Physical Sciences and Mathematics Commons^™

Autonomous Robot Navigation In Unknown Terrains Using Parallel Numerical Artificial Potential Fields, John C. Schneider

Computer Science Theses & Dissertations

We present a new artificial potential field formulation for resolution complete robot navigation that unifies the purely geometric path planning problem with the lower level force control problem. Our formulation is designed for numerical computation over a massively parallel mesh of processors and is responsive to newly discovered terrain features. It does not suffer from many of the problems commonly associated with potential fields and with adequate resolution provides provably correct, collision free convergence to the goal. In addition, our formulation supports many desirable, practical features required for implementation, such as bounded actuator torques, attainable incremental constructability, realizable computation and …

Flow Kinematics And Dynamics Of The Gulf Stream From Composite Imagery, Caitlin Patrice Mullen

OES Theses and Dissertations

A unique set of contemporaneous satellite-tracked drifters and five-day composite satellite images of the North Atlantic is studied in order to infer the near-surface flow kinematics and dynamics of the Gulf Stream. Using fractal and spectral analyses, two kinematic models, and a potential vorticity model, detailed comparisons are made between these data sets.

Fractal and spectral analyses show that the data set is not fractal, there is no geographic variability, and there is not a strong fractal scaling link between the drifter trajectories and composite temperature fronts as had been postulated by several investigators. These results indicate considerably more work …