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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.


Space Architecture Assessment Using System-Of-Systems Methodologies, Liam Durbin, Cesare Guariniello, Daniel DeLaurentis 2018 Purdue University

Space Architecture Assessment Using System-Of-Systems Methodologies, Liam Durbin, Cesare Guariniello, Daniel Delaurentis

The Summer Undergraduate Research Fellowship (SURF) Symposium

As technologies in the space exploration community are further developed, mission complexity and the associated risks have become greater. Dozens of complicated system interactions may result in unexpected, potentially dangerous emergent behaviors. Early efforts are underway by NASA to map potential system architectures (collections of systems which fulfill design requirements) for future human space exploration missions. However, current mission complexity requires the determination of emergent behaviors, as well as time requirements, and safety levels of complicated space exploration architectures, which current analysis methods in use cannot address. To that end, a newer technique has been developed—System Operability Dependency Analysis ...


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 ...


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 ...


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 ...


Evaluating Human–Automation Etiquette Strategies To Mitigate User Frustration And Improve Learning In Affect-Aware Tutoring, Euijung Yang, Michael C. Dorneich 2018 Iowa State University

Evaluating Human–Automation Etiquette Strategies To Mitigate User Frustration And Improve Learning In Affect-Aware Tutoring, Euijung Yang, Michael C. Dorneich

Industrial and Manufacturing Systems Engineering Publications

Human–automation etiquette applies human–human etiquette conventions to human–computer interaction (HCI). The research described in this paper investigates how to mitigate user frustration and support student learning through changes in the style in which a computer tutor interacts with a learner. Frustration can significantly impact the quality of learning in tutoring. This study examined an approach to mitigate frustration through the use of different etiquette strategies to change the amount of imposition feedback placed on the learner. An experiment was conducted to explore how varying the interaction style of system feedback impacted aspects of the learning process. System ...


Applications Of Complex Network Analysis In Electric Power Systems, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed 2018 CUNY City College

Applications Of Complex Network Analysis In Electric Power Systems, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed

Publications and Research

This paper provides a review of the research conducted on complex network analysis (CNA) in electric power systems. Moreover, a new approach is presented to find optimal locations for microgrids (MGs) in electric distribution systems (EDS) utilizing complex network analysis. The optimal placement in this paper points to the location that will result in enhanced grid resilience, reduced power losses and line loading, better voltage stability, and a supply to critical loads during a blackout. The criteria used to point out the optimal placement of the MGs were predicated on the centrality analysis selected from the complex network theory, the ...


Finalist—2017 M&Som Practice-Based Research Competition—The Hurricane Decision Simulator: A Tool For Marine Forces In New Orleans To Practice Operations Management In Advance Of A Hurricane, Eva D. Regnier, Cameron A. MacKenzie 2018 Naval Postgraduate School

Finalist—2017 M&Som Practice-Based Research Competition—The Hurricane Decision Simulator: A Tool For Marine Forces In New Orleans To Practice Operations Management In Advance Of A Hurricane, Eva D. Regnier, Cameron A. Mackenzie

Industrial and Manufacturing Systems Engineering Publications

The U.S. Marine Forces Reserve (MFR) in New Orleans is frequently threatened by hurricanes. To protect the safety of personnel and their families while maintaining mission capability, the Commander must make timely decisions to set up an alternate headquarters and allow for an orderly evacuation. The MFR relies on forecasts from the National Hurricane Center, but these forecasts are uncertain, are updated frequently, and can be difficult to interpret in the context of the MFR's decision timeline. In addition, there are few opportunities to learn from experience.We developed the Hurricane Decision Simulator (HDS) to allow MFR personnel ...


Online Testing To Assess Performance Of Students In A Large Engineering Class, Vrishtee Rane, Cameron A. MacKenzie 2018 Iowa State University

Online Testing To Assess Performance Of Students In A Large Engineering Class, Vrishtee Rane, Cameron A. Mackenzie

Industrial and Manufacturing Systems Engineering Conference Proceedings and Posters

Fall 2017: Engineering Economic Analysis course •242 students: in-class and distance learning •New assessment procedure: Online testing modules •7 required online testing modules •2 bonus testing modules to earn an A •Semester grades determined completely by number of modules passed •Unlimited number of attempts for each testing module •Randomly chosen questions


Application Of Bayesian Belief Network For Agile Kanban Backlog Estimation, Eric D. Weflen, Kevin Korniejczuk, Sharon M.Y. Lau, Steven S. Kryk, Cameron A. MacKenzie, Iris V. Rivero 2018 Iowa State University

Application Of Bayesian Belief Network For Agile Kanban Backlog Estimation, Eric D. Weflen, Kevin Korniejczuk, Sharon M.Y. Lau, Steven S. Kryk, Cameron A. Mackenzie, Iris V. Rivero

Industrial and Manufacturing Systems Engineering Conference Proceedings and Posters

Traditional Delivery Estimation •High level of maintenance •Difficult to predict lead times •New tasks added constantly •Tasks cancelled •Reprioritization •Current tools adapted to Agile Kanban


