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Curriculum Optimization Via Activity-On-Node Network Modeling, Caroline Rhomberg 2020 University of Arkansas, Fayetteville

Curriculum Optimization Via Activity-On-Node Network Modeling, Caroline Rhomberg

Industrial Engineering Undergraduate Honors Theses

University degree plans must be carefully planned so that they allow students the best chance of succeeding. Although for the better, with the advancement of technology and its incorporation into the classroom, it can be argued that the complexity and difficulty of some long-established engineering core classes has changed. With this trend certain combinations of engineering courses have become unfavorable in terms of course withdrawal and fail rates stemming from the interaction of course challenges. A wealth of data has been collected on this topic and will be utilized in this project. As one can imagine, the probability of success ...


Intruder Preference And Route Selection: A Gis Data Approach, Griffin Mathews 2020 University of Arkansas, Fayetteville

Intruder Preference And Route Selection: A Gis Data Approach, Griffin Mathews

Industrial Engineering Undergraduate Honors Theses

The Department of Homeland Security (DHS) requested an Engineering Research and Development Center study incorporating modeling and simulation to determine the selection, amount, and optimal location of sensor suites along the U.S. Border. The study objective is to maximize the probability of detection and apprehension of illegal elements attempting to enter. A study on intruders and their preferences were conducted to create an intruder preference value map to determine the preferred intruder routes taken after crossing the border. The results of this research were integrated into another study on the selection and simulation of sensor suites.

Intruder context and ...


Water Supply Capacity Development In The Context Of Global Change, Patrick Breach 2020 The University of Western Ontario

Water Supply Capacity Development In The Context Of Global Change, Patrick Breach

Electronic Thesis and Dissertation Repository

The ANEMI model is an integrated assessment model of global change that emphasizes the role of water resources. The model is based on the principles of system dynamics simulation in order to analyze changes in the Earth system using feedback processes. Securing water resources for the future is a key issue of global change, and ties into global systems of population growth, climate change carbon cycle, hydrologic cycle, economy, energy production, land use and pollution generation.

This thesis focusses on the development of global water supplies necessary to keep pace with a growing population and global economy using an integrated ...


A Tendon-Driven Origami Hopper Triggered By Proprioceptive Contact Detection, Wei-Hsi Chen, Shivangi Misra, J. Diego Caporale, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung 2020 Electrical and Systems Engineering, University of Pennsylvania

A Tendon-Driven Origami Hopper Triggered By Proprioceptive Contact Detection, Wei-Hsi Chen, Shivangi Misra, J. Diego Caporale, Daniel E. Koditschek, Shu Yang, Cynthia R. Sung

Departmental Papers (ESE)

We report on experiments with a laptop-sized (0.23m, 2.53kg), paper origami robot that exhibits highly dynamic and stable two degree-of-freedom (circular boom) hopping at speeds in excess of 1.5 bl/s (body-lengths per second) at a specific resistance O(1) while achieving aerial phase apex states 25% above the stance height over thousands of cycles. Three conventional brushless DC motors load energy into the folded paper springs through pulley-borne cables whose sudden loss of tension upon touchdown triggers the release of spring potential that accelerates the body back through liftoff to flight with a 20W powerstroke, whereupon ...


Examples Of Gibsonian Affordances In Legged Robotics Research Using An Empirical, Generative Framework, Sonia F. Roberts, Daniel E. Koditschek, Lisa J. Miracchi 2020 University of Pennsylvania

Examples Of Gibsonian Affordances In Legged Robotics Research Using An Empirical, Generative Framework, Sonia F. Roberts, Daniel E. Koditschek, Lisa J. Miracchi

Departmental Papers (ESE)

Evidence from empirical literature suggests that explainable complex behaviors can be built from structured compositions of explainable component behaviors with known properties. Such component behaviors can be built to directly perceive and exploit affordances. Using six examples of recent research in legged robot locomotion, we suggest that robots can be programmed to effectively exploit affordances without developing explicit internal models of them. We use a generative framework to discuss the examples, because it helps us to separate—and thus clarify the relationship between—description of affordance exploitation from description of the internal representations used by the robot in that exploitation ...


