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Extended Version Of Stability Of A Groucho-Style Bounding Run In The Sagittal Plane, Jeff Duperret, D. E. Koditschek 2023 University of Pennsylvania

Extended Version Of Stability Of A Groucho-Style Bounding Run In The Sagittal Plane, Jeff Duperret, D. E. Koditschek

Technical Reports (ESE)

This paper develops a three degree-of-freedom sagittal-plane hybrid dynamical systems model of a Groucho-style bounding quadrupedal run. Simple within-stance controls using a modular architecture 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 …


Like You Search, Gipson Bachman 2023 Loyola Marymount University

Like You Search, Gipson Bachman

LMU/LLS Theses and Dissertations

As consumers continue to make their purchases solely online without visiting brick-and-mortar stores, they increasingly look for ways to “touch, feel and try on” products without actually doing so. We believe social media influencers provide a way to do this, with the influencers themselves acting as “stand-ins” for consumers in their place. Finding influencers that look like you in 2022 sounds like it would be easy, but it isn’t. Until now.

LIKE YOU aims to answer this gap in the market by creating a proprietary search engine that, through answering a few questions, recommends a list of influencers that can …


Development Of Directed Randomization For Discussing A Minimal Security Architecture, Henrique Oyama, Dominic Messina, Keshav Kasturi Rangan, Akkarakaran Francis Leonard, Kip Nieman, Helen Durand, Katie Tyrrell, Katrina Hinzman, Michael Williamson 2022 Department of Chemical Engineering and Materials Science, Wayne State University, Detroit, MI

Development Of Directed Randomization For Discussing A Minimal Security Architecture, Henrique Oyama, Dominic Messina, Keshav Kasturi Rangan, Akkarakaran Francis Leonard, Kip Nieman, Helen Durand, Katie Tyrrell, Katrina Hinzman, Michael Williamson

Chemical Engineering and Materials Science Faculty Research Publications

Strategies for mitigating the impacts of cyberattacks on control systems using a control-oriented perspective have become of greater interest in recent years. Our group has contributed to this trend by developing several methods for detecting cyberattacks on process sensors, actuators, or both sensors and actuators simultaneously using an advanced optimization-based control strategy known as Lyapunov-based economic model predictive control (LEMPC). However, each technique comes with benefits and limitations, both with respect to one another and with respect to traditional information technology and computer science-type approaches to cybersecurity. An important question to ask, therefore, is what the goal should be of …


Investigating Applications Of Deep Learning For Diagnosis Of Post Traumatic Elbow Disease, Hugh James 2022 Washington University in St. Louis

Investigating Applications Of Deep Learning For Diagnosis Of Post Traumatic Elbow Disease, Hugh James

McKelvey School of Engineering Theses & Dissertations

Traumatic events such as dislocation, breaks, and arthritis of musculoskeletal joints can cause the development of post-traumatic joint contracture (PTJC). Clinically, noninvasive techniques such as Magnetic Resonance Imaging (MRI) scans are used to analyze the disease. Such procedures require a patient to sit sedentary for long periods of time and can be expensive as well. Additionally, years of practice and experience are required for clinicians to accurately recognize the diseased anterior capsule region and make an accurate diagnosis. Manual tracing of the anterior capsule is done to help with diagnosis but is subjective and timely. As a result, there is …


Practical Requirements Elicitation In Modern Product Development: A Multi-Case Study In Discontinuous Innovation, Michael King 2022 Mississippi State University

Practical Requirements Elicitation In Modern Product Development: A Multi-Case Study In Discontinuous Innovation, Michael King

Theses and Dissertations

Practical modern product development, specifically rapid, lean efforts to create new disrupting or specialized products, face constraints that require modified requirements elicitation (RE) techniques. Requirements elicitation conventions have not been updated to address the challenges of these approaches, and industry practitioners lack the tools to select the most efficient techniques. This study examines the RE approaches performed by three resource-limited teams conducting discontinuous new product development through a multi-case study to identify gaps between the literature and practice, with suggestions to fill them. Our findings suggest modern RE practices and challenges closely reflect those found by studies on RE in …


Context-Aware Collaborative Neuro-Symbolic Inference In Internet Of Battlefield Things, Tarek Abdelzaher, Nathaniel D. Bastian, Susmit Jha, Lance Kaplan, Mani Srivastava, Venugopal Veeravalli 2022 Army Cyber Institute, U.S. Military Academy