Dispensing Medical Countermeasures In Public Health Emergencies Via Home Health Agencies And Points Of Distribution, Anna Hudgeons 2018 University of Arkansas, Fayetteville

Dispensing Medical Countermeasures In Public Health Emergencies Via Home Health Agencies And Points Of Distribution, Anna Hudgeons

Industrial Engineering Undergraduate Honors Theses

A major concern regarding emergency preparedness on the state government level involves the handling and dispensing of the Strategic National Stockpile (SNS) of medicinal supplies. Each state is required to update and maintain a plan of action for dispensing SNS materials that would effectively provide care to the state’s population in times of distress. This research evaluates a state’s ability to dispense an adequate amount of medicine to her population in a timely manner, specifically after it has been received by the state government. Although simulation modeling has previously been utilized to replicate the dispensing process at pre-designated ...


Convergent Set-Based Design In Integrated Analysis Of Alternatives: Designing Engineered Resilient Systems, Zephan Wright Wade 2018 University of Arkansas, Fayetteville

Convergent Set-Based Design In Integrated Analysis Of Alternatives: Designing Engineered Resilient Systems, Zephan Wright Wade

Theses and Dissertations

This thesis presents a comprehensive package for understanding and expanding set-based design quantification through the definition and demonstration of Convergent set-based design (SBD). Convergent SBD is a technique developed for the Engineered Resilient Systems program sponsored by the Department of Defense. Convergent SBD contributes a repeatable methodology with the goal of mathematically eliminating inefficient sets. The study of Convergent SBD led to the development of dominance identification criteria equations using comparison of statistical means. The demonstration of Convergent SBD also illustrates the effect of mission resilience in the tradespace and the impact mission resilience has on preference. Finally, Convergent SBD ...


Demonstrating Set-Based Design Techniques- A Uav Case Study, Colin Small 2018 University of Arkansas, Fayetteville

Demonstrating Set-Based Design Techniques- A Uav Case Study, Colin Small

Theses and Dissertations

The Department of Defense (DoD) and Engineered Resilient Systems (ERS) community seek to improve decision making in the Analysis of Alternatives (AoA) process by incorporating resilience and leveraging the capabilities of model-based engineering (MBE) early in the design process. Traditional tradespace exploration utilizing Point-Based Design (PBD) often converges quickly on a solution with subsequent engineering changes to modify the design. However, this process can lead to a suboptimal solution if an incorrect initial solution is chosen. Enabled by MBE, Set-Based Design (SBD) considers sets of all possible solutions and enables down-selecting possibilities to converge on a final solution. Using a ...


Sensor-Based Reactive Symbolic Planning In Partially Known Environments, Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy, Daniel E. Koditschek 2018 University of Pennsylvania

Sensor-Based Reactive Symbolic Planning In Partially Known Environments, Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy, Daniel E. Koditschek

Departmental Papers (ESE)

This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive robot equipped with a gripper and a LIDAR sensor, capable of perceiving its environment only locally, is used to position the passive objects in a desired configuration. The method combines the virtues of a deliberative planner generating high-level, symbolic commands, with the formal guarantees of convergence and obstacle avoidance of a reactive planner that requires little onboard computation and is used online. The validity of the proposed ...


Chassis Production Process, ABIGAIL H. HARR 7741954 2018 University of Tennessee, Knoxville

Chassis Production Process, Abigail H. Harr 7741954

University of Tennessee Honors Thesis Projects

No abstract provided.


Nomadic Monument For Women In Robotics, Diedra Krieger, Gaby Alfaro, Joey Hartmann-Dow, Sonia F. Roberts 2018 University of Pennsylvania

Nomadic Monument For Women In Robotics, Diedra Krieger, Gaby Alfaro, Joey Hartmann-Dow, Sonia F. Roberts

Departmental Papers (ESE)

We describe the Nomadic Monument for Women in Robotis (NMWR), a project celebrating women pioneers in robotics. NMWR is a 13’ semi-transparent geodesic dome with illustrations and descriptions of the women and their research on the inside faces of the triangles. Visitors can see rough outlines of the illustrations from the outside, but must enter the dome to learn about the women. As an immersive environment, the dome provides visitors not only a place to learn about inspiring women but also a space to feel that they are a member of this inspiring community.

The geodesic dome was introduced by ...


Contextual Framework Of Communications Functions Supporting Complex System Governance, Charles Wesley Chesterman Jr. 2018 Old Dominion University

Contextual Framework Of Communications Functions Supporting Complex System Governance, Charles Wesley Chesterman Jr.

Engineering Management & Systems Engineering Theses & Dissertations

The purpose of this research was to develop a systems theory-based contextual framework of communication functions supporting complex system governance using an inductive research design. Communication, as one aspect of Management Cybernetics (communication and control for effective system organization) constructed of channels of communication, provides for the movement of information internally and externally for a system. This flow reflecting new information, decisions, questions, and intelligence is critical for viability of a system. This research looked for communication mechanisms as developed in system theory, communication theory, management theory, and organizational theory. The literature indicates the importance of communications, but a systemic ...


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