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Improving Occupancy Grid Fastslam By Integrating Navigation Sensors, Christopher Weyers, Gilbert L. Peterson
Improving Occupancy Grid Fastslam By Integrating Navigation Sensors, Christopher Weyers, Gilbert L. Peterson
Faculty Publications
When an autonomous vehicle operates in an unknown environment, it must remember the locations of environmental objects and use those object to maintain an accurate location of itself. This vehicle is faced with Simultaneous Localization and Mapping (SLAM), a circularly defined robotics problem of map building with no prior knowledge. The SLAM problem is a difficult but critical component of autonomous vehicle exploration with applications to search and rescue missions. This paper presents the first SLAM solution combining stereo cameras, inertial measurements, and vehicle odometry into a Multiple Integrated Navigation Sensor (MINS) path. The FastSLAM algorithm, modified to make use …
Hyperspectral-Based Adaptive Matched Filter Detector Error As A Function Of Atmospheric Profile Estimation, Allan W. Yarbrough
Hyperspectral-Based Adaptive Matched Filter Detector Error As A Function Of Atmospheric Profile Estimation, Allan W. Yarbrough
Theses and Dissertations
Hyperspectral imagery is collected as radiance data. This data is a function of multiple variables: the radiation profile of the light source, the reflectance of the target, and the absorption and scattering profile of the medium through which the radiation travels as it reflects off the target and reaches the imager. Accurate target detection requires that the collected image matches as closely as possible the known "true" target in the classification database. Therefore, the effect of the radiation source and the atmosphere must be removed before detection is attempted. While the spectrum of solar light is relatively stable, the effect …
Hydrogen Donors And Ti3+ Ions In Reduced Tio2 Crystals, A. T. Brant, Shan Yang (杨山), Nancy C. Giles, Larry E. Halliburton
Hydrogen Donors And Ti3+ Ions In Reduced Tio2 Crystals, A. T. Brant, Shan Yang (杨山), Nancy C. Giles, Larry E. Halliburton
Faculty Publications
Electron paramagnetic resonance (EPR) and electron-nuclear double resonance (ENDOR) are used to identify and characterize the neutral hydrogen donor in TiO2 crystals having the rutile structure. These spectra are best observed near 5 K. The neutral donors are present without photoexcitation in crystals that have been slightly reduced at high temperature in a nitrogen atmosphere. The same defects can be photoinduced at low temperature in oxidized crystals. The neutral hydrogen donor in this lattice consists of a substitutional Ti3+ ion adjacent to a substitutional OH– molecular ion. The axis of the OH– molecule lies in the …
Extracting Forensic Artifacts From Windows O/S Memory, James S. Okolica, Gilbert L. Peterson
Extracting Forensic Artifacts From Windows O/S Memory, James S. Okolica, Gilbert L. Peterson
AFIT Documents
Memory analysis is a rapidly growing area in both digital forensics and cyber situational awareness (SA). Memory provides the most accurate snapshot of what is occurring on a computer at a moment in time. By combining it with event and network logs as well as the files present on the filesystem, an analyst can re-create much of what has occurred and is occuring on a computer. The Compiled Memory Analysis Tool (CMAT) takes either a disk image of memory from a Windows operating system or an interface into a virtual machine running a Windows operating system and extracts forensic artifacts …
Extracting The Windows Clipboard From Physical Memory, James S. Okolica, Gilbert L. Peterson
Extracting The Windows Clipboard From Physical Memory, James S. Okolica, Gilbert L. Peterson
Faculty Publications
When attempting to reconstruct the events leading up to a cyber security incident, one potentially important piece of information is the clipboard (Prosise et al., 2003). The clipboard has been present in Windows since Windows 3.1 and is the mechanism for transferring information from one application to another through copy and pasting actions. Being able to retrieve the last file copied or the last password used may provide investigators with invaluable information during a forensic investigation. This paper describes the Windows clipboard structure and the process of retrieving copy/paste information from Windows XP, Vista, and Windows 7 (both 32 bit …
Unintended Consequences: Potential Downsides Of The Air Force's Conversion To Biofuels, Mark N. Goltz, Charles A. Bleckmann, Charles M. Mackay, Khai Vuong, Jerrod P. Mccomb
Unintended Consequences: Potential Downsides Of The Air Force's Conversion To Biofuels, Mark N. Goltz, Charles A. Bleckmann, Charles M. Mackay, Khai Vuong, Jerrod P. Mccomb
Faculty Publications
