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ICPTT 2009, Advances and Experiences With Pipelines and Trenchless Technology for Water, Sewer, Gas, and Oil Applications

Creator: Mohammad Najafi, Baosong Ma | 2009-12-30

They plan to equip methane laser detection equipment on the helicopters to make the flight more efficiency. ... 2003): ()]2 RC ×− ≈ νσ (1) [ ] 1[)2/(2 0 R SPP ηρ Here: 0P and P denote the power of outgoing laser and the power of ...

Publisher: Amer Society of Civil Engineers

About this book
This proceedings contains 227 papers which were presented at the International Conference on Pipelines and Trenchless Technology (ICPTT), held on October 18-21, 2009, in Shanghai, China.



64 pages

Inside the U.S. army today

Creator: Gordon L. Rottman | 1988-11-24

Laser-guided munitions such as the artillery- fired Copperhead and the Hellfire are guided to the target by illuminating it with a laser spot generated from a laser designator mounted in another AH-64, an OH-58C scout helicopter, ...

Publisher: Osprey Publishing

About this book
When conscription was eliminated in the early 1970s, the US Army found itself with a very different kind of soldier. While the personality of the Army remained the same, the organization of its higher levels of command and combat formations, and the internal structure of its units underwent major changes under the 'Army of Excellence' program of the 1980s. This book explores the US Army of the late 80s, including the training methods, weapon systems, Reserve Components, organization and uniforms of one of the world's most potent fighting forces. The text is illustrated with numerous photographs and eight colour plates.



154 pages

A potential field based formation control methodology for robot swarms

Creator: Laura E. Barnes, University of South Florida | 2008

6.1.2 Radio-Controlled Helicopter In order to demonstrate UAV-UGV swarm coordination an autonomous RC helicopter is ... of skids with an incorporated pan tilt unit for a Sony block camera. Sensors include a GPS unit, an IMU, and laser.

Publisher: ProQuest

About this book
A novel methodology is presented for organizing swarms of robots into a formation utilizing artificial potential fields generated from normal and sigmoid functions. These functions construct the surface which swarm members travel on, controlling the overall swarm geometry and the individual member spacing. Nonlinear limiting functions are defined to provide tighter swarm control by modifying and adjusting a set of control variables forcing the swarm to behave according to set constraints, formation and member spacing. The swarm function and limiting functions are combined to control swarm formation, orientation, and swarm movement as a whole. Parameters are chosen based on desired formation as well as user defined constraints. This approach compared to others, is simple, computationally efficient, scales well to different swarm sizes, to heterogeneous systems, and to both centralized and decentralized swarm models. Simulation results are presented for a swarm of four and ten particles following circle, ellipse and wedge formations. Experimental results are also included with a swarm of four unmanned ground vehicles (UGV) as well as UGV swarm and unmanned aerial vehicle (UAV) coordination.


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