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    <copyright>Copyright © 2026. National Academy of Sciences. All rights reserved.</copyright>
    <docs>http://blogs.law.harvard.edu/tech/rss</docs>
    <managingEditor>tris-trb@nas.edu (Bill McLeod)</managingEditor>
    <webMaster>tris-trb@nas.edu (Bill McLeod)</webMaster>
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      <title>Transport Research International Documentation (TRID)</title>
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      <title>OBSTACLE DETECTION AND MAPPING SYSTEMS</title>
      <link>https://trid.trb.org/View/538270</link>
      <description><![CDATA[This paper discusses and evaluates an obstacle detection algorithm developed at NIST in support of the DEMO III Unmanned Ground Vehicle (UGV) program.  The algorithm is a hybrid of grid-based and sensor-based obstacle detection and mapping techniques and is implemented as a module of the integrated 4D-Realtime Control System (RCS) system.  The module consists of two sections: an obstacle detection section that processes range data read from a ladar sensor and uses this information to detect obstacles; and, a mapping section that projects obstacle points onto a grid-based representation map used to generate a traversable path for the vehicle.  The paper describes the sensors used in the 4D-RCS autonomous driving system, the laser range finder (Ladar) sensor's characteristics, the obstacle detection algorithm, and the obstacle mapping procedure. Next, the algorithm's performance on both man-made and natural obstacles is evaluated. A demonstration is provided on autonomous driving with obstacle detection and avoidance on the NIST grounds and the Nike site at speeds of up to 15 mi/h (24 km/h).]]></description>
      <pubDate>Sun, 13 Dec 1998 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/538270</guid>
    </item>
    <item>
      <title>NMRS/LMRS: UUVS FOR CLANDESTINE MINEFIELD RECONNAISSANCE</title>
      <link>https://trid.trb.org/View/480114</link>
      <description><![CDATA[The article describes an organic mine reconnaissance system based on an unmanned underwater vehicle with a forward and side- looking sensor suite.  The system has been developed for the US Navy's nuclear-powered attack submarines.]]></description>
      <pubDate>Thu, 27 Mar 1997 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/480114</guid>
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      <title>MARTIN - AN AUV FOR OFFSHORE SURVEYS</title>
      <link>https://trid.trb.org/View/479743</link>
      <description><![CDATA[The AUV (Autonomous Underwater Vehicle) MARTIN was developed in 1995 for oceanographic and industrial surveys down to 100 metres.  Tank tests and sea trials have proven the excellent manoeuvrability of the flatfish shaped, low-drag hull.  The wide range of instrumentation includes bathymetric sonar systems, video systems and pipe tracking equipment.]]></description>
      <pubDate>Thu, 27 Mar 1997 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/479743</guid>
    </item>
    <item>
      <title>DEVELOPMENT OF SHUTTLE TYPE AUV "ALBAC" AND SEA TRIALS FOR OCEANOGRAPHIC MEASUREMENT</title>
      <link>https://trid.trb.org/View/479504</link>
      <description><![CDATA[The ALBAC designed by the authors and constructed in 1992 is a prototype of shuttle type autonomous underwater vehicle.  The ALBAC was developed for the oceanographic measurement of a water column on the way and from the seabed.  The vehicle does not have a propeller thruster but moves aside by gliding.  To carry out the mission, the software includes three simple fuzzy controllers for longitudinal and lateral motion.  The longitudinal motion controller displaces the longitudinal coordinate of the location of the centre of gravity and controls the gliding angle, respectively of the vehicle. Two lateral motion controllers also displace the lateral coordinate of the centre of gravity and control azimuth and yaw rate.  The parameters of the fuzzy rules were optimised by using the Evolution Strategies on the simulator, and examined based on the motion data of every trial.  Sea trails at 300m depth were successfully conducted in 1995 and the ALBAC was found to be highly reliable and can be easily operated to carry out the mission to measure the profile of scientific data.]]></description>
      <pubDate>Wed, 12 Mar 1997 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/479504</guid>
    </item>
    <item>
      <title>PASSIVE RECOVERY OF SCENE GEOMETRY FOR AN UNMANNED GROUND VEHICLE</title>
      <link>https://trid.trb.org/View/465459</link>
      <description><![CDATA[The goal of this project was to develop techniques for constructing three-dimensional descriptions of outdoor scenes to support the navigational needs of an Unmanned Ground Vehicle (UGV), operating both during the day and at night.  In this report we describe our progress in four areas: stereo evaluation; scene sketch; spatiotemporal filtering; and FLIR stereo.]]></description>
