Move, for string quartet, piano, percussion and electronics

MOVE is a composition for string quartet, piano, percussion and electronics of approximately 15-16 minutes duration in three movements. The work incorporates electronic samples either synthesized electronically by the composer or recorded from acoustic instruments. The work aims to use electronic sounds as an expansion of the tonal palette of the chamber group (rather like an extended percussion setup) as opposed to a dominating sonic feature of the music. This is done by limiting the use of electronics to specific sections of the work, and by prioritizing blend and sonic coherence in the synthesized samples. The work uses fixed electronics in such a way that allows for tempo variations in the music. Generally, a difficulty arises in that fixed “tape” parts don’t allow tempo variations; while truly “live” software algorithms sacrifice rhythmic accuracy. Sample pads, such as the Roland SPD-SX, provide an elegant solution. The latency of such a device is close enough to zero that individual samples can be triggered in real time at a range of tempi. The percussion setup in this work (vibraphone and sample pad) allows one player to cover both parts, eliminating the need for an external musician to trigger the electronics. Compositionally, momentum is used as a constructing principle. The first movement makes prominent use of ostinato and shifting meter. The second is a set of variations on a repeated harmonic pattern, with a polymetric middle section. The third is a type of passacaglia, wherein the bassline is not introduced right away, but becomes more significant later in the movement. Given the importance of visual presentation in the Internet age, the final goal of the project was to shoot HD video of a studio performance of the work for publication online. The composer recorded audio and video in two separate sessions and edited the production using Logic X and Adobe Premiere Pro. The final video presentation can be seen at geoffsheil.com/move.

Development of a Real-Time Hierarchical 3D Path Planning Algorithm for Unmanned Aerial Vehicles

Unmanned aerial vehicles (UAVs) frequently operate in partially or entirely unknown environments. As the vehicle traverses the environment and detects new obstacles, rapid path replanning is essential to avoid collisions. This thesis presents a new algorithm called Hierarchical D* Lite (HD*), which combines the incremental algorithm D* Lite with a novel hierarchical path planning approach to replan paths sufficiently fast for real-time operation. Unlike current hierarchical planning algorithms, HD* does not require map corrections before planning a new path. Directional cost scale factors, path smoothing, and Catmull-Rom splines are used to ensure the resulting paths are feasible. HD* sacrifices optimality for real-time performance. Its computation time and path quality are dependent on the map size, obstacle density, sensor range, and any restrictions on planning time. For the most complex scenarios tested, HD* found paths within 10% of optimal in under 35 milliseconds.