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Free Energy Approaches To Understanding The Mechanism Of Membrane-Active Peptides, Hannah R. Scott
Free Energy Approaches To Understanding The Mechanism Of Membrane-Active Peptides, Hannah R. Scott
Graduate Theses, Dissertations, and Problem Reports (ETD)
Cancer is a leading cause of death in the world today. Current methods of treatment fail to distinguish the difference between cancer cells and cells of healthy tissue, leading to off-target effects, often with terminal outcomes. A potential solution to this challenge is to target the cancer cells’ microenvironment. One universal characteristic across all cancer cells is the acidic extracellular environment. The pH-Low Insertion Peptide (pHLIP) is a membrane-active peptide with acid-sensitive function, undergoing folding and insertion into a transmembrane alpha-helix. pHLIP is a promising candidate to be used to deliver anti-cancer agents exclusively to cancer cells. Although the mechanism …
Neural And Computational Approach To Understanding Environmental Modulation Of Behavioral Identity In Zebrafish, John W. Hageter
Neural And Computational Approach To Understanding Environmental Modulation Of Behavioral Identity In Zebrafish, John W. Hageter
Graduate Theses, Dissertations, and Problem Reports (ETD)
Organisms rely on behavior for survival. Animals engage in behaviors that allow for feeding, mating, exploring and navigating their environment among others. Necessary for these behaviors to develop are the environmental factors and underlying circuitry which make behavior possible. Specifically, how the environment guides underlying neural circuitry to develop unique facets or phenotypes of a larger behavior are key to understanding why unique behaviors exist. In this thesis, I build foundational evidence for determining these mechanisms through the use of the zebrafish local search behavior. This is a behavior that zebrafish employ following the loss of environmental illumination where they …
A Paleobiological And Paleoecological Analysis Of Mississippian Trilobites With Segmentation Abnormalities, April Catherine Cerami
A Paleobiological And Paleoecological Analysis Of Mississippian Trilobites With Segmentation Abnormalities, April Catherine Cerami
Graduate Theses, Dissertations, and Problem Reports (ETD)
Trilobites are a well-preserved group of arthropods, with a fossil record extending from the Cambrian to the end of the Permian. Abnormalities, such as injuries or teratological defects, have been observed and described in multiple individuals, although investigating how these abnormalities occur in populations has been largely overlooked.
One possible cause of abnormalities in marine arthropods is heavy metal pollution. Such metals can leave individuals more susceptible to teratological deformities and injuries, interfering with the molting and healing process. Here, methods for analyzing elemental composition and preservation of the trilobite cuticle were refined, finding that 30 μm thin sections are …
Multi-Scale Dynamic Modeling, Validation, And Uncertainty Quantification Of Radial Flow Fixed Bed Contactors For Co2 Capture, Ana Flávia De Alencar Arraes Monteiro
Multi-Scale Dynamic Modeling, Validation, And Uncertainty Quantification Of Radial Flow Fixed Bed Contactors For Co2 Capture, Ana Flávia De Alencar Arraes Monteiro
Graduate Theses, Dissertations, and Problem Reports (ETD)
One of the key sources of carbon dioxide emissions to the environment is fossil fuel combustion for power generation. Post-combustion CO2 capture using amine-based solvents is currently the most matured process. However, amines are corrosive and lead to degradation products at even moderate temperatures generating environmental pollutants, and require high energy for regeneration. Solid sorbents are a promising alternative. They possess lower regeneration energy, thermal stability, and have highly tunable porous structures with large surface area that can help in achieving high loading and high adsorption rates. This work focuses on mathematical modeling of CO2 adsorption/desorption processes using solid sorbents. …
Investigation Of Protein-Ligand Binding Interactions Through The Computational Methods Of Molecular Dynamics And Graph Neural Networks, Alexander Benjamin Wroe
Investigation Of Protein-Ligand Binding Interactions Through The Computational Methods Of Molecular Dynamics And Graph Neural Networks, Alexander Benjamin Wroe
