Control Algorithms for a Shape-shifting Tracked Robotic Vehicle Climbing Obstacles

DTIC Science & Technology

2008-12-01

robot be- havioural skills. The Swiss Federal Institute of Technology is developing the shape-shifting robotic platform Octopus [6] (Figure l(b...and traverse steep (a) Lurker (b) Octopus (c) NUGV (d) Chaos (e) STRV Figure 1: Shape-shifting robotic vehicles in different research labs. DRDC...situations. The system is assumed stuck when vv?; + v~ + v’i) < 0.01 mls or Vx < O. Only forward movements are considered in this work, for this reason

Integrated multiple-model adaptive fault identification and reconfigurable fault-tolerant control for Lead-Wing close formation systems

NASA Astrophysics Data System (ADS)

Liu, Chun; Jiang, Bin; Zhang, Ke

2018-03-01

This paper investigates the attitude and position tracking control problem for Lead-Wing close formation systems in the presence of loss of effectiveness and lock-in-place or hardover failure. In close formation flight, Wing unmanned aerial vehicle movements are influenced by vortex effects of the neighbouring Lead unmanned aerial vehicle. This situation allows modelling of aerodynamic coupling vortex-effects and linearisation based on optimal close formation geometry. Linearised Lead-Wing close formation model is transformed into nominal robust H-infinity models with respect to Mach hold, Heading hold, and Altitude hold autopilots; static feedback H-infinity controller is designed to guarantee effective tracking of attitude and position while manoeuvring Lead unmanned aerial vehicle. Based on H-infinity control design, an integrated multiple-model adaptive fault identification and reconfigurable fault-tolerant control scheme is developed to guarantee asymptotic stability of close-loop systems, error signal boundedness, and attitude and position tracking properties. Simulation results for Lead-Wing close formation systems validate the efficiency of the proposed integrated multiple-model adaptive control algorithm.

Integrated Monitoring of Mola mola Behaviour in Space and Time.

PubMed

Sousa, Lara L; López-Castejón, Francisco; Gilabert, Javier; Relvas, Paulo; Couto, Ana; Queiroz, Nuno; Caldas, Renato; Dias, Paulo Sousa; Dias, Hugo; Faria, Margarida; Ferreira, Filipe; Ferreira, António Sérgio; Fortuna, João; Gomes, Ricardo Joel; Loureiro, Bruno; Martins, Ricardo; Madureira, Luis; Neiva, Jorge; Oliveira, Marina; Pereira, João; Pinto, José; Py, Frederic; Queirós, Hugo; Silva, Daniel; Sujit, P B; Zolich, Artur; Johansen, Tor Arne; de Sousa, João Borges; Rajan, Kanna

2016-01-01

Over the last decade, ocean sunfish movements have been monitored worldwide using various satellite tracking methods. This study reports the near-real time monitoring of fine-scale (< 10 m) behaviour of sunfish. The study was conducted in southern Portugal in May 2014 and involved satellite tags and underwater and surface robotic vehicles to measure both the movements and the contextual environment of the fish. A total of four individuals were tracked using custom-made GPS satellite tags providing geolocation estimates of fine-scale resolution. These accurate positions further informed sunfish areas of restricted search (ARS), which were directly correlated to steep thermal frontal zones. Simultaneously, and for two different occasions, an Autonomous Underwater Vehicle (AUV) video-recorded the path of the tracked fish and detected buoyant particles in the water column. Importantly, the densities of these particles were also directly correlated to steep thermal gradients. Thus, both sunfish foraging behaviour (ARS) and possibly prey densities, were found to be influenced by analogous environmental conditions. In addition, the dynamic structure of the water transited by the tracked individuals was described by a Lagrangian modelling approach. The model informed the distribution of zooplankton in the region, both horizontally and in the water column, and the resultant simulated densities positively correlated with sunfish ARS behaviour estimator (rs = 0.184, p<0.001). The model also revealed that tracked fish opportunistically displace with respect to subsurface current flow. Thus, we show how physical forcing and current structure provide a rationale for a predator's fine-scale behaviour observed over a two weeks in May 2014.

Integrated Monitoring of Mola mola Behaviour in Space and Time

PubMed Central

Sousa, Lara L.; López-Castejón, Francisco; Gilabert, Javier; Relvas, Paulo; Couto, Ana; Queiroz, Nuno; Caldas, Renato; Dias, Paulo Sousa; Dias, Hugo; Faria, Margarida; Ferreira, Filipe; Ferreira, António Sérgio; Fortuna, João; Gomes, Ricardo Joel; Loureiro, Bruno; Martins, Ricardo; Madureira, Luis; Neiva, Jorge; Oliveira, Marina; Pereira, João; Pinto, José; Py, Frederic; Queirós, Hugo; Silva, Daniel; Sujit, P. B.; Zolich, Artur; Johansen, Tor Arne; de Sousa, João Borges; Rajan, Kanna

2016-01-01

Over the last decade, ocean sunfish movements have been monitored worldwide using various satellite tracking methods. This study reports the near-real time monitoring of fine-scale (< 10 m) behaviour of sunfish. The study was conducted in southern Portugal in May 2014 and involved satellite tags and underwater and surface robotic vehicles to measure both the movements and the contextual environment of the fish. A total of four individuals were tracked using custom-made GPS satellite tags providing geolocation estimates of fine-scale resolution. These accurate positions further informed sunfish areas of restricted search (ARS), which were directly correlated to steep thermal frontal zones. Simultaneously, and for two different occasions, an Autonomous Underwater Vehicle (AUV) video-recorded the path of the tracked fish and detected buoyant particles in the water column. Importantly, the densities of these particles were also directly correlated to steep thermal gradients. Thus, both sunfish foraging behaviour (ARS) and possibly prey densities, were found to be influenced by analogous environmental conditions. In addition, the dynamic structure of the water transited by the tracked individuals was described by a Lagrangian modelling approach. The model informed the distribution of zooplankton in the region, both horizontally and in the water column, and the resultant simulated densities positively correlated with sunfish ARS behaviour estimator (rs = 0.184, p<0.001). The model also revealed that tracked fish opportunistically displace with respect to subsurface current flow. Thus, we show how physical forcing and current structure provide a rationale for a predator’s fine-scale behaviour observed over a two weeks in May 2014. PMID:27494028

Tracking painted pebbles: Short-term rates of sediment movement on four Mojave Desert piedmont surfaces

NASA Astrophysics Data System (ADS)

Persico, Lyman P.; Nichols, Kyle K.; Bierman, Paul R.

2005-07-01

To quantify short-term sediment movement rates across Mojave Desert piedmonts, 1600 painted and numbered pebbles were laid out in paired, orthogonal, 20 m lines at 4 sites and resurveyed five times over 2 years and revisited 2 years later. Pebble lines cross shallow (5-15 cm), ephemeral channels and adjacent unconsolidated interfluves, the latter being the dominant landform at all sites. Two sites are located on surfaces that have been or are impacted by military training activities, including the use of tracked vehicles. The two other sites have not been disturbed by human impact. Three different processes transport pebbles. Episodic streamflow in ephemeral channels transports a few pebbles long distances (decimeters to meters) down gradient. Bioturbation moves many pebbles small distances (centimeters) in any direction, and vehicular disturbance transports pebbles varying distances (centimeters to meters) in any direction. Significant down-gradient sediment movement occurred dominantly in channels where flowing water was concentrated. Interfluves were stable surfaces where little transport occurred. Off-road vehicle use is coincident with accelerated pebble movement. Pebbles moved further and faster down gradient at the disturbed Iron Mountain and East Range Road sites (mean speeds of 0.18 and 0.34 m yr-1, respectively) than at the undisturbed Chemehuevi and Goldstone sites, (mean speeds of 0.17 and 0.02 m yr-1, respectively). Mean pebble movement is highly and negatively correlated with vegetation density. Short-term pebble movement rates are several times lower than long-term (103 to 104 year) rates, suggesting the importance of rare, extreme precipitation events for sediment transport such as those of fall and winter 2004.

Remote operation of the Black Knight unmanned ground combat vehicle

NASA Astrophysics Data System (ADS)

Valois, Jean-Sebastien; Herman, Herman; Bares, John; Rice, David P.

2008-04-01

The Black Knight is a 12-ton, C-130 deployable Unmanned Ground Combat Vehicle (UGCV). It was developed to demonstrate how unmanned vehicles can be integrated into a mechanized military force to increase combat capability while protecting Soldiers in a full spectrum of battlefield scenarios. The Black Knight is used in military operational tests that allow Soldiers to develop the necessary techniques, tactics, and procedures to operate a large unmanned vehicle within a mechanized military force. It can be safely controlled by Soldiers from inside a manned fighting vehicle, such as the Bradley Fighting Vehicle. Black Knight control modes include path tracking, guarded teleoperation, and fully autonomous movement. Its state-of-the-art Autonomous Navigation Module (ANM) includes terrain-mapping sensors for route planning, terrain classification, and obstacle avoidance. In guarded teleoperation mode, the ANM data, together with automotive dials and gages, are used to generate video overlays that assist the operator for both day and night driving performance. Remote operation of various sensors also allows Soldiers to perform effective target location and tracking. This document covers Black Knight's system architecture and includes implementation overviews of the various operation modes. We conclude with lessons learned and development goals for the Black Knight UGCV.

Influence of Vehicle Speed on the Characteristics of Driver's Eye Movement at a Highway Tunnel Entrance during Day and Night Conditions: A Pilot Study.

PubMed

Qin, Li; Dong, Li-Li; Xu, Wen-Hai; Zhang, Li-Dong; Leon, Arturo S

2018-04-02

The aim of this study was to investigate how vehicle speed influences the characteristics of driver's eye movement at highway tunnel entrances during day and night. In this study, six drivers' eye movement data (from 200 m before tunnel entrance to 200 m inside tunnel entrance) under five predetermined vehicle speeds (40, 50, 60, 70 and 80 km/h) in the daytime and three predetermined vehicle speeds (40, 60 and 80 km/h) in the nighttime were recorded using the non-intrusive Dikablis Professional eye-tracking system. Pupil size, the average fixation duration time and the average number of fixation were analyzed and then the influence of the vehicle speed on these parameters was evaluated by means of IBM SPSS Statistics 20.0. The results for pupil size in daytime increased when approaching the tunnel entrance, while as for nighttime, pupil size decreased when approaching the tunnel entrance and then increased after entering the tunnel. The pupil size in daytime has a significant negative correlation with vehicle speed, while the pupil size in nighttime did not show a significant association with vehicle speed. Furthermore, the average fixation duration in daytime increased when entering the tunnel, and had a significant negative correlation with vehicle speed. Also, the average number of fixations in daytime decreased when entering the tunnel and has a significant negative correlation with vehicle speed. However, the average fixation duration and the average number of fixations in nighttime did not show any significant association with vehicle speed. Moreover, limitations and future directions of the study are discussed for the further investigation.

Influence of Vehicle Speed on the Characteristics of Driver’s Eye Movement at a Highway Tunnel Entrance during Day and Night Conditions: A Pilot Study

PubMed Central

Dong, Li-Li; Xu, Wen-Hai; Zhang, Li-Dong; Leon, Arturo S.

2018-01-01

The aim of this study was to investigate how vehicle speed influences the characteristics of driver’s eye movement at highway tunnel entrances during day and night. In this study, six drivers’ eye movement data (from 200 m before tunnel entrance to 200 m inside tunnel entrance) under five predetermined vehicle speeds (40, 50, 60, 70 and 80 km/h) in the daytime and three predetermined vehicle speeds (40, 60 and 80 km/h) in the nighttime were recorded using the non-intrusive Dikablis Professional eye-tracking system. Pupil size, the average fixation duration time and the average number of fixation were analyzed and then the influence of the vehicle speed on these parameters was evaluated by means of IBM SPSS Statistics 20.0. The results for pupil size in daytime increased when approaching the tunnel entrance, while as for nighttime, pupil size decreased when approaching the tunnel entrance and then increased after entering the tunnel. The pupil size in daytime has a significant negative correlation with vehicle speed, while the pupil size in nighttime did not show a significant association with vehicle speed. Furthermore, the average fixation duration in daytime increased when entering the tunnel, and had a significant negative correlation with vehicle speed. Also, the average number of fixations in daytime decreased when entering the tunnel and has a significant negative correlation with vehicle speed. However, the average fixation duration and the average number of fixations in nighttime did not show any significant association with vehicle speed. Moreover, limitations and future directions of the study are discussed for the further investigation. PMID:29614793

The Detection of Transport Land-Use Data Using Crowdsourcing Taxi Trajectory

NASA Astrophysics Data System (ADS)

Ai, T.; Yang, W.

2016-06-01

This study tries to explore the question of transport land-use change detection by large volume of vehicle trajectory data, presenting a method based on Deluanay triangulation. The whole method includes three steps. The first one is to pre-process the vehicle trajectory data including the point anomaly removing and the conversion of trajectory point to track line. Secondly, construct Deluanay triangulation within the vehicle trajectory line to detect neighborhood relation. Considering the case that some of the trajectory segments are too long, we use a interpolation measure to add more points for the improved triangulation. Thirdly, extract the transport road by cutting short triangle edge and organizing the polygon topology. We have conducted the experiment of transport land-use change discovery using the data of taxi track in Beijing City. We extract not only the transport land-use area but also the semantic information such as the transformation speed, the traffic jam distribution, the main vehicle movement direction and others. Compared with the existed transport network data, such as OpenStreet Map, our method is proved to be quick and accurate.

Attitude and Translation Control of a Solar Sail Vehicle

NASA Technical Reports Server (NTRS)

Singh, Gurkirpal

2008-01-01

A report discusses the ability to control the attitude and translation degrees-of-freedom of a solar sail vehicle by changing its center of gravity. A movement of the spacecraft s center of mass causes solar-pressure force to apply a torque to the vehicle. At the compact core of the solar-sail vehicle lies the spacecraft bus which is a large fraction of the total vehicle mass. In this concept, the bus is attached to the spacecraft by two single degree-of-freedom linear tracks. This allows relative movement of the bus in the sail plane. At the null position, the resulting solar pressure applies no torque to the vehicle. But any deviation of the bus from the null creates an offset between the spacecraft center of mass and center of solar radiation pressure, resulting in a solar-pressure torque on the vehicle which changes the vehicle attitude. Two of the three vehicle degrees of freedom can be actively controlled in this manner. The third, the roll about the sunline, requires a low-authority vane/propulsive subsystem. Translation control of the vehicle is achieved by directing the solar-pressure-induced force in the proper inertial direction. This requires attitude control. Attitude and translation degrees-of-freedom are therefore coupled. A guidance law is proposed, which allows the vehicle to stationkeep at an appropriate point on the inertially-rotating Sun-Earth line. Power requirements for moving the bus are minimal. Extensive software simulations have been performed to demonstrate the feasibility of this concept.

Apparatus and method to pulverize rock using a superconducting electromagnetic linear motor

NASA Technical Reports Server (NTRS)

Ignatiev, Alex (Inventor)

2009-01-01

A rock pulverizer device based on a superconducting linear motor. The superconducting electromagnetic rock pulverizer accelerates a projectile via a superconducting linear motor and directs the projectile at high speed toward a rock structure that is to be pulverized by collision of the speeding projectile with the rock structure. The rock pulverizer is comprised of a trapped field superconducting secondary magnet mounted on a movable car following a track, a wire wound series of primary magnets mounted on the track, and the complete magnet/track system mounted on a vehicle used for movement of the pulverizer through a mine as well as for momentum transfer during launch of the rock breaking projectile.

Steering Angle Control of Car for Dubins Path-tracking Using Model Predictive Control

NASA Astrophysics Data System (ADS)

Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

2018-03-01

Car as one of transportation is inseparable from technological developments. About ten years, there are a lot of research and development on lane keeping system(LKS) which is a system that automaticaly controls the steering to keep the vehicle especially car always on track. This system can be developed for unmanned cars. Unmanned system car requires navigation, guidance and control which is able to direct the vehicle to move toward the desired path. The guidance system is represented by using Dubins-Path that will be controlled by using Model Predictive Control. The control objective is to keep the car’s movement that represented by dinamic lateral motion model so car can move according to the path appropriately. The simulation control on the four types of trajectories that generate the value for steering angle and steering angle changes are at the specified interval.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Efroymson, Rebecca Ann; Peterson, Mark J; Jones, Daniel Steven

An ecological risk assessment was conducted at Yuma Proving Ground, Arizona, as a demonstration of the Military Ecological Risk Assessment Framework (MERAF). The focus of the assessment was a testing program at Cibola Range, which involved an Apache Longbow helicopter firing Hellfire missiles at moving targets, i.e., M60-A1 tanks. The problem formulation for the assessment included conceptual models for three component activities of the test, helicopter overflight, missile firing, and tracked vehicle movement, and two ecological endpoint entities, woody desert wash communities and desert mule deer (Odocoileus hemionus crooki) populations. An activity-specific risk assessment framework was available to provide guidancemore » for assessing risks associated with aircraft overflights. Key environmental features of the study area include barren desert pavement and tree-lined desert washes. The primary stressors associated with helicopter overflights were sound and the view of the aircraft. The primary stressor associated with Hellfire missile firing was sound. The principal stressor associated with tracked vehicle movement was soil disturbance, and a resulting, secondary stressor was hydrological change. Water loss to washes and wash vegetation was expected to result from increased ponding, infiltrationand/or evaporation associated with disturbances to desert pavement. A plan for estimating integrated risks from the three military activities was included in the problem formulation.« less

Human-Mediated Dispersal of Seeds by the Airflow of Vehicles

PubMed Central

von der Lippe, Moritz; Bullock, James M.; Kowarik, Ingo; Knopp, Tatjana; Wichmann, Matthias

2013-01-01

Human-mediated dispersal is known as an important driver of long-distance dispersal for plants but underlying mechanisms have rarely been assessed. Road corridors function as routes of secondary dispersal for many plant species but the extent to which vehicles support this process remains unclear. In this paper we quantify dispersal distances and seed deposition of plant species moved over the ground by the slipstream of passing cars. We exposed marked seeds of four species on a section of road and drove a car along the road at a speed of 48 km/h. By tracking seeds we quantified movement parallel as well as lateral to the road, resulting dispersal kernels, and the effect of repeated vehicle passes. Median distances travelled by seeds along the road were about eight meters for species with wind dispersal morphologies and one meter for species without such adaptations. Airflow created by the car lifted seeds and resulted in longitudinal dispersal. Single seeds reached our maximum measuring distance of 45 m and for some species exceeded distances under primary dispersal. Mathematical models were fit to dispersal kernels. The incremental effect of passing vehicles on longitudinal dispersal decreased with increasing number of passes as seeds accumulated at road verges. We conclude that dispersal by vehicle airflow facilitates seed movement along roads and accumulation of seeds in roadside habitats. Dispersal by vehicle airflow can aid the spread of plant species and thus has wide implications for roadside ecology, invasion biology and nature conservation. PMID:23320077

The vertical and the longitudinal dynamic responses of the vehicle-track system to squat-type short wavelength irregularity

NASA Astrophysics Data System (ADS)

Zhao, Xin; Li, Zili; Dollevoet, Rolf

2013-12-01

The squat, a kind of rolling contact fatigue occurring on the rail top, can excite the high-frequency vehicle-track interaction effectively due to its geometric deviations with a typical wavelength of 20-40 mm, leading to the accelerated deterioration of a track. In this work, a validated 3D transient finite element model is employed to calculate in the time domain the vertical and the longitudinal dynamic contact forces between the wheel and the rail caused by squats. The vehicle-track structure and the wheel-rail continua are both considered in order to include all the important eigencharacteristics of the system related to squats. By introducing the rotational and translational movements of the wheel, the transient wheel-rail rolling contact is solved in detail by a 3D frictional contact model integrated. The contact filter effect is considered automatically in the simulations by the finite size of the contact patch. The present work focuses on the influences of the length, width and depth of a light squat on the resulted dynamic contact forces, for which idealised defect models are used. The growth of a squat is also modelled to a certain extent by a series of defects with different dimensions. The results show that the system is mainly excited at two frequencies separately in the vertical and the longitudinal dynamics. Their superposition explains the typical appearance of mature squats. As a squat grows up, the magnitude of the excited vibration at the lower frequency increases faster than the one at the higher frequency.

Robotic vehicle with multiple tracked mobility platforms

DOEpatents

Salton, Jonathan R [Albuquerque, NM; Buttz, James H [Albuquerque, NM; Garretson, Justin [Albuquerque, NM; Hayward, David R [Wetmore, CO; Hobart, Clinton G [Albuquerque, NM; Deuel, Jr., Jamieson K.

2012-07-24

A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

Sensor and tracking data integration into a common operating picture

NASA Astrophysics Data System (ADS)

Bailey, Mark E.

2003-09-01

With rapid technological developments, a new innovative range of possibilities can be actualized in mainstreaming a network with checks and balances to provide sensor and tracking data integration/information to a wider Department of Defense (DoD) audience or group of agencies. As technologies are developed, methods to display the data are required. Multiple diverse tracking devices and sensors need to be displayed on a common operating picture. Sensors and tracking devices are used to monitor an area or object for movement or boundary penetration. Tracking devices in turn determine transit patterns of humans, animals and/or vehicles. In consortium these devices can have dual applications for military requirements and for other general purposes. The DoD Counterdrug Technology Development Program Office (CDTDPO) has designed a system to distribute sensor and tracking data to multiple users in separate agencies. This information can be displayed in whole or in part as to the specific needs of the user. It is with this purpose that the Data Distribution Network (DDN) was created to disseminate information to a collective group or to a select audience.

Elastomers for Tracked Vehicles: 1980-1997 Program to Improve Durability of Rubber Tank Pads for Army Tracked Vehicles

DTIC Science & Technology

2015-06-01

10. Vanderbilt RT. The Vanderbilt rubber handbook . Babbit RO, editor. Norwalk (CT): RT Vanderbilt Company; 1990. 11. Loo CT. High temperature...Elastomers for Tracked Vehicles: 1980–1997 Program to Improve Durability of Rubber Tank Pads for Army Tracked Vehicles by David P Flanagan...Proving Ground, MD 21005-5069 ARL-TR-7331 June 2015 Elastomers for Tracked Vehicles: 1980–1997 Program to Improve Durability of Rubber

Vehicle tracking using fuzzy-based vehicle detection window with adaptive parameters

NASA Astrophysics Data System (ADS)

Chitsobhuk, Orachat; Kasemsiri, Watjanapong; Glomglome, Sorayut; Lapamonpinyo, Pipatphon

2018-04-01

In this paper, fuzzy-based vehicle tracking system is proposed. The proposed system consists of two main processes: vehicle detection and vehicle tracking. In the first process, the Gradient-based Adaptive Threshold Estimation (GATE) algorithm is adopted to provide the suitable threshold value for the sobel edge detection. The estimated threshold can be adapted to the changes of diverse illumination conditions throughout the day. This leads to greater vehicle detection performance compared to a fixed user's defined threshold. In the second process, this paper proposes the novel vehicle tracking algorithms namely Fuzzy-based Vehicle Analysis (FBA) in order to reduce the false estimation of the vehicle tracking caused by uneven edges of the large vehicles and vehicle changing lanes. The proposed FBA algorithm employs the average edge density and the Horizontal Moving Edge Detection (HMED) algorithm to alleviate those problems by adopting fuzzy rule-based algorithms to rectify the vehicle tracking. The experimental results demonstrate that the proposed system provides the high accuracy of vehicle detection about 98.22%. In addition, it also offers the low false detection rates about 3.92%.

Thermal signature characteristics of vehicle/terrain interaction disturbances: implications for battlefield vehicle classification.

PubMed

Eastes, John W; Mason, George L; Kusinger, Alan E

2004-05-01

Thermal emissivity spectra (8-14 microm) of track impressions/background were determined in conjunction with operation of six military vehicle types, T-72 and M1 Tanks, an M2 Bradley Fighting Vehicle, a 5-ton truck, a D7 tractor, and a High Mobility Multipurpose Wheeled Vehicle (HMMWV), over diverse soil surfaces to determine if vehicle type could be related to track thermal signatures. Results suggest soil compaction and fragmentation/pulverization are primary parameters affecting track signatures and that soil and vehicle/terrain-contact type determine which parameter dominates. Steel-tracked vehicles exert relatively low ground-contact pressure but tend to fragment/pulverize soil more so than do rubber-tired vehicles, which tend mainly to compact. In quartz-rich, lean clay soil tracked vehicles produced impressions with spectral contrast of the quartz reststrahlen features decreased from that of the background. At the same time, 5-ton truck tracks exhibited increased contrast on the same surface, suggesting that steel tracks fragmented soil while rubber tires mainly produced compaction. The structure of materials such as sand and moist clay-rich river sediment makes them less subject to further fragmentation/pulverization; thus, compaction was the main factor affecting signatures in these media, and both tracked and wheeled vehicles created impressions with increased spectral contrast on these surfaces. These results suggest that remotely sensed thermal signatures could differentiate tracked and wheeled vehicles on terrain in many areas of the world of strategic interest. Significant applications include distinguishing visually/spectrally identical lightweight decoys from actual threat vehicles.

78 FR 16051 - Vehicle/Track Interaction Safety Standards; High-Speed and High Cant Deficiency Operations

Federal Register 2010, 2011, 2012, 2013, 2014

2013-03-13

...FRA is amending the Track Safety Standards and Passenger Equipment Safety Standards to promote the safe interaction of rail vehicles with the track over which they operate under a variety of conditions at speeds up to 220 m.p.h. The final rule revises standards for track geometry and safety limits for vehicle response to track conditions, enhances vehicle/track qualification procedures, and adds flexibility for permitting high cant deficiency train operations through curves at conventional speeds. The rule accounts for a range of vehicle types that are currently in operation, as well as vehicle types that may likely be used in future high-speed or high cant deficiency rail operations, or both. The rule is based on the results of simulation studies designed to identify track geometry irregularities associated with unsafe wheel/rail forces and accelerations, thorough reviews of vehicle qualification and revenue service test data, and consideration of international practices.

49 CFR 214.521 - Flagging equipment for on-track roadway maintenance machines and hi-rail vehicles.

Code of Federal Regulations, 2010 CFR

2010-10-01

... maintenance machines and hi-rail vehicles. 214.521 Section 214.521 Transportation Other Regulations Relating... WORKPLACE SAFETY On-Track Roadway Maintenance Machines and Hi-Rail Vehicles § 214.521 Flagging equipment for on-track roadway maintenance machines and hi-rail vehicles. Each on-track roadway maintenance machine...

The Ocean Tracking Network and its contribution to ocean biological observation

NASA Astrophysics Data System (ADS)

Whoriskey, F. G.

2016-02-01

Animals move to meet their needs for food, shelter, reproduction and to avoid unfavorable environments. In aquatic systems, it is essential that we understand these movements if we are to sustainably manage populations and maintain healthy ecosystems. Thus the ability to document and monitor changes in aquatic animal movements is a biological observing system need. The Ocean Tracking Network (OTN) is a global research, technology development, and data management platform headquartered at Dalhousie University, in Halifax, Nova Scotia working to fill this need. OTN uses electronic telemetry to document the local-to-global movements and survival of aquatic animals, and to correlate them to oceanographic or limnological variables that are influencing movements. Such knowledge can assist with planning for and managing of anthropogenic impacts on present and future animal distributions, including those due to climate change. OTN works with various tracking methods including satellite and data storage tag systems, but its dominant focus is acoustic telemetry. OTN is built on global partnerships for the sharing of equipment and data, and has stimulated technological development in telemetry by bringing researchers with needs for new capabilities together with manufacturers to generate, test, and operationalize new technologies. This has included pioneering work into the use of marine autonomous vehicles (Slocum electric gliders; Liquid Robotics Wave Glider) in animal telemetry research. Similarly, OTN scientists worked with the Sea Mammal Research Unit to develop mobile acoustic receiver that have been placed on grey seals and linked via Bluetooth to a satellite transmitter/receiver. This provided receiver coverage in areas occupied by the seals during their typically extensive migrations and allowed for the examination of ecosystem linkages by documenting behavioral interactions the seals had with the physical environment, conspecifics, and other tagged species.

Cryospheric monitoring with new low power RTK dGPS systems

NASA Astrophysics Data System (ADS)

Martinez, K.; Hart, J. K.; Bragg, G. M.; Curry, J. S.

2017-12-01

Differential GPS is often used to measure the movement of glaciers. It requires data to be recorded at a fixed base station as well as the moving rover unit, followed by post-processing in order to compute the rover's positions. The typical dGPS units used consume considerable power and the recording times are often around one hour per reading. While this provides very precise (typically millimetre) precision it comes at a cost of power used and the data is rather large to send offsite regularly. Real-time kinematic modes of dGPS are typically used for rapid mapping and autonomous vehicles. New devices are lower cost and smaller size. They also provide a fix within a few minutes, which can be transmitted home. We describe the design, deployment and preliminary results of two tracking systems to monitor ice movement. The first used a normal GPS and Iridium satellite messaging to track the movement of a Greenland iceberg which calved from the Nattivit Apusiiat glacier (south west Greenland). This system followed the iceberg as it flowed 660 km south along the coast of Greenland. The second system was installed in Iceland to track the movement of glaciers using 2 different dGPS systems. A low power ARM Cortex M4-based controller ran Python code to schedule dGPS activity periodically and gather fixes. An Iridium short messaging unit (Rockblock) was used to transmit RTK location fixes. The aim was to experiment with the use of RTK dGPS as an alternative to recordings to measure how the glaciers responded to small scale changes in temperature and precipitation throughout the year.

Symplectic analysis of vertical random vibration for coupled vehicle track systems

NASA Astrophysics Data System (ADS)

Lu, F.; Kennedy, D.; Williams, F. W.; Lin, J. H.

2008-10-01

A computational model for random vibration analysis of vehicle-track systems is proposed and solutions use the pseudo excitation method (PEM) and the symplectic method. The vehicle is modelled as a mass, spring and damping system with 10 degrees of freedom (dofs) which consist of vertical and pitching motion for the vehicle body and its two bogies and vertical motion for the four wheelsets. The track is treated as an infinite Bernoulli-Euler beam connected to sleepers and hence to ballast and is regarded as a periodic structure. Linear springs couple the vehicle and the track. Hence, the coupled vehicle-track system has only 26 dofs. A fixed excitation model is used, i.e. the vehicle does not move along the track but instead the track irregularity profile moves backwards at the vehicle velocity. This irregularity is assumed to be a stationary random process. Random vibration theory is used to obtain the response power spectral densities (PSDs), by using PEM to transform this random multiexcitation problem into a deterministic harmonic excitation one and then applying symplectic solution methodology. Numerical results for an example include verification of the proposed method by comparing with finite element method (FEM) results; comparison between the present model and the traditional rigid track model and; discussion of the influences of track damping and vehicle velocity.

Optical remote sensing to quantify fugitive particulate mass emissions from stationary short-term and mobile continuous sources: part II. Field applications.

PubMed

Du, Ke; Yuen, Wangki; Wang, Wei; Rood, Mark J; Varma, Ravi M; Hashmonay, Ram A; Kim, Byung J; Kemme, Michael R

2011-01-15

Quantification of emissions of fugitive particulate matter (PM) into the atmosphere from military training operations is of interest by the United States Department of Defense. A new range-resolved optical remote sensing (ORS) method was developed to quantify fugitive PM emissions from puff sources (i.e., artillery back blasts), ground-level mobile sources (i.e., movement of tracked vehicles), and elevated mobile sources (i.e., airborne helicopters) in desert areas that are prone to generating fugitive dust plumes. Real-time, in situ mass concentration profiles for PM mass with particle diameters <10 μm (PM(10)) and <2.5 μm (PM(2.5)) were obtained across the dust plumes that were generated by these activities with this new method. Back blasts caused during artillery firing were characterized as a stationary short-term puff source whose plumes typically dispersed to <10 m above the ground with durations of 10-30 s. Fugitive PM emissions caused by artillery back blasts were related to the zone charge and ranged from 51 to 463 g PM/firing for PM(10) and 9 to 176 g PM/firing for PM(2.5). Movement of tracked vehicles and flying helicopters was characterized as mobile continuous sources whose plumes typically dispersed 30-50 m above the ground with durations of 100-200 s. Fugitive PM emissions caused by moving tracked vehicles ranged from 8.3 to 72.5 kg PM/km for PM(10) and 1.1 to 17.2 kg PM/km for PM(2.5), and there was no obvious correlation between PM emission and vehicle speed. The emission factor for the helicopter flying at 3 m above the ground ranged from 14.5 to 114.1 kg PM/km for PM(10) and 5.0 to 39.5 kg PM/km for PM(2.5), depending on the velocity of the helicopter and type of soil it flies over. Fugitive PM emissions by an airborne helicopter were correlated with helicopter speed for a particular soil type. The results from this range-resolved ORS method were also compared with the data obtained with another path-integrated ORS method and a Flux Tower method.

A Link Between Attentional Function, Effective Eye Movements, and Driving Ability

PubMed Central

2016-01-01

The misallocation of driver visual attention has been suggested as a major contributing factor to vehicle accidents. One possible reason is that the relatively high cognitive demands of driving limit the ability to efficiently allocate gaze. We present an experiment that explores the relationship between attentional function and visual performance when driving. Drivers performed 2 variations of a multiple-object tracking task targeting aspects of cognition including sustained attention, dual-tasking, covert attention, and visuomotor skill. They also drove a number of courses in a driving simulator. Eye movements were recorded throughout. We found that individuals who performed better in the cognitive tasks exhibited more effective eye movement strategies when driving, such as scanning more of the road, and they also exhibited better driving performance. We discuss the potential link between an individual’s attentional function, effective eye movements, and driving ability. We also discuss the use of a visuomotor task in assessing driving behavior. PMID:27893270

A precise integration method for solving coupled vehicle-track dynamics with nonlinear wheel-rail contact

NASA Astrophysics Data System (ADS)

Zhang, J.; Gao, Q.; Tan, S. J.; Zhong, W. X.

2012-10-01

A new method is proposed as a solution for the large-scale coupled vehicle-track dynamic model with nonlinear wheel-rail contact. The vehicle is simplified as a multi-rigid-body model, and the track is treated as a three-layer beam model. In the track model, the rail is assumed to be an Euler-Bernoulli beam supported by discrete sleepers. The vehicle model and the track model are coupled using Hertzian nonlinear contact theory, and the contact forces of the vehicle subsystem and the track subsystem are approximated by the Lagrange interpolation polynomial. The response of the large-scale coupled vehicle-track model is calculated using the precise integration method. A more efficient algorithm based on the periodic property of the track is applied to calculate the exponential matrix and certain matrices related to the solution of the track subsystem. Numerical examples demonstrate the computational accuracy and efficiency of the proposed method.

Multiple-object tracking while driving: the multiple-vehicle tracking task.

PubMed

Lochner, Martin J; Trick, Lana M

2014-11-01

Many contend that driving an automobile involves multiple-object tracking. At this point, no one has tested this idea, and it is unclear how multiple-object tracking would coordinate with the other activities involved in driving. To address some of the initial and most basic questions about multiple-object tracking while driving, we modified the tracking task for use in a driving simulator, creating the multiple-vehicle tracking task. In Experiment 1, we employed a dual-task methodology to determine whether there was interference between tracking and driving. Findings suggest that although it is possible to track multiple vehicles while driving, driving reduces tracking performance, and tracking compromises headway and lane position maintenance while driving. Modified change-detection paradigms were used to assess whether there were change localization advantages for tracked targets in multiple-vehicle tracking. When changes occurred during a blanking interval, drivers were more accurate (Experiment 2a) and ~250 ms faster (Experiment 2b) at locating the vehicle that changed when it was a target rather than a distractor in tracking. In a more realistic driving task where drivers had to brake in response to the sudden onset of brake lights in one of the lead vehicles, drivers were more accurate at localizing the vehicle that braked if it was a tracking target, although there was no advantage in terms of braking response time. Overall, results suggest that multiple-object tracking is possible while driving and perhaps even advantageous in some situations, but further research is required to determine whether multiple-object tracking is actually used in day-to-day driving.

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles

PubMed Central

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-01-01

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional–integral–derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle. PMID:27110793

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles.

PubMed

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-04-22

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional-integral-derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.

Long-Term Tracking of a Specific Vehicle Using Airborne Optical Camera Systems

NASA Astrophysics Data System (ADS)

Kurz, F.; Rosenbaum, D.; Runge, H.; Cerra, D.; Mattyus, G.; Reinartz, P.

2016-06-01

In this paper we present two low cost, airborne sensor systems capable of long-term vehicle tracking. Based on the properties of the sensors, a method for automatic real-time, long-term tracking of individual vehicles is presented. This combines the detection and tracking of the vehicle in low frame rate image sequences and applies the lagged Cell Transmission Model (CTM) to handle longer tracking outages occurring in complex traffic situations, e.g. tunnels. The CTM model uses the traffic conditions in the proximities of the target vehicle and estimates its motion to predict the position where it reappears. The method is validated on an airborne image sequence acquired from a helicopter. Several reference vehicles are tracked within a range of 500m in a complex urban traffic situation. An artificial tracking outage of 240m is simulated, which is handled by the CTM. For this, all the vehicles in the close proximity are automatically detected and tracked to estimate the basic density-flow relations of the CTM model. Finally, the real and simulated trajectories of the reference vehicles in the outage are compared showing good correspondence also in congested traffic situations.

Electric vehicle drive train with rollback detection and compensation

DOEpatents

Konrad, C.E.

1994-12-27

An electric vehicle drive train includes a controller for detecting and compensating for vehicle rollback, as when the vehicle is started upward on an incline. The vehicle includes an electric motor rotatable in opposite directions corresponding to opposite directions of vehicle movement. A gear selector permits the driver to select an intended or desired direction of vehicle movement. If a speed and rotational sensor associated with the motor indicates vehicle movement opposite to the intended direction of vehicle movement, the motor is driven to a torque output magnitude as a nonconstant function of the rollback speed to counteract the vehicle rollback. The torque function may be either a linear function of speed or a function of the speed squared. 6 figures.

Electric vehicle drive train with rollback detection and compensation

DOEpatents

Konrad, Charles E.

1994-01-01

An electric vehicle drive train includes a controller for detecting and compensating for vehicle rollback, as when the vehicle is started upward on an incline. The vehicle includes an electric motor rotatable in opposite directions corresponding to opposite directions of vehicle movement. A gear selector permits the driver to select an intended or desired direction of vehicle movement. If a speed and rotational sensor associated with the motor indicates vehicle movement opposite to the intended direction of vehicle movement, the motor is driven to a torque output magnitude as a nonconstant function of the rollback speed to counteract the vehicle rollback. The torque function may be either a linear function of speed or a function of the speed squared.

Interaction of railway vehicles with track in cross-winds

NASA Astrophysics Data System (ADS)

Xu, Y. L.; Ding, Q. S.

2006-04-01

This paper presents a framework for simulating railway vehicle and track interaction in cross-wind. Each 4-axle vehicle in a train is modeled by a 27-degree-of-freedom dynamic system. Two parallel rails of a track are modeled as two continuous beams supported by a discrete-elastic foundation of three layers with sleepers and ballasts included. The vehicle subsystem and the track subsystem are coupled through contacts between wheels and rails based on contact theory. Vertical and lateral rail irregularities simulated using an inverse Fourier transform are also taken into consideration. The simulation of steady and unsteady aerodynamic forces on a moving railway vehicle in cross-wind is then discussed in the time domain. The Hilber Hughes Taylor α-method is employed to solve the nonlinear equations of motion of coupled vehicle and track systems in cross-wind. The proposed framework is finally applied to a railway vehicle running on a straight track substructure in cross-wind. The safety and comfort performance of the moving vehicle in cross-wind are discussed. The results demonstrate that the proposed framework and the associated computer program can be used to investigate interaction problems of railway vehicles with track in cross-wind.

Human movement tracking based on Kalman filter

NASA Astrophysics Data System (ADS)

Zhang, Yi; Luo, Yuan

2006-11-01

During the rehabilitation process of the post-stroke patients is conducted, their movements need to be localized and learned so that incorrect movement can be instantly modified or tuned. Therefore, tracking these movement becomes vital and necessary for the rehabilitative course. In the technologies of human movement tracking, the position prediction of human movement is very important. In this paper, we first analyze the configuration of the human movement system and choice of sensors. Then, The Kalman filter algorithm and its modified algorithm are proposed and to be used to predict the position of human movement. In the end, on the basis of analyzing the performance of the method, it is clear that the method described can be used to the system of human movement tracking.

The excitation of ground vibration by rail traffic: theory of vehicle track soil interaction and measurements on high-speed lines

NASA Astrophysics Data System (ADS)

Auersch, L.

2005-06-01

This article presents an integrated model for the computation of vehicle-track interaction and the ground vibrations of passing trains. A combined finite element and boundary element method is used to calculate the dynamic compliance of the track on realistic soil whereas multi-body models are used for the vehicle. The dynamic stiffness of the vehicle and that of the track are combined to calculate the dynamic axle loads due to the irregularities of the vehicle and the track as well as those due to sleeper passing excitation. These loads serve as input for the calculation of ground vibration near railway lines in the time and frequency domains. The theoretical methods and results have been proven by experiments in several respects and at several instances. First, on the occasion of the test and record runs of the Intercity Experimental, there was a very good quality of the vehicle and of the newly built track so that the deterministic parts of the excitation—the static load and the sleeper-passing component—could clearly be identified, the first being of minor importance apart from the track. Second, simultaneous measurements of the vehicle, the track and the soil at three different track situations were performed where we could verify the different parts of the stochastic excitation and their importance for the ground vibrations. The irregularities of the vehicle are dominant at high frequencies whereas the irregularities of the track are more important at lower frequencies. The comparison of the theory and the measurements also points to the phenomena of the vehicle-track resonance and the scattering of the quasi-static axle impulses by randomly varying soil.

Vehicle track interaction safety standards

DOT National Transportation Integrated Search

2014-04-02

Vehicle/Track Interaction (VTI) Safety Standards aim to : reduce the risk of derailments and other accidents attributable : to the dynamic interaction between moving vehicles and the : track over which they operate. On March 13, 2013, the Federal : R...

Multi-vehicle detection with identity awareness using cascade Adaboost and Adaptive Kalman filter for driver assistant system.

PubMed

Wang, Baofeng; Qi, Zhiquan; Chen, Sizhong; Liu, Zhaodu; Ma, Guocheng

2017-01-01

Vision-based vehicle detection is an important issue for advanced driver assistance systems. In this paper, we presented an improved multi-vehicle detection and tracking method using cascade Adaboost and Adaptive Kalman filter(AKF) with target identity awareness. A cascade Adaboost classifier using Haar-like features was built for vehicle detection, followed by a more comprehensive verification process which could refine the vehicle hypothesis in terms of both location and dimension. In vehicle tracking, each vehicle was tracked with independent identity by an Adaptive Kalman filter in collaboration with a data association approach. The AKF adaptively adjusted the measurement and process noise covariance through on-line stochastic modelling to compensate the dynamics changes. The data association correctly assigned different detections with tracks using global nearest neighbour(GNN) algorithm while considering the local validation. During tracking, a temporal context based track management was proposed to decide whether to initiate, maintain or terminate the tracks of different objects, thus suppressing the sparse false alarms and compensating the temporary detection failures. Finally, the proposed method was tested on various challenging real roads, and the experimental results showed that the vehicle detection performance was greatly improved with higher accuracy and robustness.

Design of intelligent vehicle control system based on single chip microcomputer

NASA Astrophysics Data System (ADS)

Zhang, Congwei

2018-06-01

The smart car microprocessor uses the KL25ZV128VLK4 in the Freescale series of single-chip microcomputers. The image sampling sensor uses the CMOS digital camera OV7725. The obtained track data is processed by the corresponding algorithm to obtain track sideline information. At the same time, the pulse width modulation control (PWM) is used to control the motor and servo movements, and based on the digital incremental PID algorithm, the motor speed control and servo steering control are realized. In the project design, IAR Embedded Workbench IDE is used as the software development platform to program and debug the micro-control module, camera image processing module, hardware power distribution module, motor drive and servo control module, and then complete the design of the intelligent car control system.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kurt Derr; Milos Manic

Time and location data play a very significant role in a variety of factory automation scenarios, such as automated vehicles and robots, their navigation, tracking, and monitoring, to services of optimization and security. In addition, pervasive wireless capabilities combined with time and location information are enabling new applications in areas such as transportation systems, health care, elder care, military, emergency response, critical infrastructure, and law enforcement. A person/object in proximity to certain areas for specific durations of time may pose a risk hazard either to themselves, others, or the environment. This paper presents a novel fuzzy based spatio-temporal risk calculationmore » DSTiPE method that an object with wireless communications presents to the environment. The presented Matlab based application for fuzzy spatio-temporal risk cluster extraction is verified on a diagonal vehicle movement example.« less

Associated reactions during a visual pursuit position tracking task in hemiplegic and quadriplegic cerebral palsy.

PubMed

Chiu, Hsiu-Ching; Halaki, Mark; O'Dwyer, Nicholas

2013-04-30

Most previous studies of associated reactions (ARs) in people with cerebral palsy have used observation scales, such as recording the degree of movement through observation. The sensitive quantitative method can detect ARs that are not amply visible. The aim of this study was to provide quantitative measures of ARs during a visual pursuit position tracking task. Twenty-three hemiplegia (H) (mean +/- SD: 21y 8m +/- 11y 10m), twelve quadriplegia (Q) (21y 5m +/- 10y 3m) and twenty-two subjects with normal development (N) (21y 2m +/- 10y 10m) participated in the study. An upper limb visual pursuit tracking task was used to study ARs. The participants were required to follow a moving target with a response cursor via elbow flexion and extension movements. The occurrence of ARs was quantified by the overall coherence between the movements of tracking and non-tracking limbs and the amount of movement due to ARs was quantified by the amplitude of movement the non-tracking limbs. The amplitude of movement of the non-tracking limb indicated that the amount of ARs was larger in the Q group than the H and N groups with no significant differences between the H and N groups. The amplitude of movement of the non-tracking limb was larger during non-dominant than dominant tracking in all three groups. Some movements in the non-tracking limb were correlated with the tracking limb (correlated ARs) and some movements that were not correlated with the tracking limb (uncorrelated ARs). The correlated ARs comprised less than 40% of the total ARs for all three groups. Correlated ARs were negatively associated with clinical evaluations, but not the uncorrelated ARs. The correlated and uncorrelated ARs appear to have different relationships with clinical evaluations, implying the effect of ARs on upper limb activities could be varied.

Nearly automatic motion capture system for tracking octopus arm movements in 3D space.

PubMed

Zelman, Ido; Galun, Meirav; Akselrod-Ballin, Ayelet; Yekutieli, Yoram; Hochner, Binyamin; Flash, Tamar

2009-08-30

Tracking animal movements in 3D space is an essential part of many biomechanical studies. The most popular technique for human motion capture uses markers placed on the skin which are tracked by a dedicated system. However, this technique may be inadequate for tracking animal movements, especially when it is impossible to attach markers to the animal's body either because of its size or shape or because of the environment in which the animal performs its movements. Attaching markers to an animal's body may also alter its behavior. Here we present a nearly automatic markerless motion capture system that overcomes these problems and successfully tracks octopus arm movements in 3D space. The system is based on three successive tracking and processing stages. The first stage uses a recently presented segmentation algorithm to detect the movement in a pair of video sequences recorded by two calibrated cameras. In the second stage, the results of the first stage are processed to produce 2D skeletal representations of the moving arm. Finally, the 2D skeletons are used to reconstruct the octopus arm movement as a sequence of 3D curves varying in time. Motion tracking, segmentation and reconstruction are especially difficult problems in the case of octopus arm movements because of the deformable, non-rigid structure of the octopus arm and the underwater environment in which it moves. Our successful results suggest that the motion-tracking system presented here may be used for tracking other elongated objects.

Evaluation of the dispersion effect in through movement bicycles at signalized intersection via cellular automata simulation

NASA Astrophysics Data System (ADS)

Jiang, Hang; Ma, Yongjian; Jiang, Lin; Chen, Guozhou; Wang, Dongwei

2018-05-01

At signalized intersection areas, bicycle traffic presents a dispersion feature which may influence the movements of vehicles during peak period. The primary objective of this study is to simulate the dispersion effect in through-movement bicycle traffic at intersection areas and evaluate its influence on through-movement traffic. A cellular automata (CA) model is developed and validated to simulate the operations of through-movement bicycle traffic departing from two types of intersection approaches. Simulation results show that bicycles benefit from the dispersion effect when they depart from the approach with an exclusive right-turn vehicle lane. But when bicycles travel from the approach with a shared right-turn and through vehicle lane, the dispersion effect will result in friction interference and block interference on through-movement vehicles. Bicycle interferences reduce the vehicle speed and increase the delay of through-movement vehicles. The policy implications in regard to the dispersion effect from two types of approaches are discussed to improve the performance of through-movement traffic operations at signalized intersections.

Implementation and development of vehicle tracking and immobilization technologies.

DOT National Transportation Integrated Search

2010-01-01

Since the mid-1980s, limited use has been made of vehicle tracking using satellite communications to mitigate the security and safety risks created by the highway transportation of certain types of hazardous materials. However, vehicle-tracking techn...

Analysis of hydraulic steering system of tracked all-terrain vehicles' articulated mechanism

NASA Astrophysics Data System (ADS)

Meng, Zhongliang; Zang, Hao

2018-04-01

As for the researches on the dynamic characteristics of tracked all-terrain vehicles' articulated mechanism, the hydraulic feature of their steering system needs researching more, apart from the study on mechanical models. According to the maximum pressure required by the steering system of tracked all-terrain vehicle and the principle of the steering system, this paper conducts an analysis of the hydraulic steering system of the articulated mechanism. Based on the structure principle of the steering gear, a simulation model of the tracked all-terrain vehicle turning left is built. When building the simulation model of the steering gear, it makes a simulation analysis, taking the tracked all-terrain vehicle turning left as an example.

Comparison of road load simulator test results with track tests on electric vehicle propulsion system

NASA Technical Reports Server (NTRS)

Dustin, M. O.

1983-01-01

A special-purpose dynamometer, the road load simulator (RLS), is being used at NASA's Lewis Research Center to test and evaluate electric vehicle propulsion systems developed under DOE's Electric and Hybrid Vehicle Program. To improve correlation between system tests on the RLS and track tests, similar tests were conducted on the same propulsion system on the RLS and on a test track. These tests are compared in this report. Battery current to maintain a constant vehicle speed with a fixed throttle was used for the comparison. Scatter in the data was greater in the track test results. This is attributable to variations in tire rolling resistance and wind effects in the track data. It also appeared that the RLS road load, determined by coastdown tests on the track, was lower than that of the vehicle on the track. These differences may be due to differences in tire temperature.

The influence of track modelling options on the simulation of rail vehicle dynamics

NASA Astrophysics Data System (ADS)

Di Gialleonardo, Egidio; Braghin, Francesco; Bruni, Stefano

2012-09-01

This paper investigates the effect of different models for track flexibility on the simulation of railway vehicle running dynamics on tangent and curved track. To this end, a multi-body model of the rail vehicle is defined including track flexibility effects on three levels of detail: a perfectly rigid pair of rails, a sectional track model and a three-dimensional finite element track model. The influence of the track model on the calculation of the nonlinear critical speed is pointed out and it is shown that neglecting the effect of track flexibility results in an overestimation of the critical speed by more than 10%. Vehicle response to stochastic excitation from track irregularity is also investigated, analysing the effect of track flexibility models on the vertical and lateral wheel-rail contact forces. Finally, the effect of the track model on the calculation of dynamic forces produced by wheel out-of-roundness is analysed, showing that peak dynamic loads are very sensitive to the track model used in the simulation.

Hyperspectral-Augmented Target Tracking

DTIC Science & Technology

2008-03-01

detectable velocity ( MDV ) of 1.5m/s. After several seconds, the vehicles depart heading in the same di- rection, but this time, the top vehicle speeds up... vehicles begin to speed up ( MDV > 1.5m/s), the tracker once again initiates each track using the class ID of the nearest vehicle , effectively swapping the...Fig. 4.5(b)). After both vehicles speed up to an MDV > 1.5m/s, the tracker initiates each track using the class ID of the nearest vehicle , “re-assigning

Multi-vehicle detection with identity awareness using cascade Adaboost and Adaptive Kalman filter for driver assistant system

PubMed Central

Wang, Baofeng; Qi, Zhiquan; Chen, Sizhong; Liu, Zhaodu; Ma, Guocheng

2017-01-01

Vision-based vehicle detection is an important issue for advanced driver assistance systems. In this paper, we presented an improved multi-vehicle detection and tracking method using cascade Adaboost and Adaptive Kalman filter(AKF) with target identity awareness. A cascade Adaboost classifier using Haar-like features was built for vehicle detection, followed by a more comprehensive verification process which could refine the vehicle hypothesis in terms of both location and dimension. In vehicle tracking, each vehicle was tracked with independent identity by an Adaptive Kalman filter in collaboration with a data association approach. The AKF adaptively adjusted the measurement and process noise covariance through on-line stochastic modelling to compensate the dynamics changes. The data association correctly assigned different detections with tracks using global nearest neighbour(GNN) algorithm while considering the local validation. During tracking, a temporal context based track management was proposed to decide whether to initiate, maintain or terminate the tracks of different objects, thus suppressing the sparse false alarms and compensating the temporary detection failures. Finally, the proposed method was tested on various challenging real roads, and the experimental results showed that the vehicle detection performance was greatly improved with higher accuracy and robustness. PMID:28296902

New track shift safety limits for high-speed rail applications

DOT National Transportation Integrated Search

2001-11-01

Track shift is defined as the permanent lateral distortion of a track segment due to high vehicle induced lateral loads. Excessive track shift can lead to unsafe conditions leading to ride quality deterioration or vehicle derailment. Current track sh...

The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.

PubMed

Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

2017-05-30

The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network

PubMed Central

Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

2017-01-01

The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control. PMID:28556817

Disturbance of beach sediment by off-road vehicles

NASA Astrophysics Data System (ADS)

Anders, Fred J.; Leatherman, Stephen P.

1987-10-01

A three-year investigation was undertaken to examine the effects of off-road vehicles (ORVs) on the beach at Fire Island, New York. Within the National Seashore over 45,000 vehicle trips per year are concentrated in the zone seaward of the dune toe. The experimental approach was adopted in order to assess the environmental effects of ORVs. Specially developed instrumentation was used to measure the direct displacement of sand by vehicles traversing the beach. Direct displacement data were reduced graphically and analyzed by stepwise linear regression. The results of 89 field experiments (788 cases) showed that slope, sand compaction, and number of vehicle passes in the same track were the principal factors controlling the measured net seaward displacement of sand. The data suggest that ORV use levels within the National Seashore could be contributing to the overall erosion rate by delivering large quantities of sand to the swash zone (max. of 119,300 m3/yr). However, with proper management downslope movement of sand could be reduced by an order of magnitude. While vehicular passage over the open beach displaces sand seaward, it is not known if such activity actually increases the amount of erosion, measured as net loss to the beach face.

Correlation of track irregularities and vehicle responses based on measured data

NASA Astrophysics Data System (ADS)

Karis, Tomas; Berg, Mats; Stichel, Sebastian; Li, Martin; Thomas, Dirk; Dirks, Babette

2018-06-01

Track geometry quality and dynamic vehicle response are closely related, but do not always correspond with each other in terms of maximum values and standard deviations. This can often be seen to give poor results in analyses with correlation coefficients or regression analysis. Measured data from both the EU project DynoTRAIN and the Swedish Green Train (Gröna Tåget) research programme is used in this paper to evaluate track-vehicle response for three vehicles. A single degree of freedom model is used as an inspiration to divide track-vehicle interaction into three parts, which are analysed in terms of correlation. One part, the vertical axle box acceleration divided by vehicle speed squared (?) and the second spatial derivative of the vertical track irregularities (?), is shown to be the weak link with lower correlation coefficients than the other parts. Future efforts should therefore be directed towards investigating the relation between axle box accelerations and track irregularity second derivatives.

Detection and characterisation of deep-sea benthopelagic animals from an autonomous underwater vehicle with a multibeam echosounder: A proof of concept and description of data-processing methods

NASA Astrophysics Data System (ADS)

Dunlop, Katherine M.; Jarvis, Toby; Benoit-Bird, Kelly J.; Waluk, Chad M.; Caress, David W.; Thomas, Hans; Smith, Kenneth L.

2018-04-01

Benthopelagic animals are an important component of the deep-sea ecosystem, yet are notoriously difficult to study. Multibeam echosounders (MBES) deployed on autonomous underwater vehicles (AUVs) represent a promising technology for monitoring this elusive fauna at relatively high spatial and temporal resolution. However, application of this remote-sensing technology to the study of small (relative to the sampling resolution), dispersed and mobile animals at depth does not come without significant challenges with respect to data collection, data processing and vessel avoidance. As a proof of concept, we used data from a downward-looking RESON SeaBat 7125 MBES mounted on a Dorado-class AUV to detect and characterise the location and movement of backscattering targets (which were likely to have been individual fish or squid) within 50 m of the seafloor at 800 m depth in Monterey Bay, California. The targets were detected and tracked, enabling their numerical density and movement to be characterised. The results revealed a consistent movement of targets downwards away from the AUV that we interpreted as an avoidance response. The large volume and complexity of the data presented a computational challenge, while reverberation and noise, spatial confounding and a marginal sampling resolution relative to the size of the targets caused difficulties for reliable and comprehensive target detection and tracking. Nevertheless, the results demonstrate that an AUV-mounted MBES has the potential to provide unique and detailed information on the in situ abundance, distribution, size and behaviour of both individual and aggregated deep-sea benthopelagic animals. We provide detailed data-processing information for those interested in working with MBES water-column data, and a critical appraisal of the data in the context of aquatic ecosystem research. We consider future directions for deep-sea water-column echosounding, and reinforce the importance of measures to mitigate vessel avoidance in studies of aquatic ecosystems.

