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  • Reduced order multi-legged mathematical model of cockroach locomotion on inclines

    Creator:
    Peterson, Delvin E.
    Abstract:
    While the locomotion performance of legged robots over flat terrain or known obstacles has improved over the past few decades, they have yet to equal the performance of their animal counterparts over variable terrain. This work analyzes a multi-legged reduced order model of cockroach locomotion on variable slopes which will...
    Resource Type:
    Dissertation
    Full Text:
    Introduction 1 2 Mathematical Model 4 2.1 Previous Reduced-Order Modeling Efforts . . . . . . . . . . . . . 4

  • Reduced order modeling of legged locomotion in the horizontal plane

    Creator:
    Wickramasuriya, Gamika Arun
    Abstract:
    Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner over complex terrain, a feat that has yet to be equaled by man-made legged robots. Recent experimental results suggest that these insects may employ a hierarchical control structure, in which locomotion performance emerges from a combination of...
    Resource Type:
    Dissertation
    Full Text:
    developed reduced order model for lateral plane locomotion and extend it by developing leg positioning and

  • Clearing bubble blockages in micro channels using a model predictive controller

    Creator:
    Patton, Chris
    Abstract:
    Micro scale systems are being utilized in a wide variety of chemical, biological and heat exchanger applications, but suffer from the development of vapor bubbles inside the microchannels due to convective boiling, leading to decreases in system performance. In this work, a simulation-based control strategy is employed to eliminate flow...
    Resource Type:
    Masters Thesis
    Full Text:
    Micro Channels using Model Predictive Control Abstract approved: John Schmitt Micro scale systems are

  • Modeling and control of a biologically inspired compliant structure

    Creator:
    Ray, Cody W.
    Abstract:
    We hypothesize that the extraordinary maneuverability and efficiency of bats in flight are in part due to the compliant nature of their wing structures. We utilize the parameters of bat bones measured by biologists to create a biologically inspired model of a flapping system consisting of a rotating hub actuator...
    Resource Type:
    Masters Thesis
    Full Text:
    contains the mathematical model of the MCS depicted in Figure 1.1(b). The equations of motion for this

  • Dynamics and stability of lateral plane locomotion on variable inclines

    Creator:
    Bonnono, Scott A.
    Abstract:
    An actuated, bipedal model is developed to investigate lateral plane locomotion dynamics and stability on inclines. Both the point mass case and rigid body case are considered. Variations in the force-free leg length are determined via inverse dynamics to explicitly and implicitly match prescribed lateral and fore-aft force profiles, respectively....
    Resource Type:
    Masters Thesis
    Full Text:
    model is developed to investigate lateral plane loco- motion dynamics and stability on inclines. Both

  • Efficient Algorithms for Solving the Median Problem on Real Road Networks

    Creator:
    Ghanbartehrani, Saeed
    Abstract:
    Location theory is a well-established and active research area. The main objective in location theory is to find the best locations for facilities to meet supply and demand constraints and minimize total cost. The median problem (also known as the 1-median problem) is a special case in location analysis that...
    Resource Type:
    Dissertation
    Full Text:
    .......................................................................................................19 2.4.1 Mathematical Model

  • Development of vehicle dynamics tools for motorsports

    Creator:
    Patton, Chris
    Abstract:
    In this dissertation, a group of vehicle dynamics simulation tools is developed with two primary goals: to accurately represent vehicle behavior and to provide insight that improves the understanding of vehicle performance. Three tools are developed that focus on tire modeling, vehicle modeling and lap time simulation. Tire modeling is...
    Resource Type:
    Dissertation
    Full Text:
    is extended to provide a flexible model structure that allows arbitrary inputs to be included. For

  • Low power design techniques for high speed pipelined ADCs

    Creator:
    Lingam, Naga Sasidhar
    Abstract:
    Real world is analog but the processing of signals can best be done in digital domain. So the need for Analog to Digital Converters(ADCs) is ever rising as more and more applications set in. With the advent of mobile technology, power in electronic equipment is being driven down to get...
    Resource Type:
    Dissertation

  • A probabilistic framework and algorithms for modeling and analyzing multi-instance data

    Creator:
    Behmardi, Behrouz
    Abstract:
    Multi-instance data, in which each object (e.g., a document) is a collection of instances (e.g., word), are widespread in machine learning, signal processing, computer vision, bioinformatic, music, and social sciences. Existing probabilistic models, e.g., latent Dirichlet allocation (LDA), probabilistic latent semantic indexing (pLSI), and discrete component analysis (DCA), have been...
    Resource Type:
    Dissertation
    Full Text:
    density estimation. The basis functions are analogous to topics in a topic model. We validate the

  • Planning Under Uncertainty for Unmanned Aerial Vehicles

    Creator:
    Skeele, Ryan
    Abstract:
    Unmanned aerial vehicle (UAV) technology has grown out of traditional research and military applications and has captivated the commercial and consumer markets, showing the ability to perform a spectrum of autonomous functions. This technology has the capability of saving lives in search and rescue, fighting wildfires in environmental monitoring, and...
    Resource Type:
    Masters Thesis
    Full Text:
    standard program for modeling wildfire, FARSITE. This model was used to validate a weighted-greedy