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Sensor-Based Legged Robot Homing Using Range-Only Target Localization, Vasileios Vasilopoulos, Omur Arslan, Avik De, Daniel E. Koditschek 2017 University of Pennsylvania

Sensor-Based Legged Robot Homing Using Range-Only Target Localization, Vasileios Vasilopoulos, Omur Arslan, Avik De, Daniel E. Koditschek

Departmental Papers (ESE)

This paper demonstrates a fully sensor-based reactive homing behavior on a physical quadrupedal robot, using onboard sensors, in simple (convex obstacle-cluttered) unknown, GPS-denied environments. Its implementation is enabled by our empirical success in controlling the legged machine to approximate the (abstract) unicycle mechanics assumed by the navigation algorithm, and our proposed method of range-only target localization using particle filters.

For more information: Kod*lab


An Analysis Of The Size And Impact Of Digital Footprints, Whitney Nielsen Maxwell 2017 Brigham Young University

An Analysis Of The Size And Impact Of Digital Footprints, Whitney Nielsen Maxwell

All Theses and Dissertations

Personal information available online is known as a digital footprint. While many have a digital footprint, few if any, know what it encapsulates or how to control it. Technology and personal information are becoming more intertwined as technology becomes more integrated with everyday activities. Personal information can be defined as details that apply to a person such as race or shopping habits. Shopping habits are considered personal information by many corporations who spend money to track, or even predict purchases of individuals, whereas more traditional forms of personal information are details like gender, birthdate, and home town. With a wide ...


Modular Hopping And Running Via Parallel Composition, Avik De 2017 University of Pennsylvania

Modular Hopping And Running Via Parallel Composition, Avik De

Departmental Papers (ESE)

Though multi-functional robot hardware has been created, the complexity in its functionality has been constrained by a lack of algorithms that appropriately manage flexible and autonomous reconfiguration of interconnections to physical and behavioral components.

Raibert pioneered a paradigm for the synthesis of planar hopping using a composition of ``parts'': controlled vertical hopping, controlled forward speed, and controlled body attitude. Such reduced degree-of-freedom compositions also seem to appear in running animals across several orders of magnitude of scale. Dynamical systems theory can offer a formal representation of such reductions in terms of ``anchored templates,'' respecting which Raibert's empirical synthesis (and ...


Technical Report On: Towards Reactive Control Of Simplified Legged Robotics Maneuvers, Jeff Duperret, D. E. Koditschek 2017 University of Pennsylvania

Technical Report On: Towards Reactive Control Of Simplified Legged Robotics Maneuvers, Jeff Duperret, D. E. Koditschek

Technical Reports (ESE)

This technical report provides proofs and calculations for the paper "Towards Reactive Control of Simplified Legged Robotics Maneuvers," as well as implementation notes and a discussion on robustness.


Answering Food Insecurity: Serving The Community With Food And Knowledge Using Technology, Courtney Simpson 2017 Purdue University

Answering Food Insecurity: Serving The Community With Food And Knowledge Using Technology, Courtney Simpson

Purdue Journal of Service-Learning and International Engagement

The courses of Tech120, CGT110, and ENGT 180/181 and Red Gold at Purdue collaborated to design a robot that would plant and water a garden for a local community charter school. The students centered the project on the users’ needs for fresh food, nutrition education, and early exposure to STEM for children. The school, Anderson Preparatory Academy (APA), is comprised of many children who come from low-income families and are in the free or reduced lunch program. Inspired from “Farm Bot,” a similar system that allows for almost hands-free gardening, the “Boiler Bot” is designed to be scalable so ...


Consumer-Adoption Modeling Of Distributed Solar Using An Agent-Based Approach, Anuj Mittal, Wanyu Huang, Caroline C. Krejci 2017 Iowa State University

Consumer-Adoption Modeling Of Distributed Solar Using An Agent-Based Approach, Anuj Mittal, Wanyu Huang, Caroline C. Krejci

Anuj Mittal

The electricity market in the U.S. is changing rapidly from a utility-scale centralized generation-distribution model to a more distributed and customer-sited energy model. Increasingly, residential consumers are showing interest in solar-based electricity, which has resulted in increased adoption of distributed solar on the rooftops of owner-occupied residences. However, limited accessibility of rooftop PV has led to equity concerns among policymakers, and utility companies face a decline in revenues as more residents adopt rooftop PV. In response to these issues, utility companies must consider providing alternative renewable energy options to their customers and incorporate consumer adoption modeling in their expansion ...


Using Emerging Open Source Technolgies To Foster Reproducability In Research, Joe Olson 2017 Illinois State University

Using Emerging Open Source Technolgies To Foster Reproducability In Research, Joe Olson

Annual Symposium on Biomathematics and Ecology: Education and Research

No abstract provided.