Graduate Theses, Dissertations, and Problem Reports (ETD)
Studies in protein ligand binding are a significant focus in the field of medicinal chemistry
and biochemistry, facilitating a greater understanding of the structure-function relationship
of the protein and controlling function via drug development. In this research, we identify
new binding sites for lipids on the microbial membrane protein, proteorhodopsin, and apply
machine learning approaches to accelerate the generation of binding affinity-like data for the
use in the identification of potential small molecule drugs. The platelet activating factor
receptor. Cardiolipin, a lipid in membranes, and proteorhodopsin, a microbial proton pump,
are both commonly found in microbial membranes, but little is …
International Students’ Perceptions And Experiences Of Institutional Diversity Initiatives And Self-Authorship Attainment: A Mixed Methods Study, Sandra Ayivor
Graduate Theses, Dissertations, and Problem Reports (ETD)
Higher education institutions in the United States have responded to years of discrimination through several diversity initiatives. Although research has indicated the merits of such initiatives on student development, the outcomes are not uniform across all student populations. Moreover, student development discourses have often excluded the experiences of international students. Employing a convergent mixed methods approach, this study investigated the perceptions and experiences of international students at a flagship land-grant higher education institution in the Appalachian region of the United States regarding institutional diversity initiatives and their self-authorship based on some demographic characteristics (i.e., gender, age, marital status, religion, continent, …
Flower Cluster Matching Utilizing The Unscented Transform For Robotic Pollination, Andy Chu
Flower Cluster Matching Utilizing The Unscented Transform For Robotic Pollination, Andy Chu
Graduate Theses, Dissertations, and Problem Reports (ETD)
The use of automated systems for agriculture is integral to keeping the food supply secure. Both industry and academia are exploring and applying methods to increase the yield of plants in environments ranging from outdoor fields to greenhouses. Specifically, many automated systems use continuous monitoring of plants to track plant health and yield. The use of computer vision is necessary when it comes to precision operations that use robotics. Today, robots are trained to weed, harvest, and pollinate. To accomplish these tasks autonomously, a lot of data is needed, which is where spatial-temporal observations of the plants are being recorded …
Design And Simulation Of An Ai-Powered Autonomous Quadrotor Framework For Search And Rescue Operations, James J. Shope
Design And Simulation Of An Ai-Powered Autonomous Quadrotor Framework For Search And Rescue Operations, James J. Shope
Graduate Theses, Dissertations, and Problem Reports (ETD)
Unmanned aerial vehicles (UAVs), particularly quadrotor platforms, have proven to be indispensable tools for search and rescue (SAR) teams due to their maneuverability, rapid deployment, and affordable operation. The current SAR use cases of quadrotors span from aerial surveillance to mission planning and strategic deliveries. However, most SAR applications remain passive or semi-autonomous, such that they rely on human-operated control or data assessment. Advancements in autonomous control strategies bring about a future where a single SAR operator can program and deploy several UAVs. This thesis details the development and simulation of a fully autonomous, AI-powered quadrotor framework capable of detecting …
Development And Application Of Computational Tools For Data-Driven Materials Science., Logan L. Lang
Development And Application Of Computational Tools For Data-Driven Materials Science., Logan L. Lang
Graduate Theses, Dissertations, and Problem Reports (ETD)
Modern materials science generates vast amounts of data from computational simulations and experiments, creating significant challenges for data processing and analysis. This thesis addresses these challenges through the development and application of computational tools within the framework of Material Data Science (MDS). Contributions span the four pillars of MDS: Material/Molecular Data, Algorithms, Databases, and High-Throughput Processes—with a primary focus on the Algorithm, Data, Database pillars.
