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Automated site preparation on the Moon using a group of autonomous rovers is a topic of great interest for the establishment of a lunar base. A potentially very useful system in which multiple, autonomous rovers clear soil to create a landing pad while simultaneously forming berms with the soil cleared will be described. An Artificial Neural Tissue (ANT) architecture was used as the control algorithm to accomplish these tasks. This scalable architecture encourages task decomposition of the main mission tasks and requires minimal human supervision. To solve these tasks, a single fitness function to measure the performance of the controller and a set of allowable basis behaviors was defined. Next, an evolutionary (Darwinian) selection process was used to generate controllers in simulation. The fittest controller was subsequently implemented on LEGO robots for additional validation and testing. The ANT controller was ultimately integrated with a team of three large-scale rovers.

Automated site preparation on the Moon using a group of autonomous rovers is a topic of great interest for the establishment of a lunar base. A potentially very useful system in which multiple, autonomous rovers clear soil to create a landing pad while simultaneously forming berms with the soil cleared will be described. An Artificial Neural Tissue (ANT) architecture was used as the control algorithm to accomplish these tasks. This scalable architecture encourages task decomposition of the main mission tasks and requires minimal human supervision. To solve these tasks, a single fitness function to measure the performance of the controller and a set of allowable basis behaviors was defined. Next, an evolutionary (Darwinian) selection process was used to generate controllers in simulation. The fittest controller was subsequently implemented on LEGO robots for additional validation and testing. The ANT controller was ultimately integrated with a team of three large-scale rovers.

Master of Science / Department of Geology / Matthew W. Totten / The Meramec member of Mississippian age is a proficient oil and gas producing formation within the midcontinent region of the United States. It is produced in Kansas, Oklahoma, and Texas. In Kansas, 12% of the state’s petroleum production comes from Mississippian-aged rocks. Bindley Field, located in central west Kansas, has produced 3,669,283 barrels of oil from one facies within the M2 interval of the Meramec formation. This facies is a grain-supported echinoderm/bryozoan dolostone, of variable thickness. Its sporadic occurrence in the subsurface has made exploring Bindley Field and the surrounding area difficult. The challenge in finding oil in this area is in locating a producible zone of this productive facies. Previously, Bindley Field has been the subject of detailed reservoir characterization studies (Ebanks et al., 1977; Johnson, 1990; Johnson, 1994). These studies helped to contribute to a better understanding of Meramecian stratigraphy in Kansas. The Meramec was divided into four major depositional sequences, with some of those sequences nonexistent in the subsurface, due to aerial exposure and erosion post-deposition. The Meramecian units were further separated into parasequence-scale chronostratigraphic units based on marine flooding events. The primary producing interval in Bindley Field is the Meramec 2 interval which consists of seven lithotypes, and is recognized to have six, meter-scale depositional cycles (Johnson, 1990). As production from this interval increased, more information became available about controls on reservoir quality. There are still areas, however, where core data do not exist, and predicting the productive facies remains challenging. The aim of this study is to create a workflow for evaluating the subsurface using regional core and log data from Bindley Field to create a model of the subsurface distribution of the reservoir facies, which could be extended to data poor areas. Geophysical logs (neutron, gamma ray, guard) along with an artificial neural network (ANN), was used to create an accurate prediction of producing intervals within the subsurface. Values are derived from wire line log data and used to develop the ANN definition of facies distribution within Bindley Field. The ANN model was examined for accuracy and precision using core description and well cuttings from wells within Bindley Field and the surrounding area. Correlations were found between the subsurface geometry of the study area, and the production of oil and gas within the study area. An ANN model with an accuracy of 72% was achieved and applied to wells surrounding the Bindley Field, where reservoir intervals have not been as extensively studied. A total of 87 wells in Bindley Field and the surrounding 50 square mile area where applied to the ANN model. The model predicted that the productive facies thickens gradually to the northwest of Bindley Field. Cross sections as well as an isopach map were created using the prediction data from the ANN. Finally, an analysis for the accuracy of the ANN and the predicted facies was created. The productive facies yielded an accuracy value of 77%.

An analysis of the fire occurrences parameters is essential to save human lives, property, timber resources and conservation of biodiversity. Data conversion formats such as raster to ASCII facilitate the integration of various GIS software’s in the context of RS and GIS modeling. This research explores fire occurrences in relation to human interaction, fuel density interaction, euclidean distance from the perennial streams and slope using artificial neural networks. The human interaction (ignition source) and density of fuels is assessed by Newton’s Gravitational theory. Euclidean distance to perennial streams and slope that do posses a significant role were derived using GIS tools. All the four non linear predictor variables were modeled using the inductive nature of neural networks. The Self organizing feature map (SOM) utilized for fire size risk classification produced an overall classification accuracy of 62% and an overall kappa coefficient of 0.52 that is moderate (fair) for annual fires.

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