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Articles 31 - 60 of 1863
Full-Text Articles in Engineering
Evaluation Of Intracavity Electromagnetic Field Probes And Sources: Implications For Shielding Effectiveness, Joseph Anthony Ferreri
Evaluation Of Intracavity Electromagnetic Field Probes And Sources: Implications For Shielding Effectiveness, Joseph Anthony Ferreri
Electrical and Computer Engineering ETDs
To measure the electric field in a reverberant cavity, a small, minimally invasive probe is required. Common solutions include electrically small surface mounted monopole antennas, B-dots, and D-dots. To obtain an accurate field measurement with a particular probe, it is necessary to characterize it to compensate for its ability to convert electric field into voltage which requires a gauge factor known as effective height. The characterization process is straight forward in open space on a ground plane but requires more insight when in situ in a reverberant cavity. This work adapts ground plane probe characterization methods for cavity measurements, facilitating …
Millimeter-Wave Antenna Gain Enhancement Through Stacked Planar Substrates, Zachary Bergstedt
Millimeter-Wave Antenna Gain Enhancement Through Stacked Planar Substrates, Zachary Bergstedt
Electrical and Computer Engineering ETDs
This work presents a new wideband millimeter-wave (mmWave) and sub-terahertz antenna design with flexible directivity through the integration of stepped horn antennas and transverse substrate integrated waveguide (SIW) slots for radar and communication applications. The work gives a theoretical and analytical basis for this filter-inspired approach to improving bandwidth and directivity, and presents design and results for a standalone stepped horn, a Ka-band antenna with a solid stepped horn and SIW feed, and W-band antennas with empty SIW feeds and stepped horns manufactured out of multiple planar layers. The realized antennas show bandwidth up to 40% and gain up to …
Alternative Positioning, Navigation, And Timing In Global Navigation Satellite System Denied Environments, Joshua R. Atencio
Alternative Positioning, Navigation, And Timing In Global Navigation Satellite System Denied Environments, Joshua R. Atencio
Electrical and Computer Engineering ETDs
Global Navigation Satellite Systems (GNSS) provide the majority of critical positioning, navigation, and timing (PNT) services for civilian, commercial, and military applications. However, GNSS is vulnerable to service denial from spoofing and jamming from adversaries and environmental obstruction. These vulnerabilities highlight the need for resilient Alternative PNT (APNT) methods. This dissertation investigates APNT frameworks operating in GNSS denied environments. We develop coalition formation and matching theoretic models that allow users APNT services from anchor nodes under resource constraints and in adversarial or emergency conditions. The proposed frameworks optimize positioning accuracy, network utility, and system stability while accounting for geometric dilution …
Calibration Methodology, Diagnostic Performance, And Redesign Of The Current Monitors On The Z Machine At Sandia National Laboratories, Stacie Hernandez
Calibration Methodology, Diagnostic Performance, And Redesign Of The Current Monitors On The Z Machine At Sandia National Laboratories, Stacie Hernandez
Electrical and Computer Engineering ETDs
A proper evaluation of the current diagnostics fielded in the inner-MITL region of the Z facility in 3D simulation models had not been performed until now. The evaluation of the current monitors has brought insight to their performance in a new view that has led to discoveries. The B-dot probe was the current diagnostic-of-choice since before the refurbishment of the Z facility [1] and until the development of the Inductively Driven Transmission Line (IDTL) current diagnostic [2]. Experimental data has shown that the IDTL can produce cleaner signals and it is more robust than conventional B-dots. Simulation (modeled using COMSOL …
Applications And Comparisons Of Machine Learning Methods In Ultra-Fast Laser Control, Aasma Aslam
Applications And Comparisons Of Machine Learning Methods In Ultra-Fast Laser Control, Aasma Aslam
Electrical and Computer Engineering ETDs
This dissertation demonstrates the applications and comparative analyses of machine learning methods in ultrafast laser control. By learning the relationship between the system’s input parameters and output pulse characteristics, the performance of a laser can be significantly improved. In this work, the results are presented in two stages by utilizing data from the femtosecond laser system. The first stage concerns two neural networks, named NN1 (fitrnet) and NN2 (feedforwardnet). The second stage, which extended with five different models, namely the linear regression (fitlm), the support vector machine (SVM), the Gaussian process regression (GPR), the boosted tree (fitrensemble), and LASSO (fitrlinear), …
