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Graduate Theses and Dissertations

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Full-Text Articles in Engineering

Respiratory Compensated Robot For Liver Cancer Treatment: Design, Fabrication, And Benchtop Characterization, Mishek Jair Musa Dec 2021

Respiratory Compensated Robot For Liver Cancer Treatment: Design, Fabrication, And Benchtop Characterization, Mishek Jair Musa

Graduate Theses and Dissertations

Hepatocellular carcinoma (HCC) is one of the leading causes of cancer-related death in the world. Radiofrequency ablation (RFA) is an effective method for treating tumors less than 5 cm. However, manually placing the RFA needle at the site of the tumor is challenging due to the complicated respiratory induced motion of the liver. This paper presents the design, fabrication, and benchtop characterization of a patient mounted, respiratory compensated robotic needle insertion platform to perform percutaneous needle interventions. The robotic platform consists of a 4-DoF dual-stage cartesian platform used to control the pose of a 1-DoF needle insertion module. The active ...


Hobby Grade Lithium-Ion Batteries For Spacecraft Applications: Establishing An Automated Electrical Characteristics Testing Procedure For Flight Acceptance Of Non-Space-Grade Small Secondary Batteries, Braidon Hughes Dec 2021

Hobby Grade Lithium-Ion Batteries For Spacecraft Applications: Establishing An Automated Electrical Characteristics Testing Procedure For Flight Acceptance Of Non-Space-Grade Small Secondary Batteries, Braidon Hughes

Graduate Theses and Dissertations

Li-ion batteries are widely used due to the large amount of rechargeable energy they pack into a small, light package. This higher energy density makes Li-ion batteries ideal for small satellite applications, specifically CubeSats. CubeSats have grown in popularity in higher level education due to the National Aeronautics and Space Administration’s implementation of the Cube Satellite Launch Initiative, making it easier and cheaper to conduct small, low orbit missions. Because these CubeSats are occupying the same space as a crewed spacecraft, it is imperative that they are safe. There are numerous reports of Li-ion batteries creating fires that result ...


Longitudinal Monitoring Of Tumor Response To Immune Checkpoint Inhibitors Using Diffuse Optical Spectroscopy, Joel Isaac Rodriguez Troncoso Dec 2021

Longitudinal Monitoring Of Tumor Response To Immune Checkpoint Inhibitors Using Diffuse Optical Spectroscopy, Joel Isaac Rodriguez Troncoso

Graduate Theses and Dissertations

Immune checkpoint drugs have completely changed the way people treat metastatic melanoma and non-small-cell lung cancer. While the impacts of these immunological checkpoints and their suppression on T cell function are well characterized, their consequences on the tumor microenvironment are not. In a CT26 mouse colorectal cancer model, we employed diffuse reflectance spectroscopy to track in vivo tumor microenvironmental alterations in response to immune checkpoint inhibitors. On three separate days, animals bearing CT26 tumor xenografts were given anti-PD-L1, anti-CTLA-4, a combination of both inhibitors, and isotype control. Within the first 6 days, monotherapy with either anti-PD-L1 or anti-CTLA-4 resulted in ...


Factors Influencing The Usage Of Shared E-Scooters : A Case Study Of Chicago, Farzana Mehzabin Tuli Dec 2021

Factors Influencing The Usage Of Shared E-Scooters : A Case Study Of Chicago, Farzana Mehzabin Tuli

Graduate Theses and Dissertations

The rapid popularity growth of shared e-scooters creates the necessity of understanding the determinants of shared e-scooter usage. This thesis estimates the impacts of temporal variables (weather data, weekday/weekend, and gasoline prices) and time-invariant variables (socio-demographic, built environment, and neighborhood characteristics) on the shared e-scooter demand by using four months (June 2019- October 2019) period of data from the shared e-scooter pilot program in Chicago. The study employs a random-effects negative binomial (RENB) model that effectively models shared e-scooter trip origin and destination count data with over-dispersion while capturing serial autocorrelation in the data. Results of temporal variables indicate ...