For the Algorithm pillar, two Python libraries were developed to streamline common analysis tasks. PyProcar simplifies the post-processing and visualization of electronic structure data (band structures, density of states, Fermi surfaces) obtained from various Density …
Enhancing Pillar Stability Assessment In Underground Limestone Mines Using Lamodel: Integrating Empirical Strength Equations For Improved Ground Control, Alim Elibol
Graduate Theses, Dissertations, and Problem Reports (ETD)
Underground stone mining accounts for approximately 21% of all underground mining operations in the United States, with more than 2,000 workers employed in this sector as of 2019. Ground control failures, particularly those involving massive pillar collapses and roof falls, pose significant safety hazards, contributing to 40% of fatalities and 15% of lost workdays since 2006. Several massive pillar collapses have occurred in active limestone mines from 2015 to 2021, and a fatal incident was reported in January 2022 in a mine operating within the Loyalhanna formation. Given these risks, accurate stability assessment tools are essential for improving mine safety. …
Mathematical Contributions To The Study Of Chemotaxis And Cell Signaling, Hajr Zam
Mathematical Contributions To The Study Of Chemotaxis And Cell Signaling, Hajr Zam
Graduate Theses, Dissertations, and Problem Reports (ETD)
This dissertation presents results from two mathematical projects concerned with the biology of cells. Chapter 1 provides biological background and places the two mathematical problems in the context of cell signaling. The larger project, with Prof. H. Hattori on a chemotaxis model is presented in Chapters 3 and 4. Work with Prof. \'{A}. Hal\'{a}sz on a chemical reaction network system with linear multimers and two types of labels is presented in Chapter 2. The chemotaxis system describes the one-dimensional dynamics of a species of cells with two chemical species, a chemo-attractant and chemo-repellent. The goal is to analyze the behavior …
Three Essays On Education And Health Economics, Kalvin Mudrow
Three Essays On Education And Health Economics, Kalvin Mudrow
Graduate Theses, Dissertations, and Problem Reports (ETD)
The first chapter explores the impact of online education on student outcomes by comparing students pre-2020 school closures to students post-2020 school closures. Using student-level panel data from a large U.S. school district spanning 2017-2023 and two outcome variables, reading tests and end-of-level exams, I estimate the effects on different demographic groups, the dynamics of these effects over time, and how these effects differ across students ages. I find a significant decline in student performance after the move to online learning, with additional adverse effects on students who are classified as low-income, female, special education, or ELL. Mechanisms contributing to …
The Origin And Properties Of Ionized Gas In The Inner Milky Way Disk, Dylan J. Linville
The Origin And Properties Of Ionized Gas In The Inner Milky Way Disk, Dylan J. Linville
Graduate Theses, Dissertations, and Problem Reports (ETD)
The interstellar medium (ISM) plays a crucial role in the evolution of the Milky Way and other spiral galaxies, but numerous gaps remain in our collective understanding of its properties. The now-complete Green Bank Telescope (GBT) Diffuse Ionized Gas Survey (GDIGS) and the ongoing extension, the GBT Diffuse Ionized Gas Survey at Low Frequencies (GDIGS-Low), offer the opportunity to study the ionized component of the ISM at unmatched sensitivity and resolution. In this dissertation I will utilize GDIGS and GDIGS-Low data to improve our understanding of discrete regions of ionized gas. I first use GDIGS to provide improved measurements of …
Late Ordovician Evolution Of Sea Scorpions: Eurypterids Of The Big Hill Lagerstätte, Joseph Donaldson Bingham Jr.
Late Ordovician Evolution Of Sea Scorpions: Eurypterids Of The Big Hill Lagerstätte, Joseph Donaldson Bingham Jr.
Graduate Theses, Dissertations, and Problem Reports (ETD)
Eurypterids are a group of diverse chelicerates that first appeared during the Middle Ordovician (467.3 Ma) and went extinct at the end of the Permian (251.9 Ma). The fossil record of eurypterids during the Ordovician is relatively sparce, comprising only 12 species representing the Megalograptidae, a ‘waeringopterid’ clade, Rhenopteridae, Onychopterellidae, Adelophthalmoidea, and Eurypteroidea clades. This study describes early eurypterids from the Katian aged (~452 Ma) Big Hill Lagerstätte of Michigan. The described material represents two new species, herein named Machipterus margaritae sp. nov. (based on 21 specimens preserving the ventral prosoma and prosomal appendages, and opisthosoma) and Dikranopterus lysinae sp. …
Refinement Of A Thermodynamic Model To Explain The Weathering Patterns Of Ignitable Liquids On Household Substrates At Elevated Temperatures, Chaney Ashlyn Ganninger
Refinement Of A Thermodynamic Model To Explain The Weathering Patterns Of Ignitable Liquids On Household Substrates At Elevated Temperatures, Chaney Ashlyn Ganninger
Graduate Theses, Dissertations, and Problem Reports (ETD)
ABSTRACT
Refinement of a thermodynamic model to explain the weathering patterns of ignitable liquids on household substrates at elevated temperatures
Chaney A. Ganninger
In 2021, arson caused more than 4,361 deaths in the United States. To aid in the differentiation between arson and accidental or natural causes, investigators often analyze fire debris for the presence of ignitable liquid residues using headspace concentration followed by gas chromatography-mass spectrometry (GC-MS). Classification of ignitable liquids can be confounded by weathering, which is the uneven evaporation of compounds in ignitable liquid residues. The Jackson group, among others, has developed a thermodynamic model to help …
Exploring Teacher Perception And Implementation Of Sae Programming In West Virginia, Joseph Laflamme
Exploring Teacher Perception And Implementation Of Sae Programming In West Virginia, Joseph Laflamme
Graduate Theses, Dissertations, and Problem Reports (ETD)
The purpose of this study was to describe the phenomenon of SAE implementation in West Virginia. This study utilized qualitative research methodology to describe teacher perceptions of how student, guardian, school and community factors affect SAE program implementation. Additionally, teacher backgrounds, including formative experiences, training and education, guiding philosophies, skills, and motivation were explored. This study describes contextual aspects of population, economics, state guidelines and local agriculture industries. This is done through a document review of student reported records as well as surveys and teacher interviews.