Brain-Based Mechanisms Of Behavioral Impairment In Fetal Alcohol Spectrum Disorder (Fasd): The Neuroimaging Biomarkers Of Inhibitory Control, Zinia Pervin
Biomedical Engineering ETDs
The developing brain is highly susceptible to alcohol-induced toxicity, often resulting in long-term deficits in executive function and behavioral regulation. Inhibitory control impairments are among the most prominent deficits observed in Fetal Alcohol Spectrum Disorder (FASD). This study investigated the neural mechanisms of inhibitory dysfunction using a multimodal MEG–DTI approach in 67 children aged 6–8 years (34 with FASD, 33 controls) who performed a Go/No-Go task. Source-level MEG analyses revealed reduced stimulus-locked cortical activation in the anterior cingulate cortex and significant group-by-hemisphere interactions in the superior parietal cortex and cuneus. Time–frequency analyses showed diminished response-locked beta power in the sensory-motor …
Nuclear Deterrence: Enhancing The Mission Through Smart Factory Predictive Solutions, Jarrod Matthew Ronquillo
Nuclear Deterrence: Enhancing The Mission Through Smart Factory Predictive Solutions, Jarrod Matthew Ronquillo
Chemical and Biological Engineering ETDs
To meet the stewardship and modernization initiatives set by the Department of Energy new technologies must enter the manufacturing facilities within the nuclear deterrent complex. Predictive solutions begin with collecting data. An equipment health monitoring device was created to streamline data collection and organization for equipment and processes. A predictive and process performance dashboard was developed for a deionized water system. The dashboard used Western Electric statistical process rules and a machine learning regression algorithm to predict when the resistivity would fall out of specification. Lastly, a remaining useful life calculation was developed for all equipment related to nuclear deterrent …
Assessing Uranyl-Specific Dnazymes And Dna-Aptamers For Uranium Binding In Environmentally Relevant Waters, Ashley R. Apodaca-Sparks
Assessing Uranyl-Specific Dnazymes And Dna-Aptamers For Uranium Binding In Environmentally Relevant Waters, Ashley R. Apodaca-Sparks
Civil Engineering ETDs
The legacy of uranium mining affects many communities in the western United States, resulting in elevated levels of uranium in surface water. The ability to quickly and accurately detect uranium on site in affected communities can lead to real-time water quality analysis that informs risk assessment and remediation efforts. The objective of this work is to advance the application of biosensing technologies for the measurement of uranium in waters affected by mining legacy. The third chapter of this thesis compares ANDalyze by AlpHa Instruments, a commercially available uranium biosensor, and inductively coupled plasma mass spectrometry (an EPA-verified method for uranium …
Investigating Workforce Development Gaps In Tribal Transportation Agencies, Benson Long Jr
Investigating Workforce Development Gaps In Tribal Transportation Agencies, Benson Long Jr
Civil Engineering ETDs
Tribal transportation programs face challenges in recruiting and retaining qualified staff, prompting reliance on external consultants for key responsibilities. This study explores how workforce constraints and organizational structures influence tribal outsourcing decisions. Survey data from 57 tribes informed a logistic regression model examining how geographic isolation, population size, training access, and the presence of a transportation department affect preferences for internal work, actual task completion, and instances where tribes intended to perform tasks in-house but outsourced instead. Findings indicate that outsourcing is driven by limited internal capacity, including staffing shortages, lack of certified personnel, and training opportunities. Geography also plays …
Assessing The Impact Of Multi-Physics Effects On Photovoltaic Module Degradation Using Computational Modeling, James Yuan Hartley
Assessing The Impact Of Multi-Physics Effects On Photovoltaic Module Degradation Using Computational Modeling, James Yuan Hartley
Mechanical Engineering ETDs
This dissertation describes research to develop and apply multi-physics simulation capabilities using finite element methods to analyze photovoltaic module damage mechanisms. Analyses of full-scale solar modules under mechanical load are presented, including experimental validation against measurements of external deflection and internal strain. Module damage by solar cell breakage and interconnection fatigue are discussed, and the applicability of simplifying analyses using mathematical plate theory is assessed. Detailed sub-module component models undergoing thermal-mechanical stressors are also presented, to identify the design features and materials most influential to stress generation and to assess the representativeness of using sub-module assemblies in accelerated testing. Finally, …
