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Donald P. Brutzman
Curriculum Vitaehttp://web.nps.navy.mil/~brutzman/vita.html
Code UW/Br, Naval Postgraduate School
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1992: Master of Science in Computer Science, Naval Postgraduate School, Monterey California. Thesis title: "Integrated Simulator for an Autonomous Underwater Vehicle." Received Superintendent's Superior Service award.
1983: Qualified as Nuclear Engineer aboard nuclear-powered submarines, Naval Reactors Bureau, U.S. Navy, Washington D.C.
1978: B.S.E.E. in Electrical Engineering, U.S. Naval Academy, Annapolis Maryland.
1992-1994: Instructor in Operations Research Department, Naval Postgraduate School.
Don Brutzman and Timothy Childs, guest editors, "Web3D Roundup: Looking Backwards and Forwards," special issue COMPUTER GRAPHICS, Association of Computing Machinery (ACM) Special Interest Group on Graphics (SIGGRAPH), to appear June 2000.
Brutzman, Donald P., Whitfield, Martin L., Evans, Mark T., Jezek, Robert J., Jr. and Hand, Christopher E., "Design of a Low-Cost Torpedo Countermeasure Based on a Digital Signal Processor (DSP) (U)," Journal of Underwater Acoustics, to be published 2000.
Deltheil, Caroline, Leandri, Didier, Hospital, Eric and Brutzman, Donald P., "Simulating an Optical Guidance System for the Recovery of an Unmanned Underwater Vehicle," IEEE Journal of Oceanic Engineering, to be published 2000. Available at web.nps.navy.mil/~auv/OpticalGuidanceSimulationJOE99.pdf
Rhyne, Theresa-Marie, Barton, Bob, Macedonia, Mike and Brutzman, Don, "Beyond Bottlenecks and Roadblocks: Internetworked Computer Graphics," SIGGRAPH/SIGCOMM 97, SIGGRAPH 98, SIGGRAPH 99 and SIGGRAPH 2000 tutorial. Available at www.crcg.edu/events/sig98/course.html
Oliveira, Manuel, Crowcroft, Jon, Slater, Mel and Brutzman, Don, "Components for Distributed Virtual Environments," ACM Symposium on Virtual Reality Science and Technology (VRST 99), University College London (UCL), London England, December 20-22 1999, pp. 176-177.
Brutzman, Don, "The Virtual Reality Modeling Language and Java," Communications of the ACM, vol. 41 no. 6, June 1998, pp. 57-64. Available at web.nps.navy.mil/~brutzman/vrml/vrmljava.pdf
Brutzman, Donald P., Eugene Chan, Mark Evans, Timothy Holliday, Michael Huck, Robert Jezek, BinBing Ma, Steve Murley, Ronald Toland, Young Yee, Minefield Search Tactic Evaluation using 4 Autonomous Manta UUVs, Symposium on Technology and The Mine Problem, Naval Postgraduate School, Monterey California, April 6-10 1998.
Brutzman, Don, Healey, Tony, Marco, Dave and McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," chapter 13, AI-Based Mobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy, MIT/AAAI Press, Cambridge Massachusetts, 1998. Available at web.nps.navy.mil/~brutzman/aimr.pdf
Brutzman, Don, "Graphics Internetworking: Bottlenecks and Breakthroughs," chapter four, Digital Illusions, Clark Dodsworth editor, Addison-Wesley, Reading Massachusetts, August 1997. Available at web.nps.navy.mil/~brutzman/vrml/breakthroughs.html (.pdf)
Rhyne, Theresa-Marie, Brutzman, Don and Macedonia, Michael, "Internetworked Graphics and the Web," IEEE COMPUTER, vol. 30 no. 8, August 1997, pp. 99-101. Available at web.nps.navy.mil/~brutzman/vrml/InternetworkedGraphicsAndTheWeb.pdf
Brutzman, Don, Zyda, Mike, Watsen, Kent and Macedonia, Mike, "virtual reality transfer protocol (vrtp) Design Rationale," Workshops on Enabling Technology: Infrastructure for Collaborative Enterprises (WET ICE): Sharing a Distributed Virtual Reality, Massachusetts Institute of Technology, Cambridge Massachusetts, June 18-20 1997. Available at web.nps.navy.mil/~brutzman/vrtp_design.ps with slides at vrtp_design.slides.ps. More information is available via the vrtp page.
Brutzman, Don, Brauns, Bryan, Fleischman, Paul, Lesperance, Tony, Roth, Brian and Young, Forrest, "Evaluation of AUV Search Tactics for Rapid Minefield Traversal using Analytic Simulation and a Virtual World," Symposium on Technology and the Mine Problem, Mine Warfare Association, Naval Postgraduate School, Monterey California, November 18-21 1996. Available at web.nps.navy.mil/~auv/simulation/mcm96.ps with software and results available at web.nps.navy.mil/~auv/simulation/
Storms, Russel, Biggs, Lloyd, Cockayne, William, Barham, Paul, Falby, John, Brutzman, Don and Zyda, Michael, "The NPS Auralization and Acoutics Laboratory," Proceedings of the International Conference of Auditory Displays (ICAD), Palo Alto California, November 1996.
