Operations Research, Systems Engineering and Industrial Engineering Commons^™

A Framework For The Coordination Of Legged Robot Gaits, Joel D. Weingarten, Richard E. Groff, Daniel E. Koditschek

Daniel E Koditschek

This paper introduces a framework for representing, generating, and then tuning gaits of legged robots. We introduce a convenient parametrization of gait generators as dynamical systems possessing designer specified stable limit cycles over an appropriate torus. This parametrization affords a continuous selection of operation within a coordination design plane, inspired by biology, spanned by axes that determine the mix of "feedforward/feedback" and "centralized/decentralized" control. Tuning the gait generator parameters through repeated physical experiments with our robot hexapod, RHex, determines the appropriate operating point - the mix of feedback and degree of control decentralization - to achieve significantly increased performance relative …

Preliminary Analysis Of A Biologically Inspired 1-Dof "Clock" Stabilized Hopper, Haldun Komsuoglu, Daniel E. Koditschek

Daniel E Koditschek

We investigate the stability of a one degree of freedom mechanical spring-mass system modulated by a feed-forward "clock" that stiffens and relaxes a Hooke's law potential force according to a periodic rhythm. At the present early stage of inquiry, we offer sufficient conditions for local asymptotic stability of an isolated periodic orbit when there is no feedback to the clock at all but some viscous friction in the mechanism. We conjecture that, absent feedback, a lossless mechanical system cannot exhibit an asymptotically stable limit cycle in response to such rhythmic excitation.

A Brachiating Robot Controller, Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek

Daniel E Koditschek

We report on our empirical studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape's brachiation, we encode this task as the output of a "target dynamical system." Numerical simulations indicate that the resulting controller solves a number of brachiation problems that we term the "ladder," "swing-up," and "rope" problems. Preliminary analysis provides some explanation for this success. The proposed controller is implemented on a physical system in our laboratory. The robot achieves behaviors including "swing locomotion" and "swing up" and is capable of continuous locomotion over several rungs of a ladder. …

Optimal Paths In Weighted Timed Automata, Rajeev Alur, Salvatore La Torre, George J. Pappas

George J. Pappas

We consider the optimal-reachability problem for a timed automaton with respect to a linear cost function which results in a weighted timed automaton. Our solution to this optimization problem consists of reducing it to computing (parametric) shortest paths in a finite weighted directed graph. We call this graph a parametric sub-region graph. It refines the region graph, a standard tool for the analysis of timed automata, by adding the information which is relevant to solving the optimal-reachability problem. We present an algorithm to solve the optimal-reachability problem for weighted timed automata that takes time exponential in O(n (|δ(A)|+|wmax|)), where n …

Optimal Paths In Weighted Timed Automata, Rajeev Alur, Salvatore La Torre, George J. Pappas

George J. Pappas

We consider the optimal-reachability problem for a timed automaton with respect to a linear cost function which results in a weighted timed automaton. Our solution to this optimization problem consists of reducing it to computing (parametric) shortest paths in a finite weighted directed graph. We call this graph a parametric sub-region graph. It refines the region graph, a standard tool for the analysis of timed automata, by adding the information which is relevant to solving the optimal-reachability problem. We present an algorithm to solve the optimal-reachability problem for weighted timed automata that takes time exponential in O(n (|δ(A)|+|wmax|)), where n …

Optimal Paths In Weighted Timed Automata, Rajeev Alur, Salvatore La Torre, George J. Pappas

George J. Pappas

We consider the optimal-reachability problem for a timed automaton with respect to a linear cost function which results in a weighted timed automaton. Our solution to this optimization problem consists of reducing it to computing (parametric) shortest paths in a finite weighted directed graph. We call this graph a parametric sub-region graph. It refines the region graph, a standard tool for the analysis of timed automata, by adding the information which is relevant to solving the optimal-reachability problem. We present an algorithm to solve the optimal-reachability problem for weighted timed automata that takes time exponential in O(n (|δ(A)|+|wmax|)), where n …

Pico-Satellite Integrated System Level Test Program, Marcus A. Ruddy

Master's Theses

Testing is an integral part of a satellite’s development, requirements verification and risk mitigation efforts. A robust test program serves to verify construction, integration and assembly workmanship, ensures component, subsystem and system level functionality and reduces risk of mission or capability loss on orbit.

