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- Publication
Articles 1 - 7 of 7
Full-Text Articles in Engineering
Interactive Logical Analysis Of Planning Domains, Rajesh Kalyanam
Interactive Logical Analysis Of Planning Domains, Rajesh Kalyanam
Open Access Dissertations
Humans exhibit a significant ability to answer a wide range of questions about previously unencountered planning domains, and leverage this ability to construct “general-purpose'' solution plans for the domain.
The long term vision of this research is to automate this ability, constructing a system that utilizes reasoning to automatically verify claims about a planning domain. The system would use this ability to automatically construct and verify a generalized plan to solve any planning problem in the domain. The goal of this thesis is to start with baseline results from the interactive verification of claims about planning domains and develop the …
Data Driven Low-Bandwidth Intelligent Control Of A Jet Engine Combustor, Nathan L. Toner
Data Driven Low-Bandwidth Intelligent Control Of A Jet Engine Combustor, Nathan L. Toner
Open Access Dissertations
This thesis introduces a low-bandwidth control architecture for navigating the input space of an un-modeled combustor system between desired operating conditions while avoiding regions of instability and blow-out. An experimental procedure is discussed for identifying regions of instability and gathering sufficient data to build a data-driven model of the system's operating modes. Regions of instability and blow-out are identified experimentally and a data-driven operating point classifier is designed. This classifier acts as a map of the operating space of the combustor, indicating regions in which the flame is in a "good" or "bad" operating mode. A data-driven predictor is also …
Learning In Vision And Robotics, Daniel P. Barrett
Learning In Vision And Robotics, Daniel P. Barrett
Open Access Dissertations
I present my work on learning from video and robotic input. This is an important problem, with numerous potential applications. The use of machine learning makes it possible to obtain models which can handle noise and variation without explicitly programming them. It also raises the possibility of robots which can interact more seamlessly with humans rather than only exhibiting hard-coded behaviors. I will present my work in two areas: video action recognition, and robot navigation. First, I present a video action recognition method which represents actions in video by sequences of retinotopic appearance and motion detectors, learns such models automatically …
Grounding Robot Motion In Natural Language And Visual Perception, Scott Alan Bronikowski
Grounding Robot Motion In Natural Language And Visual Perception, Scott Alan Bronikowski
Open Access Dissertations
The current state of the art in military and first responder ground robots involves heavy physical and cognitive burdens on the human operator while taking little to no advantage of the potential autonomy of robotic technology. The robots currently in use are rugged remote-controlled vehicles. Their interaction modalities, usually utilizing a game controller connected to a computer, require a dedicated operator who has limited capacity for other tasks.
I present research which aims to ease these burdens by incorporating multiple modes of robotic sensing into a system which allows humans to interact with robots through a natural-language interface. I conduct …
On The 3d Point Cloud For Human-Pose Estimation, Kai-Chi Chan
On The 3d Point Cloud For Human-Pose Estimation, Kai-Chi Chan
Open Access Dissertations
This thesis aims at investigating methodologies for estimating a human pose from a 3D point cloud that is captured by a static depth sensor. Human-pose estimation (HPE) is important for a range of applications, such as human-robot interaction, healthcare, surveillance, and so forth. Yet, HPE is challenging because of the uncertainty in sensor measurements and the complexity of human poses. In this research, we focus on addressing challenges related to two crucial components in the estimation process, namely, human-pose feature extraction and human-pose modeling.
In feature extraction, the main challenge involves reducing feature ambiguity. We propose a 3D-point-cloud feature called …
Trajectory Generation For Lane-Change Maneuver Of Autonomous Vehicles, Ashesh Goswami
Trajectory Generation For Lane-Change Maneuver Of Autonomous Vehicles, Ashesh Goswami
Open Access Theses
Lane-change maneuver is one of the most thoroughly investigated automatic driving operations that can be used by an autonomous self-driving vehicle as a primitive for performing more complex operations like merging, entering/exiting highways or overtaking another vehicle. This thesis focuses on two coherent problems that are associated with the trajectory generation for lane-change maneuvers of autonomous vehicles in a highway scenario: (i) an effective velocity estimation of neighboring vehicles under different road scenarios involving linear and curvilinear motion of the vehicles, and (ii) trajectory generation based on the estimated velocities of neighboring vehicles for safe operation of self-driving cars during …
Improving Product Design Phase For Engineer To Order (Eto) Product With Knowledge Base Engineering (Kbe), Hanhdung Thi Dinh
Improving Product Design Phase For Engineer To Order (Eto) Product With Knowledge Base Engineering (Kbe), Hanhdung Thi Dinh
Open Access Theses
In industry currently Computer Aided Design (CAD) is an important tool for the modification, analysis, or optimization of the 3D virtual environment that replicates the physical product. CAD software is an efficient and reliable tool. However, as globalization increases customer demands, this process needs to be faster and more efficient to accommodate changing product design situations, especially for Engineer-to- Order (ETO) products. ^ The traditional method of product design process is to operate CAD software without argumentation. Design engineers create CAD prototypes and drawings based on available knowledge and information which comes from engineering experts, company standards, industrial practices as …