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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 ...


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 ...


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 ...


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 ...


Do Your Projects Support Your Strategy? Applying Benefits Realization Management, Phil Jones 2021 University of Arkansas, Fayetteville

Do Your Projects Support Your Strategy? Applying Benefits Realization Management, Phil Jones

Operations Management Presentations

In this webinar, foundational concepts of Benefits Realization Management will be presented and discussed. Benefits Realization Management (BRM) is a both a discipline and a process used to align projects undertaken by an organization with the organization’s strategy and culture.


Closed-Loop Supply Chain Network Design Under Uncertainties Using Fuzzy Decision Making, Zhengyang Hu, Viren Parwani, Guiping Hu 2021 Iowa State University

Closed-Loop Supply Chain Network Design Under Uncertainties Using Fuzzy Decision Making, Zhengyang Hu, Viren Parwani, Guiping Hu

Industrial and Manufacturing Systems Engineering Publications

The importance of considering forward and backward flows simultaneously in supply chain networks spurs an interest to develop closed-loop supply chain networks (CLSCN). Due to the expanded scope in the supply chain, designing CLSCN often faces significant uncertainties. This paper proposes a fuzzy multi-objective mixed-integer linear programming model to deal with uncertain parameters in CLSCN. The two objective functions are minimization of overall system costs and minimization of negative environmental impact. Negative environmental impacts are measured and quantified through CO2 equivalent emission. Uncertainties include demand, return, scrap rate, manufacturing cost and negative environmental factors. The original formulation with uncertain ...


A Method For Visualizing The Structural Complexity Of Organizational Architectures, Jacob Michael B. King 2021 California Polytechnic State University, San Luis Obispo

A Method For Visualizing The Structural Complexity Of Organizational Architectures, Jacob Michael B. King

Master's Theses

To achieve a high level of performance and efficiency, contemporary aerospace systems must become increasingly complex. While complexity management traditionally focuses on a product’s components and their interconnectedness, organizational representation in complexity analysis is just as essential. This thesis addresses this organizational aspect of complexity through an Organizational Complexity Metric (OCM) to aid complexity management. The OCM augments Sinha’s structural complexity metric for product architectures into a metric that can be applied to organizations. Utilizing nested numerical design structure matrices (DSMs), a compact visual representation of organizational complexity was developed. Within the nested numerical DSM are existing organizational ...


Agile Thinking And Innovative Technology Development, Rocky Gay 2021 University of Arkansas, Fayetteville

Agile Thinking And Innovative Technology Development, Rocky Gay

Operations Management Presentations

Agile Project Management approaches have grown beyond software development and are being incorporated in many industries at a rapid pace. This expansion has created a need for a common language and methodology that fosters self-organized collaboration and an innate desire to deliver products that maximize customer satisfaction. There are a broad range of tools and techniques nested in a framework that facilitate a flexible and steady cadence of product delivery. Organizations have options in managing projects. Shifting to an agile mindset, values and principles may necessitate a culture change in project teams.


Gan-Based Fast, High Output Magnetic Field Pulser, Wei S. Theh, N. Prabhu Gaunkar, Mani Mina 2021 Iowa State University

Gan-Based Fast, High Output Magnetic Field Pulser, Wei S. Theh, N. Prabhu Gaunkar, Mani Mina

Industrial Design Publications

Magnetic field pulsers (MFP) generate a pulsed magnetic field by driving current through an inductor. These pulsers have numerous applications based on the output magnetic flux density and switching time. This investigation will explore the application of gallium nitride-based (GaN) transistor in a MFP design. Based on the advantages of GaN transistors, the investigation looks towards creating a pulser capable of producing magnetic flux density of 500 Gauss with a rise/fall time of less than 500 nanoseconds. This investigation will improve upon findings from prior pulsers designed for magneto-optic switching applications. Simulation results have shown that for a given ...