The desire to reduce US dependence on foreign energy, ongoing environmental concerns, and the rising cost of petroleum have sparked significant development of greener alternative and renewable energy sources such as alcohol-based biofuels. To address these issues, the Department of Defense DOD has moved to diminish its reliance on petroleum for fueling aircraft and ground equipment. The US Air Force, in alignment with DOD objectives, has initiated several goals for reducing its use of energy: (1) decrease the use of petroleum-based fuel by 2 percent annually for the vehicle fleet, (2) increase the use of alternative fuel in motor vehicles …
Jet Propellant 8 Versus Alternative Jet Fuels, Peter Feng, Wayne C. Kinsel, Alfred E. Thal Jr., Charles A. Bleckmann
Jet Propellant 8 Versus Alternative Jet Fuels, Peter Feng, Wayne C. Kinsel, Alfred E. Thal Jr., Charles A. Bleckmann
Faculty Publications
The Air Force is the largest user of jet fuel in the Department of Defense DOD, consuming 2.4 billion gallons per year. In light of environmental impacts associated with using nonrenewable fuel sources and national security concerns regarding dependency on foreign oil, it is no surprise that the United States is paying more attention to alternative fuels. Both DOD and Air Force energy strategies address the need to develop and produce such fuels. The DOD has made a commitment to energy security, establishing an energy initiative that strives to modernize infrastructure, increase utility and energy conservation, enhance demand reduction, and …
The Criticality Of Defense-Focused Technical Education, Walter D. Givhan, Eric D. Trias, William H. Allen
The Criticality Of Defense-Focused Technical Education, Walter D. Givhan, Eric D. Trias, William H. Allen
Faculty Publications
The United States Air Force is a service born of technology, and throughout its history, technology has remained central to its identity and power. From the start, visionary leaders realized the importance of technologically focused education to advancing airpower. Consequently, through the years, institutions of higher learning such as the Air Force Institute of Technology AFIT, as well as the civilian institution program it administers, have continued the meaningful work of developing the technology and organic human capital to sustain the Air Forces edge as a fighting force. As advances in technology have led the Air Force into the new …
Using Nanotechnology To Detect Nerve Agents, Mark N. Goltz, Dong-Shik Kim, Leeann Racz
Using Nanotechnology To Detect Nerve Agents, Mark N. Goltz, Dong-Shik Kim, Leeann Racz
Faculty Publications
Nanotechnology has opened a wide range of opportunities having potential impacts in areas as diverse as medicine and consumer products. In collaboration with researchers at the University of Toledo UT, Air Force Institute of Technology AFIT scientists are exploring the possibility of using a nanoscale organic matrix to detect organophosphate OP nerve agents. Current techniques for detecting OP compounds are expensive and time consuming. Developing a nanoscale organic matrix sensor would allow for direct, real-time sensing under field conditions. This article describes the science behind such a sensor and its possible applications. High-performance sensors are needed to protect Soldiers and …
Design And Characterization Of A Space Based Chromotomographic Hyperspectral Imaging Experiment, Jason D. Niederhauser
Design And Characterization Of A Space Based Chromotomographic Hyperspectral Imaging Experiment, Jason D. Niederhauser
Theses and Dissertations
This research focuses upon the design, analysis and characterization of several systems related to a spacebased chromotomographic experiment (CTEx), a hyperspectral imager, currently in development at the Air Force Institute of Technology. Three interrelated subject-areas were developed. The initial focal point was a generic, system-level mechanical layout and integration analysis of the space-based instrument. The scope of this work was intended to baseline the space-based system design in order to allow for further trade-space refinement and requirements development. Second, development of an iteration upon the ground-based version of CTEx was accomplished in an effort to support higher-fidelity field data-collection. This …
Operational Characteristics Of A Rotating Detonation Engine Using Hydrogen And Air, Rachel M. Russo
Operational Characteristics Of A Rotating Detonation Engine Using Hydrogen And Air, Rachel M. Russo
Theses and Dissertations
Rotating detonation engines (RDE) are pressure gain combustion engines that have the potential for greater efficiency than traditional, constant pressure, deflagration engines. RDEs are smaller and mechanically simpler than pulsed detonation engines. A small diameter (3 in) engine was successfully run on hydrogen and air. Most of the tests were conducted using air with a slightly lower diluents percentage (77% nitrogen as opposed to 79% nitrogen). These tests provided the foundation for determining the operational space (mass flow rate and equivalence ratio) of the rotating detonation engine. From the tests conducted with the lower diluents air, the appropriate run conditions …
Carbon Nanotube Field Emission Arrays, Benjamin L. Crossley
Carbon Nanotube Field Emission Arrays, Benjamin L. Crossley
Theses and Dissertations