The objective of this thesis was to develop a detailed test program for pico-satellites with a focus on the Cal Poly CubeSat architecture. The test program established a testing baseline from which other programs or users could tailor to meet their needs. Inclusive of the test program was a detailed decomposition of discrete and derived test …

Using The Case Study Methodology In Teaching, Deogratias Harorimana Mr

Dr Deogratias Harorimana

This paper reviews the Why, How, to use the Case Study Methods in MBA teaching. The Presentation was prepared for and delivered as part of MBA students induction Programme in the Graduate School of Business.

Implementation Of Dual-Polarization On An Airborne Scatterometer And Preliminary Data Quality, Jason Dvorsky

Masters Theses 1911 - February 2014

The Imaging Wind and RAin Profiler (IWRAP) is an airborne scatterometer system built and operated by University of Massachusetts Amherst's Microwave Remote Sensing Laboratory (MIRSL). The radar is seasonally deployed aboard one of the two National Oceanic and Atmospheric Administration (NOAA) WP-3D Orion ``Hurricane Hunter'' aircraft based out of MacDill AFB in Tampa, Florida. IWRAP is a dual-frequency, Ku- and C-band, scatterometer that uses two conically scanning antennas to estimate the ocean surface wind vectors as well as intervening rain profiles. Data that is gathered with IWRAP is used to improve current Geophysical Model Functions (GMF) or to help derive …

Spatial And Temporal Correlations Of Freeway Link Speeds: An Empirical Study, Piotr J. Rachtan

Masters Theses 1911 - February 2014

Congestion on roadways and high level of uncertainty of traffic conditions are major considerations for trip planning. The purpose of this research is to investigate the characteristics and patterns of spatial and temporal correlations and also to detect other variables that affect correlation in a freeway setting. 5-minute speed aggregates from the Performance Measurement System (PeMS) database are obtained for two directions of an urban freeway – I-10 between Santa Monica and Los Angeles, California. Observations are for all non-holiday weekdays between January 1st and June 30th, 2010. Other variables include traffic flow, ramp locations, number of lanes and the …

The Gatekeeper And The Knowledge Environment-Who They Are, How They Work Empirical Evidences From High-Tech Manufacturing And R&D Firms, Deogratias Harorimana

Dr Deogratias Harorimana

Purpose of the Study: The purpose of this study was to critically study the role of the Knowledge Gatekeeper within the manufacturing and high tech selected case studies and by explaining who they are, how they work and identify and analyse the barriers to knowledge creation and knowledge sharing. Methodology: The research was guided by an inductive approach with a multiple case study strategy. Research instruments included a questionnaire and interviews from respectively 105 and 40 respondents. Findings: In the African Manufacturing context, and in absence of sophisticated technologies and highly qualified personnel, technical knowledge can be obtained from organizational …

Review Of Economics Of Manamagement Information Systems, Deogratias Harorimana Sr

Dr Deogratias Harorimana

“Information technology is the "digital nervous system" of any business.” (Bill Gates, Chairman, Microsoft Corporation, 1997)

The way business is conducted in this era is phenomenal. Almost everything is a “click” away. The customers are satisfied, businesses are satisfied, Government is satisfied and the entire globe is gratified by the work of information technology (IT). This research discloses the several returns and shortcomings of IT, and how businesses use IT to realize their strategic goals.

The report presents discussion on two organisations, Dell Computer Corporation and Sydney Waters, which had a prosperous and disastrous implementation of IT systems respectively. The …

Using Mis To Deliver Essential Services:Case Of Healthcare Provision Support In Fiji, Deogratias Harorimana Sr

Dr Deogratias Harorimana

In comparison to other Pacific Island countries, Fiji’s health system is the most developed amongst Pacific Island countries (UNDP 2006) and has undergone significant change in the last decade. From 1999 – 2009, AusAid, a major donor to Fiji’s health system, has supported two stage health sector improvement programs. The first stage (1999 - 2003) was a management reform program designed to improve decision making by supporting a new model of decentralized management. The second phase (2004 – 2009) looked at improving governance, health systems performance, clinical outcomes and supported public health and infrastructure initiatives at the divisional level (WHO …

Impact Of Crm Systems On Organisational Performance: A Case Study Of Anz Bank, Deogratias Harorimana Sr

Dr Deogratias Harorimana

This paper reports case study results analysis of the ANZ Bank in the Pacific Region. The case study results show that ANZ has a well-established CRM system supporting its marketing and sales activities, but equally the results indicate mixed scenarios. A positive relationship between CRM to performance was established. That is, it has a positive contribution to the bank’s performance, both financial and non-financial. There is also negative feedback on the bank’s CRM system which illustrates that CRM system can also have negative consequences. CRM success is questionable from a stand-alone perspective. Although there are encouraging results from the use …

Ogólnotechniczne Podstawy Biotechnologii Z Elementami Grafiki Inżynierskiej Ćw., Wojciech M. Budzianowski

Wojciech Budzianowski

No abstract provided.

