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dc.contributor.advisorZyda, Michael J.
dc.contributor.advisorPratt, David R.
dc.contributor.authorSchmidt, Dennis Arvin
dc.date.accessioned2013-01-23T22:03:38Z
dc.date.available2013-01-23T22:03:38Z
dc.date.issued1993-06
dc.identifier.urihttp://hdl.handle.net/10945/26652
dc.descriptionApproved for public release; distribution is unlimiteden_US
dc.description.abstractThis 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 operationen_US
dc.description.urihttp://archive.org/details/npsnetgraphicalb00schm
dc.format.extent78 p.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.titleNPSNET: a graphical based expert system to model P-3 aircraft interaction with submarines and shipsen_US
dc.typeThesisen_US
dc.contributor.corporateNaval Postgraduate School
dc.contributor.schoolNaval Postgraduate School
dc.contributor.departmentComputer Science
dc.description.serviceCommander, United States Navyen_US
etd.thesisdegree.nameMaster of Computer Scienceen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineComputer Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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