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Articles 1 - 30 of 31
Full-Text Articles in Engineering
Phospho1 Deficiency Transiently Modifies Bone Architecture Yet Produces Consistent Modification In Osteocyte Differentiation And Vascular Porosity With Ageing, Behzad Javaheri, Alessandra Carriero, Katherine Ann Staines, Y.-M. Chang, D. A. Houston, Karla J. Oldknow, José Luis Millán, Bassir N. Kazeruni, Phil L. Salmon, Sandra J. Shefelbine
Phospho1 Deficiency Transiently Modifies Bone Architecture Yet Produces Consistent Modification In Osteocyte Differentiation And Vascular Porosity With Ageing, Behzad Javaheri, Alessandra Carriero, Katherine Ann Staines, Y.-M. Chang, D. A. Houston, Karla J. Oldknow, José Luis Millán, Bassir N. Kazeruni, Phil L. Salmon, Sandra J. Shefelbine
Biomedical Engineering and Sciences Faculty Publications
PHOSPHO1 is one of principal proteins involved in initiating bone matrix mineralisation. Recent studies have found that Phospho1 KO mice ( Phospho1-R74X) display multiple skeletal abnormalities with spontaneous fractures, bowed long bones, osteomalacia and scoliosis. These analyses have however been limited to young mice and it remains unclear whether the role of PHOSPHO1 is conserved in the mature murine skeleton where bone turnover is limited. In this study, we have used ex-vivo computerised tomography to examine the effect of Phospho1 deletion on tibial bone architecture in mice at a range of ages (5, 7, 16 and 34. weeks of age) …
The Effect Of Recency To Human Mobility, Hugo Barbosa, Fernando B. De Lima-Neto, Alexandre Evsukoff, Ronaldo Menezes
The Effect Of Recency To Human Mobility, Hugo Barbosa, Fernando B. De Lima-Neto, Alexandre Evsukoff, Ronaldo Menezes
Biomedical Engineering and Sciences Faculty Publications
In recent years, we have seen scientists attempt to model and explain human dynamics and in particular human movement. Many aspects of our complex life are affected by human movement such as disease spread and epidemics modeling, city planning, wireless network development, and disaster relief, to name a few. Given the myriad of applications, it is clear that a complete understanding of how people move in space can lead to considerable benefits to our society. In most of the recent works, scientists have focused on the idea that people movements are biased towards frequently-visited locations. According to them, human movement …
Impact Of Constructing A Low Crested Weir In Cape Canaveral On Flushing In The Banana River, Atousa Saberi
Impact Of Constructing A Low Crested Weir In Cape Canaveral On Flushing In The Banana River, Atousa Saberi
Theses and Dissertations
The purpose of this study is to determine the extent to which constructing a low crested weir adjacent to Port Canaveral improves ushing in the Banana River. The Banana River is a 50 km long sub-basin of Indian River Lagoon (IRL), located between Cape Canaveral and Merritt Island in Brevard County. Although Port Canaveral locks connect the Banana River to the ocean, the locks remain closed when there are no passing vessels; therefore, it has limited circulation and a long ushing time. Declining water quality can be linked to recent high mortality events of di erent species living in the …
Resistance Prediction For Asymmetrical Configurations Of High-Speed Catamaran Hull Forms, Srikanth Asapana
Resistance Prediction For Asymmetrical Configurations Of High-Speed Catamaran Hull Forms, Srikanth Asapana
Theses and Dissertations
Predicting the resistance of a high-speed catamaran has been of interest to naval architects for the last three decades. Even though considerable amount of research has been carried out in this area, there remains a degree of uncertainty in the accurate resistance prediction of catamaran hull forms in the early design stage. Researches carried out so far have generally ignored the resistance characteristics of unconventional and unsymmetrical catamaran hull forms. This thesis attempts to undertake a comparative analysis of resistance characteristics between newly developed unconventional catamaran hull forms of different configurations derived from existing conventional NPL series of round bilge …
Review Of Aviation Research: A Content Analysis Of Articles Published In The Collegiate Aviation Review, 2007–2012, Safak Aktemur
Review Of Aviation Research: A Content Analysis Of Articles Published In The Collegiate Aviation Review, 2007–2012, Safak Aktemur
Theses and Dissertations
