NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships
dc.contributor.advisor | Zyda, Michael J. | |
dc.contributor.advisor | Pratt, David R. | |
dc.contributor.author | Schmidt, Dennis Arvin | |
dc.date.accessioned | 2013-01-23T22:03:38Z | |
dc.date.available | 2013-01-23T22:03:38Z | |
dc.date.issued | 1993-06 | |
dc.identifier.uri | http://hdl.handle.net/10945/26652 | |
dc.description.abstract | 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 | en_US |
dc.description.uri | http://archive.org/details/npsnetgraphicalb1094526652 | |
dc.format.extent | 78 p. | en_US |
dc.language.iso | en_US | |
dc.publisher | Monterey, California. Naval Postgraduate School | en_US |
dc.title | NPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and ships | en_US |
dc.type | Thesis | en_US |
dc.contributor.corporate | Naval Postgraduate School | |
dc.contributor.school | Naval Postgraduate School | |
dc.contributor.department | Computer Science | |
dc.description.service | Commander, United States Navy | en_US |
etd.thesisdegree.name | Master of Computer Science | en_US |
etd.thesisdegree.level | Masters | en_US |
etd.thesisdegree.discipline | Computer Science | en_US |
etd.thesisdegree.grantor | Naval Postgraduate School | en_US |
dc.description.distributionstatement | Approved for public release; distribution is unlimited. |
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Publicly releasable NPS Theses, Dissertations, MBA Professional Reports, Joint Applied Projects, Systems Engineering Project Reports and other NPS degree-earning written works.