Brutzman, Don, Zyda, Mike and Macedonia, Mike, "Cyberspace Backbone (CBone) Design Rationale," 15th DIS Workshop on Standards for the Interoperability of Distributed Simulations, Institute for Simulation and Training, Orlando Florida, September 16-20 1996, paper 96-15-99. Available at web.nps.navy.mil/~brutzman/CBoneDIS.ps with slides in PostScript and PowerPoint format.
Brutzman, Don, Pesce, Mark, Bell, Gavin, van Dam, Andy and AbiEzzi, Salim, "VRML: Prelude and Future," Proceedings, Association for Computing Machinery (ACM) Special Interest Group on Computer Graphics (SIGGRAPH 96), New Orleans Lousiana, August 4-9 1996. Available at web.nps.navy.mil/~brutzman/vrml/siggraph96panel.html
Wheless, Glen H., Lascara, Cathy M., Valle-Levinson, Arnoldo, Brutzman, Donald P., Sherman, William, Hibbard, William L. and Paul, Brian E., "Virtual Chesapeake Bay: Interacting with a Coupled Physical/Biological Model," IEEE Computer Graphics and Applications, vol. 16 no. 4, July 1996, pp. 52-57.
Brutzman, Don, Burns, Mike, Campbell, Mike, Davis, Duane, Healey, Tony, Holden, Mike, Leonhardt, Brad, Marco, Dave, McClarin, Dave, McGhee, Bob and Whalen, Russ, "NPS Phoenix AUV Software Integration and In-Water Testing," IEEE Oceanic Engineering Society Conference AUV 96, Monterey California, June 3-6 1996. Available at ftp://taurus.cs.nps.navy.mil/pub/auv/auv96.ps
Brutzman, Don, "Tutorial: Virtual World for an Autonomous Underwater Vehicle (AUV)," IEEE Oceanic Engineering Society Conference AUV 96, Monterey California, June 3-6 1996. Available at web.nps.navy.mil/~auv/uvw_tutorial.html
Cockayne, William, Zyda, Michael, Barham, Paul, Brutzman, Don and Falby, John, "The Laboratory for Human Interaction in the Virtual Environment," Proceedings of VRST 96, Hong Kong, ACM Press. Available at http://www.npsnet.nps.navy.mil/npsnet/publications/VRST_HIVE_Review.pdf
Stone, Steve, Zyda, Mike, Brutzman, Don and Falby, John, "Mobile Agents and Smart Networks for Distributed Simulations," 14th DIS Workshop on Standards for the Interoperability of Distributed Simulations, Institute for Simulation and Training, Orlando Florida, March 11-15 1996, paper 96-14-133, pp. 909-917. Available at www.npsnet.nps.navy.mil/npsnet/publications/Mobile.Agents.and.Smart.Networks.for.Distributed.Simulations.pdf
Wheless, Glen H., LaScara, Cathy M., Valle-Levison, Arnaldo, Brutzman, Donald P., Sherman, William, Hibbard, William L. and Paul, Brian E., "Chesapeake Bay Virtual Ecosystem Model (CBVEM): initial results from the prototypical system," International Journal of Supercomputer Applications, Sage Science Press, vol. 10 no. 2/3, Summer/Fall 1996, pp. 199-210. Available at ftp://ftp.ccpo.odu.edu/pub/wheless/wheless_ijsa.tar
Brutzman, Donald P., Macedonia, Michael R. and Zyda, Michael J., "Internetwork Infrastructure Requirements for Virtual Environments," First Annual Symposium of the Virtual Reality Modeling Language (VRML 95), sponsored by ACM SIGGRAPH, San Diego California, December 14-15, 1995. Available at web.nps.navy.mil/~brutzman/vrml/vrml_95.ps with slides at web.nps.navy.mil/~brutzman/vrml/vrml_95.slides.ps
Wheless, Glen, LaScara, Cathy, Valle-Levison, Arnaldo, Brutzman, Don and Sherman, Bill, "Chesapeake Bay Virtual Ecosystem Model (CBVEM): Interacting with a Coupled Bio-Physical Simulation," IEEE/ACM Supercomputing 95, San Diego California, December 3-7 1995. Information available at www.ccpo.odu.edu/~wheless
Bible, Steven R., Zyda, Michael and Brutzman, Don, "Using Spread-Spectrum Ranging Techniques for Position Tracking in a Virtual Environment," Second IEEE Workshop on Networked Realities, Boston Massachusetts, October 26-28 1995. Available at www.npsnet.nps.navy.mil/npsnet/publications/NR95-Paper-Bible.ps.Z
Brutzman, Don, "Virtual World Visualization for an Autonomous Underwater Vehicle," Proceedings of the IEEE Oceanic Engineering Society Conference OCEANS 95, San Diego California, October 12-15 1995, pp. 1592-1600. Available at ftp://taurus.cs.nps.navy.mil/pub/auv/oceans95.ps.Z
Macedonia, Michael R., Zyda, Michael J., Pratt, David R., Brutzman, Donald P., and Barham, Paul T., "Exploiting Reality with Multicast Groups," IEEE Computer Graphics and Applications, vol. 15 no. 5, September 1995, pp. 38-45. Available at www.npsnet.nps.navy.mil/npsnet/publications/IEEECGA.ps.Z
Brutzman, Don and Reimers, Stephen, "Internet Protocol over Seawater (IP/SW): Towards Interoperable Underwater Networks," Ninth International Symposium on Unmanned Untethered Submersible Technology (UUST) 95, University of New Hampshire, Durham New Hampshire, September 25-27 1995, pp. 444-457. Available at ftp://taurus.cs.nps.navy.mil/pub/auv/ipoversw.ps
Brutzman, Donald P., "Remote Collaboration with Monterey Bay Educators," Interactive Communities Visual Proceedings, Association for Computing Machinery (ACM) Special Interest Group on Computer Graphics (SIGGRAPH 95), Los Angeles California, August 7-11 1995, p. 145.