The purpose of the study was to conduct a content analysis of the methodological quality of articles published in the Collegiate Aviation Review (CAR)” a refereed journal of the University Aviation Alliance (UAA)”to determine if actual practices of aviation researchers were consistent with commonly recommended research methods and procedures. The accessible population consisted of the 76 articles published in CAR between 2007 and 2012 (Volumes 25“30). The sample consisted of N = 69 articles and excluded literature reviews, meta-analyses, studies that described the development or validation of an instrument, philosophical inquiries, position papers, or historical studies. The analysis focused on …
Contribution To T He Onboard Context Sensitive Information System ( Of Commercial Aircraft, Wei Tan
Contribution To T He Onboard Context Sensitive Information System ( Of Commercial Aircraft, Wei Tan
Theses and Dissertations
Pilots currently use paper-based documentation and electronic systems (e.g., Electronic Centralized Aircraft Monitor (ECAM) for Airbus, and Engine Indication and Crew Alerting System (EICAS) for Boeing) to help them perform procedures to ensure safety, efficiency and comfort on commercial aircrafts. Management of interconnections among paper-based operational documents can be a challenge for pilots, especially when time pressure is high in normal, abnormal, and emergency situations. This dissertation is a contribution to the design of an Onboard Context-Sensitive Information System (OCSIS). The claim is that the use of contextual information facilitates access to appropriate operational content at the right time either …
The Rapidly Reconfigurable Research Cockpit, Richard Joyce
The Rapidly Reconfigurable Research Cockpit, Richard Joyce
Link Foundation Modeling, Simulation and Training Fellowship Reports
The goal of the Rapidly Reconfigurable Research Cockpit (R3C) project is to create and evaluate a novel approach for aviation simulators. Our concept combines a virtual reality visual environment with the tactile feedback typically found in early stage mockups. A low cost, easily modified, yet geometrically accurate cockpit panel (fabricated using 3D printing, for example) can be used while the pilot/operator wears a head-mounted display providing the visual overlay of the simulator.
Haptics-Based Cataract Surgery Simulator, Jia Luo
Haptics-Based Cataract Surgery Simulator, Jia Luo
Link Foundation Modeling, Simulation and Training Fellowship Reports
Surgical training using computer-based simulators are being adopted by many medical specialties, mainly because they offer several advantages to traditional training methods involving animals or cadavers. This article focuses on the design and implementation of a haptics-based cataract surgery simulator.
Impedance-Matching Analysis In Ir Leaky-Wave Antennas, Navaneeth Premkumar, Yuancheng Xu, Brian A. Lail
Impedance-Matching Analysis In Ir Leaky-Wave Antennas, Navaneeth Premkumar, Yuancheng Xu, Brian A. Lail
Electrical Engineering and Computer Science Faculty Publications
Planar leaky-wave antennas (LWA) that are capable of full-space scanning have long since been the pursuit for applications including, but not limited to, integration onto vehicles and into cameras for wide-angle of view beam-steering. Such a leaky-wave surface (LWS) was designed for long-wave infrared frequencies with frequency scanning capability. The LWS is based on a microstrip patch array design of a leaky-wave impedance surface and is made up of gold microstrip patches on a grounded zinc sulphide substrate. A 1D composite right/left-handed (CRLH) metamaterial made by periodically stacking a unit cell of the LWS in the longitudinal direction to form …
Infrared Surface Phonon Polariton Waveguides On Sic Substrate, Yuchen Yang, Franklin Muriuki Manene, Brian A. Lail
Infrared Surface Phonon Polariton Waveguides On Sic Substrate, Yuchen Yang, Franklin Muriuki Manene, Brian A. Lail
Electrical Engineering and Computer Science Faculty Publications
Surface plasmon polariton (SPP) waveguides harbor many potential applications at visible and near-infrared (NIR) wavelengths. However, dispersive properties of the metal in the waveguide yields weakly coupled and lossy plasmonic modes in the mid and long wave infrared range. This is one of the major reasons for the rise in popularity of surface phonon polariton (SPhP) waveguides in recent research and micro-fabrication pursuit. Silicon carbide (SiC) is a good candidate in SPhP waveguides since it has negative dielectric permittivity in the long-wave infrared (LWIR) spectral region, indicative that coupling to surface phonon polaritons is realizable. Introducing surface phonon polaritons for …