Properties of train load frequencies and their applications

NASA Astrophysics Data System (ADS)

Milne, D. R. M.; Le Pen, L. M.; Thompson, D. J.; Powrie, W.

2017-06-01

A train in motion applies moving steady loads to the railway track as well as dynamic excitation; this causes track deflections, vibration and noise. At low frequency, the spectrum of measured track vibration has been found to have a distinct pattern; with spectral peaks occurring at multiples of the vehicle passing frequency. This pattern can be analysed to quantify aspects of train and track performance as well as to design sensors and systems for trackside condition monitoring. To this end, analytical methods are developed to determine frequency spectra based on known vehicle geometry and track properties. It is shown that the quasi-static wheel loads from a moving train, which are the most significant cause of the track deflections at low frequency, can be understood by considering a loading function representing the train geometry in combination with the response of the track to a single unit load. The Fourier transform of the loading function describes how the passage of repeating vehicles within a train leads to spectral peaks at various multiples of the vehicle passing frequency. When a train consists of a single type of repeating vehicle, these peaks depend on the geometry of that vehicle type as the separation of axles on a bogie and spacing of those bogies on a vehicle cause certain frequencies to be suppressed. Introduction of different vehicle types within a train or coupling of trainsets with a different inter-car length changes the spectrum, although local peaks still occur at multiples of the passing frequency of the primary vehicle. Using data from track-mounted geophones, it is shown that the properties of the train load spectrum, together with a model for track behaviour, allows calculation of the track system support modulus without knowledge of the axle loads, and enables rapid determination of the train speed. For continuous remote condition monitoring, track-mounted transducers are ideally powered using energy harvesting devices. These need to be tuned to optimise energy abstraction; the appropriate energy harvesting frequencies for given vehicle types and line speeds can also be predicted using the models developed.

Real Time 3D Facial Movement Tracking Using a Monocular Camera

PubMed Central

Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

2016-01-01

The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference. PMID:27463714

Real Time 3D Facial Movement Tracking Using a Monocular Camera.

PubMed

Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

2016-07-25

The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference.

Implementation of Fractal Dimension and Self-Organizing Map to Detect Toxic Effects of Toluene on Movement Tracks of Daphnia magna.

PubMed

Liu, Yuedan; Xia, Chunlei; Fan, Zhongya; Wu, Renren; Chen, Xianglin; Liu, Zuoyi

2018-01-01

Movement behaviors of an indicator species, Daphnia magna , in response to contaminants have been implemented to monitor environmental disturbances. Complexity in movement tracks of Daphnia magna was characterized by use of fractal dimension and self-organizing map. The individual movement tracks of D. magna were continuously recorded for 24 hours before and after treatments with toluene at the concentration of 10 mg/L, respectively. The general complexity in movement tracks (10 minutes) was characterized by fractal dimension. Results showed that average fractal dimension of movement tracks was decreased from 1.62 to 1.22 after treatments. The instantaneous movement parameters of movement segments in 5 s were input into the self-organizing map to investigate the swimming pattern changes under stresses of toluene. Abnormal behaviors of D. magna are more frequently observed after treatments than before treatments. Computational methods in ecological informatics could be utilized to obtain the useful information in behavioral data of D. magna and would be further applied as an in situ monitoring tool in water environment.

Preceding Vehicle Detection and Tracking Adaptive to Illumination Variation in Night Traffic Scenes Based on Relevance Analysis

PubMed Central

Guo, Junbin; Wang, Jianqiang; Guo, Xiaosong; Yu, Chuanqiang; Sun, Xiaoyan

2014-01-01

Preceding vehicle detection and tracking at nighttime are challenging problems due to the disturbance of other extraneous illuminant sources coexisting with the vehicle lights. To improve the detection accuracy and robustness of vehicle detection, a novel method for vehicle detection and tracking at nighttime is proposed in this paper. The characteristics of taillights in the gray level are applied to determine the lower boundary of the threshold for taillights segmentation, and the optimal threshold for taillight segmentation is calculated using the OTSU algorithm between the lower boundary and the highest grayscale of the region of interest. The candidate taillight pairs are extracted based on the similarity between left and right taillights, and the non-vehicle taillight pairs are removed based on the relevance analysis of vehicle location between frames. To reduce the false negative rate of vehicle detection, a vehicle tracking method based on taillights estimation is applied. The taillight spot candidate is sought in the region predicted by Kalman filtering, and the disturbed taillight is estimated based on the symmetry and location of the other taillight of the same vehicle. Vehicle tracking is completed after estimating its location according to the two taillight spots. The results of experiments on a vehicle platform indicate that the proposed method could detect vehicles quickly, correctly and robustly in the actual traffic environments with illumination variation. PMID:25195855

Preceding vehicle detection and tracking adaptive to illumination variation in night traffic scenes based on relevance analysis.

PubMed

Guo, Junbin; Wang, Jianqiang; Guo, Xiaosong; Yu, Chuanqiang; Sun, Xiaoyan

2014-08-19

Preceding vehicle detection and tracking at nighttime are challenging problems due to the disturbance of other extraneous illuminant sources coexisting with the vehicle lights. To improve the detection accuracy and robustness of vehicle detection, a novel method for vehicle detection and tracking at nighttime is proposed in this paper. The characteristics of taillights in the gray level are applied to determine the lower boundary of the threshold for taillights segmentation, and the optimal threshold for taillight segmentation is calculated using the OTSU algorithm between the lower boundary and the highest grayscale of the region of interest. The candidate taillight pairs are extracted based on the similarity between left and right taillights, and the non-vehicle taillight pairs are removed based on the relevance analysis of vehicle location between frames. To reduce the false negative rate of vehicle detection, a vehicle tracking method based on taillights estimation is applied. The taillight spot candidate is sought in the region predicted by Kalman filtering, and the disturbed taillight is estimated based on the symmetry and location of the other taillight of the same vehicle. Vehicle tracking is completed after estimating its location according to the two taillight spots. The results of experiments on a vehicle platform indicate that the proposed method could detect vehicles quickly, correctly and robustly in the actual traffic environments with illumination variation.

Method and apparatus for optimizing a train trip using signal information

DOEpatents

Kumar, Ajith Kuttannair; Daum, Wolfgang; Otsubo, Tom; Hershey, John Erik; Hess, Gerald James

2014-06-10

A system is provided for operating a railway network including a first railway vehicle during a trip along track segments. The system includes a first element for determining travel parameters of the first railway vehicle, a second element for determining travel parameters of a second railway vehicle relative to the track segments to be traversed by the first vehicle during the trip, a processor for receiving information from the first and the second elements and for determining a relationship between occupation of a track segment by the second vehicle and later occupation of the same track segment by the first vehicle and an algorithm embodied within the processor having access to the information to create a trip plan that determines a speed trajectory for the first vehicle. The speed trajectory is responsive to the relationship and further in accordance with one or more operational criteria for the first vehicle.

Vehicle response-based track geometry assessment using multi-body simulation

NASA Astrophysics Data System (ADS)

Kraft, Sönke; Causse, Julien; Coudert, Frédéric

2018-02-01

The assessment of the geometry of railway tracks is an indispensable requirement for safe rail traffic. Defects which represent a risk for the safety of the train have to be identified and the necessary measures taken. According to current standards, amplitude thresholds are applied to the track geometry parameters measured by recording cars. This geometry-based assessment has proved its value but suffers from the low correlation between the geometry parameters and the vehicle reactions. Experience shows that some defects leading to critical vehicle reactions are underestimated by this approach. The use of vehicle responses in the track geometry assessment process allows identifying critical defects and improving the maintenance operations. This work presents a vehicle response-based assessment method using multi-body simulation. The choice of the relevant operation conditions and the estimation of the simulation uncertainty are outlined. The defects are identified from exceedances of track geometry and vehicle response parameters. They are then classified using clustering methods and the correlation with vehicle response is analysed. The use of vehicle responses allows the detection of critical defects which are not identified from geometry parameters.

Monitoring distances travelled by horses using GPS tracking collars.

PubMed

Hampson, B A; Morton, J M; Mills, P C; Trotter, M G; Lamb, D W; Pollitt, C C

2010-05-01

The aims of this work were to (1) develop a low-cost equine movement tracking collar based on readily available components, (2) conduct preliminary studies assessing the effects of both paddock size and internal fence design on the movements of domestic horses, with and without foals at foot, and (3) describe distances moved by mares and their foals. Additional monitoring of free-ranging feral horses was conducted to allow preliminary comparisons with the movement of confined domestic horses. A lightweight global positioning system (GPS) data logger modified from a personal/vehicle tracker and mounted on a collar was used to monitor the movement of domestic horses in a range of paddock sizes and internal fence designs for 6.5-day periods. In the paddocks used (0.8-16 ha), groups of domestic horses exhibited a logarithmic response in mean daily distance travelled as a function of increasing paddock size, tending asymptotically towards approximately 7.5 km/day. The distance moved by newborn foals was similar to their dams, with total distance travelled also dependent on paddock size. Without altering available paddock area, paddock design, with the exception of a spiral design, did not significantly affect mean daily distance travelled. Feral horses (17.9 km/day) travelled substantially greater mean daily distances than domestic horses (7.2 km/day in 16-ha paddock), even when allowing for larger paddock size. Horses kept in stables or small yards and paddocks are quite sedentary in comparison with their feral relatives. For a given paddock area, most designs did not significantly affect mean daily distance travelled.

Straight line foraging in yellow-eyed penguins: new insights into cascading fisheries effects and orientation capabilities of marine predators.

PubMed

Mattern, Thomas; Ellenberg, Ursula; Houston, David M; Lamare, Miles; Davis, Lloyd S; van Heezik, Yolanda; Seddon, Philip J

2013-01-01

Free-ranging marine predators rarely search for prey along straight lines because dynamic ocean processes usually require complex search strategies. If linear movement patterns occur they are usually associated with travelling events or migratory behaviour. However, recent fine scale tracking of flying seabirds has revealed straight-line movements while birds followed fishing vessels. Unlike flying seabirds, penguins are not known to target and follow fishing vessels. Yet yellow-eyed penguins from New Zealand often exhibit directed movement patterns while searching for prey at the seafloor, a behaviour that seems to contradict common movement ecology theories. While deploying GPS dive loggers on yellow-eyed penguins from the Otago Peninsula we found that the birds frequently followed straight lines for several kilometres with little horizontal deviation. In several cases individuals swam up and down the same line, while some of the lines were followed by more than one individual. Using a remote operated vehicle (ROV) we found a highly visible furrow on the seafloor most likely caused by an otter board of a demersal fish trawl, which ran in a straight line exactly matching the trajectory of a recent line identified from penguin tracks. We noted high abundances of benthic scavengers associated with fisheries-related bottom disturbance. While our data demonstrate the acute way-finding capabilities of benthic foraging yellow-eyed penguins, they also highlight how hidden cascading effects of coastal fisheries may alter behaviour and potentially even population dynamics of marine predators, an often overlooked fact in the examination of fisheries' impacts.

The effect of concurrent hand movement on estimated time to contact in a prediction motion task.

PubMed

Zheng, Ran; Maraj, Brian K V

2018-04-27

In many activities, we need to predict the arrival of an occluded object. This action is called prediction motion or motion extrapolation. Previous researchers have found that both eye tracking and the internal clocking model are involved in the prediction motion task. Additionally, it is reported that concurrent hand movement facilitates the eye tracking of an externally generated target in a tracking task, even if the target is occluded. The present study examined the effect of concurrent hand movement on the estimated time to contact in a prediction motion task. We found different (accurate/inaccurate) concurrent hand movements had the opposite effect on the eye tracking accuracy and estimated TTC in the prediction motion task. That is, the accurate concurrent hand tracking enhanced eye tracking accuracy and had the trend to increase the precision of estimated TTC, but the inaccurate concurrent hand tracking decreased eye tracking accuracy and disrupted estimated TTC. However, eye tracking accuracy does not determine the precision of estimated TTC.

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles

DTIC Science & Technology

2006-02-17

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles Report Title ABSTRACT In this work we proposed two semi-analytic...298-102 Enclosure 1 On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles by...Specifically, the following problems will be addressed during this project: 2.1 Challenges The problem of trajectory planning for high-speed autonomous vehicles is

The Military Technology of the Polish People’s Army, 30 Years of Development,

DTIC Science & Technology

1983-12-20

armed with light self - propelled cannon mounted on tracked vehicles (adapted also to transport aircraft) as well as recoilless guns with...with radar-computers, mounted on self propelled tracked vehicles . The modernization of artillery has led to the expansion of technical-repair...light tracked vehicles and on self propelled areal vehicles . 4 . , A very important factor influencing the improvement of the effectiveness of artillery

On the effect of unsupported sleepers on the dynamic behaviour of a railway track

NASA Astrophysics Data System (ADS)

Zhu, J. Y.; Thompson, D. J.; Jones, C. J. C.

2011-09-01

The effect of unsupported sleepers on the dynamic behaviour of a railway track is studied based on vehicle-track dynamic interaction theory, using a model of the track as a Timoshenko beam supported on a periodic elastic foundation. Considering the vehicle's running speed and the number of unsupported sleepers, the track dynamic characteristics are investigated and verified in the time and frequency domains by experiments on a 1:5 scale model wheel-rail test rig. The results show that when hanging sleepers are present, leading to a discontinuous and irregular track support, additional wheel-rail interaction forces are generated. These forces increase as further sleepers become unsupported and as the vehicle's running speed increases. The adjacent supports experience increased dynamic forces which will lead to further deterioration of track quality and the formation of long wavelength track irregularities, which worsen the vehicles' running stability and riding comfort. Stationary transfer functions measurements of the dynamic behaviour of the track are also presented to support the findings.

Real time eye tracking using Kalman extended spatio-temporal context learning

NASA Astrophysics Data System (ADS)

Munir, Farzeen; Minhas, Fayyaz ul Amir Asfar; Jalil, Abdul; Jeon, Moongu

2017-06-01

Real time eye tracking has numerous applications in human computer interaction such as a mouse cursor control in a computer system. It is useful for persons with muscular or motion impairments. However, tracking the movement of the eye is complicated by occlusion due to blinking, head movement, screen glare, rapid eye movements, etc. In this work, we present the algorithmic and construction details of a real time eye tracking system. Our proposed system is an extension of Spatio-Temporal context learning through Kalman Filtering. Spatio-Temporal Context Learning offers state of the art accuracy in general object tracking but its performance suffers due to object occlusion. Addition of the Kalman filter allows the proposed method to model the dynamics of the motion of the eye and provide robust eye tracking in cases of occlusion. We demonstrate the effectiveness of this tracking technique by controlling the computer cursor in real time by eye movements.

Eye-Hand Synergy and Intermittent Behaviors during Target-Directed Tracking with Visual and Non-visual Information

PubMed Central

Huang, Chien-Ting; Hwang, Ing-Shiou

2012-01-01

Visual feedback and non-visual information play different roles in tracking of an external target. This study explored the respective roles of the visual and non-visual information in eleven healthy volunteers who coupled the manual cursor to a rhythmically moving target of 0.5 Hz under three sensorimotor conditions: eye-alone tracking (EA), eye-hand tracking with visual feedback of manual outputs (EH tracking), and the same tracking without such feedback (EHM tracking). Tracking error, kinematic variables, and movement intermittency (saccade and speed pulse) were contrasted among tracking conditions. The results showed that EHM tracking exhibited larger pursuit gain, less tracking error, and less movement intermittency for the ocular plant than EA tracking. With the vision of manual cursor, EH tracking achieved superior tracking congruency of the ocular and manual effectors with smaller movement intermittency than EHM tracking, except that the rate precision of manual action was similar for both types of tracking. The present study demonstrated that visibility of manual consequences altered mutual relationships between movement intermittency and tracking error. The speed pulse metrics of manual output were linked to ocular tracking error, and saccade events were time-locked to the positional error of manual tracking during EH tracking. In conclusion, peripheral non-visual information is critical to smooth pursuit characteristics and rate control of rhythmic manual tracking. Visual information adds to eye-hand synchrony, underlying improved amplitude control and elaborate error interpretation during oculo-manual tracking. PMID:23236498

Simulation of car movement along circular path

NASA Astrophysics Data System (ADS)

Fedotov, A. I.; Tikhov-Tinnikov, D. A.; Ovchinnikova, N. I.; Lysenko, A. V.

2017-10-01

Under operating conditions, suspension system performance changes which negatively affects vehicle stability and handling. The paper aims to simulate the impact of changes in suspension system performance on vehicle stability and handling. Methods. The paper describes monitoring of suspension system performance, testing of vehicle stability and handling, analyzes methods of suspension system performance monitoring under operating conditions. The mathematical model of a car movement along a circular path was developed. Mathematical tools describing a circular movement of a vehicle along a horizontal road were developed. Turning car movements were simulated. Calculation and experiment results were compared. Simulation proves the applicability of a mathematical model for assessment of the impact of suspension system performance on vehicle stability and handling.

Extended applications of track irregularity probabilistic model and vehicle-slab track coupled model on dynamics of railway systems

NASA Astrophysics Data System (ADS)

Xu, Lei; Zhai, Wanming; Gao, Jianmin

2017-11-01

Track irregularities are inevitably in a process of stochastic evolution due to the uncertainty and continuity of wheel-rail interactions. For depicting the dynamic behaviours of vehicle-track coupling system caused by track random irregularities thoroughly, it is a necessity to develop a track irregularity probabilistic model to simulate rail surface irregularities with ergodic properties on amplitudes, wavelengths and probabilities, and to build a three-dimensional vehicle-track coupled model by properly considering the wheel-rail nonlinear contact mechanisms. In the present study, the vehicle-track coupled model is programmed by combining finite element method with wheel-rail coupling model firstly. Then, in light of the capability of power spectral density (PSD) in characterising amplitudes and wavelengths of stationary random signals, a track irregularity probabilistic model is presented to reveal and simulate the whole characteristics of track irregularity PSD. Finally, extended applications from three aspects, that is, extreme analysis, reliability analysis and response relationships between dynamic indices, are conducted to the evaluation and application of the proposed models.

Steering Dynamics of Tilting Narrow Track Vehicle with Passive Front Wheel Design

NASA Astrophysics Data System (ADS)

TAN, Jeffrey Too Chuan; ARAKAWA, Hiroki; SUDA, Yoshihiro

2016-09-01

In recent years, narrow track vehicle has been emerged as a potential candidate for the next generation of urban transportation system, which is greener and space effective. Vehicle body tilting has been a symbolic characteristic of such vehicle, with the purpose to maintain its stability with the narrow track body. However, the coordination between active steering and vehicle tilting requires considerable driving skill in order to achieve effective stability. In this work, we propose an alternative steering method with a passive front wheel that mechanically follows the vehicle body tilting. The objective of this paper is to investigate the steering dynamics of the vehicle under various design parameters of the passive front wheel. Modeling of a three-wheel tilting narrow track vehicle and multibody dynamics simulations were conducted to study the effects of two important front wheel design parameters, i.e. caster angle and trail toward the vehicle steering dynamics in steering response time, turning radius, steering stability and resiliency towards external disturbance. From the results of the simulation studies, we have verified the relationships of these two front wheel design parameters toward the vehicle steering dynamics.

Eye Movements during Multiple Object Tracking: Where Do Participants Look?

ERIC Educational Resources Information Center

Fehd, Hilda M.; Seiffert, Adriane E.

2008-01-01

Similar to the eye movements you might make when viewing a sports game, this experiment investigated where participants tend to look while keeping track of multiple objects. While eye movements were recorded, participants tracked either 1 or 3 of 8 red dots that moved randomly within a square box on a black background. Results indicated that…

Hybrid three-dimensional and support vector machine approach for automatic vehicle tracking and classification using a single camera

NASA Astrophysics Data System (ADS)

Kachach, Redouane; Cañas, José María

2016-05-01

Using video in traffic monitoring is one of the most active research domains in the computer vision community. TrafficMonitor, a system that employs a hybrid approach for automatic vehicle tracking and classification on highways using a simple stationary calibrated camera, is presented. The proposed system consists of three modules: vehicle detection, vehicle tracking, and vehicle classification. Moving vehicles are detected by an enhanced Gaussian mixture model background estimation algorithm. The design includes a technique to resolve the occlusion problem by using a combination of two-dimensional proximity tracking algorithm and the Kanade-Lucas-Tomasi feature tracking algorithm. The last module classifies the shapes identified into five vehicle categories: motorcycle, car, van, bus, and truck by using three-dimensional templates and an algorithm based on histogram of oriented gradients and the support vector machine classifier. Several experiments have been performed using both real and simulated traffic in order to validate the system. The experiments were conducted on GRAM-RTM dataset and a proper real video dataset which is made publicly available as part of this work.

Fugitive Dust Emission Factors for Puff and Mobile Military Sources Measured by Micro-pulse Lidar - A Summary of Results

NASA Astrophysics Data System (ADS)

Yuen, W.; Du, K.; Rood, M. J.; Kemme, M. R.; Kim, B.; Hashmonay, R. A.

2010-12-01

A summary of the development of a novel optical remote sensing (ORS) method that determined fugitive dust emission factors for unique military activities is described for puff and mobile sources. Four field campaigns characterized artillery back blasts as puff sources (M549A1 and M107), and movement of military vehicles (M1A1, M113, Bradley Fighting Vehicle (BFV), M88, M270, M577, and HEMTT) and an airborne helicopter (Bell 210) as mobile sources. The ORS method includes a Micro-Pulse Lidar (MPL) and a reflective target that determines one-dimensional (1-D) light extinction coefficient profiles. The MPL was mounted on a positioner that allows the MPL to automatically scan vertically, which allowed 1-D extinction coefficient profiles to be measured at select angles from horizontal. Two-dimensional (2-D) light extinction coefficient profiles were then determined by interpolating the 1-D extinction profiles measured at select angles. Dust property, in the form of the mass extinction efficiency (MEE), was measured using Open Path- Fourier Transform Infrared Spectrometry (OP-FTIR) and Open Path- Laser Transmissometry (OP-LT) in the first three field campaigns and an OP-LT and DustTrak™ in the fourth field campaign. MEE was used to convert the 2-D light extinction coefficient profiles to 2-D dust mass concentration profiles. Emission factors were determined by integrating the 2-D mass concentration profiles with measured wind vectors. Results from these field campaigns show that: 1) artillery with stronger recoiling forces generates more fugitive dust; 2) the dust emission factors for tracked vehicles are correlated with vehicle momentum; 3) emission factor decreases with increasing speed for airborne helicopters; and 4) wheeled vehicles (HEMTT) generate more fugitive dust than tracked vehicles (M88, M270, M577).

Development of a vehicle-track model assembly and numerical method for simulation of wheel-rail dynamic interaction due to unsupported sleepers

NASA Astrophysics Data System (ADS)

Zhu, Jian Jun; Ahmed, A. K. W.; Rakheja, Subhash; Khajepour, Amir

2010-12-01

In practice, it is not very uncommon to find railway track systems with unsupported sleepers due to the uneven settlement of a ballasted track system. These unsupported sleepers are among the major vibration excitations for a train and track system when a train moves forwards on a track. The vibration induced by unsupported sleepers can cause a large dynamic contact force between wheels and rails. For heavily loaded high-speed trains, the deteriorated sleeper support may lead to accelerated degradation of the railway track and vehicle components, and may thus impose safety risk to the operation. This paper presents analyses of a coupled vehicle-track assembly consisting of a roll plane vehicle model, a continuous track system model and an adaptive wheel-rail contact model. In order to improve the simulation efficiency, a numerical approach based on the central finite difference method is proposed in this investigation. The developed model assembly and proposed simulation method are utilised to simulate the vehicle-track dynamic interaction in the presence of unsupported sleepers. The dynamic response in terms of the dynamic wheel-rail interaction force due to one or multiple unsupported sleepers is studied. Important factors influencing the dynamic wheel-rail interaction force in the presence of sleeper voids are also investigated. The results show that the vehicle speed, the gap size and the number of unsupported sleepers primarily dictate the magnitude of impact load which can be significant.

High-precision GPS vehicle tracking to improve safety.

DOT National Transportation Integrated Search

2016-09-01

Commercial Global Positioning System (GPS) devices are being used in transportation for applications : including vehicle navigation, traffic monitoring, and tracking commercial and public transit vehicles. The : current state-of-practice technology i...

Close-Range Tracking of Underwater Vehicles Using Light Beacons

PubMed Central

Bosch, Josep; Gracias, Nuno; Ridao, Pere; Istenič, Klemen; Ribas, David

2016-01-01

This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time. PMID:27023547

Close-Range Tracking of Underwater Vehicles Using Light Beacons.

PubMed

Bosch, Josep; Gracias, Nuno; Ridao, Pere; Istenič, Klemen; Ribas, David

2016-03-25

This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time.

Dynamics of vehicles in variable velocity runs over non-homogeneous flexible track and foundation with two point input models

NASA Astrophysics Data System (ADS)

Yadav, D.; Upadhyay, H. C.

1992-07-01

Vehicles obtain track-induced input through the wheels, which commonly number more than one. Analysis available for the vehicle response in a variable velocity run on a non-homogeneously profiled flexible track supported by compliant inertial foundation is for a linear heave model having a single ground input. This analysis is being extended to two point input models with heave-pitch and heave-roll degrees of freedom. Closed form expressions have been developed for the system response statistics. Results are presented for a railway coach and track/foundation problem, and the performances of heave, heave-pitch and heave-roll models have been compared. The three models are found to agree in describing the track response. However, the vehicle sprung mass behaviour is predicted to be different by these models, indicating the strong effect of coupling on the vehicle vibration.

Trackable life: Data, sequence, and organism in movement ecology.

PubMed

Benson, Etienne S

2016-06-01

Over the past decade an increasing number of ecologists have begun to frame their work as a contribution to the emerging research field of movement ecology. This field's primary object of research is the movement track, which is usually operationalized as a series of discrete "steps and stops" that represent a portion of an animal's "lifetime track." Its practitioners understand their field as dependent on recent technical advances in tracking organisms and analyzing their movements. By making movement their primary object of research, rather than simply an expression of deeper biological phenomena, movement ecologists are able to generalize across the movement patterns of a wide variety of species and to draw on statistical techniques developed to model the movements of non-living things. Although it can trace its roots back to a long tradition of statistical models of movement, the field relies heavily on metaphors from genomics; in particular, movement tracks have been seen as similar to DNA sequences. Though this has helped movement ecology consolidate around a shared understanding of movement, the field may need to broaden its understanding of movement beyond the sequence if it is to realize its potential to address urgent concerns such as biodiversity loss. Copyright © 2016 Elsevier Ltd. All rights reserved.

Passive acoustic tracking of singing humpback whales (Megaptera novaeangliae) on a northwest Atlantic feeding ground.

PubMed

Stanistreet, Joy E; Risch, Denise; Van Parijs, Sofie M

2013-01-01

Passive acoustic tracking provides an unobtrusive method of studying the movement of sound-producing animals in the marine environment where traditional tracking methods may be costly or infeasible. We used passive acoustic tracking to characterize the fine-scale movements of singing humpback whales (Megaptera novaeangliae) on a northwest Atlantic feeding ground. Male humpback whales produce complex songs, a phenomenon that is well documented in tropical regions during the winter breeding season, but also occurs at higher latitudes during other times of year. Acoustic recordings were made throughout 2009 using an array of autonomous recording units deployed in the Stellwagen Bank National Marine Sanctuary. Song was recorded during spring and fall, and individual singing whales were localized and tracked throughout the array using a correlation sum estimation method on the time-synchronized recordings. Tracks were constructed for forty-three song sessions, revealing a high level of variation in movement patterns in both the spring and fall seasons, ranging from slow meandering to faster directional movement. Tracks were 30 min to 8 h in duration, and singers traveled distances ranging from 0.9 to 20.1 km. Mean swimming speed was 2.06 km/h (SD 0.95). Patterns and rates of movement indicated that most singers were actively swimming. In one case, two singers were tracked simultaneously, revealing a potential acoustic interaction. Our results provide a first description of the movements of singers on a northwest Atlantic feeding ground, and demonstrate the utility of passive acoustic tracking for studying the fine-scale movements of cetaceans within the behavioral context of their calls. These methods have further applications for conservation and management purposes, particularly by enhancing our ability to estimate cetacean densities using passive acoustic monitoring.

Passive Acoustic Tracking of Singing Humpback Whales (Megaptera novaeangliae) on a Northwest Atlantic Feeding Ground

PubMed Central

Stanistreet, Joy E.; Risch, Denise; Van Parijs, Sofie M.

2013-01-01

Passive acoustic tracking provides an unobtrusive method of studying the movement of sound-producing animals in the marine environment where traditional tracking methods may be costly or infeasible. We used passive acoustic tracking to characterize the fine-scale movements of singing humpback whales (Megaptera novaeangliae) on a northwest Atlantic feeding ground. Male humpback whales produce complex songs, a phenomenon that is well documented in tropical regions during the winter breeding season, but also occurs at higher latitudes during other times of year. Acoustic recordings were made throughout 2009 using an array of autonomous recording units deployed in the Stellwagen Bank National Marine Sanctuary. Song was recorded during spring and fall, and individual singing whales were localized and tracked throughout the array using a correlation sum estimation method on the time-synchronized recordings. Tracks were constructed for forty-three song sessions, revealing a high level of variation in movement patterns in both the spring and fall seasons, ranging from slow meandering to faster directional movement. Tracks were 30 min to 8 h in duration, and singers traveled distances ranging from 0.9 to 20.1 km. Mean swimming speed was 2.06 km/h (SD 0.95). Patterns and rates of movement indicated that most singers were actively swimming. In one case, two singers were tracked simultaneously, revealing a potential acoustic interaction. Our results provide a first description of the movements of singers on a northwest Atlantic feeding ground, and demonstrate the utility of passive acoustic tracking for studying the fine-scale movements of cetaceans within the behavioral context of their calls. These methods have further applications for conservation and management purposes, particularly by enhancing our ability to estimate cetacean densities using passive acoustic monitoring. PMID:23593447

High fidelity quasi steady-state aerodynamic model effects on race vehicle performance predictions using multi-body simulation

NASA Astrophysics Data System (ADS)

Mohrfeld-Halterman, J. A.; Uddin, M.

2016-07-01

We described in this paper the development of a high fidelity vehicle aerodynamic model to fit wind tunnel test data over a wide range of vehicle orientations. We also present a comparison between the effects of this proposed model and a conventional quasi steady-state aerodynamic model on race vehicle simulation results. This is done by implementing both of these models independently in multi-body quasi steady-state simulations to determine the effects of the high fidelity aerodynamic model on race vehicle performance metrics. The quasi steady state vehicle simulation is developed with a multi-body NASCAR Truck vehicle model, and simulations are conducted for three different types of NASCAR race tracks, a short track, a one and a half mile intermediate track, and a higher speed, two mile intermediate race track. For each track simulation, the effects of the aerodynamic model on handling, maximum corner speed, and drive force metrics are analysed. The accuracy of the high-fidelity model is shown to reduce the aerodynamic model error relative to the conventional aerodynamic model, and the increased accuracy of the high fidelity aerodynamic model is found to have realisable effects on the performance metric predictions on the intermediate tracks resulting from the quasi steady-state simulation.

Analyses of track shift under high-speed vehicle-track interaction : safety of high speed ground transportation systems

DOT National Transportation Integrated Search

1997-06-01

This report describes analysis tools to predict shift under high-speed vehicle- : track interaction. The analysis approach is based on two fundamental models : developed (as part of this research); the first model computes the track lateral : residua...

Factors that influence tractive performance of wheels, tracks, and vehicles

USDA-ARS?s Scientific Manuscript database

Traction of agricultural vehicles and other off-road vehicles is important in allowing these vehicles to perform their desired tasks. This book chapter describes factors affecting the off-road tractive performance of tires and rubber tracks. Tractive performance is affected by soil type, soil cond...

Using sutures to attach miniature tracking tags to small bats for multimonth movement and behavioral studies

Treesearch

Kevin T. Castle; Ted Weller; Paul M. Cryan; Cris D. Hein; Michael R. Schirmacher

2015-01-01

Determining the detailed movements of individual animals often requires them to carry tracking devices, but tracking broad-scale movement of small bats (<30 g) has been limited by transmitter technology and long-term attachment methods. This limitation inhibits our understanding of bat dispersal and migration, particularly in the context of emerging...

Vehicle/Track Interaction Assessment Techniques. Volume 1, Part 1.

DOT National Transportation Integrated Search

1984-03-01

This report describes Vehicle/Track Interaction Assessment Techniques (IAT) which are developed to provide standardized procedures and tools in order to: Investigate the dynamic performance of railroad vehicles, and systematically identify and cure d...

Vehicle/Track Interaction Assessment Techniques. Volume 2, Part 2.

DOT National Transportation Integrated Search

1984-03-01

This report describes Vehicle/Track Interaction Assessment Techniques (IAT) which are developed to provide standardized procedures and tools in order to: Investigate the dynamic performance of railroad vehicles, and systematically identify and cure d...

Vehicle/Track Interaction Assessment Techniques. Volume 3, Part 2.

DOT National Transportation Integrated Search

1984-03-01

This report describes Vehicle/Track Interaction Assessment Techniques (IAT) which are developed to provide standardized procedures and tools in order to: Investigate the dynamic performance of railroad vehicles, and systematically identify and cure d...

ISS Asset Tracking Using SAW RFID Technology

NASA Technical Reports Server (NTRS)

Schellhase, Amy; Powers, Annie

2004-01-01

A team at the NASA Johnson Space Center (JSC) is undergoing final preparations to test Surface Acoustic Wave (SAW) Radio Frequency Identification (RFID) technology to track assets aboard the International Space Station (ISS). Currently, almost 10,000 U.S. items onboard the ISS are tracked within a database maintained by both the JSC ground teams and crew onboard the ISS. This barcode-based inventory management system has successfully tracked the location of 97% of the items onboard, but its accuracy is dependant on the crew to report hardware movements, taking valuable time away from science and other activities. With the addition of future modules, the volume of inventory to be tracked is expected to increase significantly. The first test of RFID technology on ISS, which will be conducted by the Expedition 16 crew later this year, will evaluate the ability of RFID technology to track consumable items. These consumables, which include office supplies and clothing, are regularly supplied to ISS and can be tagged on the ground. Automation will eliminate line-of-sight auditing requirements, directly saving crew time. This first step in automating an inventory tracking system will pave the way for future uses of RFID for inventory tracking in space. Not only are there immediate benefits for ISS applications, it is a crucial step to ensure efficient logistics support for future vehicles and exploration missions where resupplies are not readily available. Following a successful initial test, the team plans to execute additional tests for new technology, expanded operations concepts, and increased automation.

Efficient integration of spectral features for vehicle tracking utilizing an adaptive sensor

NASA Astrophysics Data System (ADS)

Uzkent, Burak; Hoffman, Matthew J.; Vodacek, Anthony

2015-03-01

Object tracking in urban environments is an important and challenging problem that is traditionally tackled using visible and near infrared wavelengths. By inserting extended data such as spectral features of the objects one can improve the reliability of the identification process. However, huge increase in data created by hyperspectral imaging is usually prohibitive. To overcome the complexity problem, we propose a persistent air-to-ground target tracking system inspired by a state-of-the-art, adaptive, multi-modal sensor. The adaptive sensor is capable of providing panchromatic images as well as the spectra of desired pixels. This addresses the data challenge of hyperspectral tracking by only recording spectral data as needed. Spectral likelihoods are integrated into a data association algorithm in a Bayesian fashion to minimize the likelihood of misidentification. A framework for controlling spectral data collection is developed by incorporating motion segmentation information and prior information from a Gaussian Sum filter (GSF) movement predictions from a multi-model forecasting set. An intersection mask of the surveillance area is extracted from OpenStreetMap source and incorporated into the tracking algorithm to perform online refinement of multiple model set. The proposed system is tested using challenging and realistic scenarios generated in an adverse environment.

49 CFR 213.333 - Automated vehicle inspection systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 4 2012-10-01 2012-10-01 false Automated vehicle inspection systems. 213.333... Higher § 213.333 Automated vehicle inspection systems. (a) For track Class 7, a qualifying Track Geometry Measurement System (TGMS) vehicle shall be operated at least twice within 120 calendar days with not less than...

Turning movements, vehicle offsets and ageing drivers driving behaviour at channelized and unchannelized intersections.

PubMed

Choi, Jaisung; Tay, Richard; Kim, Sangyoup; Jeong, Seungwon

2017-11-01

Ageing drivers experience a higher risk of intersection crashes because of their decrease in driving efficiency, including the decline in cognitive ability, head and neck flexibility, and visual acuity. Although several studies have been conducted to examine the factors associated with ageing driver crashes at intersections, little research has been conducted to examine the differences in the factors related to ageing drivers' turning paths and intersection geometric features. This study aims to improve the safety of ageing drivers at intersections by identifying the maneuvers that are risky for them and tracking their turning movements at selected intersections. We find that ageing drivers experience more crashes at intersections than younger drivers, especially crashes involving turning movements. Furthermore, ageing drivers experience more crashes at unchannelized intersections compared to channelized intersections. In addition, this study finds that ageing drivers exhibit greater and more inconsistent offsets during turning movements compared to those of younger drivers at both channelized and unchannelized intersections. Ageing drivers also tend to make relatively sharper or tighter turns than younger drivers. Hence, transportation engineers and road safety professionals should consider appropriate countermeasures to reduce the risks of crashes involving ageing drivers at intersections. Copyright © 2017 Elsevier Ltd. All rights reserved.

Ultra-Wideband Tracking System Design for Relative Navigation

NASA Technical Reports Server (NTRS)

Ni, Jianjun David; Arndt, Dickey; Bgo, Phong; Dekome, Kent; Dusl, John

2011-01-01

This presentation briefly discusses a design effort for a prototype ultra-wideband (UWB) time-difference-of-arrival (TDOA) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being designed for use in localization and navigation of a rover in a GPS deprived environment for surface missions. In one application enabled by the UWB tracking, a robotic vehicle carrying equipments can autonomously follow a crewed rover from work site to work site such that resources can be carried from one landing mission to the next thereby saving up-mass. The UWB Systems Group at JSC has developed a UWB TDOA High Resolution Proximity Tracking System which can achieve sub-inch tracking accuracy of a target within the radius of the tracking baseline [1]. By extending the tracking capability beyond the radius of the tracking baseline, a tracking system is being designed to enable relative navigation between two vehicles for surface missions. A prototype UWB TDOA tracking system has been designed, implemented, tested, and proven feasible for relative navigation of robotic vehicles. Future work includes testing the system with the application code to increase the tracking update rate and evaluating the linear tracking baseline to improve the flexibility of antenna mounting on the following vehicle.

Analysis of resonance mechanism and conditions of train bridge system

NASA Astrophysics Data System (ADS)

Xia, H.; Zhang, N.; Guo, W. W.

2006-11-01

In this paper, the resonance mechanism and conditions of train-bridge system are investigated through theoretical derivations, numerical simulations and experimental data analyses. The resonant responses of the bridge induced by moving trains are classified into three types according to different resonance mechanisms: the first is related to the periodical actions of moving load series of the vertical weights, lateral centrifugal and wind forces of vehicles; the second is induced by the loading rate of moving load series of vehicles; the third is owing to the periodically loading of the swing forces of the train vehicles excited by track irregularities and wheel hunting movements. The vehicle resonance is induced by the periodical action of regular arrangement of bridge spans and their deflections. The resonant conditions are proposed and the corresponding resonant train speeds are determined. The application scopes of resonance conditions are discussed. The resonance of the train-bridge system is affected by the span, total length, lateral and vertical stiffness of the bridge, the compositions of the train, and the axle arrangements and natural frequencies of the vehicles. The resonant train speeds for some bridges are estimated and are compared with the critical train speeds obtained from the dynamic simulation of train-bridge interaction model or from the field measurements.

Video Guidance Sensors Using Remotely Activated Targets

NASA Technical Reports Server (NTRS)

Bryan, Thomas C.; Howard, Richard T.; Book, Michael L.

2004-01-01

Four updated video guidance sensor (VGS) systems have been proposed. As described in a previous NASA Tech Briefs article, a VGS system is an optoelectronic system that provides guidance for automated docking of two vehicles. The VGS provides relative position and attitude (6-DOF) information between the VGS and its target. In the original intended application, the two vehicles would be spacecraft, but the basic principles of design and operation of the system are applicable to aircraft, robots, objects maneuvered by cranes, or other objects that may be required to be aligned and brought together automatically or under remote control. In the first two of the four VGS systems as now proposed, the tracked vehicle would include active targets that would light up on command from the tracking vehicle, and a video camera on the tracking vehicle would be synchronized with, and would acquire images of, the active targets. The video camera would also acquire background images during the periods between target illuminations. The images would be digitized and the background images would be subtracted from the illuminated-target images. Then the position and orientation of the tracked vehicle relative to the tracking vehicle would be computed from the known geometric relationships among the positions of the targets in the image, the positions of the targets relative to each other and to the rest of the tracked vehicle, and the position and orientation of the video camera relative to the rest of the tracking vehicle. The major difference between the first two proposed systems and prior active-target VGS systems lies in the techniques for synchronizing the flashing of the active targets with the digitization and processing of image data. In the prior active-target VGS systems, synchronization was effected, variously, by use of either a wire connection or the Global Positioning System (GPS). In three of the proposed VGS systems, the synchronizing signal would be generated on, and transmitted from, the tracking vehicle. In the first proposed VGS system, the tracking vehicle would transmit a pulse of light. Upon reception of the pulse, circuitry on the tracked vehicle would activate the target lights. During the pulse, the target image acquired by the camera would be digitized. When the pulse was turned off, the target lights would be turned off and the background video image would be digitized. The second proposed system would function similarly to the first proposed system, except that the transmitted synchronizing signal would be a radio pulse instead of a light pulse. In this system, the signal receptor would be a rectifying antenna. If the signal contained sufficient power, the output of the rectifying antenna could be used to activate the target lights, making it unnecessary to include a battery or other power supply for the targets on the tracked vehicle.

Procedures for One-Pass Vehicle Cone Index (VCI1) Determination for Acquisition Support

DTIC Science & Technology

2013-08-01

the VCI of tracked vehicles can be directly compared to that of wheeled vehicles; Priddy and Willoughby, 2006). Measurement of the minimum soil...of the wheel , or number of revolutions per unit time divided by 2π for a track v = forward velocity of vehicle or wheel axle. 12. Trafficability...be tested at the expected gross vehicle weight (GVW) and, for wheeled vehicles, at an appropriate soft-soil tire pressure. For wheeled vehicles

Stability control for high speed tracked unmanned vehicles

NASA Astrophysics Data System (ADS)

Pape, Olivier; Morillon, Joel G.; Houbloup, Philippe; Leveque, Stephane; Fialaire, Cecile; Gauthier, Thierry; Ropars, Patrice

2005-05-01

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "automatic speed adjustment" behavior (named SYR4), developed by Giat Industries Company, which main goal is to secure the teleoperated mobility of high speed tracked vehicles on rough grounds; more precisely, the validated low level behavior continuously adjusts the vehicle speed taking into account the teleperator wish AND the maximum speed that the vehicle can manage safely according to the commanded radius of curvature. The algorithm is based on a realistic physical model of the ground-tracks relation, taking into account many vehicle and ground parameters (such as ground adherence and dynamic specificities of tracked vehicles). It also deals with the teleoperator-machine interface, providing a balanced strategy between both extreme behaviors: a) maximum speed reduction before initiating the commanded curve; b) executing the minimum possible radius without decreasing the commanded speed. The paper presents the results got from the military acceptance tests performed on tracked SYRANO vehicle (French Operational Demonstrator).

Track-to-track association for object matching in an inter-vehicle communication system

NASA Astrophysics Data System (ADS)

Yuan, Ting; Roth, Tobias; Chen, Qi; Breu, Jakob; Bogdanovic, Miro; Weiss, Christian A.

2015-09-01

Autonomous driving poses unique challenges for vehicle environment perception due to the complex driving environment the autonomous vehicle finds itself in and differentiates from remote vehicles. Due to inherent uncertainty of the traffic environments and incomplete knowledge due to sensor limitation, an autonomous driving system using only local onboard sensor information is generally not sufficiently enough for conducting a reliable intelligent driving with guaranteed safety. In order to overcome limitations of the local (host) vehicle sensing system and to increase the likelihood of correct detections and classifications, collaborative information from cooperative remote vehicles could substantially facilitate effectiveness of vehicle decision making process. Dedicated Short Range Communication (DSRC) system provides a powerful inter-vehicle wireless communication channel to enhance host vehicle environment perceiving capability with the aid of transmitted information from remote vehicles. However, there is a major challenge before one can fuse the DSRC-transmitted remote information and host vehicle Radar-observed information (in the present case): the remote DRSC data must be correctly associated with the corresponding onboard Radar data; namely, an object matching problem. Direct raw data association (i.e., measurement-to-measurement association - M2MA) is straightforward but error-prone, due to inherent uncertain nature of the observation data. The uncertainties could lead to serious difficulty in matching decision, especially, using non-stationary data. In this study, we present an object matching algorithm based on track-to-track association (T2TA) and evaluate the proposed approach with prototype vehicles in real traffic scenarios. To fully exploit potential of the DSRC system, only GPS position data from remote vehicle are used in fusion center (at host vehicle), i.e., we try to get what we need from the least amount of information; additional feature information can help the data association but are not currently considered. Comparing to M2MA, benefits of the T2TA object matching approach are: i) tracks taking into account important statistical information can provide more reliable inference results; ii) the track-formed smoothed trajectories can be used for an easier shape matching; iii) each local vehicle can design its own tracker and sends only tracks to fusion center to alleviate communication constraints. A real traffic study with different driving environments, based on a statistical hypothesis test, shows promising object matching results of significant practical implications.

Tracking, Ability Grouping and the Gifted. PAGE Bulletin.

ERIC Educational Resources Information Center

Fiedler-Brand, Ellen; Lange, Richard E.; Winebrenner, Susan

This brief bulletin addresses seven "myths" of tracking or ability grouping with gifted students in response to what is seen as a current movement against both ability grouping and tracking, which are characterized by the "anti-tracking" movement as inflexible and unaccommodating of a varied schedule. The following myths are countered: (1)…

Track dynamic behavior at rail welds at high speed

NASA Astrophysics Data System (ADS)

Xiao, Guangwen; Xiao, Xinbiao; Guo, Jun; Wen, Zefeng; Jin, Xuesong

2010-06-01

As a vehicle passing through a track with different weld irregularities, the dynamic performance of track components is investigated in detail by using a coupled vehicle-track model. In the model, the vehicle is modeled as a multi-body system with 35 degrees of freedom, and a Timoshenko beam is used to model the rails which are discretely supported by sleepers. In the track model, the sleepers are modeled as rigid bodies accounting for their vertical, lateral and rolling motions and assumed to move backward at a constant speed to simulate the vehicle running along the track at the same speed. In the study of the coupled vehicle and track dynamics, the Hertizian contact theory and the theory proposed by Shen-Hedrick-Elkins are, respectively, used to calculate normal and creep forces between the wheel and the rails. In the calculation of the normal forces, the coefficient of the normal contact stiffness is determined by transient contact condition of the wheel and rail surface. In the calculation of the creepages, the lateral, roll-over motions of the rail and the fact that the relative velocity between the wheel and rail in their common normal direction is equal to zero are simultaneously taken into account. The motion equations of the vehicle and track are solved by means of an explicit integration method, in which the rail weld irregularities are modeled as local track vertical deviations described by some ideal cosine functions. The effects of the train speed, the axle load, the wavelength and depth of the irregularities, and the weld center position in a sleeper span on the wheel-rail impact loading are analyzed. The numerical results obtained are greatly useful in the tolerance design of welded rail profile irregularity caused by hand-grinding after rail welding and track maintenances.

49 CFR 213.365 - Visual inspections.

Code of Federal Regulations, 2011 CFR

2011-10-01

... made on foot or by riding over the track in a vehicle at a speed that allows the person making the... over track crossings and turnouts, otherwise, the inspection vehicle speed shall be at the sole... unobstructed by any cause and that the second track is not centered more than 30 feet from the track upon which...

49 CFR 213.365 - Visual inspections.

Code of Federal Regulations, 2010 CFR

2010-10-01

... made on foot or by riding over the track in a vehicle at a speed that allows the person making the... over track crossings and turnouts, otherwise, the inspection vehicle speed shall be at the sole... unobstructed by any cause and that the second track is not centered more than 30 feet from the track upon which...

Commercial vehicle route tracking using video detection.

DOT National Transportation Integrated Search

2010-10-31

Interstate commercial vehicle traffic is a major factor in the life of any road surface. The ability to track : these vehicles and their routes through the state can provide valuable information to planning : activities. We propose a method using vid...

Power Conditioning for High-Speed Tracked Vehicles

DOT National Transportation Integrated Search

1971-01-01

The linear induction motor is to provide the propulsion of high-speed tracked vehicles; speed and brake control of the propulsion motor is essential for vehicle operation. The purpose of power conditioning is to provide the power matching interface b...

Power Conditioning for High Speed Tracked Vehicles

DOT National Transportation Integrated Search

1973-01-01

The linear induction motor is to provide the propulsion of high-speed tracked vehicles; speed and brake control of the propulsion motor is essential for vehicle operation. The purpose of power conditioning is to provide the power matching interface b...

Method and apparatus for optimizing a train trip using signal information

DOEpatents

Kumar, Ajith Kuttannair; Daum, Wolfgang; Otsubo, Tom; Hershey, John Erik; Hess, Gerald James

2013-02-05

One embodiment of the invention includes a system for operating a railway network comprising a first railway vehicle (400) during a trip along track segments (401/412/420). The system comprises a first element (65) for determining travel parameters of the first railway vehicle (400), a second element (65) for determining travel parameters of a second railway vehicle (418) relative to the track segments to be traversed by the first vehicle during the trip, a processor (62) for receiving information from the first (65) and the second (65) elements and for determining a relationship between occupation of a track segment (401/412/420) by the second vehicle (418) and later occupation of the same track segment by the first vehicle (400) and an algorithm embodied within the processor (62) having access to the information to create a trip plan that determines a speed trajectory for the first vehicle (400), wherein the speed trajectory is responsive to the relationship and further in accordance with one or more operational criteria for the first vehicle (400).

The Vestibular System and Human Dynamic Space Orientation

NASA Technical Reports Server (NTRS)

Meiry, J. L.

1966-01-01

The motion sensors of the vestibular system are studied to determine their role in human dynamic space orientation and manual vehicle control. The investigation yielded control models for the sensors, descriptions of the subsystems for eye stabilization, and demonstrations of the effects of motion cues on closed loop manual control. Experiments on the abilities of subjects to perceive a variety of linear motions provided data on the dynamic characteristics of the otoliths, the linear motion sensors. Angular acceleration threshold measurements supplemented knowledge of the semicircular canals, the angular motion sensors. Mathematical models are presented to describe the known control characteristics of the vestibular sensors, relating subjective perception of motion to objective motion of a vehicle. The vestibular system, the neck rotation proprioceptors and the visual system form part of the control system which maintains the eye stationary relative to a target or a reference. The contribution of each of these systems was identified through experiments involving head and body rotations about a vertical axis. Compensatory eye movements in response to neck rotation were demonstrated and their dynamic characteristics described by a lag-lead model. The eye motions attributable to neck rotations and vestibular stimulation obey superposition when both systems are active. Human operator compensatory tracking is investigated in simple vehicle orientation control system with stable and unstable controlled elements. Control of vehicle orientation to a reference is simulated in three modes: visual, motion and combined. Motion cues sensed by the vestibular system through tactile sensation enable the operator to generate more lead compensation than in fixed base simulation with only visual input. The tracking performance of the human in an unstable control system near the limits of controllability is shown to depend heavily upon the rate information provided by the vestibular sensors.

DoE Phase II SBIR: Spectrally-Assisted Vehicle Tracking

DOE Office of Scientific and Technical Information (OSTI.GOV)

Villeneuve, Pierre V.

2013-02-28

The goal of this Phase II SBIR is to develop a prototype software package to demonstrate spectrally-aided vehicle tracking performance. The primary application is to demonstrate improved target vehicle tracking performance in complex environments where traditional spatial tracker systems may show reduced performance. Example scenarios in Figure 1 include a) the target vehicle obscured by a large structure for an extended period of time, or b), the target engaging in extreme maneuvers amongst other civilian vehicles. The target information derived from spatial processing is unable to differentiate between the green versus the red vehicle. Spectral signature exploitation enables comparison ofmore » new candidate targets with existing track signatures. The ambiguity in this confusing scenario is resolved by folding spectral analysis results into each target nomination and association processes. Figure 3 shows a number of example spectral signatures from a variety of natural and man-made materials. The work performed over the two-year effort was divided into three general areas: algorithm refinement, software prototype development, and prototype performance demonstration. The tasks performed under this Phase II to accomplish the program goals were as follows: 1. Acquire relevant vehicle target datasets to support prototype. 2. Refine algorithms for target spectral feature exploitation. 3. Implement a prototype multi-hypothesis target tracking software package. 4. Demonstrate and quantify tracking performance using relevant data.« less

Torque vectoring for improving stability of small electric vehicles

NASA Astrophysics Data System (ADS)

Grzegożek, W.; Weigel-Milleret, K.

2016-09-01

The electric vehicles solutions based on the individually controlled electric motors propel a single wheel allow to improve the dynamic properties of the vehicle by varying the distribution of the driving torque. Most of the literature refer to the vehicles with a track typical for passenger cars. This paper examines whether the narrow vehicle (with a very small track) torque vectoring bring a noticeable change of the understeer characteristics and whether torque vectoring is possible to use in securing a narrow vehicle from roll over (roll mitigation). The paper contains road tests of the steering characteristics (steady state understeer characteristic quasi-static acceleration with a fixed steering wheel (SH = const) and on the constant radius track (R = const)) of the narrow vehicle. The vehicle understeer characteristic as a function of a power distribution is presented.

A portable multi-channel recording system for analysis of acceleration and angular velocity in six dimension.

PubMed

Yamashita, M; Yamashita, A; Ishii, T; Naruo, Y; Nagatomo, M

1998-11-01

A portable recording system was developed for analysis of more than three analog signals collected in field works. Stereo audio recorder, available as consumer products, was made use for a core cornponent of the system. For the two tracks of recording, a multiplexed analog signal is stored on one track, and reference code on the other track. The reference code indicates the start of one cycle for multiplexing and swiching point of each channel. Multiplexed signal is playbacked and decoded with a reference of the code to reconstruct original profiles of the signal. Since commercial stereo recorders have cut DC component off, a fixed reference voltage is inserted in the sequence of multiplexing. Change of voltage at switching from the reference to the data channel is measured from playbacked signal to get the original data with its DC component. Movement of vehicles and human head were analyzed by the system. It was verified to be capable to record and analyze multi-channel signal at a sampling rate more than 10Hz.

Identifying and Tracking Pedestrians Based on Sensor Fusion and Motion Stability Predictions

PubMed Central

Musleh, Basam; García, Fernando; Otamendi, Javier; Armingol, José Mª; de la Escalera, Arturo

2010-01-01

The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS) applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem) and dense disparity maps and u-v disparity (vision subsystem). Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle. PMID:22163639

Identifying and tracking pedestrians based on sensor fusion and motion stability predictions.

PubMed

Musleh, Basam; García, Fernando; Otamendi, Javier; Armingol, José Maria; de la Escalera, Arturo

2010-01-01

The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS) applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem) and dense disparity maps and u-v disparity (vision subsystem). Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle.

