1998 - Draper Laboratory

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Educational Activitiesat Draper LaboratoryDraper provides a stimulating R&D environment for graduate students working toward advanced degrees, undergraduate studentspursuing research opportunities, and government and industry employees wishing to study advances in technology. Students haveopportunities to work on challenging projects from conception through development and operation, under real-world cost and timeconstraints. An example of this is the Vorticity Control Unmanned Underwater Vehicle (VCUUV). Draper’s first incumbent in the SolomonJ. Buschsbaum Postdoctoral Fellowship, Dr. Jamie Anderson is leading a team of graduate and undergraduate students in developing aprototype VCUUV (or Robotic Fish), which employs fish-like propulsion for reduced drag and enhanced maneuvering. Initial testing ofthe VCUUV is expected to begin in 1998.Draper’s R&D setting allows students to gain invaluable experience applicable to their future professions. Various educational programsare developed and administered by Draper’s Education Office:• The Draper Fellow program (for military and civilian personnel).• The Post Doctoral program.• Military residents, interns, and associates.• MIT Engineering Internship programs.• Co-op programs with Boston University, MIT, Northeastern, Tufts, and Wentworth.• Research opportunities for students, including Sea Grant and Space Grant programs.• The Professional Summer Program (short courses for Department of Defense personnel) cosponsored with MIT.• Presentations and tours for visiting faculty and student groups (including a visit by Ukrainian businessmensponsored by the U.S. State Department).• Partnerships with area K-12 schools.During 1997, the Draper Fellow program consisted of 64 students from MIT, Boston University, Northeastern University, Tufts, and theUniversity of Massachusetts at Lowell. Several theses were completed this year and are listed below.Barchers, J.D.; Deutsch, O.L. (Supervisor)Entry guidance for abort scenariosMaster of Science ThesisBennett, J.Packaging and interconnection of a back-lit CCD sensor deviceMaster of Science ThesisBosse, M.C.A vision augmented navigation system for an autonomous helicopterMaster of Science ThesisBruce, D.M.; Kumar, K. (Supervisor)Effects of high temperature treatment on curl and microstructure of heavily boron doped siliconMaster of Science ThesisCho, J.Electronic subsystems of a free-swimming robotic fishMaster of Engineering ThesisChristodouleas, J.D.; Ricard, M.J. (Supervisor)Solution methods for multiprocessor network scheduling problems, with application to railroad operationsDoctor of Philosophy ThesisGibbons, K.A.; Weinberg, M.S. (Supervisor)A micromechanical silicon oscillating accelerometerMaster of Science ThesisEducational Activities at Draper Laboratory1
Educational Activitiesat Draper LaboratoryHigginson, J.E.; Martorana, R.T. (Supervisor)Mapping value creation in research and developmentMaster of Business Administration ThesisKantsiper, B.A systematic approach to station-keeping of constellations of satellitesDoctor of Philosophy ThesisKim, J.Y.; Kang, D.S. (Supervisor)Modeling and control of a small autonomous vehicleMaster of Science ThesisKing, C.M.; Tuohy, S.T. (Supervisor)An advanced, integrated display system for small, high-speed marine craftBachelor and Master of Science ThesisKoontz, B.S.; Kang D.S. (Supervisor)A multiple vehicle mission planner to clear unexploded ordnance from anetwork of roadwaysMaster of Science ThesisKossuth, J.Optimization of a micromechanical single-element oscillator using nonlinearelectrostatic controlDoctor of Philosophy ThesisMcConley, M.W.; Appleby, B.D. (Supervisor)A computationally efficient Lyapunov-based procedure for control of nonlinear systems withstability and performance guaranteesDoctor of Philosophy ThesisPark, T.H.; Kang D.S. (Supervisor)An autonomous mission manager multiple vehicle systemMaster of Science ThesisPien, H.H.R&D management and the use of dynamic metricsMaster of Science ThesisPuri, V.; Fuhry, D.P. (Supervisor)Tightly coupled GPS-gyro integration for spacecraft attitude determinationMaster of Science ThesisSauer, B.M.; Ricard, M.J. (Supervisor)Autonomous mission scheduling for satellite operationsMaster of Science ThesisSchwarz, R.E.A probabilistic model of the effects of satellite system automation on cost and availabilityMaster of Science ThesisShah, N.H.; Proulx, R.J. (Supervisor); Cefola, P.J. (Supervisor)Automated station-keeping for satellite constellationsMaster of Science ThesisTrott, C.A.; DeBitetto, P.A. (Supervisor)Electronics design for an autonomous helicopterBachelor and Master of Science ThesisWilson, E.C.; Kang D.S. (Supervisor)A modular expandable design for mobile robot control softwareBachelor of Science and Master of Engineering ThesisEducational Activities at Draper Laboratory2
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Letter from thePresident and CEO,Vi
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Information TechnologyMilton AdamsE
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BiographyMilton Adams has been at D
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Figure 1 represents a functional de
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Programs. In effect, these controll
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Although the terminal area traffic
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Table 2. ATFM performance evaluatio
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In the experiments, a nominal capac