Materiały Odstresowujące, Wojciech M. Budzianowski

Wojciech Budzianowski

No abstract provided.

Analysis Of The Risks And Benefits Of Flight Deck Adaptive Systems, Michael C. Dorneich, William Rogers, Stephen D. Whitlow, Robert Demers

Michael C. Dorneich

The objectives of this work were to identify human performance risks and benefits of adaptive systems through a systematic analysis and heuristic evaluation of adaptive system component types and characteristics. As flight deck automated systems have more access to aircraft data, sensor data, stored databases, communicated information, and real time flight crew inputs, as well as more ability to process that information in sophisticated ways to identify situational priorities and context, it is becoming more realistic for those automated systems to adapt their behavior based on context. Automated systems that can make such changes on their own are called adaptive …

Towards A Characterization Of Adaptive Systems: A Framework For Researchers And System Designers, Karen M. Feigh, Michael C. Dorneich, Caroline C. Hayes

Michael C. Dorneich

Objective: This paper presents a systematic framework characterizing adaptive systems. Background: Adaptive systems are those which can appropriately modify their behavior to fit the current context. This concept is appealing because it offers the possibility of creating computer assistants that behave like good human assistants who can provide what is needed without being asked. However, the majority of adaptive systems have been experimental rather than practical because of the technical challenges in accurately perceiving and interpreting users’ current cognitive state; integrating cognitive state, environment and task information; and using it to predict users’ current needs. We anticipate that recent developments …

Learning From Failure In Systems Engineering: A Panel Discussion, Nathan Slegers, Ronald T. Kadish, Gary E. Payton, John Thomas, Michael D. Griffin, Dan Dumbacher

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

This paper summarizes the discussion of the Learning from Failure in Systems Engineering panel that was held in Huntsville, AL on November 8, 2010. The panel objective was to discuss how systems engineers respond to and learn from failure and identify future directions important to the community. The panel consisted of four representatives with experience in government, industry, and academia: (1) Ronald Kadish from Booz Allen Hamilton and former director of the Missile Defense Agency, (2) Gary Payton, retired Deputy Under Secretary of the Air Force for Space Programs, (3) John Thomas from Booz Allen Hamilton and President-elect of INCOSE, …

Modeling Collective Dynamics Of Social Systems: Incorporating Various Social Mechanisms Into Agent-Based Models, Dene L. Farrell

Graduate Dissertations and Theses

I present three original papers demonstrating complex behavior arising from collective dynamics in agent-based models (ABM) focusing on evolutionary and cognitive mechanisms. The first report demonstrates the coupled emergence of cooperation and selfish punishment behavior in groups of individuals playing an iterated public goods game. The second report demonstrates the effects of mental modeling within groups of decision makers. The third report demonstrates a synthesis of evolutionary and cognitive mechanisms.

Large Aircraft Infrared Countermeasures (Laircm) Systems Engineering Case Study, Air Force Center For Systems Engineering, William Albery

AFIT Documents

No abstract provided.

Search-Based System Architecture Development Using A Holistic Modeling Approach, Renzhong Wang

Doctoral Dissertations

"This dissertation presents an innovative approach to system architecting where search algorithms are used to explore design trade space for good architecture alternatives. Such an approach is achieved by integrating certain model construction, alternative generation, simulation, and assessment processes into a coherent and automated framework. This framework is facilitated by a holistic modeling approach that combines the capabilities of Object Process Methodology (OPM), Colored Petri Net (CPN), and feature model. The resultant holistic model can not only capture the structural, behavioral, and dynamic aspects of a system, allowing simulation and strong analysis methods to be applied, it can also specify …

Effects Of Visual Interaction Methods On Simulated Unmanned Aircraft Operator Situational Awareness, Brent A. Terwilliger

Publications

The limited field of view of static egocentric visual displays employed in unmanned aircraft controls introduces the soda straw effect on operators, which significantly affects their ability to capture and maintain situational awareness by not depicting peripheral visual data. The problem with insufficient operator situational awareness is the resulting increased potential for error and oversight during operation of unmanned aircraft, leading to accidents and mishaps costing United States taxpayers between $4 million to $54 million per year. The purpose of this quantitative experimental completely randomized design study was to examine and compare use of dynamic eyepoint to static visual interaction …