This effort exploits the unique physical and electrical characteristics of carbon nanotubes (CNTs) for field emission applications. Carbon nanotube field emission devices are designed, fabricated, and tested. Two reliable CNT synthesis methods, microwave plasma enhanced chemical vapor deposition (MPE-CVD) and thermal chemical vapor deposition (T-CVD), are developed. The physical properties of the resulting CNTs are analyzed using Raman spectroscopy and Scanning electron microscopy (SEM) and then tested for field emission performance. The T-CVD grown CNTs are shown to have fewer growth defects, but suffer from less process control making integration into devices difficult without further process development. Field emission testing …
Optical Flow-Based Odometry For Underground Tunnel Exploration, Terra Kier
Optical Flow-Based Odometry For Underground Tunnel Exploration, Terra Kier
Theses and Dissertations
As military operations in degraded or GPS-denied environments continue to increase in frequency and importance, there is an increased necessity to be able to determine precision location within these environments. Furthermore, authorities are finding a record number of tunnels along the U.S.-Mexico border; therefore, underground tunnel characterization is becoming a high priority for U.S. Homeland Security as well. This thesis investigates the performance of a new image registration technique based on a two camera optical- flow configuration using phase correlation techniques. These techniques differ from other image based navigation methods but present a viable alternative increasing autonomy and answering the …
Combinational Circuit Obfuscation Through Power Signature Manipulation, Hyunchul Ko
Combinational Circuit Obfuscation Through Power Signature Manipulation, Hyunchul Ko
Theses and Dissertations
Today's military systems are composed of hardware and software systems, many of which are critical technologies, and must be protected to ensure our adversaries cannot gain any information from a various analysis attacks. Side Channel Analysis (SCA) attacks allow an attacker to gain the significant information from the measured signatures leaked by side-channels such as power consumption, and electro-magnetic emission. In this research the focus on detecting, characterizing, and manipulating the power signature by designing a power signature estimation and manipulation method. This research has determined that the proposed method capable of characterizing and altering the type of power signature …
Performance Analysis And Optimization Of The Winnow Secret Key Reconciliation Protocol, Kevin C. Lustic
Performance Analysis And Optimization Of The Winnow Secret Key Reconciliation Protocol, Kevin C. Lustic
Theses and Dissertations
Currently, private communications in public and government sectors rely on methods of cryptographic key distribution that will likely be rendered obsolete the moment a full-scale quantum computer is realized, or efficient classical methods of factoring are discovered. There are alternative methods for distributing secret key material in a post-quantum era. One example of a system capable of securely distributing cryptographic key material, known as Quantum Key Distribution (QKD), is secure against quantum factorization techniques as its security rests on generally accepted laws of quantum physics. QKD protocols typically include a phase called Error Reconciliation, a clear-text classical-channel discussion between legitimate …
Context Aided Tracking With Adaptive Hyperspectral Imagery, Andrew C. Rice
Context Aided Tracking With Adaptive Hyperspectral Imagery, Andrew C. Rice
Theses and Dissertations
A methodology for the context-aided tracking of ground vehicles in remote airborne imagery is developed in which a background model is inferred from hyperspectral imagery. The materials comprising the background of a scene are remotely identified and lead to this model. Two model formation processes are developed: a manual method, and method that exploits an emerging adaptive, multiple-object-spectrometer instrument. A semi-automated background modeling approach is shown to arrive at a reasonable background model with minimal operator intervention. A novel, adaptive, and autonomous approach uses a new type of adaptive hyperspectral sensor, and converges to a 66% correct background model in …
Estimating Anthropometric Marker Locations From 3-D Ladar Point Clouds, Matthew J. Maier
Estimating Anthropometric Marker Locations From 3-D Ladar Point Clouds, Matthew J. Maier
Theses and Dissertations
An area of interest for improving the identification portion of the system is in extracting anthropometric markers from a Laser Detection and Ranging (LADAR) point cloud. Analyzing anthropometrics markers is a common means of studying how a human moves and has been shown to provide good results in determining certain demographic information about the subject. This research examines a marker extraction method utilizing principal component analysis (PCA), self-organizing maps (SOM), alpha hulls, and basic anthropometric knowledge. The performance of the extraction algorithm is tested by performing gender classification with the calculated markers.
