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Sensor-Based Reactive Execution Of Symbolic Rearrangement Plans By A Legged Mobile Manipulator, Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, Daniel E. Koditschek 2018 University of Pennsylvania

Sensor-Based Reactive Execution Of Symbolic Rearrangement Plans By A Legged Mobile Manipulator, Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, Daniel E. Koditschek

Departmental Papers (ESE)

We demonstrate the physical rearrangement of wheeled stools in a moderately cluttered indoor environment by a quadrupedal robot that autonomously achieves a user's desired configuration. The robot's behaviors are planned and executed by a three layer hierarchical architecture consisting of: an offline symbolic task and motion planner; a reactive layer that tracks the reference output of the deliberative layer and avoids unanticipated obstacles sensed online; and a gait layer that realizes the abstract unicycle commands from the reactive module through appropriately coordinated joint level torque feedback loops. This work also extends prior formal results about the reactive layer ...


Inertial Velocity And Attitude Estimation For Quadrotors: Supplementary Material, James B. Svacha Jr, Kartik Mohta, Michael Watterson, Giuseppe Loianno, Vijay Kumar 2018 University of Pennsylvania

Inertial Velocity And Attitude Estimation For Quadrotors: Supplementary Material, James B. Svacha Jr, Kartik Mohta, Michael Watterson, Giuseppe Loianno, Vijay Kumar

Departmental Papers (ESE)

No abstract provided.


Developing Optimization Techniques For Logistical Tendering Using Reverse Combinatorial Auctions, Jennifer Kiser 2018 East Tennessee State University

Developing Optimization Techniques For Logistical Tendering Using Reverse Combinatorial Auctions, Jennifer Kiser

Electronic Theses and Dissertations

In business-to-business logistical sourcing events, companies regularly use a bidding process known as tendering in the procurement of transportation services from third-party providers. Usually in the form of an auction involving a single buyer and one or more sellers, the buyer must make decisions regarding with which suppliers to partner and how to distribute the transportation lanes and volume among its suppliers; this is equivalent to solving the optimization problem commonly referred to as the Winner Determination Problem. In order to take into account the complexities inherent to the procurement problem, such as considering a supplier’s network, economies of ...


Optimization Methods For Maintaining Complex Systems, Khatereh Ahadi 2018 University of Arkansas, Fayetteville

Optimization Methods For Maintaining Complex Systems, Khatereh Ahadi

Theses and Dissertations

My dissertation research focuses on developing and applying methodologies for optimizing the maintenance of complex systems. The main goal of these methodologies is minimizing maintenance and failure cost and maximizing the economic output of the systems. In Chapter 1, we develop a stochastic programming model to select a budget-limited subset of maintenance dredging projects to maximize the expected commodity tonnage that can be transported through the inland waterway system. The inland navigation system ensures cost-effective marine transportation throughout many portions of the country and is therefore vital to the U.S. economy. The uncertainty in these processes creates a challenging ...


Configuring Traditional Multi-Dock, Unit-Load Warehouses, Mahmut Tutam 2018 University of Arkansas, Fayetteville

Configuring Traditional Multi-Dock, Unit-Load Warehouses, Mahmut Tutam

Theses and Dissertations

The development of expected-distance formulas for multi-dock-door, unit-load warehouse configurations is the focus of the dissertation. From formulations derived, the width-to-depth ratios minimizing expected distances are obtained for rectangle-shaped, unit-load warehouse configurations. Partitioning the storage region in the warehouse into three classes, the performance of a multi-dock-door, unit-load warehouse is studied when storage regions can be either rectangle-shaped or contour-line-shaped. Our first contribution is the development of formulas for expected distance traveled in storing and retrieving unit loads in a rectangle-shaped warehouse having multiple dock doors along one warehouse wall and storage racks aligned perpendicular to that wall. Two formulations ...


