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Motivation Dynamics For Autonomous Composition Of Navigation Tasks, Paul B. Reverdy, Vasileios Vasilopoulos, Daniel E. Koditschek 2021 University of Pennsylvania

Motivation Dynamics For Autonomous Composition Of Navigation Tasks, Paul B. Reverdy, Vasileios Vasilopoulos, Daniel E. Koditschek

Departmental Papers (ESE)

We physically demonstrate a reactive sensorimotor architecture for mobile robots whose behaviors are generated by motivation dynamics. Motivation dynamics uses a continuous dynamical system to reactively compose low-level control vector fields using valuation functions which capture the potentially competing influences of external stimuli relative to the system's own internal state. We show that motivation dynamics 1) naturally accommodates external stimuli through standard signal processing tools, and 2) can effectively encode a repetitive higher-level task by composing several low-level controllers to achieve a limit cycle in which the robot repeatedly navigates towards two alternatively valuable goal locations in a commensurately ...


Reactive Planning For Mobile Manipulation Tasks In Unexplored Semantic Environments, Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek 2021 University of Pennsylvania

Reactive Planning For Mobile Manipulation Tasks In Unexplored Semantic Environments, Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek

Departmental Papers (ESE)

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer any rigorous guarantees. In this paper, we propose a novel hybrid control architecture for achieving such tasks with mobile manipulators. On the discrete side, we enrich a temporal logic specification with mobile manipulation primitives such as moving to a point, and grasping or moving an object. Such specifications are translated to an automaton representation, which orchestrates the physical grounding of the task to mobility or ...


Regression Analysis Of Pacing When Running A Marathon, Hawkin Starke 2021 University of Arkansas, Fayetteville

Regression Analysis Of Pacing When Running A Marathon, Hawkin Starke

Industrial Engineering Undergraduate Honors Theses

Regression analysis can be an effective way of examining performance in the marathon event. By splitting up the race into segments or in runner terminology “splits” the significance of each segment as it relates to the total finish time can be explored. Because the idea of splits is already ingrained into the minds of runners, it makes intuitive sense to use these as the metrics to define a race. Additionally, marathons generally make participant age and gender date publicly available which can then be used to find trends within specific demographics. This tailors trends to smaller groups of people, making ...


An Examination Of Grid Stability As It Relates To The Increased Integration Of Inverter-Based Resources, Daniel Voss 2021 University of Arkansas, Fayetteville

An Examination Of Grid Stability As It Relates To The Increased Integration Of Inverter-Based Resources, Daniel Voss

Electrical Engineering Undergraduate Honors Theses

There is currently a growing interest in increasing the amount of renewable energy resources connected to the bulk electric system (BES) that stems from various environmental, political, and social concerns. However, the differences between conventional generation resources and inverter-based resources (IBR)—namely wind and solar—pose new issues that make this increased integration a larger problem. In other studies, the increased penetration of renewable energy resources has resulted in weak-grid systems that are more susceptible to collapse. This comes as a result from the inability for IBRs to effectively provide enough reactive power, an effect especially apparent during fault conditions ...


Decision Making Within An Nfl Context Using Multiple Objective Decision Analysis, Lawson Porter 2021 University of Arkansas, Fayetteville

Decision Making Within An Nfl Context Using Multiple Objective Decision Analysis, Lawson Porter

Industrial Engineering Undergraduate Honors Theses

The National Football League (NFL) is the most popular sports league in the world, with millions of viewers every game and billions of dollars generated every season. Statistics are an important part of an NFL team’s business operating model and contribute greatly towards their decision making. Every season, general managers try to sign players that give the team the highest probability of winning games throughout the year. There are many factors that go into this decision, including the amount of money the team has to spend and the value that available players can bring to a team. Teams must ...


Quantifying The Benefits Of A Collaborative Supply Chain Network Using A Discrete-Time Vehicle Routing Model, Matthew Walters 2021 University of Arkansas, Fayetteville

Quantifying The Benefits Of A Collaborative Supply Chain Network Using A Discrete-Time Vehicle Routing Model, Matthew Walters

Industrial Engineering Undergraduate Honors Theses

The transportation industry contributed around one trillion dollars to the economy in 2016 accounting for 8.9% percent of the GDP. In 2017, it was responsible for 1.5 billion tons of CO2 emissions. With the American Trucking agency predicting a 35% growth in the trucking industry between 2016 and 2027, there are rising concerns about the impact the trucking industry will have on the economy and the environment. The trucking industry is also very inefficient with many trucks driving with empty loads or with less than full capacity loads. There is potential to save billions of dollars and ...