      <pubDate>Mon, 25 Nov 1996 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/465459</guid>
    </item>
    <item>
      <title>DEVELOPMENT OF SHUTTLE TYPE AUV "ALBAC" AND SEA TRIALS FOR OCEANOGRAPHIC MEASUREMENT</title>
      <link>https://trid.trb.org/View/467713</link>
      <description><![CDATA[The ALBAC designed by the authors and constructed in 1992 is a prototype of shuttle type autonomous underwater vehicle.  The ALBAC was developed for the oceanographic measurement of a water column on the way and from the seabed.  The vehicle does not have a propeller thruster but moves aside by gliding.  To carry out the mission, the software includes three simple fuzzy controllers for longitudinal and lateral motion.  The longitudinal motion controller displaces the longitudinal coordinate of the location of the centre of gravity and controls the gliding angle, respectively of the vehicle. Two lateral motion controllers also displace the lateral coordinate of the centre of gravity and control azimuth and yaw rate.  The parameters of the fuzzy rules were optimised by using the Evolution Strategies on the simulator, and examined based on the motion data of every trial.  Sea trails at 300m depth were successfully conducted in 1995 and the ALBAC was found to be highly reliable and can be easily operated to carry out the mission to measure the profile of scientific data.]]></description>
      <pubDate>Mon, 04 Nov 1996 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/467713</guid>
    </item>
    <item>
      <title>THE COMBI-ROAD CONTROL SYSTEM</title>
      <link>https://trid.trb.org/View/462159</link>
      <description><![CDATA[Combi-Road is a container transport system in which unmanned vehicles go continuously but separately along specially designed tracks keeping a set distance from each other.  Each unmanned vehicle is electrically powered and pulls a railway wagon or a (semi-) trailer along the track.  Depending on the previous and onward routes of the container, its carrier is selected to prevent a break in the connection to road or rail transport. Combi-Road offers a light track construction, low noise levels, and a low environmental impact.  Combi-Road needs to be fitted with an advanced automatic control system, because the vehicles will be unmanned.  This automatic control system will manage the entire transportation process, including the processing of customer orders, trip planning, traffic control, and the exchange on the interchange points.  In addition, it will contain all necessary fault detection and management functions.  This paper will focus on the system design, the first prototypes, and the entire development process.  The Combi-Road concept could be applied anywhere that container flows need to be transported for short or medium distances.  The first track of 43 km is projected in the Rotterdam area in the Netherlands and is planned to be operational in 2004.  Before this first track can be constructed, the completely new Combi-Road concept has to be tested in practice using a 2-km pilot track starting in 1996.  Initial small scale trials will begin in late 1995.]]></description>
      <pubDate>Sat, 22 Jun 1996 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/462159</guid>
    </item>
    <item>
      <title>NEXT GENERATION OF UNDERWATER VEHICLES</title>
      <link>https://trid.trb.org/View/456962</link>
      <description><![CDATA[The author reports on a successful UK government/industry/academia program and its positive results in identifying unmanned underwater vehicle/remotely operated vehicle problems.]]></description>
      <pubDate>Wed, 27 Mar 1996 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/456962</guid>
    </item>
    <item>
      <title>THE DEVELOPMENT OF A REMOTE CONTROLLED MINESWEEPER</title>
      <link>https://trid.trb.org/View/456818</link>
      <description><![CDATA[The development and design of the unmanned minesweeper proved to be an excellent test case for a new and innovative design tool.  The design of this craft is relatively simple and straightforward in comparison with the design of a surface warship or submarine. Because of this it was possible to introduce a different design method or principle.  The applied design tool is QUAESTOR which is a program based on artificial intelligence techniques.  This paper deals with the general design aspects of unmanned minesweepers and focuses on the use of this new method.]]></description>
      <pubDate>Wed, 27 Mar 1996 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/456818</guid>
    </item>
    <item>
      <title>TECHNICAL CONSIDERATION ON THE CHOICE OF VELOCITY SENSING SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLE</title>
      <link>https://trid.trb.org/View/455564</link>