Technical Advancements In Single-Molecule Spectroscopy For High-Throughput Measurement Of Long-Time Dynamics, Quyen B. Le
Technical Advancements In Single-Molecule Spectroscopy For High-Throughput Measurement Of Long-Time Dynamics, Quyen B. Le
Chemical and Biological Engineering ETDs
Single-molecule fluorescence spectroscopy is a powerful technique for resolving transient biomolecular dynamics and quantifying free energy landscapes, kinetics, and binding interactions. However, two fundamental limitations restrict its broader application: slow, labor-intensive data acquisition and the limited observation time imposed by fluorophore photobleaching. These limitations hinder its use in drug discovery and biomedical engineering applications that require both high-throughput and access to long-time dynamics. In this work, both challenges are addressed through technical advancements. First, a simple, generalizable approach is introduced to automate data acquisition, eliminating manual intervention during experiments. This increases the acquisition rate by more than an order of …
Helium Effects In High Entropy Alloys For Fusion Reactor Plasma Facing Components, Shane Evans
Helium Effects In High Entropy Alloys For Fusion Reactor Plasma Facing Components, Shane Evans
Nuclear Engineering ETDs
The plasma facing materials (PFMs) within fusion reactors, such as the divertor, must be able to withstand high temperature (>1000 K) for extended durations of time, in addition to extreme flux from neutrons, helium (He) ash, and neutral species such as deuterium and tritium. These materials must withstand these conditions while maintaining their selected mechanical properties, minimal sputter yield, and low fuel retention. In recent years refractory high entropy alloys (RHEAs) have been investigated due to their improved mechanical and irradiation-resistant properties when compared to pure W, the current material for PFMs. In this work RHEAs have undergone fusion …
Development Of A Lead-Lithium Eutectic Magnetohydrodynamic Loop For Corrosion Studies, Xavier S. Angus
Development Of A Lead-Lithium Eutectic Magnetohydrodynamic Loop For Corrosion Studies, Xavier S. Angus
Nuclear Engineering ETDs
Lead–lithium eutectic (LLE) is a leading candidate coolant and tritium breeder for fusion reactor blankets due to its favorable heat transfer properties and high tritium breeding ratio. However, LLE is highly corrosive and, in the strong magnetic fields present in fusion reactors, experiences magnetohydrodynamic (MHD) effects that can produce significant pressure drops and flow instabilities. Understanding corrosion behavior in these extreme environments is essential for assessing the viability of LLE blanket systems. This work presents the design and construction of a forced-convection LLE corrosion loop to study corrosion behavior at temperatures up to 425 °C and flow velocities up to …
Cfd Simulation Analyses Of The Blowdown Phase Of A Depressurized Loss Of Forced Cooling Accident In A Htgr, Keenan Kresl-Hotz
Cfd Simulation Analyses Of The Blowdown Phase Of A Depressurized Loss Of Forced Cooling Accident In A Htgr, Keenan Kresl-Hotz
Nuclear Engineering ETDs
This research numerically investigates the helium-air mixing in HTGR containment cavities during the blowdown phase of a simulated DLOFC accident. The results of the performed CFD simulation analyses, using the commercial code STAR-CCM+, are compared with reported measurements from an experiment conducted at CCNY. The analyses investigate the effects of the RANS and LES turbulence models, numerical mesh refinement, time-step size, and flow rate and temperature of the injected hot helium into the scaled reactor cavity. Calculated parameters analyzed include the pressure and spatial distributions of temperature and oxygen concentration in the simulated reactor and steam generator cavities. CFD oxygen …
Design And Analysis Of An Intermediate Heat Exchanger And Passive Decay Heat Removal System For A Generic Fluoride Salt-Cooled High-Temperature Reactor Application, Bao Hoang Nguyen
Nuclear Engineering ETDs
Generation IV reactors, such as the Fluoride salt-cooled High-temperature Reactor (FHR), feature efficient heat transfer and passive heat removal systems. However, accurately predicting thermal behavior under steady-state and transient conditions remains challenging. This work designs and evaluates a twisted tube heat exchanger (TTHX) serving as an intermediate heat exchanger (IHX) and a reactor cavity cooling system (RCCS) serving as a passive decay heat removal system for a generic FHR (gFHR), integrating both systems into a system-level MELCOR model. The TTHX was first designed and assessed using a MATLAB-based framework, followed by detailed MELCOR simulations. The results demonstrate effective heat transfer …
Sensitivity-Informed Resonance Parameter Cross Section Adjustments, Matthew Juan Lazaric