Locating Drone Battery Supply Stations To Facilitate The Delivery Of Medical Supplies In Low And Middle-Income Countries, Madeline Suellentrop 2021 University of Arkansas, Fayetteville

Locating Drone Battery Supply Stations To Facilitate The Delivery Of Medical Supplies In Low And Middle-Income Countries, Madeline Suellentrop

Industrial Engineering Undergraduate Honors Theses

In the sub-Saharan region of Africa, the inability to perform emergency blood transfusions due to an inadequate blood supply has led to high fatality rates, especially among women and children. The prevalence of disease in this region limits the supply of local blood donations and, if blood is imported, then the region’s poor infrastructure inhibits fast distribution. There is a need for a technological update in the current process that overcomes the limitations of regional transportation, and drones present one promising solution for delivering small, lightweight items such as blood units. The current focus of this new delivery method ...


Optimizing Garbage Pick-Up In Wahoo, Ne, Andrew Pace 2021 University of Nebraska at Omaha

Optimizing Garbage Pick-Up In Wahoo, Ne, Andrew Pace

Theses/Capstones/Creative Projects

This project seeks to optimize the garbage pickup routes of Roadrunner Transportation in Wahoo, Nebraska using operations research and optimization tools. Currently, the company has no formal procedure for determining these routes. Roadrunner Transportation would like to expand their operation and to do so in the most efficient manner. To determine efficient routes, the Capacitated Vehicle Routing Problem (CVRP) is applied, and a solution to this problem is obtained by implementing a simulated annealing heuristic algorithm. Results show that a total distance of approximately 70 miles can be obtained by this implementation using a small subset of the data provided ...


Improving Logistics Efficiency Through Collaborative Truck Routing, Patrick Dougherty 2021 University of Arkansas, Fayetteville

Improving Logistics Efficiency Through Collaborative Truck Routing, Patrick Dougherty

Industrial Engineering Undergraduate Honors Theses

The logistics industry is among the world’s largest and most essential. Specifically, trucking is a massive component of the modern logistics system. In 2012, truck transportation carried 68% of all freight tonnage in the U.S. However, trucking currently faces significant problems with efficiency and sustainability. Of all miles driven by trucks yearly in the U.S., 25% are driven with empty loads and 36% are driven with underutilized loads. In addition to this economic inefficiency, the industry faces social and environmental challenges. Driver turnover rates are near 100%, and trucking accounts for a significant level of greenhouse gas ...


Thorium Dioxide Extraction From Monazite Ore, Jason Pan, Niall Phelan Terry, Katherine Glass, Eli Jenkins, Connor High 2021 University of Tennessee, Knoxville

Thorium Dioxide Extraction From Monazite Ore, Jason Pan, Niall Phelan Terry, Katherine Glass, Eli Jenkins, Connor High

Chancellor’s Honors Program Projects

No abstract provided.


Administrative Law In The Automated State, Cary Coglianese 2021 University of Pennsylvania Law School

Administrative Law In The Automated State, Cary Coglianese

Faculty Scholarship at Penn Law

In the future, administrative agencies will rely increasingly on digital automation powered by machine learning algorithms. Can U.S. administrative law accommodate such a future? Not only might a highly automated state readily meet longstanding administrative law principles, but the responsible use of machine learning algorithms might perform even better than the status quo in terms of fulfilling administrative law’s core values of expert decision-making and democratic accountability. Algorithmic governance clearly promises more accurate, data-driven decisions. Moreover, due to their mathematical properties, algorithms might well prove to be more faithful agents of democratic institutions. Yet even if an automated ...


Designing The Teachactive Feedback Dashboard: A Human Centered Approach, Dana AlZoubi, Jameel Kelley, Evrim Baran, Stephen B. Gilbert, Shan Jiang, Aliye Karabulut 2021 Iowa State University

Designing The Teachactive Feedback Dashboard: A Human Centered Approach, Dana Alzoubi, Jameel Kelley, Evrim Baran, Stephen B. Gilbert, Shan Jiang, Aliye Karabulut

Industrial and Manufacturing Systems Engineering Conference Proceedings and Posters

Effective facilitation of active learning is key to enhancing student engagement in engineering classrooms. Instructors need opportunities for frequent observation, feedback, and reflection on the use of their active learning strategies, yet there are no validated automated approaches available. We address this need by designing a feedback dashboard, TEACHActive, that leverages classroom analytics from an automated sensing observation system. The TEACHActive dashboard provides feedback on the in-class implementation of various active learning strategies in engineering classrooms. In this poster, we present the initial phases of a human-centered dashboard design process. The human-centered design (HCD) approach includes techniques such as, creating ...