Understanding Rural Water Services As A Complex System: An Assessment Of Key Factors As Potential Leverage Points For Improved Service Sustainability, Nicholas Valcourt, Jeffrey P. Walters, Amy Javernick-Will, Karl Linden, Betelhem Hailegiorgis 2020 University of Colorado Boulder

Understanding Rural Water Services As A Complex System: An Assessment Of Key Factors As Potential Leverage Points For Improved Service Sustainability, Nicholas Valcourt, Jeffrey P. Walters, Amy Javernick-Will, Karl Linden, Betelhem Hailegiorgis

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

Rural water supply services worldwide consistently fail to deliver full public health impacts as intended due to a low service sustainability. This failure is increasingly attributed to weak local systems composed of social, financial and environmental factors. Current approaches in the water, sanitation and hygiene (WASH) sector for understanding and improving these systems typically focus on the strength and capacity of these factors, but not the interactions between them. We contend that these approaches overlook the inherent complexity and context-specific nature of each local system. To assess this complexity, we conducted four participatory factor mapping workshops with local stakeholders across ...


Modulation Of Robot Orientation Via Leg-Obstacle Contact Positions, Divya Ramesh, Anmol Kathail, Daniel E. Koditschek, Feifei Qian 2020 University of Pennsylvania

Modulation Of Robot Orientation Via Leg-Obstacle Contact Positions, Divya Ramesh, Anmol Kathail, Daniel E. Koditschek, Feifei Qian

Departmental Papers (ESE)

We study a quadrupedal robot traversing a structured (i.e., periodically spaced) obstacle field driven by an open-loop quasi-static trotting walk. Despite complex, repeated collisions and slippage between robot legs and obstacles, the robot’s horizontal plane body orientation (yaw) trajectory can converge in the absence of any body level feedback to stable steady state patterns. We classify these patterns into a series of “types” ranging from stable locked equilibria, to stable periodic oscillations, to unstable or mixed period oscillations. We observe that the stable equilibria can bifurcate to stable periodic oscillations and then to mixed period oscillations as the ...


System Approaches To Water, Sanitation, And Hygiene: A Systematic Literature Review, Nicholas Valcourt, Amy Javernick-Will, Jeffrey P. Walters, Karl Linden 2020 University of Colorado Boulder

System Approaches To Water, Sanitation, And Hygiene: A Systematic Literature Review, Nicholas Valcourt, Amy Javernick-Will, Jeffrey P. Walters, Karl Linden

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

Endemic issues of sustainability in the water, sanitation, and hygiene (WASH) sector have led to the rapid expansion of ‘system approaches’ for assessing the multitude of interconnected factors that affect WASH outcomes. However, the sector lacks a systematic analysis and characterization of the knowledge base for systems approaches, in particular how and where they are being implemented and what outcomes have resulted from their application. To address this need, we conducted a wide-ranging systematic literature review of systems approaches for WASH across peer-reviewed, grey, and organizational literature. Our results show a myriad of methods, scopes, and applications within the sector ...


A Programmably Compliant Origami Mechanism For Dynamically Dexterous Robots, Wei-Hsi Chen, Shivangi Mishra, Yuchong Gao, Young-Joo Lee, Daniel Koditschek, Shu Yang, Cynthia R. Sung 2020 University of Pennsylvania

A Programmably Compliant Origami Mechanism For Dynamically Dexterous Robots, Wei-Hsi Chen, Shivangi Mishra, Yuchong Gao, Young-Joo Lee, Daniel Koditschek, Shu Yang, Cynthia R. Sung

Departmental Papers (ESE)

We present an approach to overcoming challenges in dynamical dexterity for robots through programmably compliant origami mechanisms. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial compliance can be tuned to select desired stiffness. Concentrically arranged cylinder pairs reliably manifest additive stiffness, extending the programmable range by nearly an order of magnitude and achieving bulk axial stiffness spanning 200–1500 N/m using 8 mil thick polyester-coated paper. Accordingly, we design origami energy-storing springs with a stiffness of 1035 N/m each and incorporate them into a three degree-of-freedom (DOF) tendon-driven ...


Forecasting Corn Yield With Machine Learning Ensembles, Mohsen Shahhosseini, Guiping Hu, Sotirios Archontoulis 2020 Iowa State University

Forecasting Corn Yield With Machine Learning Ensembles, Mohsen Shahhosseini, Guiping Hu, Sotirios Archontoulis

Industrial and Manufacturing Systems Engineering Publications

The emerge of new technologies to synthesize and analyze big data with high-performance computing, has increased our capacity to more accurately predict crop yields. Recent research has shown that Machine learning (ML) can provide reasonable predictions, faster, and with higher flexibility compared to simulation crop modeling. The earlier the prediction during the growing season the better, but this has not been thoroughly investigated as previous studies considered all data available to predict yields. This paper provides a machine learning based framework to forecast corn yields in three US Corn Belt states (Illinois, Indiana, and Iowa) considering complete and partial in-season ...


