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.

30 Apr 2025

Pier Analysis Tool: User’s Manual

Abstract: This report documents the development of a rapid structural load-capacity assessment capability for ship docking and offloading structures (i.e., piers) and automation of the assessment technique into a user-friendly personal computer–based tool referred to herein as the Pier Analysis Tool (PAT). This capability provides a quick first-cut assessment of the load-bearing capacity of pier structures in terms of maximum allowable ship mooring loads and allowable weights for typical commercial and military vehicles and equipment associated with military discharge operations. The report covers the technical basis for the structural analyses along with detailed computational examples. It also provides a detailed user guide for PAT.

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.

7 Jan 2025

Exploring Lidar Odometry Within the Robot Operating System

Abstract: Here, we explore various lidar odometry approaches (with both 3 and 6 degrees of freedom) in simulation. We modified a virtual model of a TurtleBot3 robot to work with the various odometry approaches and evaluated each method within a gazebo simulation. The gazebo model was configured to generate an absolute ground truth for comparison to the odometry results. We used the evo package to compare the ground truth with the various lidar odometry values. The results for KISS-ICP and laser scan matcher (LSM), including two simultaneous localization and map-ping (SLAM) approaches, Fast Lidar-Inertial Odometry (FAST-LIO), and Direct Lidar Odometry (DLO), are provided and discussed. We also tested one of the approaches on our physical robot.

17 Dec 2024

Temperature-Insensitive, High-Density Lithium-Ion Batteries

Abstract: Lithium-ion (Li-ion) batteries are a preferred energy storage solution for their generation capacity and power density; however, their chemical in-stability at high temperature raises major concerns relating to their safety, reliability, and lifespan. Over time, natural temperature cycling of Li-ion batteries degrades the depth of discharge and degree of charge that can be achieved, limiting the cell performance and storage capacity as the micro-structure of the anode and cathode interfaces are altered. To ensure safe, continuous, and high-performance Li-ion batteries, improvements are needed to counteract the degradation of their electrochemically active and inactive chemical components. Using solid-state alternatives to Li-ion components, high performance may be maintained while improving the stability of the ion during charging. The synthesis, characterization, the-ory, simulation, and fabrication of dense high-voltage cathodes, solid elec-trolytes, and metal anodes are detailed in this report to establish the underpinning science and technology required to improve the stability of Li-ion batteries.

6 Nov 2024

Time-Series Forecasting Methods: A Review

Abstract: Time-series forecasting techniques are of fundamental importance for predicting future values by analyzing past trends. The techniques assume that future trends will be similar to historical trends. Forecasting involves using models fit on historical data to predict future values. Time-series models have wide-ranging applications, from weather forecasting to sales forecasting, and are among the most effective methods of forecasting, especially when making decisions that involve uncertainty about the future. To evaluate forecast accuracy and to compare among models fitted to a time series, three performance measures were used in this study: mean absolute error (MAE), mean square error (MSE), and root-mean-square error (RMSE).

15 Oct 2024

Deployable Resilient Installation Water Purification and Treatment System (DRIPS): Relief Well Biofouling Treatment of Dams and Levees

Abstract: The US Army Corps of Engineers (USACE) conducts regular inspections and maintenance of relief wells to ensure their proper functionality and to identify early signs of malfunction or potential failure. Expenses associated with labor, materials, and transportation are the primary cost drivers of relief-well maintenance. To minimize labor hours and materials, a treatment approach intended to improve logistics and reduce material costs during relief-well treatment was developed and tested. This approach employed external UVC, mechanical brush treatments, and chlorinated-gas-infused water to produce liquid sodium hypochlorite (NaClO). Preliminary bench-scale testing with chlorine, oxalic acid, and UVC informed the selection of field testing methods and optimal amendment concentrations. Field demonstrations were conducted annually over three years. During the demonstrations, the system underwent continuous optimization to enhance its efficiency. Different locations in Mississippi (Grenada Dam, Eagle Lake, and Magna Vista) were selected for testing. Both new and traditional treatment approaches yielded adequate results, achieving microbial reduction at 96% to 100%. The development and refinement of this system demonstrated that relief wells can be treated within a comparable timeframe and with similar efficiency while utilizing fewer purchased chemicals and materials.

19 Sep 2024

The Arctic Deployable Resilient Installation Water Purification and Treatment System (DRIPS): Microgrid Integration with Geoenabled Water Production and Disinfection Systems for Installations

Abstract: The purpose of the Arctic Deployable Resilient Installation water Purification and treatment System (DRIPS) is to be a critical asset in disaster response and military operations by providing a reliable and effective means of producing potable water and disinfection in a challenging and unpredictable environment, such as in an extremely cold climate. The objective of this effort was to deliver, integrate, and demonstrate the Arctic DRIPS to show that it can provide drinkable water to users of the microgrid within polar climate zones. Its adaptability, mobility, and comprehensive water treatment capabilities make it an invaluable resource for addressing water-related emergencies and water disruptions and for sustaining critical missions. It also addresses a point of need by improving the ability to meet demands while reducing convoy requirements and the logistical foot-print and ensuring the well-being of affected installations during disaster responses, training operations, normal water disruptions, and emergency preparation. The DRIPS was delivered to Fort Wainwright, a sub-Arctic installation, to demonstrate the integration of a water treatment component within a microgrid structure and to help them be better prepared to meet their water and energy requirement goals. The microgrid integration requirements were met upon implementation of this project.

19 Sep 2024

Case Study of Continental-Scale Hydrologic Modeling’s Ability to Predict Daily Streamflow Percentiles for Regulatory Application

Abstract: Regulatory practitioners use hydroclimatic data to provide context to observations typically collected through field site visits and aerial imagery analysis. In the absence of site-specific data, regulatory practitioners must use proxy hydroclimatic data and models to assess a stream's hydroclimatology. One intent of current-generation continental-scale hydrologic models is to provide such hydrologic context to ungaged watersheds. In this study, the ability of two state-of-the-art, operational, continental-scale hydrologic modeling frameworks, the National Water Model and the Group on Earth Observation Global Water Sustainability (GEOGloWS) European Centre for Medium-Range Weather Forecasts (ECMWF) Streamflow Model, to produce daily streamflow percentiles and categorical estimates of the streamflow normalcy was examined. The modeled stream-flow percentiles were compared to observed daily streamflow percentiles at four United States Geological Survey stream gages. The model's performance was then compared to a baseline assessment methodology, the Antecedent Precipitation Tool. Results indicated that, when compared to baseline assessment techniques, the accuracy of the National Water Model (NWM) or GEOGloWS ECMWF Streamflow Model was greater than the accuracy of the baseline assessment methodology at four stream gage locations. The NWM performed best at three of the four gages. This work highlighted a novel application of current-generation continental-scale hydrologic models.