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.

2 Jan 2025

Inventory and Evaluation of 12 Miscellaneous Buildings for the National Register of Historic Places (NRHP) at Custer Hill Area, Fort Riley, Kansas: Volume 1

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 two-volume report documents an architectural survey of 12 miscellaneous buildings and structures constructed from 1960 through 1976 in the Custer Hill area at Fort Riley, Kansas. Volume 1 includes an analysis of the eligibility of these buildings and structures to the National Register of Historic Places (NRHP) and satisfies Section 110 of the National Historic Preservation Act of 1966, as amended. Volume 2 contains individual building inventory forms, and its access is controlled by Fort Riley for security reasons. During the covered period, Fort Riley’s primary mission was training recruits for deployment to South Vietnam. As a result, the relevant theme developed for determining historical significance for these 12 buildings at Fort Riley is Recruit Training for Ground Combat in Vietnam. Of the facilities inventoried, none achieved significance under this theme for Criterion A. These buildings do not embody a distinctive characteristic of a type, period, or method of construction, do not represent the work of a master, and do not possess high artistic value under Criterion C. Therefore, no buildings were determined to be eligible to the NRHP. This work fulfills Section 110 requirements for these buildings.

20 Dec 2024

Smart Sensors to Reduce Installation Solid Waste

Abstract: Sensors were deployed by the research team in interior waste bins at Army installation buildings to collect data on waste generation at the source. The sensors were designed to provide granular data on waste generation that stakeholders can use to make informed decisions about solid waste man-agement. Each sensor costs about $300 to fabricate, but bulk fabrication may bring costs down. Sensors were deployed at dining facilities, offices, and barracks, which typically had higher waste volumes. Dining facilities were deemed to be the most useful application because at the other build-ings, waste management either varies significantly or much of the waste is carried out directly to exterior waste bins. This technology shows promise but could be improved in areas such as sensor fit, sensor robustness, battery life, data storage, and clock accuracy. The highest return on investment would be found in areas with high costs for waste hauling and landfills. In areas with low waste management costs, this technology may not result in costs savings.

9 Dec 2024

Analysis of Microgrid Performance, Reliability, and Resilience (AMPeRRe) Computational Model Novel Analytical Model to Forecast the Outcomes of Installation Power Grids

Abstract: Federal facilities, industrial areas, academic campuses, and communities are working to incorporate greater renewable energy sources and energy storage in their power infrastructure. While renewable sources of energy can—and do—support several facilities, uncertainty still exists about how reliably these sources of energy can support small and critical power systems with higher reliability standards, such as Army installations, tactical microgrids, remote community grids, and emergency response power systems. Maintaining reliability is already a significant challenge for power grids, and those that have a high proportion of renewable energy face particular challenges due to their intermittent power production. This technical report addresses the uncertainty by presenting a new computational model called Analysis of Microgrid Performance, Reliability, and Resilience (AMPeRRe). The model forecasts the power availability, fuel consumption, specific resilience factors, and excess energy production of proposed grids that include renewable energy sources and energy storage. If proposed grids are forecasted to lose power availability, users can apply this model to find which resources are needed to achieve 100% power availability and optimize resource quantities for ideal performance outcomes. AMPeRRe significantly reduces the uncertainty around renewable energy and energy storage in power grids and informs the critical resource investment decisions needed to yield improved long-term outcomes.

30 Oct 2024

Flood Resilience of Individual Traditional Building Materials

Abstract: The Construction Engineering Research Laboratory of the Engineer Research and Development Center is addressing emergency response and disaster relief capabilities in collaboration with the National Park Service, specifically related to the flood hardening and rehabilitation of historical structures. This report describes efforts to enhance the available data for assessing the resilience of individual historical building materials against flood conditions. In the context of official classification language, the experiments described by this report intended to mimic the effects of moving black water containing mold and sewage but lacking other harmful pollutants. Methods resemble those prescribed by ASTM standards E3075-16 and D7789-12, with minor adjustments to improve variable isolation. Pieces of individual historical building materials were scientifically subjected to simulated floods containing biological surrogates of mold and sewage. Water absorption by the materials and viability of bacteria and mold were measured throughout the experiment. Additional study is required to fully understand flood resilience of historical coatings on a variety of substrates.