Additive Manufacturing Of Soil Using Bio-Cementation, Christina Childress Dec 2021

Additive Manufacturing Of Soil Using Bio-Cementation, Christina Childress

Graduate Theses and Dissertations

Microbially Induced Calcite Precipitation (MICP) is an emerging soil treatment technique that is proven to increase strength, decrease erosion, reduce liquefaction risk, enhance slope stability, decrease compressibility, decrease swelling potential, and overall create a more competent soil. The benefits and applications of MICP are broad, and this research seeks to broaden them further by developing a single-phase additive manufacturing application with no treatment time delay. This is done by analyzing layering behaviors of five USCS soil classifications (100 % Ottawa sand, sand clay mixtures, and 100% lean clay) which provides insight into process variables such as the solution volume and layer ...


Formation Of Reactive Nitrogen Species During Dichloramine Decay And Their Impact On N Nitrosodimethylamine Formation Under Drinking Water Conditions, Huong Thu Pham Dec 2021

Formation Of Reactive Nitrogen Species During Dichloramine Decay And Their Impact On N Nitrosodimethylamine Formation Under Drinking Water Conditions, Huong Thu Pham

Graduate Theses and Dissertations

NDMA occurrence and formation pathways in drinking water systems are reviewed and NDMA yields are compared on the basis of disinfectant type, water chemistry, and precursor category. In chloramination, despite monochloramine being the predominant species between pH 7-9, evidence suggests that dichloramine is the primary species involved in NDMA formation. This is somewhat confounding as NDMA yields are maximal at pH 9, yet at pH 9 dichloramine decays faster than it forms and hence is present at trace levels; additionally, the proposed mechanism involves a spin-forbidden incorporation of dissolved oxygen as a triplet, which is presumably kinetically slow. This review ...


Evapotranspiration In Mid-South Rice Production, Colby Wade Reavis Dec 2021

Evapotranspiration In Mid-South Rice Production, Colby Wade Reavis

Graduate Theses and Dissertations

Rice provides much needed sustenance to a large portion of the global population, particularly in the developing world. With stress placed on food production systems under the reality of climate change and an increasing global population, rice production systems require solutions to a number of issues, including a limited water supply. As producers explore new strategies for conserving local water resources to continue to maintain yields, new irrigation strategies and technologies are being developed and validated for use at commercial production scales. Alternate wetting and drying (AWD) is an irrigation practice that provides water savings through the capture of rainfall ...


Optimization Of Nitrogen Removal Rate In One-Stage Reactor Through Partial Nitrification Anammox Process During Direct Treatment Of Poultry Litter Wastewater, Yiting Xiao Dec 2021

Optimization Of Nitrogen Removal Rate In One-Stage Reactor Through Partial Nitrification Anammox Process During Direct Treatment Of Poultry Litter Wastewater, Yiting Xiao

Graduate Theses and Dissertations

Anammox is an increasingly common process used for the treatment of reject water and even mainstream wastewater due to its low oxygen demand. However, anammox is not commonly utilized in the direct treatment of poultry litter because of the high organic content, which would inhibit the anammox process. Thus, this project is aimed at optimizing the nitrogen removal rate through partial nitrification anammox process (PN/A) to treat synthetic poultry litter wastewater. Nitrogen removal efficiencies will therefore be improved through optimizing the combination of three operating parameters including hydraulic retention time (HRT), dissolved oxygen (DO) concentration, and carbon to nitrogen ...


A Double-Sided Stack Low-Inductance Wire-Bondless Sic Power Module With A Ceramic Interposer, Si Huang Dec 2021

A Double-Sided Stack Low-Inductance Wire-Bondless Sic Power Module With A Ceramic Interposer, Si Huang

Graduate Theses and Dissertations

The objective of this dissertation research is to develop a novel three-dimensional (3-D) wire bondless power module package for silicon carbide (SiC) power devices to achieve a low parasitic inductance and an improved thermal performance. A half-bridge module consisting of 900-V SiC MOSFETs is realized to minimize stray parasitic inductance as well as to provide both vertical and horizontal cooling paths to maximize heat dissipation. The proposed 3-D power module package was designed, simulated, fabricated and tested. In this module, low temperature co-fired ceramic (LTCC) substrate with vias is utilized as an interposer of which both top and bottom sides ...