Context-Aware Collaborative Neuro-Symbolic Inference In Internet Of Battlefield Things, Tarek Abdelzaher, Nathaniel D. Bastian, Susmit Jha, Lance Kaplan, Mani Srivastava, Venugopal Veeravalli

ACI Journal Articles

IoBTs must feature collaborative, context-aware, multi-modal fusion for real-time, robust decision-making in adversarial environments. The integration of machine learning (ML) models into IoBTs has been successful at solving these problems at a small scale (e.g., AiTR), but state-of-the-art ML models grow exponentially with increasing temporal and spatial scale of modeled phenomena, and can thus become brittle, untrustworthy, and vulnerable when interpreting large-scale tactical edge data. To address this challenge, we need to develop principles and methodologies for uncertainty-quantified neuro-symbolic ML, where learning and inference exploit symbolic knowledge and reasoning, in addition to, multi-modal and multi-vantage sensor data. The approach features …


Multiple Heat Exchanger Cooling System For Automotive Applications – Design, Mathematical Modeling, And Experimental Observations, Zaker Syed 2022 Clemson University

Multiple Heat Exchanger Cooling System For Automotive Applications – Design, Mathematical Modeling, And Experimental Observations, Zaker Syed

All Dissertations

The design of the automotive cooling systems has slowly evolved from engine-driven mechanical to computer-controlled electro-mechanical components. With the addition of computer-controlled variable speed actuators, cooling system architectures have been updated to maximize performance and efficiency. By switching from one large radiator to multiple smaller radiators with individual flow control valves, the heat rejection requirements may be precisely adjusted. The combination of computer regulated thermal management system should reduce power consumption while satisfying temperature control objectives. This research focuses on developing and analyzing a multi-radiator system architecture for implementation in ground transportation applications. The premise is to use a single …


Using Strategic Options Development And Analysis (Soda) To Understand The Simulation Accessibility Problem, Andrew J. Collins, Ying Thaviphoke, Antuela A. Tako 2022 Old Dominion University

Using Strategic Options Development And Analysis (Soda) To Understand The Simulation Accessibility Problem, Andrew J. Collins, Ying Thaviphoke, Antuela A. Tako

Engineering Management & Systems Engineering Faculty Publications

Simulation modelling is applied to a wide range of problems, including defense and healthcare. However, there is a concern within the simulation community that there is a limited use and implementation of simulation studies in practice. This suggests that despite its benefits, simulation may not be reaching its potential in making a real-world impact. The main reason for this could be that simulation tools are not widely accessible in industry. In this paper, we investigate the issues that affect simulation modelling accessibility through a workshop with simulation practitioners. We use Strategic Options Development and Analysis (SODA), a problem-structuring approach that …


Kinegami: Algorithmic Design Of Compliant Kinematic Chains From Tubular Origami, Wei-Hsi Chen, Woohyeok Yang, Lucien Peach, Daniel E. Koditschek, Cynthia R. Sung 2022 University of Pennsylvania

Kinegami: Algorithmic Design Of Compliant Kinematic Chains From Tubular Origami, Wei-Hsi Chen, Woohyeok Yang, Lucien Peach, Daniel E. Koditschek, Cynthia R. Sung

Departmental Papers (ESE)

Origami processes can generate both rigid and compliant structures from the same homogeneous sheet material. In this article, we advance the origami robotics literature by showing that it is possible to construct an arbitrary rigid kinematic chain with prescribed joint compliance from a single tubular sheet. Our “Kinegami” algorithm converts a Denavit–Hartenberg specification into a single-sheet crease pattern for an equivalent serial robot mechanism by composing origami modules from a catalogue. The algorithm arises from the key observation that tubular origami linkage design reduces to a Dubins path planning problem. The automatically generated structural connections and movable joints that realize …


Value Focused Thinking Analysis Of C-Band Australia Radar Operations, Samuel Ray Grothman 2022 Air Force Institute of Technology

Value Focused Thinking Analysis Of C-Band Australia Radar Operations, Samuel Ray Grothman

Theses and Dissertations

The radars used for Space Domain Awareness (SDA) are inherently all-weather, day/night sensors capable of around the clock operations. Despite this fact, some radars are operated for fewer than their maximum operating capabilities. The decision-making process for selecting the operating hours of a sensor has historically been based on only a few factors or just one. This research uses the techniques in Value Focused Thinking to develop an evaluation process to score possible alternatives and find the alternative with the most value for the decision maker. By investigating the value that is added by operating an SDA radar, it is …


A Methodological Framework For Parametric Combat Analysis, Dustin L. Hayhurst Sr. 2022 Air Force Institute of Technology

A Methodological Framework For Parametric Combat Analysis, Dustin L. Hayhurst Sr.

