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Behavior-Based Power Management In Autonomous Mobile Robots, Charles A. Fetzek
Behavior-Based Power Management In Autonomous Mobile Robots, Charles A. Fetzek
Theses and Dissertations
Current attempts to prolong the life of a robot on a single battery charge focus on lowering the operating frequency of the onboard hardware, or allowing devices to go to sleep during idle states. These techniques have much overhead and do not come built in to the underlying robotic architecture. In this thesis, battery life is greatly extended through development of a behavior-based power management system, including a Markov decision process power planner, thereby allowing future robots increased time to operate and loiter in their required domain. Behavior-based power management examines sensors needed by the currently active behavior set and …
Dynamic Behavior Sequencing In A Hybrid Robot Architecture, Jeffrey P. Duffy
Dynamic Behavior Sequencing In A Hybrid Robot Architecture, Jeffrey P. Duffy
Theses and Dissertations
Hybrid robot control architectures separate plans, coordination, and actions into separate processing layers to provide deliberative and reactive functionality. This approach promotes more complex systems that perform well in goal-oriented and dynamic environments. In various architectures, the connections and contents of the functional layers are tightly coupled so system updates and changes require major changes throughout the system. This work proposes an abstract behavior representation, a dynamic behavior hierarchy generation algorithm, and an architecture design to reduce this major change incorporation process. The behavior representation provides an abstract interface for loose coupling of behavior planning and execution components. The hierarchy …
A Secure Group Communication Architecture For A Swarm Of Autonomous Unmanned Aerial Vehicles, Adrian N. Phillips
A Secure Group Communication Architecture For A Swarm Of Autonomous Unmanned Aerial Vehicles, Adrian N. Phillips
Theses and Dissertations
This thesis investigates the application of a secure group communication architecture to a swarm of autonomous unmanned aerial vehicles (UAVs). A multicast secure group communication architecture for the low earth orbit (LEO) satellite environment is evaluated to determine if it can be effectively adapted to a swarm of UAVs and provide secure, scalable, and efficient communications. The performance of the proposed security architecture is evaluated with two other commonly used architectures using a discrete event computer simulation developed using MatLab. Performance is evaluated in terms of the scalability and efficiency of the group key distribution and management scheme when the …
Exploitation Of Self Organization In Uav Swarms For Optimization In Combat Environments, Dustin J. Nowak
Exploitation Of Self Organization In Uav Swarms For Optimization In Combat Environments, Dustin J. Nowak
Theses and Dissertations
This investigation focuses primarily on the development of effective target engagement for unmanned aerial vehicle (UAV) swarms using autonomous self-organized cooperative control. This development required the design of a new abstract UAV swarm control model which flows from an abstract Markov structure, a Partially Observable Markov Decision Process. Self-organization features, bio-inspired attack concepts, evolutionary computation (multi-objective genetic algorithms, differential evolution), and feedback from environmental awareness are instantiated within this model. The associated decomposition technique focuses on the iterative deconstruction of the problem domain state and dynamically building-up of self organizational rules as related to the problem domain environment. Resulting emergent …
Conceptual Study Of Rotary-Wing Microrobotics, Kelson D. Chabak
Conceptual Study Of Rotary-Wing Microrobotics, Kelson D. Chabak
Theses and Dissertations
This thesis presents a novel rotary-wing micro-electro-mechanical systems (MEMS) robot design. Two MEMS wing designs were designed, fabricated and tested including one that possesses features conducive to insect level aerodynamics. Two methods for fabricating an angled wing were also attempted with photoresist and CrystalBond™ to create an angle of attack. One particular design consisted of the wing designs mounted on a gear which are driven by MEMS actuators. MEMS comb drive actuators were analyzed, simulated and tested as a feasible drive system. The comb drive resonators were also designed orthogonally which successfully rotated a gear without wings. With wings attached …