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Feasible Form Parameter Design Of Complex Ship Hull Form Geometry, Thomas L. Mcculloch
Feasible Form Parameter Design Of Complex Ship Hull Form Geometry, Thomas L. Mcculloch
University of New Orleans Theses and Dissertations
This thesis introduces a new methodology for robust form parameter design of complex hull form geometry via constraint programming, automatic differentiation, interval arithmetic, and truncated hierarchical B- splines. To date, there has been no clearly stated methodology for assuring consistency of general (equality and inequality) constraints across an entire geometric form parameter ship hull design space. In contrast, the method to be given here can be used to produce guaranteed narrowing of the design space, such that infeasible portions are eliminated. Furthermore, we can guarantee that any set of form parameters generated by our method will be self consistent. It …
Measuring Goal Similarity Using Concept, Context And Task Features, Vahid Eyorokon
Measuring Goal Similarity Using Concept, Context And Task Features, Vahid Eyorokon
Browse all Theses and Dissertations
Goals can be described as the user's desired state of the agent and the world and are satisfied when the agent and the world are altered in such a way that the present state matches the desired state. For physical agents, they must act in the world to alter it in a series of individual atomic actions. Traditionally, agents use planning to create a chain of actions each of which altering the current world state and yielding a new one until the final action yields the desired goal state. Once this goal state has been achieved, the goal is said …
Development Of A Locomotion And Balancing Strategy For Humanoid Robots, Emile Bahdi
Development Of A Locomotion And Balancing Strategy For Humanoid Robots, Emile Bahdi
Electronic Theses and Dissertations
The locomotion ability and high mobility are the most distinguished features of humanoid robots. Due to the non-linear dynamics of walking, developing and controlling the locomotion of humanoid robots is a challenging task. In this thesis, we study and develop a walking engine for the humanoid robot, NAO, which is the official robotic platform used in the RoboCup Spl. Aldebaran Robotics, the manufacturing company of NAO provides a walking module that has disadvantages, such as being a black box that does not provide control of the gait as well as the robot walk with a bent knee. The latter disadvantage, …