Theses and Dissertations

This work presents a taxonomic structure for understanding the tension between certain factors of stability for game-theoretic outcomes such as Nash optimality, Pareto optimality, and balance optimality and then applies such game-theoretic concepts to the advancement of strategic thought on spacepower. This work successfully adapts and applies combat modeling theory to the evaluation of cislunar space conflict. This work provides evidence that the reliability characteristics of small spacecraft share similarities to the reliability characteristics of large spacecraft. Using these novel foundational concepts, this dissertation develops and presents a parametric methodological framework capable of analyzing the efficacy of heterogeneous force compositions …


Ads-B Classification Using Multivariate Long Short-Term Memory–Fully Convolutional Networks And Data Reduction Techniques, Sarah Bolton, Richard Dill, Michael R. Grimaila, Douglas Hodson 2022 Air Force Institute of Technology

Ads-B Classification Using Multivariate Long Short-Term Memory–Fully Convolutional Networks And Data Reduction Techniques, Sarah Bolton, Richard Dill, Michael R. Grimaila, Douglas Hodson

Faculty Publications

Researchers typically increase training data to improve neural net predictive capabilities, but this method is infeasible when data or compute resources are limited. This paper extends previous research that used long short-term memory–fully convolutional networks to identify aircraft engine types from publicly available automatic dependent surveillance-broadcast (ADS-B) data. This research designs two experiments that vary the amount of training data samples and input features to determine the impact on the predictive power of the ADS-B classification model. The first experiment varies the number of training data observations from a limited feature set and results in 83.9% accuracy (within 10% of …


Assessing Readiness For Implementation Of Prognostics And Health Management In Small And Medium Enterprises, Sara C. Fuller 2022 Mississippi State University

Assessing Readiness For Implementation Of Prognostics And Health Management In Small And Medium Enterprises, Sara C. Fuller

Theses and Dissertations

Prognostics and Health Management (PHM) refers to using robust sensing, monitoring, and control to detect, assess, and track system health degradation and failure modes, allowing for enhanced management and operational decisions. The need for PHM within a manufacturing facility has increased due to a variety of reasons, such as the increasing complexity of manufacturing equipment.

A lack of readiness for digital implementations is linked to failure. The literature highlights certain barriers and enablers that can signal whether a technology implementation will be successful, such as management and maintenance employees’ desire to change the existing process, an understanding and willingness to …


Development Of New Space Systems Architecture In Sysml Using Model-Based Pattern Language, Bhushan R. Lohar 2022 University of South Alabama

Development Of New Space Systems Architecture In Sysml Using Model-Based Pattern Language, Bhushan R. Lohar

Theses and Dissertations

This manuscript presents an approach to the application of the Model-Based Systems Engineering (MBSE) and Model-Based Systems Architecting (MBSA) principles to develop a Model-Based Pattern Language (MBPL). It takes considerable time for systems engineers and mission architects to develop a new system from scratch, particularly new space-based systems derived from the existing space system architectures. The use of a pattern language which is a holistic view of reusable logical model artifacts, can improve the process.