Brutzman, Donald P., "Networked Ocean Science Research and Education, Monterey Bay California," INET 95: Fifth Annual Conference of the Internet Society, Honolulu Hawaii, June 27-30 1995. Available at www.isoc.org/HMP/PAPER/039/abst.html and ftp://taurus.cs.nps.navy.mil/pub/i3laisoc.html
Bailey, Michael P. and Brutzman, Donald P., "The NPS Platform Foundation," Proceedings of the Ninth European Simulation Multiconference, Prague, Czech Republic, June 5-7 1995. Available at web.nps.navy.mil/~brutzman/eurofnd.ps
Brutzman, Donald P., Macedonia, Michael R. and Zyda, Michael J., "Internetwork Infrastructure Requirements for Virtual Environments," White Papers - The Unpredictable Certainty - Information Infrastructure through 2000, NII 2000 Steering Committee, Computer Science and Telecommunications Board, National Research Council, National Academy Press, Washington DC, 1997. Invitational workshop held May 23-24 1995. Available at ftp://taurus.cs.nps.navy.mil/pub/auv/brutzman/nii_2000.ps.Z or nii_2000.txt
Macedonia, Michael R., Brutzman, Donald P., Zyda, Michael J., Pratt, David R., Barham, Paul T., Falby, John and Locke, John, "NPSNET: Demonstration of a Multi-Player Virtual Environment Over the Internet," 1995 Symposium on Interactive 3D Graphics, Association for Computing Machinery (ACM) Special Interest Group on Computer Graphics (SIGGRAPH), Monterey California, April 10-12 1995. Available at ftp://taurus.cs.nps.navy.mil/pub/NPSNET_MOSAIC/macedonia.exploit.ps.Z
Macedonia, Michael R., Zyda, Michael J., Pratt, David R., Brutzman, Donald P., and Barham, Paul T., "Exploiting Reality with Multicast Groups: A Network Architecture for Large-Scale Virtual Environments," IEEE Virtual Reality Annual International Symposium (VRAIS), Research Triangle Park, North Carolina, March 11-15 1995.
Brutzman, Donald P., A Virtual World for an Autonomous Underwater Vehicle, Ph.D. Dissertation, Naval Postgraduate School, Monterey California, December 1994. Available at web.nps.navy.mil/~brutzman/dissertation/
Brutzman, Donald P., Software Reference: A Virtual World for an Autonomous Underwater Vehicle, technical report NPS-CS-010-94, Naval Postgraduate School, Monterey California, December 1994. The accompanying public electronic distribution of this reference includes source code and executable programs. Available at web.nps.navy.mil/~auv/software_reference.html
Brutzman, Donald P., "A Virtual World for an Autonomous Underwater Vehicle," Visual Proceedings, Association for Computing Machinery (ACM) Special Interest Group on Computer Graphics (SIGGRAPH) 94, Orlando Florida, July 24-29, 1994, pp. 204-205.
Rhyne, Theresa Marie, Brett, George, Brutzman, Don, Cox, Donna J. and Santos, Adelino, "Exploiting Networks for Visualization and Collaboration: No Network Roadblocks?," discussion panel, Association for Computing Machinery (ACM) Special Interest Group on Computer Graphics (SIGGRAPH) 94, Orlando Florida, July 24-29, 1994, pp. 481-482.
Healey, A.J., Marco, D.B., McGhee, R.B., Brutzman, D.P., Cristi, R., Papoulias, F.A., and Kwak, S.H. "Tactical/Execution Level Coordination for Hover Control of the NPS AUV II using Onboard Sonar Servoing," Proceedings of the IEEE Oceanic Engineering Society Conference Autonomous Underwater Vehicles (AUV) 94, Cambridge Massachusetts, July 19-20, 1994, pp. 129-138.