Augmentation And Hybridization Of Conventional Forms Of Process Control With Advanced Control Methods, Daniel Paul Beahr
Augmentation And Hybridization Of Conventional Forms Of Process Control With Advanced Control Methods, Daniel Paul Beahr
Graduate Theses, Dissertations, and Problem Reports (ETD)
Within the last decade in the field of process control, there has developed a distinct gap between the technological advancements of today and the well-established theory that has preceded it. This is most evident where the novel developments and structures often outpace the necessary guarantees and strong foundation required to ensure the possibility of widespread adoption. Therefore, the goals of this work are to broadly integrate those novel advanced control methods into the field of process control in such a way to increase the applicability and encourage implementation.
The first portion of this work seeks to further explore the nature …
Membrane Reactor Modeling And Optimization For Hydrogen Production, Ayooluwa Tomiwa Akintola
Membrane Reactor Modeling And Optimization For Hydrogen Production, Ayooluwa Tomiwa Akintola
Graduate Theses, Dissertations, and Problem Reports (ETD)
There has been an ongoing trend toward cleaner fuels for more environmentally benign forms of energy generation. Recently, hydrogen has been identified as a clean fuel for energy generation. However, the most established, efficient, and widely utilized technique for producing hydrogen remains the steam methane reforming (SMR) in the presence of catalyst. Unlike other fossil fuels, utilizing methane from natural gas in an SMR process to produce hydrogen emits less, but yet a notable sum of carbon dioxide. Furthermore, the endothermic nature of SMR reactions imply that there is a high energy requirement to obtain a substantial amount of hydrogen …
Development Of Fast And Comprehensive Approaches For Gunshot Residue Interpretation Using Ambient Ionization, Mass Spectrometry, And Microparticle Sampling Studies, Thomas Dimmey Ledergerber
Development Of Fast And Comprehensive Approaches For Gunshot Residue Interpretation Using Ambient Ionization, Mass Spectrometry, And Microparticle Sampling Studies, Thomas Dimmey Ledergerber
Graduate Theses, Dissertations, and Problem Reports (ETD)
The information derived from the forensic examination of gunshot residue (GSR) can be critical during the investigative and trial stages in the criminal justice system. However, the complexity of the GSR deposition, transfer, and persistence mechanisms calls for meticulous handling and identification processes. Novel advances in evidence interpretation and analysis via instrumental methods are current areas of growing interest that must be pushed along the chain from research to practice in a timely manner. Therefore, this research focuses on developing both rapid and comprehensive methods for detecting gunshot residue evidence and effectively communicating its significance to the investigators or trier …
Do Dung Beetles Sink Or Swim: Exploring Dung Beetle Response To Precipitation, Lauren T. Cheshire
Do Dung Beetles Sink Or Swim: Exploring Dung Beetle Response To Precipitation, Lauren T. Cheshire
Graduate Theses, Dissertations, and Problem Reports (ETD)
Global climate change constitutes a major threat to biodiversity and ecosystem services of many taxa. The Mid-Atlantic region of the US is expecting to see an increase in extreme precipitation events and flooding. Dung beetles (Scarabaeinae) can tunnel below the soil surface allowing for water to dissipate into the soil rather than sit on the surface and add to flooding conditions. They also can decrease methane emission by burying dung and reduce outbreaks of pests that prefer the moist environment of dung. They contribute roughly $380 million in ecosystem services annually in the United States, yet their services may be …
Developing Consensus-Based Methods For The Examination And Interpretation Of Contemporary Vehicle, Architectural, And Portable Electronic Device Glasses By Micro-X-Ray Fluorescence Spectrometry, Zachary Bailey Andrews
Developing Consensus-Based Methods For The Examination And Interpretation Of Contemporary Vehicle, Architectural, And Portable Electronic Device Glasses By Micro-X-Ray Fluorescence Spectrometry, Zachary Bailey Andrews
Graduate Theses, Dissertations, and Problem Reports (ETD)
Glass is a trace material that is commonly encountered during investigations of violent crimes. When glass is recovered at crime scenes, it can be used to establish links between suspects, victims, and the scene itself. The most discriminatory form of analysis for glass evidence is elemental analysis, and micro-X-ray fluorescence spectrometry (µXRF) is becoming an increasingly common technique used for this purpose. Recent advances in µXRF technology, such as the introduction of silicon drift detectors (SDD) and improved polycapillary optics are promising in enhancing the capabilities for the examination of glass evidence in forensic investigations. However, along with these advances …