Identification Of Reverse Engineering Candidates Utilizing Machine Learning And Aircraft Cannibalization Data, Marc Banghart 2017 Embry Riddle Aeronautical University

Identification Of Reverse Engineering Candidates Utilizing Machine Learning And Aircraft Cannibalization Data, Marc Banghart

International Journal of Aviation, Aeronautics, and Aerospace

As military aircraft continue to remain in service and age, cannibalization of parts is increasing. Proactive identification of parts that are at high risk for cannibalization will inform engineering processes such as reverse engineering, thus allowing potentially reducing lead time to develop new parts. The research objective was to develop a causal structure that can be used for prediction of when cannibalization actions may occur. Bayesian networks allow encoding of causality between various descriptive features given a data set. The method utilized a tabu search algorithm, identified the underlying causal structure and the associated node probabilities. The method is then ...


Analyzing Team Training Data: Aspirations For A Gift Data Analytics Engine, Stephen B. Gilbert, Anne M. Sinatra, Anastacia MacAllister, Adam Kohl, Eliot Winer, Michael C. Dorneich, Anna Slavina, Desmond Bonner, Kaitlyn M. Ouverson 2017 Iowa State University

Analyzing Team Training Data: Aspirations For A Gift Data Analytics Engine, Stephen B. Gilbert, Anne M. Sinatra, Anastacia Macallister, Adam Kohl, Eliot Winer, Michael C. Dorneich, Anna Slavina, Desmond Bonner, Kaitlyn M. Ouverson

Anastacia MacAllister

No abstract provided.


Creating A Team Tutor Using Gift, Stephen B. Gilbert, Anna Slavina, Michael C. Dorneich, Anne M. Sinatra, Desmond Bonner, Joan Johnston, Joseph Holub, Anastacia MacAllister, Eliot H. Winer 2017 Iowa State University

Creating A Team Tutor Using Gift, Stephen B. Gilbert, Anna Slavina, Michael C. Dorneich, Anne M. Sinatra, Desmond Bonner, Joan Johnston, Joseph Holub, Anastacia Macallister, Eliot H. Winer

Michael C. Dorneich

With the movement in education towards collaborative learning, it is becoming more important that learners be able to work together in groups and teams. Intelligent tutoring systems (ITSs) have been used successfully to teach individuals, but so far only a few ITSs have been used for the purpose of training teams. This is due to the difficulty of creating such systems. An ITS for teams must be able to assess complex interactions between team members (team skills) as well as the way they interact with the system itself (task skills). Assessing team skills can be difficult because they contain social ...


Creating A Team Tutor Using Gift, Stephen B. Gilbert, Anna Slavina, Michael C. Dorneich, Anne M. Sinatra, Desmond Bonner, Joan Johnston, Joseph Holub, Anastacia MacAllister, Eliot H. Winer 2017 Iowa State University

Creating A Team Tutor Using Gift, Stephen B. Gilbert, Anna Slavina, Michael C. Dorneich, Anne M. Sinatra, Desmond Bonner, Joan Johnston, Joseph Holub, Anastacia Macallister, Eliot H. Winer

Industrial and Manufacturing Systems Engineering Publications

With the movement in education towards collaborative learning, it is becoming more important that learners be able to work together in groups and teams. Intelligent tutoring systems (ITSs) have been used successfully to teach individuals, but so far only a few ITSs have been used for the purpose of training teams. This is due to the difficulty of creating such systems. An ITS for teams must be able to assess complex interactions between team members (team skills) as well as the way they interact with the system itself (task skills). Assessing team skills can be difficult because they contain social ...


Display System And Method For Generating A Display: Patent Application, William Rogers, Michael C. Dorneich, Chris Hamblin, Stephen Whitlow 2017 Iowa State University

Display System And Method For Generating A Display: Patent Application, William Rogers, Michael C. Dorneich, Chris Hamblin, Stephen Whitlow

Michael C. Dorneich

A display system and method for providing a display. A display system includes a computer processor, the computer processor being configured to receive information from a plurality of sensors. The computer processor is further configured to detect an abnormal situation, based on information received from the plurality of sensors. The display system further includes a database including abnormal situation response procedures in operable communication with the processor, wherein the database is configured to provide the processor with the abnormal situation response procedures upon the detection of an abnormal situation. The display system further includes a display device in operable communication ...


Workload Management System And Method, Michael C. Dorneich, William Rogers, Stephen Whitlow, Chris Hamblin, Claudia Keinrath 2017 Iowa State University

Workload Management System And Method, Michael C. Dorneich, William Rogers, Stephen Whitlow, Chris Hamblin, Claudia Keinrath

Michael C. Dorneich

A system and method are provided for facilitating workload management. The system processes first sensor data to estimate the current cognitive state of a first person, and processes second sensor data to estimate the current cognitive state of a second person. Information representative of the estimates of the current cognitive states of the first person and the second person is simultaneously rendered on a display device.