Characterizing Cyclostationary Features Of Digital Modulated Signals With Empirical Measurements Using Spectral Correlation Function, Mujun Song
Theses and Dissertations
Signal detection is widely used in many applications. Some examples include Cognitive Radio (CR) and military intelligence. CRs use signal detection to sense spectral occupancy. Without guaranteed signal detection, a CR cannot reliably perform its role. Similarly, signal detection is the first step for garnering an opponent's information. Wireless signal detection can be performed using many different techniques. Some of the most popular include matched filters, energy detectors (which use measurements such as the Power Spectral Density (PSD) of the signal), and Cyclostationary Feature Detectors (CFD). Among these techniques, CFD can be viewed as a compromise technique, in that it …
Coverage Of Continuous Regions In Euclidean Space Using Homogeneous Resources With Application To The Allocation Of The Phased Array Radar Systems, Kassandra M. Merritt
Coverage Of Continuous Regions In Euclidean Space Using Homogeneous Resources With Application To The Allocation Of The Phased Array Radar Systems, Kassandra M. Merritt
Theses and Dissertations
Air surveillance of United States territory is an essential Department of Defense function. In the event of an incoming aerial attack on North America, the DoD, Department of Homeland Security, and Federal Aviation Administration surveillance capabilities are critical to discovering and tracking the threat so that it can be eliminated. Many of the currently used surveillance radar will reach the end of their design life within ten to twenty years. By replacing the current radar network with a single integrated network of Multifunction Phased Array Radar (MPAR) units, surveillance capabilities can be enhanced and life cycle cost can be reduced. …
Process For Refining And Validating A Finite Element Model Of An Experimental High-Altitude, Long-Endurance (Hale) Aircraft, Nicholas A. Sinnokrak
Process For Refining And Validating A Finite Element Model Of An Experimental High-Altitude, Long-Endurance (Hale) Aircraft, Nicholas A. Sinnokrak
Theses and Dissertations
The work presented here focuses on finite element (FE) modeling of X-HALE, a test aircraft designed and built by the University of Michigan, in conjunction with the Air Force Institute of Technology (AFIT) and Air Force Research Laboratory (AFRL). This scaled vehicle is representative of high-altitude, long-endurance (HALE) aircraft and was designed to provide controlled aeroelastic and flight data. FE models of portions of the X-HALE wing structure were created and analysis results were compared against two separate laboratory static bending tests conducted on X-HALE wing sections. The process documented here should improve future efforts to refine FE models of …
Ir Nonlinear Absorption Leading To Laser-Induced Damage In Ge & Gasb, Torrey J. Wagner, Matthew J. Bohn, Ronald A. Coutu Jr., L. P. Gonzales, J. M. Murray, K. L. Schepler, S. Guha
Ir Nonlinear Absorption Leading To Laser-Induced Damage In Ge & Gasb, Torrey J. Wagner, Matthew J. Bohn, Ronald A. Coutu Jr., L. P. Gonzales, J. M. Murray, K. L. Schepler, S. Guha
Faculty Publications
Using a simultaneous fitting technique to extract nonlinear absorption coefficients from data at two pulse widths, we measure two-photon and free-carrier absorption coefficients for Ge and GaSb at 2.05 and 2.5 μm for the first time. Results agreed well with published theory. Single-shot damage thresholds were also measured at 2.5 μm and agreed well with modeled thresholds using experimentally determined parameters including nonlinear absorption coefficients and temperature dependent linear absorption. The damage threshold for a single-layer Al2O3 anti-reflective coating on Ge was 55% or 35% lower than the uncoated threshold for ps or ns pulses, respectively. Wavelength-dependant …
Wolf Ant, Gilbert L. Peterson, Christopher M. Mayer, Kevin Cousin
Wolf Ant, Gilbert L. Peterson, Christopher M. Mayer, Kevin Cousin
Faculty Publications