Daylight saving time can decrease the frequency of wildlife–vehicle collisions

PubMed Central

Ellis, William A.; FitzGibbon, Sean I.; Barth, Benjamin J.; Niehaus, Amanda C.; David, Gwendolyn K.; Taylor, Brendan D.; Matsushige, Helena; Melzer, Alistair; Bercovitch, Fred B.; Carrick, Frank; Jones, Darryl N.; Dexter, Cathryn; Gillett, Amber; Predavec, Martin; Lunney, Dan

2016-01-01

Daylight saving time (DST) could reduce collisions with wildlife by changing the timing of commuter traffic relative to the behaviour of nocturnal animals. To test this idea, we tracked wild koalas (Phascolarctos cinereus) in southeast Queensland, where koalas have declined by 80% in the last 20 years, and compared their movements with traffic patterns along roads where they are often killed. Using a simple model, we found that DST could decrease collisions with koalas by 8% on weekdays and 11% at weekends, simply by shifting the timing of traffic relative to darkness. Wildlife conservation and road safety should become part of the debate on DST. PMID:27881767

KSC-08pd2541

NASA Image and Video Library

2008-09-04

CAPE CANAVERAL, Fla. – Space shuttle Atlantis approaches the top of Launch Pad 39A after rolling from the Vehicle Assembly Building at NASA's Kennedy Space Center. The shuttle stack, with solid rocket boosters and external fuel tank attached to Atlantis, rest on the mobile launcher platform. Movement is provided by the crawler-transporter underneath. First motion occurred at 9:19 a.m. EDT. The Sept. 2 rollout date was postponed due to Tropical Storm Hanna’s shift to a northern track. Atlantis is scheduled to launch on the STS-125 mission to service NASA’s Hubble Space Telescope. Launch is targeted for Oct. 8. Photo credit: NASA/Jack Pfaller

KSC-08pd2542

NASA Image and Video Library

2008-09-04

CAPE CANAVERAL, Fla. – Space shuttle Atlantis passes through the gate and approaches the top of Launch Pad 39A after rolling from the Vehicle Assembly Building at NASA's Kennedy Space Center. The shuttle stack, with solid rocket boosters and external fuel tank attached to Atlantis, rest on the mobile launcher platform. Movement is provided by the crawler-transporter underneath. First motion occurred at 9:19 a.m. EDT. The Sept. 2 rollout date was postponed due to Tropical Storm Hanna’s shift to a northern track. Atlantis is scheduled to launch on the STS-125 mission to service NASA’s Hubble Space Telescope. Launch is targeted for Oct. 8. Photo credit: NASA/Kim Shiflett

A linear complementarity method for the solution of vertical vehicle-track interaction

NASA Astrophysics Data System (ADS)

Zhang, Jian; Gao, Qiang; Wu, Feng; Zhong, Wan-Xie

2018-02-01

A new method is proposed for the solution of the vertical vehicle-track interaction including a separation between wheel and rail. The vehicle is modelled as a multi-body system using rigid bodies, and the track is treated as a three-layer beam model in which the rail is considered as an Euler-Bernoulli beam and both the sleepers and the ballast are represented by lumped masses. A linear complementarity formulation is directly established using a combination of the wheel-rail normal contact condition and the generalised-α method. This linear complementarity problem is solved using the Lemke algorithm, and the wheel-rail contact force can be obtained. Then the dynamic responses of the vehicle and the track are solved without iteration based on the generalised-α method. The same equations of motion for the vehicle and track are adopted at the different wheel-rail contact situations. This method can remove some restrictions, that is, time-dependent mass, damping and stiffness matrices of the coupled system, multiple equations of motion for the different contact situations and the effect of the contact stiffness. Numerical results demonstrate that the proposed method is effective for simulating the vehicle-track interaction including a separation between wheel and rail.

Development and preliminary testing of an automatic turning movements identification system : final report, February 2010.

DOT National Transportation Integrated Search

2010-02-01

It is important for many applications, such as intersection delay estimation and adaptive signal : control, to obtain vehicle turning movement information at signalized intersections. However, : vehicle turning movement information is very time consu...

A Method for Extracting Road Boundary Information from Crowdsourcing Vehicle GPS Trajectories.

PubMed

Yang, Wei; Ai, Tinghua; Lu, Wei

2018-04-19

Crowdsourcing trajectory data is an important approach for accessing and updating road information. In this paper, we present a novel approach for extracting road boundary information from crowdsourcing vehicle traces based on Delaunay triangulation (DT). First, an optimization and interpolation method is proposed to filter abnormal trace segments from raw global positioning system (GPS) traces and interpolate the optimization segments adaptively to ensure there are enough tracking points. Second, constructing the DT and the Voronoi diagram within interpolated tracking lines to calculate road boundary descriptors using the area of Voronoi cell and the length of triangle edge. Then, the road boundary detection model is established integrating the boundary descriptors and trajectory movement features (e.g., direction) by DT. Third, using the boundary detection model to detect road boundary from the DT constructed by trajectory lines, and a regional growing method based on seed polygons is proposed to extract the road boundary. Experiments were conducted using the GPS traces of taxis in Beijing, China, and the results show that the proposed method is suitable for extracting the road boundary from low-frequency GPS traces, multi-type road structures, and different time intervals. Compared with two existing methods, the automatically extracted boundary information was proved to be of higher quality.

A Method for Extracting Road Boundary Information from Crowdsourcing Vehicle GPS Trajectories

PubMed Central

Yang, Wei

2018-01-01

Crowdsourcing trajectory data is an important approach for accessing and updating road information. In this paper, we present a novel approach for extracting road boundary information from crowdsourcing vehicle traces based on Delaunay triangulation (DT). First, an optimization and interpolation method is proposed to filter abnormal trace segments from raw global positioning system (GPS) traces and interpolate the optimization segments adaptively to ensure there are enough tracking points. Second, constructing the DT and the Voronoi diagram within interpolated tracking lines to calculate road boundary descriptors using the area of Voronoi cell and the length of triangle edge. Then, the road boundary detection model is established integrating the boundary descriptors and trajectory movement features (e.g., direction) by DT. Third, using the boundary detection model to detect road boundary from the DT constructed by trajectory lines, and a regional growing method based on seed polygons is proposed to extract the road boundary. Experiments were conducted using the GPS traces of taxis in Beijing, China, and the results show that the proposed method is suitable for extracting the road boundary from low-frequency GPS traces, multi-type road structures, and different time intervals. Compared with two existing methods, the automatically extracted boundary information was proved to be of higher quality. PMID:29671792

Vestibulo-Cervico-Ocular Responses and Tracking Eye Movements after Prolonged Exposure to Microgravity

NASA Technical Reports Server (NTRS)

Kornilova, L. N.; Naumov, I. A.; Azarov, K. A.; Sagalovitch, S. V.; Reschke, Millard F.; Kozlovskaya, I. B.

2007-01-01

The vestibular function and tracking eye movements were investigated in 12 Russian crew members of ISS missions on days 1(2), 4(5-6), and 8(9-10) after prolonged exposure to microgravity (126 to 195 days). The spontaneous oculomotor activity, static torsional otolith-cervico-ocular reflex, dynamic vestibulo-cervico-ocular responses, vestibular reactivity, tracking eye movements, and gaze-holding were studied using videooculography (VOG) and electrooculography (EOG) for parallel eye movement recording. On post-flight days 1-2 (R+1-2) some cosmonauts demonstrated: - an increased spontaneous oculomotor activity (floating eye movements, spontaneous nystagmus of the typical and atypical form, square wave jerks, gaze nystagmus) with the head held in the vertical position; - suppressed otolith function (absent or reduced by one half amplitude of torsional compensatory eye counter-rolling) with the head inclined statically right- or leftward by 300; - increased vestibular reactivity (lowered threshold and increased intensity of the vestibular nystagmus) during head turns around the longitudinal body axis at 0.125 Hz; - a significant change in the accuracy, velocity, and temporal characteristics of the eye tracking. The pattern, depth, dynamics, and velocity of the vestibular function and tracking eye movements recovery varied with individual participants in the investigation. However, there were also regular responses during readaptation to the normal gravity: - suppression of the otolith function was typically accompanied by an exaggerated vestibular reactivity; - the structure of visual tracking (the accuracy of fixational eye rotations, smooth tracking, and gaze-holding) was disturbed (the appearance of correcting saccades, the transition of smooth tracking to saccadic tracking) only in those cosmonauts who, in parallel to an increased reactivity of the vestibular input, also had central changes in the oculomotor system (spontaneous nystagmus, gaze nystagmus).

49 CFR 214.336 - On-track safety procedures for certain roadway work groups and adjacent tracks.

Code of Federal Regulations, 2013 CFR

2013-10-01

...) A hi-rail vehicle (other than a catenary maintenance tower vehicle) being used for inspection or minor correction purposes, provided that such hi-rail vehicle is not coupled to one or more railroad cars. In accordance with § 214.315(a), where multiple hi-rail vehicles being used for inspection or...

49 CFR 214.336 - On-track safety procedures for certain roadway work groups and adjacent tracks.

Code of Federal Regulations, 2012 CFR

2012-10-01

...) A hi-rail vehicle (other than a catenary maintenance tower vehicle) being used for inspection or minor correction purposes, provided that such hi-rail vehicle is not coupled to one or more railroad cars. In accordance with § 214.315(a), where multiple hi-rail vehicles being used for inspection or...

Vehicle/Track Interaction Test at Bennington, NH : Revision 1.0

DOT National Transportation Integrated Search

1988-04-01

This report describes the results of the Vehicle/Track Interaction tests condcuted at Bennington. NH on August 28-31, 1982. The purpose of these tests was to determine the effects of well defined pertubations of track alighnment, gage, and crosslevel...

Comparative of signal processing techniques for micro-Doppler signature extraction with automotive radar systems

NASA Astrophysics Data System (ADS)

Rodriguez-Hervas, Berta; Maile, Michael; Flores, Benjamin C.

2014-05-01

In recent years, the automotive industry has experienced an evolution toward more powerful driver assistance systems that provide enhanced vehicle safety. These systems typically operate in the optical and microwave regions of the electromagnetic spectrum and have demonstrated high efficiency in collision and risk avoidance. Microwave radar systems are particularly relevant due to their operational robustness under adverse weather or illumination conditions. Our objective is to study different signal processing techniques suitable for extraction of accurate micro-Doppler signatures of slow moving objects in dense urban environments. Selection of the appropriate signal processing technique is crucial for the extraction of accurate micro-Doppler signatures that will lead to better results in a radar classifier system. For this purpose, we perform simulations of typical radar detection responses in common driving situations and conduct the analysis with several signal processing algorithms, including short time Fourier Transform, continuous wavelet or Kernel based analysis methods. We take into account factors such as the relative movement between the host vehicle and the target, and the non-stationary nature of the target's movement. A comparison of results reveals that short time Fourier Transform would be the best approach for detection and tracking purposes, while the continuous wavelet would be the best suited for classification purposes.

Control system for maximum use of adhesive forces of a railway vehicle in a tractive mode

NASA Astrophysics Data System (ADS)

Spiryagin, Maksym; Lee, Kwan Soo; Yoo, Hong Hee

2008-04-01

The realization of maximum adhesive forces for a railway vehicle is a very difficult process, because it involves using tractive efforts and depends on friction characteristics in the contact zone between wheels and rails. Tractive efforts are realized by means of tractive torques of motors, and their maximum values can provide negative effects such as slip and skid. These situations usually happen when information about friction conditions is lacking. The negative processes have a major influence on wearing of contact bodies and tractive units. Therefore, many existing control systems for vehicles use an effect of a prediction of a friction coefficient between wheels and rails because measuring a friction coefficient at the moment of running vehicle movement is very difficult. One of the ways to solve this task is to use noise spectrum analysis for friction coefficient detection. This noise phenomenon has not been clearly studied and analyzed. In this paper, we propose an adhesion control system of railway vehicles based on an observer, which allows one to determine the maximum tractive torque based on the optimal adhesive force between the wheels (wheel pair) of a railway vehicle and rails (rail track) depending on weight load from a wheel to a rail, friction conditions in the contact zone, a lateral displacement of wheel set and wheel sleep. As a result, it allows a railway vehicle to be driven in a tractive mode by the maximum adhesion force for real friction conditions.

Technical Report of Successful Deployment of Tandem Visual Tracking During Live Laparoscopic Cholecystectomy Between Novice and Expert Surgeon.

PubMed

Puckett, Yana; Baronia, Benedicto C

2016-09-20

With the recent advances in eye tracking technology, it is now possible to track surgeons' eye movements while engaged in a surgical task or when surgical residents practice their surgical skills. Several studies have compared eye movements of surgical experts and novices and developed techniques to assess surgical skill on the basis of eye movement utilizing simulators and live surgery. None have evaluated simultaneous visual tracking between an expert and a novice during live surgery. Here, we describe a successful simultaneous deployment of visual tracking of an expert and a novice during live laparoscopic cholecystectomy. One expert surgeon and one chief surgical resident at an accredited surgical program in Lubbock, TX, USA performed a live laparoscopic cholecystectomy while simultaneously wearing the visual tracking devices. Their visual attitudes and movements were monitored via video recordings. The recordings were then analyzed for correlation between the expert and the novice. The visual attitudes and movements correlated approximately 85% between an expert surgeon and a chief surgical resident. The surgery was carried out uneventfully, and the data was abstracted with ease. We conclude that simultaneous deployment of visual tracking during live laparoscopic surgery is a possibility. More studies and subjects are needed to verify the success of our results and obtain data analysis.

Impact of mesh tracks and low-ground-pressure vehicle use on blanket peat hydrology

NASA Astrophysics Data System (ADS)

McKendrick-Smith, Kathryn; Holden, Joseph; Parry, Lauren

2016-04-01

Peatlands are subject to multiple uses including drainage, farming and recreation. Low-ground-pressure vehicle access is desirable by land owners and tracks facilitate access. However, there is concern that such activity may impact peat hydrology and so granting permission for track installation has been problematic, particularly without evidence for decision-making. We present the first comprehensive study of mesh track and low-ground-pressure vehicle impacts on peatland hydrology. In the sub-arctic oceanic climate of the Moor House World Biosphere Reserve in the North Pennines, UK, a 1.5 km long experimental track was installed to investigate hydrological impacts. Surface vegetation was cut and the plastic mesh track pinned into the peat surface. The experimental track was split into 7 treatments, designed to reflect typical track usage (0 - 5 vehicle passes per week) and varying vehicle weight. The greatest hydrological impacts were expected for sections of track subject to more frequent vehicle use and in close proximity to the track. In total 554 dipwells (including 15 automated recording at 15-min intervals) were monitored for water-table depth, positioned to capture potential spatial variability in response. Before track installation, samples for vertical and lateral hydraulic conductivity (Ks) analysis (using the modified cube method) were taken at 0-10 cm depth from a frequently driven treatment (n = 15), an infrequently driven treatment (0.5 passes per week) (n = 15) and a control site with no track/driving (n = 15). The test was repeated after 16 months of track use. We present a spatially and temporally rich water-table dataset from the study site showing how the impacts of the track on water table are spatially highly variable. Water-table depths across the site were shallow, typically within the upper 10 cm of the peat profile for > 75% of the time. We show that mesh track and low-ground-pressure vehicle impacts on water-table depth were small except for directly under and close to the track. Where the track runs parallel to the contours, water-tables were found to be deeper downslope of the track and shallower upslope. However in the no track/driving treatment; water table was significantly shallower downslope than upslope. Strong anisotropy was found in both 'before-track' and 'after-track' Ks, with horizontal Ks significantly greater than vertical Ks. No significant difference was found in vertical Ks before and after driving (medians 8.6 x 10-5 and 6.6 x 10-5 cm s-1 respectively). Horizontal Ks was significantly greater after driving (median 2.2 x 10-3 cm s-1) than before (median 3.7 x 10-4 cm s-1). Post-hoc testing highlights variability in response to treatment and topographic position. We suggest that this surprising result is related to rapid regrowth of new vegetation (particularly Sphagnum) through the mesh of the track, which was more dominant on horizontal Ks than the compression from low-ground-pressure vehicle use. Our results indicate that mesh tracks have a significant impact upon hydrology; however response is variable dependent upon topographic and seasonal factors. These findings can be used to inform land-management decision-making for the use of mesh tracks in peatlands.

Study on the performance of the articulated mechanism of tracked all-terrain vehicle

NASA Astrophysics Data System (ADS)

Meng, Zhongliang; Zang, Hao

2018-04-01

Tracked all-terrain vehicle consists of two vehicle bodies featured by superior performance, the running system which can meet the all-terrain requirement, the unique steering system, power system and the vehicle body protection system. This paper focuses on the study of the five freely articulated steering system of crawler-type all-terrain engineering vehicle. The study on the dynamic characteristics of the articulated steering system can't do without the dynamic analysis of the whole vehicle. Therefore, it first studies the overall model of the tracked all-terrain vehicle, and then based on the critical states where the overall model is situated under different road conditions, mathematical models of the articulated mechanism are built under different operating conditions and also the load bearing condition of the articulated mechanism is deduced.

Modelling, validation and analysis of a three-dimensional railway vehicle-track system model with linear and nonlinear track properties in the presence of wheel flats

NASA Astrophysics Data System (ADS)

Uzzal, R. U. A.; Ahmed, A. K. W.; Bhat, R. B.

2013-11-01

This paper presents dynamic contact loads at wheel-rail contact point in a three-dimensional railway vehicle-track model as well as dynamic response at vehicle-track component levels in the presence of wheel flats. The 17-degrees of freedom lumped mass vehicle is modelled as a full car body, two bogies and four wheelsets, whereas the railway track is modelled as two parallel Timoshenko beams periodically supported by lumped masses representing the sleepers. The rail beam is also supported by nonlinear spring and damper elements representing the railpad and ballast. In order to ensure the interactions between the railpads, a shear parameter beneath the rail beams has also been considered into the model. The wheel-rail contact is modelled using nonlinear Hertzian contact theory. In order to solve the coupled partial and ordinary differential equations of the vehicle-track system, modal analysis method is employed. Idealised Haversine wheel flats with the rounded corner are included in the wheel-rail contact model. The developed model is validated with the existing measured and analytical data available in the literature. The nonlinear model is then employed to investigate the wheel-rail impact forces that arise in the wheel-rail interface due to the presence of wheel flats. The validated model is further employed to investigate the dynamic responses of vehicle and track components in terms of displacement, velocity, and acceleration in the presence of single wheel flat.

Numerical simulation of active track tensioning system for autonomous hybrid vehicle

NASA Astrophysics Data System (ADS)

Mȩżyk, Arkadiusz; Czapla, Tomasz; Klein, Wojciech; Mura, Gabriel

2017-05-01

One of the most important components of a high speed tracked vehicle is an efficient suspension system. The vehicle should be able to operate both in rough terrain for performance of engineering tasks as well as on the road with high speed. This is especially important for an autonomous platform that operates either with or without human supervision, so that the vibration level can rise compared to a manned vehicle. In this case critical electronic and electric parts must be protected to ensure the reliability of the vehicle. The paper presents a dynamic parameters determination methodology of suspension system for an autonomous high speed tracked platform with total weight of about 5 tonnes and hybrid propulsion system. Common among tracked vehicles suspension solutions and cost-efficient, the torsion-bar system was chosen. One of the most important issues was determining optimal track tensioning - in this case an active hydraulic system was applied. The selection of system parameters was performed with using numerical model based on multi-body dynamic approach. The results of numerical analysis were used to define parameters of active tensioning control system setup. LMS Virtual.Lab Motion was used for multi-body dynamics numerical calculation and Matlab/SIMULINK for control system simulation.

How crawler track-mounted conveyors improve bulk handling's economics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hawkins, G.P.

1984-11-01

Crawler track-mounted conveyors can be used in most applications formerly requiring stacking, reclaiming or movement from excavators to bench conveyors. The crawler track-mounted conveyor has been automated for push button operation and allows mobilization of in-pit operations for the movement of overburden, minerals and coal. In-pit mobilization of crushers, the use of mobilized steep angle conveyor for the removal of coal from the pit, and the movement of overburden from excavation to spoil can all be done more economically when a combination of a crawler track mounted conveyor is used in conjunction with a shiftable or fixed conveyor.

Electric vehicle chassis dynamometer test methods at JPL and their correlation to track tests

NASA Technical Reports Server (NTRS)

Marte, J.; Bryant, J.

1983-01-01

Early in its electric vehicle (EV) test program, JPL recognized that EV test procedures were too vague and too loosely defined to permit much meaningful data to be obtained from the testing. Therefore, JPL adopted more stringent test procedures and chose the chassis dynamometer rather than the track as its principal test technique. Through the years, test procedures continued to evolve towards a methodology based on chassis dynamometers which would exhibit good correlation with track testing. Based on comparative dynamometer and track test results on the ETV-1 vehicle, the test methods discussed in this report demonstrate a means by which excellent track-to-dynamometer correlation can be obtained.

Path-following in model predictive rollover prevention using front steering and braking

NASA Astrophysics Data System (ADS)

Ghazali, Mohammad; Durali, Mohammad; Salarieh, Hassan

2017-01-01

In this paper vehicle path-following in the presence of rollover risk is investigated. Vehicles with high centre of mass are prone to roll instability. Untripped rollover risk is increased in high centre of gravity vehicles and high-friction road condition. Researches introduce strategies to handle the short-duration rollover condition. In these researches, however, trajectory tracking is affected and not thoroughly investigated. This paper puts stress on tracking error from rollover prevention. A lower level model predictive front steering controller is adopted to deal with rollover and tracking error as a priority sequence. A brake control is included in lower level controller which directly obeys an upper level controller (ULC) command. The ULC manages vehicle speed regarding primarily tracking error. Simulation results show that the proposed control framework maintains roll stability while tracking error is confined to predefined error limit.

49 CFR 214.336 - On-track safety procedures for certain roadway work groups and adjacent tracks.

Code of Federal Regulations, 2014 CFR

2014-10-01

... or more of the following types of equipment: (i) A hi-rail vehicle or other rail-bound vehicle (other than a catenary maintenance tower vehicle) being used for inspection or minor correction purposes, provided that such vehicle is not coupled to one or more railroad cars. In accordance with § 214.315(a...

Vector Pursuit Path Tracking for Autonomous Ground Vehicles

DTIC Science & Technology

2000-08-01

vi INTRODUCTION ...........................................................................................................1...other geometric path-tracking techniques. 1 CHAPTER 1 INTRODUCTION An autonomous vehicle is one that is capable of automatic navigation. It is...Joint Architecture for Unmanned Ground Vehicles ( JAUGS ) working group meeting held at the University of Florida. 5 Figure 1.5: Autonomous

Aerodynamics of Tracked Ram Air Cushion Vehicles - Effects of Pitch Attitude and Upper Surface Flow

DOT National Transportation Integrated Search

1979-12-01

Three types of experiments were conducted on geometrically similar model of a Tracked Ram Air Cushion Vehicle (TRACV). The first consisted of wind tunnel tests with the vehicle model positioned within a short segment of stationary guideway. In the se...

Vehicle track segmentation using higher order random fields

DOE PAGES

Quach, Tu -Thach

2017-01-09

Here, we present an approach to segment vehicle tracks in coherent change detection images, a product of combining two synthetic aperture radar images taken at different times. The approach uses multiscale higher order random field models to capture track statistics, such as curvatures and their parallel nature, that are not currently utilized in existing methods. These statistics are encoded as 3-by-3 patterns at different scales. The model can complete disconnected tracks often caused by sensor noise and various environmental effects. Coupling the model with a simple classifier, our approach is effective at segmenting salient tracks. We improve the F-measure onmore » a standard vehicle track data set to 0.963, up from 0.897 obtained by the current state-of-the-art method.« less

Vehicle track segmentation using higher order random fields

DOE Office of Scientific and Technical Information (OSTI.GOV)

Quach, Tu -Thach

Here, we present an approach to segment vehicle tracks in coherent change detection images, a product of combining two synthetic aperture radar images taken at different times. The approach uses multiscale higher order random field models to capture track statistics, such as curvatures and their parallel nature, that are not currently utilized in existing methods. These statistics are encoded as 3-by-3 patterns at different scales. The model can complete disconnected tracks often caused by sensor noise and various environmental effects. Coupling the model with a simple classifier, our approach is effective at segmenting salient tracks. We improve the F-measure onmore » a standard vehicle track data set to 0.963, up from 0.897 obtained by the current state-of-the-art method.« less

Infrared measurement and composite tracking algorithm for air-breathing hypersonic vehicles

NASA Astrophysics Data System (ADS)

Zhang, Zhao; Gao, Changsheng; Jing, Wuxing

2018-03-01

Air-breathing hypersonic vehicles have capabilities of hypersonic speed and strong maneuvering, and thus pose a significant challenge to conventional tracking methodologies. To achieve desirable tracking performance for hypersonic targets, this paper investigates the problems related to measurement model design and tracking model mismatching. First, owing to the severe aerothermal effect of hypersonic motion, an infrared measurement model in near space is designed and analyzed based on target infrared radiation and an atmospheric model. Second, using information from infrared sensors, a composite tracking algorithm is proposed via a combination of the interactive multiple models (IMM) algorithm, fitting dynamics model, and strong tracking filter. During the procedure, the IMMs algorithm generates tracking data to establish a fitting dynamics model of the target. Then, the strong tracking unscented Kalman filter is employed to estimate the target states for suppressing the impact of target maneuvers. Simulations are performed to verify the feasibility of the presented composite tracking algorithm. The results demonstrate that the designed infrared measurement model effectively and continuously observes hypersonic vehicles, and the proposed composite tracking algorithm accurately and stably tracks these targets.

Improvement of Hand Movement on Visual Target Tracking by Assistant Force of Model-Based Compensator

NASA Astrophysics Data System (ADS)

Ide, Junko; Sugi, Takenao; Nakamura, Masatoshi; Shibasaki, Hiroshi

Human motor control is achieved by the appropriate motor commands generating from the central nerve system. A test of visual target tracking is one of the effective methods for analyzing the human motor functions. We have previously examined a possibility for improving the hand movement on visual target tracking by additional assistant force through a simulation study. In this study, a method for compensating the human hand movement on visual target tracking by adding an assistant force was proposed. Effectiveness of the compensation method was investigated through the experiment for four healthy adults. The proposed compensator precisely improved the reaction time, the position error and the variability of the velocity of the human hand. The model-based compensator proposed in this study is constructed by using the measurement data on visual target tracking for each subject. The properties of the hand movement for different subjects can be reflected in the structure of the compensator. Therefore, the proposed method has possibility to adjust the individual properties of patients with various movement disorders caused from brain dysfunctions.

30 CFR 57.14218 - Movement of equipment on adjacent tracks.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Movement of equipment on adjacent tracks. 57.14218 Section 57.14218 Mineral Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR... MINES Machinery and Equipment Safety Practices and Operational Procedures § 57.14218 Movement of...

30 CFR 56.14218 - Movement of equipment on adjacent tracks.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Movement of equipment on adjacent tracks. 56.14218 Section 56.14218 Mineral Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR... Machinery and Equipment Safety Practices and Operational Procedures § 56.14218 Movement of equipment on...

Scout and Guides, Key Users of Astronomy & Planetary Sciences Outreach that Support Education

NASA Astrophysics Data System (ADS)

Brumfitt, A.; Thompson, L.

Few people outside of the Scouting and Guide movement would appreciate that these world wide organisations have an active youth membership of over 40 million children and young adults. These two organisations rely on external specialist expert knowledge for the effective delivery of their education and award schemes. The high membership and established program delivery pathways make these organisations excellent vehicles for outreach programs. In particular Scouts and Guides are able to introduce astronomy and planetary sciences into their informal education programs at a timing that best suits the child and not one constrained by the schedule of formal education. It is the global voluntary nature of membership of these organisations that make them extremely effective learning vehicles. The members both youth and leader are highly motivated. These two organisations have a structured education program for youth members based on both individual pursuits or targets and group projects. The organisations has as part of their infra structure benchmarks for the measure of excellence in achievement and education at all levels. Scouts and Guides are a way of encompassing knowledge and lighting candles for life long learning. Scouts and guides address all year groups of formal education from primary through to tertiary levels, from cubs and brownies through various levels to Rovers and Rangers. Space is seen as relevant to Scouting and Guides, the Guide movement UK has recently adopted a "Go for it" challenge award for youth members to investigate space science. Similar awards exist in the Scouting movement in Europe, USA and Australia. The ready adoption of Space science fits well with scouting principles as Space is perceived as the "New Frontier of Discovery". In October 2007, Scouts and Guides from Europe will gather at Tidbinbilla deep space Tracking Station, Australia for the first Scout and Guide International Space Camp. The model used for this camp was based on a pilot camp in Australia of 1200 participants which used the Tracking Station, Astronomy Groups and the Mt Stromlo Observatory and its astronomers, Science Centres and Universities as key tools in the program design and delivery. The enormous sizes and the excellent formalised organisational structure of Scouts and Guides makes these organisations excellent vehicles for the development of space education programs that can be then transferred to traditional formal education organisations such as schools. This paper discusses mechanisms for effective engagement by astronomy planetaria science groups through Scouts and guides to kids.

75 FR 25927 - Vehicle/Track Interaction Safety Standards; High-Speed and High Cant Deficiency Operations

Federal Register 2010, 2011, 2012, 2013, 2014

2010-05-10

... qualification process as an important tool for the assessment of vehicle performance. These simulations are... qualification process, simulations would be conducted using both a measured track geometry segment... on the results of simulation studies designed to identify track geometry irregularities associated...

A model for combined targeting and tracking tasks in computer applications.

PubMed

Senanayake, Ransalu; Hoffmann, Errol R; Goonetilleke, Ravindra S

2013-11-01

Current models for targeted-tracking are discussed and shown to be inadequate as a means of understanding the combined task of tracking, as in the Drury's paradigm, and having a final target to be aimed at, as in the Fitts' paradigm. It is shown that the task has to be split into components that are, in general, performed sequentially and have a movement time component dependent on the difficulty of the individual component of the task. In some cases, the task time may be controlled by the Fitts' task difficulty, and in others, it may be dominated by the Drury's task difficulty. Based on an experiment carried out that captured movement time in combinations of visually controlled and ballistic movements, a model for movement time in targeted-tracking was developed.

Independent review : statistical analyses of relationship between vehicle curb weight, track width, wheelbase and fatality rates.

DOT National Transportation Integrated Search

2011-03-01

"NHTSA selected the vehicle footprint (the measure of a vehicles wheelbase multiplied by its average track width) as the attribute upon which to base the CAFE standards for model year 2012-2016 passenger cars and light trucks. These standards are ...

Survey of Sliding Contact/Solid Rail Power Collection Systems for Application to the Tracked Air Cushion Vehicle

DOT National Transportation Integrated Search

1971-01-01

The objective of a power collection system is to deliver uninterrupted power from the wayside to a vehicle. In order to apply the third rail concept, used for subway power collection, to the tracked air cushion vehicle, considerable improvement must ...

Accurate State Estimation and Tracking of a Non-Cooperative Target Vehicle

NASA Technical Reports Server (NTRS)

Thienel, Julie K.; Sanner, Robert M.

2006-01-01

Autonomous space rendezvous scenarios require knowledge of the target vehicle state in order to safely dock with the chaser vehicle. Ideally, the target vehicle state information is derived from telemetered data, or with the use of known tracking points on the target vehicle. However, if the target vehicle is non-cooperative and does not have the ability to maintain attitude control, or transmit attitude knowledge, the docking becomes more challenging. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a tracking control scheme. The approach is tested with the robotic servicing mission concept for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates, but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST.

The development of an assessment tool for the mobility of lightweight autonomous vehicles on coastal terrain

NASA Astrophysics Data System (ADS)

Worley, Marilyn E.; Ren, Ping; Sandu, Corina; Hong, Dennis

2007-04-01

This study focuses on developing an assessment tool for the performance prediction of lightweight autonomous vehicles with varying locomotion platforms on coastal terrain involves three segments. A table based on the House of Quality shows the relationships - high, low, or adverse - between mission profile requirements and general performance measures and geometries of vehicles under consideration for use. This table, when combined with known values for vehicle metrics, provides information for an index formula used to quantitatively compare the mobility of a user-chosen set of vehicles, regardless of their methods of locomotion. To study novel forms of locomotion, and to compare their mobility and performance with more traditional wheeled and tracked vehicles, several new autonomous vehicles - bipedal, self-excited dynamic tripedal, active spoke-wheel - are currently under development. While the terramechanics properties of wheeled and tracked vehicles, such as the contact patch pressure distribution, have been understood and models have been developed for heavy vehicles, the feasibility of extrapolating them to the analysis of light vehicles is still under analysis. wheeled all-terrain vehicle and a lightweight autonomous tracked vehicle have been tested for effects of sand gradation, vehicle speed, and vehicle payload on measures of pressure and sinkage in the contact patch, and preliminary analysis is presented on the sinkage of the wheeled all-terrain vehicle. These three segments - development of the comparison matrix and indexing function, modeling and development of novel forms of locomotion, and physical experimentation of lightweight tracked and wheeled vehicles on varying terrain types for terramechanic model validation - combine to give an overall picture of mobility that spans across different forms of locomotion.

Technical Report of Successful Deployment of Tandem Visual Tracking During Live Laparoscopic Cholecystectomy Between Novice and Expert Surgeon

PubMed Central

Baronia, Benedicto C

2016-01-01

With the recent advances in eye tracking technology, it is now possible to track surgeons’ eye movements while engaged in a surgical task or when surgical residents practice their surgical skills. Several studies have compared eye movements of surgical experts and novices and developed techniques to assess surgical skill on the basis of eye movement utilizing simulators and live surgery. None have evaluated simultaneous visual tracking between an expert and a novice during live surgery. Here, we describe a successful simultaneous deployment of visual tracking of an expert and a novice during live laparoscopic cholecystectomy. One expert surgeon and one chief surgical resident at an accredited surgical program in Lubbock, TX, USA performed a live laparoscopic cholecystectomy while simultaneously wearing the visual tracking devices. Their visual attitudes and movements were monitored via video recordings. The recordings were then analyzed for correlation between the expert and the novice. The visual attitudes and movements correlated approximately 85% between an expert surgeon and a chief surgical resident. The surgery was carried out uneventfully, and the data was abstracted with ease. We conclude that simultaneous deployment of visual tracking during live laparoscopic surgery is a possibility. More studies and subjects are needed to verify the success of our results and obtain data analysis. PMID:27774359

Vibro-acoustic performance of newly designed tram track structures

NASA Astrophysics Data System (ADS)

Haladin, Ivo; Lakušić, Stjepan; Ahac, Maja

2017-09-01

Rail vehicles in interaction with a railway structure induce vibrations that are propagating to surrounding structures and cause noise disturbance in the surrounding areas. Since tram tracks in urban areas often share the running surface with road vehicles one of top priorities is to achieve low maintenance and long lasting structure. Research conducted in scope of this paper gives an overview of newly designed tram track structures designated for use on Zagreb tram network and their performance in terms of noise and vibration mitigation. Research has been conducted on a 150 m long test section consisted of three tram track types: standard tram track structure commonly used on tram lines in Zagreb, optimized tram structure for better noise and vibration mitigation and a slab track with double sleepers embedded in a concrete slab, which presents an entirely new approach of tram track construction in Zagreb. Track has been instrumented with acceleration sensors, strain gauges and revision shafts for inspection. Relative deformations give an insight into track structure dynamic load distribution through the exploitation period. Further the paper describes vibro-acoustic measurements conducted at the test site. To evaluate the track performance from the vibro-acoustical standpoint, detailed analysis of track decay rate has been analysed. Opposed to measurement technique using impact hammer for track decay rate measurements, newly developed measuring technique using vehicle pass by vibrations as a source of excitation has been proposed and analysed. Paper gives overview of the method, it’s benefits compared to standard method of track decay rate measurements and method evaluation based on noise measurements of the vehicle pass by.

An integrated movement capture and control platform applied towards autonomous movements of surgical robots.

PubMed

Daluja, Sachin; Golenberg, Lavie; Cao, Alex; Pandya, Abhilash K; Auner, Gregory W; Klein, Michael D

2009-01-01

Robotic surgery has gradually gained acceptance due to its numerous advantages such as tremor filtration, increased dexterity and motion scaling. There remains, however, a significant scope for improvement, especially in the areas of surgeon-robot interface and autonomous procedures. Previous studies have attempted to identify factors affecting a surgeon's performance in a master-slave robotic system by tracking hand movements. These studies relied on conventional optical or magnetic tracking systems, making their use impracticable in the operating room. This study concentrated on building an intrinsic movement capture platform using microcontroller based hardware wired to a surgical robot. Software was developed to enable tracking and analysis of hand movements while surgical tasks were performed. Movement capture was applied towards automated movements of the robotic instruments. By emulating control signals, recorded surgical movements were replayed by the robot's end-effectors. Though this work uses a surgical robot as the platform, the ideas and concepts put forward are applicable to telerobotic systems in general.

GPS Metric Tracking Unit

NASA Technical Reports Server (NTRS)

2008-01-01

As Global Positioning Satellite (GPS) applications become more prevalent for land- and air-based vehicles, GPS applications for space vehicles will also increase. The Applied Technology Directorate of Kennedy Space Center (KSC) has developed a lightweight, low-cost GPS Metric Tracking Unit (GMTU), the first of two steps in developing a lightweight, low-cost Space-Based Tracking and Command Subsystem (STACS) designed to meet Range Safety's link margin and latency requirements for vehicle command and telemetry data. The goals of STACS are to improve Range Safety operations and expand tracking capabilities for space vehicles. STACS will track the vehicle, receive commands, and send telemetry data through the space-based asset, which will dramatically reduce dependence on ground-based assets. The other step was the Low-Cost Tracking and Data Relay Satellite System (TDRSS) Transceiver (LCT2), developed by the Wallops Flight Facility (WFF), which allows the vehicle to communicate with a geosynchronous relay satellite. Although the GMTU and LCT2 were independently implemented and tested, the design collaboration of KSC and WFF engineers allowed GMTU and LCT2 to be integrated into one enclosure, leading to the final STACS. In operation, GMTU needs only a radio frequency (RF) input from a GPS antenna and outputs position and velocity data to the vehicle through a serial or pulse code modulation (PCM) interface. GMTU includes one commercial GPS receiver board and a custom board, the Command and Telemetry Processor (CTP) developed by KSC. The CTP design is based on a field-programmable gate array (FPGA) with embedded processors to support GPS functions.

Tracking Object Existence From an Autonomous Patrol Vehicle

NASA Technical Reports Server (NTRS)

Wolf, Michael; Scharenbroich, Lucas

2011-01-01

An autonomous vehicle patrols a large region, during which an algorithm receives measurements of detected potential objects within its sensor range. The goal of the algorithm is to track all objects in the region over time. This problem differs from traditional multi-target tracking scenarios because the region of interest is much larger than the sensor range and relies on the movement of the sensor through this region for coverage. The goal is to know whether anything has changed between visits to the same location. In particular, two kinds of alert conditions must be detected: (1) a previously detected object has disappeared and (2) a new object has appeared in a location already checked. For the time an object is within sensor range, the object can be assumed to remain stationary, changing position only between visits. The problem is difficult because the upstream object detection processing is likely to make many errors, resulting in heavy clutter (false positives) and missed detections (false negatives), and because only noisy, bearings-only measurements are available. This work has three main goals: (1) Associate incoming measurements with known objects or mark them as new objects or false positives, as appropriate. For this, a multiple hypothesis tracker was adapted to this scenario. (2) Localize the objects using multiple bearings-only measurements to provide estimates of global position (e.g., latitude and longitude). A nonlinear Kalman filter extension provides these 2D position estimates using the 1D measurements. (3) Calculate the probability that a suspected object truly exists (in the estimated position), and determine whether alert conditions have been triggered (for new objects or disappeared objects). The concept of a probability of existence was created, and a new Bayesian method for updating this probability at each time step was developed. A probabilistic multiple hypothesis approach is chosen because of its superiority in handling the uncertainty arising from errors in sensors and upstream processes. However, traditional target tracking methods typically assume a stationary detection volume of interest, whereas in this case, one must make adjustments for being able to see only a small portion of the region of interest and understand when an alert situation has occurred. To track object existence inside and outside the vehicle's sensor range, a probability of existence was defined for each hypothesized object, and this value was updated at every time step in a Bayesian manner based on expected characteristics of the sensor and object and whether that object has been detected in the most recent time step. Then, this value feeds into a sequential probability ratio test (SPRT) to determine the status of the object (suspected, confirmed, or deleted). Alerts are sent upon selected status transitions. Additionally, in order to track objects that move in and out of sensor range and update the probability of existence appropriately a variable probability detection has been defined and the hypothesis probability equations have been re-derived to accommodate this change. Unsupervised object tracking is a pervasive issue in automated perception systems. This work could apply to any mobile platform (ground vehicle, sea vessel, air vehicle, or orbiter) that intermittently revisits regions of interest and needs to determine whether anything interesting has changed.

BORC Functions Upstream of Kinesins 1 and 3 to Coordinate Regional Movement of Lysosomes along Different Microtubule Tracks.

PubMed

Guardia, Carlos M; Farías, Ginny G; Jia, Rui; Pu, Jing; Bonifacino, Juan S

2016-11-15

The multiple functions of lysosomes are critically dependent on their ability to undergo bidirectional movement along microtubules between the center and the periphery of the cell. Centrifugal and centripetal movement of lysosomes is mediated by kinesin and dynein motors, respectively. We recently described a multi-subunit complex named BORC that recruits the small GTPase Arl8 to lysosomes to promote their kinesin-dependent movement toward the cell periphery. Here, we show that BORC and Arl8 function upstream of two structurally distinct kinesin types: kinesin-1 (KIF5B) and kinesin-3 (KIF1Bβ and KIF1A). Remarkably, KIF5B preferentially moves lysosomes on perinuclear tracks enriched in acetylated α-tubulin, whereas KIF1Bβ and KIF1A drive lysosome movement on more rectilinear, peripheral tracks enriched in tyrosinated α-tubulin. These findings establish BORC as a master regulator of lysosome positioning through coupling to different kinesins and microtubule tracks. Common regulation by BORC enables coordinate control of lysosome movement in different regions of the cell. Published by Elsevier Inc.

BORC Functions Upstream of Kinesins 1 and 3 to Coordinate Regional Movement of Lysosomes Along Different Microtubule Tracks

PubMed Central

Guardia, Carlos M.; Farías, Ginny G.; Jia, Rui; Pu, Jing; Bonifacino, Juan S.

2016-01-01

Summary The multiple functions of lysosomes are critically dependent on their ability to undergo bidirectional movement along microtubules between the center and the periphery of the cell. Centrifugal and centripetal movement of lysosomes is mediated by kinesin and dynein motors, respectively. We recently described a multisubunit complex named BORC that recruits the small GTPase Arl8 to lysosomes to promote their kinesin-dependent movement toward the cell periphery. Here we show that BORC and Arl8 function upstream of two structurally distinct kinesin types: kinesin-1 (KIF5B) and kinesin-3 (KIF1Bβ and KIF1A). Remarkably, KIF5B preferentially moves lysosomes on perinuclear tracks enriched in acetylated α-tubulin, whereas KIF1Bβ and KIF1A drive lysosome movement on more rectilinear, peripheral tracks enriched in tyrosinated α-tubulin. These findings establish BORC as a master regulator of lysosome positioning through coupling to different kinesins and microtubule tracks. Common regulation by BORC enables coordinate control of lysosome movement in different regions of the cell. PMID:27851960

Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

NASA Astrophysics Data System (ADS)

Ren, Wei

Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and stringent inter-vehicle communication limitations. A constructive approach based on the satisficing control paradigm is also applied to multi-robot coordination in hardware. For trajectory tracking, we investigate nonlinear tracking controllers for fixed wing unmanned air vehicles and nonholonomic mobile robots with velocity and heading rate constraints. The main contribution of this dissertation in this area is that our proposed tracking controllers are shown to be robust to input uncertainties and measurement noise, and are computationally simple and can be implemented with low-cost, low-power microcontrollers. In addition, our approach allows piecewise continuous reference velocity and heading rate and can be extended to derive a variety of other trajectory tracking strategies.

Tracking Control and System Development for Laser-Driven Micro-Vehicles

NASA Astrophysics Data System (ADS)

Kajiwara, Itsuro; Hoshino, Kentaro; Hara, Shinji; Shiokata, Daisuke; Yabe, Takashi

The purpose of this paper is to design a control system for an integrated laser propulsion/tracking system to achieve continuous motion and control of laser-driven micro-vehicles. Laser propulsion is significant in achieving miniature and light micro-vehicles. A laser-driven micro-airplane has been studied using a paper airplane and YAG laser, resulting in successful gliding of the airplane. High-performance laser tracking control is required to achieve continuous flight. This paper presents a control design strategy based on the generalized Kalman-Yakubovic-Popov lemma to achieve this requirement. Experiments have been carried out to evaluate the performance of the integrated laser propulsion/tracking system.

Global Positioning System Synchronized Active Light Autonomous Docking System

NASA Technical Reports Server (NTRS)

Howard, Richard T. (Inventor); Book, Michael L. (Inventor); Bryan, Thomas C. (Inventor); Bell, Joseph L. (Inventor)

1996-01-01

A Global Positioning System Synchronized Active Light Autonomous Docking System (GPSSALADS) for automatically docking a chase vehicle with a target vehicle comprising at least one active light emitting target which is operatively attached to the target vehicle. The target includes a three-dimensional array of concomitantly flashing lights which flash at a controlled common frequency. The GPSSALADS further comprises a visual tracking sensor operatively attached to the chase vehicle for detecting and tracking the target vehicle. Its performance is synchronized with the flash frequency of the lights by a synchronization means which is comprised of first and second internal clocks operatively connected to the active light target and visual tracking sensor, respectively, for providing timing control signals thereto, respectively. The synchronization means further includes first and second Global Positioning System receivers operatively connected to the first and second internal clocks, respectively, for repeatedly providing simultaneous synchronization pulses to the internal clocks, respectively. In addition, the GPSSALADS includes a docking process controller means which is operatively attached to the chase vehicle and is responsive to the visual tracking sensor for producing commands for the guidance and propulsion system of the chase vehicle.

Global Positioning System Synchronized Active Light Autonomous Docking System

NASA Technical Reports Server (NTRS)

Howard, Richard (Inventor)

1994-01-01

A Global Positioning System Synchronized Active Light Autonomous Docking System (GPSSALADS) for automatically docking a chase vehicle with a target vehicle comprises at least one active light emitting target which is operatively attached to the target vehicle. The target includes a three-dimensional array of concomitantly flashing lights which flash at a controlled common frequency. The GPSSALADS further comprises a visual tracking sensor operatively attached to the chase vehicle for detecting and tracking the target vehicle. Its performance is synchronized with the flash frequency of the lights by a synchronization means which is comprised of first and second internal clocks operatively connected to the active light target and visual tracking sensor, respectively, for providing timing control signals thereto, respectively. The synchronization means further includes first and second Global Positioning System receivers operatively connected to the first and second internal clocks, respectively, for repeatedly providing simultaneous synchronization pulses to the internal clocks, respectively. In addition, the GPSSALADS includes a docking process controller means which is operatively attached to the chase vehicle and is responsive to the visual tracking sensor for producing commands for the guidance and propulsion system of the chase vehicle.

49 CFR 214.521 - Flagging equipment for on-track roadway maintenance machines and hi-rail vehicles.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 4 2011-10-01 2011-10-01 false Flagging equipment for on-track roadway maintenance machines and hi-rail vehicles. 214.521 Section 214.521 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD WORKPLACE SAFETY On-Track Roadway Maintenance...

49 CFR 214.525 - Towing with on-track roadway maintenance machines or hi-rail vehicles.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 4 2012-10-01 2012-10-01 false Towing with on-track roadway maintenance machines or hi-rail vehicles. 214.525 Section 214.525 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD WORKPLACE SAFETY On-Track Roadway Maintenance Machines and...

49 CFR 214.525 - Towing with on-track roadway maintenance machines or hi-rail vehicles.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 4 2011-10-01 2011-10-01 false Towing with on-track roadway maintenance machines or hi-rail vehicles. 214.525 Section 214.525 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD WORKPLACE SAFETY On-Track Roadway Maintenance Machines and...

49 CFR 214.521 - Flagging equipment for on-track roadway maintenance machines and hi-rail vehicles.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 4 2012-10-01 2012-10-01 false Flagging equipment for on-track roadway maintenance machines and hi-rail vehicles. 214.521 Section 214.521 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD WORKPLACE SAFETY On-Track Roadway Maintenance...

Predicting the sinkage of a moving tracked mining vehicle using a new rheological formulation for soft deep-sea sediment

NASA Astrophysics Data System (ADS)

Xu, Feng; Rao, Qiuhua; Ma, Wenbo

2018-03-01

The sinkage of a moving tracked mining vehicle is greatly affected by the combined compression-shear rheological properties of soft deep-sea sediments. For test purposes, the best sediment simulant is prepared based on soft deep-sea sediment from a C-C poly-metallic nodule mining area in the Pacific Ocean. Compressive creep tests and shear creep tests are combined to obtain compressive and shear rheological parameters to establish a combined compressive-shear rheological constitutive model and a compression-sinkage rheological constitutive model. The combined compression-shear rheological sinkage of the tracked mining vehicle at different speeds is calculated using the RecurDyn software with a selfprogrammed subroutine to implement the combined compression-shear rheological constitutive model. The model results are compared with shear rheological sinkage and ordinary sinkage (without consideration of rheological properties). These results show that the combined compression-shear rheological constitutive model must be taken into account when calculating the sinkage of a tracked mining vehicle. The combined compression-shear rheological sinkage decrease with vehicle speed and is the largest among the three types of sinkage. The developed subroutine in the RecurDyn software can be used to study the performance and structural optimization of moving tracked mining vehicles.

49 CFR 214.531 - Schedule of repairs; general.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Hi-Rail Vehicles § 214.531 Schedule of repairs; general. Except as provided in §§ 214.527(c)(5), 214.529, and 214.533, an on-track roadway maintenance machine or hi-rail vehicle that does not meet all... or hi-rail vehicle shall be placed out of on-track service. ...

AGATE: Adversarial Game Analysis for Tactical Evaluation

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.

2013-01-01

AGATE generates a set of ranked strategies that enables an autonomous vehicle to track/trail another vehicle that is trying to break the contact using evasive tactics. The software is efficient (can be run on a laptop), scales well with environmental complexity, and is suitable for use onboard an autonomous vehicle. The software will run in near-real-time (2 Hz) on most commercial laptops. Existing software is usually run offline in a planning mode, and is not used to control an unmanned vehicle actively. JPL has developed a system for AGATE that uses adversarial game theory (AGT) methods (in particular, leader-follower and pursuit-evasion) to enable an autonomous vehicle (AV) to maintain tracking/ trailing operations on a target that is employing evasive tactics. The AV trailing, tracking, and reacquisition operations are characterized by imperfect information, and are an example of a non-zero sum game (a positive payoff for the AV is not necessarily an equal loss for the target being tracked and, potentially, additional adversarial boats). Previously, JPL successfully applied the Nash equilibrium method for onboard control of an autonomous ground vehicle (AGV) travelling over hazardous terrain.

Semi-active control of tracked vehicle suspension incorporating magnetorheological dampers

NASA Astrophysics Data System (ADS)

Ata, W. G.; Salem, A. M.

2017-05-01

In past years, the application of magnetorheological (MR) and electrorheological dampers in vehicle suspension has been widely studied, mainly for the purpose of vibration control. This paper presents theoretical study to identify an appropriate semi-active control method for MR-tracked vehicle suspension. Three representative control algorithms are simulated including the skyhook, hybrid and fuzzy-hybrid controllers. A seven degrees-of-freedom tracked vehicle suspension model incorporating MR dampers has been adopted for comparison between the performance of the three controllers. The model differential equations are derived based on Newton's second law of motion and the proposed control methods are developed. The performance of each control method under bump and sinusoidal road profiles for different vehicle speeds is simulated and compared with the performance of the conventional suspension system in time and frequency domains. The results show that the performance of tracked vehicle suspension with MR dampers is substantially improved. Moreover, the fuzzy-hybrid controller offers an excellent integrated performance in reducing the body accelerations as well as wheel bounce responses compared with the classical skyhook and hybrid controllers.

System safety engineering in the development of advanced surface transportation vehicles

NASA Technical Reports Server (NTRS)

Arnzen, H. E.

1971-01-01

Applications of system safety engineering to the development of advanced surface transportation vehicles are described. As a pertinent example, the paper describes a safety engineering efforts tailored to the particular design and test requirements of the Tracked Air Cushion Research Vehicle (TACRV). The test results obtained from this unique research vehicle provide significant design data directly applicable to the development of future tracked air cushion vehicles that will carry passengers in comfort and safety at speeds up to 300 miles per hour.

Spring 2008 Industry Study. Land Combat Systems Industry

DTIC Science & Technology

2008-01-01

fabrication and deployment of wheeled and tracked vehicles with a focus on the increase production requirements consequent to the conflicts in Iraq...industry. The paper first looks at issues of globalization and of the increased demand for military vehicles during wartime. After a brief assessment of...tracked combat vehicles with UDLP’s expertise in light and medium-weight vehicles , was created to ensure the survival of these two remaining military

Biases in rhythmic sensorimotor coordination: effects of modality and intentionality.

PubMed

Debats, Nienke B; Ridderikhoff, Arne; de Boer, Betteco J; Peper, C Lieke E

2013-08-01

Sensorimotor biases were examined for intentional (tracking task) and unintentional (distractor task) rhythmic coordination. The tracking task involved unimanual tracking of either an oscillating visual signal or the passive movements of the contralateral hand (proprioceptive signal). In both conditions the required coordination patterns (isodirectional and mirror-symmetric) were defined relative to the body midline and the hands were not visible. For proprioceptive tracking the two patterns did not differ in stability, whereas for visual tracking the isodirectional pattern was performed more stably than the mirror-symmetric pattern. However, when visual feedback about the unimanual hand movements was provided during visual tracking, the isodirectional pattern ceased to be dominant. Together these results indicated that the stability of the coordination patterns did not depend on the modality of the target signal per se, but on the combination of sensory signals that needed to be processed (unimodal vs. cross-modal). The distractor task entailed rhythmic unimanual movements during which a rhythmic visual or proprioceptive distractor signal had to be ignored. The observed biases were similar as for intentional coordination, suggesting that intentionality did not affect the underlying sensorimotor processes qualitatively. Intentional tracking was characterized by active sensory pursuit, through muscle activity in the passively moved arm (proprioceptive tracking task) and rhythmic eye movements (visual tracking task). Presumably this pursuit afforded predictive information serving the coordination process. Copyright © 2013 Elsevier B.V. All rights reserved.

49 CFR 236.204 - Track signaled for movements in both directions, requirements.

Code of Federal Regulations, 2010 CFR

2010-10-01

... THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Automatic Block Signal Systems Standards § 236.204 Track signaled for movements in both...

49 CFR 236.204 - Track signaled for movements in both directions, requirements.

Code of Federal Regulations, 2011 CFR

2011-10-01

... THE INSTALLATION, INSPECTION, MAINTENANCE, AND REPAIR OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Automatic Block Signal Systems Standards § 236.204 Track signaled for movements in both...

Towards free 3D end-point control for robotic-assisted human reaching using binocular eye tracking.

PubMed

Maimon-Dror, Roni O; Fernandez-Quesada, Jorge; Zito, Giuseppe A; Konnaris, Charalambos; Dziemian, Sabine; Faisal, A Aldo

2017-07-01

Eye-movements are the only directly observable behavioural signals that are highly correlated with actions at the task level, and proactive of body movements and thus reflect action intentions. Moreover, eye movements are preserved in many movement disorders leading to paralysis (or amputees) from stroke, spinal cord injury, Parkinson's disease, multiple sclerosis, and muscular dystrophy among others. Despite this benefit, eye tracking is not widely used as control interface for robotic interfaces in movement impaired patients due to poor human-robot interfaces. We demonstrate here how combining 3D gaze tracking using our GT3D binocular eye tracker with custom designed 3D head tracking system and calibration method enables continuous 3D end-point control of a robotic arm support system. The users can move their own hand to any location of the workspace by simple looking at the target and winking once. This purely eye tracking based system enables the end-user to retain free head movement and yet achieves high spatial end point accuracy in the order of 6 cm RMSE error in each dimension and standard deviation of 4 cm. 3D calibration is achieved by moving the robot along a 3 dimensional space filling Peano curve while the user is tracking it with their eyes. This results in a fully automated calibration procedure that yields several thousand calibration points versus standard approaches using a dozen points, resulting in beyond state-of-the-art 3D accuracy and precision.

Horizontal movements of Atlantic blue marlin (Makaira nigricans) in the Gulf of Mexico

USGS Publications Warehouse

Kraus, R.T.; Wells, R.J.D.; Rooker, J.R.

2011-01-01

We examined movements of Atlantic blue marlin (Makaira nigricans) from the Gulf of Mexico based upon 42 pop-up archival transmitting (PAT) tags. Long deployments (including one 334-day track) revealed diverse movement patterns within the Gulf of Mexico. North-south seasonal changes in blue marlin distribution showed strong correspondence with established seasonal patterns of sea surface temperature and primary production. During the summer spawning season, blue marlin utilized outer shelf and shelf edge waters in the northern Gulf of Mexico, and longer duration tracks indicated overwintering habitats in the Bay of Campeche. Egress occurred throughout the year and was difficult to determine because some tracks ended in the Straits of Florida (n = 3) while other tracks recorded movement through it or the Yucatan Channel (n = 4). Our results indicate that Atlantic blue marlin have a more restricted geographic range of habitats than previously recognized and that the Gulf of Mexico provides spatially dynamic suitable habitat that is utilized year-round through seasonal movements. ?? 2011 Springer-Verlag.

Like a rolling stone: naturalistic visual kinematics facilitate tracking eye movements.

PubMed

Souto, David; Kerzel, Dirk

2013-02-06

Newtonian physics constrains object kinematics in the real world. We asked whether eye movements towards tracked objects depend on their compliance with those constraints. In particular, the force of gravity constrains round objects to roll on the ground with a particular rotational and translational motion. We measured tracking eye movements towards rolling objects. We found that objects with rotational and translational motion that was congruent with an object rolling on the ground elicited faster tracking eye movements during pursuit initiation than incongruent stimuli. Relative to a condition without rotational component, we compared objects with this motion with a condition in which there was no rotational component, we essentially obtained benefits of congruence, and, to a lesser extent, costs from incongruence. Anticipatory pursuit responses showed no congruence effect, suggesting that the effect is based on visually-driven predictions, not on velocity storage. We suggest that the eye movement system incorporates information about object kinematics acquired by a lifetime of experience with visual stimuli obeying the laws of Newtonian physics.