Trust Development In Swift Starting Action Teams: A Multilevel Framework, Jessica Wildman, Marissa Shuffler, Elizabeth Lazzara, Stephen Fiore, C. Shawn Burke, Eduardo Salas, Sena Garven 2018 University of Central Florida, Orlando

Trust Development In Swift Starting Action Teams: A Multilevel Framework, Jessica Wildman, Marissa Shuffler, Elizabeth Lazzara, Stephen Fiore, C. Shawn Burke, Eduardo Salas, Sena Garven

Elizabeth Lazzara

Swift starting action teams (STATs) are increasingly prevalent in organizations, and the development of trust is often a critical issue for their effectiveness. However, current theory and research do not provide a clear picture regarding how trust toward the team (i.e., the team as the target) is developed in these settings. The primary contribution of this article is to present a theoretical framework describing how individual-level trust toward one’s team is developed in STAT contexts. This article integrates several existing trust theories into one comprehensive context-specific multilevel theory of how trust develops in STATs from cognitive, affective, behavioral ...


An Optimal Airline Revenue Management Seat Pricing Plan Model, Constantine M. Koursaris, James W. Marion Jr. 2018 Embry-Riddle Aeronautical University - Worldwide

An Optimal Airline Revenue Management Seat Pricing Plan Model, Constantine M. Koursaris, James W. Marion Jr.

International Journal of Aviation, Aeronautics, and Aerospace

The goal of an airline is to sell tickets at the highest fare possible, thus yielding maximum profit for the stakeholders. As airline seat pricing is divided into different fare classes, a revenue management system is created and maintained to identify opportunity costs where the airline may sell an optimum number of available seats in both discounted fare and full fare classes. Ideally, under perfect conditions, the airline will sell all available seats at full capacity for each leg of a trip. Under non-ideal conditions for the airline, not all available seats may sell at either full fare or discounted ...


Quantifying Economic Benefits For Rail Infrastructure Projects, Suzanna Long, Ruwen Qin, John Betak, Akhilesh Ojha, John Myers 2018 Missouri University of Science and Technology

Quantifying Economic Benefits For Rail Infrastructure Projects, Suzanna Long, Ruwen Qin, John Betak, Akhilesh Ojha, John Myers

Suzanna Long

This project identifies metrics for measuring the benefit of rail infrastructure projects for key stakeholders. It is important that stakeholders with an interest in community economic development play an active role in the development of the rail network. Economic development activities in both rural and urban settings are essential if a nation is to realize growth and prosperity. Many communities have developed goals and visions to establish an economic development program, but they often fail to achieve their goals due to uncertainties during the project selection and planning process. Communities often select a project from a vast pool of ideas ...


Techno-Economic Analysis (Tea) Of Extruded Aquafeeds, Rashid Suleiman, Kurt A. Rosentrater 2018 Sokoine University of Agriculture

Techno-Economic Analysis (Tea) Of Extruded Aquafeeds, Rashid Suleiman, Kurt A. Rosentrater

Agricultural and Biosystems Engineering Publications

The worldwide decline and overexploitation of ocean fisheries stocks had provided an incentive for the rapid growth of aquaculture. The aquaculture industry has been recognized as the fastest-growing food production system globally, with a 10% increase in production per year and is one of the most reliable and sustainable growth markets for manufactured feeds. Extrusion technology has been extensively used in the modern aquatic feed manufacturing, due to nutritional, physical properties improvements and cost effectiveness of feeds. Cost related to aquatic feed remains the biggest challenge, especially for small-scale producers. In order to understand costs and potential breakeven points, a ...


Vertical Hopper Compositions For Preflexive And Feedback-Stabilized Quadrupedal Bounding, Pacing, Pronking, And Trotting, Avik De, Daniel E. Koditschek 2018 University of Pennsylvania

Vertical Hopper Compositions For Preflexive And Feedback-Stabilized Quadrupedal Bounding, Pacing, Pronking, And Trotting, Avik De, Daniel E. Koditschek

Departmental Papers (ESE)

This paper applies an extension of classical averaging methods to hybrid dynamical systems, thereby achieving formally specified, physically effective and robust instances of all virtual bipedal gaits on a quadrupedal robot. Gait specification takes the form of a three parameter family of coupling rules mathematically shown to stabilize limit cycles in a low degree of freedom template: an abstracted pair of vertical hoppers whose relative phase locking encodes the desired physical leg patterns. These coupling rules produce the desired gaits when appropriately applied to the physical robot. The formal analysis reveals a distinct set of morphological regimes determined by the ...


