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Filtering by: Committee Member Batten, Belinda Remove constraint Committee Member: Batten, Belinda Decade 2000-2009 Remove constraint Decade: 2000-2009

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  • 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:
    availability. Also to Dr. Belinda Batten for her skill in keeping my eye on the future and for being my

  • A hierarchical neuro-evolutionary approach to small quadrotor control

    Creator:
    Shepherd, Jack F., III
    Abstract:
    Quadrotors are unique among Micro Aerial Vehicles in providing excellent maneuverability (as opposed to winged flight),while maintaing a simple mechanical construction (as opposed to helicopters). This mechanical simplicity comes at a cost of increased controller complexity. Quadrotors are inherently unstable, in the sense that they are essentially unflyable by a...
    Resource Type:
    Masters Thesis

  • Investigating arc behavior in a DC vacuum arc remelting furnace using magnetic flux density measurements

    Creator:
    Woodside, Rigel
    Abstract:
    The behavior of a metal vapor plasma arc in a vacuum arc remelting (VAR) furnace is believed to contribute to the formation of defects in reactive metal and super-alloy ingots. Industry standard instrumentation, which includes electric current and voltage measurements, can asses the stability of an arc but cannot predict...
    Resource Type:
    Masters Thesis

  • Nonlinear model reduction using the group proper orthogonal decomposition method

    Creator:
    Dickinson, Benjamin T.
    Abstract:
    Proper orthogonal decomposition (POD) in conjunction with the Galerkin projection has been used as a model reduction technique for the tractable real-time control of high-dimensional systems. While POD based model reduction may improve the tractability of high-dimensional models, the nonlinear POD based model may be impractical for control due to...
    Resource Type:
    Masters Thesis
    Full Text:
    Using the Group Proper Orthogonal Decomposition Method Abstract approved: Belinda A. Batten Proper

  • Model predictive control for sagittal plane locomotion

    Creator:
    Maunder, Cary R.
    Abstract:
    A distinct characteristic of legged locomotion is its periodic nature. This periodic motion, in the form of a periodic orbit, has been the target of many walking and running control strategies. The spring loaded inverted pendulum (SLIP) has become a popular model of sagittal plane locomotion, exhibiting behavior characteristic of...
    Resource Type:
    Masters Thesis

  • Brake-based wheel speed control design of a rear wheel open differential vehicle

    Creator:
    Jeon, Eli
    Abstract:
    A brake-based wheel speed control system for a rear-wheel drive vehicle is developed and simulated in this thesis. The OSU mini-Baja vehicle team will use this study in the development and implementation of a similar system for upcoming competitions. Vehicle submittals must differ to a specified degree from previous year’s...
    Resource Type:
    Masters Thesis
    Full Text:
    support and encouragement throughout the pursuit of this project. In particular: Dr. Belinda

  • Learning based methods applied to the MAV control problem

    Creator:
    Salichon, Max
    Abstract:
    This thesis addresses Micro Aerial Vehicle (MAV) control by leveraging learning based techniques to improve robustness of the control system. Applying classical control methods to MAVs is a difficult process due to the complexity of the control laws with fast and highly non-linear dynamics. These methods are mostly based on...
    Resource Type:
    Dissertation
    Full Text:
    me to improve the quality of my work. I would like to thank my committee, Dr Belinda Batten, Dr

  • 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
    Full Text:
    . Specifically to Dr. Belinda Batten for starting me on this road. Without your eye for talent and the

  • Impact of access density on number of crashes at commercial roadways

    Creator:
    Yi, Xiang
    Abstract:
    Numerous research efforts have proven the safety benefits of access management. There are several access management techniques, including unsignalized access spacing, signalized intersection spacing, left-turn lanes, right-turn lanes, Two-Way Left-Turn lanes (TWLTLs), nontraversable median, U-turns, interchange access separation distances and so on. This project explores the correlation between access density...
    Resource Type:
    Masters Thesis

  • The evolution of practical safety audits in the United States

    Creator:
    Houghton, Tegan Marie
    Abstract:
    This thesis evaluates pre-construction auditing procedures used in the United Kingdom, Australia, and New Zealand in order to help create post-construction auditing procedures for the state of Oregon. It was funded as part of the development of the Oregon Department of Transportation (ODOT) Safety Investigation Manual, and also evaluates content...
    Resource Type:
    Masters Thesis