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Full-Text Articles in Engineering

A Comparative Analysis Of Reinforcement Learning Applied To Task-Space Reaching With A Robotic Manipulator With And Without Gravity Compensation, Jonathan Fugal Jan 2020

A Comparative Analysis Of Reinforcement Learning Applied To Task-Space Reaching With A Robotic Manipulator With And Without Gravity Compensation, Jonathan Fugal

Theses and Dissertations--Electrical and Computer Engineering

Advances in computing power in recent years have facilitated developments in autonomous robotic systems. These robotic systems can be used in prosthetic limbs, wearhouse packaging and sorting, assembly line production, as well as many other applications. Designing these autonomous systems typically requires robotic system and world models (for classical control based strategies) or time consuming and computationally expensive training (for learning based strategies). Often these requirements are difficult to fulfill. There are ways to combine classical control and learning based strategies that can mitigate both requirements. One of these ways is to use a gravity compensated torque control with reinforcement ...


Brian Valdez - Dynamics And Control Of A 3-Dof Manipulator With Deep Learning Feedback, Brian Orlando Valdez Jan 2020

Brian Valdez - Dynamics And Control Of A 3-Dof Manipulator With Deep Learning Feedback, Brian Orlando Valdez

Open Access Theses & Dissertations

With the ever-increasing demands in the space domain and accessibility to low-cost small satellite platforms for educational and scientific projects, efforts are being made in various technology capacities including robotics and artificial intelligence in microgravity. The MIRO Center for Space Exploration and Technology Research (cSETR) prepares the development of their second nanosatellite to launch to space and it is with that opportunity that a 3-DOF robotic arm is in development to be one of the payloads in the nanosatellite. Analyses, hardware implementation, and testing demonstrate a potential positive outcome from including the payload in the nanosatellite and a deep learning ...


Data Driven Low-Bandwidth Intelligent Control Of A Jet Engine Combustor, Nathan L. Toner Aug 2016

Data Driven Low-Bandwidth Intelligent Control Of A Jet Engine Combustor, Nathan L. Toner

Open Access Dissertations

This thesis introduces a low-bandwidth control architecture for navigating the input space of an un-modeled combustor system between desired operating conditions while avoiding regions of instability and blow-out. An experimental procedure is discussed for identifying regions of instability and gathering sufficient data to build a data-driven model of the system's operating modes. Regions of instability and blow-out are identified experimentally and a data-driven operating point classifier is designed. This classifier acts as a map of the operating space of the combustor, indicating regions in which the flame is in a "good" or "bad" operating mode. A data-driven predictor is ...