Queueing-Inventory Models For A Two-Vendor System With Positive Service Times, Srinivas Chakravarthy, Khizer Haya 2020 Kettering University

Queueing-Inventory Models For A Two-Vendor System With Positive Service Times, Srinivas Chakravarthy, Khizer Haya

Industrial & Manufacturing Engineering Publications

Queueing-inventory systems wherein the demands are processed with random service times have been getting a lot of attention recently. In such systems, each demand needs one or more inventory items and needs positive processing times. The inventory is generally replenished using -type policy and the lead times are assumed to be random. In this paper we introduce the concept of multiple vendors who will be responsible for the replenishment of inventory. Under the assumptions of a two-vendor system wherein the demands occurring according to a Markovian arrival process, the service times to be of phase type, and the lead times ...


Tracked Vehicle Physics-Based Energy Modelling And Series Hybrid System Optimisation For The Bradley Fighting Vehicle, Travis E. McWhirter, Torrey J. Wagner, John E. Stubbs, Denise M. Rizzo, Jada B. Williams 2019 Air Force Institute of Technology

Tracked Vehicle Physics-Based Energy Modelling And Series Hybrid System Optimisation For The Bradley Fighting Vehicle, Travis E. Mcwhirter, Torrey J. Wagner, John E. Stubbs, Denise M. Rizzo, Jada B. Williams

Faculty Publications

A hybrid electric tracked ground vehicle (HETGV) can reduce military fuel usage, however a review of current tools determined they are not suitable to estimate HEGTV performance. Based on topographic data and vehicle attributes, this research developed an estimation tool by creating a model to determine tracked vehicle energy and fuel requirements, and using these requirements, created a HEGTV cost and performance optimisation for the Bradley fighting vehicle energy system. The optimised design reduced fuel consumption by 15%, and met the vehicle's peak power requirement of 365 kW, with a recommended configuration of a 135 kW generator and 100 ...


Extended Version Of Simple Sagittal Running: Stability Of A Quadrupedal Bound, Jeff Duperret, D. E. Koditschek 2019 University of Pennsylvania

Extended Version Of Simple Sagittal Running: Stability Of A Quadrupedal Bound, Jeff Duperret, D. E. Koditschek

Technical Reports (ESE)

This paper develops a three degree-of-freedom sagittal-plane hybrid dynamical systems model of a bounding quadruped. Simple within-stance controls yield a closed form expression for a family of hybrid limit cycles that represent bounding behavior over a range of user-selected fore-aft speeds as a function of the model's kinematic and dynamical parameters. Controls acting on the hybrid transitions are structured so as to achieve a cascade composition of in-place bounding driving the fore-aft degree of freedom thereby decoupling the linearized dynamics of an approximation to the stride map. Careful selection of the feedback channels used to implement these controls affords ...


Space Optimization And Process Improvement, Harith Alshareef 2019 Kennesaw State University

Space Optimization And Process Improvement, Harith Alshareef

Senior Design Project For Engineers

Siemens Energy warehouse located in Suwanee, GA runs out of space in the Precision Lab due to rapid growth, seasonal peaks, and poor space utilization. The objective of the project is to redesign the Precision Lab layout and improve the tool assessment process to increase efficiency, productivity, and profitability.

The first solution is to add shelves in the Precision lab as well as the Torque lab and reduce the honeycombing effect on the shelves, which results in a 120%-150% increase in the storage space. We propose adding Tablets that include barcode scanner features to reduce the time spent on ...


Mazak Laser Optimization, Maylon Ellington, Terrilian E. Agbor Oji, William N. Palm 2019 Kennesaw State University

Mazak Laser Optimization, Maylon Ellington, Terrilian E. Agbor Oji, William N. Palm

Senior Design Project For Engineers

Starflex Fabrication is a manufacturing company that thrives to provide custom, precision fabricated parts, and assemblies to their customers.The Mazak laser is Starflex Fabrication’s primary cutting machine and is critical to the overall process for each order. Team Flex will look to optimize the laser’s process and improve overall shop throughput.