Daylight saving time can decrease the frequency of wildlife-vehicle collisions.

PubMed

Ellis, William A; FitzGibbon, Sean I; Barth, Benjamin J; Niehaus, Amanda C; David, Gwendolyn K; Taylor, Brendan D; Matsushige, Helena; Melzer, Alistair; Bercovitch, Fred B; Carrick, Frank; Jones, Darryl N; Dexter, Cathryn; Gillett, Amber; Predavec, Martin; Lunney, Dan; Wilson, Robbie S

2016-11-01

Daylight saving time (DST) could reduce collisions with wildlife by changing the timing of commuter traffic relative to the behaviour of nocturnal animals. To test this idea, we tracked wild koalas (Phascolarctos cinereus) in southeast Queensland, where koalas have declined by 80% in the last 20 years, and compared their movements with traffic patterns along roads where they are often killed. Using a simple model, we found that DST could decrease collisions with koalas by 8% on weekdays and 11% at weekends, simply by shifting the timing of traffic relative to darkness. Wildlife conservation and road safety should become part of the debate on DST. © 2016 The Author(s).

Tabletop Experimental Track for Magnetic Launch Assist

NASA Technical Reports Server (NTRS)

2000-01-01

Marshall Space Flight Center's (MSFC's) Advanced Space Transportation Program has developed the Magnetic Launch Assist System, formerly known as the Magnetic Levitation (MagLev) technology that could give a space vehicle a running start to break free from Earth's gravity. A Magnetic Launch Assist system would use magnetic fields to levitate and accelerate a vehicle along a track at speeds up to 600 mph. The vehicle would shift to rocket engines for launch into orbit. Similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway, a Magnetic Launch Assist system would electromagnetically propel a space vehicle along the track. The tabletop experimental track for the system shown in this photograph is 44-feet long, with 22-feet of powered acceleration and 22-feet of passive braking. A 10-pound carrier with permanent magnets on its sides swiftly glides by copper coils, producing a levitation force. The track uses a linear synchronous motor, which means the track is synchronized to turn the coils on just before the carrier comes in contact with them, and off once the carrier passes. Sensors are positioned on the side of the track to determine the carrier's position so the appropriate drive coils can be energized. MSFC engineers have conducted tests on the indoor track and a 50-foot outdoor track. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Tracking boundary movement and exterior shape modelling in lung EIT imaging.

PubMed

Biguri, A; Grychtol, B; Adler, A; Soleimani, M

2015-06-01

Electrical impedance tomography (EIT) has shown significant promise for lung imaging. One key challenge for EIT in this application is the movement of electrodes during breathing, which introduces artefacts in reconstructed images. Various approaches have been proposed to compensate for electrode movement, but no comparison of these approaches is available. This paper analyses boundary model mismatch and electrode movement in lung EIT. The aim is to evaluate the extent to which various algorithms tolerate movement, and to determine if a patient specific model is required for EIT lung imaging. Movement data are simulated from a CT-based model, and image analysis is performed using quantitative figures of merit. The electrode movement is modelled based on expected values of chest movement and an extended Jacobian method is proposed to make use of exterior boundary tracking. Results show that a dynamical boundary tracking is the most robust method against any movement, but is computationally more expensive. Simultaneous electrode movement and conductivity reconstruction algorithms show increased robustness compared to only conductivity reconstruction. The results of this comparative study can help develop a better understanding of the impact of shape model mismatch and electrode movement in lung EIT.

Head-mounted display (HMD) assessment for tracked vehicles

NASA Astrophysics Data System (ADS)

Nicholson, Gail

2011-06-01

Providing the warfighter with Head or Helmet Mounted Displays (HMDs) while in tracked vehicles provides a means to visually maintain access to systems information while in a high vibration environment. The high vibration and unique environment of military tracked and turreted vehicles impact the ability to distinctly see certain information on an HMD, especially small font size or graphics and information that requires long fixation (staring), rather than a brief or peripheral glance. The military and commercial use of HMDs was compiled from market research, market trends, and user feedback. Lessons learned from previous military and commercial use of HMD products were derived to determine the feasibility of HMDs use in the high vibration and the unique environments of tracked vehicles. The results are summarized into factors that determine HMD features which must be specified for successful implementation.

Tracking the Eye Movement of Four Years Old Children Learning Chinese Words

ERIC Educational Resources Information Center

Lin, Dan; Chen, Guangyao; Liu, Yingyi; Liu, Jiaxin; Pan, Jue; Mo, Lei

2018-01-01

Storybook reading is the major source of literacy exposure for beginning readers. The present study tracked 4-year-old Chinese children's eye movements while they were reading simulated storybook pages. Their eye-movement patterns were examined in relation to their word learning gains. The same reading list, consisting of 20 two-character Chinese…

Assessment of railway wagon suspension characteristics

NASA Astrophysics Data System (ADS)

Soukup, Josef; Skočilas, Jan; Skočilasová, Blanka

2017-05-01

The article deals with assessment of railway wagon suspension characteristics. The essential characteristics of a suspension are represented by the stiffness constants of the equivalent springs and the eigen frequencies of the oscillating movements in reference to the main central inertia axes of a vehicle. The premise of the experimental determination of these characteristic is the knowledge of the gravity center position and the knowledge of the main central inertia moments of the vehicle frame. The vehicle frame performs the general spatial movement when the vehicle moves. An analysis of the frame movement generally arises from Euler's equations which are commonly used for the description of the spherical movement. This solution is difficult and it can be simplified by applying the specific assumptions. The eigen frequencies solutions and solutions of the suspension stiffness are presented in the article. The solutions are applied on the railway and road vehicles with the simplifying conditions. A new method which assessed the characteristics is described in the article.

A Study of Running Safety and Ride Comfort of Floating Tracks for High-Speed Train

NASA Astrophysics Data System (ADS)

Watanabe, Tsutomu; Sogabe, Masamichi; Yamazaki, Takayuki

In order to reduce train-induced vibration, many floating tracks have been used, however, for only low-speed trains because we are not sure whether riding comfort and running safety can be maintained on floating tracks for high speed train. The authors, in this study, carried out an analysis of dynamic response and running quality of various floating tracks for high-speed train like Shinkansen. We used a simulation program, DIASTARS for the analysis. In this program, the Shinkansen vehicle is represented by a model of three dimensions consisting of a body, two trucks, and four wheelsets connected to each other with springs and dampers. The floating tracks were modeled by three-dimensional finite element method. In this study, the wheel load fluctuation and vehicle body accelerations were investigated by a dynamic interaction analysis between the vehicle and track with the train speed as parameters.

Research on the position estimation of human movement based on camera projection

NASA Astrophysics Data System (ADS)

Yi, Zhang; Yuan, Luo; Hu, Huosheng

2005-06-01

During the rehabilitation process of the post-stroke patients is conducted, their movements need to be localized and learned so that incorrect movement can be instantly modified or tuned. Therefore, tracking these movement becomes vital and necessary for the rehabilitative course. During human movement tracking, the position estimation of human movement is very important. In this paper, the character of the human movement system is first analyzed. Next, camera and inertial sensor are used to respectively measure the position of human movement, and the Kalman filter algorithm is proposed to fuse the two measurement to get a optimization estimation of the position. In the end, the performance of the method is analyzed.

Feasibility of real-time location systems in monitoring recovery after major abdominal surgery.

PubMed

Dorrell, Robert D; Vermillion, Sarah A; Clark, Clancy J

2017-12-01

Early mobilization after major abdominal surgery decreases postoperative complications and length of stay, and has become a key component of enhanced recovery pathways. However, objective measures of patient movement after surgery are limited. Real-time location systems (RTLS), typically used for asset tracking, provide a novel approach to monitoring in-hospital patient activity. The current study investigates the feasibility of using RTLS to objectively track postoperative patient mobilization. The real-time location system employs a meshed network of infrared and RFID sensors and detectors that sample device locations every 3 s resulting in over 1 million data points per day. RTLS tracking was evaluated systematically in three phases: (1) sensitivity and specificity of the tracking device using simulated patient scenarios, (2) retrospective passive movement analysis of patient-linked equipment, and (3) prospective observational analysis of a patient-attached tracking device. RTLS tracking detected a simulated movement out of a room with sensitivity of 91% and specificity 100%. Specificity decreased to 75% if time out of room was less than 3 min. All RTLS-tagged patient-linked equipment was identified for 18 patients, but measurable patient movement associated with equipment was detected for only 2 patients (11%) with 1-8 out-of-room walks per day. Ten patients were prospectively monitored using RTLS badges following major abdominal surgery. Patient movement was recorded using patient diaries, direct observation, and an accelerometer. Sensitivity and specificity of RTLS patient tracking were both 100% in detecting out-of-room ambulation and correlated well with direct observation and patient-reported ambulation. Real-time location systems are a novel technology capable of objectively and accurately monitoring patient movement and provide an innovative approach to promoting early mobilization after surgery.

49 CFR 214.525 - Towing with on-track roadway maintenance machines or hi-rail vehicles.

Code of Federal Regulations, 2014 CFR

2014-10-01

... other coupling device that provides a safe and secure attachment. (b) An on-track roadway maintenance... towing would cause the machine or hi-rail vehicle to exceed the capabilities of its braking system. In determining the limit of the braking system, the employer must consider the track grade (slope), as well as...

49 CFR 214.525 - Towing with on-track roadway maintenance machines or hi-rail vehicles.

Code of Federal Regulations, 2013 CFR

2013-10-01

... other coupling device that provides a safe and secure attachment. (b) An on-track roadway maintenance... towing would cause the machine or hi-rail vehicle to exceed the capabilities of its braking system. In determining the limit of the braking system, the employer must consider the track grade (slope), as well as...

Vehicle tracking for an evasive manoeuvres assistant using low-cost ultrasonic sensors.

PubMed

Jiménez, Felipe; Naranjo, José E; Gómez, Oscar; Anaya, José J

2014-11-28

Many driver assistance systems require knowledge of the vehicle environment. As these systems are increasing in complexity and performance, this knowledge of the environment needs to be more complete and reliable, so sensor fusion combining long, medium and short range sensors is now being used. This paper analyzes the feasibility of using ultrasonic sensors for low cost vehicle-positioning and tracking in the lane adjacent to the host vehicle in order to identify free areas around the vehicle and provide information to an automatic avoidance collision system that can perform autonomous braking and lane change manoeuvres. A laser scanner is used for the early detection of obstacles in the direction of travel while two ultrasonic sensors monitor the blind spot of the host vehicle. The results of tests on a test track demonstrate the ability of these sensors to accurately determine the kinematic variables of the obstacles encountered, despite a clear limitation in range.

49 CFR 214.525 - Towing with on-track roadway maintenance machines or hi-rail vehicles.

Code of Federal Regulations, 2010 CFR

2010-10-01

... towing would cause the machine or hi-rail vehicle to exceed the capabilities of its braking system. In determining the limit of the braking system, the employer must consider the track grade (slope), as well as... or hi-rail vehicles. 214.525 Section 214.525 Transportation Other Regulations Relating to...

DIRECT operational field test evaluation natural use study. Part 3, Evaluation of driver behavior and measurement of effectiveness of DIRECT communications technologies based on vehicle tracking around incidents

DOT National Transportation Integrated Search

1998-08-01

Vehicle tracking systems were installed on all DIRECT vehicles to help investigate the : relationships between the drivers actual travel experiences and their opinions about the : systems they used. The purpose of this report is to look more caref...

Visualization of spatial-temporal data based on 3D virtual scene

NASA Astrophysics Data System (ADS)

Wang, Xianghong; Liu, Jiping; Wang, Yong; Bi, Junfang

2009-10-01

The main purpose of this paper is to realize the expression of the three-dimensional dynamic visualization of spatialtemporal data based on three-dimensional virtual scene, using three-dimensional visualization technology, and combining with GIS so that the people's abilities of cognizing time and space are enhanced and improved by designing dynamic symbol and interactive expression. Using particle systems, three-dimensional simulation, virtual reality and other visual means, we can simulate the situations produced by changing the spatial location and property information of geographical entities over time, then explore and analyze its movement and transformation rules by changing the interactive manner, and also replay history and forecast of future. In this paper, the main research object is the vehicle track and the typhoon path and spatial-temporal data, through three-dimensional dynamic simulation of its track, and realize its timely monitoring its trends and historical track replaying; according to visualization techniques of spatialtemporal data in Three-dimensional virtual scene, providing us with excellent spatial-temporal information cognitive instrument not only can add clarity to show spatial-temporal information of the changes and developments in the situation, but also be used for future development and changes in the prediction and deduction.

Two degrees of freedom parallel linkageto track solarthermal platforms installed on ships

NASA Astrophysics Data System (ADS)

Visa, I.; Cotorcea, A.; Moldovan, M.; Neagoe, M.

2016-08-01

Transportation is responsible at global level for one third of the total energy consumption. Solutions to reduce conventional fuel consumption are under research, to improve the systems’ efficiency and to replace the current fossil fuels. There already are several applications, usually onsmall maritime vehicles, using photovoltaic systems to cover the electric energy demand on-board andto support the owners’ commitment towards sustainability. In most cases, these systems are fixed, parallely aligned with the deck; thus, the amount of solar energy received is heavily reduced (down to 50%) as compared to the available irradiance. Large scale, feasible applications require to maximize the energy output of the solar convertors implemented on ships; using solar tracking systems is an obvious path, allowing a gain up to 35...40% in the output energy, as compared to fixed systems. Spatial limitations, continuous movement of the ship and harsh navigation condition are the main barriers in implementation. This paper proposes a solar tracking system with two degrees of freedom, for a solar thermal platform, based on a parallel linkage with sphericaljoints, considered as Multibody System. The analytical model for mobile platform position, pressure angles and a numerical example are given in the paper.

Influence of uneven rail irregularities on the dynamic response of the railway track using a three-dimensional model of the vehicle-track system

NASA Astrophysics Data System (ADS)

Naeimi, Meysam; Zakeri, Jabbar Ali; Esmaeili, Morteza; Shadfar, Morad

2015-01-01

A mathematical model of the vehicle-track interaction is developed to investigate the coupled behaviour of vehicle-track system, in the presence of uneven irregularities at left/right rails. The railway vehicle is simplified as a 3D multi-rigid-body model, and the track is treated as the two parallel beams on a layered discrete support system. Besides the car-body, the bogies and the wheel sets, the sleepers are assumed to have roll degree of freedom, in order to simulate the in-plane rotation of the components. The wheel-rail interface is treated using a nonlinear Hertzian contact model, coupling the mathematical equations of the vehicle-track systems. The dynamic interaction of the entire system is numerically studied in time domain, employing Newmark's integration method. The track irregularity spectra of both the left/right rails are taken into account, as the inputs of dynamic excitations. The dynamic responses of the track system induced by such irregularities are obtained, particularly in terms of the vertical (bounce) and roll displacements. The numerical model of the present research is validated using several benchmark models reported in the literature, for both the smooth and unsmooth track conditions. Four sample profiles of the measured rail irregularities are considered as the case studies of excitation sources, examining their influences on the dynamic behaviour of the coupled system. The results of numerical simulations demonstrate that the motion of track system is significantly influenced by the presence of uneven irregularities in left/right rails. Dynamic response of the sleepers in the roll direction becomes more sensitive to the rail irregularities, as the unevenness severity of the parallel profiles (quantitative difference between left and right rail spectra) is increased. The severe geometric deformation of the track in the bounce-pitch-roll directions is mainly related to such profile unevenness (cross-level) in left/right rails.

Vehicle trajectory linearisation to enable efficient optimisation of the constant speed racing line

NASA Astrophysics Data System (ADS)

Timings, Julian P.; Cole, David J.

2012-06-01

A driver model is presented capable of optimising the trajectory of a simple dynamic nonlinear vehicle, at constant forward speed, so that progression along a predefined track is maximised as a function of time. In doing so, the model is able to continually operate a vehicle at its lateral-handling limit, maximising vehicle performance. The technique used forms a part of the solution to the motor racing objective of minimising lap time. A new approach of formulating the minimum lap time problem is motivated by the need for a more computationally efficient and robust tool-set for understanding on-the-limit driving behaviour. This has been achieved through set point-dependent linearisation of the vehicle model and coupling the vehicle-track system using an intrinsic coordinate description. Through this, the geometric vehicle trajectory had been linearised relative to the track reference, leading to new path optimisation algorithm which can be formed as a computationally efficient convex quadratic programming problem.

A relationship between eye movement patterns and performance in a precognitive tracking task

NASA Technical Reports Server (NTRS)

Repperger, D. W.; Hartzell, E. J.

1977-01-01

Eye movements made by various subjects in the performance of a precognitive tracking task are studied. The tracking task persented by an antiaircraft artillery (AAA) simulator has an input forcing function represented by a deterministic aircraft fly-by. The performance of subjects is ranked by two metrics. Good, mediocre, and poor trackers are selected for analysis based on performance during the difficult segment of the tracking task and over replications. Using phase planes to characterize both the eye movement patterns and the displayed error signal, a simple metric is developed to study these patterns. Two characterizations of eye movement strategies are defined and quantified. Using these two types of eye strategies, two conclusions are obtained about good, mediocre, and poor trackers. First, the eye tracker who used a fixed strategy will consistently perform better. Secondly, the best fixed strategy is defined as a Crosshair Fixator.

Bivariate Gaussian bridges: directional factorization of diffusion in Brownian bridge models.

PubMed

Kranstauber, Bart; Safi, Kamran; Bartumeus, Frederic

2014-01-01

In recent years high resolution animal tracking data has become the standard in movement ecology. The Brownian Bridge Movement Model (BBMM) is a widely adopted approach to describe animal space use from such high resolution tracks. One of the underlying assumptions of the BBMM is isotropic diffusive motion between consecutive locations, i.e. invariant with respect to the direction. Here we propose to relax this often unrealistic assumption by separating the Brownian motion variance into two directional components, one parallel and one orthogonal to the direction of the motion. Our new model, the Bivariate Gaussian bridge (BGB), tracks movement heterogeneity across time. Using the BGB and identifying directed and non-directed movement within a trajectory resulted in more accurate utilisation distributions compared to dynamic Brownian bridges, especially for trajectories with a non-isotropic diffusion, such as directed movement or Lévy like movements. We evaluated our model with simulated trajectories and observed tracks, demonstrating that the improvement of our model scales with the directional correlation of a correlated random walk. We find that many of the animal trajectories do not adhere to the assumptions of the BBMM. The proposed model improves accuracy when describing the space use both in simulated correlated random walks as well as observed animal tracks. Our novel approach is implemented and available within the "move" package for R.

Vision-based vehicle detection and tracking algorithm design

NASA Astrophysics Data System (ADS)

Hwang, Junyeon; Huh, Kunsoo; Lee, Donghwi

2009-12-01

The vision-based vehicle detection in front of an ego-vehicle is regarded as promising for driver assistance as well as for autonomous vehicle guidance. The feasibility of vehicle detection in a passenger car requires accurate and robust sensing performance. A multivehicle detection system based on stereo vision has been developed for better accuracy and robustness. This system utilizes morphological filter, feature detector, template matching, and epipolar constraint techniques in order to detect the corresponding pairs of vehicles. After the initial detection, the system executes the tracking algorithm for the vehicles. The proposed system can detect front vehicles such as the leading vehicle and side-lane vehicles. The position parameters of the vehicles located in front are obtained based on the detection information. The proposed vehicle detection system is implemented on a passenger car, and its performance is verified experimentally.

High speed curving performance of rail vehicles

DOT National Transportation Integrated Search

2015-03-23

On March 13, 2013, the Federal Railroad Administration (FRA) published a final rule titled Vehicle/Track Interaction Safety Standards; High-Speed and High Cant Deficiency Operations which amended the Track Safety Standards (49 CFR Part213) and ...

U27 : real-time commercial vehicle safety & security monitoring final report.

DOT National Transportation Integrated Search

2012-12-01

Accurate real-time vehicle tracking has a wide range of applications including fleet management, drug/speed/law enforcement, transportation planning, traffic safety, air quality, electronic tolling, and national security. While many alternative track...

Effect of discrete track support by sleepers on rail corrugation at a curved track

NASA Astrophysics Data System (ADS)

Jin, X. S.; Wen, Z. F.

2008-08-01

The paper investigates into the effect of discrete track support by sleepers on the initiation and development of rail corrugation at a curved track when a railway vehicle passes through using a numerical method. The numerical method considers a combination of Kalker's rolling contact theory with non-Hertzian form, a linear frictional work model and a dynamics model of a half railway vehicle coupled with the curved track. The half-vehicle has a two-axle bogie and doubled suspension systems. It is treated as a full dynamic rigid multi-body model. In the track model, an Euler beam is used to model the rail, and the discrete track support by sleepers moving backward with respect to the vehicle running direction is considered to simulate the effect of the discrete sleeper support on the wheels/rails in rolling contact when the vehicle moves on the track. The sleeper is treated as a rigid body and the ballast bed is replaced with equivalent mass bodies. The numerical analysis exams in detail the variations of wheel/rail normal loads, the creepages, and the rail wear volume along the curved track. Their variations are much concerned with the discrete track support. The numerical results show that the discrete track support causes the fluctuating of the normal loads and creepages at a few frequencies. These frequencies comprise the passing frequency of the sleepers and the excited track resonant frequencies, which are higher than the sleeper passing frequency. Consequently, rail corrugation with several wavelengths initiates and develops. Also the results show that the contact vibrating between the curved rails and the four wheels of the same bogie has different frequencies. In this way, the different key frequencies to be excited play an important role in the initiation and development of curved rail corrugation. Therefore, the corrugations caused by the four wheels of the same bogie present different wavelengths. The paper shows and discusses the depths of the initial corrugations caused by the four wheels of the same bogie, at the entering transition curve, the circle curve and the exit transition curve of the curved track, respectively.

A framework for activity detection in wide-area motion imagery

DOE Office of Scientific and Technical Information (OSTI.GOV)

Porter, Reid B; Ruggiero, Christy E; Morrison, Jack D

2009-01-01

Wide-area persistent imaging systems are becoming increasingly cost effective and now large areas of the earth can be imaged at relatively high frame rates (1-2 fps). The efficient exploitation of the large geo-spatial-temporal datasets produced by these systems poses significant technical challenges for image and video analysis and data mining. In recent years there has been significant progress made on stabilization, moving object detection and tracking and automated systems now generate hundreds to thousands of vehicle tracks from raw data, with little human intervention. However, the tracking performance at this scale, is unreliable and average track length is much smallermore » than the average vehicle route. This is a limiting factor for applications which depend heavily on track identity, i.e. tracking vehicles from their points of origin to their final destination. In this paper we propose and investigate a framework for wide-area motion imagery (W AMI) exploitation that minimizes the dependence on track identity. In its current form this framework takes noisy, incomplete moving object detection tracks as input, and produces a small set of activities (e.g. multi-vehicle meetings) as output. The framework can be used to focus and direct human users and additional computation, and suggests a path towards high-level content extraction by learning from the human-in-the-loop.« less

Vehicle active steering control research based on two-DOF robust internal model control

NASA Astrophysics Data System (ADS)

Wu, Jian; Liu, Yahui; Wang, Fengbo; Bao, Chunjiang; Sun, Qun; Zhao, Youqun

2016-07-01

Because of vehicle's external disturbances and model uncertainties, robust control algorithms have obtained popularity in vehicle stability control. The robust control usually gives up performance in order to guarantee the robustness of the control algorithm, therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness. The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties. In order to separate the design process of model tracking from the robustness design process, the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization. Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm, on the basis of a nonlinear vehicle simulation model with a magic tyre model. Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance, which can enhance the vehicle stability and handling, regardless of variations of the vehicle model parameters and the external crosswind interferences. Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.

A novel in vivo method for lung segment movement tracking

NASA Astrophysics Data System (ADS)

Leira, H. O.; Tangen, G. A.; Hofstad, E. F.; Langø, T.; Amundsen, T.

2012-02-01

Knowledge about lung movement in health and disease is sparse. Current evaluation methods, such as CT, MRI and external view have significant limitations. To study respiratory movement for image guided tumour diagnostics and respiratory physiology, we needed a method that overcomes these limitations. We fitted balloon catheters with electromagnetic sensors, and placed them in lung lobes of ventilated pigs. The sensors sensed their position at 40 Hz in an electromagnetic tracking field with a precision of ∼0.5 mm. The method was evaluated by recording sensor movement in different body positions and at different tidal volumes. No ‘gold standard’ exists for lung segment tracking, so our results were compared to ‘common knowledge’. The sensors were easily placed, showed no clinically relevant position drift and yielded sub-millimetre accuracy. Our measurements fit ‘common knowledge’, as increased ventilation volume increased respiratory movement, and the right lung moved significantly less in the right than the left lateral position. The novel method for tracking lung segment movements during respiration was easy to implement and yielded high spatial and temporal resolution, and the equipment parts are reusable. It is easy to implement as a research tool for lung physiology, navigated bronchoscopy and radiation therapy.

On the overriding issue of train front end collision in rail vehicle dynamics

NASA Astrophysics Data System (ADS)

Yang, Chao; Li, Qiang; Xiao, Shoune; Wang, Xi

2018-04-01

A three-dimensional dynamic model of crashed vehicles coupled with moving tracks is developed to research the dynamic behaviour of the train front end collision on tangent tracks. The three-dimensional dynamic model consists of a crashed vehicle model, moving track models, a simple wheel-rail contact model, a velocity-based coupler model and the model of energy absorption and anti-climbing devices. The vector method dealing with the nonlinear wheel-rail geometry is put forward in the paper. The developed model is applicable in the scope that central collisions occur on tangent tracks at low speeds. The examples of the vehicle impacting with a rigid wall and the train front end collision are carried out to obtain the dynamic responses of vehicles. The overriding issue is studied on the basis of the wheel rise in train collisions. The results show that the second bogie of the first colliding vehicle possesses the maximal wheel rise. The wheel rise increases with the increase of vehicles. However, the number of vehicles has tiny influence on the overriding in train collisions at low speeds. On the contrary, the impact speed has significant influence on the overriding in train collisions. The wheel rise increases rapidly if the impact speed is close to the critical speed of overriding. The large wheel rise is principally generated by the great coupler force related to the rigid impact in the axial direction.

The effect of industrial vehicles on the road’s level of service of industrial area in Malang City

NASA Astrophysics Data System (ADS)

Agustin, I. W.; Sumantri, Y.

2017-06-01

Malang was a great city that has the characteristics of diverse industries and it was spread in each district. Industry was one of the activities that have the characteristics of the movement with the goal of shipping and distribution. The vehicles used are large vehicles such as trucks and trailers. Problems related to the road’s performance that is the emergence of several points of delay and congestion due to the movement and the volume of vehicles as well as the limited capacity of existing roads. It encourages researchers to do research related to the effect of the industrial vehicle movements on the performance of existing roads in the city of Malang. The main purpose of the research is to analyze the effect of industrial vehicles movement on the road’s level of service of industrial area and to find out alternative solutions to improve the road’s level of service of industrial area. The research used multiple linear regression and do something analysis. The results showed that the types of industry in the city of Malang are ILMETTA, IATT, Agrokim, Sentra and Large Industries. Determining the location of the main observation based on the distribution of industry, have a major impact directly on the street, and the class of the national road are located in Sunandar Priyo Sudarmo Street. Existing land use in Sunandar Priyo Sudarmo Street are industrial, healthcare, office and it dominated by trade and services. Related to the variables that affect the movement of industrial vehicles are the number of employees (X3) and the delivery frequency (X6). The road’s level of service of Sunandar Priyo Sudarmo Street are D and E. While the effect of industrial vehicles movement on the road’s level of service which ranged from 13.77 per cent to 22.13 per cent of the total volume of vehicles on the road. Some referrals will be used to handle the problems that the road widening and the selection of alternative routes for the industrial vehicles.

49 CFR Appendix D to Part 213 - Minimally Compliant Analytical Track (MCAT) Simulations Used for Qualifying Vehicles To Operate...

Code of Federal Regulations, 2014 CFR

2014-10-01

... key responses observed during qualification testing. (b) MCAT layout. MCAT consists of nine segments, each designed to test a vehicle's performance in response to a specific type of track perturbation. The basic layout of MCAT is shown in figure 1 of this appendix, by type of track (curving or tangent), class...

49 CFR Appendix D to Part 213 - Minimally Compliant Analytical Track (MCAT) Simulations Used for Qualifying Vehicles To Operate...

Code of Federal Regulations, 2013 CFR

2013-10-01

... key responses observed during qualification testing. (b) MCAT layout. MCAT consists of nine segments, each designed to test a vehicle's performance in response to a specific type of track perturbation. The basic layout of MCAT is shown in figure 1 of this appendix, by type of track (curving or tangent), class...

Supercavitating Projectile Tracking System and Method

DTIC Science & Technology

2009-12-30

Distribution is unlimited 20100104106 Attorney Docket No. 96681 SUPERCAVITATING PROJECTILE TRACKING SYSTEM AND METHOD STATEMENT OF GOVERNMENT...underwater track or path 14 of a supercavitating vehicle under surface 16 of a body of water. In this embodiment, passive acoustic or pressure...transducers 12 are utilized to measure a pressure field produced by a moving supercavitating vehicle. The present invention provides a low-cost, reusable

Impacts of tracked vehicles on sediment from a desert soil

Treesearch

Erek H. Fuchs; Karl M. Wood; Tim L. Jones; Brent Racher

2003-01-01

Off-road military vehicle traffic is a major consideration in the management of military lands. The objective of this study was to determine the impacts of military tracked M1A1 heavy combat tank vehicles on sediment loss from runoff, surface plant cover, and surface microtopography in a desert military training environment. A randomized block design was used which had...

Research Technology

NASA Image and Video Library

2000-01-01

Marshall Space Flight Center’s (MSFC’s) Advanced Space Transportation Program has developed the Magnetic Launch Assist System, formerly known as the Magnetic Levitation (MagLev) technology that could give a space vehicle a running start to break free from Earth’s gravity. A Magnetic Launch Assist system would use magnetic fields to levitate and accelerate a vehicle along a track at speeds up to 600 mph. The vehicle would shift to rocket engines for launch into orbit. Similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway, a Magnetic Launch Assist system would electromagnetically propel a space vehicle along the track. The tabletop experimental track for the system shown in this photograph is 44-feet long, with 22-feet of powered acceleration and 22-feet of passive braking. A 10-pound carrier with permanent magnets on its sides swiftly glides by copper coils, producing a levitation force. The track uses a linear synchronous motor, which means the track is synchronized to turn the coils on just before the carrier comes in contact with them, and off once the carrier passes. Sensors are positioned on the side of the track to determine the carrier’s position so the appropriate drive coils can be energized. MSFC engineers have conducted tests on the indoor track and a 50-foot outdoor track. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Vehicle tracking in wide area motion imagery from an airborne platform

NASA Astrophysics Data System (ADS)

van Eekeren, Adam W. M.; van Huis, Jasper R.; Eendebak, Pieter T.; Baan, Jan

2015-10-01

Airborne platforms, such as UAV's, with Wide Area Motion Imagery (WAMI) sensors can cover multiple square kilometers and produce large amounts of video data. Analyzing all data for information need purposes becomes increasingly labor-intensive for an image analyst. Furthermore, the capacity of the datalink in operational areas may be inadequate to transfer all data to the ground station. Automatic detection and tracking of people and vehicles enables to send only the most relevant footage to the ground station and assists the image analysts in effective data searches. In this paper, we propose a method for detecting and tracking vehicles in high-resolution WAMI images from a moving airborne platform. For the vehicle detection we use a cascaded set of classifiers, using an Adaboost training algorithm on Haar features. This detector works on individual images and therefore does not depend on image motion stabilization. For the vehicle tracking we use a local template matching algorithm. This approach has two advantages. In the first place, it does not depend on image motion stabilization and it counters the inaccuracy of the GPS data that is embedded in the video data. In the second place, it can find matches when the vehicle detector would miss a certain detection. This results in long tracks even when the imagery is of low frame-rate. In order to minimize false detections, we also integrate height information from a 3D reconstruction that is created from the same images. By using the locations of buildings and roads, we are able to filter out false detections and increase the performance of the tracker. In this paper we show that the vehicle tracks can also be used to detect more complex events, such as traffic jams and fast moving vehicles. This enables the image analyst to do a faster and more effective search of the data.

Automated Video-Based Traffic Count Analysis.

DOT National Transportation Integrated Search

2016-01-01

The goal of this effort has been to develop techniques that could be applied to the : detection and tracking of vehicles in overhead footage of intersections. To that end we : have developed and published techniques for vehicle tracking based on dete...

Anomaly detection driven active learning for identifying suspicious tracks and events in WAMI video

NASA Astrophysics Data System (ADS)

Miller, David J.; Natraj, Aditya; Hockenbury, Ryler; Dunn, Katherine; Sheffler, Michael; Sullivan, Kevin

2012-06-01

We describe a comprehensive system for learning to identify suspicious vehicle tracks from wide-area motion (WAMI) video. First, since the road network for the scene of interest is assumed unknown, agglomerative hierarchical clustering is applied to all spatial vehicle measurements, resulting in spatial cells that largely capture individual road segments. Next, for each track, both at the cell (speed, acceleration, azimuth) and track (range, total distance, duration) levels, extreme value feature statistics are both computed and aggregated, to form summary (p-value based) anomaly statistics for each track. Here, to fairly evaluate tracks that travel across different numbers of spatial cells, for each cell-level feature type, a single (most extreme) statistic is chosen, over all cells traveled. Finally, a novel active learning paradigm, applied to a (logistic regression) track classifier, is invoked to learn to distinguish suspicious from merely anomalous tracks, starting from anomaly-ranked track prioritization, with ground-truth labeling by a human operator. This system has been applied to WAMI video data (ARGUS), with the tracks automatically extracted by a system developed in-house at Toyon Research Corporation. Our system gives promising preliminary results in highly ranking as suspicious aerial vehicles, dismounts, and traffic violators, and in learning which features are most indicative of suspicious tracks.

Dynamic vehicle-track interaction in switches and crossings and the influence of rail pad stiffness - field measurements and validation of a simulation model

NASA Astrophysics Data System (ADS)

Pålsson, Björn A.; Nielsen, Jens C. O.

2015-06-01

A model for simulation of dynamic interaction between a railway vehicle and a turnout (switch and crossing, S&C) is validated versus field measurements. In particular, the implementation and accuracy of viscously damped track models with different complexities are assessed. The validation data come from full-scale field measurements of dynamic track stiffness and wheel-rail contact forces in a demonstrator turnout that was installed as part of the INNOTRACK project with funding from the European Union Sixth Framework Programme. Vertical track stiffness at nominal wheel loads, in the frequency range up to 20 Hz, was measured using a rolling stiffness measurement vehicle (RSMV). Vertical and lateral wheel-rail contact forces were measured by an instrumented wheel set mounted in a freight car featuring Y25 bogies. The measurements were performed for traffic in both the through and diverging routes, and in the facing and trailing moves. The full set of test runs was repeated with different types of rail pad to investigate the influence of rail pad stiffness on track stiffness and contact forces. It is concluded that impact loads on the crossing can be reduced by using more resilient rail pads. To allow for vehicle dynamics simulations at low computational cost, the track models are discretised space-variant mass-spring-damper models that are moving with each wheel set of the vehicle model. Acceptable agreement between simulated and measured vertical contact forces at the crossing can be obtained when the standard GENSYS track model is extended with one ballast/subgrade mass under each rail. This model can be tuned to capture the large phase delay in dynamic track stiffness at low frequencies, as measured by the RSMV, while remaining sufficiently resilient at higher frequencies.

Real-time subpixel-accuracy tracking of single mitochondria in neurons reveals heterogeneous mitochondrial motion.

PubMed

Alsina, Adolfo; Lai, Wu Ming; Wong, Wai Kin; Qin, Xianan; Zhang, Min; Park, Hyokeun

2017-11-04

Mitochondria are essential for cellular survival and function. In neurons, mitochondria are transported to various subcellular regions as needed. Thus, defects in the axonal transport of mitochondria are related to the pathogenesis of neurodegenerative diseases, and the movement of mitochondria has been the subject of intense research. However, the inability to accurately track mitochondria with subpixel accuracy has hindered this research. Here, we report an automated method for tracking mitochondria based on the center of fluorescence. This tracking method, which is accurate to approximately one-tenth of a pixel, uses the centroid of an individual mitochondrion and provides information regarding the distance traveled between consecutive imaging frames, instantaneous speed, net distance traveled, and average speed. Importantly, this new tracking method enables researchers to observe both directed motion and undirected movement (i.e., in which the mitochondrion moves randomly within a small region, following a sub-diffusive motion). This method significantly improves our ability to analyze the movement of mitochondria and sheds light on the dynamic features of mitochondrial movement. Copyright © 2017 Elsevier Inc. All rights reserved.

Multi-Object Tracking with Correlation Filter for Autonomous Vehicle.

PubMed

Zhao, Dawei; Fu, Hao; Xiao, Liang; Wu, Tao; Dai, Bin

2018-06-22

Multi-object tracking is a crucial problem for autonomous vehicle. Most state-of-the-art approaches adopt the tracking-by-detection strategy, which is a two-step procedure consisting of the detection module and the tracking module. In this paper, we improve both steps. We improve the detection module by incorporating the temporal information, which is beneficial for detecting small objects. For the tracking module, we propose a novel compressed deep Convolutional Neural Network (CNN) feature based Correlation Filter tracker. By carefully integrating these two modules, the proposed multi-object tracking approach has the ability of re-identification (ReID) once the tracked object gets lost. Extensive experiments were performed on the KITTI and MOT2015 tracking benchmarks. Results indicate that our approach outperforms most state-of-the-art tracking approaches.

Vehicle Surveillance with a Generic, Adaptive, 3D Vehicle Model.

PubMed

Leotta, Matthew J; Mundy, Joseph L

2011-07-01

In automated surveillance, one is often interested in tracking road vehicles, measuring their shape in 3D world space, and determining vehicle classification. To address these tasks simultaneously, an effective approach is the constrained alignment of a prior model of 3D vehicle shape to images. Previous 3D vehicle models are either generic but overly simple or rigid and overly complex. Rigid models represent exactly one vehicle design, so a large collection is needed. A single generic model can deform to a wide variety of shapes, but those shapes have been far too primitive. This paper uses a generic 3D vehicle model that deforms to match a wide variety of passenger vehicles. It is adjustable in complexity between the two extremes. The model is aligned to images by predicting and matching image intensity edges. Novel algorithms are presented for fitting models to multiple still images and simultaneous tracking while estimating shape in video. Experiments compare the proposed model to simple generic models in accuracy and reliability of 3D shape recovery from images and tracking in video. Standard techniques for classification are also used to compare the models. The proposed model outperforms the existing simple models at each task.

Security Applications Of Computer Motion Detection

NASA Astrophysics Data System (ADS)

Bernat, Andrew P.; Nelan, Joseph; Riter, Stephen; Frankel, Harry

1987-05-01

An important area of application of computer vision is the detection of human motion in security systems. This paper describes the development of a computer vision system which can detect and track human movement across the international border between the United States and Mexico. Because of the wide range of environmental conditions, this application represents a stringent test of computer vision algorithms for motion detection and object identification. The desired output of this vision system is accurate, real-time locations for individual aliens and accurate statistical data as to the frequency of illegal border crossings. Because most detection and tracking routines assume rigid body motion, which is not characteristic of humans, new algorithms capable of reliable operation in our application are required. Furthermore, most current detection and tracking algorithms assume a uniform background against which motion is viewed - the urban environment along the US-Mexican border is anything but uniform. The system works in three stages: motion detection, object tracking and object identi-fication. We have implemented motion detection using simple frame differencing, maximum likelihood estimation, mean and median tests and are evaluating them for accuracy and computational efficiency. Due to the complex nature of the urban environment (background and foreground objects consisting of buildings, vegetation, vehicles, wind-blown debris, animals, etc.), motion detection alone is not sufficiently accurate. Object tracking and identification are handled by an expert system which takes shape, location and trajectory information as input and determines if the moving object is indeed representative of an illegal border crossing.

Are signalized intersections with cycle tracks safer? A case-control study based on automated surrogate safety analysis using video data.

PubMed

Zangenehpour, Sohail; Strauss, Jillian; Miranda-Moreno, Luis F; Saunier, Nicolas

2016-01-01

Cities in North America have been building bicycle infrastructure, in particular cycle tracks, with the intention of promoting urban cycling and improving cyclist safety. These facilities have been built and expanded but very little research has been done to investigate the safety impacts of cycle tracks, in particular at intersections, where cyclists interact with turning motor-vehicles. Some safety research has looked at injury data and most have reached the conclusion that cycle tracks have positive effects of cyclist safety. The objective of this work is to investigate the safety effects of cycle tracks at signalized intersections using a case-control study. For this purpose, a video-based method is proposed for analyzing the post-encroachment time as a surrogate measure of the severity of the interactions between cyclists and turning vehicles travelling in the same direction. Using the city of Montreal as the case study, a sample of intersections with and without cycle tracks on the right and left sides of the road were carefully selected accounting for intersection geometry and traffic volumes. More than 90h of video were collected from 23 intersections and processed to obtain cyclist and motor-vehicle trajectories and interactions. After cyclist and motor-vehicle interactions were defined, ordered logit models with random effects were developed to evaluate the safety effects of cycle tracks at intersections. Based on the extracted data from the recorded videos, it was found that intersection approaches with cycle tracks on the right are safer than intersection approaches with no cycle track. However, intersections with cycle tracks on the left compared to no cycle tracks seem to be significantly safer. Results also identify that the likelihood of a cyclist being involved in a dangerous interaction increases with increasing turning vehicle flow and decreases as the size of the cyclist group arriving at the intersection increases. The results highlight the important role of cycle tracks and the factors that increase or decrease cyclist safety. Results need however to be confirmed using longer periods of video data. Copyright © 2015 Elsevier Ltd. All rights reserved.

Lane changing trajectory planning and tracking control for intelligent vehicle on curved road.

PubMed

Wang, Lukun; Zhao, Xiaoying; Su, Hao; Tang, Gongyou

2016-01-01

This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.

A Hierarchical Model Predictive Tracking Control for Independent Four-Wheel Driving/Steering Vehicles with Coaxial Steering Mechanism

NASA Astrophysics Data System (ADS)

Itoh, Masato; Hagimori, Yuki; Nonaka, Kenichiro; Sekiguchi, Kazuma

2016-09-01

In this study, we apply a hierarchical model predictive control to omni-directional mobile vehicle, and improve the tracking performance. We deal with an independent four-wheel driving/steering vehicle (IFWDS) equipped with four coaxial steering mechanisms (CSM). The coaxial steering mechanism is a special one composed of two steering joints on the same axis. In our previous study with respect to IFWDS with ideal steering, we proposed a model predictive tracking control. However, this method did not consider constraints of the coaxial steering mechanism which causes delay of steering. We also proposed a model predictive steering control considering constraints of this mechanism. In this study, we propose a hierarchical system combining above two control methods for IFWDS. An upper controller, which deals with vehicle kinematics, runs a model predictive tracking control, and a lower controller, which considers constraints of coaxial steering mechanism, runs a model predictive steering control which tracks the predicted steering angle optimized an upper controller. We verify the superiority of this method by comparing this method with the previous method.

Flow detection via sparse frame analysis for suspicious event recognition in infrared imagery

NASA Astrophysics Data System (ADS)

Fernandes, Henrique C.; Batista, Marcos A.; Barcelos, Celia A. Z.; Maldague, Xavier P. V.

2013-05-01

It is becoming increasingly evident that intelligent systems are very bene¯cial for society and that the further development of such systems is necessary to continue to improve society's quality of life. One area that has drawn the attention of recent research is the development of automatic surveillance systems. In our work we outline a system capable of monitoring an uncontrolled area (an outside parking lot) using infrared imagery and recognizing suspicious events in this area. The ¯rst step is to identify moving objects and segment them from the scene's background. Our approach is based on a dynamic background-subtraction technique which robustly adapts detection to illumination changes. It is analyzed only regions where movement is occurring, ignoring in°uence of pixels from regions where there is no movement, to segment moving objects. Regions where movement is occurring are identi¯ed using °ow detection via sparse frame analysis. During the tracking process the objects are classi¯ed into two categories: Persons and Vehicles, based on features such as size and velocity. The last step is to recognize suspicious events that may occur in the scene. Since the objects are correctly segmented and classi¯ed it is possible to identify those events using features such as velocity and time spent motionless in one spot. In this paper we recognize the suspicious event suspicion of object(s) theft from inside a parked vehicle at spot X by a person" and results show that the use of °ow detection increases the recognition of this suspicious event from 78:57% to 92:85%.

Magnetic Launch Assist Experimental Track

NASA Technical Reports Server (NTRS)

1999-01-01

In this photograph, a futuristic spacecraft model sits atop a carrier on the Magnetic Launch Assist System, formerly known as the Magnetic Levitation (MagLev) System, experimental track at the Marshall Space Flight Center (MSFC). Engineers at MSFC have developed and tested Magnetic Launch Assist technologies that would use magnetic fields to levitate and accelerate a vehicle along a track at very high speeds. Similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway, a Magnetic Launch Assist system would electromagnetically drive a space vehicle along the track. A full-scale, operational track would be about 1.5-miles long and capable of accelerating a vehicle to 600 mph in 9.5 seconds. This track is an advanced linear induction motor. Induction motors are common in fans, power drills, and sewing machines. Instead of spinning in a circular motion to turn a shaft or gears, a linear induction motor produces thrust in a straight line. Mounted on concrete pedestals, the track is 100-feet long, about 2-feet wide, and about 1.5-feet high. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Materials Test Program, Contact Power Collection for High Speed Tracked Vehicles

DOT National Transportation Integrated Search

1971-01-01

A test program is defined for determining the failure modes and wear characteristics for brushes used to collect electrical power from the wayside for high speed tracked vehicles. Simulation of running conditions and the necessary instrumentation for...

Human image tracking technique applied to remote collaborative environments

NASA Astrophysics Data System (ADS)

Nagashima, Yoshio; Suzuki, Gen

1993-10-01

To support various kinds of collaborations over long distances by using visual telecommunication, it is necessary to transmit visual information related to the participants and topical materials. When people collaborate in the same workspace, they use visual cues such as facial expressions and eye movement. The realization of coexistence in a collaborative workspace requires the support of these visual cues. Therefore, it is important that the facial images be large enough to be useful. During collaborations, especially dynamic collaborative activities such as equipment operation or lectures, the participants often move within the workspace. When the people move frequently or over a wide area, the necessity for automatic human tracking increases. Using the movement area of the human being or the resolution of the extracted area, we have developed a memory tracking method and a camera tracking method for automatic human tracking. Experimental results using a real-time tracking system show that the extracted area fairly moves according to the movement of the human head.

Developing and Integrating Advanced Movement Features Improves Automated Classification of Ciliate Species

PubMed Central

Soleymani, Ali; Pennekamp, Frank; Petchey, Owen L.; Weibel, Robert

2015-01-01

Recent advances in tracking technologies such as GPS or video tracking systems describe the movement paths of individuals in unprecedented details and are increasingly used in different fields, including ecology. However, extracting information from raw movement data requires advanced analysis techniques, for instance to infer behaviors expressed during a certain period of the recorded trajectory, or gender or species identity in case data is obtained from remote tracking. In this paper, we address how different movement features affect the ability to automatically classify the species identity, using a dataset of unicellular microbes (i.e., ciliates). Previously, morphological attributes and simple movement metrics, such as speed, were used for classifying ciliate species. Here, we demonstrate that adding advanced movement features, in particular such based on discrete wavelet transform, to morphological features can improve classification. These results may have practical applications in automated monitoring of waste water facilities as well as environmental monitoring of aquatic systems. PMID:26680591

Kinematics and Shoulder Belt Position of Child Rear Seat Passengers during Vehicle Maneuvers

PubMed Central

Bohman, Katarina; Stockman, Isabelle; Jakobsson, Lotta; Osvalder, Anna-Lisa; Bostrom, Ola; Arbogast, Kristy B.

2011-01-01

Head impact to the seat back has been identified as one important injury causation scenario for seat belt restrained, head-injured children and previous research highlighted vehicle maneuvers prior to impact as possible contributing factors. The aim was to quantify kinematics of child occupants during swerving maneuvers focusing on the child’s lateral movement and seat belt position relative to the child’s shoulder. A study was conducted on a closed-circuit test track with 16 children aged 4–12, restrained in the rear seat of a modern passenger vehicle. A professional driving instructor drove at 50 km/h making sharp turns in a repeatable fashion, resulting in inboard motion of the children. The children were exposed to two turns in each of two restraint systems. Shorter children were on a booster or highback booster cushion. The taller children were seated on a booster cushion or with only a lap and shoulder seat belt. Four film cameras were fixed in the vehicle monitoring the child. Vehicle data were also collected. The seat belt slipped off the shoulder in 1 of 5 turns, varying by age and restraint type. Among shorter children, the belt slipped off in a majority of turns when seated on a booster cushion while the belt remained on the shoulder when seated on the highback booster cushion. Among taller children, the shoulder belt moved far laterally on the shoulder in half of the turns. This data provides valuable knowledge on possible pre-impact postures of children as a result of vehicle swerving maneuvers for a variety of restraint systems. PMID:22105379

Choice of tracks, microtubules and/or actin filaments for chloroplast photo-movement is differentially controlled by phytochrome and a blue light receptor.

PubMed

Sato, Y; Wada, M; Kadota, A

2001-01-01

Light induced chloroplast movement has been studied as a model system for photoreception and actin microfilament (MF)-based intracellular motilities in plants. Chloroplast photo-accumulation and -avoidance movement is mediated by phytochrome as well as blue light (BL) receptor in the moss Physcomitrella patens. Here we report the discovery of an involvement of a microtubule (MT)-based system in addition to an MF-based system in photorelocation of chloroplasts in this moss. In the dark, MTs provided tracks for rapid movement of chloroplasts in a longitudinal direction and MFs contributed the tracks for slow movement in any direction. We found that phytochrome responses utilized only the MT-based system, while BL responses had an alternative way of moving, either along MTs or MFs. MT-based systems were mediated by both photoreceptors, but chloroplasts showed movements with different velocity and pattern between them. No apparent difference in the behavior of chloroplast movement between the accumulation and avoidance movement was detected in phytochrome responses or BL responses, except for the direction of the movement. The results presented here demonstrate that chloroplasts use both MTs and MFs for motility and that phytochrome and a BL receptor control directional photo-movement of chloroplasts through the differential regulation of these motile systems.

Identifying Anxiety Through Tracked Head Movements in a Virtual Classroom.

PubMed

Won, Andrea Stevenson; Perone, Brian; Friend, Michelle; Bailenson, Jeremy N

2016-06-01

Virtual reality allows the controlled simulation of complex social settings, such as classrooms, and thus provides an opportunity to test a range of theories in the social sciences in a way that is both naturalistic and controlled. Importantly, virtual environments also allow the body movements of participants in the virtual world to be tracked and recorded. In the following article, we discuss how tracked head movements were correlated with participants' reports of anxiety in a simulation of a classroom. Participants who reported a high sense of awareness of and concern about the other virtual people in the room showed different patterns of head movement (more lateral head movement, indicating scanning behavior) from those who reported a low level of concern. We discuss the implications of this research for understanding nonverbal behavior associated with anxiety and for the design of online educational systems.

Magnetic eye tracking in mice

PubMed Central

Payne, Hannah L

2017-01-01

Eye movements provide insights about a wide range of brain functions, from sensorimotor integration to cognition; hence, the measurement of eye movements is an important tool in neuroscience research. We describe a method, based on magnetic sensing, for measuring eye movements in head-fixed and freely moving mice. A small magnet was surgically implanted on the eye, and changes in the magnet angle as the eye rotated were detected by a magnetic field sensor. Systematic testing demonstrated high resolution measurements of eye position of <0.1°. Magnetic eye tracking offers several advantages over the well-established eye coil and video-oculography methods. Most notably, it provides the first method for reliable, high-resolution measurement of eye movements in freely moving mice, revealing increased eye movements and altered binocular coordination compared to head-fixed mice. Overall, magnetic eye tracking provides a lightweight, inexpensive, easily implemented, and high-resolution method suitable for a wide range of applications. PMID:28872455

Convolutional networks for vehicle track segmentation

NASA Astrophysics Data System (ADS)

Quach, Tu-Thach

2017-10-01

Existing methods to detect vehicle tracks in coherent change detection images, a product of combining two synthetic aperture radar images taken at different times of the same scene, rely on simple and fast models to label track pixels. These models, however, are unable to capture natural track features, such as continuity and parallelism. More powerful but computationally expensive models can be used in offline settings. We present an approach that uses dilated convolutional networks consisting of a series of 3×3 convolutions to segment vehicle tracks. The design of our networks considers the fact that remote sensing applications tend to operate in low power and have limited training data. As a result, we aim for small and efficient networks that can be trained end-to-end to learn natural track features entirely from limited training data. We demonstrate that our six-layer network, trained on just 90 images, is computationally efficient and improves the F-score on a standard dataset to 0.992, up from 0.959 obtained by the current state-of-the-art method.

LPV H-infinity Control for the Longitudinal Dynamics of a Flexible Air-Breathing Hypersonic Vehicle

NASA Astrophysics Data System (ADS)

Hughes, Hunter Douglas

This dissertation establishes the method needed to synthesize and simulate an Hinfinity Linear Parameter-Varying (LPV) controller for a flexible air-breathing hypersonic vehicle model. A study was conducted to gain the understanding of the elastic effects on the open loop system. It was determined that three modes of vibration would be suitable for the hypersonic vehicle model. It was also discovered from the open loop study that there is strong coupling in the hypersonic vehicle states, especially between the angle of attack, pitch rate, pitch attitude, and the exible modes of the vehicle. This dissertation outlines the procedure for synthesizing a full state feedback Hinfinity LPV controller for the hypersonic vehicle. The full state feedback study looked at both velocity and altitude tracking for the exible vehicle. A parametric study was conducted on each of these controllers to see the effects of changing the number of gridding points in the parameter space and changing the parameter variation rate limits in the system on the robust performance of the controller. As a result of the parametric study, a 7 x 7 grid ranging from Mach 7 to Mach 9 in velocity and from 70,000 feet to 90,000 feet in altitude, and a parameter variation rate limit of [.5 200]T was used for both the velocity tracking and altitude tracking cases. The resulting Hinfinity robust performances were gamma = 2.2224 for the velocity tracking case and = 1:7582 for the altitude tracking case. A linear analysis was then conducted on five different selected trim points from the Hinfinity LPV controller. This was conducted for the velocity tracking and altitude tracking cases. The results of linear analysis show that there is a slight difference in the response of the Hinfinity LPV controller and the fixed point H infinity controller. For the tracking task, the Hinfinity controller responds more quickly, and has a lower Hinfinity performance value. Next, the H infinity LPV controller was simulated using the nonlinear flexible hypersonic model for both the velocity tracking and altitude tracking cases. Both of these cases were subject to a ramp input and a multi-step input both with and without perturbation in the model. The results of the simulation show that the tracking state follows the command signal successfully though the perturbed system does show some higher frequency characteristics in the non-tracking states. It was discovered that there is an issue with integral windup when switching takes place in the controller, so an algorithm was implemented to reset the integration of the error on the tracking state when the switch takes place. It was also seen that there was a decline in altitude when tracking velocity, and a large change in velocity that occurred during altitude tracking. These results lead to the decision to include a unity gain regulation state on velocity for the altitude tracking and the altitude for the velocity tracking during the output feedback control synthesis. The procedure for synthesizing an output feedback H infinity LPV controller for the hypersonic vehicle is also discussed in this dissertation. The output feedback design looked at velocity tracking and altitude tracking with rigid body motion variables for both the exible and rigid body hypersonic vehicle models. As with the full state feedback controller, a parametric study was conducted on each of these controllers to determine the number of gridding points in the parameter space and the parameter variation rate limits in the system. The parametric study reveals a 7x7 grid ranging from Mach 7 to Mach 9 in velocity and from 70,000 feet to 90,000 feet in altitude, and a parameter variation rate limit of [.1 200]T is preferable for both the velocity tracking and altitude tracking cases with both the exible and rigid body assumptions. The resulting Hinfinity robust performances were gamma = 113:2146 for the exible body velocity tracking case, gamma = 83.6931 for the rigid body velocity tracking case, gamma = 107:2043 for the exible body altitude tracking case, and gamma = 97:7403 for the rigid body altitude tracking case. A linear analysis was then conducted on five different selected trim points from the Hinfinity LPV controller. The results of this analysis show that there is a larger difference in the response of the Hinfinity LPV controller and the Hinfinity controller. For the tracking task, the Hinfinity controller responds more quickly, and has a lower Hinfinity performance value. Next, the Hinfinity LPV controller was applied to the exible nonlinear plant model. The rigid body controllers were applied to the exible plant model to see if the exible nature of the vehicle could be treated as a perturbation to the system. Additionally, there were simulations run both with and without sensor noise and parametric uncertainty. The results of simulation show that the rigid body controller is able to successfully apply to the exible body model for the velocity tracking case, but is unable to stabilize the altitude tracking case. It was also seen that the system is able to track the command signal while minimizing the variations seen in the altitude for the velocity tracking case and in the velocity during the altitude tracking case. Additionally, there was no obvious effect of perturbations in the system on the tracking state or secondary regulation state. There were high frequency responses associated with the other perturbed states.