Macedonia, Michael R. and Brutzman, Donald P., "MBone Provides Audio and Video Across the Internet," IEEE COMPUTER, vol. 27 no. 4, April 1994, pp. 30-36. Available at ftp://taurus.cs.nps.navy.mil/pub/i3la/mbone.html, mbone.pdf, mbone.ps
Brutzman, Donald P., "Beyond intelligent vacuum cleaners," American Association for Artificial Intelligence (AAAI) Fall Symposium on Applications of Artificial Intelligence for Instantiating Real-World Agents, Raleigh, North Carolina, October 22-24, 1993, pp. 23-25. Available at ftp://taurus.cs.nps.navy.mil/pub/auv/aaai93ws.ps.Z
Brutzman, Donald P., "From virtual world to reality: designing an autonomous underwater robot," American Association for Artificial Intelligence (AAAI) Fall Symposium on Applications of Artificial Intelligence to Real-World Autonomous Mobile Robots, Cambridge, Massachusetts, October 23-25, 1992, pp. 18-22. Available at ftp://taurus.cs.nps.navy.mil/pub/auv/aaai92ws.ps.Z
Brutzman, Donald P., Compton, Mark A. and Kanayama, Yutaka, "Autonomous Sonar Classification using Expert Systems," Proceedings of the IEEE Oceanic Engineering Society Conference OCEANS 92, Newport, Rhode Island, October 26-29, 1992, pp. 554-559. Available at ftp://taurus.cs.nps.navy.mil/pub/auv/oceans92.ps.Z
Brutzman, Donald P., Kanayama, Yutaka, and Zyda, Michael J., "Integrated Simulation for Rapid Development of Autonomous Underwater Vehicles," Proceedings of the IEEE Oceanic Engineering Society Conference Autonomous Underwater Vehicles (AUV) 92, Washington DC, June 2-3, 1992, pp. 3-10. Available at ftp://taurus.cs.nps.navy.mil/pub/auv/auv92.ps.Z
Brutzman, Donald P., NPS AUV Integrated Simulator, Master's Thesis, Naval Postgraduate School, Monterey, California, March 1992. Includes video appendix and software.
Badr, Salah M., Byrnes, Ronald B., Brutzman, Donald P. and Nelson, Michael L., Real-Time Systems, technical report NPS-CS-92-004, Naval Postgraduate School, Monterey, California, February 1992. Available at ftp://taurus.cs.nps.navy.mil/pub/auv/realtime.ps.Z
Brutzman, Donald P. and Compton, Mark A., "AUV Research at the Naval Postgraduate School," Sea Technology, vol. 32 no. 12, December 1991, pp. 35-40.
Papers are available via anonymous ftp from ftp://taurus.cs.nps.navy.mil/pub/auv/ or on request.
Brutzman, Donald P. and Holden, Michael J., editors, Video Proceedings of the IEEE Oceanic Engineering Society (OES) Autonomous Underwater Vehicles 1996, Naval Postgraduate School, Monterey California, June 3-6 1996. Program available at web.nps.navy.mil/~auv/auv96_video.html
Healey, Tony, Marco, Dave, Brutzman, Don and Davis, Duane, "Phoenix AUV In-Water Tests with Virtual World Design," Video Proceedings of the IEEE Oceanic Engineering Society 1996, Naval Postgraduate School, Monterey California, June 3-6 1996. Program available at web.nps.navy.mil/~auv/auv96_video.html#phoenix
Brutzman, Donald P., editor, Video Proceedings of the IEEE Oceanic Engineering Society 1994 Autonomous Underwater Vehicle Conference, Charles Stark Draper Laboratories, Cambridge Massachusetts, July 19-20 1994. Includes two self-produced video segments: "A Virtual World for an Autonomous Underwater Vehicle" and "MBone: Multicast Backbone Audio/Video Tools for International Collaboration." Program available at ftp://taurus.cs.nps.navy.mil/pub/auv/auv94video.ps or auv94video.txt
Brutzman, Donald P., editor., Video Proceedings of the Eighth International Symposium on Unmanned Untethered Submersible Technology, University of New Hampshire, Durham New Hampshire, September 27-29 1993. Program available at ftp://taurus.cs.nps.navy.mil/pub/auv/uust93video.ps.Z or uust93video.txt
Brutzman, Donald P., Floyd, Charles A. and Whalen, Russell, "Naval Postgraduate School Autonomous Underwater Vehicle," Video Proceedings of the IEEE International Conference on Robotics and Automation 1992, Nice, France, May 1992.
Evans, Mark T. and Jezek, Robert J. Jr., Testing and Development of a Low-Cost, Digital Signal Processor (DSP)-Based Torpedo Countermeasure (U), Master's Thesis, Naval Postgraduate School, Monterey California, September 1998.
Holliday, Timothy, Real-Time 3D Sonar Modeling and Visualization, Master's Thesis, Naval Postgraduate School, Monterey California, June 1998.
Kevin M. Byrne, Real-Time Modeling of Cross-Body Flow For Torpedo Tube Recovery of the Phoenix AUV, Master's Thesis, Naval Postgraduate School, Monterey California, March 1998.
Harrison, M. Jordan, Surface Ship Sensor Employment against Diesel Submarines, Master's Thesis, Naval Postgraduate School, Monterey California, March 1998. Principal advisor CAPT Wayne Hughes USN (Ret.), second reader RADM J.J. Ekelund Jr. USN (Ret.). Runner up for the Military Operations Research Society (MORS) Stephen A. Tisdale Award for outstanding thesis work.
Glover, Mark P.,Internetworking: Distance Learning "To Sea" via Desktop Videoconferencing Tools and IP Multicast Protocols, Master's Thesis, Naval Postgraduate School, Monterey California, March 1998. Primary advisor Rex Buddenberg. Available at web.nps.navy.mil/~seanet/Distlearn/cover.htm
Young, Forrest C., Phoenix Autonomous Underwater Vehicle (AUV): Networked Control of Multiple Analog and Digital Devices using LONTALK, Master's Thesis, Naval Postgraduate School, Monterey California, December 1997.
