Thesis (M.S. in Mechanical Engineering and Mechanical Engineer)--Naval Postgraduate School, June 1990. / Thesis Advisor(s): Papoulias, Fotis A. ; Healey, Anthony J. "June 1990." Description based on title screen as viewed on 19 October 2009. DTIC Descriptor(s): Automatic Pilots, Control, Control Theory, Degrees Of Freedom, Depth Control, Guidance, Line Of Sight, Mathematical Models, Nonlinear Systems, Range (Extremes), Self Operation, Sliding, Underwater Vehicles, Velocity. DTIC Indicator(s): Autonomous, Underwater vehicles, Guidance, Control. Author(s) subject terms: Autonomous, Underwater vehicles, AUV, Guidance, Control. Includes bibliographical references (p. 116-117). Also available in print.

Thesis (Ph. D.)--University of Florida, 2005. / Title from title page of source document. Document formatted into pages; contains 134 pages. Includes vita. Includes bibliographical references.

Thesis (M.S.)--Rochester Institute of Technology, 2007. / Typescript. Includes bibliographical references (leaves 106-107).

abstract: Civilian and military use of remotely piloted aircraft (RPA) has significantly increased in recent years. Specifically, the United States Air Force (USAF) has an insatiable demand for RPA operations, that are responsible for fulfilling critical demands in every theater 24 hours a day, 365 days a year (United States Air Force, 2015). Around the clock operations have led to a manning shortage of RPA pilots in the USAF. The USAF MQ-9 “Reaper” Weapons School trains tactical experts and leaders of Airmen skilled in the art of integrated battle-space dominance (United States Air Force, 2015). Weapons Officers for the MQ-9 platform are also critically under-manned, with only 17% of allocated slots filled (B. Callahan, personal communication, January 28, 2016). Furthermore, the leading cause of training attrition has been attributed to lack of critical thinking and problem solving skills (B. Callahan, personal communication, January 28, 2016); skills not directly screened for prior to entering the RPA pilot career field. The proposed study seeks to discover patterns of student behaviors in the brief and debrief process in Weapons School, with the goal of identifying the competencies that distinguish the top students in Weapons School. / Dissertation/Thesis / Masters Thesis Applied Psychology 2017

Thesis(M.S.)--Auburn University, 2008. / Abstract. Vita. Includes bibliographic references (p.96-99).

Thesis (M.S.)--Brigham Young University. Dept. of Mechanical Engineering, 2006. / Includes bibliographical references (p. 69-74).

Approved for public release; distribution is unlimited. / The Navy is considering the use of unmanned surface vehicles (USVs) to reduce risk to personnel in maritime interdiction operations, and to conduct intelligence, surveillance and reconnaissance (ISR) and force protection (FP) missions. In this thesis, alternative configurations of the prototype and operational uses of the USV are explored using agent-based simulation for three scenarios. An efficient experiment design alters settings of ten factors for the two ISR scenarios and 11 factors for the FP scenario. Some factors varied in the experiment are uncontrollable during operations, such as the total number of contacts, threat density, their maneuvering characteristics, and the sea state. The USV sensor range and endurance are also considered as well as factors set by the decision-maker for a particular mission: namely, USV speed and numbers to deploy. The results provide several operational and tactical insights with implications for patrolling and combat radius, and form the basis for a recommendation to use the USV in an active role in maritime missions. The results also support the guidance on the benefits of improving USV sensing and endurance capabilities, and find that simply increasing USV numbers is not necessary for attaining high mission performance. / Ensign, United States Navy