A Composite Framework Of Co-Located Asymmetric Virtual Reality, Kaitlyn M. Ouverson, Stephen B. Gilbert 2021 Iowa State University

A Composite Framework Of Co-Located Asymmetric Virtual Reality, Kaitlyn M. Ouverson, Stephen B. Gilbert

Industrial and Manufacturing Systems Engineering Publications

As the variety of possible interactions with virtual reality (VR) continues to expand, researchers need a way to relate these interactions to users' needs and goals in ways that advance understanding. Existing efforts have focused mainly on the symmetric use of technology, which excludes a rising form of interaction known as asymmetric VR, in which co-located participants use different interfaces to interact with a shared environment. There must be a clear path to creating asymmetric VR systems that are rooted in previous work from several fields, as these systems have use cases in education, hybrid reality teams (using VR and ...


Cost Functions Of Crabs: Applications Of Hermit Crab Shell Exchange Behavior To Vacancy Chain Modelling, Hannah Miele 2021 Liberty University

Cost Functions Of Crabs: Applications Of Hermit Crab Shell Exchange Behavior To Vacancy Chain Modelling, Hannah Miele

Senior Honors Theses

Vacancy chain systems function as a method of resource distribution in domains such as housing and labor markets. Hermit crabs also employ vacancy chains as a method of shell exchange. Application of vacancy chain modelling in engineering has been attempted, but numerous flaws exist in the developed vacancy chain scheduling algorithm. This work addresses the lack of an appropriate vacancy chain cost function by developing a generalizable cost function based on hermit crab shell exchange behavior. The cost function’s purpose is enabling development of realistic engineering experiments and models based on real-world vacancy chain systems.


To Increasing The Absorption Area Of Column Apparatus With Tubular Lattice Nozzles, Nurmukhamedov Habibulla Sagdullaevich, Batir Babatulaev, Elbek Mavlanov, Samukdjan Nigmadjanov 2021 Doctor of technical scienses, professor, Tashkent Chemical Technological Institute, Tashkent, Republic of Uzbekistan, Phone:+998974009701;

To Increasing The Absorption Area Of Column Apparatus With Tubular Lattice Nozzles, Nurmukhamedov Habibulla Sagdullaevich, Batir Babatulaev, Elbek Mavlanov, Samukdjan Nigmadjanov

Chemical Technology, Control and Management

The problem of creating a compact refrigeration zone for absorbers with tubular-lattice nozzles made of pipes with spiral turbulators is discussed. Research has been carried out on the influence of the groove depth h/D and α/αгл of the step of their placement t/D on the degree of heat transfer intensification α/αо in the transition region of the gas-liquid flow. An intensification of heat transfer has been achieved only by increasing the groove depth from h/D = 0,003 to 0,095 and the optimal pitch of the grooves, the intensity of heat transfer is ...


Estimating The Bubbling Process Of Ozone-Containing Gases In The Water, M.P. Parpiev, А.А. Simonov, Aleksey Kamardin, Abdulaziz M. Nazarov 2021 Tashkent State Agrarian University, Address:2 University st.,100110, Tashkent city, Republic of Uzbekistan Phone: +998 981017350.

Estimating The Bubbling Process Of Ozone-Containing Gases In The Water, M.P. Parpiev, А.А. Simonov, Aleksey Kamardin, Abdulaziz M. Nazarov

Chemical Technology, Control and Management

Theoretical estimates were made and significant factors of dissolution of ozone-containing gases in water during bubbling in tanks were determined. The expediency of using microbubbles for more efficient saturation of water and aqueous solutions with ozone and generation of ozone with maximum concentration is shown. It is shown that when bubbling gas in water, including ozone-containing gas, the most important indicator is the volume gas content, which determines the ratio of the volume of the gas phase to the volume of the gas-liquid mixture in the contact apparatus. In the presence of a set of bubbles in the water, the ...


