14 May 2025

Autonomous Robotics Development in Robot Operating System (ROS) 2 Humble

Abstract: This report presents a novel Robot Operating System (ROS) 2–based simulation framework designed to facilitate the development and testing of an autonomous navigation stack. Elements of the navigation stack, including lidar odometry, simultaneous localization and mapping (SLAM), and frontier exploration, are discussed in detail. The key features of the navigation stack include real-time performance and scalable architecture. The simulation results were applied to a physical robot. As a result, the physical robot was able to autonomously map the interior of a building and to generate 2D occupancy and 3D point clouds of the environment.

14 May 2025

Robot Operating System Innovations in Autonomous Navigation

Abstract: This report presents the results of simulations conducted in preparation for the 2024 Maneuver Support and Protection Integration Experiments (MSPIX) demonstration. The study aimed to develop and test a system for autonomous navigation in complex environments using advanced algorithms to enable the robot to avoid obstacles and navigate safely and efficiently. The report describes the methodology used to develop and test the autonomous navigation system, including the use of simulation, to evaluate its performance. The results of the simulation tests are presented to highlight the effectiveness of the navigation solution.

9 May 2025

Headstone Inventory and Scanning at Mare Island Naval Cemetery, California

Abstract: The National Cemetery Administration (NCA) tasked the US Army Engineer Research and Development Center, Construction Engineering Re-search Laboratory (ERDC-CERL), with inventorying and scanning the nonmilitary headstones at Mare Island Naval Cemetery. The cemetery is located in Vallejo, California, and is part of the Mare Island Naval Ship-yard historic district, which was listed concurrently on the National Register of Historic Places and as a national historic landmark in 1975. The research in this report will assist the US Department of Veterans Affairs (VA), NCA, with compliance with the National Historic Preservation Act of 1966 (NHPA). This report contains a list of headstones that need to be repaired or re-placed and a list of headstones that need to be corrected due to errors. Separate from this report, NCA will be provided with 3D models in .obj (for computer numerical control [CNC]) or .stl (for 3D printing) format. These formats are industry-standard CNC fabrication methods used to cut new stones. This technology will preserve the artistic elements of the stones that would be lost in an AutoCAD rendering process.

9 May 2025

Mill Springs Mill, Kentucky: A History and Analysis

Abstract: The US Congress codified the National Historic Preservation Act (NHPA) of 1966, the nation’s most effective cultural resources legislation to date, mostly through establishing the National Register of Historic Places (NRHP). The NHPA requires federal agencies to address their cultural re-sources, which are defined as any prehistoric or historic district, site, building, structure, or object. Section 110 of the NHPA requires federal agencies to inventory and evaluate their cultural resources, and Section 106 requires them to determine the effect of federal undertakings on those eligible or potentially eligible for the NRHP or listed on the NRHP. The Mill Springs Mill is found in south-central Kentucky, within Wayne County, a county bordering Tennessee. The mill, spring pools, granary, and recreation area are owned by the US Army Corps of Engineers (USACE). The site has run as a grist mill ever since its construction in the 1800s but has also been given other purposes, such as a roadside park starting in 1949 until the late 1970s and then a USACE recreation area. The mill is listed on the NRHP, while the grounds are part of the Mill Springs Battlefield, which is on the NRHP and also a national historic landmark. This report provides a comprehensive historic context for the features and buildings at the Mill Springs Mill in support of Section 110 of the NHPA.

2 Apr 2025

VTIME Using ERDC as a Testbed with PLANNER

Abstract: This technical note documents the outcome of a September 2023 workshop titled “VTIME using ERDC as a Testbed with PLANNER.” PLANNER exists as a prototype installation master planning tool, operating as an application using the Virtual Toolbox for Installation Mission Effectiveness (VTIME) as a platform. The objectives of the US Army Engineer Research and Development Center (ERDC) FLEX-4 project for VTIME using “ERDC as a Testbed” with PLANNER included modeling and analyzing ERDC facilities using the PLANNER prototype and assessing the feasibility of ERDC as a pilot site for inclusion PLANNER implementation. The workshop aimed to demonstrate PLANNER for ERDC personnel and showcase a new installation planning capability that intends to transform the way the Army performs installation master planning by digitalizing and operationalizing master planning.

31 Mar 2025

Effects of Thermal Modification on the Flexure Properties, Fracture Energy, and Hardness of Western Hemlock

Abstract: This study investigates the effect of thermal modification on the flexural properties, transverse fracture energy, and hardness of western hemlock. Flexure tests on specimens featuring longitudinal and transverse grains showed that thermal modification at 167 °C leads to less statistical variability compared to unmodified samples. Additionally, thermal modification leads to a decrease in the transverse flexural strength. On the other hand, the fracture and Janka hardness tests revealed a more pronounced brittleness of the thermally modified samples. The total mode I fracture energy of modified single-edge notch bending samples was about 47% lower for radial–longitudinal systems and 60% lower for tangential–longitudinal systems. Similarly, the average Janka hardness in the tangential and transverse planes was 8.5% and 9.4% lower in the modified specimens, respectively. The results presented in this work show that thermal modification can have a significant effect on the fracturing behavior of west-ern hemlock and its energy dissipation capabilities. For design, this must be taken into serious consideration as these properties significantly influence the damage tolerance of this wood in the presence of stress concentrations such as those induced in bolted joints and cut outs. Fracture energy and hardness are also strongly correlated to ballistic performance.

