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Full-Text Articles in Engineering
Design Of Environment Aware Planning Heuristics For Complex Navigation Objectives, Carter D. Bailey
Design Of Environment Aware Planning Heuristics For Complex Navigation Objectives, Carter D. Bailey
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
A heuristic is the simplified approximations that helps guide a planner in deducing the best way to move forward. Heuristics are valued in many modern AI algorithms and decision-making architectures due to their ability to drastically reduce computation time. Particularly in robotics, path planning heuristics are widely leveraged to aid in navigation and exploration. As the robotic platform explores and navigates, information about the world can and should be used to augment and update the heuristic to guide solutions. Complex heuristics that can account for environmental factors, robot capabilities, and desired actions provide optimal results with little wasted exploration, but …
Visualization And 3d Printing Of A 3d Solar Tracker Model Using Mayavi And Pov-Ray, Aditya Mehra
Visualization And 3d Printing Of A 3d Solar Tracker Model Using Mayavi And Pov-Ray, Aditya Mehra
All Graduate Plan B and other Reports, Spring 1920 to Spring 2023
In this work, we have created a realistic model of a solar tracker using Mayavi: 3D scientific data visualization and plotting in Python, Enthought Canopy:a comprehensive Python analysis environment and Persistence of Vision Ray Tracer, or POV-Ray, a ray tracing program which generates photo-realistic images from a text-based scene description, a model of the solar tracker was also 3D printed.
Object Trajectory Estimation Using Optical Flow, Shuo Liu
Object Trajectory Estimation Using Optical Flow, Shuo Liu
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
Object trajectory tracking is an important topic in many different areas. It is widely used in robot technology, traffic, movie industry, and others. Optical flow is a useful method in the object tracking branch and it can calculate the motion of each pixel between two frames, and thus it provides a possible way to get the trajectory of objects. There are numerous papers describing the implementation of optical flow. Some results are acceptable, but in many projects, there are limitations. In most previous applications, because the camera is usually static, it is easy to apply optical flow to identify the …
A Methodology To Design Pipelined Simulated Annealing Kernel Accelerators On Space-Borne Field-Programmable Gate Arrays, Jeffrey Michael Carver
A Methodology To Design Pipelined Simulated Annealing Kernel Accelerators On Space-Borne Field-Programmable Gate Arrays, Jeffrey Michael Carver
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
Increased levels of science objectives expected from spacecraft systems necessitate the ability to carry out fast on-board autonomous mission planning and scheduling. Heterogeneous radiation-hardened Field Programmable Gate Arrays (FPGAs) with embedded multiplier and memory modules are well suited to support the acceleration of scheduling algorithms. A methodology to design circuits specifically to accelerate Simulated Annealing Kernels (SAKs) in event scheduling algorithms is shown. The main contribution of this thesis is the low complexity scoring calculation used for the heuristic mapping algorithm used to balance resource allocation across a coarse-grained pipelined data-path. The methodology was exercised over various kernels with different …
A C To Register Transfer Level Algorithm Using Structured Circuit Templates: A Case Study With Simulated Annealing, Jonathan D. Phillips
A C To Register Transfer Level Algorithm Using Structured Circuit Templates: A Case Study With Simulated Annealing, Jonathan D. Phillips
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
A tool flow is presented for deriving simulated annealing accelerator circuits on a field programmable gate array (FPGA) from C source code by exploring architecture solutions that conform to a preset template through scheduling and mapping algorithms. A case study carried out on simulated annealing-based Autonomous Mission Planning and Scheduling (AMPS) software used for autonomous spacecraft systems is explained. The goal of the research is an automated method for the derivation of a hardware design that maximizes performance while minimizing the FPGA footprint. Results obtained are compared with a peer C to register transfer level (RTL) logic tool, a state-of-the-art …