testes de Qui-quadrado e teste U de Mann-Whitney. O nível de significância foi de 5%. Resultados: A idade média dos idosos atendidos pelo setor privado é de 71,1 anos e dos idosos atendidos pelo setor público é de 72,3 anos, mostrando homogeneidade em relação à idade. Diferiam em relação a renda e escolaridade(maiores no setor privado). O anti-hipertensivo foi o medicamento mais utilizado em ambos os grupos, especialmente no setor privado 84% e 64,2% no público. A hipertensão e a depressão foi relatada por 84,9% e 25,2% respectivamente dos usuários do setor privado. Destes 40,8% possuíam cuidador, e mais de 30,6% dos cuidadores eram remunerados. Os idosos atendidos no setor privado relataram uma pior qualidade de sono (81,7%) que os do setor público (65%). Em relação a independência funcional, os grupos em sua maioria apresentaram-se independentes para as AVDs. Não houve relação significativa entre a má qualidade do sono e sua interferência nas atividades de vida diária do idoso. Observou-se uma associação entre o acesso ao serviço privado e um maior número de comorbidades, o que pode estar relacionado a maior facilidade de assistência médica especializada e de forma mais precoce neste grupo. Conclusão: A qualidade do sono constitui-se em um importante fator para a saúde e o bem estar geral dos idosos Os achados deste estudo podem subsidiar os profissionais na implementação de medidas para melhorar o sono do idoso e promover uma melhor qualidade de vida para esse indivíduos.

Humans learn to interact with many complex physical systems. For example, humans learn to fly aircraft, operate drones, and drive automobiles. We present results from human-in-the-loop (HITL) experiments, where human subjects interact with dynamic systems while performing command-following tasks multiple times over a one-week period. We use a new subsystem identification (SSID) algorithm to estimate the control strategies (feedforward, feedforward delay, feedback, and feedback delay) that human subjects use during their trials. We use experimental and SSID results to examine the effects of system characteristics (e.g., system zeros, relative degree, system order, phase lag, time delay), reference command, and command-following objectives on humans command-following performance and on the control strategies that the humans learn. Results suggest that nonminimum-phase zeros, relative degree, phase lag, and time delay tend to make dynamic systems difficult for human to control. Subjects can generalize their control strategies from one task to another and use prediction of the reference command to improve their command-following performance. However, this dissertation also provides evidence that humans can learn to improve performance without prediction. This dissertation also presents a new SSID algorithm to model the control strategies that human subjects use in HITL experiments where they interact with dynamic systems. This SSID algorithm uses a two-candidate-pool multi-convex-optimization approach to identify feedback-and-feedforward subsystems with time delay that are interconnected in closed loop with a known subsystem. This SSID method is used to analyze the human control behavior in the HITL experiments discussed above.

The goal of this study is to contribute to understandings of parent-school relationships involving parents of students with autism by exploring notions of belonging with a small group of parents. The purpose of the study is to describe the experiences of middle school parents of children with autism. From these descriptions, I examined how parents of students with autism might contribute to understandings of belonging in school-family partnerships and enable schools and families to collaborate more effectively. This study addresses an apparent gap in understandings of belonging of parents of children with autism in their relationships with their child's school. As parents are asked to make connections with their children's school in parent-school partnerships, understandings of those connections are vital to generating and sustaining meaningful and effective relationships between parents and schools. This study uses thick descriptive methods (Geetz, 1973) to examine the phenomenon of belonging in parent-school partnerships among a small group of parents of middle school children with autism. The experiences of the parents in this study suggest that parents of middle school students with autism seek a sense of belonging in their relationships with those they work with regarding their children's schooling. This study also suggests that a sense of belonging may be an essential element of effective parent-school partnerships.

Identifying the detrimental effect of environmental factors and subsystem interactions are one of themost challenging aspects of early hazard assessment in the design of complex safety critical systems.Therefore, a complete understanding of potential failure effects before the catastrophe happens is a verydifficult task. The thesis proposes a model-based hazard analysis procedure for early identification ofpotential safety issues caused by unexpected environmental factors and subsystem interactions within acomplex safety critical system. The proposed methodology maps hazard and vulnerability modes tospecific components in the system and analyzes the hazard propagation paths for risk control andprotection strategies. The main advantage of the proposed method is the ability to provide the designerswith means to use low-fidelity, high level models to identify hazardous interactions. Using thistechnique, designers can examine the collective impacts of environmental and subsystem risks onoverall system during early stages of design and develop a hazard mitigation strategy.