McNeal, William B., Simulation of the Autonomous Combat Systems Robot Optical Detection System, Master's Thesis, Naval Postgraduate School, Monterey California, December 1997. Co-advisor Gordon Schacher.
Jones, Doreen M., Robot Wars Simulation, Master's Thesis, Naval Postgraduate School, Monterey California, June 1997. Co-advisor Gordon Schacher.
Whitfield, Martin L., Low-cost Digital Signal Processor (DSP) Based Torpedo Countermeasure with Autonomous Target Motion Analysis, Master's Thesis, Naval Postgraduate School, Monterey California, June 1997.
Davis, Duane Thomas, Precision Maneuvering and Control of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube, Master's Thesis, Naval Postgraduate School, Monterey California, September 1996. Received Rear Admiral Grace Murray Hopper Computer Science Award. Available at www.cs.nps.navy.mil/research/auv/thesispages/davis/abstract.html
Burns, Michael, Merging Virtual and Real Execution Level Software for the Phoenix Autonomous Underwater Vehicle, Master's Thesis, Naval Postgraduate School, Monterey California, September 1996. Available at www.cs.nps.navy.mil/research/auv/thesispages/burns/abstract.html
Cummiskey, James C., Internetworking: The Interoperability of Commercial Mobile Computers with the USMC Digital Automated Communications Terminal, Master's Thesis, Naval Postgraduate School, Monterey California, September 1996. Available at www.mbay.net/~jccummis/thesis/TableOfContents.htm
Courtney, Dale Michael, Internetworking: NPS ATM LAN, Master's Thesis, Naval Postgraduate School, Monterey California, September 1996. Available at web.nps.navy.mil/~iirg/courtney/
Dennis, Ronald Michael, Internetworking: Integrating IP/ATM LAN/WAN Security, Master's Thesis, Naval Postgraduate School, Monterey California, September 1996. Available at web.nps.navy.mil/~iirg/dennis/
Edwards, Evan, Internetworking: Automated Local and Global Network Monitoring, Master's Thesis, Naval Postgraduate School, Monterey California, September 1996. Available at web.nps.navy.mil/~iirg/edwards/
Erdogan, Ridvan, Internetworking: Implementation of Multicasting and MBone over Frame Relay Networks, Master's Thesis, Naval Postgraduate School, Monterey California, September 1996. Available at web.nps.navy.mil/~iirg/erdogan/
Mihlon, Lauren, Internetworking: Multicast Videoteleconferencing over ISDN, Master's Thesis, Naval Postgraduate School, Monterey California, September 1996.
Tamer, Murat, Internetworking: Multicast and ATM Network Prerequisites for Distance Learning, Master's Thesis, Monterey California, June 1996. Available at web.nps.navy. mil/~iirg/tamer/
Tiddy, Michael E., Internetworking: Economical Storage and Retrieval of Digital Audio and Video for Distance Learning, Master's Thesis, Monterey California, June 1996. Available at web.nps.navy.mil/~iirg/tiddy/
Nierle, James E., Internetworking: Technical Strategy for Implementing the Next Generation Internet Protocol (IPv6) in the Marine Corps Tactical Data Network, Master's Thesis, Monterey California, June 1996. Available at web.nps.navy.mil/~jenierle/thesis.html
Stone, Steven Walter, A Rapidly Reconfigurable, Application Layer, Virtual Environment Network Protocol, Master's Thesis, Naval Postgraduate School, Monterey California, June 1996. Available at www.npsnet.nps.navy.mil/npsnet/publications/steven.stone.thesis.ps.Z
Leonhardt, Bradley J., Mission Planning and Mission Control Software for the Phoenix Autonomous Underwater Vehicle (AUV): Implementation and Experimental Study, Master's Thesis, Naval Postgraduate School, Monterey California, March 1996. Available at www.cs.nps.navy.mil/research/auv
Campbell, Michael Scott, Real-Time Sonar Classification for Autonomous Underwater Vehicles, Master's Thesis, Naval Postgraduate School, Monterey California, March 1996. Received Rear Admiral Grace Murray Hopper Computer Science Award.
Bacon, Daniel Keith Jr., Integration of a Submarine into NPSNET, Master's Thesis, Naval Postgraduate School, Monterey California, September 1995. Available at www.npsnet.nps.navy.mil/npsnet
Emswiler, Tracey, Internetworking: Using the Multicast Backbone (MBone) for Distance Learning, Master's Thesis, Naval Postgraduate School, Monterey California, September 1995. Summary video available at ftp://taurus.cs.nps.navy.mil/pub/i3la/emswiler.qt.Z
Reimers, Stephen, Internet Protocol over Seawater (IP/SW): Forward Error Correction (FEC) using Hamming Codes for Reliable Acoustic Telemetry, Master's Thesis, Naval Postgraduate School, Monterey California, September 1995.
Trepanier, Dennis, Internetworking: Designing Network Information and Operations Services for Monterey BayNet, Master's Thesis, Naval Postgraduate School, Monterey California, September 1995.