Ant colony optimization (ACO) algorithms can generate quality solutions to combinatorial optimization problems. However, like many stochastic algorithms, the quality of solutions worsen as problem sizes grow. In an effort to increase performance, we added the variable step size off-policy hill-climbing algorithm called PDWoLF (Policy Dynamics Win or Learn Fast) to several ant colony algorithms: Ant System, Ant Colony System, Elitist-Ant System, Rank-based Ant System, and Max-Min Ant System. Easily integrated into each ACO algorithm, the PDWoLF component maintains a set of policies separate from the ant colony's pheromone. Similar to pheromone but with different update rules, the PDWoLF policies …
Tryptophan Degradation In Women With Breast Cancer: A Pilot Study, Debra E. Lyon, Jeanne M. Walter, Angela R. Starkwater, Christine M. Schubert, Nancy L. Mccain
Tryptophan Degradation In Women With Breast Cancer: A Pilot Study, Debra E. Lyon, Jeanne M. Walter, Angela R. Starkwater, Christine M. Schubert, Nancy L. Mccain
Faculty Publications
Background: Altered tryptophan metabolism and indoleamine 2,3-dioxygenase activity are linked to cancer development and progression. In addition, these biological factors have been associated with the development and severity of neuropsychiatric syndromes, including major depressive disorder. However, this biological mechanism associated with both poor disease outcomes and adverse neuropsychiatric symptoms has received little attention in women with breast cancer. Therefore, a pilot study was undertaken to compare levels of tryptophan and other proteins involved in tryptophan degradation in women with breast cancer to women without cancer, and secondarily, to examine levels in women with breast cancer over the course of chemotherapy. …
Complementary Metal-Oxide Semiconductor-Compatible Detector Materials With Enhanced 1550 Nm Responsivity Via Sn-Doping Of Ge/Si(100), Richard T. Beeler, Jay Mathews, Mee-Yi Ryu, Yung-Kee Yeo, Jose Menendez, John Kouvetakis
Complementary Metal-Oxide Semiconductor-Compatible Detector Materials With Enhanced 1550 Nm Responsivity Via Sn-Doping Of Ge/Si(100), Richard T. Beeler, Jay Mathews, Mee-Yi Ryu, Yung-Kee Yeo, Jose Menendez, John Kouvetakis
Faculty Publications
Previously developed methods used to grow Ge1−ySny alloys on Si are extended to Sn concentrations in the 1019−1020 cm−3 range. These concentrations are shown to be sufficient to engineer large increases in the responsivity of detectors operating at 1550 nm. The dopant levels of Sn are incorporated at temperatures in the 370–390 °C range, yielding atomically smooth layers devoid of threading defects at high growth rates of 15–30 nm/min. These conditions are far more compatible with complementary metal-oxide semiconductor processing than the high growth and processing temperatures required to achieve the same …
Passive Matrix Electro-Luminescent Display System, Michael E. Miller, John F. Hamilton Jr., Andrew D. Arnold
Passive Matrix Electro-Luminescent Display System, Michael E. Miller, John F. Hamilton Jr., Andrew D. Arnold
AFIT Patents
A passive matrix, electro-luminescent display system has a passive matrix, electro-luminescent display having an orthogonally oriented array of column and row electrodes and an electro-luminescent layer located between the electrodes at the intersection of each column and row electrode forming an individual light-emitting element. Drivers provide separate signals at different times to different groups of row electrodes within the array of row electrodes; wherein the row electrodes of each group simultaneously receive at least two different level signals. A display driver receives and processes the input image signal to provide a presharpened image control signal. Column drivers respond to the …
Oxygen Vacancies Adjacent To Cu(2+) Ions In Tio(2) (Rutile) Crystals, A. T. Brant, Shan Yang (杨山), Nancy C. Giles, Zafar Iqbal, A. Manivannan, Larry E. Halliburton
Oxygen Vacancies Adjacent To Cu(2+) Ions In Tio(2) (Rutile) Crystals, A. T. Brant, Shan Yang (杨山), Nancy C. Giles, Zafar Iqbal, A. Manivannan, Larry E. Halliburton
Faculty Publications