A Governance Perspective For System-Of-Systems, Polinpapilinho F. Katina, Charles B. Keating, James A. Bobo, Tyrone S. Toland 2019 Old Dominion University

A Governance Perspective For System-Of-Systems, Polinpapilinho F. Katina, Charles B. Keating, James A. Bobo, Tyrone S. Toland

Engineering Management & Systems Engineering Faculty Publications

The operating landscape of 21st century systems is characteristically ambiguous, emergent, and uncertain. These characteristics affect the capacity and performance of engineered systems/enterprises. In response, there are increasing calls for multidisciplinary approaches capable of confronting increasingly ambiguous, emergent, and uncertain systems. System of Systems Engineering (SoSE) is an example of such an approach. A key aspect of SoSE is the coordination and the integration of systems to enable ‘system-of-systems’ capabilities greater than the sum of the capabilities of the constituent systems. However, there is a lack of qualitative studies exploring how coordination and integration are achieved. The objective of ...


Resource Allocation And Task Scheduling Optimization In Cloud-Based Content Delivery Networks With Edge Computing, Yang Peng 2019 Southern Methodist University

Resource Allocation And Task Scheduling Optimization In Cloud-Based Content Delivery Networks With Edge Computing, Yang Peng

Engineering Management, Information, and Systems Research Theses and Dissertations

The extensive growth in adoption of mobile devices pushes global Internet protocol (IP) traffic to grow and content delivery network (CDN) will carry 72 percent of total Internet traffic by 2022, up from 56 percent in 2017. In this praxis, Interconnected Cache Edge (ICE) based on different public cloud infrastructures with multiple edge computing sites is considered to help CDN service providers (SPs) to maximize their operational profit. The problem of resource allocation and performance optimization is studied in order to maximize the cache hit ratio with available CDN capacity.

The considered problem is formulated as a multi-stage stochastic linear ...


Computational Analysis Of Antipode Algorithms For The Output Feedback Hopf Algebra, Lance Berlin 2019 Old Dominion University

Computational Analysis Of Antipode Algorithms For The Output Feedback Hopf Algebra, Lance Berlin

Electrical & Computer Engineering Theses & Disssertations

The feedback interconnection of two systems written in terms of Chen-Fliess series can be described explicitly in terms of the antipode of the output feedback Hopf algebra. At present, there are three known computational approaches to calculating this antipode: the left coproduct method, the right coproduct method, and the derivation method. Each of these algorithms is defined recursively, and thus becomes computationally expensive quite quickly. This motivates the need for a more complete understanding of the algorithmic complexity of these methods, as well as the development of new approaches for determining the Hopf algebra antipode. The main goals of this ...


Coronal Plane Spine Twisting Composes Shape To Adjust The Energy Landscape For Grounded Reorientation, J. Diego Caporale, Benjamin W. McInroe, Chenze Ning, Thomas Libby, Robert J. Full, Daniel E. Koditschek 2019 Mechanical Engineering and Applied Mechanics, University of Pennsylvania

Coronal Plane Spine Twisting Composes Shape To Adjust The Energy Landscape For Grounded Reorientation, J. Diego Caporale, Benjamin W. Mcinroe, Chenze Ning, Thomas Libby, Robert J. Full, Daniel E. Koditschek

Departmental Papers (ESE)

Despite substantial evidence for the crucial role played by an active backbone or spine in animal locomotion, its adoption in legged robots remains limited because the added mechanical complexity and resulting dynamical challenges pose daunting obstacles to characterizing even a partial range of potential performance benefits. This paper takes a next step toward such a characterization by exploring the quasistatic terrestrial self-righting mechanics of a model system with coronal plane spine twisting (CPST). Reduction from a full 3D kinematic model of CPST to a two parameter, two degree of freedom coronal plane representation of body shape affordance predicts a substantial ...


Composition Of Templates For Transitional Pedipulation Behaviors, Thomas T. Topping, Vasileios Vasilopoulos, Avik De, Daniel E. Koditschek 2019 University of Pennsylvania

Composition Of Templates For Transitional Pedipulation Behaviors, Thomas T. Topping, Vasileios Vasilopoulos, Avik De, Daniel E. Koditschek

Departmental Papers (ESE)

Abstract. We document the reliably repeatable dynamical mounting and dismounting of wheeled stools and carts, and of fixed ledges, by the Minitaur robot. Because these tasks span a range of length scales that preclude quasi-static execution, we use a hybrid dynamical systems framework to variously compose and thereby systematically reuse a small lexicon of templates (low degree of freedom behavioral primitives). The resulting behaviors comprise the key competences beyond mere locomotion required for robust implementation on a legged mobile manipulator of a simple version of the warehouseman’s problem.


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