Thesis (M.S.)--Auburn University, 2007. / Abstract. Includes bibliographic references (ℓ. 92-94)

Dissertation (Ph.D.)--Auburn University, 2006. / Abstract. Vita. Includes bibliographic references (p.75-81).

Thesis (M.S.)--Auburn University, 2008. / Abstract. Includes bibliographical references (p. 67-68).

Thesis (Ph. D.)--Ohio State University, 2007. / Title from first page of PDF file. Includes bibliographical references (p. 191-196).

Thesis--Auburn University, 2009. / Abstract. Includes bibliographic references (p.43).

Thesis(M.S.)--Auburn University, 2006. / Abstract. Vita. Includes bibliographic references.

Automation of hydraulic earth moving and construction equipment is of prime economic and social importance in today's marketplace. A human operator can be replaced or augmented with a robotic system when the job is too dull, dirty or dangerous. There are a myriad of applications in both Government and Industry that could benefit from augmenting or replacing an operator of hydraulic equipment with an intelligent robotic system. A specific important situation is the removal of unexploded ordnance (UXO). The removal of UXO is a troubling environmental problem that plagues people around the world. This document addresses the danger that UXO pose to military groups in applications such as active range clearance and disposal of unexploded or dud munitions. Disposing of these munitions is a difficult problem, which first begins by determining their location. The process can be aided through the use of teleoperated hydraulic equipment, which allows the operator to be located at a safe distance from these munitions. In the past, converting a large piece of hydraulic construction equipment for teleoperated use has been an expensive task. An important result of this research is demonstrating that through readily available commercial products and existing design methodologies, such robotic tasks can be accomplished at relatively low cost and in a timely, reliable fashion. / Master of Science

High-resolution sonar systems are primarily used for ocean floor surveys and port security operations but produce images of limited resolution. In turn, a sonar-specific methodology is required to detect and classify underwater unexploded ordnance (UXO) using the low-resolution sonar data. After researching and reviewing numerous approaches the Multiple Aspect-Fixed Range Template Matching (MAFR-TM) algorithm was developed. The MAFR-TM algorithm is specifically designed to detect and classify a target of high characteristic impedance in an environment that contains similar shaped objects of low characteristic impedance. MAFR-TM is tested against a tank and field data set collected by the Sound Metrics Corp. DIDSON US300. This thesis document proves the MAFR-TM can detect, classify, orient, and locate a target in the sector-scan sonar images. This paper focuses on the MAFR-TM algorithm and its results. / by Lisa Nicole Brisson. / Thesis (M.S.C.S.)--Florida Atlantic University, 2010. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.

The dominant liberal peacebuilding critiques tends to focus on ‘states’ and the failure of interventions in rebuilding them. Consequently, a standardised critique has emerged largely because the critics apply a broad brush across a diverse range of contexts, programmes, issues and activities as illustrated by the lack of scrutiny on mine action and emerging contexts such as Somaliland. The liberal peacebuilding critics critique the standardised ‘one size fits all approach’ employed by interveners, yet they take the same approach. I therefore argue for the need to broaden the critique to include other elements and contexts of peacebuilding. I demonstrate that as an intervention mine action has intrinsic peacebuilding potential. However, the way mine action is implemented both globally and in Somaliland reflects the same dominant characteristics of the liberal peacebuilding critique i.e.; it is externally led; uses technical and standardised formulaic approaches; disregards local context thus failing to secure local ownership. Attributes that the critics argue have led to the failure and/or limited success of peacebuilding interventions. I therefore contend with the critics and demonstrate how these attributes have contributed to the challenges of implementing mine action activities thereby limiting mine actions ‘peace-ability’ potential in Somaliland. However, beyond the implementation modalities there are other factors that further contribute to limiting this potential; these include the Sector Actors; the Somaliland context i.e. the historical and political context, and the perception of Somaliland people. Thus in conclusion I argue for a nuanced critique that acknowledges the challenging realities of implementing programmes in challenging post conflict environments.

<p>In the modern sensing environment, large numbers of sensor tasking decisions must be made using an increasingly diverse and powerful suite of sensors in order to best fulfill mission objectives in the presence of situationally-varying resource constraints. Sensor management algorithms allow the automation of some or all of the sensor tasking process, meaning that sensor management approaches can either assist or replace a human operator as well as ensure the safety of the operator by removing that operator from a dangerous operational environment. Sensor managers also provide improved system performance over unmanaged sensing approaches through the intelligent control of the available sensors. In particular, information-theoretic sensor management approaches have shown promise for providing robust and effective sensor manager performance.</p><p>This work develops information-theoretic sensor managers for a general static target detection problem. Two types of sensor managers are developed. The first considers a set of discrete objects, such as anomalies identified by an anomaly detector or grid cells in a gridded region of interest. The second considers a continuous spatial region in which targets may be located at any point in continuous space. In both types of sensor managers, the sensor manager uses a Bayesian, probabilistic framework to model the environment and tasks the sensor suite to make new observations that maximize the expected information gain for the system. The sensor managers are compared to unmanaged sensing approaches using simulated data and using real data from landmine detection and unexploded ordnance (UXO) discrimination applications, and it is demonstrated that the sensor managers consistently outperform the unmanaged approaches, enabling targets to be detected more quickly using the sensor managers. The performance improvement represented by the rapid detection of targets is of crucial importance in many static target detection applications, resulting in higher rates of advance and reduced costs and resource consumption in both military and civilian applications.</p> / Dissertation