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Teachability And Interpretability In Reinforcement Learning, Jeevan Rajagopal 2021 University of Nebraska - Lincoln

Teachability And Interpretability In Reinforcement Learning, Jeevan Rajagopal

Computer Science and Engineering: Theses, Dissertations, and Student Research

There have been many recent advancements in the field of reinforcement learning, starting from the Deep Q Network playing various Atari 2600 games all the way to Google Deempind's Alphastar playing competitively in the game StarCraft. However, as the field challenges more complex environments, the current methods of training models and understanding their decision making become less effective. Currently, the problem is partially dealt with by simply adding more resources, but the need for a better solution remains.

This thesis proposes a reinforcement learning framework where a teacher or entity with domain knowledge of the task to complete can ...


Testing Methods Of Surficial Sinkhole Identification Using Remotely Sensed Data, Dane P. Brophy 2021 Utah State University

Testing Methods Of Surficial Sinkhole Identification Using Remotely Sensed Data, Dane P. Brophy

All Graduate Plan B and other Reports

Nearly a quarter of all people rely on karst aquifers for drinking water. In the United States, the Safe Water Drinking Act requires a complete assessment of public water systems' vulnerabilities to contamination. As part of that assessment, watershed boundaries must be delineated, while recharge and supply locations identified. In the context of karst aquifers, surficial karst features, such as sinkholes, can act as a point source of direct recharge to karst aquifers and create vulnerabilities to critical drinking water sources. Historical methods of locating these features are inefficient and depend on basic field investigations, resulting in a clear need ...


Reactive Planning For Mobile Manipulation Tasks In Unexplored Semantic Environments, Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek 2021 University of Pennsylvania

Reactive Planning For Mobile Manipulation Tasks In Unexplored Semantic Environments, Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek

Departmental Papers (ESE)

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer any rigorous guarantees. In this paper, we propose a novel hybrid control architecture for achieving such tasks with mobile manipulators. On the discrete side, we enrich a temporal logic specification with mobile manipulation primitives such as moving to a point, and grasping or moving an object. Such specifications are translated to an automaton representation, which orchestrates the physical grounding of the task to mobility or ...


Mathematical Modeling Of A Two Wheeled Robotic Base, Kathryn Remell 2021 University of Arkansas, Fayetteville

Mathematical Modeling Of A Two Wheeled Robotic Base, Kathryn Remell

Mechanical Engineering Undergraduate Honors Theses

This thesis presents the concept of using a two wheeled robot on the moon and briefly explores the requirements for successful long term operation in a lunar environment. The mathematical model for the motion of a robot with two fixed wheels on a differential drive with in a global reference frame. The robot is assumed to be balancing a platform so the mathematical model to balance the platform with wheel motors is also developed and briefly evaluated.


Development Of An Intraperitoneal Catheter Placement Device For Use On The Battlefield, Riley Reynolds 2021 University of Nebraska-Lincoln

Development Of An Intraperitoneal Catheter Placement Device For Use On The Battlefield, Riley Reynolds

Mechanical (and Materials) Engineering -- Dissertations, Theses, and Student Research

The objective of this project was to simplify peritoneal cavity access so an Airforce field medic can safely infuse oxygen microbubbles (OMBs) into the intraperitoneal space for the emergency treatment of hypoxia due to lung damage. To solve this problem, we created an intraperitoneal catheter placement device for use on the battlefield. The three common methods and some of the most common devices for peritoneal cavity access were reviewed. Injury frequencies for each of the three methods were analyzed. The results showed that each of the access techniques gives a similar rate of iatrogenic injury.

The battlefield conditions where the ...


Effects Of Climate Forcing Uncertainty On High-Resolution Snow Modeling And Streamflow Prediction In A Mountainous Karst Watershed, Conor Tyson 2021 Utah State University

Effects Of Climate Forcing Uncertainty On High-Resolution Snow Modeling And Streamflow Prediction In A Mountainous Karst Watershed, Conor Tyson

All Graduate Theses and Dissertations

Snow-dominated, karst watersheds present particular challenges to accurately modeling streamflow in response to differing climate conditions. This is due to the uneven distribution of snow within a basin, the varied melting rates due to terrain and climate, and the difficulty determining flow paths through karst conduits below ground. One possible solution to these challenges is to model snow at a fine scale, but climate variables are not available at these smaller spatial scales. The choices about which climate dataset to use, and how to downscale the data to a fine scale, will likely affect the accuracy of streamflow simulations. This ...