Systems Engineering Analysis For Optimum Selection Protocol For Thermal Expansion Measurement Of A Carbon Fiber Reinforced Composite Tube, Ronald Uchimiya 2018 Loyola Marymount University

Systems Engineering Analysis For Optimum Selection Protocol For Thermal Expansion Measurement Of A Carbon Fiber Reinforced Composite Tube, Ronald Uchimiya

LMU/LLS Theses and Dissertations

A material’s Coefficient of Thermal Expansion (CTE) is a valuable physical property, particularly for structural fiber reinforced composites that are routinely used in satellite/aerospace applications. Satellite space structures are routinely designed with a high degree of dimensional and thermal stability. Designing and verifying for near zero CTE performance is a common design requirement. The CTE is routinely a physical property with known values for common materials. However, the strength, stiffness and CTE properties on a multi-ply graphite fiber reinforced laminate composite can be tailored to specific engineering requirements. Because of this, a method of verification (testing) is routinely ...


Understanding Transit System Performance Using Avl-Apc Data: An Analytics Platform With Case Studies For The Pittsburgh Region, Xidong Pi, Mark Egge, Jackson Whitmore, Amy Silbermann, Zhen Sean Qian 2018 Carnegie Mellon University

Understanding Transit System Performance Using Avl-Apc Data: An Analytics Platform With Case Studies For The Pittsburgh Region, Xidong Pi, Mark Egge, Jackson Whitmore, Amy Silbermann, Zhen Sean Qian

Journal of Public Transportation

This paper introduces a novel transit data analytics platform for public transit planning, assessing service quality and revealing service problems in high spatiotemporal resolution for public transit systems based on Automatic Passenger Counting (APC) and Automatic Vehicle Location (AVL) technologies. The platform offers a systematic way for users and decision makers to understand system performance from many aspects of service quality, including passenger waiting time, stop-skipping frequency, bus bunching level, bus travel time, on-time performance, and bus fullness. The AVL-APC data from September 2012 to March 2016 were archived in a database to support the development of a user-friendly web ...


Tooling For Injection Molding Using Laser-Powder Bed Fusion., Mohith Ram Buxani 2018 University of Louisville

Tooling For Injection Molding Using Laser-Powder Bed Fusion., Mohith Ram Buxani

Electronic Theses and Dissertations

Laser-Powder Bed Fusion (L-PBF) has been considered for some time by the injection molding industry for the fabrication of tooling for injection molding in order to address large lead times and costs for tool-making. Computer-aided simulations are also routinely used to evaluate new part and mold designs as well as understanding the effects of material compositions and processing conditions on part quality and overall productivity. However, there remains a significant need to integrate the perspectives from injection molding, 3D printing, metal powders, and component design and process simulation to better utilize LPBF for fabricating tooling required for injection molding. The ...


A Framework And Exploration Of A Cybersecurity Education Escape Room, Justin Charles Snyder 2018 Brigham Young University

A Framework And Exploration Of A Cybersecurity Education Escape Room, Justin Charles Snyder

All Theses and Dissertations

This thesis presents a review of educational-escape-room literature followed by a design-oriented framework (the Snyder Escape Room Framework or SERF) and demonstrates the potential efficacy of escape-rooms in cybersecurity education. Several authors have proposed frameworks and guidelines for game and educational design regarding escape rooms. This work coalesces some of those ideas into a more substantial and comprehensive framework (SERF) that designers can use when developing educational escape rooms. The Snyder Escape Room Framework provides heuristics for goals and objectives, players, activities, context, trajectory design, and evaluation. Additionally, this work describes and analyzes the novel prototyped BYU GCC escape room ...


The Study Design Elements Employed By Researchers In Preclinical Animal Experiments From Two Research Domains And Implications For Automation Of Systematic Reviews, Annette M. O'Connor, Sarah C. Totton, Jonah C. Cullen, Mahmood Ramezani, Vijay Kalivarapu, Chaohui Yuan, Stephen B. Gilbert 2018 Iowa State University

The Study Design Elements Employed By Researchers In Preclinical Animal Experiments From Two Research Domains And Implications For Automation Of Systematic Reviews, Annette M. O'Connor, Sarah C. Totton, Jonah C. Cullen, Mahmood Ramezani, Vijay Kalivarapu, Chaohui Yuan, Stephen B. Gilbert

Veterinary Diagnostic and Production Animal Medicine Publications

Systematic reviews are increasingly using data from preclinical animal experiments in evidence networks. Further, there are ever-increasing efforts to automate aspects of the systematic review process. When assessing systematic bias and unit-of-analysis errors in preclinical experiments, it is critical to understand the study design elements employed by investigators. Such information can also inform prioritization of automation efforts that allow the identification of the most common issues. The aim of this study was to identify the design elements used by investigators in preclinical research in order to inform unique aspects of assessment of bias and error in preclinical research. Using 100 ...