The accurate estimation of atmospheric water vapour and the subsequent derivation of surface spectral reflectance from hyperspectral VNIR-SWIR remotely sensed data is important for many applications. A number of algorithms have been developed for estimating water vapour content from remotely sensed hyperspectral data that do not require in-situ measurements. Two algorithms, the Continuum Interpolated Band Ratio (CIBR) and the Atmospheric Precorrected Differential Absorption (APDA) have proven to be highly effective at estimating atmospheric water vapour. Although highly successful, the two methods still exhibit unwanted or spurious results when challenging conditions are encountered. Such conditions include the estimation of atmospheric water vapour over dark targets, when uncorrected atmospheric aerosols are present and over surfaces with complex spectral signatures.A differential absorption method called the Transmittance Slope Ratio (TSR) has been developed that negates these problems. The TSR method is comprised of a weighted mean radiance that is defined between two atmospheric water absorption features which is divided by a reference channel radiance to produce a measurable ratio value. This, is turn, may be related to a reference curve, such that, the TSR value may be expressed as an atmospheric water vapour content. To test the TSR method over real terrains, AVIRIS and HyMap measured hyperspectral radiometric data were used. Three test sites were used in total with each site allowing different aspects of the water vapour estimation to be critically examined. The sites are, Jasper Ridge and Moffett Field in California and Brukunga in South Australia.The TSR method is found to significantly improve estimated atmospheric water vapour over dark targets (with less than 3.5 % error for reflectances as low as 0.5 %), improvement over nonlinear surfaces, and finally, ++ / improvement in water vapour estimation when atmospheric aerosol conditions are not well known. In the final case the TSR method is found to estimate atmospheric water vapour with an error of less than 2 % when a 5 km visibility is assumed to be 25 km. The final result is at least an order of magnitude better than the CIBR and APDA methods.

Development of a hydrocarbon reservoir requires information about the type of fluid that saturates the pore space, and the permeability distribution that determines how the fluid can be extracted. The presence of fractures in a reservoir can be useful for obtaining this information. The main objectives of this thesis are to investigate how fracturing can be detected remotely using exploration seismology. Fracturing will effect seismic data in a number of ways. Firstly, if the fractures are aligned preferentially in some direction, the medium will exhibit long wavelength anisotropy. In turn, if wave propagation is not aligned with one of the symmetry axes of the effective medium then shear wave splitting will depend upon the properties of the fracture filling fluid. Secondly, elastic waves will experience attenuation and dispersion due to scattering and wave-induced fluid flow between the fractures and matrix porosity. This occurs because the fractures are more compliant than the background medium and therefore there will be a pressure gradient formed during passage of the wave, causing fluid to flow between fractures and background. If the direction of shear-wave propagation is not perpendicular or parallel to the plane of fracturing, the wave polarized in the plane perpendicular to the fractures is a quasi-shear mode, and therefore the shear-wave splitting will be sensitive to the fluid bulk modulus. / The magnitude of this sensitivity depends upon the extent to which fluid pressure can equilibrate between pores and fractures during the period of the deformation. In this thesis I use the anisotropic Gassmann equations and existing formulations for the excess compliance due to fracturing to estimate the splitting of vertically propagating shear-waves as a function of the fluid modulus for a porous medium with a single set of dipping fractures and with two conjugate fracture sets dipping with opposite dips to the vertical. This is achieved using two alternative approaches. In the first approach it is assumed that the deformation taking place is quasi-static. That is, the frequency of the elastic disturbance is low enough to allow enough time for fluid to flow between both the fractures and the pore space throughout the medium. In the second approach I assume that the frequency is low enough to allow fluid flow between a fracture set and the surrounding pore space, but high enough so that there is not enough time during the period of the elastic disturbance for fluid flow between different fracture sets to occur. It is found that the second approach yields a much stronger dependency of shear-wave splitting on the fluid modulus than the first one. This is a consequence of the fact that at higher wave frequencies there is not enough time for fluid pressure to equilibrate and therefore the elastic properties of the fluid have a greater effect on the magnitude of the shear-wave splitting. I conclude that the dependency of the shear-wave splitting on the fluid bulk modulus will be at its minimum for quasi-static deformations, and will increase with increasing wave frequency. / In order to treat the problem of dispersion and attenuation due to wave-induced fluid flow I consider interaction of a normally incident time-harmonic longitudinal plane wave with a circular crack imbedded in a porous medium governed by Biot’s equations of dynamic poroelasticity. The problem is formulated in cylindrical coordinates as a system of dual integral equations for the Hankel transform of the wave field, which is then reduced to a single Fredholm integral equation of the second kind. It is found that the scattering that takes place is predominantly due to wave induced fluid flow between the pores and the crack. The scattering magnitude depends on the size of the crack relative to the slow wave wavelength and has its maximum value when they are of the same order. I conclude that this poroelastic effect should not be neglected, at least at seismic frequencies. Using the solution of the scattering problem for a single crack and multiple-scattering theory I estimate the attenuation and dispersion of elastic waves taking place in a porous medium containing a sparse distribution of such cracks. I obtain from this analysis an effective velocity which at low frequencies reduces to the known static Gassmann result and a characteristic attenuation peak at the frequency such that the crack size and the slow wave wavelength are of the same order. / When comparing with a similar model in which multiple scattering effects are neglected I and that there is agreement at high frequencies and discrepancies at low frequencies. I conclude that the interaction between cracks should not be neglected at low frequencies, even in the limit of weak crack density. Since the models only agree with each other at high frequencies, when the time available for fluid diffusion is small, I conclude that the interaction between cracks that takes place as a result of fluid diffusion is negligible at high frequencies. I also compare my results with a model for spherical inclusions and find that the attenuation for spherical inclusions has exactly the same dependence upon frequency, but a difference in magnitude that depends upon frequency. Since the attenuation curves are very close at low frequencies I conclude that the effective medium properties are not sensitive to the shape of an inclusion at wavelengths that are large compared to the inclusion size. However at frequencies such that the wavelength is comparable to or smaller than the inclusion size the effective properties are sensitive to the greater compliance of the flat cracks, and more attenuation occurs at a given frequency as a result.

