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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 ...


Design Parameters For Small Engines Based On Market Research, Vikram Mittal 2018 United States Military Academy

Design Parameters For Small Engines Based On Market Research, Vikram Mittal

West Point Research Papers

Small internal combustion engines outperform batteries and fuel cells in regards to weight for a range of applications, including consumer products, marine vehicles, small manned ground vehicles, unmanned vehicles, and generators. The power ranges for these applications are typically between 1 kW and 10 kW. There are numerous technical challenges associated with engines producing power in this range resulting in low power density and high specific fuel consumption. As such, there is a large range of engine design solutions that are commercially available in this power range to overcome these technical challenges. A market survey was conducted of commercially available ...


Distributed Methods For Composite Optimization: Communication Efficiency, Load-Balancing And Local Solvers, Chenxin Ma 2018 Lehigh University

Distributed Methods For Composite Optimization: Communication Efficiency, Load-Balancing And Local Solvers, Chenxin Ma

Theses and Dissertations

The scale of modern datasets necessitates the development of efficient distributed opti- mization methods for composite problems, which have numerous applications in the field of machine learning. A critical challenge in realizing this promise of scalability is to develop efficient methods for communicating and coordinating information between distributed ma- chines, taking into account the specific needs of machine learning algorithms. Recent work in this area has been limited by focusing heavily on developing highly specific methods for the distributed environment. These special-purpose methods are often unable to fully leverage the competitive performance of their well-tuned and customized single machine counterparts ...


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 ...


What Is A Good Pattern Of Life Model? Guidance For Simulations, Barry G. Silverman, Gnana K. Bharathy, Nathan Weyer 2018 University of Pennsylvania

What Is A Good Pattern Of Life Model? Guidance For Simulations, Barry G. Silverman, Gnana K. Bharathy, Nathan Weyer

Departmental Papers (ESE)

We have been modeling an ever-increasing scale of applications with agents that simulate the pattern of life (PoL) and real-world human behaviors in diverse regions of the world. The goal is to support sociocultural training and analysis. To measure progress, we propose the definition of a measure of goodness for such simulated agents, and review the issues and challenges associated with first-generation (1G) agents. Then we present a second generation (2G) agent hybrid approach that seeks to improve realism in terms of emergent daily activities, social awareness, and micro-decision making in simulations. We offer a PoL case study with a ...


Analytically-Guided Design Of A Tailed Bipedal Hopping Robot, Abdulaziz Shamsah, Avik De, Daniel E. Koditschek 2018 University of Pennsylvania

Analytically-Guided Design Of A Tailed Bipedal Hopping Robot, Abdulaziz Shamsah, Avik De, Daniel E. Koditschek

Departmental Papers (ESE)

We present the first fully spatial hopping gait of a 12 DoF tailed biped driven by only 4 actuators. The control of this physical machine is built up from parallel compositions of controllers for progressively higher DoF extensions of a simple 2 DoF, 1 actuator template. These template dynamics are still not themselves integrable, but a new hybrid averaging analysis yields a conjectured closed form representation of the approximate hopping limit cycle as a function of its physical and control parameters. The resulting insight into the role of the machine's kinematic and dynamical design choices affords a redesign leading ...


Statistical Reliability Of Wind Power Scenarios And Stochastic Unit Commitment Cost, Didem Sari, Sarah M. Ryan 2018 Iowa State University

Statistical Reliability Of Wind Power Scenarios And Stochastic Unit Commitment Cost, Didem Sari, Sarah M. Ryan

Sarah M. Ryan

Probabilistic wind power scenarios constitute a crucial input for stochastic day-ahead unit commitment in power systems with deep penetration of wind generation. To minimize the cost of implemented solutions, the scenario time series of wind power amounts available should accurately represent the stochastic process for available wind power as it is estimated on the day ahead. The high computational demands of stochastic programming motivate a search for ways to evaluate scenarios without extensively simulating the stochastic unit commitment procedure. The statistical reliability of wind power scenario sets can be assessed by approaches extended from ensemble forecast verification. We examine the ...


Closed-Loop Supply Chain Network Design With Multiple Transportation Modes Under Stochastic Demand And Uncertain Carbon Tax, Ali Haddadsisakht, Sarah M. Ryan 2018 Wise Systems, Inc.

