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Articles 1 - 4 of 4
Full-Text Articles in Engineering
A Comparative Study Of Underwater Robot Path Planning Algorithms For Adaptive Sampling In A Network Of Sensors, Sreeja Banerjee
A Comparative Study Of Underwater Robot Path Planning Algorithms For Adaptive Sampling In A Network Of Sensors, Sreeja Banerjee
Department of Computer Science and Engineering: Dissertations, Theses, and Student Research
Monitoring lakes, rivers, and oceans is critical to improving our understanding of complex large-scale ecosystems. We introduce a method of underwater monitoring using semi-mobile underwater sensor networks and mobile underwater robots in this thesis. The underwater robots can move freely in all dimension while the sensor nodes are anchored to the bottom of the water column and can move only up and down along the depth of the water column. We develop three different algorithms to optimize the path of the underwater robot and the positions of the sensors to improve the overall quality of sensing of an area of …
Invariant Inferring And Monitoring In Robotic Systems, Hengle Jiang
Invariant Inferring And Monitoring In Robotic Systems, Hengle Jiang
Department of Computer Science and Engineering: Dissertations, Theses, and Student Research
System monitoring can help to detect abnormalities and avoid failures. Crafting monitors for today’s robotic systems, however, can be very difficult due to the systems’ inherent complexity and its rich operating environment.
In this work we address this challenge through an approach that automatically infers system invariants and synthesizes those invariants into monitors. This approach is inspired by existing software engineering approaches for automated invariant inference, and it is novel in that it derives invariants by observing the messages passed between system nodes and the invariants types are tailored to match the spatial, time, temporal, and architectural attributes of robotic …
Analysis, Optimization, And Implementation Of A Uav-Based Wireless Power Transfer System, Andrew Mittleider
Analysis, Optimization, And Implementation Of A Uav-Based Wireless Power Transfer System, Andrew Mittleider
Department of Computer Science and Engineering: Dissertations, Theses, and Student Research
Wireless power transfer is rapidly advancing in its ability to efficiently transfer power to a variety of devices.
As the efficiency increases, more applications for these systems arise. Since magnetic resonant wireless power transfer can only transfer a small amount of power, most current applications only focus on powering low-powered devices.
Wireless Sensor Networks are composed of many low-powered nodes which currently require human interaction to remain powered. We propose recharging a low-powered Wireless Sensor Network (WSN) with a magnetic resonant wireless power transfer system attached to a quadrotor Unmanned Aerial Vehicle (UAV).
This thesis addresses three main challenges with …
Autonomous Aerial Water Sampling, John-Paul W. Ore
Autonomous Aerial Water Sampling, John-Paul W. Ore
Department of Computer Science and Engineering: Dissertations, Theses, and Student Research
Obtaining spatially separated, high frequency water samples from rivers and lakes is critical to enhance our understanding and effective management of fresh water resources. In this thesis we present an aerial water sampler and verify the system in field experiments. The aerial water sampler has the potential to vastly increase the speed and range at which scientists obtain water samples while reducing cost and effort. The water sampling system includes: 1) a mechanism to capture three 20 ml samples per mission; 2) sensors and algorithms for safe navigation and altitude approximation over water; and 3) software components that integrate and …