Vehicle Tracking for an Evasive Manoeuvres Assistant Using Low-Cost Ultrasonic Sensors

PubMed Central

Jiménez, Felipe; Naranjo, José E.; Gómez, Oscar; Anaya, José J.

2014-01-01

Many driver assistance systems require knowledge of the vehicle environment. As these systems are increasing in complexity and performance, this knowledge of the environment needs to be more complete and reliable, so sensor fusion combining long, medium and short range sensors is now being used. This paper analyzes the feasibility of using ultrasonic sensors for low cost vehicle-positioning and tracking in the lane adjacent to the host vehicle in order to identify free areas around the vehicle and provide information to an automatic avoidance collision system that can perform autonomous braking and lane change manoeuvres. A laser scanner is used for the early detection of obstacles in the direction of travel while two ultrasonic sensors monitor the blind spot of the host vehicle. The results of tests on a test track demonstrate the ability of these sensors to accurately determine the kinematic variables of the obstacles encountered, despite a clear limitation in range. PMID:25460817

Engineering Cost Analysis of the Urban-Tracked Air Cushion Vehicle System

DOT National Transportation Integrated Search

1972-01-01

The Urban Tracked Air Cushion Vehicle (UTACV) is presently being developed as a means of improving urban transportation. This report covers the development of a cost analysis conducted for the UTACV. The report covers the development of a computer pr...

Experimental Investigation of Aerodynamic Characteristics of a Tracked Ram Air Cushion Vehicle

DOT National Transportation Integrated Search

1978-01-01

The results of an experimental and theoretical investigation of the longitudinal aerodynamic characteristics of a tracked ram air cushion vehicle are presented. Experiments have been conducted both in a wind tunnel with a model and section of guidewa...

Dynamic Test Program, Contact Power Collection for High Speed Tracked Vehicles

DOT National Transportation Integrated Search

1973-01-01

A laboratory test program is defined for determining the dynamic characteristics of a contact power collection system for a high speed tracked vehicle. The use of a hybrid computer is conjuntion with hydraulic exciters to simulate the expected dynami...

Inorganic optical taggant and method of making

DOEpatents

Lauf, Robert J.; Anderson, Kimberly K.; Montgomery, Frederick C.

2005-05-31

Sintered, translucent ceramic microbeads, preferably alumina, titania, zirconia, yttria, zirconium phosphate, or yttrium aluminum garnet (YAG) are doped with one or more optically active species. The beads may be added to substances such as explosives in order to create a distinctive optical signature that identifies a manufacturer, lot number, etc. in the event of the need for forensic analysis. Because the beads have a generally spherical surface, the radius of curvature provides an additional distinguishing characteristic by which a particular sample may be identified. The beads could also be formulated into paints if needed to create distinctive optical signatures for camouflage, decoys, or other countermeasures and could also be applied as a dust to track the movement of personnel, vehicles, etc.

Study of Movement and Seepage Along Levees Using DINSAR and the Airborne UAVSAR Instrument

NASA Technical Reports Server (NTRS)

Jones, Cathleen E.; Bawden, Gerald; Deverel, Steven; Dudas, Joel; Hensley, Scott

2012-01-01

We have studied the utility of high resolution SAR (synthetic aperture radar) for levee monitoring using UAVSAR (Uninhabited Aerial Vehicle Synthetic Aperture Radar) data collected along the dikes and levees in California's Sacramento-San Joaquin Delta and along the lower Mississippi River. Our study has focused on detecting and tracking changes that are indicative of potential problem spots, namely deformation of the levees, subsidence along the levee toe, and seepage through the levees, making use of polarimetric and interferometric SAR techniques. Here was present some results of those studies, which show that high resolution, low noise SAR imaging could supplement more traditional ground-based monitoring methods by providing early indicators of seepage and deformation.

Vehicle Detection with Occlusion Handling, Tracking, and OC-SVM Classification: A High Performance Vision-Based System

PubMed Central

Velazquez-Pupo, Roxana; Sierra-Romero, Alberto; Torres-Roman, Deni; Shkvarko, Yuriy V.; Romero-Delgado, Misael

2018-01-01

This paper presents a high performance vision-based system with a single static camera for traffic surveillance, for moving vehicle detection with occlusion handling, tracking, counting, and One Class Support Vector Machine (OC-SVM) classification. In this approach, moving objects are first segmented from the background using the adaptive Gaussian Mixture Model (GMM). After that, several geometric features are extracted, such as vehicle area, height, width, centroid, and bounding box. As occlusion is present, an algorithm was implemented to reduce it. The tracking is performed with adaptive Kalman filter. Finally, the selected geometric features: estimated area, height, and width are used by different classifiers in order to sort vehicles into three classes: small, midsize, and large. Extensive experimental results in eight real traffic videos with more than 4000 ground truth vehicles have shown that the improved system can run in real time under an occlusion index of 0.312 and classify vehicles with a global detection rate or recall, precision, and F-measure of up to 98.190%, and an F-measure of up to 99.051% for midsize vehicles. PMID:29382078

Magnetic Launch Assist Vehicle-Artist's Concept

NASA Technical Reports Server (NTRS)

1999-01-01

This artist's concept depicts a Magnetic Launch Assist vehicle clearing the track and shifting to rocket engines for launch into orbit. The system, formerly referred as the Magnetic Levitation (MagLev) system, is a launch system developed and tested by Engineers at the Marshall Space Flight Center (MSFC) that could levitate and accelerate a launch vehicle along a track at high speeds before it leaves the ground. Using an off-board electric energy source and magnetic fields, a Magnetic Launch Assist system would drive a spacecraft along a horizontal track until it reaches desired speeds. The system is similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway. A full-scale, operational track would be about 1.5-miles long, capable of accelerating a vehicle to 600 mph in 9.5 seconds, and the vehicle would then shift to rocket engines for launch into orbit. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Perception of Object-Context Relations: Eye-Movement Analyses in Infants and Adults

PubMed Central

Bornstein, Marc H.; Mash, Clay; Arterberry, Martha E.

2011-01-01

Twenty-eight 4-month-olds’ and 22 20-year-olds’ attention to object-context relations was investigated using a common eye-movement paradigm. Infants and adults scanned both objects and contexts. Infants showed equivalent preferences for animals and vehicles and for congruent and incongruent object-context relations overall, more fixations of objects in congruent object-context relations, more fixations of contexts in incongruent object-context relations, more fixations of objects than contexts in vehicle scenes, and more fixation shifts in incongruent than congruent vehicle scenes. Adults showed more fixations of congruent than incongruent scenes, vehicles than animals, and objects than contexts, equal fixations of animals and their contexts but more fixations of vehicles than their contexts, and more shifts of fixation when inspecting animals in context than vehicles in context. These findings for location, number, and order of eye movements indicate that object-context relations play a dynamic role in the development and allocation of attention. PMID:21244146

Magnetic Launch Assist Demonstration Test

NASA Technical Reports Server (NTRS)

2001-01-01

This image shows a 1/9 subscale model vehicle clearing the Magnetic Launch Assist System, formerly referred to as the Magnetic Levitation (MagLev), test track during a demonstration test conducted at the Marshall Space Flight Center (MSFC). Engineers at MSFC have developed and tested Magnetic Launch Assist technologies. To launch spacecraft into orbit, a Magnetic Launch Assist System would use magnetic fields to levitate and accelerate a vehicle along a track at very high speeds. Similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway, a launch-assist system would electromagnetically drive a space vehicle along the track. A full-scale, operational track would be about 1.5-miles long and capable of accelerating a vehicle to 600 mph in 9.5 seconds. This track is an advanced linear induction motor. Induction motors are common in fans, power drills, and sewing machines. Instead of spinning in a circular motion to turn a shaft or gears, a linear induction motor produces thrust in a straight line. Mounted on concrete pedestals, the track is 100-feet long, about 2-feet wide and about 1.5-feet high. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Research Technology

NASA Image and Video Library

2001-03-01

This image shows a 1/9 subscale model vehicle clearing the Magnetic Launch Assist System, formerly referred to as the Magnetic Levitation (MagLev), test track during a demonstration test conducted at the Marshall Space Flight Center (MSFC). Engineers at MSFC have developed and tested Magnetic Launch Assist technologies. To launch spacecraft into orbit, a Magnetic Launch Assist System would use magnetic fields to levitate and accelerate a vehicle along a track at very high speeds. Similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway, a launch-assist system would electromagnetically drive a space vehicle along the track. A full-scale, operational track would be about 1.5-miles long and capable of accelerating a vehicle to 600 mph in 9.5 seconds. This track is an advanced linear induction motor. Induction motors are common in fans, power drills, and sewing machines. Instead of spinning in a circular motion to turn a shaft or gears, a linear induction motor produces thrust in a straight line. Mounted on concrete pedestals, the track is 100-feet long, about 2-feet wide and about 1.5-feet high. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Environmental drivers of variability in the movement ecology of turkey vultures (Cathartes aura) in North and South America.

PubMed

Dodge, Somayeh; Bohrer, Gil; Bildstein, Keith; Davidson, Sarah C; Weinzierl, Rolf; Bechard, Marc J; Barber, David; Kays, Roland; Brandes, David; Han, Jiawei; Wikelski, Martin

2014-01-01

Variation is key to the adaptability of species and their ability to survive changes to the Earth's climate and habitats. Plasticity in movement strategies allows a species to better track spatial dynamics of habitat quality. We describe the mechanisms that shape the movement of a long-distance migrant bird (turkey vulture, Cathartes aura) across two continents using satellite tracking coupled with remote-sensing science. Using nearly 10 years of data from 24 satellite-tracked vultures in four distinct populations, we describe an enormous amount of variation in their movement patterns. We related vulture movement to environmental conditions and found important correlations explaining how far they need to move to find food (indexed by the Normalized Difference Vegetation Index) and how fast they can move based on the prevalence of thermals and temperature. We conclude that the extensive variability in the movement ecology of turkey vultures, facilitated by their energetically efficient thermal soaring, suggests that this species is likely to do well across periods of modest climate change. The large scale and sample sizes needed for such analysis in a widespread migrant emphasizes the need for integrated and collaborative efforts to obtain tracking data and for policies, tools and open datasets to encourage such collaborations and data sharing.

A Case History of Tracking Water Movement Through Fracture Systems in the Barnett Shale, March 10-11, 2011

EPA Pesticide Factsheets

Technical Presentation Session 6: Monitoring slides to presentation by Denbury on tracking water movement through fracture systems in the Barnett shale. This includes information on micro-seismic well evaluation, well plans, and a fracture map.

Sonic boom measurement test plan for Space Shuttle STS-3 reentry

NASA Technical Reports Server (NTRS)

Henderson, H. R.

1982-01-01

The lateral area from the reentry ground track affected by sonic boom overpressure levels is determined. Four data acquisition stations are deployed laterally to the STS-3 reentry flight track. These stations provide six intermediate band FM channels of sonic boom data, universal time synchronization, and voice annotation. All measurements are correlated with the vehicle reentry flight track information along with atmospheric and vehicle operation conditions.

Space vehicle approach velocity judgments under simulated visual space conditions

NASA Technical Reports Server (NTRS)

Haines, R. F.

1989-01-01

There were 35 volunteers who responded when they first perceived an increase in apparent size of a collimated, two-dimensional perspective image of an Orbiter vehicle. The variables of interest included the presence (or absence) of a fixed reticle within the field of view (FOV), background starfield velocity, initial range to the vehicle and vehicle closure velocity. It was found that: 1) increasing vehicle approach velocity yielded a very small (but significant) effect of faster detection of vehicle movement, nevertheless, response variability was relatively large; 2) including the fixed reticle in the FOV produced significantly slower detection of vehicle radial movement, however this occurred only at the largest range and the magnitude of the effect was only about 15% of the one sigma value; and 3) increasing background star velocity during this judgment led to slower detection of vehicle movement. While statistically significant, this effect was small and occurred primarily at the largest range. A possible explanation for the last two findings is that other static and dynamic objects within the visual field may compete for available attention which otherwise would be available for judging image expansion; thus, the target's retinal image has to expand more than otherwise for its movement to be detected. This study also showed that the Proximity Operations Research Mockup at NASA/Ames can be used effectively to investigate a variety of visual judgment questions related to future space operations. These findings are discussed in relation to previous research and possible underlying mechanisms.

On use of characteristic wavelengths of track irregularities to predict track portions with deteriorated wheel/rail forces

NASA Astrophysics Data System (ADS)

Xu, Lei; Zhai, Wanming; Chen, Zhaowei

2018-05-01

The dynamic performance of the railway vehicles and the guiding tracks is mainly governed by the wheel-rail interactions, particularly in cases of track irregularities. In this work, a united model was developed to investigate the track portions subject to violent wheel/rail forces triggered by track irregularities at middle-low frequencies. In the modeling procedures, a time-frequency unification method combining wavelet transform and Wigner-Ville distribution for characterizing time-frequency characteristics of track irregularities and a three-dimensional nonlinear model for describing vehicle-track interaction signatures were developed and coupled, based on which the method for predicting track portions subject to deteriorated wheel/rail forces was proposed. The theoretical models developed in this paper were comprehensively validated by numerical investigations. The significance of this present study mainly lies on offering a new path to establish correlation and realize mutual prediction between track irregularity and railway system dynamics.

Large scale track analysis for wide area motion imagery surveillance

NASA Astrophysics Data System (ADS)

van Leeuwen, C. J.; van Huis, J. R.; Baan, J.

2016-10-01

Wide Area Motion Imagery (WAMI) enables image based surveillance of areas that can cover multiple square kilometers. Interpreting and analyzing information from such sources, becomes increasingly time consuming as more data is added from newly developed methods for information extraction. Captured from a moving Unmanned Aerial Vehicle (UAV), the high-resolution images allow detection and tracking of moving vehicles, but this is a highly challenging task. By using a chain of computer vision detectors and machine learning techniques, we are capable of producing high quality track information of more than 40 thousand vehicles per five minutes. When faced with such a vast number of vehicular tracks, it is useful for analysts to be able to quickly query information based on region of interest, color, maneuvers or other high-level types of information, to gain insight and find relevant activities in the flood of information. In this paper we propose a set of tools, combined in a graphical user interface, which allows data analysts to survey vehicles in a large observed area. In order to retrieve (parts of) images from the high-resolution data, we developed a multi-scale tile-based video file format that allows to quickly obtain only a part, or a sub-sampling of the original high resolution image. By storing tiles of a still image according to a predefined order, we can quickly retrieve a particular region of the image at any relevant scale, by skipping to the correct frames and reconstructing the image. Location based queries allow a user to select tracks around a particular region of interest such as landmark, building or street. By using an integrated search engine, users can quickly select tracks that are in the vicinity of locations of interest. Another time-reducing method when searching for a particular vehicle, is to filter on color or color intensity. Automatic maneuver detection adds information to the tracks that can be used to find vehicles based on their behavior.

Simulation of dynamic vehicle-track interaction on small radius curves

NASA Astrophysics Data System (ADS)

Torstensson, Peter T.; Nielsen, Jens C. O.

2011-11-01

A time-domain method for the simulation of general three-dimensional dynamic interaction between a vehicle and a curved railway track, accounting for a prescribed relative wheel-rail displacement excitation in a wide frequency range (up to several hundred Hz), is presented. The simulation model is able to capture the low-frequency vehicle dynamics simultaneously due to curving and the high-frequency track dynamics due to the excitation by, for example, the short-pitch corrugation on the low rail. The adopted multibody dynamics formulation considers inertia forces, such as centrifugal and Coriolis forces, as well as the structural flexibility of vehicle and track components. To represent a wheel/rail surface irregularity, isoparametric two-dimensional elements able to describe generally curved surface shapes are used. The computational effort is reduced by including only one bogie in the vehicle model. The influence of the low-frequency vehicle dynamics of the remaining parts of the vehicle is considered by pre-calculated look-up tables of forces and moments acting in the secondary suspension. For a track model taken as rigid, good agreement is observed between the results calculated with the presented model and a commercial software. The features of the model are demonstrated by a number of numerical examples. The influence of the structural flexibility of the wheelset and track on wheel-rail contact forces is investigated. For a discrete rail irregularity excitation, it is shown that the longitudinal creep force is significantly influenced by the wheelset eigenmodes. The introduction of a velocity-dependent friction law is found to induce an oscillation in the tangential contact force on the low rail with a frequency corresponding to the first anti-symmetric torsional mode of the wheelset. Further, under the application of driving moments on the two wheelsets and excitation by a discrete irregularity on the high rail, the frequency content of the tangential contact forces on the low rail is significantly influenced by the P2 resonance as well as by several wheelset eigenmodes.

Utility of optical facial feature and arm movement tracking systems to enable text communication in critically ill patients who cannot otherwise communicate.

PubMed

Muthuswamy, M B; Thomas, B N; Williams, D; Dingley, J

2014-09-01

Patients recovering from critical illness especially those with critical illness related neuropathy, myopathy, or burns to face, arms and hands are often unable to communicate by writing, speech (due to tracheostomy) or lip reading. This may frustrate both patient and staff. Two low cost movement tracking systems based around a laptop webcam and a laser/optical gaming system sensor were utilised as control inputs for on-screen text creation software and both were evaluated as communication tools in volunteers. Two methods were used to control an on-screen cursor to create short sentences via an on-screen keyboard: (i) webcam-based facial feature tracking, (ii) arm movement tracking by laser/camera gaming sensor and modified software. 16 volunteers with simulated tracheostomy and bandaged arms to simulate communication via gross movements of a burned limb, communicated 3 standard messages using each system (total 48 per system) in random sequence. Ten and 13 minor typographical errors occurred with each system respectively, however all messages were comprehensible. Speed of sentence formation ranged from 58 to 120s with the facial feature tracking system, and 60-160s with the arm movement tracking system. The average speed of sentence formation was 81s (range 58-120) and 104s (range 60-160) for facial feature and arm tracking systems respectively, (P<0.001, 2-tailed independent sample t-test). Both devices may be potentially useful communication aids in patients in general and burns critical care units who cannot communicate by conventional means, due to the nature of their injuries. Copyright © 2014 Elsevier Ltd and ISBI. All rights reserved.

Tracking a convoy of multiple targets using acoustic sensor data

NASA Astrophysics Data System (ADS)

Damarla, T. R.

2003-08-01

In this paper we present an algorithm to track a convoy of several targets in a scene using acoustic sensor array data. The tracking algorithm is based on template of the direction of arrival (DOA) angles for the leading target. Often the first target is the closest target to the sensor array and hence the loudest with good signal to noise ratio. Several steps were used to generate a template of the DOA angle for the leading target, namely, (a) the angle at the present instant should be close to the angle at the previous instant and (b) the angle at the present instant should be within error bounds of the predicted value based on the previous values. Once the template of the DOA angles of the leading target is developed, it is used to predict the DOA angle tracks of the remaining targets. In order to generate the tracks for the remaining targets, a track is established if the angles correspond to the initial track values of the first target. Second the time delay between the first track and the remaining tracks are estimated at the highest correlation points between the first track and the remaining tracks. As the vehicles move at different speeds the tracks either compress or expand depending on whether a target is moving fast or slow compared to the first target. The expansion and compression ratios are estimated and used to estimate the predicted DOA angle values of the remaining targets. Based on these predicted DOA angles of the remaining targets the DOA angles obtained from the MVDR or Incoherent MUSIC will be appropriately assigned to proper tracks. Several other rules were developed to avoid mixing the tracks. The algorithm is tested on data collected at Aberdeen Proving Ground with a convoy of 3, 4 and 5 vehicles. Some of the vehicles are tracked and some are wheeled vehicles. The tracking algorithm results are found to be good. The results will be presented at the conference and in the paper.

Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance.

PubMed

Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

2016-08-20

The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route.

Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance

PubMed Central

Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

2016-01-01

The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route. PMID:27556465

Switch Panel wear loading - a parametric study regarding governing train operational factors

NASA Astrophysics Data System (ADS)

Hiensch, E. J. M.; Burgelman, N.

2017-09-01

The acting forces and resulting material degradation at the running surfaces of wheels and rail are determined by vehicle, track, interface and operational characteristics. To effectively manage the experienced wear, plastic deformation and crack development at wheels and rail, the interaction between vehicle and track demands a system approach both in maintenance and in design. This requires insight into the impact of train operational parameters on rail- and wheel degradation, in particular at switches and crossings due to the complex dynamic behaviour of a railway vehicle at a turnout. A parametric study was carried out by means of vehicle-track simulations within the VAMPIRE® multibody simulation software, performing a sensitivity analysis regarding operational factors and their impact on expected switch panel wear loading. Additionally, theoretical concepts were cross-checked with operational practices by means of a case study in response to a dramatic change in lateral rail wear development at specific switches in Dutch track. Data from train operation, track maintenance and track inspection were analysed, providing further insight into the operational dependencies. From the simulations performed in this study, it was found that switch rail lateral wear loading at the diverging route of a 1:9 type turnout is significantly influenced by the level of wheel-rail friction and to a lesser extent by the direction of travel (facing or trailing). The influence of other investigated parameters, being vehicle speed, traction, gauge widening and track layout is found to be small. Findings from the case study further confirm the simulation outcome. This research clearly demonstrates the contribution flange lubrication can have in preventing abnormal lateral wear at locations where the wheel-rail interface is heavily loaded.

Tracking state deployments of commercial vehicle information systems and networks : national report

DOT National Transportation Integrated Search

1998-03-31

The ITS Joint Program Office (ITS/JPO) of the USDOT has begun tracking progress by state governments in the deployment of Commercial Vehicle Information Systems and Networks (CVISN) in all 50 states through the year 2005. FHWAs goal is to have bet...

Analysis of alternative means of transporting heavy tracked vehicles at Fort Hood, Texas

DOT National Transportation Integrated Search

1987-08-01

The problem addressed in this report is a transportation problem--Given that a volume of heavy tracked vehicles must be moved from storage and maintenance locations to field training and other locations, what is the best way to move them? The options...

Vehicle Guidance and Control Along Circular Trajectories

DTIC Science & Technology

1992-09-01

the line of sight, while Chism [2] studied a cross track error based control law. Hawkinson [3] extended the results to the multiple input case when...Thesis, Naval Postgraduate School, Monterey, California, June. 2. Chism , S., (1990) "Robust path tracking of autonomous underwater vehicles using sliding

Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling

NASA Astrophysics Data System (ADS)

Kapania, Nitin R.; Gerdes, J. Christian

2015-12-01

This paper presents a feedback-feedforward steering controller that simultaneously maintains vehicle stability at the limits of handling while minimising lateral path tracking deviation. The design begins by considering the performance of a baseline controller with a lookahead feedback scheme and a feedforward algorithm based on a nonlinear vehicle handling diagram. While this initial design exhibits desirable stability properties at the limits of handling, the steady-state path deviation increases significantly at highway speeds. Results from both linear and nonlinear analyses indicate that lateral path tracking deviations are minimised when vehicle sideslip is held tangent to the desired path at all times. Analytical results show that directly incorporating this sideslip tangency condition into the steering feedback dramatically improves lateral path tracking, but at the expense of poor closed-loop stability margins. However, incorporating the desired sideslip behaviour into the feedforward loop creates a robust steering controller capable of accurate path tracking and oversteer correction at the physical limits of tyre friction. Experimental data collected from an Audi TTS test vehicle driving at the handling limits on a full length race circuit demonstrates the improved performance of the final controller design.

An MR-compatible gyroscope-based arm movement tracking system.

PubMed

Shirinbayan, S Iman; Rieger, Jochem W

2017-03-15

Functional magnetic resonance imaging is well suited to link neural population activation with movement parameters of complex natural arm movements. However, currently existing MR-compatible arm tracking devices are not constructed to measure arm joint movement parameters of unrestricted movements. Therefore, to date most research focuses on simple arm movements or includes very little knowledge about the actual movement kinematics. We developed a low cost gyroscope-based arm movement tracking system (GAMTS) that features MR-compatibility. The system consists of dual-axis analogue gyroscopes that measure rotations of upper and lower arm joints. After MR artifact reduction, the rotation angles of the individual arm joints are calculated and used to animate a realistic arm model that is implemented in the OpenSim platform. The OpenSim platform can then provide the kinematics of any point on the arm model. In order to demonstrate the capabilities of the system, we first assessed the quality of reconstructed wrist movements in a low-noise environment where typical MR-related problems are absent and finally, we validated the reconstruction in the MR environment. The system provides the kinematics of the whole arm when natural unrestricted arm movements are performed inside the MR-scanner. The GAMTS is reliably capable of reconstructing the kinematics of trajectories and the reconstruction error is small in comparison with the movement induced variation of speed, displacement, and rotation. Moreover, the system can be used to probe brain areas for their correlation with movement kinematics. Copyright © 2017 Elsevier B.V. All rights reserved.

SU-E-T-603: Analysis of Optical Tracked Head Inter-Fraction Movements Within Masks to Access Intracranial Immobilization Techniques in Proton Therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hsi, W; Zeidan, O

2014-06-01

Purpose: We present a quantitative methodology utilizing an optical tracking system for monitoring head inter-fraction movements within brain masks to assess the effectiveness of two intracranial immobilization techniques. Methods and Materials: A 3-point-tracking method was developed to measure the mask location for a treatment field at each fraction. Measured displacement of mask location to its location at first fraction is equivalent to the head movement within the mask. Head movements for each of treatment fields were measured over about 10 fractions at each patient for seven patients; five treated in supine and two treated in prone. The Q-fix Base-of-Skull headmore » frame was used in supine while the CIVCO uni-frame baseplate was used in prone. Displacements of recoded couch position of each field post imaging at each fraction were extracted for those seven patients. Standard deviation (S.D.) of head movements and couch displacements was scored for statistical analysis. Results: The accuracy of 3PtTrack method was within 1.0 mm by phantom measurements. Patterns of head movement and couch displacement were similar for patients treated in either supine or prone. In superior-inferior direction, mean value of scored standard deviations over seven patients were 1.6 mm and 3.4 mm for the head movement and the couch displacement, respectively. The result indicated that the head movement combined with a loose fixation between the mask-to-head frame results large couch displacements for each patient, and also large variation between patients. However, the head movement is the main cause for the couch displacement with similar magnitude of around 1.0 mm in anterior-posterior and lateral directions. Conclusions: Optical-tracking methodology independently quantifying head movements could improve immobilization devices by correctly acting on causes for head motions within mask. A confidence in the quality of intracranial immobilization techniques could be more efficient by eliminating the need for frequent imaging.« less

Vehicle Tracking and Security

NASA Astrophysics Data System (ADS)

Scorer, A. G.

1998-09-01

This paper covers the wide area and short range locational technologies that are available for vehicle tracking in particular and mobile user security in general. It also summarises the radio communications services that can deliver information to the user. It considers the use that can be made of these technologies, when combined with procedures for delivering a response, in the security field, notably in relation to personal security, high-value load protection and the after-theft tracking markets.

Alcohol and disorientation-responses. VI, Effects of alcohol on eye movements and tracking performance during laboratory angular accelerations about the yaw and pitch axes.

DOT National Transportation Integrated Search

1972-12-01

Alcohol ingestion interferes with visual control of vestibular eye movements and thereby produces significant decrements in performance at a compensatory tracking task during oscillation about the yaw axis; significant or consistent decrements in per...

Water-Column Stratification Observed along an AUV-Tracked Isotherm

NASA Astrophysics Data System (ADS)

Zhang, Y.; Messié, M.; Ryan, J. P.; Kieft, B.; Stanway, M. J.; Hobson, B.; O'Reilly, T. C.; Raanan, B. Y.; Smith, J. M.; Chavez, F.

2016-02-01

Studies of marine physical, chemical and microbiological processes benefit from observing in a Lagrangian frame of reference, i.e. drifting with ambient water. Because these processes can be organized relative to specific density or temperature ranges, maintaining observing platforms within targeted environmental ranges is an important observing strategy. We have developed a novel method to enable a Tethys-class long-range autonomous underwater vehicle (AUV) (which has a propeller and a buoyancy engine) to track a target isotherm in buoyancy-controlled drift mode. In this mode, the vehicle shuts off its propeller and autonomously detects the isotherm and stays with it by actively controlling the vehicle's buoyancy. In the June 2015 CANON (Controlled, Agile, and Novel Observing Network) Experiment in Monterey Bay, California, AUV Makai tracked a target isotherm for 13 hours to study the coastal upwelling system. The tracked isotherm started from 33 m depth, shoaled to 10 m, and then deepened to 29 m. The thickness of the tracked isotherm layer (within 0.3°C error from the target temperature) increased over this duration, reflecting weakened stratification around the isotherm. During Makai's isotherm tracking, another long-range AUV, Daphne, acoustically tracked Makai on a circular yo-yo trajectory, measuring water-column profiles in Makai's vicinity. A wave glider also acoustically tracked Makai, providing sea surface measurements on the track. The presented method is a new approach for studying water-column stratification, but requires careful analysis of the temporal and spatial variations mingled in the vehicles' measurements. We will present a synthesis of the water column's stratification in relation to the upwelling conditions, based on the in situ measurements by the mobile platforms, as well as remote sensing and mooring data.

49 CFR 213.345 - Vehicle/track system qualification.

Code of Federal Regulations, 2013 CFR

2013-10-01

... in accordance with the requirements of this paragraph (c). (1) Simulations or measurement of wheel/rail forces. For vehicle types intended to operate at track Class 6 speeds, simulations or measurement... exceed the wheel/rail force safety limits specified in § 213.333. Simulations, if conducted, shall be in...

49 CFR 213.345 - Vehicle/track system qualification.

Code of Federal Regulations, 2014 CFR

2014-10-01

... in accordance with the requirements of this paragraph (c). (1) Simulations or measurement of wheel/rail forces. For vehicle types intended to operate at track Class 6 speeds, simulations or measurement... exceed the wheel/rail force safety limits specified in § 213.333. Simulations, if conducted, shall be in...

49 CFR 214.503 - Good-faith challenges; procedures for notification and resolution.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Roadway Maintenance Machines and Hi-Rail Vehicles § 214.503 Good-faith challenges; procedures for notification and resolution. (a) An employee operating an on-track roadway maintenance machine or hi-rail.... (b) Any employee charged with operating an on-track roadway maintenance machine or hi-rail vehicle...

Research Technology

NASA Image and Video Library

2001-03-01

Engineers at the Marshall Space Flight Center (MSFC) have been testing Magnetic Launch Assist Systems, formerly known as Magnetic Levitation (MagLev) technologies. To launch spacecraft into orbit, a Magnetic Launch Assist system would use magnetic fields to levitate and accelerate a vehicle along a track at a very high speed. Similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway, the launch-assist system would electromagnetically drive a space vehicle along the track. A full-scale, operational track would be about 1.5-miles long and capable of accelerating a vehicle to 600 mph in 9.5 seconds. This photograph shows a subscale model of an airplane running on the experimental track at MSFC during the demonstration test. This track is an advanced linear induction motor. Induction motors are common in fans, power drills, and sewing machines. Instead of spinning in a circular motion to turn a shaft or gears, a linear induction motor produces thrust in a straight line. Mounted on concrete pedestals, the track is 100-feet long, about 2-feet wide, and about 1.5- feet high. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Research Technology

NASA Image and Video Library

1999-10-01

In this photograph, a futuristic spacecraft model sits atop a carrier on the Magnetic Launch Assist System, formerly known as the Magnetic Levitation (MagLev) System, experimental track at the Marshall Space Flight Center (MSFC). Engineers at MSFC have developed and tested Magnetic Launch Assist technologies that would use magnetic fields to levitate and accelerate a vehicle along a track at very high speeds. Similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway, a Magnetic Launch Assist system would electromagnetically drive a space vehicle along the track. A full-scale, operational track would be about 1.5-miles long and capable of accelerating a vehicle to 600 mph in 9.5 seconds. This track is an advanced linear induction motor. Induction motors are common in fans, power drills, and sewing machines. Instead of spinning in a circular motion to turn a shaft or gears, a linear induction motor produces thrust in a straight line. Mounted on concrete pedestals, the track is 100-feet long, about 2-feet wide, and about 1.5-feet high. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Current transport of leatherback sea turtles (Dermochelys coriacea) in the ocean.

PubMed

Luschi, P; Sale, A; Mencacci, R; Hughes, G R; Lutjeharms, J R E; Papi, F

2003-11-07

While the long-distance movements of pelagic vertebrates are becoming known thanks to satellite telemetry, the factors determining their courses have hardly been investigated. We have analysed the effects of oceanographic factors on the post-nesting movements of three satellite-tracked leatherback turtles (Dermochelys coriacea) moving in the southwest Indian Ocean. By superimposing the turtle tracks on contemporaneous images of sea-surface temperatures and sea height anomalies, we show that currentrelated features dominate the shape of the reconstructed routes. After an initial offshore movement, turtles moved along straight routes when in the core of the current, or executed loops within eddies. Large parts of the routes were strikingly similar to those of surface drifters tracked in the same region. These findings document that long-lasting oceanic movements of marine turtles may be shaped by oceanic currents.

Current transport of leatherback sea turtles (Dermochelys coriacea) in the ocean.

PubMed Central

Luschi, P; Sale, A; Mencacci, R; Hughes, G R; Lutjeharms, J R E; Papi, F

2003-01-01

While the long-distance movements of pelagic vertebrates are becoming known thanks to satellite telemetry, the factors determining their courses have hardly been investigated. We have analysed the effects of oceanographic factors on the post-nesting movements of three satellite-tracked leatherback turtles (Dermochelys coriacea) moving in the southwest Indian Ocean. By superimposing the turtle tracks on contemporaneous images of sea-surface temperatures and sea height anomalies, we show that currentrelated features dominate the shape of the reconstructed routes. After an initial offshore movement, turtles moved along straight routes when in the core of the current, or executed loops within eddies. Large parts of the routes were strikingly similar to those of surface drifters tracked in the same region. These findings document that long-lasting oceanic movements of marine turtles may be shaped by oceanic currents. PMID:14667360

Movements of juvenile Gyrfalcons from western and interior Alaska following departure from their natal areas

USGS Publications Warehouse

McIntyre, Carol L.; Douglas, David C.; Adams, Layne G.

2009-01-01

Juvenile raptors often travel thousands of kilometers from the time they leave their natal areas to the time they enter a breeding population. Documenting movements and identifying areas used by raptors before they enter a breeding population is important for understanding the factors that influence their survival. In North America, juvenile Gyrfalcons (Falco rusticolus) are routinely observed outside the species' breeding range during the nonbreeding season, but the natal origins of these birds are rarely known. We used satellite telemetry to track the movements of juvenile Gyrfalcons during their first months of independence. We instrumented nestlings with lightweight satellite transmitters within 10 d of estimated fledging dates on the Seward Peninsula in western Alaska and in Denali National Park (Denali) in interior Alaska. Gyrfalcons spent an average of 41.4 ± 6.1 d (range  =  30–50 d) in their natal areas after fledging. The mean departure date from natal areas was 27 August ± 6.4 d. We tracked 15 individuals for an average of 70.5 ± 28.1 d post-departure; Gyrfalcons moved from 105 to 4299 km during this period and tended to move greater distances earlier in the tracking period than later in the tracking period. Gyrfalcons did not establish temporary winter ranges within the tracking period. We identified several movement patterns among Gyrfalcons, including unidirectional long-distance movements, multidirectional long- and short-distance movements, and shorter movements within a local region. Gyrfalcons from the Seward Peninsula remained in western Alaska or flew to eastern Russia with no movements into interior Alaska. In contrast, Gyrfalcons from Denali remained in interior Alaska, flew to northern and western Alaska, or flew to northern Alberta. Gyrfalcons from both study areas tended to move to coastal, riparian, and wetland areas during autumn and early winter. Because juvenile Gyrfalcons dispersed over a large geographic area and across three international boundaries, conservation efforts should focus on both regional and international scales.

Effects of reward on the accuracy and dynamics of smooth pursuit eye movements.

PubMed

Brielmann, Aenne A; Spering, Miriam

2015-08-01

Reward modulates behavioral choices and biases goal-oriented behavior, such as eye or hand movements, toward locations or stimuli associated with higher rewards. We investigated reward effects on the accuracy and timing of smooth pursuit eye movements in 4 experiments. Eye movements were recorded in participants tracking a moving visual target on a computer monitor. Before target motion onset, a monetary reward cue indicated whether participants could earn money by tracking accurately, or whether the trial was unrewarded (Experiments 1 and 2, n = 11 each). Reward significantly improved eye-movement accuracy across different levels of task difficulty. Improvements were seen even in the earliest phase of the eye movement, within 70 ms of tracking onset, indicating that reward impacts visual-motor processing at an early level. We obtained similar findings when reward was not precued but explicitly associated with the pursuit target (Experiment 3, n = 16); critically, these results were not driven by stimulus prevalence or other factors such as preparation or motivation. Numerical cues (Experiment 4, n = 9) were not effective. (c) 2015 APA, all rights reserved).

Voluntary control of arm movement in athetotic patients

PubMed Central

Neilson, Peter D.

1974-01-01

Visual tracking tests have been employed to provide a quantitative description of voluntary control of arm movement in a group of patients suffering from athetoid cerebral palsy. Voluntary control was impaired in all patients in a characteristic manner. Maximum velocity and acceleration of arm movement were reduced to about 30-50% of their values in normal subjects and the time lag of the response to a visual stimulus was two or three times greater than in normals. Tracking transmission characteristics indicated a degree of underdamping which was not presnet in normal or spastic patients. This underdamping could be responsible for a low frequency (0·3-0·6 Hz) transient oscillation in elbow-angle movements associated with sudden voluntary movement. The maximum frequency at which patients could produce a coherent tracking response was only 50% of that in normal subjects and the relationship between the electromyogram and muscle contraction indicated that the mechanical load on the biceps muscle was abnormal, possibly due to increased stiffness of joint movement caused by involuntary activity in agonist and antagonist muscles acting across the joint. Images PMID:4362243

An approach for modeling the influence of wheel tractor loads and vibration frequencies on soil compaction

NASA Astrophysics Data System (ADS)

Verotti, M.; Servadio, P.; Belfiore, N. P.; Bergonzoli, S.

2012-04-01

Both soil compaction and ground vibration are forms of environmental degradation that may be understood in the context of the vehicle-soil interaction process considered (Hildebrand et al., 2008). The transit of tractors on agricultural soil is often the main cause of soil compaction increasing. As known, this can be a serious problems for tillage and sowing and therefore the influence of all the affecting factors have been extensively studied in the last decades in order to understand their impact on the biosystem. There are factors related to the climate, namely to the rainfalls and temperature, and many others. Hence, it is not simple to figure out a complete model for predicting an index of compaction, for a given situation. Soil compaction models are important tools for controlling soil compaction due to agricultural field traffic and they are potentially useful technique to provide information concerning correct soil management. By means of such models, strategies and recommendations for prevention of soil compaction may be developed and specific advice may be given to farmers and advisers. In order to predict field wheeled and tracked vehicle performance, some empirical methods, used for off-road vehicle, were applied by Servadio (2010) on agricultural soil. The empirical indexes included, besides the soil strength, the load carried by the tire or track, some technical characteristics of the tire or track of the vehicle (tire or track width, tire or track wheel diameter, unloaded tire section height, number of wheel station in one track, tire deflection, total length of the belt track, the track pitch) as well as the vehicle passes. They have been validated with the tests results of agricultural vehicles over a range of soil in central Italy. Among the parameters which affect soil compaction, the water content of the soil, the axle load and number of vehicle passes proved to be the most important ones. The present paper concerns mainly vehicle-soil-man interaction. In particular, a model based on elasto-visco-plastic concentrated parameters, with multiple degrees of freedom, will be used in order to build a method for detecting a soil damage index, especially expressed in terms of increasing of soil compaction. Besides the axle load, the model will take into account the frequency of the vibrations that the vehicle is transmitting to the soil. Such model expresses a numerical value for the transmissibility coefficient and also allows evaluating the damage at the surface and on the bulk medium where the agricultural crops initially develop. Key words: vehicle-soil interaction, vibration, compaction, models. Acknowledgements This work was carried out under the auspices of the special project "Sceneries of adaptation of the Italian agriculture to the climatic changes" (AGROSCENARI) of the Agricultural Research Council, and Italian Ministry of the Agricultural and Forestry Politics.

Influence of some vehicle and track parameters on the environmental vibrations induced by railway traffic

NASA Astrophysics Data System (ADS)

Kouroussis, G.; Verlinden, O.; Conti, C.

2012-04-01

A study is performed on the influence of some typical railway vehicle and track parameters on the level of ground vibrations induced in the neighbourhood. The results are obtained from a previously validated simulation framework considering in a first step the vehicle/track subsystem and, in a second step, the response of the soil to the forces resulting from the first analysis. The vehicle is reduced to a simple vertical 3-dof model, corresponding to the superposition of the wheelset, the bogie and the car body. The rail is modelled as a succession of beam elements elastically supported by the sleepers, lying themselves on a flexible foundation representing the ballast and the subgrade. The connection between the wheels and the rails is realised through a non-linear Hertzian contact. The soil motion is obtained from a finite/infinite element model. The investigated vehicle parameters are its type (urban, high speed, freight, etc.) and its speed. For the track, the rail flexural stiffness, the railpad stiffness, the spacing between sleepers and the rail and sleeper masses are considered. In all cases, the parameter value range is defined from a bibliographic browsing. At the end, the paper proposes a table summarising the influence of each studied parameter on three indicators: the vehicle acceleration, the rail velocity and the soil velocity. It namely turns out that the vehicle has a serious influence on the vibration level and should be considered in prediction models.

Convolutional networks for vehicle track segmentation

DOE PAGES

Quach, Tu-Thach

2017-08-19

Existing methods to detect vehicle tracks in coherent change detection images, a product of combining two synthetic aperture radar images taken at different times of the same scene, rely on simple, fast models to label track pixels. These models, however, are unable to capture natural track features such as continuity and parallelism. More powerful, but computationally expensive models can be used in offline settings. We present an approach that uses dilated convolutional networks consisting of a series of 3-by-3 convolutions to segment vehicle tracks. The design of our networks considers the fact that remote sensing applications tend to operate inmore » low power and have limited training data. As a result, we aim for small, efficient networks that can be trained end-to-end to learn natural track features entirely from limited training data. We demonstrate that our 6-layer network, trained on just 90 images, is computationally efficient and improves the F-score on a standard dataset to 0.992, up from 0.959 obtained by the current state-of-the-art method.« less

Convolutional networks for vehicle track segmentation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Quach, Tu-Thach

Existing methods to detect vehicle tracks in coherent change detection images, a product of combining two synthetic aperture radar images taken at different times of the same scene, rely on simple, fast models to label track pixels. These models, however, are unable to capture natural track features such as continuity and parallelism. More powerful, but computationally expensive models can be used in offline settings. We present an approach that uses dilated convolutional networks consisting of a series of 3-by-3 convolutions to segment vehicle tracks. The design of our networks considers the fact that remote sensing applications tend to operate inmore » low power and have limited training data. As a result, we aim for small, efficient networks that can be trained end-to-end to learn natural track features entirely from limited training data. We demonstrate that our 6-layer network, trained on just 90 images, is computationally efficient and improves the F-score on a standard dataset to 0.992, up from 0.959 obtained by the current state-of-the-art method.« less

Development of a DC propulsion system for an electric vehicle

NASA Technical Reports Server (NTRS)

Kelledes, W. L.

1984-01-01

The suitability of the Eaton automatically shifted mechanical transaxle concept for use in a near-term dc powered electric vehicle is evaluated. A prototype dc propulsion system for a passenger electric vehicle was designed, fabricated, tested, installed in a modified Mercury Lynx vehicle and track tested at the contractor's site. The system consisted of a two-axis, three-speed, automatically-shifted mechanical transaxle, 15.2 Kw rated, separately excited traction motor, and a transistorized motor controller with a single chopper providing limited armature current below motor base speed and full range field control above base speed at up to twice rated motor current. The controller utilized a microprocessor to perform motor and vehicle speed monitoring and shift sequencing by means of solenoids applying hydraulic pressure to the transaxle clutches. Bench dynamometer and track testing was performed. Track testing showed best system efficiency for steady-state cruising speeds of 65-80 Km/Hz (40-50 mph). Test results include acceleration, steady speed and SAE J227A/D cycle energy consumption, braking tests and coast down to characterize the vehicle road load.

49 CFR 177.823 - Movement of motor vehicles in emergency situations.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 2 2012-10-01 2012-10-01 false Movement of motor vehicles in emergency situations. 177.823 Section 177.823 Transportation Other Regulations Relating to Transportation PIPELINE AND HAZARDOUS MATERIALS SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION HAZARDOUS MATERIALS REGULATIONS CARRIAGE BY PUBLIC HIGHWAY General Information...

Effects of phencyclidine, secobarbital and diazepam on eye tracking in rhesus monkeys.

PubMed

Ando, K; Johanson, C E; Levy, D L; Yasillo, N J; Holzman, P S; Schuster, C R

1983-01-01

Rhesus monkeys were trained to track a moving disk using a procedure in which responses on a lever were reinforced with water delivery only when the disk, oscillating in a horizontal plane on a screen at a frequency of 0.4 Hz in a visual angle of 20 degrees, dimmed for a brief period. Pursuit eye movements were recorded by electrooculography (EOG). IM phencyclidine, secobarbital, and diazepam injections decreased the number of reinforced lever presses in a dose-related manner. Both secobarbital and diazepam produced episodic jerky-pursuit eye movements, while phencyclidine had no consistent effects on eye movements. Lever pressing was disrupted at doses which had little effect on the quality of smooth-pursuit eye movements in some monkeys. This separation was particularly pronounced with diazepam. The similarities of the drug effects on smooth-pursuit eye movements between the present study and human studies indicate that the present method using rhesus monkeys may be useful for predicting drug effects on eye tracking and oculomotor function in humans.

Effects of wrist tendon vibration on arm tracking in people poststroke.

PubMed

Conrad, Megan O; Scheidt, Robert A; Schmit, Brian D

2011-09-01

The goal of this study was to evaluate the influence of wrist tendon vibration on a multijoint elbow/shoulder tracking task. We hypothesized that tendon vibration applied at the wrist musculature would improve upper arm tracking performance in chronic stroke survivors through increased, Ia-afferent feedback to the central nervous system (CNS). To test this hypothesis, 10 chronic stroke and 5 neurologically intact subjects grasped the handle of a planar robot as they tracked a target through a horizontal figure-8 pattern. A total of 36 trials were completed by each subject. During the middle trials, 70-Hz tendon vibration was applied at the wrist flexor tendons. Position, velocity, and electromyography data were evaluated to compare the quality of arm movements before, during, and after trials with concurrent vibration. Despite tracking a target that moved at a constant velocity, hand trajectories appeared to be segmented, displaying alternating intervals of acceleration and deceleration. Segments were identifiable in tangential velocity data as single-peaked, bell-shaped speed pulses. When tendon vibration was applied at the wrist musculature, stroke subjects experienced improved tracking performance in that hand path lengths and peak speed variability decreased, whereas movement smoothness increased. These performance improvements were accompanied by decreases in the muscle activity during movement. Possible mechanisms behind improved movement control in response to tendon vibration may include improved sensorimotor integration or improved cortical modulation of spinal reflex activity.

Effects of wrist tendon vibration on arm tracking in people poststroke

PubMed Central

Conrad, Megan O.; Scheidt, Robert A.

2011-01-01

The goal of this study was to evaluate the influence of wrist tendon vibration on a multijoint elbow/shoulder tracking task. We hypothesized that tendon vibration applied at the wrist musculature would improve upper arm tracking performance in chronic stroke survivors through increased, Ia-afferent feedback to the central nervous system (CNS). To test this hypothesis, 10 chronic stroke and 5 neurologically intact subjects grasped the handle of a planar robot as they tracked a target through a horizontal figure-8 pattern. A total of 36 trials were completed by each subject. During the middle trials, 70-Hz tendon vibration was applied at the wrist flexor tendons. Position, velocity, and electromyography data were evaluated to compare the quality of arm movements before, during, and after trials with concurrent vibration. Despite tracking a target that moved at a constant velocity, hand trajectories appeared to be segmented, displaying alternating intervals of acceleration and deceleration. Segments were identifiable in tangential velocity data as single-peaked, bell-shaped speed pulses. When tendon vibration was applied at the wrist musculature, stroke subjects experienced improved tracking performance in that hand path lengths and peak speed variability decreased, whereas movement smoothness increased. These performance improvements were accompanied by decreases in the muscle activity during movement. Possible mechanisms behind improved movement control in response to tendon vibration may include improved sensorimotor integration or improved cortical modulation of spinal reflex activity. PMID:21697444

Mapping wide row crops with video sequences acquired from a tractor moving at treatment speed.

PubMed

Sainz-Costa, Nadir; Ribeiro, Angela; Burgos-Artizzu, Xavier P; Guijarro, María; Pajares, Gonzalo

2011-01-01

This paper presents a mapping method for wide row crop fields. The resulting map shows the crop rows and weeds present in the inter-row spacing. Because field videos are acquired with a camera mounted on top of an agricultural vehicle, a method for image sequence stabilization was needed and consequently designed and developed. The proposed stabilization method uses the centers of some crop rows in the image sequence as features to be tracked, which compensates for the lateral movement (sway) of the camera and leaves the pitch unchanged. A region of interest is selected using the tracked features, and an inverse perspective technique transforms the selected region into a bird's-eye view that is centered on the image and that enables map generation. The algorithm developed has been tested on several video sequences of different fields recorded at different times and under different lighting conditions, with good initial results. Indeed, lateral displacements of up to 66% of the inter-row spacing were suppressed through the stabilization process, and crop rows in the resulting maps appear straight.

Home range and movements of American alligators (Alligator mississippiensis) in an estuary habitat

USGS Publications Warehouse

Fujisaki, Ikuko; Hart, Kristen M.; Mazzotti, Frank J.; Cherkiss, Michael S.; Sartain-Iverson, Autumn R.; Jeffery, Brian M.; Beauchamp, Jeffrey S.; Denton, Mathew J.

2014-01-01

This study reveals consistent use of estuary habitat by American alligators. The alligators showed variations in their movement pattern and seasonal habitat, with movement attributable to environmental factors. Although satellite-derived locations were more dispersed compared to locations collected using VHF radio-tags, data collected from VHF tracking omitted some habitat used for a short period of time, indicating the effectiveness of satellite telemetry to continuously track animals for ecosystem-scale studies.

Error analysis and experiments of attitude measurement using laser gyroscope

NASA Astrophysics Data System (ADS)

Ren, Xin-ran; Ma, Wen-li; Jiang, Ping; Huang, Jin-long; Pan, Nian; Guo, Shuai; Luo, Jun; Li, Xiao

2018-03-01

The precision of photoelectric tracking and measuring equipment on the vehicle and vessel is deteriorated by the platform's movement. Specifically, the platform's movement leads to the deviation or loss of the target, it also causes the jitter of visual axis and then produces image blur. In order to improve the precision of photoelectric equipment, the attitude of photoelectric equipment fixed with the platform must be measured. Currently, laser gyroscope is widely used to measure the attitude of the platform. However, the measurement accuracy of laser gyro is affected by its zero bias, scale factor, installation error and random error. In this paper, these errors were analyzed and compensated based on the laser gyro's error model. The static and dynamic experiments were carried out on a single axis turntable, and the error model was verified by comparing the gyro's output with an encoder with an accuracy of 0.1 arc sec. The accuracy of the gyroscope has increased from 7000 arc sec to 5 arc sec for an hour after error compensation. The method used in this paper is suitable for decreasing the laser gyro errors in inertial measurement applications.

Neural network-based motion control of an underactuated wheeled inverted pendulum model.

PubMed

Yang, Chenguang; Li, Zhijun; Cui, Rongxin; Xu, Bugong

2014-11-01

In this paper, automatic motion control is investigated for one of wheeled inverted pendulum (WIP) models, which have been widely applied for modeling of a large range of two wheeled modern vehicles. First, the underactuated WIP model is decomposed into a fully actuated second order subsystem Σa consisting of planar movement of vehicle forward and yaw angular motions, and a nonactuated first order subsystem Σb of pendulum motion. Due to the unknown dynamics of subsystem Σa and the universal approximation ability of neural network (NN), an adaptive NN scheme has been employed for motion control of subsystem Σa . The model reference approach has been used whereas the reference model is optimized by the finite time linear quadratic regulation technique. The pendulum motion in the passive subsystem Σb is indirectly controlled using the dynamic coupling with planar forward motion of subsystem Σa , such that satisfactory tracking of a set pendulum tilt angle can be guaranteed. Rigours theoretic analysis has been established, and simulation studies have been performed to demonstrate the developed method.

Creating Interactive Graphical Overlays in the Advanced Weather Interactive Processing System (AWIPS) Using Shapefiles and DGM Files

NASA Technical Reports Server (NTRS)

Barrett, Joe H., III; Lafosse, Richard; Hood, Doris; Hoeth, Brian

2007-01-01

Graphical overlays can be created in real-time in the Advanced Weather Interactive Processing System (AWIPS) using shapefiles or DARE Graphics Metafile (DGM) files. This presentation describes how to create graphical overlays on-the-fly for AWIPS, by using two examples of AWIPS applications that were created by the Applied Meteorology Unit (AMU). The first example is the Anvil Threat Corridor Forecast Tool, which produces a shapefile that depicts a graphical threat corridor of the forecast movement of thunderstorm anvil clouds, based on the observed or forecast upper-level winds. This tool is used by the Spaceflight Meteorology Group (SMG) and 45th Weather Squadron (45 WS) to analyze the threat of natural or space vehicle-triggered lightning over a location. The second example is a launch and landing trajectory tool that produces a DGM file that plots the ground track of space vehicles during launch or landing. The trajectory tool can be used by SMG and the 45 WS forecasters to analyze weather radar imagery along a launch or landing trajectory. Advantages of both file types will be listed.

Modeling the influence of short wavelength defects in a railway track on the dynamic behavior of the Non-Suspended Masses

NASA Astrophysics Data System (ADS)

Giannakos, Konstantinos

2016-02-01

The motion of a railway vehicle on the rail running table, that is the area of the rail-head where the wheel is rolling, is a forced oscillation with a forcing excitation (track defects), and damping expressed by a random function. In the case of the Non-Suspended Masses the forces resulting from the excitation of short wavelength are large and have great effect on the rolling of the wheel. The track, is simulated as an elastic means with damping. In this paper the second order differential equation is presented for the case of a railway vehicle rolling on a railway track and its solution is presented for the Non-Suspended Masses of the vehicle. Furthermore the influence of the depth of the defect is examined and a sensitivity analysis of the influence of the Non-Suspended Masses and the track defects on the Acting loads is performed.

Two-axis tracking using translation stages for a lens-to-channel waveguide solar concentrator.

PubMed

Liu, Yuxiao; Huang, Ran; Madsen, Christi K

2014-10-20

A two-axis tracking scheme designed for <250x concentration realized by a single-axis mechanical tracker and a translation stage is discussed. The translation stage is used for adjusting positions for seasonal sun movement. It has two-dimensional x-y tracking instead of horizontal movement x-only. This tracking method is compatible with planar waveguide solar concentrators. A prototype system with 50x concentration shows >75% optical efficiency throughout the year in simulation and >65% efficiency experimentally. This efficiency can be further improved by the use of anti-reflection layers and a larger waveguide refractive index.

Reusable Launch Vehicle Control in Multiple Time Scale Sliding Modes

NASA Technical Reports Server (NTRS)

Shtessel, Yuri

1999-01-01

A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. 6DOF simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. It creates possibility to operate the X-33 vehicle in an aircraft-like mode with reduced pre-launch adjustment of the control system.

Wheeled and Tracked Vehicle Endurance Testing

DTIC Science & Technology

2014-10-02

Vehicle (ATV) 10 10 50 30 Fire Trucks - Crash and Rescue, Brush, Structural 49/56/50 22/16/50 - 29/28/0 a Wheeled Combat 30 40 15 15 Roboticb - 30 50... Wheeled Light W-M = Wheeled Medium W-H = Wheeled Heavy LM-TT = Light/Medium Truck H-TT = Heavy Truck Tractor/Trailer M = Motorcycle FT = Fire ...TYPE Final 3. DATES COVERED (From - To) 4. TITLE AND SUBTITLE Test Operations Procedure (TOP) 02-2-506A Wheeled and Tracked Vehicle Endurance

Advanced Concept

NASA Image and Video Library

1999-01-01

This artist’s concept depicts a Magnetic Launch Assist vehicle clearing the track and shifting to rocket engines for launch into orbit. The system, formerly referred as the Magnetic Levitation (MagLev) system, is a launch system developed and tested by Engineers at the Marshall Space Flight Center (MSFC) that could levitate and accelerate a launch vehicle along a track at high speeds before it leaves the ground. Using an off-board electric energy source and magnetic fields, a Magnetic Launch Assist system would drive a spacecraft along a horizontal track until it reaches desired speeds. The system is similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway. A full-scale, operational track would be about 1.5-miles long, capable of accelerating a vehicle to 600 mph in 9.5 seconds, and the vehicle would then shift to rocket engines for launch into orbit. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Estimation of Road Loads and Vibration Transmissibility of Torsion Bar Suspension System in a Tracked Vehicle

NASA Astrophysics Data System (ADS)

Gagneza, G. P. S.; Chandramohan, Sujatha

2018-05-01

Designing the suspension system of a tracked combat vehicle (CV) is really challenging as it has to satisfy conflicting requirements of good ride comfort, vehicle handling and stability characteristics. Many studies in this field have been reported in literature and it has been found that torsion bars satisfy the designer's conflicting requirements of good ride and handling and thus have reserved a place for themselves as the most widely used suspension system for military track vehicles. Therefore, it is imperative to evaluate the effectiveness of the torsion bar under dynamic conditions of undulating terrain and validating the same by correlating it with computer simulation results. Thus in the present work, the dynamic simulation of a 2N + 4 degrees of freedom (DOF) mathematical model has been carried out using MATLAB Simulink and the vibration levels were also measured experimentally on a 12 wheel stationed high mobility military tracked infantry combat vehicle (ICV BMP-II) traversing different terrain, that is, Aberdeen proving ground (APG) and Sinusoidal, at a constant vehicle speed. The dynamic force transmitted to the hull CG through the 12 torsion bar suspension systems was computed to be around 26,700 N and found to match the measured values. The vibration isolation of the torsion bar in bounce was found to be effective, with a transmissibility from the road wheel to the hull of about 0.6.