Interplay Between The Lattice And Spin Degrees Of Freedom In Magnetoelectric And Magnetic Materials, Temuujin Bayaraa Dec 2021

Interplay Between The Lattice And Spin Degrees Of Freedom In Magnetoelectric And Magnetic Materials, Temuujin Bayaraa

Graduate Theses and Dissertations

This dissertation contains several investigations on the cross-coupling between structural and spin degrees of freedom in multiferroic and ferrimagnetic compounds by means of first-principles calculations and ab-initio-based Monte-Carlo simulations. We start with the reviews of magnetoelectricity, ferrimagnetism, strain engineering, followed by a brief introduction to first-principles computational methods, magnetic effective Hamiltonians, and other techniques that are utilized here. The results section of the dissertation can be divided into two parts. The first half focuses on magnetoelectric effects arising from different sources, while the second half is about the ferrimagnetic nature of materials. In the first part, we examine the epitaxial ...


Hybrid Two Dimensional Quantum Devices, Joshua Patrick Thompson Dec 2021

Hybrid Two Dimensional Quantum Devices, Joshua Patrick Thompson

Graduate Theses and Dissertations

This thesis describes measurements on hybrid material systems involving two dimensional (2D) materials and phenomena along with the development of a small, hermetically sealed cell. The hermetic cell is designed to assist with analyzing sensitive 2D materials outside of an inert environment. When working with van der Waals materials that are especially sensitive to oxygen or water, it can be difficult to identify usable thin flakes without exposing them to air. To help preserve materials for analysis in air, a capsule was designed that isolates the material in an inert environment. Although the capsule is hermetically sealed, the encapsulated material ...


Incorporation Of Zinc In Pre-Alloyed Cuin[Zn]S2/Zns Quantum Dots, Jean Carlos Morales Orocu Dec 2021

Incorporation Of Zinc In Pre-Alloyed Cuin[Zn]S2/Zns Quantum Dots, Jean Carlos Morales Orocu

Graduate Theses and Dissertations

Since the early 2000s heavy-metal-free quantum dots (QDs) such as CuInS2/ZnS have attempted to replace CdSe, their heavy-metal-containing counterparts. CuInS2/ZnS is synthesized in a two-step process that involves the fabrication of CuInS2 (CIS) nanocrystals (NCs) followed by the addition of zinc precursors. Instead of the usual core/shell architecture often exhibited by binary QDs, coating CIS QDs results in alloyed and/or partially alloyed cation-exchange (CATEX) QDs. The effect that zinc has on the properties of CIS NCs was studied by incorporating zinc during the first step of the synthesis. Different In:Cu:Zn ratios were employed in ...


Retrospective Analysis Of Impacts Of Highway Bypass And Widening Projects, Sanjeev Bhurtyal Dec 2021

Retrospective Analysis Of Impacts Of Highway Bypass And Widening Projects, Sanjeev Bhurtyal

Graduate Theses and Dissertations

Community members often worry that highway projects may have negative impacts on their local economies. This is typical for highway bypass and widening projects in small cities (population less than 50,000). It is a challenge for planners to balance public concerns of economic decline with desired project outcomes of mobility and safety. Much of this challenge stems from a lack of information on post-project outcomes related to economic and safety impacts of new construction projects. Thus, there is a need for an evidence-based framework to help planners with the decision-making process and better inform the community on potential outcomes ...


An Investigation Of The Flexural Strength And Toughness Of Hybrid Plain And Fiber Reinforced Concrete For Pavement Applications, Wesley Keys Dec 2021

An Investigation Of The Flexural Strength And Toughness Of Hybrid Plain And Fiber Reinforced Concrete For Pavement Applications, Wesley Keys

Graduate Theses and Dissertations

For decades, many solutions have been evaluated to combat cracking in concrete pavements. The study presented in this paper evaluates and compares the flexural performance under a third point loading configuration of plain concrete (PC) beams, fully fiber reinforced concrete (FRC) beams, and hybrid PC and FRC beams, with a top PC and bottom FRC layer. The purpose of this hybrid approach was to provide FRC in only half the section, saving cost, while providing a PC surface layer that is easier to finish. All PC top layers were applied at an age of 7-days, considered a reasonable time for ...


Design, Extraction, And Optimization Tool Flows And Methodologies For Homogeneous And Heterogeneous Multi-Chip 2.5d Systems, Md Arafat Kabir Dec 2021

Design, Extraction, And Optimization Tool Flows And Methodologies For Homogeneous And Heterogeneous Multi-Chip 2.5d Systems, Md Arafat Kabir

Graduate Theses and Dissertations

Chip and packaging industries are making significant progress in 2.5D design as a result of increasing popularity of their application. In advanced high-density 2.5D packages, package redistribution layers become similar to chip Back-End-of-Line routing layers, and the gap between them scales down with pin density improvement. Chiplet-package interactions become significant and severely affect system performance and reliability. Moreover, 2.5D integration offers opportunities to apply novel design techniques. The traditional die-by-die design approach neither carefully considers these interactions nor fully exploits the cross-boundary design opportunities.