Rapid Serial Visual Presentation Triage Prioritization Based On User State Assessment, Santosh Mathan, Michael C. Dorneich, Patricia M. Ververs, Stephen Whitlow 2017 Iowa State University

Rapid Serial Visual Presentation Triage Prioritization Based On User State Assessment, Santosh Mathan, Michael C. Dorneich, Patricia M. Ververs, Stephen Whitlow

Michael C. Dorneich

A method and system are provided that prioritize the output of an image triage that is based on rapid serial visual presentation. User responses and estimates of the effectiveness with which each image is likely to have been processed by a user are employed for post triage image prioritization of potential targets. Images associated with a user response, processed during optimal user states, are assigned the highest priority for post triage examination, as targets are likely. Images without a user response that are processed during optimal user states are assigned the lowest priority, as these are unlikely to contain targets ...


Situation Aftermath Management System And Method: Patent Application, Michael C. Dorneich, Chris Hamblin, William Rogers, Stephen Whitlow 2017 Iowa State University

Situation Aftermath Management System And Method: Patent Application, Michael C. Dorneich, Chris Hamblin, William Rogers, Stephen Whitlow

Michael C. Dorneich

A system and method for assisting flight crew recovery in the aftermath of an unexpected event is provided. A processor is used to detect that an unexpected event has occurred in an aircraft and, in response to detecting that the unexpected event has occurred, state data are stored in memory. The processor is also used to detect that the expected event has been resolved and, in response to detecting that the unexpected event has been resolved, the processor retrieves the state data from the memory, generates an aftermath plan that includes prompts to guide the flight crew to complete the ...


Situation Aftermath Management System And Method, Michael C. Dorneich, Chris Hamblin, William Rogers, Stephen Whitlow 2017 Iowa State University

Situation Aftermath Management System And Method, Michael C. Dorneich, Chris Hamblin, William Rogers, Stephen Whitlow

Michael C. Dorneich

A system and method for assisting flight crew recovery in the aftermath of an unexpected event is provided. A processor is used to detect that an unexpected event has occurred in an aircraft and, in response to detecting that the unexpected event has occurred, state data are stored in memory. The processor is also used to detect that the unexpected event has been resolved and, in response to detecting that the unexpected event has been resolved, the processor retrieves the state data from the memory, generates an aftermath plan that includes prompts to guide the flight crew to complete the ...


A Systems-Based Framework For Design And Analysis Of An R And D Structure, Polinpapilinho F. Katina, Charles B. Keating, Luna M. Magpili 2017 Old Dominion University

A Systems-Based Framework For Design And Analysis Of An R And D Structure, Polinpapilinho F. Katina, Charles B. Keating, Luna M. Magpili

Engineering Management & Systems Engineering Faculty Publications

A critical challenge for managerial effectiveness and competitive advantage in research and development (R and D) organizations is developing an appropriate structural configuration. However, in finding an appropriate structural configuration, R and D managers are faced with unprecedented levels of uncertainty, ambiguity, and accelerating complexity, coupled with demands for increased productivity. This paper develops a systems-based framework to support rigorous design, analysis, and transformation of the structure for R and D organizations. The framework development includes: (1) a review of the literature for the nature and role of the structure in R and D management; (2) setting of the R ...


Cognitive Aircraft Hazard Advisory System (Cahas), Donald C. Kauffman, Michael C. Dorneich 2017 Iowa State University

Cognitive Aircraft Hazard Advisory System (Cahas), Donald C. Kauffman, Michael C. Dorneich

Michael C. Dorneich

Integrated surveillance systems and methods for processing multiple sensor inputs and determining a best route for avoiding multiple hazards. An example method performed on a first aircraft includes generating a plurality of routes for avoiding a previously determined alert from a first advisory system. Then, probability of success information is generated at other advisory systems for each of the plurality of routes. The best route of the plurality of routes is determined based on the generated probabilities and output to the flight crew or other aircraft. The probability of success information includes a previously defined uncertainty value. The uncertainty value ...


Display System And Method For Generating A Display, William Rogers, Michael C. Dorneich, Chris Hamblin, Stephen Whitlow 2017 Iowa State University

Display System And Method For Generating A Display, William Rogers, Michael C. Dorneich, Chris Hamblin, Stephen Whitlow

Michael C. Dorneich

A display system and method for providing a display. A display system includes a computer processor, the computer processor being configured to receive information from a plurality of sensors. The computer processor is further configured to detect an abnormal situation, based on information received from the plurality of sensors. The display system further includes a database including abnormal situation response procedures in operable communication with the processor, wherein the database is configured to provide the processor with the abnormal situation response procedures upon the detection of an abnormal situation. The display system further includes a display device in operable communication ...


Mixed-Initiative Transfer Of Datalink-Based Information, Michael C. Dorneich, Stephen Whitlow, William Rogers 2017 Iowa State University

Mixed-Initiative Transfer Of Datalink-Based Information, Michael C. Dorneich, Stephen Whitlow, William Rogers

Michael C. Dorneich

A system and method are provided for transferring datalink-based information into an aircraft flight management system. When a datalink message is received in an aircraft, it is parsed into individual information elements. The operational impact of the received datalink message on the aircraft is determined from the individual information elements. A method of supplying pilot feedback regarding the received datalink message is determined from the determined operational impact. The pilot feedback regarding the received datalink message is supplied using the determined method. At least selected portions of the individual information elements are selectively transferred into the aircraft flight management system ...


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