Multi-Coupled Resonant Splitting With A Nano-Slot Metasurface And Pmma Phonons, Michael F. Finch, Brian A. Lail
Multi-Coupled Resonant Splitting With A Nano-Slot Metasurface And Pmma Phonons, Michael F. Finch, Brian A. Lail
Electrical Engineering and Computer Science Faculty Publications
Coupled-resonances can be used in applications that include, but are not limited to, surface-enhanced infrared spectroscopy (SEIRS), surface-enhanced Raman spectroscopy (SERS), biosensing, and index sensing. Fano resonance in analogue plasmonic systems has been described as the coupling of a bright (superradiant) mode and a dark (subradiant) mode via the near field.Dark and bright mode interactionsareinvestigated with the use of a Fano resonant metamaterial (FRMM) where the metamaterial is a dual nano-slot metasurface on a silicon cavity. The FRMM is numerically simulated using Ansys High Frequency Structure Simulator (HFSS). The FRMM is coupled to the carbon double bond in polymethyl methacrylate …
Cfd Investigation Of Resistance Of High-Speed Trimaran Hull Forms, Chang Hwan Son
Cfd Investigation Of Resistance Of High-Speed Trimaran Hull Forms, Chang Hwan Son
Theses and Dissertations
Although catamarans continue to increase in size and application with bigger and better designs than the present generation, trimaran and multi-hull forms for high-speed operation are a recent phenomenon due to speed of turnaround time and payload. To fulfill the stringent requirement for commercial and military transportation, various versions of optimum design are being undertaken recently. In particular, the high-speed ferry industry is presently looking at novel hull forms such as the form of trimarans and pentamarans which are considered in one of the most affordable hull forms for high-speed operation around the world. However, few published articles are in …
Self-Organization Of Protein Fibers In Weightlessness, Dylan Bell
Self-Organization Of Protein Fibers In Weightlessness, Dylan Bell
Theses and Dissertations
It is currently hypothesized and widely believed that the growth of self aggregating protein chains such as amyloid fibers has a direct effect on the function of the human brain. We hypothesized creating self-assembling protein in weightlessness would allow the aggregation to continue for a longer period of time in solution without sedimentation. When protein de-natures and self-organizes into amyloid fibers the effect can be detrimental. Some neurodegenerative diseases, such as Alzheimer’s and Dementia, are believed to be caused by the collection of these fibers made from proteins such as tau and amyloid-β. For the purpose of this experiment, lysozyme …
Effects Of Normal And Abnormal Loading Conditions On Morphogenesis Of The Prenatal Hip Joint: Application To Hip Dysplasia, Mario Giorgi, Alessandra Carriero, Sandra J. Shefelbine, Niamh C. Nowlan
Effects Of Normal And Abnormal Loading Conditions On Morphogenesis Of The Prenatal Hip Joint: Application To Hip Dysplasia, Mario Giorgi, Alessandra Carriero, Sandra J. Shefelbine, Niamh C. Nowlan
Biomedical Engineering and Sciences Faculty Publications
Joint morphogenesis is an important phase of prenatal joint development during which the opposing cartilaginous rudiments acquire their reciprocal and interlocking shapes. At an early stage of development, the prenatal hip joint is formed of a deep acetabular cavity that almost totally encloses the head. By the time of birth, the acetabulum has become shallower and the femoral head has lost substantial sphericity, reducing joint coverage and stability. In this study, we use a dynamic mechanobiological simulation to explore the effects of normal (symmetric), reduced and abnormal (asymmetric) prenatal movements on hip joint shape, to understand their importance for postnatal …
The Orisome: Structure And Function, Julia E. Grimwade, Alan C. Leonard
The Orisome: Structure And Function, Julia E. Grimwade, Alan C. Leonard
Biomedical Engineering and Sciences Faculty Publications