This thesis presents chiplet-package cross-boundary design, extraction, analysis, and optimization tool flows and ...


Deep Learning Strategies For Pool Boiling Heat Flux Prediction Using Image Sequences, Connor Heo Dec 2021

Deep Learning Strategies For Pool Boiling Heat Flux Prediction Using Image Sequences, Connor Heo

Graduate Theses and Dissertations

The understanding of bubble dynamics during boiling is critical to the design of advanced heater surfaces to improve the boiling heat transfer. The stochastic bubble nucleation, growth, and coalescence processes have made it challenging to obtain mechanistic models that can predict boiling heat flux based on the bubble dynamics. Traditional boiling image analysis relies on the extraction of the dominant physical quantities from the images and is thus limited to the existing knowledge of these quantities. Recently, machine-learning-aided analysis has shown success in boiling crisis detection, heat flux prediction, real-time image analysis, etc., whereas most of the existing studies are ...


Shear Strength Of Concrete Beams Made With Belitic Calcium Sulfoaluminate Cement, Caleb W. Chesnut Dec 2021

Shear Strength Of Concrete Beams Made With Belitic Calcium Sulfoaluminate Cement, Caleb W. Chesnut

Graduate Theses and Dissertations

The need for a cleaner alternative to portland cement (PC) concrete has led to increasing interest in alternatives to PC. Structural properties of most of these alternative cements are still an open research topic. One promising alternative cement is belitic calcium sulfoaluminate (BCSA) cement. The study presented in this paper investigated the shear strength, long term compressive strength, and carbonation in BCSA cement and PC concrete beams. A total of twelve eight-foot long beams were made; eight BCSA cement concrete beams and four PC concrete beams to be tested at various ages depending on cement type. Two beams of each ...


Greenhouse Tomatoes: Process Simulation, Juan Gabriel Marin Jr. Dec 2021

Greenhouse Tomatoes: Process Simulation, Juan Gabriel Marin Jr.

Graduate Theses and Dissertations

Growing population demand and challenges brought on by climate change have spurred the need for more resilient fruit and vegetable supply chains. One agricultural technology of significant interest is the use of greenhouses for food production. Greenhouses create a stable and adaptable environment for crops such as tomatoes to grow year-round. Fresh tomatoes are the second most consumed vegetable per capita in U.S. diets, currently averaging 20.7 pounds. The growing consumption of fresh tomatoes has been the result of increasing cultural diversity in the United States.

To meet the growing demand, Venlo-type greenhouses have been frequently used by ...


Sigesn Light-Emitting Devices: From Optical To Electrical Injection, Yiyin Zhou Dec 2021

Sigesn Light-Emitting Devices: From Optical To Electrical Injection, Yiyin Zhou

Graduate Theses and Dissertations

Si photonics is a fast-developing technology that impacts many applications such as data centers, 5G, Lidar, and biological/chemical sensing. One of the merits of Si photonics is to integrate electronic and photonic components on a single chip to form a complex functional system that features compact, low-cost, high-performance, and reliability. Among all building blocks, the monolithic integration of lasers on Si encountered substantial challenges. Si and Ge, conventional epitaxial material on Si, are incompetent for light emission due to the indirect bandgap. The current solution compromises the hybrid integration of III-V lasers, which requires growing on separate smaller size ...


Investigation Of Optical And Structural Properties Of Gesn Heterostructures, Oluwatobi Gabriel Olorunsola Dec 2021

Investigation Of Optical And Structural Properties Of Gesn Heterostructures, Oluwatobi Gabriel Olorunsola

Graduate Theses and Dissertations

Silicon (Si)-based optoelectronics have gained traction due to its primed versatility at developing light-based technologies. Si, however, features indirect bandgap characteristics and suffers relegated optical properties compared to its III-V counterparts. III-Vs have also been hybridized to Si platforms but the resulting technologies are expensive and incompatible with standard complementary-metal-oxide-semiconductor processes. Germanium (Ge), on the other hand, have been engineered to behave like direct bandgap material through tensile strain interventions but are well short of attaining extensive wavelength coverage. To create a competitive material that evades these challenges, transitional amounts of Sn can be incorporated into Ge matrix to ...