Board 106: Enhancing Critical Life-Cycle Decision Making In Complex Engineering Projects In The Context Of Engineering Economy Courses, K. Jo Min, John K. Jackman, Farshad Niayeshpour 2018 Iowa State University

Board 106: Enhancing Critical Life-Cycle Decision Making In Complex Engineering Projects In The Context Of Engineering Economy Courses, K. Jo Min, John K. Jackman, Farshad Niayeshpour

Industrial and Manufacturing Systems Engineering Conference Proceedings and Posters

Complex engineering projects (CEPs) such as electric transmission networks and transportation infrastructure are becoming increasingly important to the public in general and even more so to engineers. These projects are large-scale in terms of money and time and contain significant uncertainties over their life-cycle, with fluctuations in input and output costs. Due to these uncertainties, there are conditional opportunities (e.g., on prices) to make critical decisions such as investment in construction of power generation facilities or decommissioning of such facilities. Such decisions constitute strategic flexibilities or "real options" because the decision maker can alter the course of an investment ...


Community-Based Participatory Research Through The Lens Of Decision Science, Michael P. Johnson Jr. 2018 University of Massachusetts - Boston

Community-Based Participatory Research Through The Lens Of Decision Science, Michael P. Johnson Jr.

Michael P. Johnson

This is a brief introduction to community-focused and community-engaged research through the perspective of the decision sciences. It is intended as a complement to similar approaches more generally situated in the social sciences.


Impact Of Pavement Surface Condition On Roadway Departure Crash Risk In Iowa, Ahmad Alhasan, Inya Nlenanya, Omar G. Smadi, Cameron A. MacKenzie 2018 Iowa State University

Impact Of Pavement Surface Condition On Roadway Departure Crash Risk In Iowa, Ahmad Alhasan, Inya Nlenanya, Omar G. Smadi, Cameron A. Mackenzie

Industrial and Manufacturing Systems Engineering Publications

Safety performance is a crucial component of highway network performance evaluation. Besides their devastating impact on roadway users, traffic crashes lead to substantial economic losses on both personal and societal levels. Due to the complexity of crash events and the unique conditions in each country and state, empirical local calibration for the correlation between attributes of interest and the safety performance is always recommended. Limited studies have established a procedure to analyze the impact of pavement condition on traffic safety in a risk analysis scheme. This study presents a thorough analysis of some roadway departure crashes which occurred in Iowa ...


Recent Trends In The Frequency And Duration Of Global Floods, Nasser Najibi, Naresh Devineni 2018 CUNY City College

Recent Trends In The Frequency And Duration Of Global Floods, Nasser Najibi, Naresh Devineni

Publications and Research

Frequency and duration of floods are analyzed using the global flood database of the Dartmouth Flood Observatory (DFO) to explore evidence of trends during 1985–2015 at global and latitudinal scales. Three classes of flood duration (i.e., short: 1–7, moderate: 8–20, and long: 21 days and above) are also considered for this analysis. The nonparametric Mann–Kendall trend analysis is used to evaluate three hypotheses addressing potential monotonic trends in the frequency of flood, moments of duration, and frequency of specific flood duration types. We also evaluated if trends could be related to large-scale atmospheric teleconnections using ...


Developing An Integrated Model For The Corn, Ethanol, And Beef Systems Using A Loosely Coupled Web Framework, Ryan Anderson 2018 University of Nebraska - Lincoln

Developing An Integrated Model For The Corn, Ethanol, And Beef Systems Using A Loosely Coupled Web Framework, Ryan Anderson

Biological Systems Engineering--Dissertations, Theses, and Student Research

With the global population approaching 9 billion people by the year 2050, the world’s food, energy, and water (FEW) resources must be used more intelligently to provide for everyone. While we understand how individual FEW systems behave using modeling, we cannot understand the full environmental and production impacts of decisions in each system without understanding how they are all linked together. An approach to coupling these systems is starting with identifying a few highly interconnected FEW systems. The corn, ethanol, and beef systems are large economic and agricultural drivers in the Midwest United States and are highly linked. Many ...


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