Index Catalog // ScholarsArchive@OSU

From running birds to walking robots : optimization as a unifying framework for dynamic bipedal locomotion

Creator:: Hubicki, Christian M.
Abstract:: Bipedal locomotion is a complex phenomenon to understand and control, making it difficult for legged robots to achieve the speed, agility, efficiency, and robustness of their animal counterparts. This thesis argues for the use of numerical optimization to investigate and implement bipedal control as it applies to biology, dynamical models,...
Resource Type:: Dissertation
Full Text:: Unifying Framework for Dynamic Bipedal Locomotion AN ABSTRACT OF THE THESIS OF Christian M. Hubicki

Proportional integral derivative control of an oil-heated fractal-like branching microchannel desorber

Creator:: Davis, Keith R.
Abstract:: A PID controller was designed to control the performance of an oil-heated fractal-like branching microchannel desorber for use in an ammonia-absorption refrigeration system. Both the amount and concentration of ammonia refrigerant generated at the desorber can be controlled by choosing the rectified circulation ratio as the controlled variable in a...
Resource Type:: Masters Thesis
Full Text:: performance of ammonia refrigeration systems, active control can optimize the cycle COP. Jose Fernández

Risk- and Reliability-Based Design Optimization in Offshore Renewable Energy Systems

Creator:: Clark, Caitlyn E.
Abstract:: Offshore wind and wave energy have the potential to be significant sources of future global electricity production, reduce carbon emissions, decrease dependence on energy importation, and stimulate economic growth in coastal and remote areas. Fixed-foundation and floating offshore wind and wave energy technologies are at different stages of development, but...
Resource Type:: Dissertation
Full Text:: 30 m water depths occurs just below mudline [123]. The multiple colored lines represent monopile

Learning-based control and coordination of autonomous UAVs

Creator:: Bell, Adam R.
Abstract:: Uninhabited aerial vehicles, also called UAVs are currently controller by a combination of a human pilot at a remote location, and autopilot systems similar to those found on commercial aircraft. As UAVs transition from remote piloting to fully autonomous operation, control laws must be developed for the tasks to be...
Resource Type:: Masters Thesis
Full Text:: (m) H Height of the simulated world 2000 (m) D Depth of the simulated world 1000 (m) Table 3.1

Condensing observation of locale and agents : a state representation

Creator:: Valenti, Brett A
Abstract:: Computing agents require state information to make coherent and useful decisions. A state representation is a numerical translation of the environment and conditions that are pertinent factors in an agent's decision making. Although many representations, when paired with clever learning algorithms, are able to coordinate and capture prey in specific...
Resource Type:: Masters Thesis
Full Text:: the order of O(NM ) where M is the number of agents and N is the number of locations in the world

High-Dimensional Reinforcement Learning with Human Feedback

Creator:: Curran, William
Abstract:: State-of-the-art personal robots need to perform complex manipulation tasks to be viable in complex scenarios. However, many of these robots, like the PR2, use manipulators with high degrees of freedom. High degrees of freedom are desirable from a functionality standpoint, but make the learning task more difficult by adding a...
Resource Type:: Dissertation

Providing Informative Feedback for Learning in Tightly Coupled Multiagent Domains

Creator:: Rockefeller, Golden C.
Abstract:: Autonomous agents that sense, decide, act, and coordinate effectively with each other are critical in many real-world domains such as autonomous driving, search and rescue missions, air traffic management, and underwater or deep space exploration. All such domains share a key difficulty: though high-level mission goals are clear to system...
Resource Type:: Dissertation

Navigation and coordination of autonomous mobile robots with limited resources

Creator:: Knudson, Matthew D.
Abstract:: The use of autonomous robots in complex exploration tasks is rapidly increasing. Indeed, robots can provide speed and cost effectiveness in many tasks, as well as allow operation in environments that are hostile to humans. In this dissertation we: 1) provide two adaptive navigation algorithms; 2) develop a coordination mechanism;...
Resource Type:: Dissertation

Vortical Structures in Transition to Turbulence through Randomly Packed Porous Media: Scale, Energy, and Mixing Characteristics

Creator:: Mohammadi Ziazi, Reza
Abstract:: Vortical structures are the driving mechanism of transition to turbulence in porous media requiring adequately resolved observations along with analysis of the scale and energy of ﬂow within the pores. Of speciﬁc interest is to understand the vortex dynamics, energy, and turbulent mixing and transport properties in the scale of...
Resource Type:: Dissertation
Full Text:: , Dr. Firas Siala, Dr. Mehdi Khanzadeh, Dr. Rita Ghantous, Mario Enrique Gómez Fernández, Alexander

ScholarsArchive@OSU

From running birds to walking robots : optimization as a unifying framework for dynamic bipedal locomotion

Proportional integral derivative control of an oil-heated fractal-like branching microchannel desorber

Risk- and Reliability-Based Design Optimization in Offshore Renewable Energy Systems

Learning-based control and coordination of autonomous UAVs

Condensing observation of locale and agents : a state representation

High-Dimensional Reinforcement Learning with Human Feedback

Providing Informative Feedback for Learning in Tightly Coupled Multiagent Domains

Navigation and coordination of autonomous mobile robots with limited resources

Vortical Structures in Transition to Turbulence through Randomly Packed Porous Media: Scale, Energy, and Mixing Characteristics

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