Mapping Of The Information Flow Of The Valle Occidental Coffee Region: A System-Of-Systems Perspective, Irene Campos 2021 Purdue University

Mapping Of The Information Flow Of The Valle Occidental Coffee Region: A System-Of-Systems Perspective, Irene Campos

CESUN Conference

Uncertainty is a characteristic of many of the contemporary environments that our systems inhabit. In the case of farming systems, uncertainty has always been present in the form of unpredictable weather conditions, disease outbreaks and evolving societal and economic factors. Uncertainty poses a challenge for communication and information alignment, which is especially important for a farming system responding to disasters. A first step towards finding solutions for problems of information alignment in systems is mapping and identifying information links in them. The goal of this research is to map the information flow and feedback dynamics of the Valle Occidental coffee ...


Exploring How Prize Challenges Complement An Organization's Innovation Efforts, Ademir Vrolijk, Zoe Szajnfarber 2021 George Washington University

Exploring How Prize Challenges Complement An Organization's Innovation Efforts, Ademir Vrolijk, Zoe Szajnfarber

CESUN Conference

prize challenge, open innovation, crowdsourcing, NASA, 3D Printed Habitat Challenge, additive manufacturing


Risk Management Decision Making For Security And Trust In Hardware Supply Chains, Zachary A. Collier, Thomas L. Polmateer, James H. Lambert 2021 Radford University

Risk Management Decision Making For Security And Trust In Hardware Supply Chains, Zachary A. Collier, Thomas L. Polmateer, James H. Lambert

CESUN Conference

Modern cyber-physical systems are enabled by electronic hardware and embedded systems. The security of these sub-components is a concern during the design and operational phases of cyber-physical system life cycles. Compromised electronics can result in mission-critical failures, unauthorized access, and other severe consequences. As systems become more complex and feature greater connectivity, system owners must make decisions regarding how to mitigate risks and ensure resilience and trust. This paper provides an overview of research efforts related to assessing and managing risks, resilience, and trust with an emphasis on electronic hardware and embedded systems. The research takes a decision-oriented perspective, drawing ...


The Challenges And Opportunities Of Teaching Systems Engineering For Large Scale Engineering Systemse, Edward Pines, Dennis Engi 2021 New Mexico State University

The Challenges And Opportunities Of Teaching Systems Engineering For Large Scale Engineering Systemse, Edward Pines, Dennis Engi

CESUN Conference

In this paper, we discuss a course in large scale systems engineering that was developed as part of a twelve-credit Graduate Certificate in Systems Engineering for part-time and returning students. Our focus was on how to work on big, unmanageable, messy problems. Teaching systems engineering for large-scale engineering systems is challenging for many reasons. One of the main challenges is the breadth of material to be addressed within one or two courses. Other challenges result from how students learn about the transitions from the development of a conceptual framework to systems architecture through engineering design, mathematical analysis and eventual construction ...


Optimal Resource Allocation Model To Prevent, Prepare, And Respond To Multiple Disruptions, With Application To The Deepwater Horizon Oil Spill And Hurricane Katrina, Cameron A. MacKenzie, Amro Al Kazimi 2021 Iowa State University

Optimal Resource Allocation Model To Prevent, Prepare, And Respond To Multiple Disruptions, With Application To The Deepwater Horizon Oil Spill And Hurricane Katrina, Cameron A. Mackenzie, Amro Al Kazimi

Industrial and Manufacturing Systems Engineering Publications

Determining how to allocate resources in order to prevent and prepare for disruptions is a challenging task for homeland security officials. Disruptions are uncertain events with uncertain consequences. Resources that could be used to prepare for unlikely disruptions may be better used for other priorities. This chapter presents an optimization model to help homeland security officials determine how to allocate resources to prevent and prepare for multiple disruptions and how to allocate resources to respond to and recover from a disruption. In the resource allocation model, prevention reduces the probability of a disruption, and preparation and response both reduce the ...