Biomethanation And Alkaline Wet Air Oxidation Of Water Hyacinth (Pontederia Crassipes) From Ozama River, Dominican Republic, Yessica A. Castro 2021 Utah State University

Biomethanation And Alkaline Wet Air Oxidation Of Water Hyacinth (Pontederia Crassipes) From Ozama River, Dominican Republic, Yessica A. Castro

All Graduate Theses and Dissertations

Obtaining valuable products from environmental remediation waste is a sustainable approach that contributes to the ecological well-being of developing countries. In the present work, the feasibility of the water hyacinth anaerobic digestion as a post-weed management practice in the Ozama River (Dominican Republic) was demonstrated. The estimated energy required for harvesting was lower than that produced during digestion. The biomethanation of water hyacinth was improved by Alkaline Wet Air Oxidation (AWAO), a thermochemical pretreatment process that almost doubled the methane production rate and increased the yield by 24% when conducted at high temperatures. At lower temperatures, the methane yield of ...


Air Traffic Controllers’ Occupational Stress And Performance In The Future Air Traffic Management, Hui Wang 2021 Embry-Riddle Aeronautical University

Air Traffic Controllers’ Occupational Stress And Performance In The Future Air Traffic Management, Hui Wang

PhD Dissertations and Master's Theses

As demand for unmanned aerial vehicle (UAV) operations increases, it is vital to understand its effects on air traffic controllers and the safety of the national airspace system. This study’s primary purpose is to determine how UAVs that operate in controlled airspace would influence air traffic controllers’ occupational stress and performance. In a within-subject experimental research design, 24 participants sampled from a university’s undergraduate Air Traffic Management (ATM) program completed three different air traffic control (ATC) scenarios on an en route ATC simulation system. The degree of UAV automation and control were varied in each scenario. The participants ...


Thruster Communication For Subsurface Environments; Turning Waste Noise Into Useful Data, Stephen Cronin 2021 Embry-Riddle Aeronautical University

Thruster Communication For Subsurface Environments; Turning Waste Noise Into Useful Data, Stephen Cronin

PhD Dissertations and Master's Theses

Acoustic communication serves as one of the primary means of wirelessly communicating underwater. Whereas much of the developments in the field of wireless communication have focused on radio frequency technology, water highly absorbs radio waves rendering the link not feasible for most all subsurface operations. While acoustic links have enabled new capabilities for systems operating in this challenging environment, it has yet to reach the commodity availability of radio systems, meaning that an entire class of small, low-cost systems have been unable to make use of these links. The systems in question are primarily autonomous underwater vehicles (AUVs), as they ...


Development Of A Solidworks Simulation Toolkit For A Sophomore Level Biomedical Engineering Course, Jordan Crosby 2021 University of Arkansas, Fayetteville

Development Of A Solidworks Simulation Toolkit For A Sophomore Level Biomedical Engineering Course, Jordan Crosby

Biomedical Engineering Undergraduate Honors Theses

In the engineering industry, computer-aided design (CAD) programs are used to create models and create virtual experiments or studies that allow engineers to observe the real behavior of parts or assemblies under certain conditions. Companies hire students with experience in CAD, as professionals believe that CAD experience is beneficial [1,2]. SolidWorks is among the most popular CAD software used by engineers. SolidWorks has multiple functionalities that also allow for finite element analysis dependent on the license. Users can create simulation studies in SolidWorks Simulation that can be used as an accurate approximation for real results.

The goal of this ...


