• AI on Digital Twin of Facility Captured by Reality Scans

    Abstract: The power of artificial intelligence (AI) coupled with optimization algorithms can be linked to data-rich digital twin models to perform predictive analysis to make better informed decisions about installation operations and quality of life for the warfighters. In the current research, we developed AI connected lifecycle building information models through the creation of a data informed smart digital twin of one of US Army Corps of Engineers (USACE) buildings as our test case. Digital twin (DT) technology involves creating a virtual representation of a physical entity. Digital twin is created by digitalizing data collected through sensors, powered by machine learning (ML) algorithms, and are continuously learning systems. The exponential advance in digital technologies enables facility spaces to be fully and richly modeled in three dimensions and can be brought together in virtual space. Coupled with advancement in reinforcement learning and computer graphics enables AI agents to learn visual navigation and interaction with objects. We have used Habitat AI 2.0 to train an embodied agent in immersive 3D photorealistic environment. The embodied agent interacts with a 3D environment by receiving RGB, depth and semantically segmented views of the environment and taking navigational actions and interacts with the objects in the 3D space. Instead of training the robots in physical world we are training embodied agents in simulated 3D space. While humans are superior at critical thinking, creativity, and managing people, whereas robots are superior at coping with harsh environments and performing highly repetitive work. Training robots in controlled simulated world is faster and can increase their surveillance, reliability, efficiency, and survivability in physical space.
  • John L. Primavera inducted into Senior Executive Service

    The 55th Chief of Engineers Lt. Gen. Scott A. Spellmon hosted a Senior Executive Service induction ceremony for U.S. Army Corps of Engineers, North Atlantic Division Regional Director of Business John L. Primavera at the Fort Hamilton Community Club in Brooklyn, New York, Nov. 7.
  • Environmental Monitoring of Munitions Constituents During a Demonstration of the Underwater Cut-and-Capture System Demilitarization Technology

    PURPOSE: The presence of underwater military munitions (UWMM) in aquatic environments may present explosive blast risks and potentially affect the environment because of the release of munitions constituents (MC). Therefore, in situ demilitarization of UWMM is highly desirable. This technical note presents the results of environmental monitoring measuring water and sediment contamination resulting from the demonstration of an in situ technology that uses high-pressure water jets to render UWMM safe.
  • Maintenance dredging contract award: Back Sound to Look Out Bight

    WILMINGTON, N.C. - The Wilmington District awarded a $6,898,500 contract to Next Generation Logistics, to provide maintenance dredging of the Back Sound to Lookout Bight Federal Navigation Channel and adjacent National Park Service Channels servicing the Cape Lookout National Seashore on 7 November 2023.
  • Leveraging MOVEit for Object Inspection in Simulation

    Abstract: Herein we evaluate using a robotic arm with an attached camera to investigate objects of interest in simulation. Specifically, a Husky unmanned ground vehicle with a Panda Powertool was used in the simulation. The code enabled an operator to initiate a preconfigured set of motions when an object of interest was identified. The scan was stored in a database file that was used to generate a 3D mesh of the scanned object. The report describes both setting up the simulation and the code used to scan objects of interest.
  • American Sign Language (ASL) Lunch and Learn

    Fred Miller, case manager for the deaf with the Alabama Institute for Deaf and Blind (AIDB), demonstrates a sign during an American Sign Language (ASL) Lunch and Learn at the U.S. Army Corps of Engineers, Mobile District headquarters building in Mobile, Alabama, Nov. 7, 2023
  • Increasing the Degrees of Freedom on a Robot Arm

    Abstract: This report provides an implementation of the moveit-commander Python module to generate trajectories for custom six– and seven–degrees of freedom (DoF) arms. The moveit_setup_assistant package was used to modify an existing five-DoF OpenManipulator-X model to increase its range of motion. Specifically, additional joints were fabricated and mounted to the physical arm. Also, the Unified Robot Description Format files were modified to account for the additional joints. In order to optimize the solvers, many changes to the MOVEit configuration files were made. The changes documented in this report lay the groundwork for leveraging MOVEit to expand the capabilities of low-DoF arms.
  • Integrating MOVEit Motion Constraints on a Novel Robotic Manipulator

    Abstract: MOVEit, a widely used Robot Operating System framework, plans composite tasks, where the high-level sequence of actions is fixed and known in advance. However, these tasks need to be tailored and adapted to the environmental context. This framework uses custom trajectory planners, known as controllers, to solve goals that are fully defined within the configuration space. Libraries, such as the Open Motion Planning Library, provide a collection of motion planners that can solve task-space goals. An exact spatial and joint replication of the robotic manipulator’s mechanics, typically Universal Robot Description Format and Semantic Robot Description Format files, is required. Common arms such as the Panda-Manipulator and OpenMANIPULATOR-X provide these files in their respective public repositories, but custom arms require significant modification or even a complete rewrite of these files.
  • Fort Riley German POW Stonework Historic Context and National Register of Historic Places (NRHP) Evaluation

    Abstract: This project provides a historic context for the German prisoner-of-war (POW) experience at Fort Riley, Kansas, and an inventory of stonework features constructed using POW labor during World War II (WWII). The purpose of this historic context and inventory is to determine the stone-work’s eligibility for listing in the National Register of Historic Places (NRHP). Based on the historic context and inventory, researchers for this project have determined that there is a potential noncontiguous historic district at Fort Riley. This “German POW Stonework Historic District” at Fort Riley is composed of three linear segments: one concentrated around a stone drainage ditch at Camp Forsyth, one concentrated on a series of stone check dams at Camp Whitside, and one concentrated on a stone levee ditch and culvert at Camp Funston. Additionally, researchers have determined that 12 additional stonework features outside the proposed historic district boundaries are potentially eligible for the NRHP. These include a stone vehicular culvert at Camp Forsyth and four drainage gutters within Fort Riley’s main cantonment

    The public is hereby notified of the availability of the draft Detailed Project Report and Environmental Assessment (DPR-EA) and draft Finding of No Significant Impact (FONSI) for the Stump Creek, Little Rock, AR (Pulaski County) study. A 30-day public comment period begins on November 13, 2023, and ends December 13, 2023.