Digital Commons Network^™

Collaborative Uav Planning, Mapping, And Exploration In Gps-Denied Environments, Jacob Moroni Olson

Theses and Dissertations

The use of multirotor UAVs to map GPS-degraded environments is useful for many purposes ranging from routine structural inspections to post-disaster exploration to search for survivors and evaluate structural integrity. Multirotor UAVs are able to reach many areas that humans and other robots cannot safely access. Because of their relatively short operational flight time compared to other robotic applications, using multiple UAVs to collaboratively map these environments can streamline the mapping process significantly. This research focuses on four primary areas regarding autonomous mapping and navigation with multiple UAVs in complex unknown or partially unknown GPS-denied environments: The first area is …

Probabilistic Programming For Theory Of Mind For Autonomous Decision Making, Iris Rubi Seaman

Theses and Dissertations

As autonomous agents (such as unmanned aerial vehicles, or UAVs) become more ubiquitous, they are being used for increasingly complex tasks. Eventually, they will have to reason about the mental state of other agents, including those agents' beliefs, desires and goals – so-called Theory of Mind – and make decisions based on that reasoning. We describe increasingly complex theory of mind models of a UAV pursuing an intruder, and show that (1) there is a natural Bayesian formulation to reasoning about the uncertainty inherent in our estimate of another agent's mental state, and that (2) probabilistic programming is a natural …

The Effects Of Pre-Speaking Planning On Students' Performance During Speaking Tasks, Celine Gaillard

Theses and Dissertations

Research has explored the impact of various planning types (i.e. different ways to help students prepare for a language task by, for instance, giving them time and/or specific instructions) on the fluency, complexity, and accuracy of second language learners (e.g., Ellis, 2009). However, results have been mixed and studies have never investigated the impact of pre-speaking activities such as those proposed by Thompson (2009), a teacher-led planning focusing on both form and content with students. Previous research suggests that this type of planning could benefit students: Foster & Skehan (1999) believe that teacher-led planning is effective in comparison to other …

Comparing The Pedagogical Thinking Of More Successful And Less Successful Adult Esl Instructors Using Stimulated Recall, Jason Paul Roberts

Theses and Dissertations

This paper reports a study that examined the pedagogical knowledge (knowledge and beliefs related to the act of teaching) of two more successful and two less successful adult ESL instructors during planning teaching and post teaching reflection. The verbal reports of their teaching were compared to previous studies (Gatbonton, 2000, 2008; Mullock, 2006) that used stimulated recall to categorize adult ESL instructors' pedagogical thoughts during their instruction. The comparison showed that the previous categories were inadequate to cover the data. Additional codes were added in order to codify all the data after which patterns and themes emerged that overarched the …

Planning Policy And Public Perception In Small-Town Utah, Greg M. Platt

Theses and Dissertations

City growth policies codify community values and serve as the basis for enforcement of community standards. If these policies do not match resident preferences for growth, potential exists for communities to grow in ways which make the community undesirable. This thesis examines whether adopted city growth policies match resident preferences in small towns in Utah. Findings include a strong relationship between resident preferences and city leader preferences for growth. Also, city staffs are poor readers of public sentiment relative to growth and growth management. Some cities are more effective in enacting city policies to match resident attitudes towards growth than …

Planning Gone Hog Wild: Mega-Hog Farm In A Mountain West County, Jeffrey Melvin Sanders

Theses and Dissertations

Lacking the natural amenities “New West" counties, some rural communities have attempted to attract land use activities that are normally seen as undesirable. One example of these undesirable industries is the hog concentrated animal feeding operation, or CAFO. While a number of studies have explored the socio-economic and environmental aspects of hog farms, few studies have focused on the planning process and evaluated its effectiveness in dealing with the threats and challenges that a CAFO poses. This qualitative study used interviews, observations, public meeting minutes, and other written sources of data to evaluate whether or not a rural, western community, …

Coordinated Regional And City Planning Using A Genetic Algorithm, Michael B. Lowry

Theses and Dissertations

Improved methods of planning are needed to deal with today's issues of traffic congestion, sprawl, and loss of greenspace. Past research and recent legislation call for new methods that will consider a regional perspective. Regional planning is challenged with two difficult questions:

1.Is it possible to achieve regional goals without infringing upon the local autonomy of city planners?

2.Is it possible to objectively analyze the thousands, even millions, of land use and transportation plans to find the best design?

Metropolitan regions across the country have made great efforts to answer the first question. Unfortunately, effective methods for harmonizing the goals …

A Study Of Sensitive Lands In Provo, Doris R. Monson

Theses and Dissertations

Sensitive lands are being developed in great quantity. Because of problems caused by the development of sensitive lands, Provo City has developed land use ordinances. This thesis examines the development of Provo's ordinances along with the development of its sensitive lands. It determines ways that the city can strengthen their land use ordinances and avoid some of the problems found in sensitive land development.