Impact Of Wind Generation On Transmission Voltage Support During Weak Grid, Yugo Isogai 2021 University of Arkansas, Fayetteville

Impact Of Wind Generation On Transmission Voltage Support During Weak Grid, Yugo Isogai

Electrical Engineering Undergraduate Honors Theses

Today, there are concerns about the effects of high wind penetration on electric power system operations. This is due to the more distributed nature of wind turbine generation and the corresponding multi-path power flows on the electric power transmission grid. In particular, the higher line impendences associated with inverter-based wind generation results in larger voltage fluctuation under varying load. This may results in conditions where even after a fault condition has been cleared, the transmission system voltages may not recover. Therefore, this paper concentrates on the impact of weak grid condition for voltage instability. To approach it, a 6-bus system ...


Gold Standards Training And Evaluator Calibration Of Pilot School Check Instructors, Paul M. Cairns 2021 Embry-Riddle Aeronautical University

Gold Standards Training And Evaluator Calibration Of Pilot School Check Instructors, Paul M. Cairns

PhD Dissertations and Master's Theses

A key component of air carrier advanced qualification programs is the calibration and training of instructors and evaluators and assurance of reliable and valid data in support of such programs. A significant amount of research is available concerning the calibration of air carrier evaluators, but no research exists regarding the calibration of pilot school check instructors. This study was designed to determine if pilot school check instructors can be calibrated against a gold standard to perform reliable and accurate evaluations. Calibration followed the principles and theories of andragogy and adult learning and teaching, including emphasis on the cognitive domain of ...


Involvement Of The Ino80 Chromatin Remodeling Complex In Cell Division And Genomic Stability, Ethan Chen 2021 University of Arkansas, Fayetteville

Involvement Of The Ino80 Chromatin Remodeling Complex In Cell Division And Genomic Stability, Ethan Chen

Biomedical Engineering Undergraduate Honors Theses

Cell division is a vital biological process for growth and development in both single and multi-cellular organisms—whereby the cell must duplicate its organelles and genome in entirety and appropriately distribute the copied contents to the daughter cells. Cells undergo a cycle of two distinct phases: interphase and mitosis. During interphase, the cell replicates its genomic DNA (in the form of chromosomes) located within the nucleus. DNA replication is carried out in a euchromatin state, where the chromosome structure is loose and easily accessible by DNA polymerase and other replication enzymes. Upon the completion of replication, chromatin is condensed into ...


Guide Rnas Preparation For In-Vitro Crispr-Cas9 Complex Delivery Targeting Genes That Affect Wound Healing., Prashant Khatiwada 2021 University of Arkansas, Fayetteville

Guide Rnas Preparation For In-Vitro Crispr-Cas9 Complex Delivery Targeting Genes That Affect Wound Healing., Prashant Khatiwada

Biomedical Engineering Undergraduate Honors Theses

CRISPR-Cas9 technology has widely been used as a viable genome engineering platform to make site-specific insertion, deletion, and breaks. The nuclease dead version of Cas9 or dCas9 can be used for the activation and repression of target gene sites using specific activation or repression domains. In this study, CRISPR guide RNAs were designed for a CRISPR inhibition approach to repress the transcriptional activity of the target genes. An expression plasmid vector composed of a U6 promoter sequence, BbsI restriction sites, and a chimeric gRNA sequence was digested, and the phosphorylated forward and reverse gRNAs were ligated with the plasmid vector ...


Analysis Of Fluid Flow In Redox Flow Batteries, Erfan asadipour 2021 Washington University in St. Louis

Analysis Of Fluid Flow In Redox Flow Batteries, Erfan Asadipour

Engineering and Applied Science Theses & Dissertations

Redox flow batteries (RFB) hold great potential for large-scale stationary energy storage. However, their low energy density compared to other energy storage systems must improve for feasibility. Electrolyte flow distribution affects current density distribution and providing a uniform current density distribution is one way to improve RFB performance. Additionally, reducing the power consumption of the electrolytes’ pump as a source of energy loss in RFB systems increases their efficiency. Investigating both subjects requires analysis of the fluid dynamics in RFB cells.

In this thesis, a novel, computationally cost-effective hydraulic-electrical analogous model (HEAM) was developed to study fluid dynamics by implementing ...