Sensitivity-Informed Resonance Parameter Cross Section Adjustments, Matthew Juan Lazaric
Nuclear Engineering ETDs
This work details the process of developing several new features into the MCNP6.3 Monte Carlo code for use in uncertainty quantification and reduction. These new capabilities, which include the CLUTCH method of calculating k-eigenvalue cross section sensitivities and the Windowed Multipole method of calculating cross sections, are implemented and verified against previous implementations and existing cross section data, respectively. These capabilities are then combined to produce sensitivities of k-eigenvalue to resonance parameters, which are verified against direct perturbation sensitivity estimates. The resonance parameters are calibrated using linear Bayesian methods and the accuracy of the resulting cross section is evaluated via …
Representativeness And Sensitivity Analysis Of Accident Tolerant Fuel Cladding Behavior In Reactivity-Initiated Accidents, Melissa Andrea Moreno
Representativeness And Sensitivity Analysis Of Accident Tolerant Fuel Cladding Behavior In Reactivity-Initiated Accidents, Melissa Andrea Moreno
Nuclear Engineering ETDs
Accident Tolerant Fuels (ATFs) such as FeCrAl are being developed to enhance safety margins in light water reactors during transients like Reactivity Initiated Accidents (RIAs). This dissertation evaluates the accuracy and representativeness of TRACE thermal hydraulic models for predicting FeCrAl C36M cladding behavior under steady state and transient flow boiling conditions. Benchmarking against University of New Mexico separate effects experiments shows that TRACE reproduces key thermal trends but underpredicts cladding temperatures near CHF by approximately 25 to 30%. A calibrated uncertainty and global sensitivity analysis, using Sobol indices, demonstrates that CHF and cladding temperature variability are dominated by mass flux, …
In-Situ Measurement Of Dynamic Deuterium Retention In Tungsten-Based Alloys Under Plasma Exposure, Ethan Gabriel Rashap
In-Situ Measurement Of Dynamic Deuterium Retention In Tungsten-Based Alloys Under Plasma Exposure, Ethan Gabriel Rashap
Nuclear Engineering ETDs
Nuclear fusion is a promising pathway for sustainable energy production, but the performance of plasma-facing materials remains a key challenge for reactor operation. In particular, hydrogen isotope retention in tungsten—the leading candidate material for divertor components—affects tritium inventory, fuel recycling, and overall material lifetime. In this work, the temperature-dependent deuterium retention behavior of W–Ti and W–TiTa alloys was experimentally investigated under fusion-relevant ion irradiation conditions between 400 and 700 K. In-situ nuclear reaction analysis (NRA) was used to track retention during plasma exposure and subsequent cooldown, providing depth-resolved insight into deuterium accumulation and release. The results show that deuterium retention …
Self-Supervised Spoofing Detection, David S. Choi
Self-Supervised Spoofing Detection, David S. Choi
Electrical and Computer Engineering ETDs
Global Navigation Satellite Systems (GNSS) are vulnerable to spoofing attacks that can mislead receivers with counterfeit signals. Traditional detection techniques, such as antenna-based, encryption based, and signal processing approaches, often face limitations in adaptability, computational cost, or reliance on predefined thresholds. Supervised machine learning models, while powerful, require large labeled datasets and struggle to generalize to unseen spoofing scenarios. In this work, we propose a self-supervised spoofing detection framework based on Adaptive Sparse Gaussian Processes (ASGP). The method predicts incoming GNSS features using past observations and identifies spoofing as anomalous deviations in the prediction residuals. Unlike supervised approaches, ASGP adapts …
Hierarchical Safe Reinforcement-Learning Framework For Mission-Aware, Edge-Enabled Multi-Uav Iot Networks, Abee F. Alazzwi
Hierarchical Safe Reinforcement-Learning Framework For Mission-Aware, Edge-Enabled Multi-Uav Iot Networks, Abee F. Alazzwi
Electrical and Computer Engineering ETDs
This Ph.D. dissertation presents a unified Hierarchical Safe Reinforcement Learning (HSRL) framework for mission-aware, edge-enabled multi-UAV Internet of Things (IoT) networks. The work addresses the need for autonomous aerial infrastructures capable of delivering low-latency communication, scalable edge computation, and provably safe operation in dynamic environments. The dissertation develops three primary contributions. First, it formulates longhorizon drone base station placement and load balancing as a strategic actor–critic learning problem, enabling proactive adaptation to spatiotemporal demand variations. Second, it introduces a mission-aware multi-agent reinforcement learning controller for coordinated mobility, sensing, and computation offloading under latency and energy constraints. Third, it integrates a …