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[3] Wambsganss, Michael C. “Colla
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Guidance, Navigation, and Control A
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A Control Lyapunov FunctionApproach
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x( 0) ∈ X and w(t) ∈Wfor all t
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(b) Select a quadratic RCLF V i (x)
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at each grid point. In the case w 1
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References[1] Ball, J.A. and A.J. v
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Relative and Differential GPSData T
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The first term on the right in the
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H R# δρ R,GPS -H A# δρ A,GPSThi
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selection; and (3) shown that the a
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Segmentation of MR ImagesUsing Curv
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(3)where ν now represents a contin
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Experimental ResultsThe results of
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Table 1. A summary of segmentation
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Guidance, Navigation,and ControlJim
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BiographyGeorge SchmidtGeorge Schmi
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clock and ephemeris errors, as well
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maintained in a rigid structure, wh
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Table 5. “Typical” absolute GPS
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performed, then the target location
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tightly-coupled system, however, ca
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Concluding RemarksRecent progress i
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As real-time systems evolve into th
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Advanced Fault-TolerantComputing fo
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The Viking and Voyager were both in
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Containment Regions (FCRs). There a
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well as reversing the whole process
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As real-time systems evolve into th
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Automated Station-Keepingfor Satell
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Figure 2. Minimum elevation angles
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anomaly M and/or the ascending node
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However, since optimization and rec
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is maintained in the Northern Hemis
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autonomy. It must have the ability
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[31] Neelon, Joseph G., Jr., Paul J
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Draper’s primary goal is to Drape
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)Rotordynamic Modelingof an Activel
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Eq. (9) becomes:λ[ R ] { Φ } = [
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chosen to be 24, for a total of 48
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InertialInstruments/MechanicalDesig
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BiographyJeffrey Borenstein is curr
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process step. Process information i
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Figure 4. Control chart for boron d
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References[1] Barbour, N., J. Conne
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Draper Laboratory continues to engi
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Validating the Validating Tool:Defi
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calculates miscellaneous terms, suc
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Table 1. Suggested specification sh
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User Accuracy as aFunction of Simul
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20-min averaging, this clock lockin
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Table 2. Sample high-level summary
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AcknowledgmentR.L. Greenspan, J.A.
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Systems IntegrationRich MartoranaPe
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BiographyAnthony Kourepenis is an A
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control is employed to maintain the
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Table 1. Summary of automotive yaw
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Resolution (60 Hz) deg/h10000000100
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References[1] Greiff, P., B. Boxenh
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An Integrated Safety AnalysisMethod
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Page 183 and 184: 1997 Published PapersThe following
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Page 193 and 194: unaffordable, or even misguided. Bu
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1998 - Draper Laboratory

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