Before your very eyes: the value and limitations of eye tracking in medical education.

PubMed

Kok, Ellen M; Jarodzka, Halszka

2017-01-01

Medicine is a highly visual discipline. Physicians from many specialties constantly use visual information in diagnosis and treatment. However, they are often unable to explain how they use this information. Consequently, it is unclear how to train medical students in this visual processing. Eye tracking is a research technique that may offer answers to these open questions, as it enables researchers to investigate such visual processes directly by measuring eye movements. This may help researchers understand the processes that support or hinder a particular learning outcome. In this article, we clarify the value and limitations of eye tracking for medical education researchers. For example, eye tracking can clarify how experience with medical images mediates diagnostic performance and how students engage with learning materials. Furthermore, eye tracking can also be used directly for training purposes by displaying eye movements of experts in medical images. Eye movements reflect cognitive processes, but cognitive processes cannot be directly inferred from eye-tracking data. In order to interpret eye-tracking data properly, theoretical models must always be the basis for designing experiments as well as for analysing and interpreting eye-tracking data. The interpretation of eye-tracking data is further supported by sound experimental design and methodological triangulation. © 2016 John Wiley & Sons Ltd and The Association for the Study of Medical Education.

Speech Motor Development during Acquisition of the Voicing Contrast

ERIC Educational Resources Information Center

Grigos, Maria I.; Saxman, John H.; Gordon, Andrew M.

2005-01-01

Lip and jaw movements were studied longitudinally in 19-month-old children as they acquired the voicing contrast for /p/ and /b/. A movement tracking system obtained lip and jaw kinematics as participants produced the target utterances /papa/ and /baba/. Laryngeal adjustments were also tracked through acoustically recorded voice onset time (VOT)…

Eye Tracking and Head Movement Detection: A State-of-Art Survey

PubMed Central

2013-01-01

Eye-gaze detection and tracking have been an active research field in the past years as it adds convenience to a variety of applications. It is considered a significant untraditional method of human computer interaction. Head movement detection has also received researchers' attention and interest as it has been found to be a simple and effective interaction method. Both technologies are considered the easiest alternative interface methods. They serve a wide range of severely disabled people who are left with minimal motor abilities. For both eye tracking and head movement detection, several different approaches have been proposed and used to implement different algorithms for these technologies. Despite the amount of research done on both technologies, researchers are still trying to find robust methods to use effectively in various applications. This paper presents a state-of-art survey for eye tracking and head movement detection methods proposed in the literature. Examples of different fields of applications for both technologies, such as human-computer interaction, driving assistance systems, and assistive technologies are also investigated. PMID:27170851

The effects of momentary visual disruption on hazard anticipation and awareness in driving.

PubMed

Borowsky, Avinoam; Horrey, William J; Liang, Yulan; Garabet, Angela; Simmons, Lucinda; Fisher, Donald L

2015-01-01

Driver distraction is known to increase crash risk, especially when a driver glances inside the vehicle for especially long periods of time. Though it is clear that such glances increase the risk for the driver when looking inside the vehicle, it is less clear how these glances disrupt the ongoing processing of information outside the vehicle once the driver's eyes return to the road. The present study was aimed at exploring the effect of in-vehicle glances on the top-down processes that guide the detection and monitoring of hazards on the forward roadway. Using a driving simulator, 12 participants were monitored with an eye-tracking system while they navigated various hazardous scenarios. Six participants were momentarily interrupted by a visual secondary task (simulating a glance inside the vehicle) prior to the occurrence of a potential hazard and 6 were not. Eye movement analyses showed that interrupted drivers often failed to continue scanning for a potential hazard when their forward view reappeared, especially when the potential threat could not easily be localized. Additionally, drivers' self-appraisal of workload and performance of the driving task indicated that, contrary to what one might expect, drivers in the interruption condition reported workload levels lower than and performance equal to drivers in the no interruption condition. Drivers who are momentarily disrupted even for a brief duration are at risk of missing important information when they return their gaze to the forward roadway. In addition, because they are not aware of missing this information they are likely to continue engaging in in-vehicle tasks even though they are demonstrably unsafe. The implications for safety, calibration, and targeted remediation are discussed.

Lateral motion stability of high-temperature superconducting maglev systems derived from a nonlinear guidance force hysteretic model

NASA Astrophysics Data System (ADS)

Li, Haitao; Deng, Zigang; Jin, Li’an; Li, Jipeng; Li, Yanxing; Zheng, Jun

2018-07-01

High-temperature superconducting (HTS) maglev, owning to the capability of passive stabilization, is potentially promising for high-speed transportation. The guidance force of bulk HTS materials above a permanent magnetic guideway has a nonlinear response due to the hysteresis effect. As a kind of rail transit, when the vehicle runs along the track, the curve and other disturbances will cause vibrations to the vehicle system. These physical factors will pose dynamic loads on the components, reducing structural reliability as well as affecting the ride comfort. The lateral motion, as an important part of the vehicle system dynamics, needs to be studied in the pursuit of HTS maglev realization. In this paper, we first measured the guidance forces of HTS bulks under different motion conditions, and analyzed the relationship between the lateral displacement, the movement velocity and the guidance force. Then, a mathematical model was built based on these experimental data. The key feature of this mathematical model is that it can describe the hysteresis characteristic of the guidance force. Based on this model, we investigated the lateral motion stability of the HTS levitation system, and found three singular points, one stable focus point, and two unstable saddle points. Lastly, a phase portrait was proposed to indicate the safe working region of the HTS maglev vehicle where the vehicle can automatically return to its equilibrium position. These experimental and simulation results are important to clarify the lateral motion stability under external disturbance or shock, and provide a reference basis for the design of levitation systems.

Evaluation of erosion and sedimentation associated with tracked vehicle training

Treesearch

Jackie F. Crim; Jon E. Schoonover; Karl W.J. Williard; John W. Groninger; James J. Zaczek; Charles M. Ruffner

2011-01-01

A project was designed to assess erosion and sedimentation associated with tracked vehicle training in the Ft. Knox Military Reservation in Kentucky. The project provided an extensive physical and biotic characterization of the training area, including hydrology, water quality, soils, and vegetation. To determine any changes in channel morphology, cross sections were...

Impedance modulation and feedback corrections in tracking targets of variable size and frequency.

PubMed

Selen, Luc P J; van Dieën, Jaap H; Beek, Peter J

2006-11-01

Humans are able to adjust the accuracy of their movements to the demands posed by the task at hand. The variability in task execution caused by the inherent noisiness of the neuromuscular system can be tuned to task demands by both feedforward (e.g., impedance modulation) and feedback mechanisms. In this experiment, we studied both mechanisms, using mechanical perturbations to estimate stiffness and damping as indices of impedance modulation and submovement scaling as an index of feedback driven corrections. Eight subjects tracked three differently sized targets (0.0135, 0.0270, and 0.0405 rad) moving at three different frequencies (0.20, 0.25, and 0.33 Hz). Movement variability decreased with both decreasing target size and movement frequency, whereas stiffness and damping increased with decreasing target size, independent of movement frequency. These results are consistent with the theory that mechanical impedance acts as a filter of noisy neuromuscular signals but challenge stochastic theories of motor control that do not account for impedance modulation and only partially for feedback control. Submovements during unperturbed cycles were quantified in terms of their gain, i.e., the slope between their duration and amplitude in the speed profile. Submovement gain decreased with decreasing movement frequency and increasing target size. The results were interpreted to imply that submovement gain is related to observed tracking errors and that those tracking errors are expressed in units of target size. We conclude that impedance and submovement gain modulation contribute additively to tracking accuracy.

Analysis of the dynamics of movement of the landing vehicle with an inflatable braking device on the final trajectory under the influence of wind load

NASA Astrophysics Data System (ADS)

Koryanov, V.; Kazakovtsev, V.; Harri, A.-M.; Heilimo, J.; Haukka, H.; Aleksashkin, S.

2015-10-01

This research work is devoted to analysis of angular motion of the landing vehicle (LV) with an inflatable braking device (IBD), taking into account the influence of the wind load on the final stage of the movement. Using methods to perform a calculation of parameters of angular motion of the landing vehicle with an inflatable braking device based on the availability of small asymmetries, which are capable of complex dynamic phenomena, analyzes motion of the landing vehicle at the final stage of motion in the atmosphere.

Measure and Analysis of a Gaze Position Using Infrared Light Technique

DTIC Science & Technology

2001-10-25

MEASURE AND ANALYSIS OF A GAZE POSITION USING INFRARED LIGHT TECHNIQUE Z. Ramdane-Cherif1,2, A. Naït-Ali2, J F. Motsch2, M. O. Krebs1 1INSERM E 01-17...also proposes a method to correct head movements. Keywords: eye movement, gaze tracking, visual scan path, spatial mapping. INTRODUCTION The eye gaze ...tracking has been used for clinical purposes to detect illnesses, such as nystagmus , unusual eye movements and many others [1][2][3]. It is also used

Mobility of lightweight robots over snow

NASA Astrophysics Data System (ADS)

Lever, James H.; Shoop, Sally A.

2006-05-01

Snowfields are challenging terrain for lightweight (<50 kg) unmanned ground vehicles. Deep sinkage, high snowcompaction resistance, traction loss while turning and ingestion of snow into the drive train can cause immobility within a few meters of travel. However, for suitably designed vehicles, deep snow offers a smooth, uniform surface that can obliterate obstacles. Key requirements for good over-snow mobility are low ground pressure, large clearance relative to vehicle size and a drive system that tolerates cohesive snow. A small robot will invariably encounter deep snow relative to its ground clearance. Because a single snowstorm can easily deposit 30 cm of fresh snow, robots with ground clearance less than about 10 cm must travel over the snow rather than gain support from the underlying ground. This can be accomplished using low-pressure tracks (< 1.5 kPa). Even still, snow-compaction resistance can exceed 20% of vehicle weight. Also, despite relatively high traction coefficients for low track pressures, differential or skid steering is difficult because the outboard track can easily break traction as the vehicle attempts to turn against the snow. Short track lengths (relative to track separation) or coupled articulated robots offer steering solutions for deep snow. This paper presents preliminary guidance to design lightweight robots for good mobility over snow based on mobility theory and tests of PackBot, Talon and SnoBot, a custom-designed research robot. Because many other considerations constrain robot designs, this guidance can help with development of winterization kits to improve the over-snow performance of existing robots.

Covert enaction at work: Recording the continuous movements of visuospatial attention to visible or imagined targets by means of Steady-State Visual Evoked Potentials (SSVEPs).

PubMed

Gregori Grgič, Regina; Calore, Enrico; de'Sperati, Claudio

2016-01-01

Whereas overt visuospatial attention is customarily measured with eye tracking, covert attention is assessed by various methods. Here we exploited Steady-State Visual Evoked Potentials (SSVEPs) - the oscillatory responses of the visual cortex to incoming flickering stimuli - to record the movements of covert visuospatial attention in a way operatively similar to eye tracking (attention tracking), which allowed us to compare motion observation and motion extrapolation with and without eye movements. Observers fixated a central dot and covertly tracked a target oscillating horizontally and sinusoidally. In the background, the left and the right halves of the screen flickered at two different frequencies, generating two SSVEPs in occipital regions whose size varied reciprocally as observers attended to the moving target. The two signals were combined into a single quantity that was modulated at the target frequency in a quasi-sinusoidal way, often clearly visible in single trials. The modulation continued almost unchanged when the target was switched off and observers mentally extrapolated its motion in imagery, and also when observers pointed their finger at the moving target during covert tracking, or imagined doing so. The amplitude of modulation during covert tracking was ∼25-30% of that measured when observers followed the target with their eyes. We used 4 electrodes in parieto-occipital areas, but similar results were achieved with a single electrode in Oz. In a second experiment we tested ramp and step motion. During overt tracking, SSVEPs were remarkably accurate, showing both saccadic-like and smooth pursuit-like modulations of cortical responsiveness, although during covert tracking the modulation deteriorated. Covert tracking was better with sinusoidal motion than ramp motion, and better with moving targets than stationary ones. The clear modulation of cortical responsiveness recorded during both overt and covert tracking, identical for motion observation and motion extrapolation, suggests to include covert attention movements in enactive theories of mental imagery. Copyright © 2015 Elsevier Ltd. All rights reserved.

What is the animal doing? Tools for exploring behavioural structure in animal movements.

PubMed

Gurarie, Eliezer; Bracis, Chloe; Delgado, Maria; Meckley, Trevor D; Kojola, Ilpo; Wagner, C Michael

2016-01-01

Movement data provide a window - often our only window - into the cognitive, social and biological processes that underlie the behavioural ecology of animals in the wild. Robust methods for identifying and interpreting distinct modes of movement behaviour are of great importance, but complicated by the fact that movement data are complex, multivariate and dependent. Many different approaches to exploratory analysis of movement have been developed to answer similar questions, and practitioners are often at a loss for how to choose an appropriate tool for a specific question. We apply and compare four methodological approaches: first passage time (FPT), Bayesian partitioning of Markov models (BPMM), behavioural change point analysis (BCPA) and a fitted multistate random walk (MRW) to three simulated tracks and two animal trajectories - a sea lamprey (Petromyzon marinus) tracked for 12 h and a wolf (Canis lupus) tracked for 1 year. The simulations - in which, respectively, velocity, tortuosity and spatial bias change - highlight the sensitivity of all methods to model misspecification. Methods that do not account for autocorrelation in the movement variables lead to spurious change points, while methods that do not account for spatial bias completely miss changes in orientation. When applied to the animal data, the methods broadly agree on the structure of the movement behaviours. Important discrepancies, however, reflect differences in the assumptions and nature of the outputs. Important trade-offs are between the strength of the a priori assumptions (low in BCPA, high in MRW), complexity of output (high in the BCPA, low in the BPMM and MRW) and explanatory potential (highest in the MRW). The animal track analysis suggests some general principles for the exploratory analysis of movement data, including ways to exploit the strengths of the various methods. We argue for close and detailed exploratory analysis of movement before fitting complex movement models. © 2015 The Authors. Journal of Animal Ecology © 2015 British Ecological Society.

Mouse cursor movement and eye tracking data as an indicator of pathologists’ attention when viewing digital whole slide images

PubMed Central

Raghunath, Vignesh; Braxton, Melissa O.; Gagnon, Stephanie A.; Brunyé, Tad T.; Allison, Kimberly H.; Reisch, Lisa M.; Weaver, Donald L.; Elmore, Joann G.; Shapiro, Linda G.

2012-01-01

Context: Digital pathology has the potential to dramatically alter the way pathologists work, yet little is known about pathologists’ viewing behavior while interpreting digital whole slide images. While tracking pathologist eye movements when viewing digital slides may be the most direct method of capturing pathologists’ viewing strategies, this technique is cumbersome and technically challenging to use in remote settings. Tracking pathologist mouse cursor movements may serve as a practical method of studying digital slide interpretation, and mouse cursor data may illuminate pathologists’ viewing strategies and time expenditures in their interpretive workflow. Aims: To evaluate the utility of mouse cursor movement data, in addition to eye-tracking data, in studying pathologists’ attention and viewing behavior. Settings and Design: Pathologists (N = 7) viewed 10 digital whole slide images of breast tissue that were selected using a random stratified sampling technique to include a range of breast pathology diagnoses (benign/atypia, carcinoma in situ, and invasive breast cancer). A panel of three expert breast pathologists established a consensus diagnosis for each case using a modified Delphi approach. Materials and Methods: Participants’ foveal vision was tracked using SensoMotoric Instruments RED 60 Hz eye-tracking system. Mouse cursor movement was tracked using a custom MATLAB script. Statistical Analysis Used: Data on eye-gaze and mouse cursor position were gathered at fixed intervals and analyzed using distance comparisons and regression analyses by slide diagnosis and pathologist expertise. Pathologists’ accuracy (defined as percent agreement with the expert consensus diagnoses) and efficiency (accuracy and speed) were also analyzed. Results: Mean viewing time per slide was 75.2 seconds (SD = 38.42). Accuracy (percent agreement with expert consensus) by diagnosis type was: 83% (benign/atypia); 48% (carcinoma in situ); and 93% (invasive). Spatial coupling was close between eye-gaze and mouse cursor positions (highest frequency ∆x was 4.00px (SD = 16.10), and ∆y was 37.50px (SD = 28.08)). Mouse cursor position moderately predicted eye gaze patterns (Rx = 0.33 and Ry = 0.21). Conclusions: Data detailing mouse cursor movements may be a useful addition to future studies of pathologists’ accuracy and efficiency when using digital pathology. PMID:23372984

Mouse cursor movement and eye tracking data as an indicator of pathologists' attention when viewing digital whole slide images.

PubMed

Raghunath, Vignesh; Braxton, Melissa O; Gagnon, Stephanie A; Brunyé, Tad T; Allison, Kimberly H; Reisch, Lisa M; Weaver, Donald L; Elmore, Joann G; Shapiro, Linda G

2012-01-01

Digital pathology has the potential to dramatically alter the way pathologists work, yet little is known about pathologists' viewing behavior while interpreting digital whole slide images. While tracking pathologist eye movements when viewing digital slides may be the most direct method of capturing pathologists' viewing strategies, this technique is cumbersome and technically challenging to use in remote settings. Tracking pathologist mouse cursor movements may serve as a practical method of studying digital slide interpretation, and mouse cursor data may illuminate pathologists' viewing strategies and time expenditures in their interpretive workflow. To evaluate the utility of mouse cursor movement data, in addition to eye-tracking data, in studying pathologists' attention and viewing behavior. Pathologists (N = 7) viewed 10 digital whole slide images of breast tissue that were selected using a random stratified sampling technique to include a range of breast pathology diagnoses (benign/atypia, carcinoma in situ, and invasive breast cancer). A panel of three expert breast pathologists established a consensus diagnosis for each case using a modified Delphi approach. Participants' foveal vision was tracked using SensoMotoric Instruments RED 60 Hz eye-tracking system. Mouse cursor movement was tracked using a custom MATLAB script. Data on eye-gaze and mouse cursor position were gathered at fixed intervals and analyzed using distance comparisons and regression analyses by slide diagnosis and pathologist expertise. Pathologists' accuracy (defined as percent agreement with the expert consensus diagnoses) and efficiency (accuracy and speed) were also analyzed. Mean viewing time per slide was 75.2 seconds (SD = 38.42). Accuracy (percent agreement with expert consensus) by diagnosis type was: 83% (benign/atypia); 48% (carcinoma in situ); and 93% (invasive). Spatial coupling was close between eye-gaze and mouse cursor positions (highest frequency ∆x was 4.00px (SD = 16.10), and ∆y was 37.50px (SD = 28.08)). Mouse cursor position moderately predicted eye gaze patterns (Rx = 0.33 and Ry = 0.21). Data detailing mouse cursor movements may be a useful addition to future studies of pathologists' accuracy and efficiency when using digital pathology.

Radar cross section measurements of a scale model of the space shuttle orbiter vehicle

NASA Technical Reports Server (NTRS)

Yates, W. T.

1978-01-01

A series of microwave measurements was conducted to determine the radar cross section of the Space Shuttle Orbiter vehicle at a frequency and at aspect angles applicable to re-entry radar acquisition and tracking. The measurements were performed in a microwave anechoic chamber using a 1/15th scale model and a frequency applicable to C-band tracking radars. The data were digitally recorded and processed to yield statistical descriptions useful for prediction of orbiter re-entry detection and tracking ranges.

Ground vibrations from heavy freight trains

NASA Astrophysics Data System (ADS)

Dawn, T. M.

1983-03-01

Ground vibration from heavy freight trains on good quality welded track are found to have only a weak dependence on train speed above 30 km/h. At the site on which these tests were carried out a critical speed was found at which the vibration reached a peak. The frequencies of vibration produced appear to be functions of track and vehicle dimensions and the critical speed occurs at the coincidence of sleeper passage frequency and the total vehicle on track resonance frequency.

A model predictive speed tracking control approach for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Zhu, Min; Chen, Huiyan; Xiong, Guangming

2017-03-01

This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network

NASA Astrophysics Data System (ADS)

ul Amin, Rooh; Aijun, Li; Khan, Muhammad Umer; Shamshirband, Shahaboddin; Kamsin, Amirrudin

2017-01-01

In this paper, an adaptive trajectory tracking controller based on extended normalized radial basis function network (ENRBFN) is proposed for 3-degree-of-freedom four rotor hover vehicle subjected to external disturbance i.e. wind turbulence. Mathematical model of four rotor hover system is developed using equations of motions and a new computational intelligence based technique ENRBFN is introduced to approximate the unmodeled dynamics of the hover vehicle. The adaptive controller based on the Lyapunov stability approach is designed to achieve tracking of the desired attitude angles of four rotor hover vehicle in the presence of wind turbulence. The adaptive weight update based on the Levenberg-Marquardt algorithm is used to avoid weight drift in case the system is exposed to external disturbances. The closed-loop system stability is also analyzed using Lyapunov stability theory. Simulations and experimental results are included to validate the effectiveness of the proposed control scheme.

Physical processes in wheel-rail contact and its implications on vehicle-track interaction

NASA Astrophysics Data System (ADS)

Six, K.; Meierhofer, A.; Müller, G.; Dietmaier, P.

2015-05-01

Friction within the wheel-rail contact highly influences all aspects of vehicle-track interaction. Models describing this frictional behaviour are of high relevance, for example, for reliable predictions on drive train dynamics. It has been shown by experiments, that the friction at a certain position on rail is not describable by only one number for the coefficient of friction. Beside the contact conditions (existence of liquids, solid third bodies, etc.) the vehicle speed, normal loading and contact geometry are further influencing factors. State-of-the-art models are not able to account for this sufficiently. Thus, an Extended-Creep-Force-Model was developed taking into account effects from third body layers. This model is able to describe all considered effects. In this way, a significant improvement of the prediction quality with respect to all aspects of vehicle-track interaction is expected.

32 CFR 634.48 - General.

Code of Federal Regulations, 2012 CFR

2012-07-01

... DLA in crime prevention, traffic safety, and the orderly flow of vehicle traffic movement. (b) The... INVESTIGATIONS MOTOR VEHICLE TRAFFIC SUPERVISION Impounding Privately Owned Vehicles § 634.48 General. This...

32 CFR 634.48 - General.

Code of Federal Regulations, 2011 CFR

2011-07-01

... DLA in crime prevention, traffic safety, and the orderly flow of vehicle traffic movement. (b) The... INVESTIGATIONS MOTOR VEHICLE TRAFFIC SUPERVISION Impounding Privately Owned Vehicles § 634.48 General. This...

32 CFR 634.48 - General.

Code of Federal Regulations, 2013 CFR

2013-07-01

... DLA in crime prevention, traffic safety, and the orderly flow of vehicle traffic movement. (b) The... INVESTIGATIONS MOTOR VEHICLE TRAFFIC SUPERVISION Impounding Privately Owned Vehicles § 634.48 General. This...

32 CFR 634.48 - General.

Code of Federal Regulations, 2014 CFR

2014-07-01

... DLA in crime prevention, traffic safety, and the orderly flow of vehicle traffic movement. (b) The... INVESTIGATIONS MOTOR VEHICLE TRAFFIC SUPERVISION Impounding Privately Owned Vehicles § 634.48 General. This...

Long-term GPS tracking of ocean sunfish Mola mola offers a new direction in fish monitoring.

PubMed

Sims, David W; Queiroz, Nuno; Humphries, Nicolas E; Lima, Fernando P; Hays, Graeme C

2009-10-09

Satellite tracking of large pelagic fish provides insights on free-ranging behaviour, distributions and population structuring. Up to now, such fish have been tracked remotely using two principal methods: direct positioning of transmitters by Argos polar-orbiting satellites, and satellite relay of tag-derived light-level data for post hoc track reconstruction. Error fields associated with positions determined by these methods range from hundreds of metres to hundreds of kilometres. However, low spatial accuracy of tracks masks important details, such as foraging patterns. Here we use a fast-acquisition global positioning system (Fastloc GPS) tag with remote data retrieval to track long-term movements, in near real time and position accuracy of <70 m, of the world's largest bony fish, the ocean sunfish Mola mola. Search-like movements occurred over at least three distinct spatial scales. At fine scales, sunfish spent longer in highly localised areas with faster, straighter excursions between them. These 'stopovers' during long-distance movement appear consistent with finding and exploiting food patches. This demonstrates the feasibility of GPS tagging to provide tracks of unparalleled accuracy for monitoring movements of large pelagic fish, and with nearly four times as many locations obtained by the GPS tag than by a conventional Argos transmitter. The results signal the potential of GPS-tagged pelagic fish that surface regularly to be detectors of resource 'hotspots' in the blue ocean and provides a new capability for understanding large pelagic fish behaviour and habitat use that is relevant to ocean management and species conservation.

Long-Term GPS Tracking of Ocean Sunfish Mola mola Offers a New Direction in Fish Monitoring

PubMed Central

Sims, David W.; Queiroz, Nuno; Humphries, Nicolas E.; Lima, Fernando P.; Hays, Graeme C.

2009-01-01

Satellite tracking of large pelagic fish provides insights on free-ranging behaviour, distributions and population structuring. Up to now, such fish have been tracked remotely using two principal methods: direct positioning of transmitters by Argos polar-orbiting satellites, and satellite relay of tag-derived light-level data for post hoc track reconstruction. Error fields associated with positions determined by these methods range from hundreds of metres to hundreds of kilometres. However, low spatial accuracy of tracks masks important details, such as foraging patterns. Here we use a fast-acquisition global positioning system (Fastloc GPS) tag with remote data retrieval to track long-term movements, in near real time and position accuracy of <70 m, of the world's largest bony fish, the ocean sunfish Mola mola. Search-like movements occurred over at least three distinct spatial scales. At fine scales, sunfish spent longer in highly localised areas with faster, straighter excursions between them. These ‘stopovers’ during long-distance movement appear consistent with finding and exploiting food patches. This demonstrates the feasibility of GPS tagging to provide tracks of unparalleled accuracy for monitoring movements of large pelagic fish, and with nearly four times as many locations obtained by the GPS tag than by a conventional Argos transmitter. The results signal the potential of GPS-tagged pelagic fish that surface regularly to be detectors of resource ‘hotspots’ in the blue ocean and provides a new capability for understanding large pelagic fish behaviour and habitat use that is relevant to ocean management and species conservation. PMID:19816576

Vision-based object detection and recognition system for intelligent vehicles

NASA Astrophysics Data System (ADS)

Ran, Bin; Liu, Henry X.; Martono, Wilfung

1999-01-01

Recently, a proactive crash mitigation system is proposed to enhance the crash avoidance and survivability of the Intelligent Vehicles. Accurate object detection and recognition system is a prerequisite for a proactive crash mitigation system, as system component deployment algorithms rely on accurate hazard detection, recognition, and tracking information. In this paper, we present a vision-based approach to detect and recognize vehicles and traffic signs, obtain their information, and track multiple objects by using a sequence of color images taken from a moving vehicle. The entire system consist of two sub-systems, the vehicle detection and recognition sub-system and traffic sign detection and recognition sub-system. Both of the sub- systems consist of four models: object detection model, object recognition model, object information model, and object tracking model. In order to detect potential objects on the road, several features of the objects are investigated, which include symmetrical shape and aspect ratio of a vehicle and color and shape information of the signs. A two-layer neural network is trained to recognize different types of vehicles and a parameterized traffic sign model is established in the process of recognizing a sign. Tracking is accomplished by combining the analysis of single image frame with the analysis of consecutive image frames. The analysis of the single image frame is performed every ten full-size images. The information model will obtain the information related to the object, such as time to collision for the object vehicle and relative distance from the traffic sings. Experimental results demonstrated a robust and accurate system in real time object detection and recognition over thousands of image frames.

Magnetic Launch Assist System Demonstration Test

NASA Technical Reports Server (NTRS)

2001-01-01

Engineers at the Marshall Space Flight Center (MSFC) have been testing Magnetic Launch Assist Systems, formerly known as Magnetic Levitation (MagLev) technologies. To launch spacecraft into orbit, a Magnetic Launch Assist system would use magnetic fields to levitate and accelerate a vehicle along a track at a very high speed. Similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway, the launch-assist system would electromagnetically drive a space vehicle along the track. A full-scale, operational track would be about 1.5-miles long and capable of accelerating a vehicle to 600 mph in 9.5 seconds. This photograph shows a subscale model of an airplane running on the experimental track at MSFC during the demonstration test. This track is an advanced linear induction motor. Induction motors are common in fans, power drills, and sewing machines. Instead of spinning in a circular motion to turn a shaft or gears, a linear induction motor produces thrust in a straight line. Mounted on concrete pedestals, the track is 100-feet long, about 2-feet wide, and about 1.5- feet high. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Design of a Low-cost Oil Spill Tracking Buoy

NASA Astrophysics Data System (ADS)

Zhao, Y.; Hu, X.; Yu, F.; Dong, S.; Chen, G.

2017-12-01

As the rapid development of oil exploitation and transportation, oil spill accidents, such as Prestige oil spill, Gulf of Mexico oil spill accident and so on, happened frequently in recent years which would result in long-term damage to the environment and human life. It would be helpful for rescue operation if we can locate the oil slick diffusion area in real time. Equipped with GNSS system, current tracking buoys(CTB), such as Lagrangian drifting buoy, Surface Velocity Program (SVP) drifter, iSLDMB (Iridium self locating datum marker buoy) and Argosphere buoy, have been used as oil tracking buoy in oil slick observation and as validation tools for oil spill simulation. However, surface wind could affect the movement of oil slick, which couldn't be reflected by CTB, thus the oil spill tracking performance is limited. Here, we proposed an novel oil spill tracking buoy (OSTB) which has a low cost of less than $140 and is equipped with Beidou positioning module and sails to track oil slick. Based on hydrodynamic equilibrium model and ocean dynamic analysis, the wind sails and water sails are designed to be adjustable according to different marine conditions to improve tracking efficiency. Quick release device is designed to assure easy deployment from air or ship. Sea experiment was carried out in Jiaozhou Bay, Northern China. OSTB, SVP, iSLDMB, Argosphere buoy and a piece of oil-simulated rubber sheet were deployed at the same time. Meanwhile, oil spill simulation model GNOME (general NOAA operational modeling environment) was configured with the wind and current field, which were collected by an unmanned surface vehicle (USV) mounted with acoustic Doppler current profilers (ADCP) and wind speed and direction sensors. Experimental results show that the OSTB has better relevance with rubber sheet and GNOME simulation results, which validate the oil tracking ability of OSTB. With low cost and easy deployment, OSTB provides an effective way for oil spill numerical modeling validation and quick response to oil spill accidents.

Facial feature tracking: a psychophysiological measure to assess exercise intensity?

PubMed

Miles, Kathleen H; Clark, Bradley; Périard, Julien D; Goecke, Roland; Thompson, Kevin G

2018-04-01

The primary aim of this study was to determine whether facial feature tracking reliably measures changes in facial movement across varying exercise intensities. Fifteen cyclists completed three, incremental intensity, cycling trials to exhaustion while their faces were recorded with video cameras. Facial feature tracking was found to be a moderately reliable measure of facial movement during incremental intensity cycling (intra-class correlation coefficient = 0.65-0.68). Facial movement (whole face (WF), upper face (UF), lower face (LF) and head movement (HM)) increased with exercise intensity, from lactate threshold one (LT1) until attainment of maximal aerobic power (MAP) (WF 3464 ± 3364mm, P < 0.005; UF 1961 ± 1779mm, P = 0.002; LF 1608 ± 1404mm, P = 0.002; HM 849 ± 642mm, P < 0.001). UF movement was greater than LF movement at all exercise intensities (UF minus LF at: LT1, 1048 ± 383mm; LT2, 1208 ± 611mm; MAP, 1401 ± 712mm; P < 0.001). Significant medium to large non-linear relationships were found between facial movement and power output (r 2  = 0.24-0.31), HR (r 2  = 0.26-0.33), [La - ] (r 2  = 0.33-0.44) and RPE (r 2  = 0.38-0.45). The findings demonstrate the potential utility of facial feature tracking as a non-invasive, psychophysiological measure to potentially assess exercise intensity.

Crater Formation Due to Lunar Plume Impingement

NASA Technical Reports Server (NTRS)

Marsell, Brandon

2011-01-01

Thruster plume impingement on a surface comprised of small, loose particles may cause blast ejecta to be spread over a large area and possibly cause damage to the vehicle. For this reason it is important to study the effects of plume impingement and crater formation on surfaces like those found on the moon. Lunar soil, also known as regolith, is made up of fine granular particles on the order of 100 microns.i Whenever a vehicle lifts-off from such a surface, the exhaust plume from the main engine will cause the formation of a crater. This crater formation may cause laterally ejected mass to be deflected and possibly damage the vehicle. This study is a first attempt at analyzing the dynamics of crater formation due to thruster exhaust plume impingement during liftoff from the moon. Though soil erosion on the lunar surface is not considered, this study aims at examining the evolution of the shear stress along the lunar surface as the engine fires. The location of the regions of high shear stress will determine where the crater begins to form and will lend insight into how big the crater will be. This information will help determine the probability that something will strike the vehicle. The final sections of this report discuss a novel method for studying this problem that uses a volume of fluid (VOF)ii method to track the movement of both the exhaust plume and the eroding surface.

Cold Flow Propulsion Test Complex Pulse Testing

NASA Technical Reports Server (NTRS)

McDougal, Kris

2016-01-01

When the propellants in a liquid rocket engine burn, the rocket not only launches and moves in space, it causes forces that interact with the vehicle itself. When these interactions occur under specific conditions, the vehicle's structures and components can become unstable. One instability of primary concern is termed pogo (named after the movement of a pogo stick), in which the oscillations (cycling movements) cause large loads, or pressure, against the vehicle, tanks, feedlines, and engine. Marshall Space Flight Center (MSFC) has developed a unique test technology to understand and quantify the complex fluid movements and forces in a liquid rocket engine that contribute strongly to both engine and integrated vehicle performance and stability. This new test technology was established in the MSFC Cold Flow Propulsion Test Complex to allow injection and measurement of scaled propellant flows and measurement of the resulting forces at multiple locations throughout the engine.

Bridge Analysis and Evaluation of Effects Under Overload Vehicles

DOT National Transportation Integrated Search

2009-12-01

Movement of industrial freight infrequently requires special overload vehicles weighing 5 to 6 times the normal legal truck weight to move across highway systems. The gross vehicle weight of the overload vehicles frequently exceeds 400 kips while the...

Visuomotor Tracking Ability of Young Adult Speakers.

ERIC Educational Resources Information Center

Moon, Jerald B.; And Others

1993-01-01

Twenty-five normal young adult speakers tracked sinusoidal and unpredictable target signals using lower lip and jaw movement and fundamental frequency modulation. Tracking accuracy varied as a function of target frequency and articulator used to track. Results show the potential of visuomotor tracking tasks in the assessment of speech articulatory…

Target Selection by the Frontal Cortex during Coordinated Saccadic and Smooth Pursuit Eye Movements

ERIC Educational Resources Information Center

Srihasam, Krishna; Bullock, Daniel; Grossberg, Stephen

2009-01-01

Oculomotor tracking of moving objects is an important component of visually based cognition and planning. Such tracking is achieved by a combination of saccades and smooth-pursuit eye movements. In particular, the saccadic and smooth-pursuit systems interact to often choose the same target, and to maximize its visibility through time. How do…

Context effects on smooth pursuit and manual interception of a disappearing target.

PubMed

Kreyenmeier, Philipp; Fooken, Jolande; Spering, Miriam

2017-07-01

In our natural environment, we interact with moving objects that are surrounded by richly textured, dynamic visual contexts. Yet most laboratory studies on vision and movement show visual objects in front of uniform gray backgrounds. Context effects on eye movements have been widely studied, but it is less well known how visual contexts affect hand movements. Here we ask whether eye and hand movements integrate motion signals from target and context similarly or differently, and whether context effects on eye and hand change over time. We developed a track-intercept task requiring participants to track the initial launch of a moving object ("ball") with smooth pursuit eye movements. The ball disappeared after a brief presentation, and participants had to intercept it in a designated "hit zone." In two experiments ( n = 18 human observers each), the ball was shown in front of a uniform or a textured background that either was stationary or moved along with the target. Eye and hand movement latencies and speeds were similarly affected by the visual context, but eye and hand interception (eye position at time of interception, and hand interception timing error) did not differ significantly between context conditions. Eye and hand interception timing errors were strongly correlated on a trial-by-trial basis across all context conditions, highlighting the close relation between these responses in manual interception tasks. Our results indicate that visual contexts similarly affect eye and hand movements but that these effects may be short-lasting, affecting movement trajectories more than movement end points. NEW & NOTEWORTHY In a novel track-intercept paradigm, human observers tracked a briefly shown object moving across a textured, dynamic context and intercepted it with their finger after it had disappeared. Context motion significantly affected eye and hand movement latency and speed, but not interception accuracy; eye and hand position at interception were correlated on a trial-by-trial basis. Visual context effects may be short-lasting, affecting movement trajectories more than movement end points. Copyright © 2017 the American Physiological Society.

Stable isotope analyses of feather amino acids identify penguin migration strategies at ocean basin scales.

PubMed

Polito, Michael J; Hinke, Jefferson T; Hart, Tom; Santos, Mercedes; Houghton, Leah A; Thorrold, Simon R

2017-08-01

Identifying the at-sea distribution of wide-ranging marine predators is critical to understanding their ecology. Advances in electronic tracking devices and intrinsic biogeochemical markers have greatly improved our ability to track animal movements on ocean-wide scales. Here, we show that, in combination with direct tracking, stable carbon isotope analysis of essential amino acids in tail feathers provides the ability to track the movement patterns of two, wide-ranging penguin species over ocean basin scales. In addition, we use this isotopic approach across multiple breeding colonies in the Scotia Arc to evaluate migration trends at a regional scale that would be logistically challenging using direct tracking alone. © 2017 The Author(s).

An extended Kalman filter for mouse tracking.

PubMed

Choi, Hongjun; Kim, Mingi; Lee, Onseok

2018-05-19

Animal tracking is an important tool for observing behavior, which is useful in various research areas. Animal specimens can be tracked using dynamic models and observation models that require several types of data. Tracking mouse has several barriers due to the physical characteristics of the mouse, their unpredictable movement, and cluttered environments. Therefore, we propose a reliable method that uses a detection stage and a tracking stage to successfully track mouse. The detection stage detects the surface area of the mouse skin, and the tracking stage implements an extended Kalman filter to estimate the state variables of a nonlinear model. The changes in the overall shape of the mouse are tracked using an oval-shaped tracking model to estimate the parameters for the ellipse. An experiment is conducted to demonstrate the performance of the proposed tracking algorithm using six video images showing various types of movement, and the ground truth values for synthetic images are compared to the values generated by the tracking algorithm. A conventional manual tracking method is also applied to compare across eight experimenters. Furthermore, the effectiveness of the proposed tracking method is also demonstrated by applying the tracking algorithm with actual images of mouse. Graphical abstract.

Mousetrap: An integrated, open-source mouse-tracking package.

PubMed

Kieslich, Pascal J; Henninger, Felix

2017-10-01

Mouse-tracking - the analysis of mouse movements in computerized experiments - is becoming increasingly popular in the cognitive sciences. Mouse movements are taken as an indicator of commitment to or conflict between choice options during the decision process. Using mouse-tracking, researchers have gained insight into the temporal development of cognitive processes across a growing number of psychological domains. In the current article, we present software that offers easy and convenient means of recording and analyzing mouse movements in computerized laboratory experiments. In particular, we introduce and demonstrate the mousetrap plugin that adds mouse-tracking to OpenSesame, a popular general-purpose graphical experiment builder. By integrating with this existing experimental software, mousetrap allows for the creation of mouse-tracking studies through a graphical interface, without requiring programming skills. Thus, researchers can benefit from the core features of a validated software package and the many extensions available for it (e.g., the integration with auxiliary hardware such as eye-tracking, or the support of interactive experiments). In addition, the recorded data can be imported directly into the statistical programming language R using the mousetrap package, which greatly facilitates analysis. Mousetrap is cross-platform, open-source and available free of charge from https://github.com/pascalkieslich/mousetrap-os .

A dynamic Brownian bridge movement model to estimate utilization distributions for heterogeneous animal movement.

PubMed

Kranstauber, Bart; Kays, Roland; Lapoint, Scott D; Wikelski, Martin; Safi, Kamran

2012-07-01

1. The recently developed Brownian bridge movement model (BBMM) has advantages over traditional methods because it quantifies the utilization distribution of an animal based on its movement path rather than individual points and accounts for temporal autocorrelation and high data volumes. However, the BBMM assumes unrealistic homogeneous movement behaviour across all data. 2. Accurate quantification of the utilization distribution is important for identifying the way animals use the landscape. 3. We improve the BBMM by allowing for changes in behaviour, using likelihood statistics to determine change points along the animal's movement path. 4. This novel extension, outperforms the current BBMM as indicated by simulations and examples of a territorial mammal and a migratory bird. The unique ability of our model to work with tracks that are not sampled regularly is especially important for GPS tags that have frequent failed fixes or dynamic sampling schedules. Moreover, our model extension provides a useful one-dimensional measure of behavioural change along animal tracks. 5. This new method provides a more accurate utilization distribution that better describes the space use of realistic, behaviourally heterogeneous tracks. © 2012 The Authors. Journal of Animal Ecology © 2012 British Ecological Society.

49 CFR 213.307 - Class of track: operating speed limits.

Code of Federal Regulations, 2010 CFR

2010-10-01

... conditions are met: (1) The vehicles utilized to carry such freight are of equal dynamic performance and have... distribution and securement in the freight vehicle will not adversely affect the dynamic performance of the... addressing other safety issues presented by the system. (b) If a segment of track does not meet all of the...

Design of an autonomous teleoperated cargo transporting vehicle for lunar base operations

NASA Technical Reports Server (NTRS)

Holt, James; Lao, Tom; Monali, Nkoy

1989-01-01

At the turn of the century NASA plans to begin construction of a lunar base. The base will likely consist of developed areas (i.e., habitation, laboratory, landing and launching sites, power plant) separated from each other due to safety considerations. The Self-Repositioning Track Vehicle (SRTV) was designed to transport cargo between these base facilities. The SRTV operates by using two robotic arms to raise and position segments of track upon which the vehicle travels. The SRTV utilizes the semiautonomous mobility (SAM) method of teleoperation; actuator-controlled interlocking track sections; two robotic arms each with five degrees of freedom; and these materials: titanium for structural members and aluminum for shell members, with the possible use of light-weight, high-strength composites.

Resource Tracking Model Updates and Trade Studies

NASA Technical Reports Server (NTRS)

Chambliss, Joe; Stambaugh, Imelda; Moore, Michael

2016-01-01

The Resource Tracking Model has been updated to capture system manager and project manager inputs. Both the Trick/General Use Nodal Network Solver Resource Tracking Model (RTM) simulator and the RTM mass balance spreadsheet have been revised to address inputs from system managers and to refine the way mass balance is illustrated. The revisions to the RTM included the addition of a Plasma Pyrolysis Assembly (PPA) to recover hydrogen from Sabatier Reactor methane, which was vented in the prior version of the RTM. The effect of the PPA on the overall balance of resources in an exploration vehicle is illustrated in the increased recycle of vehicle oxygen. Case studies have been run to show the relative effect of performance changes on vehicle resources.

Adaptive vehicle motion estimation and prediction

NASA Astrophysics Data System (ADS)

Zhao, Liang; Thorpe, Chuck E.

1999-01-01

Accurate motion estimation and reliable maneuver prediction enable an automated car to react quickly and correctly to the rapid maneuvers of the other vehicles, and so allow safe and efficient navigation. In this paper, we present a car tracking system which provides motion estimation, maneuver prediction and detection of the tracked car. The three strategies employed - adaptive motion modeling, adaptive data sampling, and adaptive model switching probabilities - result in an adaptive interacting multiple model algorithm (AIMM). The experimental results on simulated and real data demonstrate that our tracking system is reliable, flexible, and robust. The adaptive tracking makes the system intelligent and useful in various autonomous driving tasks.

Kalman filter-based tracking of moving objects using linear ultrasonic sensor array for road vehicles

NASA Astrophysics Data System (ADS)

Li, Shengbo Eben; Li, Guofa; Yu, Jiaying; Liu, Chang; Cheng, Bo; Wang, Jianqiang; Li, Keqiang

2018-01-01

Detection and tracking of objects in the side-near-field has attracted much attention for the development of advanced driver assistance systems. This paper presents a cost-effective approach to track moving objects around vehicles using linearly arrayed ultrasonic sensors. To understand the detection characteristics of a single sensor, an empirical detection model was developed considering the shapes and surface materials of various detected objects. Eight sensors were arrayed linearly to expand the detection range for further application in traffic environment recognition. Two types of tracking algorithms, including an Extended Kalman filter (EKF) and an Unscented Kalman filter (UKF), for the sensor array were designed for dynamic object tracking. The ultrasonic sensor array was designed to have two types of fire sequences: mutual firing or serial firing. The effectiveness of the designed algorithms were verified in two typical driving scenarios: passing intersections with traffic sign poles or street lights, and overtaking another vehicle. Experimental results showed that both EKF and UKF had more precise tracking position and smaller RMSE (root mean square error) than a traditional triangular positioning method. The effectiveness also encourages the application of cost-effective ultrasonic sensors in the near-field environment perception in autonomous driving systems.

Modelling of Rail Vehicles and Track for Calculation of Ground-Vibration Transmission Into Buildings

NASA Astrophysics Data System (ADS)

Hunt, H. E. M.

1996-05-01

A methodology for the calculation of vibration transmission from railways into buildings is presented. The method permits existing models of railway vehicles and track to be incorporated and it has application to any model of vibration transmission through the ground. Special attention is paid to the relative phasing between adjacent axle-force inputs to the rail, so that vibration transmission may be calculated as a random process. The vehicle-track model is used in conjunction with a building model of infinite length. The tracking and building are infinite and parallel to each other and forces applied are statistically stationary in space so that vibration levels at any two points along the building are the same. The methodology is two-dimensional for the purpose of application of random process theory, but fully three-dimensional for calculation of vibration transmission from the track and through the ground into the foundations of the building. The computational efficiency of the method will interest engineers faced with the task of reducing vibration levels in buildings. It is possible to assess the relative merits of using rail pads, under-sleeper pads, ballast mats, floating-slab track or base isolation for particular applications.

Proposal of an intelligent wayside monitoring system for detection of critical ice accumulations on railway vehicles

NASA Astrophysics Data System (ADS)

Michelberger, Frank; Wagner, Adrian; Ostermann, Michael; Maly, Thomas

2017-09-01

At railway lines with ballasted tracks, under unfavourable conditions, the so-called flying ballast can occur predominantly for trains driving at high speeds. Especially in wintertime, it is highly likely that the causes are adhered snow or ice deposits, which are falling off the vehicle. Due to the high kinetic energy, the impact can lead to the removal of ballast stones from the structure of the ballasted track. If the stones reach the height of vehicles underside, they may be accelerated significantly due to the collision with the vehicle or may detach further ice blocks. In the worst case, a reinforcing effect occurs, which can lead to considerable damage to railway vehicles (under-floor-area, vehicle exteriors, etc.) and infrastructure (signal masts, noise barriers, etc.). Additionally the flying gravel is a significant danger to people in the nearby area of the tracks. With this feasibility study the applicability and meaningfulness of an intelligent monitoring system for identification of the critical ice accumulation to prevent the ballast fly induced by ice dropping was examined. The key findings of the research are that the detection of ice on railway vehicles and the development of an intelligent monitoring seem to be possible with existing technologies, but a proof of concept in terms of field tests is necessary.

Railway track geometry degradation due to differential settlement of ballast/subgrade - Numerical prediction by an iterative procedure

NASA Astrophysics Data System (ADS)

Nielsen, Jens C. O.; Li, Xin

2018-01-01

An iterative procedure for numerical prediction of long-term degradation of railway track geometry (longitudinal level) due to accumulated differential settlement of ballast/subgrade is presented. The procedure is based on a time-domain model of dynamic vehicle-track interaction to calculate the contact loads between sleepers and ballast in the short-term, which are then used in an empirical model to determine the settlement of ballast/subgrade below each sleeper in the long-term. The number of load cycles (wheel passages) accounted for in each iteration step is determined by an adaptive step length given by a maximum settlement increment. To reduce the computational effort for the simulations of dynamic vehicle-track interaction, complex-valued modal synthesis with a truncated modal set is applied for the linear subset of the discretely supported track model with non-proportional spatial distribution of viscous damping. Gravity loads and state-dependent vehicle, track and wheel-rail contact conditions are accounted for as external loads on the modal model, including situations involving loss of (and recovered) wheel-rail contact, impact between hanging sleeper and ballast, and/or a prescribed variation of non-linear track support stiffness properties along the track model. The procedure is demonstrated by calculating the degradation of longitudinal level over time as initiated by a prescribed initial local rail irregularity (dipped welded rail joint).

A spring-mass-damper system dynamics-based driver-vehicle integrated model for representing heterogeneous traffic

NASA Astrophysics Data System (ADS)

Munigety, Caleb Ronald

2018-04-01

The traditional traffic microscopic simulation models consider driver and vehicle as a single unit to represent the movements of drivers in a traffic stream. Due to this very fact, the traditional car-following models have the driver behavior related parameters, but ignore the vehicle related aspects. This approach is appropriate for homogeneous traffic conditions where car is the major vehicle type. However, in heterogeneous traffic conditions where multiple vehicle types are present, it becomes important to incorporate the vehicle related parameters exclusively to account for the varying dynamic and static characteristics. Thus, this paper presents a driver-vehicle integrated model hinged on the principles involved in physics-based spring-mass-damper mechanical system. While the spring constant represents the driver’s aggressiveness, the damping constant and the mass component take care of the stability and size/weight related aspects, respectively. The proposed model when tested, behaved pragmatically in representing the vehicle-type dependent longitudinal movements of vehicles.

Satellite tracking of manta rays highlights challenges to their conservation.

PubMed

Graham, Rachel T; Witt, Matthew J; Castellanos, Dan W; Remolina, Francisco; Maxwell, Sara; Godley, Brendan J; Hawkes, Lucy A

2012-01-01

We describe the real-time movements of the last of the marine mega-vertebrate taxa to be satellite tracked - the giant manta ray (or devil fish, Manta birostris), the world's largest ray at over 6 m disc width. Almost nothing is known about manta ray movements and their environmental preferences, making them one of the least understood of the marine mega-vertebrates. Red listed by the International Union for the Conservation of Nature as 'Vulnerable' to extinction, manta rays are known to be subject to direct and incidental capture and some populations are declining. Satellite-tracked manta rays associated with seasonal upwelling events and thermal fronts off the Yucatan peninsula, Mexico, and made short-range shuttling movements, foraging along and between them. The majority of locations were received from waters shallower than 50 m deep, representing thermally dynamic and productive waters. Manta rays remained in the Mexican Exclusive Economic Zone for the duration of tracking but only 12% of tracking locations were received from within Marine Protected Areas (MPAs). Our results on the spatio-temporal distribution of these enigmatic rays highlight opportunities and challenges to management efforts.

Navigation of the autonomous vehicle reverse movement

NASA Astrophysics Data System (ADS)

Rachkov, M.; Petukhov, S.

2018-02-01

The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

Classification of Animal Movement Behavior through Residence in Space and Time.

PubMed

Torres, Leigh G; Orben, Rachael A; Tolkova, Irina; Thompson, David R

2017-01-01

Identification and classification of behavior states in animal movement data can be complex, temporally biased, time-intensive, scale-dependent, and unstandardized across studies and taxa. Large movement datasets are increasingly common and there is a need for efficient methods of data exploration that adjust to the individual variability of each track. We present the Residence in Space and Time (RST) method to classify behavior patterns in movement data based on the concept that behavior states can be partitioned by the amount of space and time occupied in an area of constant scale. Using normalized values of Residence Time and Residence Distance within a constant search radius, RST is able to differentiate behavior patterns that are time-intensive (e.g., rest), time & distance-intensive (e.g., area restricted search), and transit (short time and distance). We use grey-headed albatross (Thalassarche chrysostoma) GPS tracks to demonstrate RST's ability to classify behavior patterns and adjust to the inherent scale and individuality of each track. Next, we evaluate RST's ability to discriminate between behavior states relative to other classical movement metrics. We then temporally sub-sample albatross track data to illustrate RST's response to less resolved data. Finally, we evaluate RST's performance using datasets from four taxa with diverse ecology, functional scales, ecosystems, and data-types. We conclude that RST is a robust, rapid, and flexible method for detailed exploratory analysis and meta-analyses of behavioral states in animal movement data based on its ability to integrate distance and time measurements into one descriptive metric of behavior groupings. Given the increasing amount of animal movement data collected, it is timely and useful to implement a consistent metric of behavior classification to enable efficient and comparative analyses. Overall, the application of RST to objectively explore and compare behavior patterns in movement data can enhance our fine- and broad- scale understanding of animal movement ecology.

An automated data exploitation system for airborne sensors

NASA Astrophysics Data System (ADS)

Chen, Hai-Wen; McGurr, Mike

2014-06-01

Advanced wide area persistent surveillance (WAPS) sensor systems on manned or unmanned airborne vehicles are essential for wide-area urban security monitoring in order to protect our people and our warfighter from terrorist attacks. Currently, human (imagery) analysts process huge data collections from full motion video (FMV) for data exploitation and analysis (real-time and forensic), providing slow and inaccurate results. An Automated Data Exploitation System (ADES) is urgently needed. In this paper, we present a recently developed ADES for airborne vehicles under heavy urban background clutter conditions. This system includes four processes: (1) fast image registration, stabilization, and mosaicking; (2) advanced non-linear morphological moving target detection; (3) robust multiple target (vehicles, dismounts, and human) tracking (up to 100 target tracks); and (4) moving or static target/object recognition (super-resolution). Test results with real FMV data indicate that our ADES can reliably detect, track, and recognize multiple vehicles under heavy urban background clutters. Furthermore, our example shows that ADES as a baseline platform can provide capability for vehicle abnormal behavior detection to help imagery analysts quickly trace down potential threats and crimes.

Effect of visual distraction and auditory feedback on patient effort during robot-assisted movement training after stroke

PubMed Central

2011-01-01

Background Practicing arm and gait movements with robotic assistance after neurologic injury can help patients improve their movement ability, but patients sometimes reduce their effort during training in response to the assistance. Reduced effort has been hypothesized to diminish clinical outcomes of robotic training. To better understand patient slacking, we studied the role of visual distraction and auditory feedback in modulating patient effort during a common robot-assisted tracking task. Methods Fourteen participants with chronic left hemiparesis from stroke, five control participants with chronic right hemiparesis and fourteen non-impaired healthy control participants, tracked a visual target with their arms while receiving adaptive assistance from a robotic arm exoskeleton. We compared four practice conditions: the baseline tracking task alone; tracking while also performing a visual distracter task; tracking with the visual distracter and sound feedback; and tracking with sound feedback. For the distracter task, symbols were randomly displayed in the corners of the computer screen, and the participants were instructed to click a mouse button when a target symbol appeared. The sound feedback consisted of a repeating beep, with the frequency of repetition made to increase with increasing tracking error. Results Participants with stroke halved their effort and doubled their tracking error when performing the visual distracter task with their left hemiparetic arm. With sound feedback, however, these participants increased their effort and decreased their tracking error close to their baseline levels, while also performing the distracter task successfully. These effects were significantly smaller for the participants who used their non-paretic arm and for the participants without stroke. Conclusions Visual distraction decreased participants effort during a standard robot-assisted movement training task. This effect was greater for the hemiparetic arm, suggesting that the increased demands associated with controlling an affected arm make the motor system more prone to slack when distracted. Providing an alternate sensory channel for feedback, i.e., auditory feedback of tracking error, enabled the participants to simultaneously perform the tracking task and distracter task effectively. Thus, incorporating real-time auditory feedback of performance errors might improve clinical outcomes of robotic therapy systems. PMID:21513561

Adaptive Control Responses to Behavioral Perturbation Based Upon the Insect

DTIC Science & Technology

2006-11-01

the legs. Visual Sensors Antennal Mechanosensors Antennal Chemosensors Descending Interneurons Controlling Yaw...animals, the antenna were moved back and forth several times with servo motors to identify units that respond to antennal movement in either direction or...role of antennal postures and movements in plume tracking behavior. To date, results have shown that male moths tracking plumes in different wind

Movement mysteries unveiled: spatial ecology of juvenile green sea turtles

USGS Publications Warehouse

Shaver, Donna J.; Hart, Kristen M.; Fujisaki, Ikuko; Rubio, Cynthia; Sartain-Iverson, Autumn R.; Lutterschmidt, William I.