21 Mar 2025

Cultural Landscape Management Plan for Mare Island Naval Cemetery, California

Abstract: This project was undertaken to provide the US Department of Veterans Affairs National Cemetery Administration with a cultural landscape manage-ment plan for Mare Island Naval Cemetery. The approximately 2.5-acre cemetery is located in Vallejo, California, and contains more than 900 burials. Mare Island Naval Cemetery is part of the Mare Island Naval Ship-yard historic district, which was listed concurrently on the National Register of Historic Places and as a National Historic Landmark in 1975. The US Army Engineer Research and Development Center, Construction Engineering Research Laboratory (ERDC-CERL) was tasked with writing a cultural landscape management plan for Mare Island Naval Cemetery. Based upon the findings of the historic landscape inventory. Treatment recommendations were made to rehabilitate the historic landscape as well as to provide a sustainable plant list for the cemetery.

19 Feb 2025

The Geophysical Survey of Mare Island Naval Cemetery, California

Abstract: The US Congress codified the National Historic Preservation Act of 1966 (NHPA), the nation’s most effective cultural resources legislation to date, mostly through establishing the National Register of Historic Places (NRHP). The NHPA requires federal agencies to address their cultural resources, which are defined as any prehistoric or historic district, site, building, structure, or object. Section 110 of the NHPA requires federal agencies to inventory and evaluate their cultural resources, and Section 106 requires them to determine the effect of federal undertakings on those potentially eligible for the NRHP. This project was undertaken to provide the US Department of Veterans Affairs (VA), National Cemetery Administration (NCA), with a geophysical survey of Mare Island Naval Cemetery. The approximately 2.5-acre cemetery is located in Vallejo, California, and contains more than 900 burials. Mare Island Naval Cemetery is part of the Mare Island Naval Shipyard Historic District, which was listed concurrently on the National Register of Historic Places and as a national historic landmark in 1975.

18 Feb 2025

Birds Not in Flight: Using Camera Traps to Observe Ground Use of Birds at a Wind-Energy Facility

Abstract: Camera trapping is increasingly used to collect information on wildlife occurrence and behaviour remotely. This provides insights into habitat use by species of interest and gathers information on non-target species. We implemented ground-based camera trapping to investigate behaviours of ground-dwelling birds and to monitor activities of Agassiz’s desert tortoises at their self-constructed burrows in a wind-energy facility near Palm Springs, California. While doing so, we collected data on numerous burrow commensals, including birds. Monitoring from late spring to mid-autumn showed regular use of tortoise burrows by 12 species of birds, the most abundant being the rock wren. Birds appeared to use the interior or vicinity of burrows for gathering nesting material, displaying, feeding, dust bathing and other activities. Of the species observed, 10 are known to be occasional casualties of turbine-blade strikes. Using camera traps focused at ground level can be a useful tool in avian conservation effort for measuring bird presence, activity and behaviour in altered habitats. Acquiring data over the long term by using ground-based monitoring with camera traps could add to our understanding of avian behaviour and habitat use in relation to wind-energy infrastructure and operations, and help determine the vulnerability of avifauna utilizing the area.

30 Jan 2025

Investigation of Bioplastic Degradation for Military In-Field Applications Implementation of Sustainable Practices into the US Military for Rapid Biodegrading Polylactic Acid (PLA) Plastic in Compostable Environments

Abstract: The Army Climate Strategy has identified goals to reduce greenhouse gas (GHG) emissions to reach net-zero Army GHG emissions by 2050. Producing fossil-fuel-based plastics releases GHG emissions and plastic bottles are difficult to dispose, especially in contingency locations. Soldiers prefer hydrating with plastic water bottles, which leads to GHG emissions. This project investigates using bioplastics for water bottles. These bioplastics are produced from natural materials and can break down faster with alternative disposal methods, such as composting. Challenges include finding a material with a stable shelf life and the capability to hold water, but also one that that degrades with ease in the right composting environment. As part of this project, partners at the University of Minnesota are developing a new polylactic acid (PLA) material to fit the material properties needed for this application. Their research is ongoing. Construction Engineering Research Laboratory (CERL) researchers tested commercial PLA in calorimeter and incubator studies and with a full-scale demonstration of the commercial composting Sustainable Generation Mobile System. The PLA did not completely degrade, and testing showed mixed results on finished compost quality. Recommendations included continued testing, experimenting with other bioplastics, and changing compost feedstock variables.