Study Of The Rheological Properties Of The Suspension Formed During The Production Of Caustic Soda By The Lime Method, Aktam Ulashovich Erkaev, Dildora Tursunova 2021 Professor Department Chemical technologies of inorganic substances Tashkent Chemical Technology Institute, Tashkent city, Republic of Uzbekistan, E-mail: aerkaev_1960@mail.ru

Study Of The Rheological Properties Of The Suspension Formed During The Production Of Caustic Soda By The Lime Method, Aktam Ulashovich Erkaev, Dildora Tursunova

Chemical Technology, Control and Management

The process of obtaining sodium hydroxide - caustic soda by conversion of soda ash with lime milk in the presence of natural mirabilite - has been investigated. The influence of temperature, Na2CO3: Na2SO4 ratio, concentration of lime milk and duration of the conversion process on this process was studied by identifying their optimal values. The study of the rheological properties of the reaction pulp showed that it is mobile and well filtered, which makes it possible to obtain rapidly settling large crystals of Na2CO3·2Na2SO4, Na2CO3, Na ...


Development Of A New Technology For Obtaining The Substance Of The Drug Acetamizole, Sarvar Saidov, Asqar Abdurazakov, Rixsibay Karimov, Mavluda Baltabayeva 2021 Academy of Sciences Republic of Uzbekistan Acad. S. Yu. Yunusov Institute of the Chemistry of Plant Substances, Bd. 77 Mirzo Ulugbek st., 100170, Tashkent. E-mail: 1sarvar-saidov-1989@bk.ru

Development Of A New Technology For Obtaining The Substance Of The Drug Acetamizole, Sarvar Saidov, Asqar Abdurazakov, Rixsibay Karimov, Mavluda Baltabayeva

Chemical Technology, Control and Management

The main goal of this work is to obtain a preparation of acetamizole based on local raw materials by a more convenient method of acylation of 2-methoxycarbonylaminobenzimidazole with glacial acetic acid, this synthesis method is proposed for the first time. On the basis of the conducted experiments, favorable conditions for the reaction were found, the influence of the nature of the acid, the temperature, the duration of the reaction and other factors on the course of the reaction was studied, the technology was developed and implemented at the experimental production of "IHRV AN RUz". Based on experiments conducted by scientists ...


Mathematical Model Of A System For Controlling And Diagnosing The Safety State Of Oil And Gas Territory, Erkin Uljaev, Utkirjon Murodillaevich Ubaydullaev, Gayrat Bakhtiyarovich Tadzhitdinov, Sherzod Kholmuminovich Eshkuvatov 2021 Doctor of Technical Sciences, Professor, Department of Information Processing Systems and Management, Tashkent State Technical University. Tashkent city, Republic of Uzbekistan,Tel .: (99) 919-71-64 (m.),

Mathematical Model Of A System For Controlling And Diagnosing The Safety State Of Oil And Gas Territory, Erkin Uljaev, Utkirjon Murodillaevich Ubaydullaev, Gayrat Bakhtiyarovich Tadzhitdinov, Sherzod Kholmuminovich Eshkuvatov

Chemical Technology, Control and Management

In this article, the way of creation mathematical model of a control system and diagnostics of the security status of the oil and gas territory is considered. For performing diagnostics of the safety of a status of the oil and gas territory as a mathematical apparatus it is suggested to use a boolean algebra. The main controlled objects and their technological parameters which define safety, integrity of saving, operational carrying out monitoring status as separate objects and all oil and gas territory, prediction of the expected threats, economic social, and economic damage are selected. For the creation of a mathematical ...


Mathematical Models Of New Magnetoelastic Sensor For Measure Of Power And Vibration Parameters, Javhar Sulton ugli Fayzullayev 2021 Tashkent State Transport University Address: 1 Odilhodjaev st., 100167, Tashkent city, Republic of Uzbekistan E-mail: javhar2019@mail.ru, Phone: +998903251116.

Mathematical Models Of New Magnetoelastic Sensor For Measure Of Power And Vibration Parameters, Javhar Sulton Ugli Fayzullayev

Chemical Technology, Control and Management

In the paper, the mathematical models of the new magnetoelastic sensor for measuring power and vibration parameters are developed taking into account the aggregation or scattering of the parameters of electromagnetic chains and the characteristics of the magnetization curve of the magnetic conductor material. The analysis of the generated mathematical models and graphs based on them showed that the magnetic chain in which the coils are assembled does not take into account the nonlinearity of the magnetization curve of the magnetic conductive material (electrotechnical steel), the result is 12 ÷ 15% of the experimental results. It varies by 6 ÷ 8%. The ...


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