The main benefit of the pattern language is to reduce the time and validation required to generate a new space-based system architecture; this approach will …


Dynamic Dilemma Zone Protection System: A Smart Machine Learning Based Approach To Countermeasure Drivers's Yellow Light Dilemma, Md Maynur Rahman 2022 University of South Alabama

Dynamic Dilemma Zone Protection System: A Smart Machine Learning Based Approach To Countermeasure Drivers's Yellow Light Dilemma, Md Maynur Rahman

Theses and Dissertations

Drivers’ indecisions within the dilemma zone (DZ) during the yellow interval is a major safety concern of a roadway network. The present study develops a systematic framework of a machine learning (ML) based dynamic dilemma zone protection (DZP) system to protect drivers from potential intersection crashes due to such indecisions. For this, the present study first develops effective methods of quantifying DZ using important site-specific characteristics of signalized intersections. By this method, high-risk intersections in terms of DZ crashes could be identified using readily available intersection site-specific characteristics. Afterward, the present study develops an innovative framework for predicting driver behavior …


Deep Learning Applications In Industrial And Systems Engineering, Winthrop Harvey 2022 University of Arkansas, Fayetteville

Deep Learning Applications In Industrial And Systems Engineering, Winthrop Harvey

Graduate Theses and Dissertations

Deep learning - the use of large neural networks to perform machine learning - has transformed the world. As the capabilities of deep models continue to grow, deep learning is becoming an increasingly valuable and practical tool for industrial engineering. With its wide applicability, deep learning can be turned to many industrial engineering tasks, including optimization, heuristic search, and functional approximation. In this dissertation, the major concepts and paradigms of deep learning are reviewed, and three industrial engineering projects applying these methods are described. The first applies a deep convolutional network to the task of absolute aerial geolocalization - the …


Predictors Of Email Response: Determinants Of The Intention Of Not Following Security Recommendations, Miguel Angel Toro-Jarrin 2022 Old Dominion University

Predictors Of Email Response: Determinants Of The Intention Of Not Following Security Recommendations, Miguel Angel Toro-Jarrin

Engineering Management & Systems Engineering Theses & Dissertations

Organizations and government leaders are concerned about cyber incidents. For some time, researchers have studied what motivates people to act in ways that put the confidentiality, integrity, and availability of information in organizations at risk. Still, several areas remained unexplored, including the role of employees’ evaluation of the organizational systems and the role of value orientation at work as precursors of secure and insecure actions in relation to information technologies (information security [IS] action). The objective of this research project was to examine how the evaluations of formal and informal security norms are associated with the intention to follow them …


Autonomous Vehicles On The Smart Roads: Challenges And Potentials, Laura Cristancho, Baleki Campbell, Mahyar Amirgholy 2022 Kennesaw State University

Autonomous Vehicles On The Smart Roads: Challenges And Potentials, Laura Cristancho, Baleki Campbell, Mahyar Amirgholy

The Kennesaw Journal of Undergraduate Research

Self-driving vehicles and smart roads are not new concepts. These ideas have been discussed for many years but for much of this time, the required technology was not available to make them a reality. Just recently has our technology caught up to our ideas and we are beginning to see progress towards the realization of the automated highway system. As the transition to a complete automated system is still in progress, this leaves many questions that still need to be answered as well as allowing for novel solutions to be presented. Using modern research papers to formulate a sound basis …


Smartphone Control Of Rc Cars, Weston R. Fitzgerald 2022 California Polytechnic State University, San Luis Obispo

Smartphone Control Of Rc Cars, Weston R. Fitzgerald

Electrical Engineering

The smartphone-controlled RC (remote-controlled) car is an inexpensive remote-controlled car designed to be fast and portable. Instead of manufacturing, packaging, and shipping a separate controller, the remote control is implemented in a phone application, which saves time and money in both the design process and the manufacturing process. Utilizing the user’s smartphone is more cost-effective since mobile devices are a common recurrence, and packaging fewer devices results in overall better portability of the product.

This smartphone-controlled car is speedy and intuitive to learn for typical smartphone users. The user can change the car’s speed and direction wirelessly using their phone; …


A Model-Based Approach To Cubesat Propulsion And Payload Analysis, Madeline H. Johnson 2022 Air Force Institute of Technology

A Model-Based Approach To Cubesat Propulsion And Payload Analysis, Madeline H. Johnson

Theses and Dissertations

Currently, there are only limited ways to increase mission success of CubeSats in terms of component and mission compatibility. The Payload Analysis Tool (PAT), developed by Air Force Institute of Technology (AFIT) students, combines the power of multiple tools to analyze payload compatibility on a single CubeSat bus. The PAT simulates a CubeSat mission with a variety of payloads to better understand how the payloads interact with the bus in terms of power, data rate, and memory, but it lacks a propulsion system. This thesis research advances the PAT by including a propulsion system which allows for increased mission time …


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