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Filtering by: Creator Schreiber, Alan S. Remove constraint Creator: Schreiber, Alan S. Academic Affiliation Mechanical, Industrial, and Manufacturing Engineering Remove constraint Academic Affiliation: Mechanical, Industrial, and Manufacturing Engineering Rights Statement In Copyright Remove constraint Rights Statement: In Copyright

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  • Learning from optimization for bipedal robots

    Creator:
    Yu, Fangzhou
    Abstract:
    Legged robots have consistently captured our collective imagination through various forms of media, from Hollywood films, anime, and viral Youtube videos of robots accomplishing incredible feats of acrobatics. These robots have the potential to navigate our environments, capable of completing tasks that would otherwise require human intervention. However, developing controls...
    Resource Type:
    Masters Thesis
    Full Text:
    Optimization For Bipedal Robots Abstract approved: Alan Fern ©Copyright by Fangzhou Yu August 30, 2023

  • Practical Reinforcement Learning for Bipedal Locomotion

    Creator:
    Dao, Jeremy
    Abstract:
    Reinforcement learning has emerged as a popular tool for solving control tasks, with multiple works focusing on the complex and dynamic task of locomotion. However, the naive application of reinforcement learning to this problem often produces maladaptive policies that exploit the model or reward function. This results in behavior that...
    Resource Type:
    Capstone Project
    Full Text:
    : Alan Fern Abstract - Reinforcement learning has emerged as a popular tool for solving control tasks

  • Numerical simulation of micro/mini-channel based methane-steam reformer

    Creator:
    Peterson, Daniel Alan
    Abstract:
    Numerical modeling of methane-steam reforming is performed in a micro/mini-channel with heat input through catalytic channel walls. The low-Mach number, variable density Navier-Stokes equations together with multicomponent reactions are solved using a parallel numerical framework. Methane-steam reforming is modeled by three reduced-order reactions occurring on the reactor walls. The surface...
    Resource Type:
    Masters Thesis
    Full Text:
    AN ABSTRACT OF THE THESIS OF Daniel Alan Peterson for the degree of

  • Experimental Classification of Intralaminar Matrix Compression Damage Propagation in Carbon Fiber Reinforced Polymers

    Creator:
    Daniels, Mitchell Alan
    Abstract:
    Composites often are able to carry more load after damage due to the structure of laminates. In addition, damage can be difficult to detect in composites compared to homogeneous materials. Understanding the behavior of composite material after damage is vital for composite structural design. Currently, experimental methods exist for classifying...
    Resource Type:
    Masters Thesis
    Full Text:
    Alan Daniels for the degree of Master of Science in Mechanical Engineering presented on September 29

  • Fluidic and thermal modeling for the high production rate synthesis of high quality nanoparticles

    Creator:
    Peterson, Daniel Alan
    Abstract:
    Advances of colloidal nanomaterials for societal benefit have been hampered by the high cost and low quality of nanoparticles (NPs). The production of high quality nanoparticles within colloidal suspension has two related concerns; (1) current high production rates methods of synthesizing nanoparticles result in a larger range of particle size,...
    Resource Type:
    Dissertation
    Full Text:
    AN ABSTRACT OF THE DISSERTATION OF Daniel Alan Peterson for

  • Automated Tradeoff Analysis of Cost Versus Machinability for Design Feedback

    Creator:
    Grier, Alan Thomas
    Abstract:
    As CAD tools become more sophisticated, engineers are able to more easily create complex part geometries with minimal mass given strength and stiffness requirements. However, these complex part geometries can be difficult to subtractively manufacture, which consequently increases manufacturing cost and production time. This thesis presents a method independent of...
    Resource Type:
    Masters Thesis
    Full Text:
    AN ABSTRACT OF THE THESIS OF Alan Thomas Grier for the degree of

  • Agile Bipedal Maneuvers Optimized then Learned from Single Rigid-Body Model Dynamics

    Creator:
    Batke, Ryan
    Abstract:
    As bipedal robots move ever closer to being integrated into all manner of real world envi-ronments there is a necessity to push their dynamic capabilities to meet or exceed those of humans and animals. Advancements must be made to address ordinary challenges that arise everyday in the same environments that...
    Resource Type:
    Masters Thesis
    Full Text:
    3.0 m/s. ©Copyright by Ryan Batke July 29, 2022 All Rights Reserved Agile Bipedal Maneuvers

  • Development of Cu-based Thin Films for Optoelectronic Applications

    Creator:
    Angelos, Gregory S.
    Abstract:
    CIGS and CdTe based commercial thin-film solar cells (TFSCs) require an absorber thickness greater than 2 µm and 4 µm, respectively, to adequately absorb the solar spectrum. To efficiently extract photoexcited electrons, these TFSCs require relatively defect-free absorbers with high-minority carrier mobility (> 100 cm2V−1s−1) and long lifetime (> 10...
    Resource Type:
    Dissertation
    Full Text:
    AN ABSTRACT OF THE THESIS OF Gregory S. Angelos for the

  • Applying hierarchical and adaptive control to coordinating simple robots

    Creator:
    Knudson, Matthew D.
    Abstract:
    Coordinating multiple robots to achieve a complex task requires solving two distinct control problems: the high-level control problem of ensuring that each robot aims to perform a useful task (e.g., coordination) and the low-level control problem of ensuring that each robot actually performs the correct actions to achieve its task...
    Resource Type:
    Masters Thesis
    Full Text:
    ) reinforcement learning algorithm. s, a, and r are the current state, action, and re- ward respectively. Next

  • Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

    Creator:
    Green, Kevin
    Abstract:
    Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...
    Resource Type:
    Dissertation
    Full Text:
    for helping me build excitement, wonder and appreciation for the beauty of math and science. Alan