Bigelow, Randall J., Internetworking: Planning and Implementing a Wide-Area Network (WAN) for K-12 Schools, Master's Thesis, Naval Postgraduate School, Monterey California, June 95. Describes in detail how local-area networks (LANs) and WANs were implemented to connect two dozen K-12 schools to the Internet. Available at web.nps.navy.mil/~rjbigelo
Hernandez, Lance, Analytical Simulation Evaluation of the Use of Global Positioning System (GPS) to Enhance P-3 Aircraft Tactical Capabilities, Master's Thesis, Naval Postgraduate School, Monterey, California, March 1994. Includes video appendix and employs public domain NPS Platform Foundation software.
Murphy, Robert, Tactical And Logistics Operations Simulator, Master's Thesis, Naval Postgraduate School, Monterey, California, September 1993. Includes video appendix and IBM PC software. The program, video and user's guide produced by this thesis are being used in the NPS Operational Logistics curriculum.
Served as reviewer or second reader on numerous theses and dissertations regarding the NPS AUV, the NPS Yamabico robot, computer graphics, and the NPS Platform Foundation discrete event simulation (DES) research project. Served as anonymous reviewer for IEEE Oceanic Engineering Society conferences OCEANS 94 and AUV 94, IEEE Robotics and Automation International Conference 1993, MIT Press journal PRESENCE: Teleoperators and Virtual Environments, and IEEE Software magazine. Technical chair for IEEE AUV 96.
NPSNET virtual battlefield research group, principal investigators Michael Zyda, David Pratt, Don Brutzman, Rudy Darken and Bob McGhee, extending virtual world concepts to networked robots and underwater domains using IEEE Distributed Interactive Simulation (DIS) network protocol and real-time 3D graphics using OpenInventor and the Virtual Reality Modeling Language (VRML).
Information Infrastructure Research Group (IIRG), principal investigator, performing a variety of implementation-based research projects on internetworking schools and the Navy using low-speed and high-speed network protocols. Objective: connecting everyone to everything.
Modeling, Virtual Environments and Simulation (MoVES) Curriculum The Modeling, Virtual Environments and Simulation (MOVES) Curriculum of the Naval Postgraduate School provides the MS and Ph.D. student both fundamental and specialized courses in applied visual simulation technology and the application of quantitative analyses to human-computer interaction in simulation technology. The MS program is a two year, eight quarter program whose core covers the fundamentals of computer science and human-computer interaction. These topics include object-oriented programming, artificial intelligence, software methodology, computer communications and networks, computer graphics, virtual worlds and simulation systems, probability, statistics, stochastic modeling, data analysis, and human performance evaluation.
Initiative for Information Infrastructure and Linkage Applications (I3LA) group, includes principal investigators Bruce Gritton of Monterey Bay Aquarium Research Institute (MBARI) and Dr. J.J. Garcia-Luna of U.C. Santa Cruz (UCSC). I3LA is a diverse effort to provide high-speed network connections throughout the Monterey Bay region in order to support collaborative ocean-related research, distributed science, digital library of the future and open electronic access to all. Listed as coinvestigator on several regional research proposals for integration of underwater virtual world into Regional Environmental Electronic Library (REEL). Former leader of "net design tiger team" designing regional high-performance network expected to connect high-bandwidth information providers (e.g. universities and research laboratories) and also knowledge consumers (e.g. colleges, schools and general public) via ATM, Frame Relay, ISDN and Internet connectivity. Instrumental in getting Monterey County (LATA 8) included in Pacific Bell's California Research and Education Network (CalREN), a two-year access grant cumulatively valued at $1.4 million for I3LA partners. Principal author of regional network design white paper available via anonymous ftp at Uniform Resource Locator (URL) ftp://taurus.cs.nps.navy.mil/pub/i3la/i3la_net.ps (PostScript version) and i3la_net.txt (text). Member of education, content/access, network design and leadership teams.
Point Sur Ocean Acoustic Observatory (OAO) research group. Restoring the U.S. Navy offshore acoustic arrays for real-time online oceanographic research. Investigating possible use as a receive-only acoustic local-area network (ALAN). Additional information at www.usw.nps.navy.mil/ptsur.html
Monterey Bay Modeling Group (MBMG), members of research institutions throughout Monterey Bay and Silicon Valley regions sharing common goal of modeling and visualizing Monterey Bay with full fidelity. Established an electronic archive of papers and datasets for public access. Initiated, designed and maintained the initial NPS World-Wide Web (WWW) Home Page, providing open hypermedia access to Computer Science department, Naval Postgraduate School and regional research information resources to anyone on the Internet. This group is currently inactive. The MBMG home page can be found at ftp://taurus.cs.nps.navy.mil/pub/mosaic/mbmg.html
Interactive Communities, Association for Computing Machinery (ACM) Special Interest Group on Computer Graphics (SIGGRAPH) 95, Los Angeles California, August 7-11 1995. "MBone unplugged" cart provided mobile MBone connectivity for sixty exhibits and courses to create a week-long KSIG-TV.