Novel Algorithmic Methods For Random Telegraph Noise Detection And Characterization In Electronic Devices, Victor Darie Pepel
Novel Algorithmic Methods For Random Telegraph Noise Detection And Characterization In Electronic Devices, Victor Darie Pepel
Electrical and Computer Engineering ETDs
Random telegraph noise (RTN) produces discrete stochastic fluctuations in nanoscale semiconductor devices and increasingly limits performance and reliability as dimensions scale. This dissertation introduces three algorithmic contributions enabling automated and accurate RTN characterization across diverse devices and operating conditions. First, a computationally efficient histogram-based detection algorithm enables rapid identification of RTN in large focal plane array datasets for statistically robust defect analysis. Second, a frequency decomposition framework separates slow and fast RTN components, extending the range of extractable time constants and reducing estimation error in multi-trap signals obscured by background noise. Third, to address the lack of standardized RTN metrics, …
Statistical And Spectral Theory For Spatially Correlated Random Aperiodic Antenna Arrays, Thomas Edward Christian Jr
Statistical And Spectral Theory For Spatially Correlated Random Aperiodic Antenna Arrays, Thomas Edward Christian Jr
Electrical and Computer Engineering ETDs
Aperiodic phased arrays enable beam steering, interference suppression, and spectrum efficiency for 6G, radar, biomedical imaging, and distributed sensing. Minimum inter-element spacing and keep out zones induce spatial correlation, violating the i.i.d. element-position assumption behind classical probabilistic random array theory. This dissertation develops a unified probabilistic spectral framework for correlated (non-i.i.d.) arrays. Second moment power pattern analysis incorporates the pair-correlation function and structure factor , recovering the i.i.d. limit when and accommodating unequal excitations. Side lobe and main lobe fields deviate from Rayleigh/Exponential and are modeled by weighted Nakagami and Gamma-mixture distributions, parameterized via Monte Carlo. The blue noise spectral …
Quantum Control Protocols For Robust Quantum Computing, Leeseok Kim
Quantum Control Protocols For Robust Quantum Computing, Leeseok Kim
Electrical and Computer Engineering ETDs
The fundamental goal of quantum computing is to precisely control quantum systems to perform meaningful tasks, including implementing high-fidelity quantum gates for reliable quantum computation and accurately simulating complex quantum many- body dynamics. In this dissertation, we develop improved quantum control protocols for three distinct objectives, quantum error suppression, quantum optimal control, and analog quantum algorithms, achieving performance beyond standard approaches. First, we introduce new dynamical decoupling protocols, including both determin- istic and randomized constructions, that can substantially outperform conventional deterministic sequences. We then extend the randomized approach to dynamically corrected gates. Second, we propose a randomized quantum optimal control …
Fault Tolerant Quantum Computing With Lower Overhead, Benjamin E. Anker
Fault Tolerant Quantum Computing With Lower Overhead, Benjamin E. Anker
Electrical and Computer Engineering ETDs
Quantum computation promises asymptotic speedups over classical algorithms, but realizing these advantages requires overcoming the noisiness of quantum hardware. Although fault-tolerant error correction can allow for reliable quantum computation even using unreliable components, the resource overheads required can substantially erode the asymptotic performance gains. This dissertation focuses on constructing and optimizing fault-tolerant procedures with lower overhead than previous methods were capable of. We present new frameworks for fault-tolerant syndrome extraction using flag gadgets with exponentially reduced ancilla requirements, explicit measurement schedules that achieve asymptotically fewer measurements than stabilizer generators, and a general method for making arbitrary Clifford circuits fault tolerant. …
Fault Location In Dc Microgrids Using Traveling Waves, Sajay Krishnan Paruthiyil
Fault Location In Dc Microgrids Using Traveling Waves, Sajay Krishnan Paruthiyil
Electrical and Computer Engineering ETDs
In DC power systems, rapid fault location is crucial for maintaining reliable operation, particularly with the prevalence of DC-DC converters. This study investigates fault location techniques in DC systems utilizing Traveling Waves (TWs). Following data normalization, multi-resolution analysis employs discrete wavelet transform to capture high-frequency patterns of TW's wavelet coefficients. Parseval's theorem is utilized to quantify the energy of these coefficients. First, a curve-fitting technique is employed to estimate fault locations in DC microgrids. Then, two transfer learning approaches are proposed: first approach integrates Parseval energy curves into a Gaussian process estimator, while second employs feedforward neural network for fault …