Modeling Forward Base Camps As Complex Adaptive Sociotechnical Systems, Lori Ann Miller

Masters Theses

Work for this thesis focuses on managing complexity within complex adaptive sociotechnical systems by using model based systems engineering and virtual engineering tools. The hypothesis of the work is that integrated virtual models can be used to increase the understanding of these complex adaptive sociotechnical systems, resulting in a reduction in the perceived complexity. This was tested by the use of a two factor survey given to experts of a system (the customer and members of the model design team) and to a target user-group. This group received a demonstration and had hands on experience with a preliminary model of …

Dynamic Model-Based Systems Engineering Using Xml Metadata Interchange, Dustin Scott Nottage

Masters Theses

"Designing systems presents an engineer with numerous design choices based on multiple conditions and constraints. Base camp planning must take into account the number of soldiers, the permanency of the base, the location of the base, etc. To help alleviate the complexity of constructing a base camp, a model-based systems engineering approach is used. This method creates and integrates models for all of the facilities that can make a base camp, as well as interactions between facilities and required utilities for each. The goal is to have a camp design, and then solve a system of equations to solve for …

Colonel Blotto Games And Lancaster's Equations: A Novel Military Modeling Combination, Andrew Collins, Patrick T. Hester

VMASC Publications

Military strategists face a difficult task when engaged in a battle against an adversarial force. They have to predict both what tactics their opponent will employ and the outcomes of any resultant conflicts in order to make the best decision about their actions. Game theory has been the dominant technique used by analysts to investigate the possible actions that an enemy will employ. Traditional game theory can be augmented by use of Lanchester equations, a set of differential equations used to determine the outcome of a conflict. This paper demonstrates a novel combination of game theory and Lanchester equations using …

Epistemic Uncertainty Analysis: An Approach Using Expert Judgment And Evidential Credibility, Patrick Hester

Engineering Management & Systems Engineering Faculty Publications

When dealing with complex systems, all decision making occurs under some level of uncertainty. This is due to the physical attributes of the system being analyzed, the environment in which the system operates, and the individuals which operate the system. Techniques for decision making that rely on traditional probability theory have been extensively pursued to incorporate these inherent aleatory uncertainties. However, complex problems also typically include epistemic uncertainties that result from lack of knowledge. These problems are fundamentally different and cannot be addressed in the same fashion. In these instances, decision makers typically use subject matter expert judgment to assist …

Rq-Tech, A Strategic-Level Approach For Conceptualizing Enterprise Architectures, Christine A. Hoyland

Engineering Management & Systems Engineering Faculty Publications

The purpose of this study is to present a system-theoretic based methodology and corresponding model for Enterprise Architecture development. Enterprise Architecture models can assist managers by illustrating the systemic relationships of their business and the impact their decisions can make. Unfortunately, today's modeling practices are proprietary, time-consuming, and generally ineffective as tools for communicating strategic-level planning across and down all levels of the enterprise. This research explored the most significant factors that must be considered when translating authoritative text and rich pictures of business doctrine into semantic models. An ontology, namely RQ-Tech, was used to parse and tag representative samples …

Editorial: International Journal Of Critical Infrastructures, Holly Ann Heine Handley, C. Ariel Pinto, Adrian V. Gheorghe

Engineering Management & Systems Engineering Faculty Publications

(First paragraph) This special issue of the International Journal of Critical Infrastructures is a compilation of the papers presented at the Fourth Annual Conference on Next Generation Infrastructures held in Virginia Beach, Virginia, in November, 2011. This conference was sponsored by Old Dominion University, Norfolk, Virginia, USA and by the Next Generation Infrastructures Foundation, Delft, The Netherlands. The participants travelled from around the globe to converse about ideas that address both concerns for the present and optimism for the future of critical infrastructures. The conference, held in the USA for the first time, provided a platform for vibrant discussions on …

A Human View Model For Socio-Technical Interactions, Holly A. H. Handley, Andreas Tolk

Engineering Management & Systems Engineering Faculty Publications

The Human View was developed as an additional architectural viewpoint to focus on the human part of a system. The Human View can be used to collect and organize data in order to understand how human operators interact and impact the other elements of a system. This framework can also be used to develop a model to describe how humans interact with each other in network enabled systems. These socio-technical interactions form the foundation of the emerging area of Human Interoperability. Human Interoperability strives to understand the relationships required between human operators that impact collaboration across networked environments, including the …