Dynamic bipedal locomotion is among the most difficult and yet relevant problems in modern robotics. While a multitude of classical control methods for bipedal locomotion exist, they are often brittle or limited in capability. In recent years, work in applying reinforcement learning to robotics has lead to superior performance across...
In recent years, model-free Deep Reinforcement Learning (RL) has become an increasingly popular alternative to more traditional model-based or optimization-based control methods in solving robotic legged locomotion. However, deploying RL in the real world can be a significant undertaking. Constructing reward functions which compel controllers to learn the desired behavior...
Currently available soil moisture sensors have intrinsic limitations that limit their adoption by industry. Depending on the technology, these limitations may include high costs, battery requirements, precice manual installation, high cost, and/or constrictive legislation that regulates their use. A passive soil moisture sensing system based around RFID technology would allay...
Given the unique nature of interpersonal interactions via microblogging sites (such as Twitter), it has become clear that a new generation of political candidates will need to appeal to a new generation of voters by way of an entirely new mechanism: Social networking sites (SNS’s). In order to address the...
Headwater streams represent the majority of the drainage area of a river network and provide many critical functions supporting aquatic and terrestrial ecosystem health. The riparian zones that surround these streams are transitional areas between terrestrial and stream ecosystems, which provide key habitat for aquatic and terrestrial organisms, especially during...
The work detailed here is the development of simulations and fabrication techniques used for the construction of thin-film acoustic transducers for use in the parametric pumping of spin waves. The Mason Model, a 1-D equivalent circuit simulating the responses of multilayer acoustic transducers, is implemented using ABCD-parameters in MATLAB to...
Wind energy has become a crucial resource in sustainably meeting increasing global energy demands. Recently, offshore wind energy has been gaining traction due to its higher gross resource and larger unclaimed real-estate relative to its onshore counterpart. Floating offshore wind turbines (FOWTs) are increasingly popular, particularly designs with semisubmersible platforms....
Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...
Considerable effort is presently being devoted to producing high-resolution sea surface temperature (SST) analyses with a goal of spatial grid resolutions as low as 1 km. Because grid resolution is not the same as feature resolution, a method is needed to objectively determine the resolution capability and accuracy of SST...
