NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships

NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships

This thesis develops the mathematical relationships necessary to implement alternating tripod gaits on the hexapod underwater walking machine, AquaRobot. Analysis of documentation and application of Denavit-Hartenberg kinematic modeling techniques determine the fundamental vehicle parameters. Smooth...

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Bibliographic Details
Main Author: Schmidt, Dennis Arvin.
Other Authors: Zyda, Michael J.
Language:en_US
Published: Monterey, California. Naval Postgraduate School 2013
Online Access:http://hdl.handle.net/10945/26652
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spelling ndltd-nps.edu-oai-calhoun.nps.edu-10945-266522014-11-27T16:16:25Z NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships Schmidt, Dennis Arvin. Zyda, Michael J. NA NA NA Computer Science This thesis develops the mathematical relationships necessary to implement alternating tripod gaits on the hexapod underwater walking machine, AquaRobot. Analysis of documentation and application of Denavit-Hartenberg kinematic modeling techniques determine the fundamental vehicle parameters. Smooth leg motion models following elliptical and cycloidal trajectories are devised. Gait planning algorithms, using the elliptical smooth leg motion model, are developed for both discrete and continuous body motion. Statically stable, alternating tripod gait simulations are implemented in the C + + programming language. A stick figure graphics display allows examination and testing of the gait algorithms prior to incorporation in follow-on 3D graphics simulations or in real-time operation 2013-01-23T22:03:38Z 2013-01-23T22:03:38Z 1993-06 Thesis http://hdl.handle.net/10945/26652 ocm640614022 en_US Monterey, California. Naval Postgraduate School
collection NDLTD
language en_US
sources NDLTD
description This thesis develops the mathematical relationships necessary to implement alternating tripod gaits on the hexapod underwater walking machine, AquaRobot. Analysis of documentation and application of Denavit-Hartenberg kinematic modeling techniques determine the fundamental vehicle parameters. Smooth leg motion models following elliptical and cycloidal trajectories are devised. Gait planning algorithms, using the elliptical smooth leg motion model, are developed for both discrete and continuous body motion. Statically stable, alternating tripod gait simulations are implemented in the C + + programming language. A stick figure graphics display allows examination and testing of the gait algorithms prior to incorporation in follow-on 3D graphics simulations or in real-time operation
author2 Zyda, Michael J.
author_facet Zyda, Michael J.
Schmidt, Dennis Arvin.
author Schmidt, Dennis Arvin.
spellingShingle Schmidt, Dennis Arvin.
NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships
author_sort Schmidt, Dennis Arvin.
title NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships
title_short NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships
title_full NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships
title_fullStr NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships
title_full_unstemmed NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships
title_sort npsnet: a graphical based expert system to model p-3 aircraft interaction with submarines and ships
publisher Monterey, California. Naval Postgraduate School
publishDate 2013
url http://hdl.handle.net/10945/26652
work_keys_str_mv AT schmidtdennisarvin npsnetagraphicalbasedexpertsystemtomodelp3aircraftinteractionwithsubmarinesandships
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