Modeling Energetic Electron Precipitation: Radiation Belt Loss, Its Drivers, And Atmospheric Impacts, Zhi Gu Li
Modeling Energetic Electron Precipitation: Radiation Belt Loss, Its Drivers, And Atmospheric Impacts, Zhi Gu Li
Graduate Theses, Dissertations, and Problem Reports (ETD)
Energetic electrons in the terrestrial outer radiation belt present significant hazards to spacecraft systems and human operations in space. The intensity of these electrons can vary rapidly and dramatically during geomagnetic storms, governed by a complex competition between acceleration and loss processes. Among these, precipitation into the atmosphere via resonant wave-particle interaction acts as a key loss mechanism. This dissertation focuses on improving the quantification of energetic electron precipitation using physics-based modeling constrained by low-altitude satellite observations.
We begin by developing and validating the Drift-Diffusion model, which simulates low-altitude electron dynamics while accounting for azimuthal drift, pitch-angle diffusion, and atmospheric …
Apostrophes And Archimedes, Evan J. Clough
Apostrophes And Archimedes, Evan J. Clough
Graduate Theses, Dissertations, and Problem Reports (ETD)
This thesis explores how digital collage and printmaking can be used to develop images through acts of subjective response, intentional and unintentional acts of appropriation, and parodic re-use and comparison pushed to absurd extremes. It looks at the history of creating art for parodic re-use and examines “Pataphysics”, developed by and for art appropriation of pattern, form, and process. These concepts are explained and related to visual artwork that was made for the thesis exhibition Apostrophes and Archimedes Cast Shadow Puppets. The exhibition invites viewers to experience the phenomenon of observation, automatic transformation, and creation using multiple modalities of exaggerated …
Computational Approaches For Diagnosing Neurological Impairments And Restoring Functional Movement, Serhii Bahdasariants
Computational Approaches For Diagnosing Neurological Impairments And Restoring Functional Movement, Serhii Bahdasariants
Graduate Theses, Dissertations, and Problem Reports (ETD)
Movement is the primary means by which the nervous system converts intention into interaction with the environment. Voluntary limb motion enables standing, walking, reaching, and grasping—actions that underpin self‑care, communication, and economic participation. When diseases or injuries disrupt the pathways that couple neural commands to muscle forces—whether through cortical stroke, spinal cord injury, or peripheral nerve damage—mechanical outcomes such as weakness, loss of coordination, and ultimately reduced mobility emerge. These impairments cascade into secondary complications, increased dependence on caregivers, and diminished quality of life. Quantifying how the lesion alters the mechanics of movement is therefore essential for designing targeted interventions …
Functionalized Carbon Nanohoops: Synthesis, Structural Insights, And Pathways To Carbon Nanobelts, Liu Li
Functionalized Carbon Nanohoops: Synthesis, Structural Insights, And Pathways To Carbon Nanobelts, Liu Li
Graduate Theses, Dissertations, and Problem Reports (ETD)
The development of structurally defined carbon nanostructures has gained significant attention due to their unique electronic, optical, and mechanical properties. Cycloparaphenylenes (CPPs), also known as carbon nanohoops, and carbon nanobelts (CNBs) represent key molecular segments of carbon nanotubes (CNTs), offering a bottom-up approach to precise nanotube construction. This dissertation focuses on the synthesis, structural characterization, and functionalization of CPPs, as well as the development of novel synthetic pathways for CNBs. A series of functionalized CPPs, including [9]-, [12]-, [15]-, and [18]CPPs, were synthesized using a modular approach involving a Diels-Alder adduct formation followed by a Ni(cod)2/bpymediated macrocyclization reaction. The influence …
Efficacy Of Salmonella Surrogate Enterococcus Faecium In Poultry And Mash Broiler Feed, Corey Waitman Coe
Efficacy Of Salmonella Surrogate Enterococcus Faecium In Poultry And Mash Broiler Feed, Corey Waitman Coe
Graduate Theses, Dissertations, and Problem Reports (ETD)