17 Oct 2024

Building Control Graphics Criteria Update: Standards and Criteria Project 23T12

Abstract: This US Army Corps of Engineers (USACE) Standards and Criteria effort recommends updates to the building-graphics-related content in Unified Facilities Criteria (UFC) 3-470-01 and Unified Facilities Guide Specifications (UFGS) 25 10 10. Building graphics serve as the primary facility interface and are required for any HVAC controls integration project to a base-wide system; however, the current lack of criteria significantly limits their effectiveness and regularly yields inconsistent, low-quality tools for end users. This project developed “Guiding Principles” of good HVAC graphics along with the criteria language to assist the DoD in procuring and implement-ing good graphics. This report includes extensive illustrations to demonstrate good versus poor implementations of the proposed criteria. The intent is not to establish DoD-level graphics standards with these images but give a litmus test to designers and quality assurance staff for what right (and wrong) looks like. Primary recommendations are for graphics drawings designer responsibilities and contractor shop drawing requirements where installation standards are unavailable. Both designer criteria and spec-level functionality are defined using the Guiding Principles developed in this report. Future re-search topics are also described for enhanced trending capabilities, development of standard HVAC system-level performance indicators, and cloud-based connections to ongoing commissioning (OCx) systems.

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.

9 Oct 2024

Unified Facilities Criteria and Unified Facilities Guide Specifications for Sustainable Military Construction : Concrete, Asphalt, Wood, and Life-Cycle Assessment Perspectives

Abstract: Construction materials such as concrete, asphalt, and wood are essential components for Department of Defense (DoD) Military Construction (MILCON) and construction for contingency operations around the world. From housing facilities, to airfields, to magazines and hardened structures, each of these materials fulfill numerous Army building applications. However, greenhouse gas (GHG) emissions stemming from the manufacturing, application, maintenance, and disposal of concrete and steel exact a significant climate burden. Thus, due to their pervasive use and commodity status, the advancement of sustainable concrete, asphalt, and wood materials are a critical driver for GHG mitigation. This report communicates a first step toward decarbonization-focused updates to UFC and UFGS by outlining major specifications related to concrete, asphalt, and wood with near- and long-term strategies to facilitate modernization. The Engineer Research and Development Center (ERDC) is poised to make a significant impact on the identification and integration of sustainable materials to meet regulatory goals for the re-duction of GHG emissions in MILCON. New guidance will be integrated into UFC and UFGS by leveraging unique re-search, development, test, and evaluation (RDT&E) capabilities in materials science, life-cycle assessment, and federal relationships with discipline working groups

8 Oct 2024

Remote Monitoring of Cathodic Protection Systems on Navigable Waterways

Abstract: Cathodic protection is one of the main modes of corrosion prevention for structures in navigable waterways. The rectifier output voltage must be in a specific range to provide effective protection against corrosion. This effort was designed to monitor, predict, and stabilize the efficacy of multiple cathodic protection systems. Copper/copper-sulfate half-cell electrode sensors, water quality sensors, and gauges for rectifier output were connected to modems at multiple locks so the data could be analyzed to create a predictive maintenance algorithm.

8 Oct 2024

Identifying Sustainability and Resilience Investments to Implement the 2022 US Army Climate Strategy: Fiscal Year 2023 Sustainable Design and Development Update

Abstract: This report offers a detailed assessment of the US Army’s adherence to sustainable design and development (SDD) policies, encompassing the US Army Sustainable Design and Development (SDD) Policy memorandum; Unified Facilities Criteria (UFC) 1-200-02, High Performance and Sustainable Building Requirements; Executive Orders 14,008 and 14,057; the Army Climate Strategy; and required LEED v4 certifications. The evaluation comprises five primary tasks, including quarterly reports on US Army military construction (MILCON) project LEED v4 certifications, analysis of US Army LEED v4 certifications and trends, research and implementation of the intermediate objectives in the 2022 US Army Climate Strategy focusing on strategies to achieve climate goals, an analysis ex-plaining the advantages of Performance Excellence in Electricity Renewal (PEER) certification for Army microgrids, and industry knowledge gained from participation in the Greenbuild 2022 conference. Key recommendations developed in this assessment include enhancing transparency in LEED reporting, considering PEER certification, expediting climate strategy implementation, and active participation in industry gatherings. This report serves as a comprehensive resource for informed decision-making, aiding the US Army in advancing its sustainable design and development initiatives to meet future environmental and sustainability objectives.