Better And Faster: How To Leverage Award-Winning Operations Management Techniques, Carrie Beam 2021 University of Arkansas, Fayetteville

Better And Faster: How To Leverage Award-Winning Operations Management Techniques, Carrie Beam

Operations Management Presentations

The INFORMS Franz Edelman Award for Achievement in Advanced Analytics, Operations Research, and Management Science identifies innovative applications of operations management in fields as diverse as sewer district management, school bus scheduling, polio vaccinations, and of course transportation. In this seminar, 2021 Edelman Prize Chair Dr. Carrie Beam will introduce the keys of stakeholder engagement, iterative development, and scaled-up implementation of operations management techniques and how they apply to the Franz Edelman Award and to MSOM courses.


Analytical Assessment Of Project Complexity: A Guide To Managing Projects Through Reduction Of Complexity, Christopher VanArsdale 2021 Michigan Technological University

Analytical Assessment Of Project Complexity: A Guide To Managing Projects Through Reduction Of Complexity, Christopher Vanarsdale

Dissertations, Master's Theses and Master's Reports

This research discusses the characteristics that make projects difficult to manage. Project inefficiencies and failures can be attributed to the structure of a system. Developing a measurement for complexity based on the number and nature of interactions in the system can allow project complexity to be reduced while still meeting project objectives. Previous research has identified characteristics or markers of complex systems but does not address how to measure or how to reduce a system’s complexity.

The objective of this dissertation is to develop a metric for complexity that assists project and emergency managers in reducing project complexity either ...


Establishing A Frame Of Reference For Measuring Disaster Resilience, Christopher W. Zobel, Cameron A. MacKenzie, Milad Baghersad, Yuhong Li 2021 Virginia Tech

Establishing A Frame Of Reference For Measuring Disaster Resilience, Christopher W. Zobel, Cameron A. Mackenzie, Milad Baghersad, Yuhong Li

Industrial and Manufacturing Systems Engineering Publications

Due to the increasing occurrence of disruptions across our global society, it has become critically important to understand the resilience of different socio-economic systems, i.e., to what extent those systems exhibit the ability both to resist a disruption and to recover from one once it occurs. In order to characterize this ability, however, one must be able to quantitatively measure the relative level of resilience that a given system displays in response to a disruptive event. Such a measurement should be easily understandable and straightforward to implement, but it should also utilize a consistent frame of reference so that ...


Emotional Intelligence And Safety Citizenship Among Army Aviators, Zachary T. Dugger, Bernadette McCrory 2021 Montana State University-Bozeman

Emotional Intelligence And Safety Citizenship Among Army Aviators, Zachary T. Dugger, Bernadette Mccrory

International Journal of Aviation, Aeronautics, and Aerospace

The purpose of this study was to develop an understanding of the relationship between trait emotional intelligence and safety citizenship among United States Army aviators. The study includes analysis of survey responses from 29 individual aviators. Regression analysis was performed to evaluate the relationship between safety citizenship, emotional intelligence, and 15 emotional intelligence facets. Results indicate a significant association (F(1,28) = 15.45; p = 0.001) between safety citizenship and emotional intelligence, and between safety citizenship and 3 emotional intelligence facets: Adaptability (F(1,25) = 23.91; p < 0.001), Self Esteem (F(1,25) = 10.75; p = 0.003), and ...


Size And Cost Reduction Of The Antenna 3000, Mario Mignott, Austin Deaver, Josh Madaris 2020 Kennesaw State University

Size And Cost Reduction Of The Antenna 3000, Mario Mignott, Austin Deaver, Josh Madaris

Senior Design Project For Engineers

For our senior design project, we have partnered with Compass Technology Group to improve its Antenna 3000 manufacturing process. The Antenna we are working on is not actually called this, but due to NDA regulations, we will disguise it as the Antenna 3000. This will include finding a way to minimize material costs and labor hours involved to assemble this product together. Our minimum success criteria will be to reduce both the manufacturing time and materials' cost by 20%. Our primary approach to solving this problem will be to implement Lean Six Sigma practices such as the DMAIC principle.

Using ...


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