This dissertation investigates the efficacy of Enterococcus faecium as a surrogate for Salmonella in validating thermal inactivation processes during poultry feed manufacturing and meat processing. The research encompassed three studies evaluating microbial kinetics in mash broiler feed, reconstructed ground chicken, and predictive modeling approaches to improve food safety interventions. In the first study, the thermal resistance of nalidixic acid-resistant Salmonella Typhimurium and E. faecium was compared in mash broiler feed heated at 75–95°C. Results demonstrated that E. faecium exhibited significantly greater heat resistance than Salmonella, with longer shoulder times, greater tailing effects, and higher D-values, supporting its use as …
Modeling And Simulation Of Carbon-Neutral Strategies For Methanol Production, Omar Almaraz Barrios
Modeling And Simulation Of Carbon-Neutral Strategies For Methanol Production, Omar Almaraz Barrios
Graduate Theses, Dissertations, and Problem Reports (ETD)
Methanol is a versatile chemical that can be used as a fuel, a solvent, a feedstock for other chemicals, and a hydrogen carrier. Methanol production from natural gas, which is mainly composed of methane, is a well-established process that involves steam reforming, methanol synthesis, and methanol purification. However, this process is energy-intensive and emits large amounts of carbon dioxide, which contributes to global warming and climate change. Therefore, there is a need for alternative methods of methanol production that are more efficient and environmentally friendly. The overall objective of this research is to develop simulation models of two novel methanol …
Artificial Intelligence Approaches For Membrane Fouling Prediction, Yazhou Jiang
Artificial Intelligence Approaches For Membrane Fouling Prediction, Yazhou Jiang
Graduate Theses, Dissertations, and Problem Reports (ETD)
Abstract
Membrane fouling is a persistent and critical challenge in membrane-based separation processes, resulting in reduced performance, higher energy consumption, and increased operational and maintenance costs. Addressing this issue is essential for improving the long-term sustainability and efficiency of membrane systems. This report provides a comprehensive overview of membrane fouling mechanisms—such as organic, inorganic, particulate, and biofouling—and explores the growing role of Artificial Intelligence (AI) in tackling this problem. Specifically, it reviews three widely adopted AI techniques: Artificial Neural Networks (ANN), Fuzzy Logic (FL), and Support Vector Machines (SVM). Each method is examined through a series of literature-based case studies, …
Autonomous Vehicle Supported Mobility Services For Rural Areas, Alvira Ahmed Tasnim
Autonomous Vehicle Supported Mobility Services For Rural Areas, Alvira Ahmed Tasnim
Graduate Theses, Dissertations, and Problem Reports (ETD)
Autonomous Vehicles (AVs) are emerging as a promising mobility solution to address growing transportation demands, particularly unmet traffic demand in rural areas where conventional transit systems often fall short. Rural areas face unique mobility challenges due to dispersed populations, limited infrastructure, and low/no transit coverage. Existing transit services tend to concentrate around dense urban cores, leaving low-demand areas outside underserved. This spatial undercoverage leads to significant mobility gaps for rural residents. This study examines the potential of AV-based ride-sharing services to address these mobility needs by providing flexible, demand-responsive mobility services where fixed-route transit services are either economically or operationally …
Reactive Model-Free Control For Underactuated Vehicles Operating In Resource-Constrained Environments, Austin Lane Sponaugle
Reactive Model-Free Control For Underactuated Vehicles Operating In Resource-Constrained Environments, Austin Lane Sponaugle
Graduate Theses, Dissertations, and Problem Reports (ETD)
Buoyancy-driven, underactuated vehicles offer a compelling solution for long-duration autonomous operations in constrained environments. By leveraging buoyancy to generate lift, these vehicles can remain aloft for extended periods with minimal power requirements, making them well-suited for applications in atmospheric monitoring, planetary exploration, and communications. However, their limited actuation authority, strong coupling with environmental forces, and operating domains introduce significant control challenges, including nonlinearity, sensitivity to external disturbances, and limited observability.
This work investigates the design and implementation of lightweight, reactive model-free control strategies that enable robust autonomy in such constrained settings. A digital Extremum Seeking Controller (ESC) is first implemented …