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Papers by Austin Morock
NODYCON Conference Proceedings Series, 2021
Technological development within the domain of autonomous driving systems remains an important ar... more Technological development within the domain of autonomous driving systems remains an important area of focus for government, industry, and academia. Large corporations are continuing research and development in unmanned delivery platforms; this technology holds the potential to substantially decrease costs and increase efficiency in supply chain management. For the military, autonomous systems show the potential to increase capability and improve Soldier safety. The West Point Autonomous Vehicle Research and Design (AVRAD) team developed an autonomous system, capable of competing in the 2020 Intelligent Ground Vehicle Competition (IGVC)--Self Drive Competition. IGVC leadership decided to cancel the 202 IGVC due to the COVID-19 pandemic. However, for the past 27 years, this international competition challenged teams to think creatively about evolving technologies of vehicle sensors, robotics, and system integration. During the event, teams race their autonomous systems through a cour...
Nonlinear Dynamics and Control
A control strategy for stabilization of single-point sling loads and hoists is proposed. Nonlinea... more A control strategy for stabilization of single-point sling loads and hoists is proposed. Nonlinear oscillations of an elastically suspended mass are described by a suitable nonlinear dynamic model that incorporates delayed position feedback for active stabilization of both sling loads and hoist. Helicopter maneuvers are described by assigned trajectories of the mass suspension point to model oscillations of the payload. For the sling load case, stability analysis is performed to estimate optimal control gains. For the hoist case, a genetic algorithm is adopted to estimate optimal control parameters. The controlled system is simulated via time integration of the nonlinear equations of motion.
This research proposes an interdisciplinary collaboration to improve hoist stabilization for medi... more This research proposes an interdisciplinary collaboration to improve hoist stabilization for medical evacuation and successful rescues. This paper would include the collaborative efforts from a diverse range of fields to include Systems Engineering, Mechanical Engineering, Physics, and the Special Collections & Archives Division of the United States Military Academy Library. The research objective of this effort is to create an algorithm which could limit the displacement angle of a suspended individual below a helicopter. This would be accomplished by changing the relative length of the cable at different points within the swing of the slung mass. This could all be done while reeling in the hoisted individual to the helicopter by changing the rate at which the hoist is lessening its cable. Elements of the mathematical principles that this research is built on are illustrated through Edgar Allen Poe’s application of the pendulum in his short story “The Pit and the Pendulum”. Poe was...
NODYCON Conference Proceedings Series, 2021
Technological development within the domain of autonomous driving systems remains an important ar... more Technological development within the domain of autonomous driving systems remains an important area of focus for government, industry, and academia. Large corporations are continuing research and development in unmanned delivery platforms; this technology holds the potential to substantially decrease costs and increase efficiency in supply chain management. For the military, autonomous systems show the potential to increase capability and improve Soldier safety. The West Point Autonomous Vehicle Research and Design (AVRAD) team developed an autonomous system, capable of competing in the 2020 Intelligent Ground Vehicle Competition (IGVC)--Self Drive Competition. IGVC leadership decided to cancel the 202 IGVC due to the COVID-19 pandemic. However, for the past 27 years, this international competition challenged teams to think creatively about evolving technologies of vehicle sensors, robotics, and system integration. During the event, teams race their autonomous systems through a cour...
Nonlinear Dynamics and Control
A control strategy for stabilization of single-point sling loads and hoists is proposed. Nonlinea... more A control strategy for stabilization of single-point sling loads and hoists is proposed. Nonlinear oscillations of an elastically suspended mass are described by a suitable nonlinear dynamic model that incorporates delayed position feedback for active stabilization of both sling loads and hoist. Helicopter maneuvers are described by assigned trajectories of the mass suspension point to model oscillations of the payload. For the sling load case, stability analysis is performed to estimate optimal control gains. For the hoist case, a genetic algorithm is adopted to estimate optimal control parameters. The controlled system is simulated via time integration of the nonlinear equations of motion.
This research proposes an interdisciplinary collaboration to improve hoist stabilization for medi... more This research proposes an interdisciplinary collaboration to improve hoist stabilization for medical evacuation and successful rescues. This paper would include the collaborative efforts from a diverse range of fields to include Systems Engineering, Mechanical Engineering, Physics, and the Special Collections & Archives Division of the United States Military Academy Library. The research objective of this effort is to create an algorithm which could limit the displacement angle of a suspended individual below a helicopter. This would be accomplished by changing the relative length of the cable at different points within the swing of the slung mass. This could all be done while reeling in the hoisted individual to the helicopter by changing the rate at which the hoist is lessening its cable. Elements of the mathematical principles that this research is built on are illustrated through Edgar Allen Poe’s application of the pendulum in his short story “The Pit and the Pendulum”. Poe was...