Naval Postgraduate School

About: Naval Postgraduate School is a education organization based out in Monterey, California, United States. It is known for research contribution in the topics: Tropical cyclone & Nonlinear system. The organization has 5246 authors who have published 11614 publications receiving 298300 citations. The organization is also known as: NPS & U.S. Naval Postgraduate School.

An extended Kalman filter for quaternion-based orientation estimation using MARG sensors

Abstract: Presents an extended Kalman filter for real-time estimation of rigid body orientation using the newly developed MARG (magnetic, angular rate, and gravity) sensors. Each MARG sensor contains a three-axis magnetometer, a three-axis angular rate sensor, and a three-axis accelerometer. The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-standing problem of singularities associated with attitude estimation. A process model for rigid body angular motions and angular rate measurements is defined. The process model converts angular rates into quaternion rates, which are integrated to obtain quaternions. The Gauss-Newton iteration algorithm is utilized to find the best quaternion that relates the measured accelerations and earth magnetic field in the body coordinate frame to calculated values in the earth coordinate frame. The best quaternion is used as part of the measurements for the Kalman filter. As a result of this approach, the measurement equations of the Kalman filter become linear, and the computational requirements are significantly reduced, making it possible to estimate orientation in real time. Extensive testing of the filter with synthetic data and actual sensor data proved it to be satisfactory. Test cases included the presence of large initial errors as well as high noise levels. In all cases the filter was able to converge and accurately track rotational motions.

Analysis of electric grid security under terrorist threat

Abstract: We describe new analytical techniques to help mitigate the disruptions to electric power grids caused by terrorist attacks. New bilevel mathematical models and algorithms identify critical system components (e.g., transmission lines, generators, transformers) by creating maximally disruptive attack plans for terrorists assumed to have limited offensive resources. We report results for standard reliability test networks to show that the techniques identify critical components with modest computational effort.

Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking

Abstract: Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an extended Kalman filter designed for real-time estimation of the orientation of human limb segments. The filter processes data from small inertial/magnetic sensor modules containing triaxial angular rate sensors, accelerometers, and magnetometers. The filter represents rotation using quaternions rather than Euler angles or axis/angle pairs. Preprocessing of the acceleration and magnetometer measurements using the Quest algorithm produces a computed quaternion input for the filter. This preprocessing reduces the dimension of the state vector and makes the measurement equations linear. Real-time implementation and testing results of the quaternion-based Kalman filter are presented. Experimental results validate the filter design, and show the feasibility of using inertial/magnetic sensor modules for real-time human body motion tracking

On stationary and travelling vortex breakdowns

Abstract: This paper describes some experiments in swirling flows in a diverging cylindrical tube in which various types of vortex breakdowns were observed.In one set of experiments, the position of the breakdown, axial component of the velocity of the vortex core, swirl angle distribution ahead of the breakdown, and the pressure distribution along the tube were determined for various flow rates and for various values of circulation imparted to the fluid (water). Basically, three types of vortex breakdown were observed, viz. mild (double helix) breakdown, spiral breakdown (followed by turbulent mixing), and axisymmetric breakdown (followed by a thicker vortex core, then a spiral breakdown, and finally by turbulent mixing). The type and the location of the stationary breakdowns were found to be dependent, for the particular vortex tube used, upon the Reynolds and circulation numbers of the flow. In a spiral breakdown, the vortex core filament maintained the same sense of rotation as the upstream fluid elements. In an axisymmetric breakdown, the bubble included an inclined vortex-ring whose axis gyrated about the axis of the tube.In a second set of experiments, the response of the abrupt structural change along the axis of flow to gradual and abrupt changes in the upstream and downstream flow conditions was examined. The axisymmetric breakdown responded in a manner analogous to the hydraulic jump in open-channel flow before if reached a new stationary position along the axis of the tube.The observations reported and the evidence presented herein revealed that the axisymmetric breakdown is a finite transition between two sequent states of flow as proposed by Benjamin (1962, 1965, 1967) on theoretical grounds.