2013-01-01

Locations of important foraging areas are not well defined for many marine species. Unraveling these mysteries is vital to develop conservation strategies for these species, many of which are threatened or endangered. Satellite-tracking is a tool that can reveal movement patterns at both broad and fine spatial scales, in all marine environments. This chapter presents records of the longest duration track of an individual juvenile green turtle (434 days) and highest number of tracking days in any juvenile green turtle study (5483 tracking days) published to date. In this chapter, we use spatial modeling techniques to describe movements and identify foraging areas for juvenile green turtles (Chelonia mydas) captured in a developmental habitat in south Texas, USA. Some green turtles established residency in the vicinity of their capture and release site, but most used a specific habitat feature (i.e., a jettied pass) to travel between the Gulf of Mexico and a nearby bay. Still others moved southward within the Gulf of Mexico into Mexican coastal waters, likely in response to decreasing water temperatures. These movements to waters off the coast of Mexico highlight the importance of international cooperation in restoration efforts undertaken on behalf of this imperiled species.

49 CFR 213.233 - Track inspections.

Code of Federal Regulations, 2010 CFR

2010-10-01

... person designated under § 213.7. (b) Each inspection shall be made on foot or by riding over the track in..., otherwise, the inspection vehicle speed shall be at the sole discretion of the inspector, based on track... track is not centered more than 30 feet from the track upon which the inspector is riding; (2) Two...

49 CFR 213.233 - Track inspections.

Code of Federal Regulations, 2011 CFR

2011-10-01

... person designated under § 213.7. (b) Each inspection shall be made on foot or by riding over the track in..., otherwise, the inspection vehicle speed shall be at the sole discretion of the inspector, based on track... track is not centered more than 30 feet from the track upon which the inspector is riding; (2) Two...

Potential Effects of Winter Navigation on Movements of Large Land Mammals in Eastern Lake Superior and Saint Mary’s River Area. Great Lakes-Saint Lawrence Seaway Navigation Season Extension Program

DTIC Science & Technology

1980-09-01

considered effects on deer, seasonal migrations, daily movements and direct mortality; the dispersal of wolves , bobcats, lynx, moose, coyotes and red foxes...literature and information search pertaining to movements and dispersal of wolves , coyotes, foxes, bobcats, lynx, deer, and moose, and local records of the...islands in Whitefish Bay tracks of foxes, deer and wolf were identified. The partially obliterated tracks of a pack of five wolves were observed near

Accurate Attitude Estimation Using ARS under Conditions of Vehicle Movement Based on Disturbance Acceleration Adaptive Estimation and Correction

PubMed Central

Xing, Li; Hang, Yijun; Xiong, Zhi; Liu, Jianye; Wan, Zhong

2016-01-01

This paper describes a disturbance acceleration adaptive estimate and correction approach for an attitude reference system (ARS) so as to improve the attitude estimate precision under vehicle movement conditions. The proposed approach depends on a Kalman filter, where the attitude error, the gyroscope zero offset error and the disturbance acceleration error are estimated. By switching the filter decay coefficient of the disturbance acceleration model in different acceleration modes, the disturbance acceleration is adaptively estimated and corrected, and then the attitude estimate precision is improved. The filter was tested in three different disturbance acceleration modes (non-acceleration, vibration-acceleration and sustained-acceleration mode, respectively) by digital simulation. Moreover, the proposed approach was tested in a kinematic vehicle experiment as well. Using the designed simulations and kinematic vehicle experiments, it has been shown that the disturbance acceleration of each mode can be accurately estimated and corrected. Moreover, compared with the complementary filter, the experimental results have explicitly demonstrated the proposed approach further improves the attitude estimate precision under vehicle movement conditions. PMID:27754469

Accurate Attitude Estimation Using ARS under Conditions of Vehicle Movement Based on Disturbance Acceleration Adaptive Estimation and Correction.

PubMed

Xing, Li; Hang, Yijun; Xiong, Zhi; Liu, Jianye; Wan, Zhong

2016-10-16

This paper describes a disturbance acceleration adaptive estimate and correction approach for an attitude reference system (ARS) so as to improve the attitude estimate precision under vehicle movement conditions. The proposed approach depends on a Kalman filter, where the attitude error, the gyroscope zero offset error and the disturbance acceleration error are estimated. By switching the filter decay coefficient of the disturbance acceleration model in different acceleration modes, the disturbance acceleration is adaptively estimated and corrected, and then the attitude estimate precision is improved. The filter was tested in three different disturbance acceleration modes (non-acceleration, vibration-acceleration and sustained-acceleration mode, respectively) by digital simulation. Moreover, the proposed approach was tested in a kinematic vehicle experiment as well. Using the designed simulations and kinematic vehicle experiments, it has been shown that the disturbance acceleration of each mode can be accurately estimated and corrected. Moreover, compared with the complementary filter, the experimental results have explicitly demonstrated the proposed approach further improves the attitude estimate precision under vehicle movement conditions.

M-Track: A New Software for Automated Detection of Grooming Trajectories in Mice

PubMed Central

Zhang, Lin

2016-01-01

Grooming is a complex and robust innate behavior, commonly performed by most vertebrate species. In mice, grooming consists of a series of stereotyped patterned strokes, performed along the rostro-caudal axis of the body. The frequency and duration of each grooming episode is sensitive to changes in stress levels, social interactions and pharmacological manipulations, and is therefore used in behavioral studies to gain insights into the function of brain regions that control movement execution and anxiety. Traditional approaches to analyze grooming rely on manually scoring the time of onset and duration of each grooming episode, and are often performed on grooming episodes triggered by stress exposure, which may not be entirely representative of spontaneous grooming in freely-behaving mice. This type of analysis is time-consuming and provides limited information about finer aspects of grooming behaviors, which are important to understand movement stereotypy and bilateral coordination in mice. Currently available commercial and freeware video-tracking software allow automated tracking of the whole body of a mouse or of its head and tail, not of individual forepaws. Here we describe a simple experimental set-up and a novel open-source code, named M-Track, for simultaneously tracking the movement of individual forepaws during spontaneous grooming in multiple freely-behaving mice. This toolbox provides a simple platform to perform trajectory analysis of forepaw movement during distinct grooming episodes. By using M-track we show that, in C57BL/6 wild type mice, the speed and bilateral coordination of the left and right forepaws remain unaltered during the execution of distinct grooming episodes. Stress exposure induces a profound increase in the length of the forepaw grooming trajectories. M-Track provides a valuable and user-friendly interface to streamline the analysis of spontaneous grooming in biomedical research studies. PMID:27636358

Effectiveness of a Program Using a Vehicle Tracking System, Incentives, and Disincentives to Reduce the Speeding Behavior of Drivers with ADHD

ERIC Educational Resources Information Center

Markham, Paula T.; Porter, Bryan E.; Ball, J. D.

2013-01-01

Objective: In this article, the authors investigated the effectiveness of a behavior modification program using global positioning system (GPS) vehicle tracking devices with contingency incentives and disincentives to reduce the speeding behavior of drivers with ADHD. Method: Using an AB multiple-baseline design, six participants drove a 5-mile…

Modular Filter and Source-Management Upgrade of RADAC

NASA Technical Reports Server (NTRS)

Lanzi, R. James; Smith, Donna C.

2007-01-01

In an upgrade of the Range Data Acquisition Computer (RADAC) software, a modular software object library was developed to implement required functionality for filtering of flight-vehicle-tracking data and management of tracking-data sources. (The RADAC software is used to process flight-vehicle metric data for realtime display in the Wallops Flight Facility Range Control Center and Mobile Control Center.)

An Experimental Study of an Ultra-Mobile Vehicle for Off-Road Transportation.

DTIC Science & Technology

1983-02-01

Control with Active Compliance ....... 97 ( 5.5 Force Tracking .... ................. .... 97 5.6 Attitude Sensor Evaluation .. ........... . .101 6...93 5.7 OSU Hexapod Traversing Obstacle ............ ... 95 - 5.8 Vehicle Attitude Across Obstacle Using No Terrain- Adaptive ...Underspecified Gait Using Attitude Control and Active Compliance 100 5.12 Foot Force Tracking Using Active Compliance in an Underspecified Gait

49 CFR Appendix B to Part 213 - Schedule of Civil Penalties

Code of Federal Regulations, 2014 CFR

2014-10-01

... Automated vehicle-based inspection systems 5,000 7,500 213.335 Crossties (a) Material used 1,000 2,000 (b... 213.234 Automated inspection of track constructed with concrete crossties 5,000 7,500 213.235 Switches... (a) through (h) 5,000 7,500 213.345 Vehicle/track system qualification: (a) through (d) 5,000 7,500...

Proceedings of the International Conference on the Performance of Off-Road Vehicles and Machines (8th). Volume 3. Held at Cambridge England, on August 5-11, 1984.

DTIC Science & Technology

1984-08-01

energy-savIng propulsion systems for tracked all- -terrain vehicles with extremely high mobility. Mong many proposed idea, Sthoeof hybrid -electric...propulsion system are dominant. Hybrid -electric propulsion system are hybrids In which at least one of the energy stores, sources or convertors can...Aer’teed b*.of I F~ Po ’edfJr* dema. 1046 Modern newly designed energy-saving hybrid -electric propulsion systems work on tracked all-terrain vehicles are

Small Orbital Stereo Tracking Camera Technology Development

NASA Technical Reports Server (NTRS)

Bryan, Tom; Macleod, Todd; Gagliano, Larry

2015-01-01

On-Orbit Small Debris Tracking and Characterization is a technical gap in the current National Space Situational Awareness necessary to safeguard orbital assets and crew. This poses a major risk of MOD damage to ISS and Exploration vehicles. In 2015 this technology was added to NASA's Office of Chief Technologist roadmap. For missions flying in or assembled in or staging from LEO, the physical threat to vehicle and crew is needed in order to properly design the proper level of MOD impact shielding and proper mission design restrictions. Need to verify debris flux and size population versus ground RADAR tracking. Use of ISS for In-Situ Orbital Debris Tracking development provides attitude, power, data and orbital access without a dedicated spacecraft or restricted operations on-board a host vehicle as a secondary payload. Sensor Applicable to in-situ measuring orbital debris in flux and population in other orbits or on other vehicles. Could enhance safety on and around ISS. Some technologies extensible to monitoring of extraterrestrial debris as well to help accomplish this, new technologies must be developed quickly. The Small Orbital Stereo Tracking Camera is one such up and coming technology. It consists of flying a pair of intensified megapixel telephoto cameras to evaluate Orbital Debris (OD) monitoring in proximity of International Space Station. It will demonstrate on-orbit optical tracking (in situ) of various sized objects versus ground RADAR tracking and small OD models. The cameras are based on Flight Proven Advanced Video Guidance Sensor pixel to spot algorithms (Orbital Express) and military targeting cameras. And by using twin cameras we can provide Stereo images for ranging & mission redundancy. When pointed into the orbital velocity vector (RAM), objects approaching or near the stereo camera set can be differentiated from the stars moving upward in background.

Small Orbital Stereo Tracking Camera Technology Development

NASA Technical Reports Server (NTRS)

Bryan, Tom; MacLeod, Todd; Gagliano, Larry

2016-01-01

On-Orbit Small Debris Tracking and Characterization is a technical gap in the current National Space Situational Awareness necessary to safeguard orbital assets and crew. This poses a major risk of MOD damage to ISS and Exploration vehicles. In 2015 this technology was added to NASA's Office of Chief Technologist roadmap. For missions flying in or assembled in or staging from LEO, the physical threat to vehicle and crew is needed in order to properly design the proper level of MOD impact shielding and proper mission design restrictions. Need to verify debris flux and size population versus ground RADAR tracking. Use of ISS for In-Situ Orbital Debris Tracking development provides attitude, power, data and orbital access without a dedicated spacecraft or restricted operations on-board a host vehicle as a secondary payload. Sensor Applicable to in-situ measuring orbital debris in flux and population in other orbits or on other vehicles. Could enhance safety on and around ISS. Some technologies extensible to monitoring of extraterrestrial debris as well To help accomplish this, new technologies must be developed quickly. The Small Orbital Stereo Tracking Camera is one such up and coming technology. It consists of flying a pair of intensified megapixel telephoto cameras to evaluate Orbital Debris (OD) monitoring in proximity of International Space Station. It will demonstrate on-orbit optical tracking (in situ) of various sized objects versus ground RADAR tracking and small OD models. The cameras are based on Flight Proven Advanced Video Guidance Sensor pixel to spot algorithms (Orbital Express) and military targeting cameras. And by using twin cameras we can provide Stereo images for ranging & mission redundancy. When pointed into the orbital velocity vector (RAM), objects approaching or near the stereo camera set can be differentiated from the stars moving upward in background.

Method for targetless tracking subpixel in-plane movements.

PubMed

Espinosa, Julian; Perez, Jorge; Ferrer, Belen; Mas, David

2015-09-01

We present a targetless motion tracking method for detecting planar movements with subpixel accuracy. This method is based on the computation and tracking of the intersection of two nonparallel straight-line segments in the image of a moving object in a scene. The method is simple and easy to implement because no complex structures have to be detected. It has been tested and validated using a lab experiment consisting of a vibrating object that was recorded with a high-speed camera working at 1000 fps. We managed to track displacements with an accuracy of hundredths of pixel or even of thousandths of pixel in the case of tracking harmonic vibrations. The method is widely applicable because it can be used for distance measuring amplitude and frequency of vibrations with a vision system.

Investigation of the effects of sleeper-passing impacts on the high-speed train

NASA Astrophysics Data System (ADS)

Wu, Xingwen; Cai, Wubin; Chi, Maoru; Wei, Lai; Shi, Huailong; Zhu, Minhao

2015-12-01

The sleeper-passing impact has always been considered negligible in normal conditions, while the experimental data obtained from a High-speed train in a cold weather expressed significant sleeper-passing impacts on the axle box, bogie frame and car body. Therefore, in this study, a vertical coupled vehicle/track dynamic model was developed to investigate the sleeper-passing impacts and its effects on the dynamic performance of the high-speed train. In the model, the dynamic model of vehicle is established with 10 degrees of freedom. The track model is formulated with two rails supported on the discrete supports through the finite element method. The contact forces between the wheel and rail are estimated using the non-linear Hertz contact theory. The parametric studies are conducted to analyse effects of both the vehicle speeds and the discrete support stiffness on the sleeper-passing impacts. The results show that the sleeper-passing impacts become extremely significant with the increased support stiffness of track, especially when the frequencies of sleeper-passing impacts approach to the resonance frequencies of wheel/track system. The damping of primary suspension can effectively lower the magnitude of impacts in the resonance speed ranges, but has little effect on other speed ranges. Finally, a more comprehensively coupled vehicle/track dynamic model integrating with a flexible wheel set is developed to discuss the sleeper-passing-induced flexible vibration of wheel set.

49 CFR 173.5a - Oilfield service vehicles, mechanical displacement meter provers, and roadway striping vehicles...

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 2 2011-10-01 2011-10-01 false Oilfield service vehicles, mechanical displacement... § 173.5a Oilfield service vehicles, mechanical displacement meter provers, and roadway striping vehicles... CONTAINED * * * ” on the shipping paper for each movement on a public highway. (b) Mechanical displacement...

49 CFR 173.5a - Oilfield service vehicles, mechanical displacement meter provers, and roadway striping vehicles...

Code of Federal Regulations, 2013 CFR

2013-10-01

... 49 Transportation 2 2013-10-01 2013-10-01 false Oilfield service vehicles, mechanical displacement... § 173.5a Oilfield service vehicles, mechanical displacement meter provers, and roadway striping vehicles... CONTAINED * * * ” on the shipping paper for each movement on a public highway. (b) Mechanical displacement...

49 CFR 173.5a - Oilfield service vehicles, mechanical displacement meter provers, and roadway striping vehicles...

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 2 2012-10-01 2012-10-01 false Oilfield service vehicles, mechanical displacement... § 173.5a Oilfield service vehicles, mechanical displacement meter provers, and roadway striping vehicles... CONTAINED * * * ” on the shipping paper for each movement on a public highway. (b) Mechanical displacement...

49 CFR 173.5a - Oilfield service vehicles, mechanical displacement meter provers, and roadway striping vehicles...

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 2 2014-10-01 2014-10-01 false Oilfield service vehicles, mechanical displacement... § 173.5a Oilfield service vehicles, mechanical displacement meter provers, and roadway striping vehicles... CONTAINED * * * ” on the shipping paper for each movement on a public highway. (b) Mechanical displacement...

Mechanistic-Based Pavement Damage Associated Cost from Oversize and Overweight Vehicles in Nevada.

DOT National Transportation Integrated Search

2017-10-16

The movement of overweight (OW) vehicles has become more common over the years due to its vital necessity for many important industries such as chemical, oil, defense, etc. Using OW vehicles reduces the number of vehicles on highways, potentially dec...

A behavior-based framework for assessing barrier effects to wildlife from vehicle traffic volume

Treesearch

Sandra L. Jacobson; Leslie L. Bliss-Ketchum; Catherine E. de Rivera; Winston P. Smith; D. P. C. Peters

2016-01-01

Roads, while central to the function of human society, create barriers to animal movement through collisions and habitat fragmentation. Barriers to animal movement affect the evolution and trajectory of populations. Investigators have attempted to use traffic volume, the number of vehicles passing a point on a road segment, to predict effects to wildlife populations...

The Extended-Image Tracking Technique Based on the Maximum Likelihood Estimation

NASA Technical Reports Server (NTRS)

Tsou, Haiping; Yan, Tsun-Yee

2000-01-01

This paper describes an extended-image tracking technique based on the maximum likelihood estimation. The target image is assume to have a known profile covering more than one element of a focal plane detector array. It is assumed that the relative position between the imager and the target is changing with time and the received target image has each of its pixels disturbed by an independent additive white Gaussian noise. When a rotation-invariant movement between imager and target is considered, the maximum likelihood based image tracking technique described in this paper is a closed-loop structure capable of providing iterative update of the movement estimate by calculating the loop feedback signals from a weighted correlation between the currently received target image and the previously estimated reference image in the transform domain. The movement estimate is then used to direct the imager to closely follow the moving target. This image tracking technique has many potential applications, including free-space optical communications and astronomy where accurate and stabilized optical pointing is essential.

Cratos: The Evolution of a Robotic Vehicle

NASA Technical Reports Server (NTRS)

Greer, Lawrence C.; Krasowski, Michael J.; Prokop, Norman F.; Spina, Dan C.

2013-01-01

Cratos was originally designed to evaluate a small footprint, low-power, tracked vehicle for traversing a crater face and for scraping regolith from a crater basin on the lunar surface. These activities require a power-to-weight ratio such that the vehicle is able to pull its entire mass vertically off the ground with the power from one track. Further complicating matters, the available power-units that fit the vehicles approximate one cubic meter volume, restrict power consumption to 100 watts. Lastly, the vehicle is required to telemeter data from an array of sensors to a remote control station for further study. This unique mix of design constraints lead to the creation of a versatile mobile sensor platform, described in this paper, capable of performing a myriad of functions beyond the scope of its original purpose.

Towards an IMU Evaluation Framework for Human Body Tracking.

PubMed

Venek, Verena; Kremser, Wolfgang; Schneider, Cornelia

2018-01-01

Existing full-body tracking systems, which use Inertial Measurement Units (IMUs) as sensing unit, require expert knowledge for setup and data collection. Thus, the daily application for human body tracking is difficult. In particular, in the field of active and assisted living (AAL), tracking human movements would enable novel insights not only into the quantity but also into the quality of human movement, for example by monitoring functional training. While the current market offers a wide range of products with vastly different properties, literature lacks guidelines for choosing IMUs for body tracking applications. Therefore, this paper introduces developments towards an IMU evaluation framework for human body tracking which compares IMUs against five requirement areas that consider device features and data quality. The data quality is assessed by conducting a static and a dynamic error analysis. In a first application to four IMUs of different component consumption, the IMU evaluation framework convinced as promising tool for IMU selection.

A secure mobile crowdsensing (MCS) location tracker for elderly in smart city

NASA Astrophysics Data System (ADS)

Shien, Lau Khai; Singh, Manmeet Mahinderjit

2017-10-01

According to the UN's (United Nations) projection, Malaysia will achieve ageing population status by 2030. The challenge of the growing ageing population is health and social care services. As the population lives longer, the costs of institutional care rises and elderly who not able live independently in their own homes without caregivers. Moreover, it restricted their activity area, safety and freedom in their daily life. Hence, a tracking system is worthy for their caregivers to track their real-time location with efficient. Currently tracking and monitoring systems are unable to satisfy the needs of the community. Hence, Indoor-Outdoor Elderly Secure and Tracking care system (IOET) proposed to track and monitor elderly. This Mobile Crowdsensing type of system is using indoor and outdoor positioning system to locate elder which utilizes the RFID, NFC, biometric system and GPS aim to secure the safety of elderly within indoors and outdoors environment. A mobile application and web-based application to be designed for this system. This system able to real-time tracking by combining GPS and NFC for outdoor coverage where ideally in smart city. In indoor coverage, the system utilizes active RFID tracking elderly movement. The system will prompt caregiver wherever elderly movement or request by using the notification service which provided the real-time notify. Caregiver also can review the place that visited by elderly and trace back elderly movement.

Side-suspended High-Tc Superconducting Maglev Prototype Vehicle Running at a High Speed in an Evacuated Circular Test Track

NASA Astrophysics Data System (ADS)

Zhou, Dajin; Zhao, Lifeng; Cui, Chenyu; Zhang, Yong; Guo, Jianqiang; Zhao, Yong

2017-07-01

High-T c superconductor (HTS) and permanent magnetic guideway (PMG) based maglev train is intensively studied in China, Japan, Germany and Brazil, mainly through static or vibration test. Amongst these studies, only a few of reports are available for the direct and effective assessment on the dynamic performance of the HTS maglev vehicle by running on a straight or circular PMG track. The highest running speed of these experiments is lower than 50 km/h. In this paper, a side-suspended HTS permanent magnetic guideway maglev system was proposed and constructed in order to increase the running speed in a circular track. By optimizing the arrangement of YBCO bulks besides the PMG, the side-suspended HTS maglev prototype vehicle was successfully running stably at a speed as high as 150 km/h in a circular test track with 6.5 m in diameter, and in an evacuated tube environment, in which the pressure is 5 × 103 Pa.

A Visual Cortical Network for Deriving Phonological Information from Intelligible Lip Movements.

PubMed

Hauswald, Anne; Lithari, Chrysa; Collignon, Olivier; Leonardelli, Elisa; Weisz, Nathan

2018-05-07

Successful lip-reading requires a mapping from visual to phonological information [1]. Recently, visual and motor cortices have been implicated in tracking lip movements (e.g., [2]). It remains unclear, however, whether visuo-phonological mapping occurs already at the level of the visual cortex-that is, whether this structure tracks the acoustic signal in a functionally relevant manner. To elucidate this, we investigated how the cortex tracks (i.e., entrains to) absent acoustic speech signals carried by silent lip movements. Crucially, we contrasted the entrainment to unheard forward (intelligible) and backward (unintelligible) acoustic speech. We observed that the visual cortex exhibited stronger entrainment to the unheard forward acoustic speech envelope compared to the unheard backward acoustic speech envelope. Supporting the notion of a visuo-phonological mapping process, this forward-backward difference of occipital entrainment was not present for actually observed lip movements. Importantly, the respective occipital region received more top-down input, especially from left premotor, primary motor, and somatosensory regions and, to a lesser extent, also from posterior temporal cortex. Strikingly, across participants, the extent of top-down modulation of the visual cortex stemming from these regions partially correlated with the strength of entrainment to absent acoustic forward speech envelope, but not to present forward lip movements. Our findings demonstrate that a distributed cortical network, including key dorsal stream auditory regions [3-5], influences how the visual cortex shows sensitivity to the intelligibility of speech while tracking silent lip movements. Copyright © 2018 The Authors. Published by Elsevier Ltd.. All rights reserved.

Visual tracking strategies for intelligent vehicle highway systems

NASA Astrophysics Data System (ADS)

Smith, Christopher E.; Papanikolopoulos, Nikolaos P.; Brandt, Scott A.; Richards, Charles

1995-01-01

The complexity and congestion of current transportation systems often produce traffic situations that jeopardize the safety of the people involved. These situations vary from maintaining a safe distance behind a leading vehicle to safely allowing a pedestrian to cross a busy street. Environmental sensing plays a critical role in virtually all of these situations. Of the sensors available, vision sensors provide information that is richer and more complete than other sensors, making them a logical choice for a multisensor transportation system. In this paper we present robust techniques for intelligent vehicle-highway applications where computer vision plays a crucial role. In particular, we demonstrate that the controlled active vision framework can be utilized to provide a visual sensing modality to a traffic advisory system in order to increase the overall safety margin in a variety of common traffic situations. We have selected two application examples, vehicle tracking and pedestrian tracking, to demonstrate that the framework can provide precisely the type of information required to effectively manage the given situation.

Characteristics of Handwriting of People With Cerebellar Ataxia: Three-Dimensional Movement Analysis of the Pen Tip, Finger, and Wrist.

PubMed

Fujisawa, Yuhki; Okajima, Yasutomo

2015-11-01

There are several functional tests for evaluating manual performance; however, quantitative manual tests for ataxia, especially those for evaluating handwriting, are limited. This study aimed to investigate the characteristics of cerebellar ataxia by analyzing handwriting, with a special emphasis on correlation between the movement of the pen tip and the movement of the finger or wrist. This was an observational study. Eleven people who were right-handed and had cerebellar ataxia and 17 people to serve as controls were recruited. The Scale for the Assessment and Rating of Ataxia was used to grade the severity of ataxia. Handwriting movements of both hands were analyzed. The time required for writing a character, the variability of individual handwriting, and the correlation between the movement of the pen tip and the movement of the finger or wrist were evaluated for participants with ataxia and control participants. The writing time was longer and the velocity profile and shape of the track of movement of the pen tip were more variable in participants with ataxia than in control participants. For participants with ataxia, the direction of movement of the pen tip deviated more from that of the finger or wrist, and the shape of the track of movement of the pen tip differed more from that of the finger or wrist. The severity of upper extremity ataxia measured with the Scale for the Assessment and Rating of Ataxia was mostly correlated with the variability parameters. Furthermore, it was correlated with the directional deviation of the trajectory of movement of the pen tip from that of the finger and with increased dissimilarity of the shapes of the tracks. The results may have been influenced by the scale and parameters used to measure movement. Ataxic handwriting with increased movement noise is characterized by irregular pen tip movements unconstrained by the finger or wrist. The severity of ataxia is correlated with these unconstrained movements. © 2015 American Physical Therapy Association.

Effects of damping head movement and facial expression in dyadic conversation using real–time facial expression tracking and synthesized avatars

PubMed Central

Boker, Steven M.; Cohn, Jeffrey F.; Theobald, Barry-John; Matthews, Iain; Brick, Timothy R.; Spies, Jeffrey R.

2009-01-01

When people speak with one another, they tend to adapt their head movements and facial expressions in response to each others' head movements and facial expressions. We present an experiment in which confederates' head movements and facial expressions were motion tracked during videoconference conversations, an avatar face was reconstructed in real time, and naive participants spoke with the avatar face. No naive participant guessed that the computer generated face was not video. Confederates' facial expressions, vocal inflections and head movements were attenuated at 1 min intervals in a fully crossed experimental design. Attenuated head movements led to increased head nods and lateral head turns, and attenuated facial expressions led to increased head nodding in both naive participants and confederates. Together, these results are consistent with a hypothesis that the dynamics of head movements in dyadicconversation include a shared equilibrium. Although both conversational partners were blind to the manipulation, when apparent head movement of one conversant was attenuated, both partners responded by increasing the velocity of their head movements. PMID:19884143

Statistics of natural movements are reflected in motor errors.

PubMed

Howard, Ian S; Ingram, James N; Körding, Konrad P; Wolpert, Daniel M

2009-09-01

Humans use their arms to engage in a wide variety of motor tasks during everyday life. However, little is known about the statistics of these natural arm movements. Studies of the sensory system have shown that the statistics of sensory inputs are key to determining sensory processing. We hypothesized that the statistics of natural everyday movements may, in a similar way, influence motor performance as measured in laboratory-based tasks. We developed a portable motion-tracking system that could be worn by subjects as they went about their daily routine outside of a laboratory setting. We found that the well-documented symmetry bias is reflected in the relative incidence of movements made during everyday tasks. Specifically, symmetric and antisymmetric movements are predominant at low frequencies, whereas only symmetric movements are predominant at high frequencies. Moreover, the statistics of natural movements, that is, their relative incidence, correlated with subjects' performance on a laboratory-based phase-tracking task. These results provide a link between natural movement statistics and motor performance and confirm that the symmetry bias documented in laboratory studies is a natural feature of human movement.

Ocean Surface Winds Drive Dynamics of Transoceanic Aerial Movements

PubMed Central

Felicísimo, Ángel M.; Muñoz, Jesús; González-Solis, Jacob

2008-01-01

Global wind patterns influence dispersal and migration processes of aerial organisms, propagules and particles, which ultimately could determine the dynamics of colonizations, invasions or spread of pathogens. However, studying how wind-mediated movements actually happen has been hampered so far by the lack of high resolution global wind data as well as the impossibility to track aerial movements. Using concurrent data on winds and actual pathways of a tracked seabird, here we show that oceanic winds define spatiotemporal pathways and barriers for large-scale aerial movements. We obtained wind data from NASA SeaWinds scatterometer to calculate wind cost (impedance) models reflecting the resistance to the aerial movement near the ocean surface. We also tracked the movements of a model organism, the Cory's shearwater (Calonectris diomedea), a pelagic bird known to perform long distance migrations. Cost models revealed that distant areas can be connected through “wind highways” that do not match the shortest great circle routes. Bird routes closely followed the low-cost “wind-highways” linking breeding and wintering areas. In addition, we found that a potential barrier, the near surface westerlies in the Atlantic sector of the Intertropical Convergence Zone (ITCZ), temporally hindered meridional trans-equatorial movements. Once the westerlies vanished, birds crossed the ITCZ to their winter quarters. This study provides a novel approach to investigate wind-mediated movements in oceanic environments and shows that large-scale migration and dispersal processes over the oceans can be largely driven by spatiotemporal wind patterns. PMID:18698354

Ocean surface winds drive dynamics of transoceanic aerial movements.

PubMed

Felicísimo, Angel M; Muñoz, Jesús; González-Solis, Jacob

2008-08-13

Global wind patterns influence dispersal and migration processes of aerial organisms, propagules and particles, which ultimately could determine the dynamics of colonizations, invasions or spread of pathogens. However, studying how wind-mediated movements actually happen has been hampered so far by the lack of high resolution global wind data as well as the impossibility to track aerial movements. Using concurrent data on winds and actual pathways of a tracked seabird, here we show that oceanic winds define spatiotemporal pathways and barriers for large-scale aerial movements. We obtained wind data from NASA SeaWinds scatterometer to calculate wind cost (impedance) models reflecting the resistance to the aerial movement near the ocean surface. We also tracked the movements of a model organism, the Cory's shearwater (Calonectris diomedea), a pelagic bird known to perform long distance migrations. Cost models revealed that distant areas can be connected through "wind highways" that do not match the shortest great circle routes. Bird routes closely followed the low-cost "wind-highways" linking breeding and wintering areas. In addition, we found that a potential barrier, the near surface westerlies in the Atlantic sector of the Intertropical Convergence Zone (ITCZ), temporally hindered meridional trans-equatorial movements. Once the westerlies vanished, birds crossed the ITCZ to their winter quarters. This study provides a novel approach to investigate wind-mediated movements in oceanic environments and shows that large-scale migration and dispersal processes over the oceans can be largely driven by spatiotemporal wind patterns.

Impact of bisphosphonate drug burden in alveolar bone during orthodontic tooth movement in a rat model: a pilot study.

PubMed

Kaipatur, Neelambar R; Wu, Yuchin; Adeeb, Samer; Stevenson, Thomas R; Major, Paul W; Doschak, Michael R

2013-10-01

The aim of this pilot study was to investigate the effect of long-term bisphosphonate drug use (bone burden) on orthodontic tooth movement in a rat model. Sprague Dawley rats were used for orthodontic protraction of the maxillary first molars with nickel-titanium coil springs and temporary anchorage devices as anchorage. Four groups of 5 rats each were included in the study; the first 2 groups were dosed with alendronate or a vehicle during concurrent orthodontic tooth movement. The third and fourth groups were pretreated for 3 months with alendronate or vehicle injections, and bisphosphonate drug treatment was discontinued before orthodontic tooth movement. Tooth movement measurements were obtained at 0, 4, and 8 weeks using high-resolution in-vivo microcomputed tomography, and the tissues were analyzed with histology and dynamic labeling of bone turnover. Appreciable tooth movement was achieved during the 8-week duration of this study with nickel-titanium coil springs and temporary anchorage devices. Both bisphosphonate treatment groups exhibited reduced tooth movement compared with the vehicle-dosed controls with a tendency toward more severe reduction in the bisphosphonate predosed group. Concurrent dosing of the bisphosphonate drug resulted in 56% and 65% reductions in tooth protraction at the 4-week and 8-week times, respectively. The impact of bisphosphonate bone burden in retarding tooth movement was even greater, with 77% and 86% reductions in tooth movement at 4 and 8 weeks, respectively. In this study, we used a robust rat model of orthodontic tooth movement with temporary anchorage devices. It has provided evidence that the bone burden of previous bisphosphonate use will significantly inhibit orthodontic tooth movement. Copyright © 2013 American Association of Orthodontists. Published by Mosby, Inc. All rights reserved.

The Human Engineering Eye Movement Measurement Research Facility.

DTIC Science & Technology

1985-04-01

tracked reliably. When tracking is disrupted (e.g., by gross and sudden head movements, gross change in the head position, sneezing, prolonged eye...these are density ^\\ and " busyness " of the slides (stimulus material), as well as consistency . I„ between successive... change the material being projected based on the subject’s previous performance. The minicomputer relays the calibrated data to one of the magnetic

30 CFR 56.9102 - Movement of independently operating rail equipment.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Movement of independently operating rail... MINES Loading, Hauling, and Dumping Traffic Safety § 56.9102 Movement of independently operating rail equipment. Movement of two or more pieces of rail equipment operating independently on the same track shall...

Real-time object detection, tracking and occlusion reasoning

DOE Office of Scientific and Technical Information (OSTI.GOV)

Divakaran, Ajay; Yu, Qian; Tamrakar, Amir

A system for object detection and tracking includes technologies to, among other things, detect and track moving objects, such as pedestrians and/or vehicles, in a real-world environment, handle static and dynamic occlusions, and continue tracking moving objects across the fields of view of multiple different cameras.

49 CFR 214.513 - Retrofitting of existing on-track roadway maintenance machines; general.

Code of Federal Regulations, 2011 CFR

2011-10-01

... maintenance machines; general. 214.513 Section 214.513 Transportation Other Regulations Relating to... SAFETY On-Track Roadway Maintenance Machines and Hi-Rail Vehicles § 214.513 Retrofitting of existing on-track roadway maintenance machines; general. (a) Each existing on-track roadway maintenance machine...

Technical and Economic Feasibility Study of At-Grade Concrete Slab Track for Urban Rail Transit Systems

DOT National Transportation Integrated Search

1981-08-01

The report presents work conducted to evaluate the technical and economic feasibility of using concrete slab track systems for at-grade transit track. The functions of a rail transit track system are to guide railway vehicles and provide a safe and a...

Electric and hybrid vehicles

NASA Technical Reports Server (NTRS)

1979-01-01

Report characterizes state-of-the-art electric and hybrid (combined electric and heat engine) vehicles. Performance data for representative number of these vehicles were obtained from track and dynamometer tests. User experience information was obtained from fleet operators and individual owners of electric vehicles. Data on performance and physical characteristics of large number of vehicles were obtained from manufacturers and available literature.

Measurement and Modeling of Fugitive Dust from Off Road DoD Activities

DTIC Science & Technology

2017-12-08

each soil and vehicle type (see Table 2). Note, no tracked vehicles were run at YTC. CT is the curve track sampling location, CR is the curve ridge...Soil is SL = sandy loam. ...................... 116 Figure 35. Single-event Wind Erosion Evaluation Program (SWEEP) Run example results. ... 121...Figure 36. Single-event Wind Erosion Evaluation Program (SWEEP) Threshold Run example results screen

Effect of temperature- and frequency-dependent dynamic properties of rail pads on high-speed vehicle-track coupled vibrations

NASA Astrophysics Data System (ADS)

Wei, Kai; Wang, Feng; Wang, Ping; Liu, Zi-xuan; Zhang, Pan

2017-03-01

The soft under baseplate pad of WJ-8 rail fastener frequently used in China's high-speed railways was taken as the study subject, and a laboratory test was performed to measure its temperature and frequency-dependent dynamic performance at 0.3 Hz and at -60°C to 20°C with intervals of 2.5°C. Its higher frequency-dependent results at different temperatures were then further predicted based on the time-temperature superposition (TTS) and Williams-Landel-Ferry (WLF) formula. The fractional derivative Kelvin-Voigt (FDKV) model was used to represent the temperature- and frequency-dependent dynamic properties of the tested rail pad. By means of the FDKV model for rail pads and vehicle-track coupled dynamic theory, high-speed vehicle-track coupled vibrations due to temperature- and frequency-dependent dynamic properties of rail pads was investigated. Finally, further combining with the measured frequency-dependent dynamic performance of vehicle's rubber primary suspension, the high-speed vehicle-track coupled vibration responses were discussed. It is found that the storage stiffness and loss factor of the tested rail pad are sensitive to low temperatures or high frequencies. The proposed FDKV model for the frequency-dependent storage stiffness and loss factors of the tested rail pad can basically meet the fitting precision, especially at ordinary temperatures. The numerical simulation results indicate that the vertical vibration levels of high-speed vehicle-track coupled systems calculated with the FDKV model for rail pads in time domain are higher than those calculated with the ordinary Kelvin-Voigt (KV) model for rail pads. Additionally, the temperature- and frequency-dependent dynamic properties of the tested rail pads would alter the vertical vibration acceleration levels (VALs) of the car body and bogie in 1/3 octave frequencies above 31.5 Hz, especially enlarge the vertical VALs of the wheel set and rail in 1/3 octave frequencies of 31.5-100 Hz and above 315 Hz, which are the dominant frequencies of ground vibration acceleration and rolling noise (or bridge noise) caused by high-speed railways respectively. Since the fractional derivative value of the adopted rubber primary suspension, unlike the tested rail pad, is very close to 1, its frequency-dependent dynamic performance has little effect on high-speed vehicle-track coupled vibration responses.

49 CFR 213.345 - Vehicle qualification testing.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 4 2012-10-01 2012-10-01 false Vehicle qualification testing. 213.345 Section 213... Higher § 213.345 Vehicle qualification testing. (a) All rolling stock types which operate at Class 6... demonstrate that the vehicle dynamic response to track alinement and geometry variations are within acceptable...

Speckle tracking as a method to measure hemidiaphragm excursion.

PubMed

Goutman, Stephen A; Hamilton, James D; Swihart, Blake; Foerster, Bradley; Feldman, Eva L; Rubin, Jonathan M

2017-01-01

Diaphragm excursion measured via ultrasound may be an important imaging outcome measure of respiratory function. We developed a new method for measuring diaphragm movement and compared it to the more traditional M-mode method. Ultrasound images of the right and left hemidiaphragms were collected to compare speckle tracking and M-mode measurements of diaphragm excursion. Speckle tracking was performed using EchoInsight (Epsilon Imaging, Ann Arbor, Michigan). Six healthy subjects without a history of pulmonary diseases were included in this proof-of-concept study. Speckle tracking of the diaphragm is technically possible. Unlike M-mode, speckle tracking carries the advantage of reliable visualization and measurement of the left hemidiaphragm. Speckle tracking accounted for diaphragm movement simultaneously in the cephalocaudad and mediolateral directions, unlike M-mode, which is 1-dimensional. Diaphragm speckle tracking may represent a novel, more robust method for measuring diaphragm excursion, especially for the left hemidiaphragm. Muscle Nerve 55: 125-127, 2017. © 2016 Wiley Periodicals, Inc.

Accuracy of tracking forest machines with GPS

Treesearch

M.W. Veal; S.E. Taylor; T.P. McDonald; D.K. McLemore; M.R. Dunn

2001-01-01

This paper describes the results of a study that measured the accuracy of using GPS to track movement of forest machines. Two different commercially available GPS receivers (Trimble ProXR and GeoExplorer II) were used to track\\r\

Advanced Concept

NASA Image and Video Library

1999-10-21

This artist’s concept depicts a Magnetic Launch Assist vehicle in orbit. Formerly referred to as the Magnetic Levitation (Maglev) system, the Magnetic Launch Assist system is a launch system developed and tested by engineers at the Marshall Space Flight Center (MSFC) that could levitate and accelerate a launch vehicle along a track at high speeds before it leaves the ground. Using electricity and magnetic fields, a Magnetic Launch Assist system would drive a spacecraft along a horizontal track until it reaches desired speeds. The system is similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway. A full-scale, operational track would be about 1.5-miles long, capable of accelerating a vehicle to 600 mph in 9.5 seconds, and the vehicle would then shift to rocket engines for launch into orbit. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Thermal activation energy for bidirectional movement of actin along bipolar tracks of myosin filaments.

PubMed

Okubo, Hiroyuki; Iwai, Masanori; Iwai, Sosuke; Chaen, Shigeru

2010-05-28

Previous in vitro motility assays using bipolar myosin thick filaments demonstrated that actin filaments were capable of moving in both directions along the myosin filament tracks. The movements; however, were slower in the direction leading away from the central bare zone than towards it. To understand the mechanism underlying these different direction-dependent motilities, we have examined the effects of temperature on the velocities of the bidirectional movements along reconstituted myosin filaments. Activation energies of the movements were determined by Arrhenius plots at high and low concentrations of ATP. As a result, the thermal activation energy of the movement away from the central bare zone was significantly higher than that of the movement toward the zone. Given that the backward movement away from the central bare zone would cause the myosin heads to be constrained and the stiffness of the cross-bridges to increase, these results suggest that elastic energy required for the cross-bridge transition is supplied by thermal fluctuations. Copyright (c) 2010 Elsevier Inc. All rights reserved.

Temporal eye movement strategies during naturalistic viewing

PubMed Central

Wang, Helena X.; Freeman, Jeremy; Merriam, Elisha P.; Hasson, Uri; Heeger, David J.

2011-01-01

The deployment of eye movements to complex spatiotemporal stimuli likely involves a variety of cognitive factors. However, eye movements to movies are surprisingly reliable both within and across observers. We exploited and manipulated that reliability to characterize observers’ temporal viewing strategies. Introducing cuts and scrambling the temporal order of the resulting clips systematically changed eye movement reliability. We developed a computational model that exhibited this behavior and provided an excellent fit to the measured eye movement reliability. The model assumed that observers searched for, found, and tracked a point-of-interest, and that this process reset when there was a cut. The model did not require that eye movements depend on temporal context in any other way, and it managed to describe eye movements consistently across different observers and two movie sequences. Thus, we found no evidence for the integration of information over long time scales (greater than a second). The results are consistent with the idea that observers employ a simple tracking strategy even while viewing complex, engaging naturalistic stimuli. PMID:22262911

[A tracking function of human eye in microgravity and during readaptation to earth's gravity].

PubMed

Kornilova, L N

2001-01-01

The paper summarizes results of electro-oculography of all ways of visual tracking: fixative eye movements (saccades), smooth pursuit of linearly, pendulum-like and circularly moving point stimuli, pursuit of vertically moving foveoretinal optokinetic stimuli, and presents values of thresholds and amplification coefficients of the optokinetic nystagmus during tracking of linear movement of foveoretinal optokinetic stimuli. Investigations were performed aboard the Salyut and Mir space stations with participation of 31 cosmonauts of whom 27 made long-term (76 up to 438 day) and 4 made short-term (7 to 9 day) missions. It was shown that in space flight the saccadic structure within the tracking reaction does not change; yet, corrective movements (additional microsaccades to achieve tracking) appeared in 47% of observations at the onset and in 76% of observations on months 3 to 6 of space flight. After landing, the structure of vertical saccades was found altered in half the cosmonauts. No matter in or after flight, reverse nystagmus was present along with the gaze nystagmus during static saccades in 22% (7 cosmonauts) of the observations. Amplitude of tracking vertically, diagonally or circularly moving stimuli was significantly reduced as period on mission increased. Early in flight (40% of the cosmonauts) and shortly afterwards (21% of the cosmonauts) the structure of smooth tracking reaction was totally broken up, that is eye followed stimulus with micro- or macrosaccades. The structure of smooth eye tracking recovered on flight days 6-8 and on postflight days 3-4. However, in 46% of the cosmonauts on long-term missions the structure of smooth eye tracking was noted to be disturbed periodically, i.e. smooth tracking was replaced by saccadic.

A Data Cleaning Method for Big Trace Data Using Movement Consistency

PubMed Central

Tang, Luliang; Zhang, Xia; Li, Qingquan

2018-01-01

Given the popularization of GPS technologies, the massive amount of spatiotemporal GPS traces collected by vehicles are becoming a new kind of big data source for urban geographic information extraction. The growing volume of the dataset, however, creates processing and management difficulties, while the low quality generates uncertainties when investigating human activities. Based on the conception of the error distribution law and position accuracy of the GPS data, we propose in this paper a data cleaning method for this kind of spatial big data using movement consistency. First, a trajectory is partitioned into a set of sub-trajectories using the movement characteristic points. In this process, GPS points indicate that the motion status of the vehicle has transformed from one state into another, and are regarded as the movement characteristic points. Then, GPS data are cleaned based on the similarities of GPS points and the movement consistency model of the sub-trajectory. The movement consistency model is built using the random sample consensus algorithm based on the high spatial consistency of high-quality GPS data. The proposed method is evaluated based on extensive experiments, using GPS trajectories generated by a sample of vehicles over a 7-day period in Wuhan city, China. The results show the effectiveness and efficiency of the proposed method. PMID:29522456

Prescription and over-the-counter medications tool kit.

DOT National Transportation Integrated Search

2011-04-01

Automatic vehicle location (AVL) is a computer-based vehicle tracking system. For transit, the actual real-time position of each vehicle is measured and its location is relayed to a control center. Actual position determination and relay techniques v...

Gage restraint measurement system comparison tests : railbound and hi-rail vehicles

DOT National Transportation Integrated Search

2003-12-01

Comparative tests were conducted to evaluate the gage restraint measurement system (GRMS) testing capabilities of a railbound GRMS vehicle, Federal Railroad Administration's (FRA's) T-6, and a hi-rail vehicle, Holland Company's TrackStar GRMS system....

Analysis of Rail Transit Vehicle Dynamic Curving Performance

DOT National Transportation Integrated Search

1984-06-01

An analytical model is developed for determining the dynamic curving performance of rail transit vehicles. The dynamic wheel/rail interaction forces, vehicle suspension and body motions and track displacement are computed, as well as wheel and rail w...

Improved segmentation of occluded and adjoining vehicles in traffic surveillance videos

NASA Astrophysics Data System (ADS)

Juneja, Medha; Grover, Priyanka

2013-12-01

Occlusion in image processing refers to concealment of any part of the object or the whole object from view of an observer. Real time videos captured by static cameras on roads often encounter overlapping and hence, occlusion of vehicles. Occlusion in traffic surveillance videos usually occurs when an object which is being tracked is hidden by another object. This makes it difficult for the object detection algorithms to distinguish all the vehicles efficiently. Also morphological operations tend to join the close proximity vehicles resulting in formation of a single bounding box around more than one vehicle. Such problems lead to errors in further video processing, like counting of vehicles in a video. The proposed system brings forward efficient moving object detection and tracking approach to reduce such errors. The paper uses successive frame subtraction technique for detection of moving objects. Further, this paper implements the watershed algorithm to segment the overlapped and adjoining vehicles. The segmentation results have been improved by the use of noise and morphological operations.

Molecular motors that digest their track to rectify Brownian motion: processive movement of exonuclease enzymes.

PubMed

Xie, Ping

2009-09-16

A general model is presented for the processive movement of molecular motors such as λ-exonuclease, RecJ and exonuclease I that use digestion of a DNA track to rectify Brownian motion along this track. Using this model, the translocation dynamics of these molecular motors is studied. The sequence-dependent pausing of λ-exonuclease, which results from a site-specific high affinity DNA interaction, is also studied. The theoretical results are consistent with available experimental data. Moreover, the model is used to predict the lifetime distribution and force dependence of these paused states.

Satellite Tracking of Manta Rays Highlights Challenges to Their Conservation

PubMed Central

Graham, Rachel T.; Witt, Matthew J.; Castellanos, Dan W.; Remolina, Francisco; Maxwell, Sara; Godley, Brendan J.; Hawkes, Lucy A.

2012-01-01

We describe the real-time movements of the last of the marine mega-vertebrate taxa to be satellite tracked – the giant manta ray (or devil fish, Manta birostris), the world's largest ray at over 6 m disc width. Almost nothing is known about manta ray movements and their environmental preferences, making them one of the least understood of the marine mega-vertebrates. Red listed by the International Union for the Conservation of Nature as ‘Vulnerable’ to extinction, manta rays are known to be subject to direct and incidental capture and some populations are declining. Satellite-tracked manta rays associated with seasonal upwelling events and thermal fronts off the Yucatan peninsula, Mexico, and made short-range shuttling movements, foraging along and between them. The majority of locations were received from waters shallower than 50 m deep, representing thermally dynamic and productive waters. Manta rays remained in the Mexican Exclusive Economic Zone for the duration of tracking but only 12% of tracking locations were received from within Marine Protected Areas (MPAs). Our results on the spatio-temporal distribution of these enigmatic rays highlight opportunities and challenges to management efforts. PMID:22590622

A laser-based eye-tracking system.

PubMed

Irie, Kenji; Wilson, Bruce A; Jones, Richard D; Bones, Philip J; Anderson, Tim J

2002-11-01

This paper reports on the development of a new eye-tracking system for noninvasive recording of eye movements. The eye tracker uses a flying-spot laser to selectively image landmarks on the eye and, subsequently, measure horizontal, vertical, and torsional eye movements. Considerable work was required to overcome the adverse effects of specular reflection of the flying-spot from the surface of the eye onto the sensing elements of the eye tracker. These effects have been largely overcome, and the eye-tracker has been used to document eye movement abnormalities, such as abnormal torsional pulsion of saccades, in the clinical setting.

Analysis of recurring sinking events of armored tracked vehicles along dirt roads in the agricultural periphery of the Gaza Strip

NASA Astrophysics Data System (ADS)

Roskin, Joel

2013-04-01

The second (Al-Aqsa) intifada (Arab violent uprising) which erupted across Israel in 2000 eventually led the Israel Defense Forces to deploy armored tracked vehicles (ATVs) (tanks, armored personal carriers, and D-9 bulldozers) within Israel's agricultural periphery of the Gaza Strip, following daily attempts by Arab terrorists and guerillas to penetrate Israel. Combat movement of the ATVs was mainly concentrated to dirt roads, between agricultural fields, wherever possible. As a result of semi-arid Mediterranean (climate) winter rains, annually averaging 250 - 350 mm, it was reported that ATVs often sank in muddy terrain. This study investigated what caused ATVs to sink. The main data collected concerning the types of vehicles that sank related to: land-use characteristics, soil type, and daily rainfall. Interviews with commanders were also conducted for additional details. Between the fall and spring, surveys and weekly / bi-weekly field soil cone penetrometer tests were conducted at ten sites with different pedological and land-use characteristics. The loess soils, especially in agricultural fields, were generally found to be conducive to ATV traffic, even shortly after rainstorms of 10-30 mm. However, following several rainfall events exceeding 10 mm, ATVs and tanks regularly sank into local topographic depressions in the undulating landscape. These consisted of short segments of dirt roads where runoff and suspended sediment collected. After the early rains in late fall, tank ruts fossilize and become conduits of concentrated runoff and fine particles eroded by ATV activity during the summer months. Tank track ruts that formed in mud, compacted the soil, drastically altered drainage patterns by directing significant surface flow, and suspended sediment into these depressions, creating "tank-traps" whose trafficability ranged from "untrafficable" to "trafficable with constraints." This study shows that intense, routine, defensive military activity operated without any terrain and/or environmental analysis and monitoring can produce self-inflicted, environmental and combat problems. The cope of this work also demonstrates that it is vital to persistently promote and market the application of military geoscience products in order to save lives, limit expenses, and preserve the environment to a relative degree, often for the short and long-term benefit of both sides of a conflict.

Auto-steering apparatus and method

DOEpatents

McKay, Mark D.; Anderson, Matthew O.

2007-03-13

A vehicular guidance method involves providing a user interface using which data can be input to establish a contour for a vehicle to follow, the user interface further configured to receive information from a differential global positioning system (DGPS), determining cross track and offset data using information received from the DGPS, generating control values, using at least vehicular kinematics, the cross track, and the offset data, and providing an output to control steering of the vehicle, using the control values, in a direction to follow the established contour while attempting to minimize the cross track and the offset data.

Real-time classification of vehicles by type within infrared imagery

NASA Astrophysics Data System (ADS)

Kundegorski, Mikolaj E.; Akçay, Samet; Payen de La Garanderie, Grégoire; Breckon, Toby P.

2016-10-01

Real-time classification of vehicles into sub-category types poses a significant challenge within infra-red imagery due to the high levels of intra-class variation in thermal vehicle signatures caused by aspects of design, current operating duration and ambient thermal conditions. Despite these challenges, infra-red sensing offers significant generalized target object detection advantages in terms of all-weather operation and invariance to visual camouflage techniques. This work investigates the accuracy of a number of real-time object classification approaches for this task within the wider context of an existing initial object detection and tracking framework. Specifically we evaluate the use of traditional feature-driven bag of visual words and histogram of oriented gradient classification approaches against modern convolutional neural network architectures. Furthermore, we use classical photogrammetry, within the context of current target detection and classification techniques, as a means of approximating 3D target position within the scene based on this vehicle type classification. Based on photogrammetric estimation of target position, we then illustrate the use of regular Kalman filter based tracking operating on actual 3D vehicle trajectories. Results are presented using a conventional thermal-band infra-red (IR) sensor arrangement where targets are tracked over a range of evaluation scenarios.

Reusable Launch Vehicle Control In Multiple Time Scale Sliding Modes

NASA Technical Reports Server (NTRS)

Shtessel, Yuri; Hall, Charles; Jackson, Mark

2000-01-01

A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. Overall stability of a two-loop control system is addressed. An optimal control allocation algorithm is designed that allocates torque commands into end-effector deflection commands, which are executed by the actuators. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. This is a significant advancement in performance over that achieved with linear, gain scheduled control systems currently being used for launch vehicles.

Intelligent Paging Based Mobile User Tracking Using Fuzzy Logic

NASA Astrophysics Data System (ADS)

Saha, Sajal; Dutta, Raju; Debnath, Soumen; Mukhopadhyay, Asish K.

2010-11-01

In general, a mobile user travels in a predefined path that depends mostly on the user's characteristics. Thus, tracking the locations of a mobile user is one of the challenges for location management. In this paper, we introduce a movement pattern learning strategy system to track the user's movements using adaptive fuzzy logic. Our fuzzy inference system extracts patterns from the historical data record of the cell numbers along with the date and time stamp of the users occupying the cell. Implementation of this strategy has been evaluated with the real time user data which proves the efficiency and accuracy of the model. This mechanism not only reduces user location tracking costs, but also significantly decreases the call-loss rates and average paging delays.

RATT: RFID Assisted Tracking Tile. Preliminary results.

PubMed

Quinones, Dario R; Cuevas, Aaron; Cambra, Javier; Canals, Santiago; Moratal, David

2017-07-01

Behavior is one of the most important aspects of animal life. This behavior depends on the link between animals, their nervous systems and their environment. In order to study the behavior of laboratory animals several tools are needed, but a tracking tool is essential to perform a thorough behavioral study. Currently, several visual tracking tools are available. However, they have some drawbacks. For instance, when an animal is inside a cave, or is close to other animals, the tracking cameras cannot always detect the location or movement of this animal. This paper presents RFID Assisted Tracking Tile (RATT), a tracking system based on passive Radio Frequency Identification (RFID) technology in high frequency band according to ISO/IEC 15693. The RATT system is composed of electronic tiles that have nine active RFID antennas attached; in addition, it contains several overlapping passive coils to improve the magnetic field characteristics. Using several tiles, a large surface can be built on which the animals can move, allowing identification and tracking of their movements. This system, that could also be combined with a visual tracking system, paves the way for complete behavioral studies.

Resource tracking within and across continents in long-distance bird migrants.