      <description><![CDATA[The success of navigation control during the transit stage of an autonomous underwater vehicle (AUV) depends on the accuracy in relative ground speed measurement by means of a velocity sensor. Since an AUV is a small but delicate craft with good manoeuvrability in three degrees of freedom, the velocity sensor mounted should be small, light, with low power consumption and capable of withstanding motions and accelerations of the vehicle.  A comparison of their suitability for a ROV was made between Doppler Velocity Log (DVL) and Correlation Velocity Log (CVL).  The CVL was found to be suitable.  Based on error analysis, parametric studies on transduced design band width, array, and adaptive filter, correlation is made and a schematic diagram of a velocity sensing system for an AUV is presented.]]></description>
      <pubDate>Mon, 04 Mar 1996 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/455564</guid>
    </item>
    <item>
      <title>VEHICLE MANAGEMENT SYSTEM FOR OPERATING MULTIPLE VEHICLES</title>
      <link>https://trid.trb.org/View/455995</link>
      <description><![CDATA[Multiple vehicle operation (eg cooperative object search) using autonomous underwater vehicles is an expected paradigm for deep ocean survey and exploration.  In this paper, the system which consists of homogeneous vehicles is introduced to make a robust multiple vehicle system.  The vehicle control architecture is implemented in each member of the vehicles includes two decision making modules: one refers the individual environmental information obtained by its own sensors, and the other shares information received by other vehicles.  By separating the decision maker into these two modules, the mission operator can easily write programs for each vehicles behaviour to generate an appropriate total vehicles behaviour.  The performance of the vehicle's controlled by the proposed system is demonstrated on a multi-vehicle simulator, and the total behaviour shows that the vehicles generate a formation which has not been explicitly given.]]></description>
      <pubDate>Mon, 04 Mar 1996 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/455995</guid>
    </item>
    <item>
      <title>SAM II: THE SWEDISH-AMERICAN UNMANNED AIR CUSHION MINESWEEPER</title>
      <link>https://trid.trb.org/View/455453</link>
      <description><![CDATA[Sweden's Defence Material Administration and the US Navy are collaborating in the development of a new remotely controlled high speed air cushion minesweeper which will be equipped with acoustic, magnetic and UEP sweep gear and capable of being deployed and controlled from a variety of platforms in shallow waters.]]></description>
      <pubDate>Mon, 04 Mar 1996 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/455453</guid>
    </item>
    <item>
      <title>NAVY UUVS FOR TODAY AND TOMORROW</title>
      <link>https://trid.trb.org/View/440345</link>
      <description><![CDATA[Unmanned undersea vehicles developed at the Naval Ocean Systems Center, San Diego to fulfil the U.S. Navy's search, recovery, emplacement, inspection and observation missions are described.]]></description>
      <pubDate>Mon, 14 Aug 1995 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/440345</guid>
    </item>
    <item>
      <title>A CONCEPT EXPLORATION MODEL FOR INITIAL DESIGN OF AUTONOMOUS UNDERWATER VEHICLES</title>
      <link>https://trid.trb.org/View/438162</link>
      <description><![CDATA[A concept exploration model is an automated approach to producing balanced vehicle solutions. This paper describes the structure of such a computer model designed for the synthesis of simple Autonomous Underwater Vehicles. The required input data and the options available within the program are described. The techniques employed to calculate the weights and volumes of all the component subsystems are outlined and the means of ensuring design balance is explained. Sample program output is provided, together with typical results which illustrate the ability of the model to quantify the effects of altered design requirements on vehicle characteristics.]]></description>
      <pubDate>Mon, 14 Aug 1995 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/438162</guid>
    </item>
    <item>
      <title>SUBSEA WELL CAPPING SYSTEM DEVELOPED</title>
      <link>https://trid.trb.org/View/432448</link>
      <description><![CDATA[A subsea well capping technique incorporating metal-to-metal seals has been developed for blowing wells with damaged casing below the water.  The unit can be installed using remotely operated vehicles (ROVs) or specially-developed tooling systems. Depending on individual well and safety considerations, diver installation is also an option.]]></description>
      <pubDate>Mon, 14 Aug 1995 00:00:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/432448</guid>
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