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Filtering by: Creator Spyridakis, Dimitri E. Remove constraint Creator: Spyridakis, Dimitri E. Academic Affiliation Mechanical, Industrial, and Manufacturing Engineering Remove constraint Academic Affiliation: Mechanical, Industrial, and Manufacturing Engineering

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  • A Computational Framework for Resilience-Informed Design

    Creator:
    Hulse, Daniel E.
    Abstract:
    It is desirable for complex engineered systems to perform missions efficiently and economically, even when these missions' complex, variable, long-term operational profiles make it likely for hazards to arise. It is thus important to design these systems to be resilient so that they will actively prevent and recover from hazards...
    Resource Type:
    Dissertation

  • Analyzing Human Gaze Patterns During Grasping Tasks To Advance Robotic Grasping

    Creator:
    Allani, Sai Krishna
    Abstract:
    There is a strong interest in the robotics community in learning how humans grasp and manipulate objects, partly because robots need to operate in human environments and partly because humans are currently much better in physical interaction tasks than robots. This thesis seeks to identify the human heuristics for grasping...
    Resource Type:
    Masters Thesis
    Full Text:
    psychophysics to select good views. Dmitry Sokolov and Dimitri Plemenos [55] has used curvature of a surface as

  • A neuro-evolutionary multiagent approach to multi-linked inverted pendulum control

    Creator:
    Sills, Stephen
    Abstract:
    Recent work has shown humanoid robots with spinal columns, instead of rigid torsos, benefit from both better balance and an increased ability to absorb external impact. Similarly, snake robots have shown promise as a viable option for exploration in confined spaces with limited human access, such as during power plant...
    Resource Type:
    Masters Thesis
    Full Text:
    properties, but is typically either a threshold function or a sigmoid (Equation 3.2) [39]. gpxq “ 1 1` e´x

  • 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
    Full Text:
    2: Initialize Q arbitrarily 3: Initialize θ arbitrarily 4: for e← 1 to episodes do 5: s← initialize

  • The Structural Characteristics of Robustness in Large-Scale Complex Engineered Systems

    Creator:
    Walsh, Hannah S.
    Abstract:
    Modern engineered systems are increasingly integrated into society, decentralized, and interconnected. However, scale and complexity create unique challenges in system design, such as emergent behavior and unintended consequences. This work investigates the structural characteristics of robustness in complex engineered systems by identifying patterns of under-recognized vulnerabilities at various levels of...
    Resource Type:
    Dissertation

  • Resilient Design for Complex Engineered Systems in the Early Design Phase

    Creator:
    Keshavarzi, Elham
    Abstract:
    There are many uncertainties that complex engineered systems will face throughout their lifecycles due to changes in internal and external conditions. It is desirable for complex engineered systems to be resilient against various uncertainties. The ability to overcome such uncertainties should be embedded into the system from the beginning. However,...
    Resource Type:
    Dissertation
    Full Text:
    Find Sensitive Functions ................................................... 129 Appendix E: Kalman