University of Technology, Sydney. Faculty of Engineering. / The thesis focuses on issues of vehicle modelling incorporating wheel-terrain interaction and low-level control design taking into account uncertainties and input time delay. Addressing these issues is of significant importance in achieving persistent autonomy for outdoor UGVs, especially when navigating on unprepared terrains. The test-bed vehicle used for this research is retrofitted from an all-terrain 20-hp, 0.5-tonne vehicle. Its driveline system consists of an internal combustion engine, continuous variable transmission (CVT), gearbox, differential, chains, and eight wheels. The vehicle is driven in the skid-steering mode, which is popular for many off-road land-vehicle platforms. In this thesis, a comprehensive approach is proposed for modelling the driveline. The approach considers the difference in speed between two outputs of the differential and the turning mechanism of the vehicle. It describes dynamics of all components in the vehicle driveline in an integrated manner with the vehicle motion. Given a pattern of the throttle position, left and right braking efforts as the inputs, the dynamic behaviour of the wheels and other components of the UGV can be predicted. For controlling the vehicle at the low level, PID controllers are firstly used for all actuators. As many components of the vehicle exhibit nonlinearities and time delay, the large overshoots encountered in the outputs can lead to undesirable vehicle behaviours. To alleviate the problem, a novel control approach is proposed for suppression of overshoots resulting from PID control. Sliding mode control (SMC) is employed, for this, with time delay compensated by using an output predictor. As a result, the proposed approach can improve significantly system robustness and reduce substantially step response overshoot. Notably, the design is generic in that it can be applied for many dynamic processes. Knowledge of the interaction between the UGV and the terrain plays an important role in increasing its autonomy and securing the safety for off-road locomotion. In this regard, vehicle kinematic equations are combined with the theory of terramechanics for dynamic modelling of the interaction between the vehicle wheels and a variety of terrain types. Also, a fast algorithm is developed to enable online implementation. The novel interaction model takes into account the relationship between normal stresses, shear stresses, and shear displacement of the terrain that is in contact with the wheels in deriving the three-dimensional reaction forces. Finally, all modelling and control algorithms are integrated into a unique simulator for emulating the vehicle mobility characteristics. In particular, the wheel’s slip and rolling resistance can also be derived to provide useful information for closed-loop control when the UGV is navigating in an unknown environment. The simulator, as a tool for analysing the vehicle mobility, is helpful for further research on relevant topics such as traction control, safe and effective locomotion.