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检索条件"机构=Weapons Robotics and Control Engineering Department"

共 48 条记录，以下是21-30 订阅

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Simulated Scattering of a Beam Carrying Orbital Angular Momentum from a Microparticle

Simulated Scattering of a Beam Carrying Orbital Angular Mome...

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2023 Conference on Lasers and Electro-Optics, CLEO 2023

作者： McCarthy, John E. Avramov-Zamurovic, Svetlana Hart, Matthew B. Sivaprakasam, Vasanthi Weapons Robotics and Control Engineering Department United States Naval Academy 597McNair Rd AnnapolisMD21401 United States Optical Sciences Division United States Naval Research Laboratory 597McNair Rd AnnapolisMD21401 United States

ISBN: (纸本)9781957171258

We use multiphysics software COMSOL to simulate and evaluate interactions between structured light carrying orbital angular momentum and a single microparticles. We investigate the impact of particle location with respect to the structured light spatial intensity distribution. © Optica Publishing Group 2023 © 2023 The Author(s)

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Challenges when Partially Training a Machine Learning-Based Optical Communication System in Variable Experimental Conditions

Challenges when Partially Training a Machine Learning-Based ...

引用

Propagation Through and Characterization of Atmospheric and Oceanic Phenomena, pcAOP 2022

作者： Jarrett, William A. Avramov-Zamurovic, Svetlana Esposito, Joel M. Nelson, Charles Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd AnnapolisMD21401 United States Electrical Engineering Department United States Naval Academy 597 McNair Rd AnnapolisMD21401 United States

We present challenges when training a machine learning-based underwater wireless optical communication system in selected experimental scenarios. The system is tested under different conditions, that include minor bea... 详细信息

ISBN: (纸本)9781557528209

关键词： Machine learning

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Optimizing Parameters for Hybrid DNN-UKF State Estimation in Autonomous Air Refueling

Optimizing Parameters for Hybrid DNN-UKF State Estimation in...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Leo Wagner James Andersen Donald H. Costello Violet Mwaffo Weapons Robotics and Control Engineering Department United States Naval Academy Annapolis Maryland United States MATRIX Lab A. James Clark School of Engineering University of Maryland College Park MD United States

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

The future of the United States Navy's (USN) carrier airwing hinges on effective Uncrewed Aerial Vehicles (UAVs), whose autonomy critically depends on robust aerial refueling systems. This work seeks to refine the process and measurement noise parameters in a hybrid Deep Neural Network (DNN) and Kalman Filter (KF) framework to improve drogue tracking reliability under challenging operational conditions. The proposed study employs a structured experimentation protocol combining simulated lab environments-featuring robotic arms replicating drogue motions-along with video datasets from actual refueling operations. Preliminary results obtained via a trial-and-error tuning approach indicate promising performance, achieving an overall RMSE of 0.155 m. Building on these encouraging findings, we seek to implement systematic fine tuning methods, specifically grid search and Bayesian optimization, to further reduce RMSE and enhance system accuracy and robustness. The ultimate goal is to advance the operational readiness of autonomous aerial refueling, laying the groundwork for the next generation of USN carrier-based aviation.

关键词： Systematics Tracking Noise Artificial neural networks Robustness Bayes methods Calibration State estimation Tuning Optimization

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Machine Learning-Based Underwater Communication System Using Light Carrying Orbital Angular Momentum

Machine Learning-Based Underwater Communication System Using...

引用

CLEO: Science and Innovations, S and I 2022

作者： Jarrett, William A. Avramov-Zamurovic, Svetlana Esposito, Joel M. Nelson, Charles Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd AnnapolisMD21401 United States Electrical and Computer Engineering Department United States Naval Academy 597 McNair Rd AnnapolisMD21401 United States

ISBN: (纸本)9781557528209

An underwater communication system using light carrying orbital angular momentum is evaluated using a convolutional neural network through simulated and experimental thermally-generated underwater optical turbulence. 100% classification is demonstrated in no or weak turbulence. © Optica Publishing Group 2022, © 2022 The Author(s)

关键词： Optical communication

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Precise Ranging to an Aerial Refueling Coupler Using a DNN and a Monocular Camera System

Precise Ranging to an Aerial Refueling Coupler Using a DNN a...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Ryan Lowe Akshat Maheshwari Violet Mwaffo Michael D. M. Kutzer Levi DeVries Donald Costello Weapons Robotics and Control Engineering Department United States Naval Academy Annapolis Maryland United States of America MATRIX Lab A. James Clark School of Engineering University of Maryland California Maryland United States of America

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

The Office of Naval Research's Advanced Au-tonomous Air-to-Air Refueling System project explores the application of deep neural networks (DNN) for automated uncrewed aerial vehicle refueling. In this study, we present a monocular camera system integrated with a DNN to accurately estimate coordinates and range to a refueling drogue within the final 25 feet of approach. Our method employs a similar triangle algorithm that computes the range from DNN-generated bounding boxes, with ground truth provided by a calibrated motion capture system. Experiments using UR10, YASKAWA, and Linear Track manipulators demonstrate that the DNN achieves perfect precision and recall, with a mAP50 of 0.995 and mAP50-95 scores of 0.945 for the drogue, 0.851 for the coupler, and 0.898 overall. Combined with the monocular vision system, the estimated coupler range is within 4 inches of the motion capture measurements for distances between 7 and 25 feet, aside from minor deviations at 20 and 23 feet. This work advances the prospects of automated air-to-air refueling by providing a robust, vision-based solution for accurate target detection and range estimation.

