The corrosion behaviors of carbon and stainless steels were investigated in supercritical CO₂ (sCO₂ ) containing H₂O and O₂ simulating conditions that exist in direct sCO₂ power cycle heat exchangers. Thermodynamic properties of CO₂-H₂O-O₂ systems related to the corrosion phenomena were determined using NIST software. The exposure tests of the...
The corrosion resistances of several alloys were investigated to optimize performance and cost in seawater and supercritical CO2 environments. Many alloys are prone to corrosion in seawater and/or supercritical CO2 containing impurity environments. Exposure and electrochemical experiments were conducted in both environments to evaluate alloys’ corrosion resistance. In seawater corrosion...
Using supercritical CO₂ (sCO₂) as a working fluid has increasingly gained attention in the energy industry. sCO₂ power cycles has various advantages, such as high cycle efficiency, compact turbomachinery, and potential zero CO₂ emission. Along with these benefits, materials degradation issues have also been emphasized in the last decade. Aqueous...
Artificial collectives are useful for accomplishing tasks that require teamwork from multiple simple robots. Multiple robot and collective testbeds have been developed, yet none stay committed to leverage the local interactions, group size, and imperfect information assumptions that strengthen biological collectives. A review of the collective and multiple robot literature,...
Commercial and public safety usage of Unmanned Aerial Vehicles in the National Airspace is currently restricted by federal regulation. The Federal Aeronautics Association is interested in modifying the restrictions; however, research is needed to study the human factor and required aptitude for a single human operating multiple UAVs. This Master’s...
Mountain search and rescue is a vital form of emergency response to assist people in austere environments (e.g., extreme terrain, poor weather). Volunteer mountain search and rescue teams in the United States have begun adopting consumer- grade unmanned aerial vehicles to assist a variety of tasks (e.g., search, resource delivery);...
Collective migration in animal groups is often guided by distributed leader agents that influence their peers by modulating their motion behaviors. Distributed leadership is a promising navigation strategy for artificial swarms, but designing the leaders’ controllers is difficult due to the swarm’s collective emergent behaviors. The presented research formulates a...
This dissertation incorporates coalition formation and probabilistic planning towards a domain-independent automated planning solution scalable to multiple heterogeneous robots in complex domains. The first research direction investigates the effectiveness of Task Fusion and introduces heuristics that improve task allocation and result in better quality plans, while requiring lower computational cost...
Human-robot teams involve humans and robots collaborating to achieve tasks under various environmental conditions. Successful teaming requires robots to adapt autonomously in real-time to a human teammate's state. An important element of such adaptation is the ability for the robot to infer the tasks performed by their human teammates. Human-robot...
Disaster response and surveillance operations will increasingly incorporate Unmanned Aerial Vehicles (UAV)s due to their cost-effectiveness and maneuverability. This trend has driven the research on small-sized quadcopters for varying indoor applications. Small-sized quadcopters' payload and computational capacity limit the usage of complex vision-based collision avoidance algorithms that are employed by...