During the cell division cycle of all bacteria, DNA-protein complexes termed orisomes trigger the onset of chromosome duplication. Orisome assembly is both staged and stringently regulated to ensure that DNA synthesis begins at a precise time and only once at each origin per cycle. Orisomes comprise multiple copies of the initiator protein DnaA, which oligomerizes after interacting with specifically positioned recognition sites in the unique chromosomal replication origin, oriC. Since DnaA is highly conserved, it is logical to expect that all bacterial orisomes will share fundamental attributes. Indeed, although mechanistic details remain to be determined, all bacterial orisomes are capable …
Consumers’ Trust In Pilots Based On Pilot’S Preference For Use Of Breathalyzer In The Cockpit, Katie Marie Reid
Consumers’ Trust In Pilots Based On Pilot’S Preference For Use Of Breathalyzer In The Cockpit, Katie Marie Reid
Theses and Dissertations
Trust has been studied across disciplines for years, with the focus looking at trust between individuals, between individuals and organizations, and between organizations (Lee & See, 2004). Establishing trust between people has been an issue for decades (Simpson, 2011), but defining it has proved difficult as well. Within the aviation industry, there has been a lack of research exploring how trust is affected from the consumer’s or passenger’s perspective. Aviation is one of the major forms of transportation in today’s culture, and understanding consumers’ trust is important for safety and economic reasons. The current study will use a 5-point Likert-type …
Modeling Force Main Systems For Surge Analysis And Studying Dynamic Response Due To Water Hammer, Wissam Al-Taliby
Modeling Force Main Systems For Surge Analysis And Studying Dynamic Response Due To Water Hammer, Wissam Al-Taliby
Theses and Dissertations
The major impact of water hammer on force mains integrity include excessive pressure oscillation that is usually accompanied by pipe vibrations. Models for simulating force main water hammer response have been developed. All of these models were based on the method of characteristics (MOC) and most of them were not calibrated for the lack of efficient field data. Although predicting maximum pressure during the first wave cycle is sufficient in most applications, some applications require precise prediction of pressure damping. One-dimensional models usually over predict pressure oscillation beyond the first cycle since they are based on steady friction expressions. It …
Impact Of Collagen-Incorporation Within Electrospun Vascular Conduits On The Inflammatory Response And Conduit Mechanics, Karamveer Birthare
Impact Of Collagen-Incorporation Within Electrospun Vascular Conduits On The Inflammatory Response And Conduit Mechanics, Karamveer Birthare
Theses and Dissertations
Current surgical alternatives for treating coronary artery diseases are limited in patients with systemic vascular diseases due to unavailability of suitable autologous vessels. The overall goal of this research project is to develop an appropriate tissue engineered vascular grafts (TEVGs) for small-diameter (<6 mm) arteries. Current grafts fail from intimal hyperplasia, caused by hyperproliferation of the smooth muscle cells (SMCs), and graft thrombosis, caused by lack of functional endothelium. Formation of the endothelium, and production of pro-inflammatory species that limits the long term patency, are partially due to the accumulation of oxidized lipid species. In this study, the scaffold composition was systematically varied to assess the inflammatory response and lipid oxidation levels in a rat peritoneal model. Specifically, we determined the collagen to PCL ratio required to limit the production of pro-inflammatory species, while maintaining the required mechanical strength for vascular grafts. Electrospun conduits were prepared from 0%, 10%, and 25% blends of collagen/ PCL (w/w) and implanted in the rat peritoneal cavity for 4 weeks. The results of the study showed that scaffold composition can be varied while keeping the fiber diameter similar. Results from 10% blend conduits showed significantly higher expression for contractile markers compared to the 25% and 0% blend conditions. In general, adding collagen to the PCL conduits reduced the accumulation of oxidized species within the implanted conduits. All conduits exhibited sufficient tensile strength post- implantation. In conclusion, these results demonstrate that introducing 10% collagen into electrospun scaffolds limits the pro-inflammatory characteristics of the recruited peritoneal cells that can potentially improve patency of the TEVGs.