关键词： Vibrations Accuracy Tracking Sensitivity analysis Artificial neural networks Couplers Cameras Motion capture Safety State estimation

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Simulated Scattering of a Beam Carrying Orbital Angular Momentum from a Microparticle

Simulated Scattering of a Beam Carrying Orbital Angular Mome...

引用

Conference on Lasers and Electro-Optics (CLEO)

作者： John E. McCarthy Svetlana Avramov-Zamurovic Matthew B. Hart Vasanthi Sivaprakasam Weapons Robotics and Control Engineering Department United States Naval Academy Optical Sciences Division United States Naval Research Laboratory Annapolis Maryland USA

ISBN: (纸本)9781957171258

关键词： Beam scattering In field scattering Light beams Light intensity Structured light Vortex beams

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A Geometry-based Approach for Support-free Additive Manufacturing of Structures with Large Overhang Angles and Closed Features

A Geometry-based Approach for Support-free Additive Manufact...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jitian Liu Zachary Cohen Jin Seob Kim Mehran Armand Michael D. M. Kutzer Department of Mechanical Engineering Johns Hopkins University Baltimore Maryland USA Department of Weapons Robotics & Control Engineering United States Naval Academy Annapolis Maryland USA Departments of Orthopaedic Surgery Mechanical Engineering & Computer Science Johns Hopkins University Baltimore Maryland USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Architected materials derive performance characteristics from material properties and internal geometry. These materials are increasingly prevalent across a wide variety of domains. Many intricate feature geometries associated with architected materials can be explored using additive manufacturing (AM) processes. However, current AM methods generally cannot fabricate geometries with completely closed voids without introducing a support structure. This paper describes a new, support-free approach to AM capable of creating structures with closed voids. This work limits part geometry to three-dimensional (3D) geometries defined by a revolution about a single axis. This limitation enables planar analysis within a three-degree-of-freedom (3-DoF) task space. Part geometry in 3-DoF task space is constrained to a convex arch. Task space geometry is divided into an ordered set of sub-regions, considering feasible deposition orientations and collision constraints. The use of 3-DoF task space provides planar translation and rotation of the component during fabrication. The introduction of this rotational DoF addresses AM overhang constraints imposed by gravity. Methods for generating, ordering, and layering sub-regions suitable for printing a part with a closed hole are presented. Layers derived in the 3-DoF task space analysis are then extended to 3D deposition paths using the axis of revolution defined by the original part. The method of hole closure relies on the concept of a "keystone" which requires a 45° nozzle offset for collision-free deposition within keystone-adjacent sub-regions. The feasibility of deposition using a 45° nozzle offset is explored experimentally, and results demonstrate feasibility.

关键词： Geometry Fabrication Translation 3-DOF Three-dimensional printing Intelligent robots Material properties Gravity

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Relevance of the Rayleigh-Bénard model in studying optical turbulence

Relevance of the Rayleigh-Bénard model in studying optical ...

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2024 Applications of Lasers for Sensing and Free Space Communications, LS and C 2024

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

The Rayleigh-Bénard physical model generates well-defined optical turbulence. We demonstrate its characterization and use in various experimental studies, including phase retrieval, structured light, and optical ...

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Gerchberg-Saxton Algorithm to Retrieve Phase of Laguerre-Gaussian Beams that Carry OAM

Gerchberg-Saxton Algorithm to Retrieve Phase of Laguerre-Gau...

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Propagation Through and Characterization of Atmospheric and Oceanic Phenomena, pcAOP 2024 - Part of Optica Imaging Congress

作者： O’Malley, Owen Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We estimate the phase of laser beams using the Gerchberg-Saxton algorithm after propagation through experimental and simulated optical turbulence. Synchronous pupil-plane and focal-plane intensities of Gaussian and La... 详细信息

关键词： Laser beams

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Performance Evaluation of Beams Carrying Orbital Angular Momentum in Optical Turbulence in Rayleigh-Bénard Underwater Convection

Performance Evaluation of Beams Carrying Orbital Angular Mom...

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2024 Applications of Lasers for Sensing and Free Space Communications, LS and C 2024

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. O’Malley, Owen Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We compare the propagation of a Gaussian beam to the beams that carry OAM in moderate and strong underwater optical turbulence created by Rayleigh Bénard convection. Analysis focuses on scintillation index and fr... 详细信息

关键词： Gaussian beams

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