Electron paramagnetic resonance (EPR) and electron-nuclear double resonance (ENDOR) are used to characterize Cu2+ ions substituting for Ti4+ ions in nominally undoped TiO2 crystals having the rutile structure. Illumination at 25 K with 442 nm laser light reduces the concentration of Cu2+ ions by more than a factor of 2. The laser light also reduces the EPR signals from Fe3+ and Cr3+ ions and introduces signals from Ti3+ ions. Warming in the dark to room temperature restores the crystal to its preilluminated state. Monitoring the recovery of the photoinduced changes in the Cu …
War Fighting In Cyberspace: Evolving Force Presentation And Command And Control, M. Bodine Birdwell, Robert F. Mills
War Fighting In Cyberspace: Evolving Force Presentation And Command And Control, M. Bodine Birdwell, Robert F. Mills
Faculty Publications
The Department of Defense (DOD) is endeavoring to define war fighting in the global cyberspace domain. Creation of US Cyber Command (USCYBERCOM), a subunified functional combatant command (FCC) under US Strategic Command (USSTRATCOM), is a huge step in integrating and coordinating the defense, protection, and operation of DOD networks; however, this step does not mean that USCYBERCOM will perform or manage all cyberspace functions. In fact the vast majority of cyberspace functions conducted by the services and combatant commands (COCOM), although vital for maintaining access to the domain in support of their operations, are not of an active war-fighting nature. …
Quest Hierarchy For Hyperspectral Face Recognition, David M. Ryer
Quest Hierarchy For Hyperspectral Face Recognition, David M. Ryer
Theses and Dissertations
Face recognition is an attractive biometric due to the ease in which photographs of the human face can be acquired and processed. The non-intrusive ability of many surveillance systems permits face recognition applications to be used in a myriad of environments. Despite decades of impressive research in this area, face recognition still struggles with variations in illumination, pose and expression not to mention the larger challenge of willful circumvention. The integration of supporting contextual information in a fusion hierarchy known as QUalia Exploitation of Sensor Technology (QUEST) is a novel approach for hyperspectral face recognition that results in performance advantages …
Relocatable Field Programmable Gate Array Bitstreams For Fault Tolerance, David P. Montminy, Rusty O. Baldwin, Paul D. Williams
Relocatable Field Programmable Gate Array Bitstreams For Fault Tolerance, David P. Montminy, Rusty O. Baldwin, Paul D. Williams
AFIT Patents
A Field Programmable Gate Array (FPGA) circuit capable of operating through at least one fault. The FPGA circuit includes a configuration memory and an embedded microprocessor. The embedded microprocessor having access to the configuration memory, static modules, at least one relocatable module, and at least one spare module. The relocatable module being relocatable from a first target area to a second target area. The relocatable module being relocatable by manipulating a partial bitstream with the embedded microprocessor. The microprocessor calculating a plurality of bitstream changes, to relocate the at least one relocatable module using at least triple modular redundancy (TMR).
A Systems Architecture And Advanced Sensors Application For Real-Time Aircraft Structural Health Monitoring, Hyoungjin Shin, Edward C. Beckett
A Systems Architecture And Advanced Sensors Application For Real-Time Aircraft Structural Health Monitoring, Hyoungjin Shin, Edward C. Beckett
Theses and Dissertations
Aircraft are being pushed beyond their original service life, increasing the potential for structural failures. A catastrophic in flight failure of an F-15 bulkhead and severe cracking in the C-130 Wing rainbow fitting are two recent examples that have caused major problems for the Air Force. Previous Aircraft Structural Health Monitoring Systems research primarily explored using a system during the ground maintenance phase. This research will explore a Real-Time Aircraft Structural Health Monitoring System (RTASHMS) that includes a ground phase as well as an in-flight phase. The RTASHMS will continuously analyze structural hot spots, detect critical structural damage or cracks …