System Wide Trust Contagion Effect, Rian M. Mehta
System Wide Trust Contagion Effect, Rian M. Mehta
Theses and Dissertations
Trust is integral in any service industry, especially in the consumeroriented field of aviation. The first step of this research is the reorganization of the importance of trust. To understand its importance on the industry, it is necessary to study trust and its effects in depth. The purpose of this study is to further explore the relationship between the passengers’ trust in automation, and trust in humans. Oftentimes, when automation fails, some human is responsible for harboring the blame. The theory of System Wide Trust (SWT) has only been recently developed, but its effect on the field of aviation is …
Engineering Properties Of Pile Rebound Soils Based On Cone Penetration Testing, Hadeel Dekhn
Engineering Properties Of Pile Rebound Soils Based On Cone Penetration Testing, Hadeel Dekhn
Theses and Dissertations
High pile rebound (HPR) has been identified by Florida Department of Transportation (FDOT) to occur during the installation of square prestressed concrete piles at many sites in Florida. Significant pile rebound values of up to 1.5 inch/blow were measured resulting in increased blow counts. Pile refusal is a common occurrence when blow count exceeds 240 blow/ft; leading to pile redesign and economic consequences. The overall objective of this research is to identify the engineering properties of soil deposits which may cause HPR and develop improved correlations that may be used to predict HPR during the design process. Seven sites were …
Previous Mental Illness Diagnoses Predict Perceptions Of Current Mental Illness: A Cultural And Gender Differences Analysis Of The United States And India, Kimberly N. Hunter, Stephen Rice, Keegan Kraemer, Korhan Oyman
Previous Mental Illness Diagnoses Predict Perceptions Of Current Mental Illness: A Cultural And Gender Differences Analysis Of The United States And India, Kimberly N. Hunter, Stephen Rice, Keegan Kraemer, Korhan Oyman
Aeronautics Faculty Publications
The disparities in mental health care around the world have led to differences in the way mental illness is treated, diagnosed, and stigmatized. The studies conducted revealed in this article investigated differences between the United States and India in terms of their willingness to agree with a possible mental illness diagnosis. Each study was conducted online using FluidSurveys®. Participants were recruited via Amazon's® Mechanical Turk® (MTurk), which is a website that provides access to an online, highly diverse participant pool. For Study 1, we hypothesized that there would be significant differences in agreement rates between the two countries and that …
Collection Efficiency For Millimeter And Submillimeter Wave Antenna-Coupled Detection, Yuancheng Xu, Brian A. Lail
Collection Efficiency For Millimeter And Submillimeter Wave Antenna-Coupled Detection, Yuancheng Xu, Brian A. Lail
Electrical Engineering and Computer Science Faculty Publications
The goal in the design of an efficient and low-noise antenna coupled receiver is to achieve a maximal capture cross section for the incident electromagnetic radiation compared to the dimensions of the sub-wavelength sized sensor loading the antenna. Collection efficiency captures this concept of power output/input and is made up of several subefficiencies. In the ideal case all of the available, incident power is collected and transferred to the load. However, many of the fundamental limits of antennas are based on theory describing the transmitting mode, whereas certain questions remain open for receiving antennas. Textbook antenna theory predicts that only …
A Ten-Year Search For Synchronous Cells: Obstacles, Solutions, And Practical Applications, Charles E. Helmstetter
A Ten-Year Search For Synchronous Cells: Obstacles, Solutions, And Practical Applications, Charles E. Helmstetter
Biomedical Engineering and Sciences Faculty Publications
My effort to use synchronously dividing cultures to examine the Escherichia coli cell cycle involved a 10-year struggle with failure after failure punctuated by a few gratifying successes, especially at the end. In this essay, I recount my personal journey in this obsessive experimental pursuit. That narrative is followed by a description of a simplified version of the "baby machine," a technique that was developed to obtain minimally disturbed, synchronously growing E. coli cells. Subsequent studies with this methodology led to an understanding of the basic properties of the relationship between chromosome replication and cell division. Accordingly, I end this …
Unambiguous Evaluation Of The Relative Photolysis Rates Of Nitro Indolinyl Protecting Groups Critical For Brain Network Studies, Richard L. Comitz, Yannick P. Ouedraogo, Nasri Nesnas
Unambiguous Evaluation Of The Relative Photolysis Rates Of Nitro Indolinyl Protecting Groups Critical For Brain Network Studies, Richard L. Comitz, Yannick P. Ouedraogo, Nasri Nesnas
Chemistry and Chemical Engineering Faculty Publications
Nitrated indolinyl photoprotecting groups are crucial tools extensively used in the study of neuronal signal transduction. Mononitrated photolabile protecting groups have been used effectively, however, recent advances in the introduction of a second nitro group have shown improvement in the photo efficiency of neurotransmitter (agonist) release, albeit, to varying extents, depending on the assessment methods employed. An unambiguous method is discussed based on Nuclear Magnetic Resonance (NMR), which is shown to be an effective technique in the relative overall rate comparison amongst varying nitrated protecting groups. Mononitrated and dinitrated photolabile protecting groups such as CDNIGlu and MNI-Glu are used as …
