Designing a Remote Navigation System

This project involves the design and implementation of a global electronic tracking system intended for use by trans-oceanic vessels, using the technology of the U.S. Government's Global Positioning System (GPS) and a wireless connection to a networked computer. Traditional navigation skills are being replaced with highly accurate electronics. GPS receivers, computers, and mobile communication are becoming common among both recreational and commercial boaters. With computers and advanced communication available throughout the maritime world, information can be shared instantaneously around the globe. This ability to monitor one's whereabouts from afar can provide an increased level of safety and efficiency. Current navigation software seldom includes the capability of providing upto-the-minute navigation information for remote display. Remote access to this data will allow boat owners to track the progress of their boats, land-based organizations to monitor weather patterns and suggest course changes, and school groups to track the progress of a vessel and learn about navigation and science. The software developed in this project allows navigation information from a vessel to be remotely transmitted to a land-based server, for interpretation and deployment to remote users over the Internet. This differs from current software in that it allows the tracking of one vessel by multiple users and provides a means for two-way text messaging between users and the vesseI. Beyond the coastal coverage provided by cellular telephones, mobile communication is advancing rapidly. Current tools such as satellite telephones and single-sideband radio enable worldwide communications, including the ability to connect to the Internet. If current trends continue, portable global communication will be available at a reasonable price and Internet connections on boats will become more common.

Machine learning and small robot navigation

Developing successful navigation and mapping strategies is an essential part of autonomous robot research. However, hardware limitations often make for inaccurate systems. This project serves to investigate efficient alternatives to mapping an environment, by first creating a mobile robot, and then applying machine learning to the robot and controlling systems to increase the robustness of the robot system. My mapping system consists of a semi-autonomous robot drone in communication with a stationary Linux computer system. There are learning systems running on both the robot and the more powerful Linux system. The first stage of this project was devoted to designing and building an inexpensive robot. Utilizing my prior experience from independent studies in robotics, I designed a small mobile robot that was well suited for simple navigation and mapping research. When the major components of the robot base were designed, I began to implement my design. This involved physically constructing the base of the robot, as well as researching and acquiring components such as sensors. Implementing the more complex sensors became a time-consuming task, involving much research and assistance from a variety of sources. A concurrent stage of the project involved researching and experimenting with different types of machine learning systems. I finally settled on using neural networks as the machine learning system to incorporate into my project. Neural nets can be thought of as a structure of interconnected nodes, through which information filters. The type of neural net that I chose to use is a type that requires a known set of data that serves to train the net to produce the desired output. Neural nets are particularly well suited for use with robotic systems as they can handle cases that lie at the extreme edges of the training set, such as may be produced by "noisy" sensor data. Through experimenting with available neural net code, I became familiar with the code and its function, and modified it to be more generic and reusable for multiple applications of neural nets.

A usability instrument for evaluating websites-navigation elements

Many small businesses websites have become an important advertising medium. However little consideration is given to how these websites might be made more effective. Many factors impact on website effectiveness, including navigation. Research here describes a usability instrument developed for evaluating small business websites and uses navigation as an example of its application. The research found that the quality of navigation does have an impact on ease-of-use of a site, user's emotional response and frustration levels and a user's intention to return to that website. The research also established the statistically significant elements that contribute to navigation.

Using immune genetic algorithm to optimize the reactive power

A novel algorithm, immune genetic algorithm (IGA) is proposed for reactive power optimization of power system. While retaining excellent characteristics of genetic algorithm (GA), through imitating the biological immune system, the algorithm evaluates and selects the optimal solutions by the affinities between antigens and antibodies. With the regulation of the activating and suppressing of antibodies, IGA can achieve the dynamic balance between individual diversity and population convergence, and avoid getting into the local optimal solution. The proposed IGA is applied to the IEEE 30-bus system, and the results show that it is superior to the GA with good population convergence and fast computing speed.

Information navigation and knowledge discovery in virtual communities

Over the past decade, advances in the Internet and media technology have literally brought people closer than ever before. It is interesting to note that traditional sociological definitions of a community have been outmoded, for community has extended far beyond the geographical boundaries that were held by traditional definitions (Wellman & Gulia, 1999). Virtual or online community was defined in such a context to describe various forms of computer-mediated communication (CMC). Although virtual communities do not necessarily arise from the Internet, the overwhelming popularity of the Internet is one of the main reasons that virtual communities receive so much attention (Rheingold, 1999). The beginning of virtual communities is attributed to scientists who exchanged information and cooperatively conduct research during the 1970s. There are four needs of participants in a virtual community: member interest, social interaction, imagination, and transaction (Hagel & Armstrong, 1997). The first two focus more on the information exchange and knowledge discovery; the imagination is for entertainment; and the transaction is for commerce strategy. In this article, we investigate the function of information exchange and knowledge discovery in virtual communities. There are two important inherent properties embedded in virtual communities (Wellman, 2001):

Nanostructures and nanoporosity in thermoset epoxy blends with an amphiphilic polyisoprene-block-poly(4-vinyl pyridine) reactive diblock copolymer

Nanostructured thermoset blends were prepared based on a bisphenol A-type epoxy resin and an amphiphilic reactive diblock copolymer, namely polyisoprene-block-poly(4-vinyl pyridine) (PI-P4VP). Infrared spectra revealed that the P4VP block of the diblock copolymer reacted with the epoxy monomer. However, the non-reactive hydrophobic PI block of the diblock copolymer formed a separate microphase on the nanoscale. Ozone treatment was used to create nanoporosity in nanostructured epoxy/PI-P4VP blends via selective removal of the PI microphase and lead to nanoporous epoxy thermosets; disordered nanopores with the average diameter of about 60 nm were uniformly distributed in the blend with 50 wt% PI-P4VP. Multi-scale phase separation with a distinctly different morphology was observed at the air/sample interface due to the interfacial effects, whereas only uniform microphase separated morphology at the nanoscale was found in the bulk of the blend.