Modulation And Long-Term Release Of Cardiac Fibroblast Secretome To Enhance Cardiac Cell Survival Under Hypoxia, JIN ZHAI 2021 Washington University in St. Louis

Modulation And Long-Term Release Of Cardiac Fibroblast Secretome To Enhance Cardiac Cell Survival Under Hypoxia, Jin Zhai

Engineering and Applied Science Theses & Dissertations

The irreversible damage to the heart caused by myocardial infarction (MI) leads to over one million deaths in the United States every year. There are several approaches to treat MI, such as angioplasty, redirected blood flow, and electrical medical devices, but they cannot promote new cardiac tissue generation, thus leading to potential high risk of re-surgeries. To overcome this limitation, stem cell therapy is regarded as a promising method. However, the implantation of stem cells has ethical and safe concern and the efficiency is limited due to low cell engraftment. Moreover, the effect of stem cell is predominantly attributed to ...


A Laboratory Study Of The Hydraulics Of Moderate-Sloped Stepped Chutes With A Labyrinth Crest, L. Kade Flake 2021 Utah State University

A Laboratory Study Of The Hydraulics Of Moderate-Sloped Stepped Chutes With A Labyrinth Crest, L. Kade Flake

All Graduate Theses and Dissertations

Evolving methods of dam construction and rehabilitation require unique and innovative spillways. Spillways provide passage for water impounded by a dam. Stepped chute spillways offer an efficient and economical solution for dam construction and rehabilitation. Labyrinth weirs, which allow high flow discharge within a compact footprint, are often an economical solution for the spillway crest at a chute entrance. Labyrinth weirs have recently been combined with stepped chutes in several locations. However, published literature is scarce for the flow properties and key design parameters of these combined structures.

This study researched the hydraulics downstream of a labyrinth crest for two ...


Modeling, Simulation And Optimization Of Nuclear Hybrid Energy Systems Using Openmodelica And Raven, Stephen Michael Hills 2021 Utah State University

Modeling, Simulation And Optimization Of Nuclear Hybrid Energy Systems Using Openmodelica And Raven, Stephen Michael Hills

All Graduate Theses and Dissertations

Nuclear hybrid energy systems (NHES) are a viable option to combine renewable energy sources, such as wind, with a less fluctuating energy source. Given recent development and their inherent safer and modular design, small modular reactors (SMRs), which are smaller versions of a nuclear reactor, can play an instrumental role in complementing renewables and supporting carbon-free power sectors in the coming decades. With increasing population and demand for clean water, Freeze desalination (FD), which uses freezing to separate water from salt, is a possible way to produce clean water while converting excess power from a SMR into stored thermal energy ...


Algorithms For The Calibration And Correction Of Texel Images Using Inertial Measurement Updates, Trevor C. Welch 2021 Utah State University

Algorithms For The Calibration And Correction Of Texel Images Using Inertial Measurement Updates, Trevor C. Welch

All Graduate Theses and Dissertations

A 3D terrain map can be developed to survey the earth’s surface and provide scientists with a method of accurately modeling terrain. Some of the applications include agricultural surveys, disaster management, and object classification. In order to develop a 3D terrain map, a sensor must capture all of the data to create the map. This 3D mapping tool can be made by combining a sensor that take samples of points on the earth’s surface and combines that with a digital camera that takes an image and lays it across those samples of the earth.

In order to take ...


Development Of An Integrated Salt Cartridge-Reverse Electrodialysis (Red) Device To Increase Electrolyte Concentrations Of Human Blood Flow To Power Biomedical Devices, Caroline Campbell 2021 University of Arkansas, Fayetteville

Development Of An Integrated Salt Cartridge-Reverse Electrodialysis (Red) Device To Increase Electrolyte Concentrations Of Human Blood Flow To Power Biomedical Devices, Caroline Campbell

Chemical Engineering Undergraduate Honors Theses

Emerging technologies in nanotechnology and biomedical sciences have led to an increase in biomedical implantable devices including cardiac pacemakers, artificial organs, drug pumps, and sensors. These devices require continuous stable and reliable power to operate, which creates the demand for the need to find a safe, reliable, and stable power source. A promising avenue for a power source for these devices is a miniaturized reverse electrodialysis (RED) biopower cell design that utilizes the salinity differences between bloodstreams that flow inside the human body. Initial results of the RED system demonstrate that higher gradient salinity differences between streams lead to a ...


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