PubMed

Thorup, Kasper; Tøttrup, Anders P; Willemoes, Mikkel; Klaassen, Raymond H G; Strandberg, Roine; Vega, Marta Lomas; Dasari, Hari P; Araújo, Miguel B; Wikelski, Martin; Rahbek, Carsten

2017-01-01

Migratory birds track seasonal resources across and between continents. We propose a general strategy of tracking the broad seasonal abundance of resources throughout the annual cycle in the longest-distance migrating land birds as an alternative to tracking a certain climatic niche or shorter-term resource surplus occurring, for example, during spring foliation. Whether and how this is possible for complex annual spatiotemporal schedules is not known. New tracking technology enables unprecedented spatial and temporal mapping of long-distance movement of birds. We show that three Palearctic-African species track vegetation greenness throughout their annual cycle, adjusting the timing and direction of migratory movements with seasonal changes in resource availability over Europe and Africa. Common cuckoos maximize the vegetation greenness, whereas red-backed shrikes and thrush nightingales track seasonal surplus in greenness. Our results demonstrate that the longest-distance migrants move between consecutive staging areas even within the wintering region in Africa to match seasonal variation in regional climate. End-of-century climate projections indicate that optimizing greenness would be possible but that vegetation surplus might be more difficult to track in the future.

Resource tracking within and across continents in long-distance bird migrants

PubMed Central

Thorup, Kasper; Tøttrup, Anders P.; Willemoes, Mikkel; Klaassen, Raymond H. G.; Strandberg, Roine; Vega, Marta Lomas; Dasari, Hari P.; Araújo, Miguel B.; Wikelski, Martin; Rahbek, Carsten

2017-01-01

Migratory birds track seasonal resources across and between continents. We propose a general strategy of tracking the broad seasonal abundance of resources throughout the annual cycle in the longest-distance migrating land birds as an alternative to tracking a certain climatic niche or shorter-term resource surplus occurring, for example, during spring foliation. Whether and how this is possible for complex annual spatiotemporal schedules is not known. New tracking technology enables unprecedented spatial and temporal mapping of long-distance movement of birds. We show that three Palearctic-African species track vegetation greenness throughout their annual cycle, adjusting the timing and direction of migratory movements with seasonal changes in resource availability over Europe and Africa. Common cuckoos maximize the vegetation greenness, whereas red-backed shrikes and thrush nightingales track seasonal surplus in greenness. Our results demonstrate that the longest-distance migrants move between consecutive staging areas even within the wintering region in Africa to match seasonal variation in regional climate. End-of-century climate projections indicate that optimizing greenness would be possible but that vegetation surplus might be more difficult to track in the future. PMID:28070557

Simulated interactions of pedestrian crossings and motorized vehicles in residential areas

NASA Astrophysics Data System (ADS)

Wang, Yan; Peng, Zhongyi; Chen, Qun

2018-01-01

To evaluate whether motorized vehicles can travel through a residential area, this paper develops a cellular automata (CA) model to simulate the interactions between pedestrian crossings and motorized vehicles in a residential area. In this paper, pedestrians determine their crossing speed according to their judgments of the position and velocity of the upcoming vehicles. The pedestrians may walk slowly or quickly or even run, and the pedestrian crossing time influences the vehicle movement. In addition, the proposed model considers the safety margin time needed for pedestrians to cross, and pedestrian-vehicle conflict is considered using the vehicle collision avoidance rule. Through simulations of interactions of pedestrian crossings with motorized vehicles' movement on a typical road in a residential area, the average wait time for pedestrians to cross and the average vehicle velocity under different pedestrian crossing volumes, different vehicle flows and different maximum vehicle velocities are obtained. To avoid an excessive waiting time for pedestrians to cross, the vehicle flow should be less than 180 veh/h, which allows an average of less than 10 s of waiting time; if the vehicle flow rate is less than 36 veh/h, then the waiting time is approximately 1 s. Field observations are conducted to validate the simulation results.

Using sutures to attach miniature tracking tags to small bats for multimonth movement and behavioral studies

USGS Publications Warehouse

Castle, Kevin T.; Weller, Theodore J.; Cryan, Paul M.; Hein, Cris D.; Schirmacher, Michael R.

2015-01-01

1. Determining the detailed movements of individual animals often requires them to carry tracking devices, but tracking broad-scale movement of small bats (< 30g) has been limited by transmitter technology and long-term attachment methods. This limitation inhibits our understanding of bat dispersal and migration, particularly in the context of emerging conservation issues like fatalities at wind turbines and diseases. 2. We tested a novel method of attaching lightweight global positioning system (GPS) tags and geolocating data loggers to small bats. We used monofilament, synthetic, absorbable sutures to secure GPS tags and data loggers to the skin of anesthetized big brown bats (Eptesicus fuscus) in Colorado and hoary bats (Lasiurus cinereus) in California. 3. GPS tags and data loggers were sutured to 17 bats in this study. Three tagged bats were recaptured seven months after initial deployment, with tags still attached; none of these bats showed ill effects from the tag. No severe injuries were apparent upon recapture of 6 additional bats that carried tags up to 26 days after attachment, however one of the bats exhibited skin chafing. 4. Use of absorbable sutures to affix small tracking devices seems to be a safe, effective method for studying movements of bats over multiple months, although additional testing is warranted. This new attachment method has the potential to quickly advance our understanding of small bats, particularly as more-sophisticated miniature tracking devices (e.g., satellite tags) become available.

Using sutures to attach miniature tracking tags to small bats for multimonth movement and behavioral studies.

PubMed

Castle, Kevin T; Weller, Theodore J; Cryan, Paul M; Hein, Cris D; Schirmacher, Michael R

2015-07-01

Determining the detailed movements of individual animals often requires them to carry tracking devices, but tracking broad-scale movement of small bats (<30 g) has been limited by transmitter technology and long-term attachment methods. This limitation inhibits our understanding of bat dispersal and migration, particularly in the context of emerging conservation issues such as fatalities at wind turbines and diseases. We tested a novel method of attaching lightweight global positioning system (GPS) tags and geolocating data loggers to small bats. We used monofilament, synthetic, absorbable sutures to secure GPS tags and data loggers to the skin of anesthetized big brown bats (Eptesicus fuscus) in Colorado and hoary bats (Lasiurus cinereus) in California. GPS tags and data loggers were sutured to 17 bats in this study. Three tagged bats were recaptured 7 months after initial deployment, with tags still attached; none of these bats showed ill effects from the tag. No severe injuries were apparent upon recapture of 6 additional bats that carried tags up to 26 days after attachment; however, one of the bats exhibited skin chafing. Use of absorbable sutures to affix small tracking devices seems to be a safe, effective method for studying movements of bats over multiple months, although additional testing is warranted. This new attachment method has the potential to quickly advance our understanding of small bats, particularly as more sophisticated miniature tracking devices (e.g., satellite tags) become available.

Sustained disruption of narwhal habitat use and behavior in the presence of Arctic killer whales

PubMed Central

Breed, Greg A.; Matthews, Cory J. D.; Marcoux, Marianne; Higdon, Jeff W.; LeBlanc, Bernard; Petersen, Stephen D.; Orr, Jack; Reinhart, Natalie R.; Ferguson, Steven H.

2017-01-01

Although predators influence behavior of prey, analyses of electronic tracking data in marine environments rarely consider how predators affect the behavior of tracked animals. We collected an unprecedented dataset by synchronously tracking predator (killer whales, N = 1; representing a family group) and prey (narwhal, N = 7) via satellite telemetry in Admiralty Inlet, a large fjord in the Eastern Canadian Arctic. Analyzing the movement data with a switching-state space model and a series of mixed effects models, we show that the presence of killer whales strongly alters the behavior and distribution of narwhal. When killer whales were present (within about 100 km), narwhal moved closer to shore, where they were presumably less vulnerable. Under predation threat, narwhal movement patterns were more likely to be transiting, whereas in the absence of threat, more likely resident. Effects extended beyond discrete predatory events and persisted steadily for 10 d, the duration that killer whales remained in Admiralty Inlet. Our findings have two key consequences. First, given current reductions in sea ice and increases in Arctic killer whale sightings, killer whales have the potential to reshape Arctic marine mammal distributions and behavior. Second and of more general importance, predators have the potential to strongly affect movement behavior of tracked marine animals. Understanding predator effects may be as or more important than relating movement behavior to resource distribution or bottom-up drivers traditionally included in analyses of marine animal tracking data. PMID:28223481

Sustained disruption of narwhal habitat use and behavior in the presence of Arctic killer whales.

PubMed

Breed, Greg A; Matthews, Cory J D; Marcoux, Marianne; Higdon, Jeff W; LeBlanc, Bernard; Petersen, Stephen D; Orr, Jack; Reinhart, Natalie R; Ferguson, Steven H

2017-03-07

Although predators influence behavior of prey, analyses of electronic tracking data in marine environments rarely consider how predators affect the behavior of tracked animals. We collected an unprecedented dataset by synchronously tracking predator (killer whales, [Formula: see text] = 1; representing a family group) and prey (narwhal, [Formula: see text] = 7) via satellite telemetry in Admiralty Inlet, a large fjord in the Eastern Canadian Arctic. Analyzing the movement data with a switching-state space model and a series of mixed effects models, we show that the presence of killer whales strongly alters the behavior and distribution of narwhal. When killer whales were present (within about 100 km), narwhal moved closer to shore, where they were presumably less vulnerable. Under predation threat, narwhal movement patterns were more likely to be transiting, whereas in the absence of threat, more likely resident. Effects extended beyond discrete predatory events and persisted steadily for 10 d, the duration that killer whales remained in Admiralty Inlet. Our findings have two key consequences. First, given current reductions in sea ice and increases in Arctic killer whale sightings, killer whales have the potential to reshape Arctic marine mammal distributions and behavior. Second and of more general importance, predators have the potential to strongly affect movement behavior of tracked marine animals. Understanding predator effects may be as or more important than relating movement behavior to resource distribution or bottom-up drivers traditionally included in analyses of marine animal tracking data.

A Model of Loggerhead Sea Turtle (Caretta caretta) Habitat and Movement in the Oceanic North Pacific

PubMed Central

Abecassis, Melanie; Senina, Inna; Lehodey, Patrick; Gaspar, Philippe; Parker, Denise; Balazs, George; Polovina, Jeffrey

2013-01-01

Habitat preferences for juvenile loggerhead turtles in the North Pacific were investigated with data from two several-year long tagging programs, using 224 satellite transmitters deployed on wild and captive-reared turtles. Animals ranged between 23 and 81 cm in straight carapace length. Tracks were used to investigate changes in temperature preferences and speed of the animals with size. Average sea surface temperatures along the tracks ranged from 18 to 23 °C. Bigger turtles generally experienced larger temperature ranges and were encountered in warmer surface waters. Seasonal differences between small and big turtles suggest that the larger ones dive deeper than the mixed layer and subsequently target warmer surface waters to rewarm. Average swimming speeds were under 1 km/h and increased with size for turtles bigger than 30 cm. However, when expressed in body lengths per second (bl s−1), smaller turtles showed much higher swimming speeds (>1 bl s −1) than bigger ones (0.5 bl s−1). Temperature and speed values at size estimated from the tracks were used to parameterize a habitat-based Eulerian model to predict areas of highest probability of presence in the North Pacific. The model-generated habitat index generally matched the tracks closely, capturing the north-south movements of tracked animals, but the model failed to replicate observed east-west movements, suggesting temperature and foraging preferences are not the only factors driving large-scale loggerhead movements. Model outputs could inform potential bycatch reduction strategies. PMID:24039901

Underwater behavior of sperm whales off Kaikoura, New Zealand, as revealed by a three-dimensional hydrophone array.

PubMed

Miller, Brian; Dawson, Stephen; Vennell, Ross

2013-10-01

Observations are presented of the vocal behavior and three dimensional (3D) underwater movements of sperm whales measured with a passive acoustic array off the coast of Kaikoura, New Zealand. Visual observations and vocal behaviors of whales were used to divide dive tracks into different phases, and depths and movements of whales are reported for each of these phases. Diving depths and movement information from 75 3D tracks of whales in Kaikoura are compared to one and two dimensional tracks of whales studied in other oceans. While diving, whales in Kaikoura had a mean swimming speed of 1.57 m/s, and, on average, dived to a depth of 427 m (SD = 117 m), spending most of their time at depths between 300 and 600 m. Creak vocalizations, assumed to be the prey capture phase of echolocation, occurred throughout the water column from sea surface to sea floor, but most occurred at depths of 400-550 m. Three dimensional measurement of tracking revealed several different "foraging" strategies, including active chasing of prey, lining up slow-moving or unsuspecting prey, and foraging on demersal or benthic prey. These movements provide the first 3D descriptions underwater behavior of whales at Kaikoura.

Pilot Study for Definition of Track Component Load Environments

DOT National Transportation Integrated Search

1981-02-01

This report describes the results of an experimental and analytical effort to define the vehicle induced load environment in an at-grade, concrete tie/ballast transit track structure. The experiment was performed on the UMTA transit track oval at the...

Analytic Studies of the Relationship between Track Geometry Variations and Derailment Potential at Low Speeds

DOT National Transportation Integrated Search

1983-09-01

This report describes analytical studies carried out to define the relationship between track parameters and safety from derailment. Problematic track scenarios are identified reflecting known accident data. Vehicle response is investigated in the 10...

Fundamentals of track lateral shift for high-speed rail applications

DOT National Transportation Integrated Search

1998-12-01

The fundamental mechanics of track lateral shift due to vehicle and thermally induced loads are defined, and an analytic approach is presented for the determination of "limit" loads and deflections on the track to prevent progressive lateral shift. T...

Analytical Studies of the Relationship Between Track Geometry Variations and Derailment Potential at Low Speeds

DOT National Transportation Integrated Search

1983-09-01

This report describes analytical studies carried out to define the relationship between track parameters and safety from derailment. Problematic track scenarios are identified reflecting known accident data. Vehicle response is investigated in the 10...

Development of a frontal small overlap crashworthiness evaluation test.

PubMed

Sherwood, Christopher P; Mueller, Becky C; Nolan, Joseph M; Zuby, David S; Lund, Adrian K

2013-01-01

Small overlap frontal crashes are those in which crash forces are applied outboard of the vehicle's longitudinal frame rails. In-depth analyses of crashes indicate that such crashes account for a significant proportion of frontal crashes with seriously injured occupants. The objective of this research was to evaluate possible barrier crash tests that could be used to evaluate the crashworthiness of vehicles across a spectrum of small overlap crash types. Sixteen full-scale vehicle tests were conducted using 3 midsize passenger vehicles in up to 6 different test configurations, including vehicle-to-vehicle and barrier tests. All vehicles were tested at 64 km/h with an instrumented Hybrid III midsize male driver dummy. All test configurations resulted in primary loading of the wheel, suspension system, and hinge pillar. Vehicles underwent substantial lateral movement during the crash, which varied by crash configuration. The occupant compartments had significant intrusion, particularly to the most outboard structures. Inboard movement of the steering wheel in combination with outboard movement of the dummies (due to the lateral vehicle motion) caused limited interaction with the frontal air bag in most cases. When assessing overall crashworthiness (based on injury measures, structural deformation, and occupant kinematics), one vehicle had superior performance in each crash configuration. This was confirmation that the countermeasures benefiting performance in a single small overlap test also will provide a benefit in other crash configurations. Based on these test results, the Insurance Institute for Highway Safety has developed a small overlap crashworthiness evaluation with the following characteristics: a rigid flat barrier with a 150-mm corner radius, 25 percent overlap, 64 km/h test speed, and a Hybrid III midsize male driver dummy.

49 CFR 214.519 - Floors, decks, stairs, and ladders of on-track roadway maintenance machines.

Code of Federal Regulations, 2010 CFR

2010-10-01

... roadway maintenance machines. 214.519 Section 214.519 Transportation Other Regulations Relating to... SAFETY On-Track Roadway Maintenance Machines and Hi-Rail Vehicles § 214.519 Floors, decks, stairs, and ladders of on-track roadway maintenance machines. Floors, decks, stairs, and ladders of on-track roadway...

49 CFR 214.519 - Floors, decks, stairs, and ladders of on-track roadway maintenance machines.

Code of Federal Regulations, 2011 CFR

2011-10-01

... roadway maintenance machines. 214.519 Section 214.519 Transportation Other Regulations Relating to... SAFETY On-Track Roadway Maintenance Machines and Hi-Rail Vehicles § 214.519 Floors, decks, stairs, and ladders of on-track roadway maintenance machines. Floors, decks, stairs, and ladders of on-track roadway...

49 CFR 214.509 - Required visual illumination and reflective devices for new on-track roadway maintenance machines.

Code of Federal Regulations, 2011 CFR

2011-10-01

... devices for new on-track roadway maintenance machines. 214.509 Section 214.509 Transportation Other... TRANSPORTATION RAILROAD WORKPLACE SAFETY On-Track Roadway Maintenance Machines and Hi-Rail Vehicles § 214.509 Required visual illumination and reflective devices for new on-track roadway maintenance machines. Each new...

49 CFR 214.511 - Required audible warning devices for new on-track roadway maintenance machines.

Code of Federal Regulations, 2011 CFR

2011-10-01

... roadway maintenance machines. 214.511 Section 214.511 Transportation Other Regulations Relating to... SAFETY On-Track Roadway Maintenance Machines and Hi-Rail Vehicles § 214.511 Required audible warning devices for new on-track roadway maintenance machines. Each new on-track roadway maintenance machine shall...

49 CFR 214.511 - Required audible warning devices for new on-track roadway maintenance machines.

Code of Federal Regulations, 2010 CFR

2010-10-01

... roadway maintenance machines. 214.511 Section 214.511 Transportation Other Regulations Relating to... SAFETY On-Track Roadway Maintenance Machines and Hi-Rail Vehicles § 214.511 Required audible warning devices for new on-track roadway maintenance machines. Each new on-track roadway maintenance machine shall...

New Finite Element/Multibody System Algorithm for Modeling Flexible Tracked Vehicles

DTIC Science & Technology

2011-08-01

U.S. Army RDECOM-TARDEC & 2 University of Illinois at Chicago ABSTRACT The dynamic simulation of multibody tracked vehicles offers engineers a...bodies. Then in a follow-on structural analysis, the loads from the multibody dynamic simulation are input to calculate strains and stresses within the...multibody dynamic simulation environment allowing for an integrated solution. In addition, a new formulation for the interaction between the rigid sprocket

Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology.

PubMed

Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

2017-06-15

In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP's position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice.

Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology

PubMed Central

Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

2017-01-01

In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP’s position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice. PMID:28617338

Design and Modeling of a Test Bench for Dual-Motor Electric Drive Tracked Vehicles Based on a Dynamic Load Emulation Method.

PubMed

Wang, Zhe; Lv, Haoliang; Zhou, Xiaojun; Chen, Zhaomeng; Yang, Yong

2018-06-21

Dual-motor Electric Drive Tracked Vehicles (DDTVs) have attracted increasing attention due to their high transmission efficiency and economical fuel consumption. A test bench for the development and validation of new DDTV technologies is necessary and urgent. How to load the vehicle on a DDTV test bench exactly the same as on a real road is a crucial issue when designing the bench. This paper proposes a novel dynamic load emulation method to address this problem. The method adopts dual dynamometers to simulate both the road load and the inertia load that are imposed on the dual independent drive systems. The vehicle’s total inertia equivalent to the drive wheels is calculated with separate consideration of vehicle body, tracks and road wheels to obtain a more accurate inertia load. A speed tracking control strategy with feedforward compensation is implemented to control the dual dynamometers, so as to make the real-time dynamic load emulation possible. Additionally, a MATLAB/Simulink model of the test bench is built based on a dynamics analysis of the platform. Experiments are finally carried out on this test bench under different test conditions. The outcomes show that the proposed load emulation method is effective, and has good robustness and adaptability to complex driving conditions. Besides, the accuracy of the established test bench model is also demonstrated by comparing the results obtained from the simulation model and experiments.

Quantitative evaluation of age-related decline in control of preprogramed movement

PubMed Central

Lee, Jongho; Kodama, Mitsuhiko; Kakei, Shinji; Masakado, Yoshihisa

2017-01-01

In this paper, we examined the age-related changes in control of preprogramed movement, with emphasis on its accuracy. Forty-nine healthy subjects participated in this study, and were divided into three groups depending on their ages: the young group (20–39 years) (n = 16), the middle-age group (40–59 years) (n = 16), and the elderly group (60–79 years) (n = 17). We asked the subjects to perform step-tracking movements of the wrist joint with a manipulandum, and recorded the movements. We evaluated the accuracy of control of preprogramed movement in the three groups in terms of the primary submovement, which was identified as the first segment of the step-tracking movement based on the bell-shaped velocity profile, and calculated the distance between the end position of the primary submovement and the target (i.e. error). The error in the young group was found to be significantly smaller than that in the middle-age and elderly groups, i.e., the error was larger for the higher age groups. These results suggest that young subjects have better control of preprogramed movement than middle-age or elderly subjects. Finally, we examined the temporal property of the primary submovement and its age-related changes. The duration of the primary submovement tended to be longer for the aged groups, although significance was reached only for the elderly group. In particular, the ratio of the duration of the primary submovement to total movement time tended to be lower for the aged groups, suggesting that the proportion of additional movements that are required to compensate for the incomplete control in the preprogramed movement, which are under feedback control, was higher for the aged groups. Consequently, our results indicate that the distance between the end point of the primary submovement and the target center (i.e. error) in the step-tracking movement is a useful parameter to evaluate the age-related changes in control of preprogramed movement. PMID:29186168

Quantitative evaluation of age-related decline in control of preprogramed movement.

PubMed

Shimoda, Naoshi; Lee, Jongho; Kodama, Mitsuhiko; Kakei, Shinji; Masakado, Yoshihisa

2017-01-01

In this paper, we examined the age-related changes in control of preprogramed movement, with emphasis on its accuracy. Forty-nine healthy subjects participated in this study, and were divided into three groups depending on their ages: the young group (20-39 years) (n = 16), the middle-age group (40-59 years) (n = 16), and the elderly group (60-79 years) (n = 17). We asked the subjects to perform step-tracking movements of the wrist joint with a manipulandum, and recorded the movements. We evaluated the accuracy of control of preprogramed movement in the three groups in terms of the primary submovement, which was identified as the first segment of the step-tracking movement based on the bell-shaped velocity profile, and calculated the distance between the end position of the primary submovement and the target (i.e. error). The error in the young group was found to be significantly smaller than that in the middle-age and elderly groups, i.e., the error was larger for the higher age groups. These results suggest that young subjects have better control of preprogramed movement than middle-age or elderly subjects. Finally, we examined the temporal property of the primary submovement and its age-related changes. The duration of the primary submovement tended to be longer for the aged groups, although significance was reached only for the elderly group. In particular, the ratio of the duration of the primary submovement to total movement time tended to be lower for the aged groups, suggesting that the proportion of additional movements that are required to compensate for the incomplete control in the preprogramed movement, which are under feedback control, was higher for the aged groups. Consequently, our results indicate that the distance between the end point of the primary submovement and the target center (i.e. error) in the step-tracking movement is a useful parameter to evaluate the age-related changes in control of preprogramed movement.

Analysis for lateral deflection of railroad track under quasi-static loading

DOT National Transportation Integrated Search

2013-10-15

This paper describes analyses to examine the lateral : deflection of railroad track subjected to quasi-static loading. : Rails are assumed to behave as beams in bending. Movement : of the track in the lateral plane is constrained by idealized : resis...

Tracking the movements of a post-nesting Southern River Terrapin (Batagur affinis edwardmolli)

NASA Astrophysics Data System (ADS)

Chen, Pelf-Nyok; Wong, Adrian

2015-09-01

A Southern River Terrapin (Batagur affinis edwardmolli) Conservation Project was initiated on one terrapin nesting bank in 2011, following the discovery of a River Terrapin population in the Kemaman River, Terengganu in 2010. Since this project was initiated, Turtle Conservation Society of Malaysia (TCS) was instrumental in the gazettement of three nesting banks along the Kemaman River, from which all River Terrapin eggs are collected for incubation. However, there are at least a dozen other "unprotected" nesting banks along the river, where all eggs were collected for human consumption. This project attempted to determine the movements of a post-nesting River Terrapin, with hopes that it would provide the preliminary baseline information on the utilization of adjacent nesting banks. The solution was a GPS tracking device that transmitted coordinates every hour over cellular networks. Location-based data was sent via Short Message Service (SMS) to our own SMS gateway running on a Raspberry Pi credit-card size computer, which was then logged in a database and presented graphically via Google Maps. It was a complete tracking and monitoring system. This solution enabled researchers to remotely track the movements of a River Terrapin, hence reducing the costs of research. The movements of a post-nesting River Terrapin were tracked for eight days before the battery was drained. On the third day, this River Terrapin ascended an adjacent riverbank and spent less than an hour on the bank, presumably to deposit her remaining eggs. This study confirmed that River Terrapins do utilize other suitable nesting banks if/whenever available. Results from such tracking studies will be used to leverage on the protection of adjacent nesting banks, thus providing greater protection for the critically endangered River Terrapins.

Integrating Terrestrial Time-Lapse Photography with Laser Scanning to Distinguish the Drivers of Movement at Sólheimajökull, Iceland

NASA Astrophysics Data System (ADS)

How, P.; James, M. R.; Wynn, P.

2014-12-01

Glacier movement is attributed to a sensitive configuration of driving forces. Here, we present an approach designed to evaluate the drivers of movement at Sólheimajökull, an outlet glacier from the Myrdalsjökull ice cap, Iceland, through combining terrestrial time-lapse photography and laser scanning (TLS). A time-lapse camera (a dSLR with intervalometer and solar-recharged battery power supply) collected hourly data over the summer of 2013. The data are subject to all the difficulties that are usually present in long time-lapse sequences, such as highly variable illumination and visibility conditions, evolving surfaces, and camera instabilities. Feature-tracking software [1] was used to: 1) track regions of static topography (e.g. the skyline) from which camera alignment could be continuously updated throughout the sequence; and 2) track glacial surface features for velocity estimation. Absolute georeferencing of the image sequence was carried out by registering the camera to a TLS survey acquired at the beginning of the monitoring period. A second TLS survey (July 2013) provided an additional 3D surface. By assuming glacial features moved in approximately planimetrically straight lines between the two survey dates, combining the two TLS surfaces with the monoscopic feature tracking allows 3D feature tracks to be derived. Such tracks will enable contributions from different drivers (e.g. surface melting) to be extracted, even in imagery that is acquired not perpendicular to glacier motion. At Sólheimajökull, our aim is to elucidate any volcanic contribution to the observed movement.[1] http://www.lancaster.ac.uk/staff/jamesm/software/pointcatcher.htm

Ecological scale and seasonal heterogeneity in the spatial behaviors of giant pandas.

PubMed

Zhang, Zejun; Sheppard, James K; Swaisgood, Ronald R; Wang, Guan; Nie, Yonggang; Wei, Wei; Zhao, Naxun; Wei, Fuwen

2014-01-01

We report on the first study to track the spatial behaviors of wild giant pandas (Ailuropoda melanoleuca) using high-resolution global positioning system (GPS) telemetry. Between 2008 and 2009, 4 pandas (2 male and 2 female) were tracked in Foping Reserve, China for an average of 305 days (± 54.8 SE). Panda home ranges were larger than those of previous very high frequency tracking studies, with a bimodal distribution of space-use and distinct winter and summer centers of activity. Home range sizes were larger in winter than in summer, although there was considerable individual variability. All tracked pandas exhibited individualistic, unoriented and multiphasic movement paths, with a high level of tortuosity within seasonal core habitats and directed, linear, large-scale movements between habitats. Pandas moved from low elevation winter habitats to high elevation (>2000 m) summer habitats in May, when temperatures averaged 17.5 °C (± 0.3 SE), and these large-scale movements took <1 month to complete. The peak in panda mean elevation occurred in Jul, after which they began slow, large-scale movements back to winter habitats that were completed in Nov. An adult female panda made 2 longdistance movements during the mating season. Pandas remain close to rivers and streams during winter, possibly reflecting the elevated water requirements to digest their high-fiber food. Panda movement path tortuosity and first-passage-time as a function of spatial scale indicated a mean peak in habitat search effort and patch use of approximately 700 m. Despite a high degree of spatial overlap between panda home ranges, particularly in winter, we detected neither avoidance nor attraction behavior between conspecifics. © 2012 Wiley Publishing Asia Pty Ltd, ISZS and IOZ/CAS.

Movement Is Fun: An Occupational Therapy Perspective on a Program for Preschoolers.

ERIC Educational Resources Information Center

Young, Susan B.

1987-01-01

Movement is Fun is a preschool movement program developed by an occupational therapist. Based on sensory integration theory and using movement education concepts, the program's goal is to enhance normal development in 3- to 5-year-old children and provide a vehicle for early identification of developmental delays. (Author/KM)

Can low-cost motion-tracking systems substitute a Polhemus system when researching social motor coordination in children?

PubMed

Romero, Veronica; Amaral, Joseph; Fitzpatrick, Paula; Schmidt, R C; Duncan, Amie W; Richardson, Michael J

2017-04-01

Functionally stable and robust interpersonal motor coordination has been found to play an integral role in the effectiveness of social interactions. However, the motion-tracking equipment required to record and objectively measure the dynamic limb and body movements during social interaction has been very costly, cumbersome, and impractical within a non-clinical or non-laboratory setting. Here we examined whether three low-cost motion-tracking options (Microsoft Kinect skeletal tracking of either one limb or whole body and a video-based pixel change method) can be employed to investigate social motor coordination. Of particular interest was the degree to which these low-cost methods of motion tracking could be used to capture and index the coordination dynamics that occurred between a child and an experimenter for three simple social motor coordination tasks in comparison to a more expensive, laboratory-grade motion-tracking system (i.e., a Polhemus Latus system). Overall, the results demonstrated that these low-cost systems cannot substitute the Polhemus system in some tasks. However, the lower-cost Microsoft Kinect skeletal tracking and video pixel change methods were successfully able to index differences in social motor coordination in tasks that involved larger-scale, naturalistic whole body movements, which can be cumbersome and expensive to record with a Polhemus. However, we found the Kinect to be particularly vulnerable to occlusion and the pixel change method to movements that cross the video frame midline. Therefore, particular care needs to be taken in choosing the motion-tracking system that is best suited for the particular research.

A study and comparison of the effects of low speed change vehicle collisions on the human body.

PubMed

Hoyes, Philip; Henderson, Brian

2013-03-01

In motor vehicle collisions there is a well-established relationship between the level of damage sustained by the vehicle, its change in speed during the collision period, the movement of occupants and the potential for their injury. Greater damage, with respect to structure, means a greater potential for injury. In terms of rear-end impacts, speed change thresholds for injury have been suggested in previous literature. This research uses human test subjects and three full-scale vehicle, rear-end collisions to investigate the correlation between speed change and occupant movement and uses it to test the suggestion of a second threshold where the accelerations are similar to an everyday activity. Copyright © 2012 Elsevier Ltd. All rights reserved.

A cycle timer for testing electric vehicles

NASA Technical Reports Server (NTRS)

Soltis, R. F.

1978-01-01

A cycle timer was developed to assist the driver of an electric vehicle in more accurately following and repeating SAE driving schedules. These schedules require operating an electric vehicle in a selected stop-and-go driving cycle and repeating this cycle pattern until the vehicle ceases to meet the requirements of the cycle. The heart of the system is a programmable read-only memory (PROM) that has the required test profiles permanently recorded on plug-in cards, one card for each different driving schedule. The PROM generates a direct current analog signal that drives a speedometer displayed on one scale of a dual movement meter. The second scale of the dual movement meter displays the actual speed of the vehicle as recorded by the fifth wheel. The vehicle operator controls vehicle speed to match the desired profile speed. The PROM controls the recycle start time as well as the buzzer activation. The cycle programmer is powered by the test vehicle's 12-volt accessory battery, through a 5-volt regulator and a 12-volt dc-to-dc converter.

Automated regional analysis of B-mode ultrasound images of skeletal muscle movement

PubMed Central

Darby, John; Costen, Nicholas; Loram, Ian D.

2012-01-01

To understand the functional significance of skeletal muscle anatomy, a method of quantifying local shape changes in different tissue structures during dynamic tasks is required. Taking advantage of the good spatial and temporal resolution of B-mode ultrasound imaging, we describe a method of automatically segmenting images into fascicle and aponeurosis regions and tracking movement of features, independently, in localized portions of each tissue. Ultrasound images (25 Hz) of the medial gastrocnemius muscle were collected from eight participants during ankle joint rotation (2° and 20°), isometric contractions (1, 5, and 50 Nm), and deep knee bends. A Kanade-Lucas-Tomasi feature tracker was used to identify and track any distinctive and persistent features within the image sequences. A velocity field representation of local movement was then found and subdivided between fascicle and aponeurosis regions using segmentations from a multiresolution active shape model (ASM). Movement in each region was quantified by interpolating the effect of the fields on a set of probes. ASM segmentation results were compared with hand-labeled data, while aponeurosis and fascicle movement were compared with results from a previously documented cross-correlation approach. ASM provided good image segmentations (<1 mm average error), with fully automatic initialization possible in sequences from seven participants. Feature tracking provided similar length change results to the cross-correlation approach for small movements, while outperforming it in larger movements. The proposed method provides the potential to distinguish between active and passive changes in muscle shape and model strain distributions during different movements/conditions and quantify nonhomogeneous strain along aponeuroses. PMID:22033532

Determining Desirable Cursor Control Device Characteristics for NASA Exploration Missions

NASA Technical Reports Server (NTRS)

Sandor, Aniko; Holden, Kritina

2007-01-01

The Crew Exploration Vehicle (CEV) that will travel to the moon and Mars, and all future Exploration vehicles and habitats will be highly computerized, necessitating an accurate method of interaction with the computers. The design of a cursor control device will have to take into consideration g-forces, vibration, gloved operations, and the specific types of tasks to be performed. The study described here is being undertaken to begin identifying characteristics of cursor control devices that will work well for the unique Exploration mission environments. The objective of the study is not to identify a particular device, but to begin identifying design characteristics that are usable and desirable for space missions. Most cursor control devices have strengths and weaknesses; they are more appropriate for some tasks and less suitable for others. The purpose of this study is to collect some initial usability data on a large number of commercially available and proprietary cursor control devices. A software test battery was developed for this purpose. Once data has been collected using these low-level, basic point/click/drag tasks, higher fidelity, scenario-driven evaluations will be conducted with a reduced set of devices. The standard tasks used for testing cursor control devices are based on a model of human movement known as Fitts law. Fitts law predicts that the time to acquire a target is logarithmically related to the distance over the target size. To gather data for analysis with this law, fundamental, low-level tasks are used such as dragging or pointing at various targets of different sizes from various distances. The first four core tasks for the study were based on the ISO 9241-9:(2000) document from the International Organization for Standardization that contains the requirements for non-keyboard input devices. These include two pointing tasks, one dragging and one tracking task. The fifth task from ISO 9241-9, the circular tracking task was not used because it is a movement that is not applicable to most of the applications used on aviation displays. Additionally, we opted to add a multi-size and multi-distance pointing task, and two ecologically more valid tasks which included text selection, and interaction with drop down menus, sliders, and checkboxes. The Visual Basic test battery tracks the task and trial numbers, measures the pointing, tracking or dragging time, as well as the number and types of errors. The testing session includes a practice set for each input device, then the randomized 7 tasks, and finally a questionnaire about the device. This is repeated for all the devices tested within a session. The experiment is a within-subjects design, with participants returning for multiple sessions to test additional devices. The input devices will be compared based on objective performance data from the tasks, as well as subjective feedback and ratings on the questionnaire.

Atlanta I-85 HOV-to-HOT conversion : analysis of vehicle and person throughput.

DOT National Transportation Integrated Search

2013-10-01

This report summarizes the vehicle and person throughput analysis for the High Occupancy Vehicle to High Occupancy Toll Lane : conversion in Atlanta, GA, undertaken by the Georgia Institute of Technology research team. The team tracked changes in : o...

Actively learning to distinguish suspicious from innocuous anomalies in a batch of vehicle tracks

NASA Astrophysics Data System (ADS)

Qiu, Zhicong; Miller, David J.; Stieber, Brian; Fair, Tim

2014-06-01

We investigate the problem of actively learning to distinguish between two sets of anomalous vehicle tracks, innocuous" and suspicious", starting from scratch, without any initial examples of suspicious" and with no prior knowledge of what an operator would deem suspicious. This two-class problem is challenging because it is a priori unknown which track features may characterize the suspicious class. Furthermore, there is inherent imbalance in the sizes of the labeled innocuous" and suspicious" sets, even after some suspicious examples are identified. We present a comprehensive solution wherein a classifier learns to discriminate suspicious from innocuous based on derived p-value track features. Through active learning, our classifier thus learns the types of anomalies on which to base its discrimination. Our solution encompasses: i) judicious choice of kinematic p-value based features conditioned on the road of origin, along with more explicit features that capture unique vehicle behavior (e.g. U-turns); ii) novel semi-supervised learning that exploits information in the unlabeled (test batch) tracks, and iii) evaluation of several classifier models (logistic regression, SVMs). We find that two active labeling streams are necessary in practice in order to have efficient classifier learning while also forwarding (for labeling) the most actionable tracks. Experiments on wide-area motion imagery (WAMI) tracks, extracted via a system developed by Toyon Research Corporation, demonstrate the strong ROC AUC performance of our system, with sparing use of operator-based active labeling.

Empirical Study on Designing of Gaze Tracking Camera Based on the Information of User's Head Movement.

PubMed

Pan, Weiyuan; Jung, Dongwook; Yoon, Hyo Sik; Lee, Dong Eun; Naqvi, Rizwan Ali; Lee, Kwan Woo; Park, Kang Ryoung

2016-08-31

Gaze tracking is the technology that identifies a region in space that a user is looking at. Most previous non-wearable gaze tracking systems use a near-infrared (NIR) light camera with an NIR illuminator. Based on the kind of camera lens used, the viewing angle and depth-of-field (DOF) of a gaze tracking camera can be different, which affects the performance of the gaze tracking system. Nevertheless, to our best knowledge, most previous researches implemented gaze tracking cameras without ground truth information for determining the optimal viewing angle and DOF of the camera lens. Eye-tracker manufacturers might also use ground truth information, but they do not provide this in public. Therefore, researchers and developers of gaze tracking systems cannot refer to such information for implementing gaze tracking system. We address this problem providing an empirical study in which we design an optimal gaze tracking camera based on experimental measurements of the amount and velocity of user's head movements. Based on our results and analyses, researchers and developers might be able to more easily implement an optimal gaze tracking system. Experimental results show that our gaze tracking system shows high performance in terms of accuracy, user convenience and interest.

Empirical Study on Designing of Gaze Tracking Camera Based on the Information of User’s Head Movement

PubMed Central

Pan, Weiyuan; Jung, Dongwook; Yoon, Hyo Sik; Lee, Dong Eun; Naqvi, Rizwan Ali; Lee, Kwan Woo; Park, Kang Ryoung

2016-01-01

Gaze tracking is the technology that identifies a region in space that a user is looking at. Most previous non-wearable gaze tracking systems use a near-infrared (NIR) light camera with an NIR illuminator. Based on the kind of camera lens used, the viewing angle and depth-of-field (DOF) of a gaze tracking camera can be different, which affects the performance of the gaze tracking system. Nevertheless, to our best knowledge, most previous researches implemented gaze tracking cameras without ground truth information for determining the optimal viewing angle and DOF of the camera lens. Eye-tracker manufacturers might also use ground truth information, but they do not provide this in public. Therefore, researchers and developers of gaze tracking systems cannot refer to such information for implementing gaze tracking system. We address this problem providing an empirical study in which we design an optimal gaze tracking camera based on experimental measurements of the amount and velocity of user’s head movements. Based on our results and analyses, researchers and developers might be able to more easily implement an optimal gaze tracking system. Experimental results show that our gaze tracking system shows high performance in terms of accuracy, user convenience and interest. PMID:27589768

Apparatus and method for tracking a molecule or particle in three dimensions

DOEpatents

Werner, James H [Los Alamos, NM; Goodwin, Peter M [Los Alamos, NM; Lessard, Guillaume [Santa Fe, NM

2009-03-03

An apparatus and method were used to track the movement of fluorescent particles in three dimensions. Control software was used with the apparatus to implement a tracking algorithm for tracking the motion of the individual particles in glycerol/water mixtures. Monte Carlo simulations suggest that the tracking algorithms in combination with the apparatus may be used for tracking the motion of single fluorescent or fluorescently labeled biomolecules in three dimensions.

A Case Study of Dynamic Response Analysis and Safety Assessment for a Suspended Monorail System.

PubMed

Bao, Yulong; Li, Yongle; Ding, Jiajie

2016-11-10

A suspended monorail transit system is a category of urban rail transit, which is effective in alleviating traffic pressure and injury prevention. Meanwhile, with the advantages of low cost and short construction time, suspended monorail transit systems show vast potential for future development. However, the suspended monorail has not been systematically studied in China, and there is a lack of relevant knowledge and analytical methods. To ensure the health and reliability of a suspended monorail transit system, the driving safety of vehicles and structure dynamic behaviors when vehicles are running on the bridge should be analyzed and evaluated. Based on the method of vehicle-bridge coupling vibration theory, the finite element method (FEM) software ANSYS and multi-body dynamics software SIMPACK are adopted respectively to establish the finite element model for bridge and the multi-body vehicle. A co-simulation method is employed to investigate the vehicle-bridge coupling vibration for the transit system. The traffic operation factors, including train formation, track irregularity and tire stiffness, are incorporated into the models separately to analyze the bridge and vehicle responses. The results show that the coupling of dynamic effects of the suspended monorail system between vehicle and bridge are significant in the case studied, and it is strongly suggested to take necessary measures for vibration suppression. The simulation of track irregularity is a critical factor for its vibration safety, and the track irregularity of A-level road roughness negatively influences the system vibration safety.

A Case Study of Dynamic Response Analysis and Safety Assessment for a Suspended Monorail System

PubMed Central

Bao, Yulong; Li, Yongle; Ding, Jiajie

2016-01-01

A suspended monorail transit system is a category of urban rail transit, which is effective in alleviating traffic pressure and injury prevention. Meanwhile, with the advantages of low cost and short construction time, suspended monorail transit systems show vast potential for future development. However, the suspended monorail has not been systematically studied in China, and there is a lack of relevant knowledge and analytical methods. To ensure the health and reliability of a suspended monorail transit system, the driving safety of vehicles and structure dynamic behaviors when vehicles are running on the bridge should be analyzed and evaluated. Based on the method of vehicle-bridge coupling vibration theory, the finite element method (FEM) software ANSYS and multi-body dynamics software SIMPACK are adopted respectively to establish the finite element model for bridge and the multi-body vehicle. A co-simulation method is employed to investigate the vehicle-bridge coupling vibration for the transit system. The traffic operation factors, including train formation, track irregularity and tire stiffness, are incorporated into the models separately to analyze the bridge and vehicle responses. The results show that the coupling of dynamic effects of the suspended monorail system between vehicle and bridge are significant in the case studied, and it is strongly suggested to take necessary measures for vibration suppression. The simulation of track irregularity is a critical factor for its vibration safety, and the track irregularity of A-level road roughness negatively influences the system vibration safety. PMID:27834923

Acoustic tracking of woodhead seabed drifters

NASA Technical Reports Server (NTRS)

Mayhue, R. J.; Lovelady, R. W.

1977-01-01

An investigation was conducted to determine the feasibility of tracking Woodhead seabed drifters that were instrumented with miniature acoustic transmitters having a range in water in excess of 1.0 n.mi. A trial cruise at the entrance of Delaware Bay, with the R.V. Annandale as the sonar-tracking vessel, verified acoustic communications and positioning of the bottom drifters. A demonstration cruise with the R.V. Annandale was also performed in the New York Bight to attempt to collect information on bottom water movement near the sewage-sluge dump site. Results from the tracking mission in the New York Bight suggested that bottom water currents were negligible near the dump site during the time interval from November 7-12, 1975, and that shipboard sonar tracking of acoustic Woodhead seabed drifters could provide useful Lagragian information on bottom water movement caused by tidal and other nonstorm effects.

Multiple particle tracking in 3-D+t microscopy: method and application to the tracking of endocytosed quantum dots.

PubMed

Genovesio, Auguste; Liedl, Tim; Emiliani, Valentina; Parak, Wolfgang J; Coppey-Moisan, Maité; Olivo-Marin, Jean-Christophe

2006-05-01

We propose a method to detect and track multiple moving biological spot-like particles showing different kinds of dynamics in image sequences acquired through multidimensional fluorescence microscopy. It enables the extraction and analysis of information such as number, position, speed, movement, and diffusion phases of, e.g., endosomal particles. The method consists of several stages. After a detection stage performed by a three-dimensional (3-D) undecimated wavelet transform, we compute, for each detected spot, several predictions of its future state in the next frame. This is accomplished thanks to an interacting multiple model (IMM) algorithm which includes several models corresponding to different biologically realistic movement types. Tracks are constructed, thereafter, by a data association algorithm based on the maximization of the likelihood of each IMM. The last stage consists of updating the IMM filters in order to compute final estimations for the present image and to improve predictions for the next image. The performances of the method are validated on synthetic image data and used to characterize the 3-D movement of endocytic vesicles containing quantum dots.

Interjoint coordination of the lower extremities in short-track speed skating.

PubMed

Khuyagbaatar, Batbayar; Purevsuren, Tserenchimed; Park, Won Man; Kim, Kyungsoo; Kim, Yoon Hyuk

2017-10-01

In short-track speed skating, the three-dimensional kinematics of the lower extremities during the whole skating cycle have not been studied. Kinematic parameters of the lower extremities during skating are presented as joint angles versus time. However, the angle-time presentation is not sufficient to describe the relationship between multi-joint movement patterns. Thus, angle-angle presentations were developed and used to describe interjoint coordination in sport activities. In this study, 15 professional male skaters' full body motion data were recorded using a wearable motion capture system during short-track speed skating. We investigated the three-dimensional kinematics of the lower extremities and then established the interjoint coordination between hip-knee and knee-ankle for both legs during the whole skating cycle. The results demonstrate the relationship between multi-joint movements during different phases of short-track speed skating. This study provides fundamentals of the movement mechanism of the lower extremities that can be integrated with physiotherapy to improve skating posture and prevent injuries from repetitive stress since physiological characteristics play an important role in skating performance.

Eye Tracking Metrics for Workload Estimation in Flight Deck Operation

NASA Technical Reports Server (NTRS)

Ellis, Kyle; Schnell, Thomas

2010-01-01

Flight decks of the future are being enhanced through improved avionics that adapt to both aircraft and operator state. Eye tracking allows for non-invasive analysis of pilot eye movements, from which a set of metrics can be derived to effectively and reliably characterize workload. This research identifies eye tracking metrics that correlate to aircraft automation conditions, and identifies the correlation of pilot workload to the same automation conditions. Saccade length was used as an indirect index of pilot workload: Pilots in the fully automated condition were observed to have on average, larger saccadic movements in contrast to the guidance and manual flight conditions. The data set itself also provides a general model of human eye movement behavior and so ostensibly visual attention distribution in the cockpit for approach to land tasks with various levels of automation, by means of the same metrics used for workload algorithm development.

Satellite animal tracking feasibility studies

NASA Technical Reports Server (NTRS)

Buechner, H. K.

1975-01-01

A study was initiated in Tsavo National Park to determine movements and home ranges of individual elephants and their relations to overall distribution patterns and environmental factors such as rainfall. Methods used were radio tracking and observations of visually identifiable individuals. Aerial counts provided data on overall distribution. Two bulls and two cows were radio-tagged in Tsavo West and two bulls and four cows in Tsavo East, providing home range and movement data. The movements of individuals were useful in interpreting relatively major shifts in elephant distribution. Results point to the following preliminary conclusions: (1) elephants in the Tsavo area undertook long distance movements in fairly direct response to localized rainfall; (2) a subdivision of the overall population into locally distinct units may exist during the dry season but did not occur after significant rainfall; and (3) food appears to be the primary factor governing movements and distribution of elephants in the area.

Development of pedestrian safety based warrants for permissive left-turn control

DOT National Transportation Integrated Search

2010-12-01

At the intersections with permissive only signal control, pedestrians will move at the permissive phase with the parallel through vehicular movement and left-turn vehicles, the left-turn vehicles have to yield to both opposing through vehicles and pe...

A low-cost test-bed for real-time landmark tracking

NASA Astrophysics Data System (ADS)

Csaszar, Ambrus; Hanan, Jay C.; Moreels, Pierre; Assad, Christopher

2007-04-01

A low-cost vehicle test-bed system was developed to iteratively test, refine and demonstrate navigation algorithms before attempting to transfer the algorithms to more advanced rover prototypes. The platform used here was a modified radio controlled (RC) car. A microcontroller board and onboard laptop computer allow for either autonomous or remote operation via a computer workstation. The sensors onboard the vehicle represent the types currently used on NASA-JPL rover prototypes. For dead-reckoning navigation, optical wheel encoders, a single axis gyroscope, and 2-axis accelerometer were used. An ultrasound ranger is available to calculate distance as a substitute for the stereo vision systems presently used on rovers. The prototype also carries a small laptop computer with a USB camera and wireless transmitter to send real time video to an off-board computer. A real-time user interface was implemented that combines an automatic image feature selector, tracking parameter controls, streaming video viewer, and user generated or autonomous driving commands. Using the test-bed, real-time landmark tracking was demonstrated by autonomously driving the vehicle through the JPL Mars yard. The algorithms tracked rocks as waypoints. This generated coordinates calculating relative motion and visually servoing to science targets. A limitation for the current system is serial computing-each additional landmark is tracked in order-but since each landmark is tracked independently, if transferred to appropriate parallel hardware, adding targets would not significantly diminish system speed.

Tracking with a Cooperatively Controlled Swarm of GMTI Equipped UAVS

DTIC Science & Technology

2008-12-02

with Ground Optimal Placement of GMTI UAVs for ground target tracking Abhijit Sinha°, Thia. Kirubarajana and Yaakov Bar-Shalom6 " Electrical and...Storrs, CT 06269, USA Abstract—With the recent advent of moderate-cost unmanned (or uninhabited) aerial vehicles (UAV) and their success in...the sensor platforms are mobile one has to decide the optimal placement of sensors. With the recent advent of af- fordable unmanned aerial vehicles

Tropic Testing of Vehicles

DTIC Science & Technology

2014-08-27

kilometer track running through tropical forest . The track is a combination of a bauxite/dirt base with grades on the road up to 20 percent and log...TYPE Final 3. DATES COVERED (From - To) 4. TITLE AND SUBTITLE Test Operations Procedure (TOP) 02-2-817A Tropic Testing of Vehicles 5a...PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) U.S. Army Yuma Proving Ground Tropic Regions Test Center (TEDT-YPT) 301 C. Street Yuma, AZ

Artist's Concept of Magnetic Launch Assisted Air-Breathing Rocket

NASA Technical Reports Server (NTRS)

1999-01-01

This artist's concept depicts a Magnetic Launch Assist vehicle in orbit. Formerly referred to as the Magnetic Levitation (Maglev) system, the Magnetic Launch Assist system is a launch system developed and tested by engineers at the Marshall Space Flight Center (MSFC) that could levitate and accelerate a launch vehicle along a track at high speeds before it leaves the ground. Using electricity and magnetic fields, a Magnetic Launch Assist system would drive a spacecraft along a horizontal track until it reaches desired speeds. The system is similar to high-speed trains and roller coasters that use high-strength magnets to lift and propel a vehicle a couple of inches above a guideway. A full-scale, operational track would be about 1.5-miles long, capable of accelerating a vehicle to 600 mph in 9.5 seconds, and the vehicle would then shift to rocket engines for launch into orbit. The major advantages of launch assist for NASA launch vehicles is that it reduces the weight of the take-off, the landing gear, the wing size, and less propellant resulting in significant cost savings. The US Navy and the British MOD (Ministry of Defense) are planning to use magnetic launch assist for their next generation aircraft carriers as the aircraft launch system. The US Army is considering using this technology for launching target drones for anti-aircraft training.

Development of a Water Recovery System Resource Tracking Model

NASA Technical Reports Server (NTRS)

Chambliss, Joe; Stambaugh, Imelda; Sargusingh, Miriam; Shull, Sarah; Moore, Michael

2015-01-01

A simulation model has been developed to track water resources in an exploration vehicle using Regenerative Life Support (RLS) systems. The Resource Tracking Model (RTM) integrates the functions of all the vehicle components that affect the processing and recovery of water during simulated missions. The approach used in developing the RTM enables its use as part of a complete vehicle simulation for real time mission studies. Performance data for the components in the RTM is focused on water processing. The data provided to the model has been based on the most recent information available regarding the technology of the component. This paper will describe the process of defining the RLS system to be modeled, the way the modeling environment was selected, and how the model has been implemented. Results showing how the RLS components exchange water are provided in a set of test cases.

Non-RF wireless helmet-mounted display and two-way audio connectivity using covert free-space optical communications

NASA Astrophysics Data System (ADS)

Strauss, M.; Volfson, L.

2011-06-01

Providing the warfighter with Head or Helmet Mounted Displays (HMDs) while in tracked vehicles provides a means to visually maintain access to systems information while in a high vibration environment. The high vibration and unique environment of military tracked and turreted vehicles impact the ability to distinctly see certain information on an HMD, especially small font size or graphics and information that requires long fixation (staring), rather than a brief or peripheral glance. The military and commercial use of HMDs was compiled from market research, market trends, and user feedback. Lessons learned from previous military and commercial use of HMD products were derived to determine the feasibility of HMDs use in the high vibration and the unique environments of tracked vehicles. The results are summarized into factors that determine HMD features which must be specified for successful implementation.

Comparisons between designs for single-sided linear electric motors: Homopolar synchronous and induction

NASA Astrophysics Data System (ADS)

Nondahl, T. A.; Richter, E.

1980-09-01

A design study of two types of single sided (with a passive rail) linear electric machine designs, namely homopolar linear synchronous machines (LSM's) and linear induction machines (LIM's), is described. It is assumed the machines provide tractive effort for several types of light rail vehicles and locomotives. These vehicles are wheel supported and require tractive powers ranging from 200 kW to 3735 kW and top speeds ranging from 112 km/hr to 400 km/hr. All designs are made according to specified magnetic and thermal criteria. The LSM advantages are a higher power factor, much greater restoring forces for track misalignments, and less track heating. The LIM advantages are no need to synchronize the excitation frequency precisely to vehicle speed, simpler machine construction, and a more easily anchored track structure. The relative weights of the two machine types vary with excitation frequency and speed; low frequencies and low speeds favor the LSM.

Air-Breathing Hypersonic Vehicle Tracking Control Based on Adaptive Dynamic Programming.

PubMed

Mu, Chaoxu; Ni, Zhen; Sun, Changyin; He, Haibo

2017-03-01

In this paper, we propose a data-driven supplementary control approach with adaptive learning capability for air-breathing hypersonic vehicle tracking control based on action-dependent heuristic dynamic programming (ADHDP). The control action is generated by the combination of sliding mode control (SMC) and the ADHDP controller to track the desired velocity and the desired altitude. In particular, the ADHDP controller observes the differences between the actual velocity/altitude and the desired velocity/altitude, and then provides a supplementary control action accordingly. The ADHDP controller does not rely on the accurate mathematical model function and is data driven. Meanwhile, it is capable to adjust its parameters online over time under various working conditions, which is very suitable for hypersonic vehicle system with parameter uncertainties and disturbances. We verify the adaptive supplementary control approach versus the traditional SMC in the cruising flight, and provide three simulation studies to illustrate the improved performance with the proposed approach.

49 CFR 214.501 - Purpose and scope.

Code of Federal Regulations, 2010 CFR

2010-10-01

..., DEPARTMENT OF TRANSPORTATION RAILROAD WORKPLACE SAFETY On-Track Roadway Maintenance Machines and Hi-Rail... casualties caused by the lawful operation of on-track roadway maintenance machines and hi-rail vehicles. (b) This subpart prescribes minimum safety standards for on-track roadway maintenance machines and hi-rail...

Influence of Vehicle Induced Loads on the Lateral Stability of CWR Track

DOT National Transportation Integrated Search

1985-11-01

Thermal buckling of railroad tracks in the lateral plane is an important problem in the design and maintenance of continuous welded rail (CWR) track. The severity of the problem is manifested through the increasing number of derailments which are att...

49 CFR 523.2 - Definitions.

Code of Federal Regulations, 2012 CFR

2012-10-01

... a functioning vehicle that has the primary load carrying device or container (or equivalent... the product of track width (measured in inches, calculated as the average of front and rear track.... For purposes of this definition, track width is the lateral distance between the centerlines of the...

49 CFR 232.303 - General requirements.

Code of Federal Regulations, 2011 CFR

2011-10-01

... repair vehicle is used to conduct the repairs. (2) Major repair means a repair that normally would... automated tracking system approved for use by FRA, shall contain the following information about the... may use an electronic or automated tracking system to track the required information and the...

49 CFR 232.303 - General requirements.

Code of Federal Regulations, 2013 CFR

2013-10-01

... repair vehicle is used to conduct the repairs. (2) Major repair means a repair that normally would... automated tracking system approved for use by FRA, shall contain the following information about the... may use an electronic or automated tracking system to track the required information and the...

49 CFR 232.303 - General requirements.

Code of Federal Regulations, 2014 CFR

2014-10-01

... repair vehicle is used to conduct the repairs. (2) Major repair means a repair that normally would... automated tracking system approved for use by FRA, shall contain the following information about the... may use an electronic or automated tracking system to track the required information and the...

49 CFR 232.303 - General requirements.

Code of Federal Regulations, 2012 CFR

2012-10-01

... repair vehicle is used to conduct the repairs. (2) Major repair means a repair that normally would... automated tracking system approved for use by FRA, shall contain the following information about the... may use an electronic or automated tracking system to track the required information and the...