Active Brazing Of Single Crystal Al2o3 To Kovar Alloy With Agcuzr Filler Metal, Anthony M. Mcmaster
Active Brazing Of Single Crystal Al2o3 To Kovar Alloy With Agcuzr Filler Metal, Anthony M. Mcmaster
Mechanical Engineering ETDs
Brazing provides high strength and hermetic joining between metal, ceramic, and composite materials. Origins of the brazing process trace back to 3000BC, yet the technique continues to maintain relevance and demand across aerospace, medical, electronic, optical, and mechanical engineering. Here, single crystal Al2O3 (sapphire) was joined to Kovar in a single step via an AgCuZr active braze filler metal. The microstructure of the completed joint was investigating using microscopy and spectroscopy techniques. A unique braze chamber, paired with an optically clear top substrate (sapphire), allowed further investigation into the dynamics of the active braze process via in situ video monitoring. …
Workforce Resilience In Public Transportation Agencies, Kristal D. Metro
Workforce Resilience In Public Transportation Agencies, Kristal D. Metro
Civil Engineering ETDs
A strong, resilient public workforce is necessary to keep the United States’ infrastructure system running smoothly. Across the public sector, hiring is lagging behind increasing retirement rates, leaving public agencies facing the loss of institutional knowledge at unprecedented levels. Combined with above-average retirement rates, low unemployment rates, and below-average salaries, workforce shortages are expected to become critical, putting the resilience of the public transportation workforce, and by extension, the United States public infrastructure and services at risk. The purpose of this research is to determine the best practices for recruiting and retaining employees at public transportation agencies, thereby positively influencing …
From Our Stories, To Our Streets (Osos), Jennifer Lopez
From Our Stories, To Our Streets (Osos), Jennifer Lopez
Student Publications
Youth traffic safety persists as a critical planning challenge and public health concern in New Mexico, where pedestrian fatality rates consistently rank among the highest in the United States (National Highway Traffic Safety Administration, NTSA, Governors Highway Safety Association, GHSA, 2023; Baca, 2025). Students (children), due to their daily interactions with roadways, whether when they walk, bike, ride transit, or drive/get driven to and from school, are among the most vulnerable groups within the transportation system (Ferenchak, N. Wesley, M., 2017. For many students in Albuquerque, the commute to or from school is one of the most dangerous parts of …
Puf-Based Digital Money With Propagation-Of-Provenance And Offline Transfers Between Two Parties, Benjamin Bean, Cyrus Minwalla, Eirini Eleni Tsiropoulou, Jim Plusquellic
Puf-Based Digital Money With Propagation-Of-Provenance And Offline Transfers Between Two Parties, Benjamin Bean, Cyrus Minwalla, Eirini Eleni Tsiropoulou, Jim Plusquellic
Electrical and Computer Engineering ETDs
Building on prior concepts of electronic money (eCash), we introduce a digital currency where a physical unclonable function (PUF) engenders devices with the twin properties of being verifiably enrolled as a member of a legitimate set of eCash devices and possessing of a hardware-based root-of-trust. A hardware-obfuscated secure enclave (HOSE) is proposed as a means of enabling a PUF-based propagation-of-provenance (POP) mechanism, which allows eCash tokens (eCt) to be securely signed and validated by recipients without incurring any third party dependencies at transfer time. The POP scheme establishes a chain of custody starting with token creation, extending through multiple bilateral …
Dynamic Admittance Parameterization For Non-Prehensile Multi-Robot Transport With Optimal Coordinated Planning, Calvin J. Stahoviak
Dynamic Admittance Parameterization For Non-Prehensile Multi-Robot Transport With Optimal Coordinated Planning, Calvin J. Stahoviak
Computer Science ETDs
The Dynamic Admittance Parameterization of Non-Prehensile Multi-Robot Trans- port with Optimal Coordinated Planning (DYNAMO) architecture offers a practical framework for cooperative payload transportation using two robots equipped with nonholonomic mobile bases and four-degree-of-freedom manipulators. Coordinated mobile manipulation is a difficult problem in robotics, and the non-prehensile case is even more challenging than its prehensile counterpart because the robot bases and the payload are dynamically coupled. DYNAMO adapts arm motion in response to interaction forces and generates coordinated base trajectories that account for this coupling. Robust payload transport is achieved through the combination of opti- mal planning and adaptive compliant control, …