Trajectory characterizations for a discrete-time bearing-only navigation strategy

In this paper we explore the geometry of a particular navigation scheme which guides a pursuer from a fixed initial position to a given fixed final position using a one-step look ahead strategy and using only bearing measurements. We explicitly characterize the optimal trajectories for the problem in terms of the Cramer-Rao bound such that the derived trajectories permit a minimization in the error of an unbiased estimate of the target position.

Optimal trajectory characterization for a pursuer navigation scheme

In this paper we examine the geometry of a number of bearing-only navigation schemes for guiding a pursuer from a fixed initial position to a final target position. We explicitly characterize the optimal trajectories for the given problems in terms of analyzing those trajectories which attempt to minimize the error in an estimate of the target position using successive bearing measurements made along the trajectory.

Effects of leveling agent on the uptake of reactive dyes by untreated and plasma-treated wool

Atmospheric-pressure plasma treatment of wool fabric produced a significantly higher level of adsorbed fiber-reactive dye when applied at 50 °C (pH 3.0–6.0) in the absence of any organic leveling agent. In addition, color yields indicated that dye was more uniformly adsorbed by the plasma-treated fabric compared with the untreated material. When untreated fabric was dyed in the presence of a leveling agent (Albegal B), the extent and levelness of dye sorption were enhanced. These enhancements were, however, relatively small on the plasma-treated wool compared with those on untreated wool. A ‘surface’ mechanism, similar to that proposed when plasma-treated wool is dyed in the absence of leveling agent, can explain the leveling ability of Albegal B under adsorption conditions. Increasing the dyebath temperature to 90 °C resulted in dye penetration of the fibers. Under these conditions, any enhancements of dye uptake produced by the plasma treatment, as well as the use of Albegal B, were relatively small, in contrast to the behavior at 50 °C. Improvements in the uniformity of dye sorption observed at 50 °C were, however, maintained at the higher temperature. It is concluded that the inability of reactive dyes to migrate (and so promote leveling and uniformity) once they have reacted with the fiber, means that differences in the uniformity of dye sorbed at 50 °C are still apparent at equilibrium.

Diver navigation system acoustic signal encoding/decoding optimisation

This thesis describes the optimisation of the encoding and decoding processes used to transmit and receive frequency coded data tones acoustically during the operation of an underwater diver navigation system. The aim was to reduce the time required to both generate these data tones for transmission as well as to decode these tones during reception. Encoding of the data tones is performed using a phase lock loop under the control of a microcontroller. A technique was developed which combined both hardware and software modifications to effectively halve the phase lock loop settling time, and therefore the time required to generate these tones. Decoding of these data tones is achieved using the Fast Fourier Transform. Alternative forms of the Discrete Fourier Transform were explored to find the most efficient in terms of execution time. Numerous software optimisations were then applied which led to a reduction in program execution time of 54 % with no penalty in program complexity or length. Testing of the system under identical real-life operating conditions showed no evidence of any system performance degradation as a result of these optimisations.

Reactive system model for building fault-tolerant distributed applications

The development of fault-tolerant computing systems is a very difficult task. Two reasons contributed to this difficulty can be described as follows. The First is that, in normal practice, fault-tolerant computing policies and mechanisms are deeply embedded into most application programs, so that these application programs cannot cope with changes in environments, policies and mechanisms. These factors may change frequently in a distributed environment, especially in a heterogeneous environment. Therefore, in order to develop better fault-tolerant systems that can cope with constant changes in environments and user requirements, it is essential to separate the fault tolerant computing policies and mechanisms in application programs. The second is, on the other hand, a number of techniques have been proposed for the construction of reliable and fault-tolerant computing systems. Many computer systems are being developed to tolerant various hardware and software failures. However, most of these systems are to be used in specific application areas, since it is extremely difficult to develop systems that can be used in general-purpose fault-tolerant computing. The motivation of this thesis is based on these two aspects. The focus of the thesis is on developing a model based on the reactive system concepts for building better fault-tolerant computing applications. The reactive system concepts are an attractive paradigm for system design, development and maintenance because it separates policies from mechanisms. The stress of the model is to provide flexible system architecture for the general-purpose fault-tolerant application development, and the model can be applied in many specific applications. With this reactive system model, we can separate fault-tolerant computing polices and mechanisms in the applications, so that the development and maintenance of fault-tolerant computing systems can be made easier.

Reactive ball milling to produce nanocrystalline ZnO

Ball milling of zinc powders in oxygen atmosphere leads to nanocrystalline ZnO. The average grain size has a value of 9 nm. The zinc oxidation proceeds gradually. It is compared with the combustion oxidation reactions of metals (Zr, Ti, Fe and Sn) reported previously. We propose a new parameter ΔH/C_p(metal) instead of simplified adiabatic temperature to judge if the mechanochemical oxidation of a particular metal happens via gradual or combustion reaction.

On the geometry of localization, tracking and navigation

The thesis characterizes the geometry of certain localization, tracking and navigation problems. For instance, the potential localization performance of certain multi-sensor systems is measurably linked to the relative sensor-target geometry. Additionally, several optimal and robust algorithms for localization and tracking are designed which exploit the underlying geometry of the problem considered.

Haptically simulating soft tissue using spherical voxel and reactive agents

This thesis describes technology developed by the author enabling trainee surgeons to perform needle insertion procedures with force feedback (haptics) on a virtual patient. Addition of the sense of touch to medical simulation is arguably the most important step forward in the evolution of haptic technology to this day.