Richard W. Hamming, "Learning to Learn: The Future of Science and Engineering." Course EC 4000. This is the first successful multicast of an entire university course worldwide, three times per week for eleven weeks, April-June 1995. R.W. Hamming is recipient of the ACM Turing Prize as well as namesake and recipient of the IEEE Hamming Medal.
1995 Symposium on Interactive 3D Graphics, Association for Computing Machinery (ACM) Special Interest Group on Computer Graphics (SIGGRAPH), Monterey California, April 10-12, 1995. The frontier of real-time computer graphics for an influential group of 250 attendees. Cooperatively shared scarce global bandwidth with the Third International World-Wide Web Conference. Directed connection of Hyatt Regency Hotel to NPS via wireless Ethernet "smart" bridges.
A Virtual World for an Autonomous Underwater Vehicle at Association for Computing Machinery (ACM) Special Interest Group on Computer Graphics (SIGGRAPH) 94, Orlando Florida, July 24-29 1994. Five days of live demonstrations for 1,000 (out of 35,000 total) attendees at the premiere annual graphics conference, showing dissertation results in action. Simultaneous multicasts permitted remote users worldwide to run mirror simulations while receiving live audio, video and IEEE Distributed Interactive Simulation protocol packets. Continuous updates were sent from the underwater virtual world and laboratory version of the robot operating in Orlando Florida. Local and remote participant interaction was possible using free software via anonymous ftp, on-line and archived multimedia, and two-way electronic mail with a networked robot.
Autonomous Underwater Vehicles (AUV) 94, sponsored by the IEEE Oceanic Engineering Society, Cambridge Massachusetts, July 19-20 1994. Nations represented are similarly diverse. Multicast audio and video of two full days of technical presentations and the AUV 94 Video Conference Proceedings via a radio Ethernet link to the MIT Sea Grant Laboratory.
Second Workshop on Mobile Robots for Subsea Environments, sponsored by the International Advanced Robotics Programme (IARP), Monterey California, May 6 1994. Nations represented include France, Italy, Japan, U.K., USA and others. We broadcast three invited capstone talks. Purpose of this presentation was to demonstrate MBone technology to an audience of key underwater robotics researchers as a powerful tool for international scientific collaboration.
Scientific Visualization Workshop, U.S. Geological Survey, Menlo Park California, September 15-16 1993. This was one of the first workshops to be broadcast over the MBone on a subject different than network issues or the Internet Engineering Task Force. Talks, slides videos and papers were presented by twelve speakers from six organizations. Internet audience over the two days totalled about 200 sporadic viewers from half a dozen countries.
Academic goals of these multicasts include disseminating current research results, encouraging greater collaboration on regional and international scales, providing experience using high- performance network applications, and experimentation with new means of scientific interaction.
1 OCT 95-30 SEP 98 ($415K). Mike Zyda and Don Brutzman.
"Rapidly Reconfigurable Virtual Environment Network Protocols."
Awarded by Office of Naval Research (ONR).
1 JAN 96-30 SEP 96 ($25K). Don Brutzman, James Cummiskey and David Duff.
"NPS Mobile Computing aand Communications Research Group." Develop and test
interoperable wireless networked palmtop computer software in support of USMC
platoon leaders. Awarded by USMC Systems Command.
15 NOV 95-30 FEB 96 ($11K).
"Distributed Interactive Simulation (DIS) Overview Course." Awarded by
the ORSA Continuing Education Program, Army Logistics Management College.
3 MAR 95-30 SEP 95 ($10K). "Multicast Backbone (MBone) Audio and Video Demonstration for the New Attack Submarine (NSSN) Open System Critical Item Test (OSCIT)." Awarded by the Naval Undersea Warfare Center (NUWC), Newport Rhode Island.
3 JAN 95-31 DEC 96 ($18K plus four quarters labor).
"Building a Large-Scale Virtual World for Monterey Bay." Research initiation project
awarded by Naval Postgraduate School, Monterey California.
3 JAN 95-30 SEP 95 ($35K).
"Air Interoperability Center (AIC) Platform Foundation." Principal investigator Mike
Bailey. Porting DIS libraries to run on Sun workstations with NPS Platform Foundation.
Awarded by Naval AIr Warfare Center (NAWC).
1988-1990: Navigator, Operations Officer and Combat Systems Officer on Los Angeles class submarine USS BREMERTON (SSN-698) during several deployments from Pearl Harbor Hawaii. Supervised ship's force overhaul of all non-propulsion systems.
1986-1988: Operational Test Director for the Mark 48 Advanced Capability (ADCAP) Torpedo during initial at-sea developmental testing under Commander, Operational Test and Evaluation Force, Norfolk Virginia and Andros Island, Bahamas.
1983-1985: Combat Systems Officer and plank owner on new construction submarine USS HONOLULU (SSN-718), Norfolk Virginia. 1980-1983: Electrical Officer and Damage Control Assistant on USS GEORGE C. MARSHALL (SSBN-654), Groton Connecticut and Holy Loch, Scotland.
1978-1979: Nuclear propulsion training in Orlando Florida, Windsor Connecticut and Groton Connecticut.
1974-1978: Midshipman, U.S. Naval Academy, Annapolis Maryland.
