Engineering Commons^™

Domain Adaptation In Unmanned Aerial Vehicles Landing Using Reinforcement Learning, Pedro Lucas Franca Albuquerque

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

Landing an unmanned aerial vehicle (UAV) on a moving platform is a challenging task that often requires exact models of the UAV dynamics, platform characteristics, and environmental conditions. In this thesis, we present and investigate three different machine learning approaches with varying levels of domain knowledge: dynamics randomization, universal policy with system identification, and reinforcement learning with no parameter variation. We first train the policies in simulation, then perform experiments both in simulation, making variations of the system dynamics with wind and friction coefficient, then perform experiments in a real robot system with wind variation. We initially expected that providing …

Effect Of Limited Water Supplies On Center Pivot Performance, Derrel Martin, Derek M. Heeren, Steve Melvin, Troy Ingram

Department of Biological Systems Engineering: Conference Presentations and White Papers

When appropriately designed and operated, center pivot irrigation systems can efficiently irrigate many crops grown on diverse soil and terrain conditions. However, a significant number of pivots are not supplied with an adequate water to operate as envisioned.

We simulated the hydraulics of a center pivot irrigation system, including the pump curve, flow rate, pipeline hydraulics, pressure regulators, nozzle flow rate, and irrigation application uniformity. This was used to analyse the performance of a center pivot for a sloping field for both adequate and inadequate water flow rate. The performance was simulated for a range of inlet pressures when pressure …