Comparing The Effect Of Smoothing And N-Gram Order : Finding The Best Way To Combine The Smoothing And Order Of N-Gram, Wenyang Zhang
Comparing The Effect Of Smoothing And N-Gram Order : Finding The Best Way To Combine The Smoothing And Order Of N-Gram, Wenyang Zhang
Theses and Dissertations
The SRILM is a toolkit for building and applying statistical language models (LMs), designed and developed primarily for use in speech recognition, statistical tagging and segmentation, and machine translation. It has been under development in the SRI Speech Technology and Research Laboratory since 1995. The toolkit has also greatly benefited from its use and enhancements during the Johns Hopkins University/CLSP summer workshops in 1995, 1996, 1997, and 2002. In this thesis, the effect of smoothing and order of N-gram for language model we build by srilm toolkit is studied. My primary method is to use comparison. Firstly, training corpus and …
Near Real-Time Operation Of Public Image Database For Ground Vehicle Navigation, Ehsan A. Ali, Samuel Peter Kozaitis
Near Real-Time Operation Of Public Image Database For Ground Vehicle Navigation, Ehsan A. Ali, Samuel Peter Kozaitis
Electrical Engineering and Computer Science Faculty Publications
An effective color night vision system for ground vehicle navigation should operate in near real-time to be practical. We described a system that uses a public database as a source of color information to colorize night vision imagery. Such an approach presents several problems due to differences between acquired and reference imagery. Our system performed registration, colorizing, and reference updating in near real-time in an effort to help drivers of ground vehicles during night to see a colored view of a scene.
Improved Colorization For Night Vision System Based On Image Splitting, Ehsan A. Ali, Samuel Peter Kozaitis
Improved Colorization For Night Vision System Based On Image Splitting, Ehsan A. Ali, Samuel Peter Kozaitis
Electrical Engineering and Computer Science Faculty Publications
The success of a color night navigation system often depends on the accuracy of the colors in the resulting image. Often, small regions can incorrectly adopt the color of large regions simply due to size of the regions. We presented a method to improve the color accuracy of a night navigation system by initially splitting a fused image into two distinct sections before colorization. We split a fused image into two sections, generally road and sky regions, before colorization and processed them separately to obtain improved color accuracy of each region. Using this approach, small regions were colored correctly when …
Countercurrent Flowthrough Pretreatment Of Cellulosic Biomass, Véronique Archambault-Léger
Countercurrent Flowthrough Pretreatment Of Cellulosic Biomass, Véronique Archambault-Léger
Link Foundation Energy Fellowship Reports
The aim of my work as a Link Fellow was to develop an analytical framework incorporating fluid mechanical, thermodynamics and kinetic factors to determine the feasible domains of hot water FT pretreatment. I addressed the mechanical complexities of arranging a bed of biomass for FT configuration and analyzed the energy requirements, capital costs and sugar dilution in order to realize the advantages of FT pretreatment at scale.
Design And Synthesis Of Low-Bandgap Polymers For Organic Photovoltaic Applications, Letian Dou
Design And Synthesis Of Low-Bandgap Polymers For Organic Photovoltaic Applications, Letian Dou
Link Foundation Energy Fellowship Reports
This research at UCLA focused on the design and synthesis of novel conjugated polymers as the electron-donor material for photovoltaic devices. By careful molecular design both on the polymer backbone and the side chains, a series of low-bandgap conjugated polymers were synthesized for a variety of photovoltaic applications, including single junction and tandem polymer solar cells. In addition, the author designed and synthesized a novel higly perfect polymer single crystal material via a visible light triggered topochemical reaction. This kind of materials shows high potential for application in solar cells and transistors, which, the author believe, is a huge breakthrough …
Intelligent Supervisory Switching Control Of An Unmanned Surface Vehicle, Ivan Rodrigues Bertaska
Intelligent Supervisory Switching Control Of An Unmanned Surface Vehicle, Ivan Rodrigues Bertaska
Link Foundation Ocean Engineering and Instrumentation Fellowship Reports
The project originally proposed for this fellowship focused on developing a framework for multimodal control of an unmanned surface vehicle (USV) – transitioning it from an underactuated system to an overactuated one. This would assist in two main functions USVs are typically tasked with: transiting and station-keeping. This project has since expanded to encompass novel territory in control theory, robotics, and computer science. The author is hopeful that the work reported here will assist in the transition of USVs from an academic pursuit into a valuable, pervasive tool for the oceanic sciences and the ocean industry. For the continued expansion …