A critical bottleneck exists in Autonomous Underwater Vehicle (AUV) design and development. It is tremendously difficult to observe, communicate with and test underwater robots, because they operate in a remote and hazardous environment where physical dynamics and sensing modalities are counterintuitive.
An underwater virtual world can comprehensively model all salient functional characteristics of the real world in real time. This virtual world is designed from the perspective of the robot, enabling realistic AUV evaluation and testing in the laboratory. Three-dimensional real-time computer graphics are our window into that virtual world.
Visualization of robot interactions within a virtual world permits sophisticated analyses of robot performance that are otherwise unavailable. Sonar visualization permits researchers to accurately "look over the robot's shoulder" or even "see through the robot's eyes" to intuitively understand sensor-environment interactions. Extending the theoretical derivation of a set of six-degree-of-freedom hydrodynamics equations has provided a fully general physics-based model capable of producing highly non-linear yet experimentally verifiable response in real time.
Distribution of underwater virtual world components enables scalability and real-time response. The IEEE Distributed Interactive Simulation (DIS) protocol is used for compatible live interaction with other virtual worlds. Network connections allow remote access which is demonstrated via MBone audio and video collaboration with researchers at remote locations. Integrating the World-Wide Web allows rapid access to resources distributed across the Internet.
This dissertation presents the frontier of 3D real-time graphics to support underwater robotics, scientific ocean exploration, sonar visualization and worldwide collaboration.
Virtual worlds are a new paradigm that serves as both an archive and interaction medium. The virtual world combines, correlates and coregisters dissimilar datasets and information in terms of location, time and context. Information and knowledge become accessible to robot entities, scientists, collaborators and the public. The potential for improved scientific progress is tremendous. My research in building a distributed underwater virtual world for a single AUV is producing an ideal foundation for scaling up to the massive scope of real world problems facing the underwater robotics and ocean research communities. By integrating numerous active resources available locally, I hope to establish both robotic and remote human presence throughout the water column of Monterey Bay. Key difficulties include visualizing extremely large and dissimilar scientific datasets together with real-time information streams, and also the application of artificial intelligence techniques to underwater robot architectures. Study and solution of these problems is at the heart of my dissertation and my plans for the future.
A recurring theme in all my efforts has been an insistence on demonstrating the validity of all theoretical results. Robotics and artificial intelligence has an embarrassingly large corpus of significant research which has never been instantiated or deployed in real world systems. Until a new theoretical technique is applied, it often remains unsubstantiated and possibly even misunderstood. Implementation of theory improves theoretical understanding and often leads to further theoretical breakthroughs. These principles of learning through experience and applying theory to practice also enable others to better understand many exciting aspects of science.
A second theme in my work has been use of the Internet to distribute components of hard problems, encourage collaboration and provide insight. Scientific collaboration is extremely productive in that you often get back much more than you can possibly give away. The ability to send high- bandwidth human and robotic information streams anywhere is leading to a paradigm shift in research. Having input/output capabilities that can go past a local user or local device to any node or any person on the Internet is extremely powerful. Having the ability to distribute component solutions and access remote resources greatly extends our reach. Familiarity with such techniques will be increasingly important to future students, scientists and everyone else too.
Additional specific tasks for investigation include deployment and documentation of parametric regression analysis to perform on-line sonar classification, reexamination of spatial reasoning techniques as an integral component of a robot mission planner, and integration of the underwater virtual world with other virtual worlds. New areas to be explored include establishing a regional high-performance network that links scientific researchers and robots with students and observers throughout the Monterey Bay region. I want to connect ATM network speeds to the desktop to permit using high-bandwidth visual and audio streams with the same flexibility provided by 3D graphics workstation windows today. I am also investigating how to extend virtual worlds into many other applications by using the Distributed Interactive Simulation (DIS) protocols. Finally, I also want to conduct machine learning experiments that perform massively-repetitive training in the virtual world which can then be validated and employed by agents in the real world.
A great many exciting opportunities for productive work present themselves. I look forward to discussing how these broad goals support current objectives at your institution.
Dr. Michael J. Zyda Code CS/Zk Computer Science Department Naval Postgraduate School Monterey California 93943-5000 408.656.2305 zyda@trouble.cs.nps.navy.mil Dr. Anthony J. Healey Code ME/Hy Mechanical Engineering Department Naval Postgraduate School Monterey California 93943-5000 408.656.3462 healey@lex.me.nps.navy.mil Dr. Richard W. Hamming (deceased) Code CS/Hg Computer Science Department Naval Postgraduate School Monterey California 93943-5000 408.656.2655 Dr. Robert B. McGhee Code CS/Mz Computer Science Department Naval Postgraduate School Monterey California 93943-5000 408.656.2026 mcghee@cs.nps.navy.mil Dr. Glen H. Wheless Center for Coastal Physical Oceanography Old Dominion University (ODU) 768 52nd Street Norfolk Virginia 23529 wheless@ccpo.odu.edu Dr. Michael R. Macedonia Chief Scientist and Technical Director US Army STRICOM 12350 Research Parkway Orlando, FL 32826-3276 macedonia@computer.org 407-384-3805 Additional references provided upon request.
Don Brutzman (brutzman@nps.navy.mil) (5 June 2000) (official NPS disclaimer)