Preliminary Development Of The Dialysis-Membrane-Based Passive Biocide Delivery System For Spacecraft Water Recovery Units, Rogelio Elias Garcia Fernandez Dec 2021

Preliminary Development Of The Dialysis-Membrane-Based Passive Biocide Delivery System For Spacecraft Water Recovery Units, Rogelio Elias Garcia Fernandez

Graduate Theses and Dissertations

The purpose of this investigation is to explore the capabilities of a dialysis-membrane-based system for the in-line dosing of silver ions to treated water in spacecraft water recovery units. The spacecraft environmental control and life support system community (ECLSS) are interested in adopting silver ions as a biocide in future spacecraft water recovery processes since silver ions are effective biocide at concentrations that humans can safely consume. The system has been designed following the configuration of the Water Processor Assembly (WPA) aboard the International Space Station. In this configuration, silver ions have to be added at the last step in ...


Understanding The Chemical Structures Of Polydopamine, Deborah Takyibea Okyere Dec 2021

Understanding The Chemical Structures Of Polydopamine, Deborah Takyibea Okyere

Graduate Theses and Dissertations

Polydopamine (PDA) is described as a bioinspired polymer produced by a method involving the chemical oxidation of dopamine in a pH-dependent medium. It has been used for the functionalization of nanomaterials in diverse applications including drug delivery and biosensing because of its strong adhesiveness, functionality is easily modified, and biocompatibility with mammalian cells and tissues. The polymerization process is believed to be initiated by the autoxidation of dopamine to dopaminequinone. However, the repeating units, as well as the final structure of PDA, are not well understood. Hence, this work focuses on the characterizations of the PDA structures during formation and ...


Automated Flight Controller Adaptive Compensation For Actuator Failures In Transport Type Aircraft, Daniel James Fresella Dec 2021

Automated Flight Controller Adaptive Compensation For Actuator Failures In Transport Type Aircraft, Daniel James Fresella

Graduate Theses and Dissertations

Aircraft operate over a wide range of conditions including atmospheric, weight, and center ofgravity changes. This presents a substantial challenge to automatic control system designers. When these operating conditions are merged with a partial or full control surface failure, automatic flight control is near impossible with conventional controllers. Additionally, when pilots experience control failure emergencies during flight, workload and fatigue increase drastically. The continued research of automatic flight control systems that can seamlessly adapt to unmodelled failures will enable a new generation of robust aircraft control. In this paper a 9th order 6 degree of freedom aircraft model is used ...


Computationally Driven Design Of Shape-Controlled Polymeric Nanostructures, Davindra Tulsi Nov 2021

Computationally Driven Design Of Shape-Controlled Polymeric Nanostructures, Davindra Tulsi

Graduate Theses and Dissertations

In the realm of shape control involving synthetic soft materials, block copolymers are ubiquitously exploited due to their ability to spontaneously self-assemble into a plethora of morphologies. The growing need in areas such as drug delivery, lithography, and microelectronics to generate new nanostructures demands ever finer control of copolymer self-assembly. It is desirable to better control the shape and size of soft nanostructures, with minimal post processing techniques to assert stability.

While there is an abundance of literature on diblock copolymer assembly, few relationships exist for sequence-controlled copolymers. It is well known that biological macromolecules are highly sequence specific and ...


Infectious Disease Modeling And Intervention Planning, Shalome Hanisha Anand Tatapudi Nov 2021

Infectious Disease Modeling And Intervention Planning, Shalome Hanisha Anand Tatapudi

Graduate Theses and Dissertations

Disease outbreaks caused by existing and emerging pathogens pose a serious threat to local and global communities in the form of epidemics and pandemics, respectively. The 2009 H1N1 pandemic and the 2019 COVID-19 pandemic are exemplars of how underprepared both the developed and developing nations are at mitigating pandemics.

Mathematical modeling and simulation of disease outbreaks has served as a powerful tool to understand disease transmission dynamics. They also aid in developing effective intervention strategies. However, existing models are usually particularized to a region, or a specific disease pathogen and interventions used in these models may not translate well to ...