Closed-Loop Supply Chain Network Design With Multiple Transportation Modes Under Stochastic Demand And Uncertain Carbon Tax, Ali Haddadsisakht, Sarah M. Ryan

Sarah M. Ryan

We optimize the design of a closed-loop supply chain network that encompasses flows in both forward and reverse directions and is subject to uncertainty in demands for both new and returned products. The model also accommodates a carbon tax with tax rate uncertainty. The proposed model is a three-stage hybrid robust/stochastic program that combines probabilistic scenarios for the demands and return quantities with uncertainty sets for the carbon tax rates. The first stage decisions are facility investments, the second stage concerns the plan for distributing new and collecting returned products after realization of demands and returns, and the numbers ...


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 ...


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 ...


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 ...


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 ...


A Framework For Executable Systems Modeling, Matthew Amissah 2018 Old Dominion University

A Framework For Executable Systems Modeling, Matthew Amissah

Engineering Management & Systems Engineering Theses & Dissertations

Systems Modeling Language (SysML), like its parent language, the Unified Modeling Language (UML), consists of a number of independently derived model languages (i.e. state charts, activity models etc.) which have been co-opted into a single modeling framework. This, together with the lack of an overarching meta-model that supports uniform semantics across the various diagram types, has resulted in a large unwieldy and informal language schema. Additionally, SysML does not offer a built in framework for managing time and the scheduling of time based events in a simulation.

In response to these challenges, a number of auxiliary standards have been ...


Sequence-Based Simulation-Optimization Framework With Application To Port Operations At Multimodal Container Terminals, Mariam Aladdin Kotachi 2018 Old Dominion University

Sequence-Based Simulation-Optimization Framework With Application To Port Operations At Multimodal Container Terminals, Mariam Aladdin Kotachi

Engineering Management & Systems Engineering Theses & Dissertations

It is evident in previous works that operations research and mathematical algorithms can provide optimal or near-optimal solutions, whereas simulation models can aid in predicting and studying the behavior of systems over time and monitor performance under stochastic and uncertain circumstances. Given the intensive computational effort that simulation optimization methods impose, especially for large and complex systems like container terminals, a favorable approach is to reduce the search space to decrease the amount of computation.

A maritime port can consist of multiple terminals with specific functionalities and specialized equipment. A container terminal is one of several facilities in a port ...


A Representation Of Tactical And Strategic Precursors Of Supply Network Resilience Using Simulation Based Experiments, Yaneth C. Correa-Martinez 2018 Old Dominion University

A Representation Of Tactical And Strategic Precursors Of Supply Network Resilience Using Simulation Based Experiments, Yaneth C. Correa-Martinez

Engineering Management & Systems Engineering Theses & Dissertations

Modern supply chains are becoming increasingly complex and are exposed to higher levels of risk. Globalization, market uncertainty, mass customization, technological and innovation forces, among other factors, make supply networks more susceptible to disruptions (both those that are man-made and/or ones associated with natural events) that leave suppliers unavailable, shut-down facilities and entail lost capacity.

Whereas several models for disruption management exist, there is a need for operational representations of concepts such as resilience that expand the practitioners’ understanding of the behavior of their supply chains. These representations must include not only specific characteristics of the firm’s supply ...


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 ...


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 2018 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 ...


The Use Of Stochastic Value Models To Create Technology Roadmaps, Vikram Mittal 2018 United States Military Academy

The Use Of Stochastic Value Models To Create Technology Roadmaps, Vikram Mittal

West Point Research Papers

Since technology is rapidly advancing, systems engineers must now design for adaptability, such that the system can be updated with new components as they become available. Designing for adaptability typically requires analyzing and evaluating technologies at various stages of maturity to determine if they should be incorporated into the design. As such, technology roadmaps are a useful tool to identifying the change in a technology with time. Though traditional technology roadmaps are based on raw performance data, a technology roadmap based on value modeling would be more appropriate for system design. Value modeling is a technique used for evaluating different ...


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 ...


Sensor-Based Reactive Navigation In Unknown Convex Sphere Worlds, Omur Arslan, Daniel E. Koditschek 2018 University of Pennsylvania

Sensor-Based Reactive Navigation In Unknown Convex Sphere Worlds, Omur Arslan, Daniel E. Koditschek

Departmental Papers (ESE)

We construct a sensor-based feedback law that provably solves the real-time collision-free robot navigation problem in a compact convex Euclidean subset cluttered with unknown but sufficiently separated and strongly convex obstacles. Our algorithm introduces a novel use of separating hyperplanes for identifying the robot’s local obstacle-free convex neighborhood, affording a reactive (online-computed) continuous and piecewise smooth closed-loop vector field whose smooth flow brings almost all configurations in the robot’s free space to a designated goal location, with the guarantee of no collisions along the way. Specialized attention to planar navigable environments yields a necessary and sufficient condition on ...


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