Novel Approach To Integrate Can Based Vehicle Sensors With Gps Using Adaptive Filters To Improve Localization Precision In Connected Vehicles From A Systems Engineering Perspective, Abhijit Vasili Nov 2021

Novel Approach To Integrate Can Based Vehicle Sensors With Gps Using Adaptive Filters To Improve Localization Precision In Connected Vehicles From A Systems Engineering Perspective, Abhijit Vasili

Graduate Theses and Dissertations

Research and development in Connected Vehicles (CV) Technologies has increased exponentially, with the allocation of 75 MHz radio spectrum in the 5.9 GHz band by the Federal Communication Commission (FCC) dedicated to Intelligent Transportation Systems (ITS) in 1999 and 30 MHz in the 5.9 GHz by the European Telecommunication Standards Institution (ETSI). Many applications have been tested and deployed in pilot programs across many cities all over the world.

CV pilot programs have played a vital role in evaluating the effectiveness and impact of the technology and understanding the effects of the applications over the safety of road ...


Efficient Management Of Nitrogen And Phosphorus At Centralized Water Reclamation Facilities, Helene Kassouf Nov 2021

Efficient Management Of Nitrogen And Phosphorus At Centralized Water Reclamation Facilities, Helene Kassouf

Graduate Theses and Dissertations

A variety of process configurations are employed at municipal water reclamation facilities (WRFs), such as 5-stage Bardenpho, oxidation ditch, modified Ludzack-Ettinger (MLE) process, and sidestream recycle. However, all of these configurations face certain challenges in achieving optimum treatment of nitrogen and phosphorus. In this dissertation, the driving objectives were to: (1) quantitatively assess the fate of nitrogen and phosphorus (mass fluxes) at a treatment facility that employs biological nutrient removal, aerobic digestion, and sidestream recycle, (2) evaluate the performance of a microbial fuel cell (MFC) as a technology to remove nitrogen from sidestreams at a treatment plant that employs that ...


The Photophysical Studies Of Transition Metal Polyimines Encapsulated In Metal Organic Frameworks (Mof’S), Jacob M. Mayers Nov 2021

The Photophysical Studies Of Transition Metal Polyimines Encapsulated In Metal Organic Frameworks (Mof’S), Jacob M. Mayers

Graduate Theses and Dissertations

Light harvesting systems provide a platform that converts solar energy into other forms of energy. One of the most common examples of photon capturing and conversion into chemical energy is observed in photosynthetic organisms in both Eurkaroyic and Prokaryotic domains. Nature provides a model for successful light harvesting platforms which includes the compartmentalization of antenna complexes that contain separated donor and acceptor pairs that participate in efficient electron transfer processes. In order to mimic such systems, crystalline porous materials that exhibits regular cavities and pore dimensions provides an excellent starting place. Metal organic frameworks (MOFs) are a class of porous ...


Copper Electrodeposition Assisted By Hydrogen Evolution For Wearable Electronics: Interconnections And Fiber Metallization, Sabrina M. Rosa Ortiz Nov 2021

Copper Electrodeposition Assisted By Hydrogen Evolution For Wearable Electronics: Interconnections And Fiber Metallization, Sabrina M. Rosa Ortiz

Graduate Theses and Dissertations

The current project focused on studying an innovative and novel method, called hydrogen evolution assisted (HEA) electroplating, for rapid and localized electrochemical copper deposition that can be applied for integration of electronic circuits to printed circuit boards (PCBs) and fabrics for developing smart textile (e-textile) and advanced wearable electronics. This method has shown a great enhancement to the deposition rate of copper compared to the conventional galvanostatic electroplating method, opening new venues for patterning conductive circuit layouts on fabrics and for the direct integration of devices into fabrics. While due to the slow growth rate and low mechanical flexibility of ...


Learning State-Dependent Sensor Measurement Models To Improve Robot Localization Accuracy, Troi André Williams Nov 2021

Learning State-Dependent Sensor Measurement Models To Improve Robot Localization Accuracy, Troi André Williams

Graduate Theses and Dissertations

This dissertation proposes a novel method called state-dependent sensor measurement models (SDSMMs). Such models dynamically predict the state-dependent bias and uncertainty of sensor measurements, ultimately improving fundamental robot tasks such as localization. In our first investigation, we introduced the state-dependent sensor measurement model framework, described their properties, stated the input and output of these models, and described how to train them. We also explained how to integrate such models with an Extended Kalman Filter and a Particle Filter, two popular robot state estimation algorithms. We validated the proposed framework through a series of localization tasks. The results showed that our ...