Engineering Commons^™

Online Aircraft System Identification Using A Novel Parameter Informed Reinforcement Learning Method, Nathan Schaff

Doctoral Dissertations and Master's Theses

This thesis presents the development and analysis of a novel method for training reinforcement learning neural networks for online aircraft system identification of multiple similar linear systems, such as all fixed wing aircraft. This approach, termed Parameter Informed Reinforcement Learning (PIRL), dictates that reinforcement learning neural networks should be trained using input and output trajectory/history data as is convention; however, the PIRL method also includes any known and relevant aircraft parameters, such as airspeed, altitude, center of gravity location and/or others. Through this, the PIRL Agent is better suited to identify novel/test-set aircraft.

First, the PIRL method is applied to …

Quantifying Balance: Computational And Learning Frameworks For The Characterization Of Balance In Bipedal Systems, Kubra Akbas

Dissertations

In clinical practice and general healthcare settings, the lack of reliable and objective balance and stability assessment metrics hinders the tracking of patient performance progression during rehabilitation; the assessment of bipedal balance plays a crucial role in understanding stability and falls in humans and other bipeds, while providing clinicians important information regarding rehabilitation outcomes. Bipedal balance has often been examined through kinematic or kinetic quantities, such as the Zero Moment Point and Center of Pressure; however, analyzing balance specifically through the body's Center of Mass (COM) state offers a holistic and easily comprehensible view of balance and stability.

Building upon …

Motion Control Simulation Of A Hexapod Robot, Weishu Zhan

Dartmouth College Master’s Theses

This thesis addresses hexapod robot motion control. Insect morphology and locomotion patterns inform the design of a robotic model, and motion control is achieved via trajectory planning and bio-inspired principles. Additionally, deep learning and multi-agent reinforcement learning are employed to train the robot motion control strategy with leg coordination achieves using a multi-agent deep reinforcement learning framework. The thesis makes the following contributions:

First, research on legged robots is synthesized, with a focus on hexapod robot motion control. Insect anatomy analysis informs the hexagonal robot body and three-joint single robotic leg design, which is assembled using SolidWorks. Different gaits are …

Multi-Agent Learning For Game-Theoretical Problems, Kshitija Taywade

Theses and Dissertations--Computer Science

Multi-agent systems are prevalent in the real world in various domains. In many multi-agent systems, interaction among agents is inevitable, and cooperation in some form is needed among agents to deal with the task at hand. We model the type of multi-agent systems where autonomous agents inhabit an environment with no global control or global knowledge, decentralized in the true sense. In particular, we consider game-theoretical problems such as the hedonic coalition formation games, matching problems, and Cournot games. We propose novel decentralized learning and multi-agent reinforcement learning approaches to train agents in learning behaviors and adapting to the environments. …

Peer-To-Peer Energy Trading In Smart Residential Environment With User Behavioral Modeling, Ashutosh Timilsina

Theses and Dissertations--Computer Science

Electric power systems are transforming from a centralized unidirectional market to a decentralized open market. With this shift, the end-users have the possibility to actively participate in local energy exchanges, with or without the involvement of the main grid. Rapidly reducing prices for Renewable Energy Technologies (RETs), supported by their ease of installation and operation, with the facilitation of Electric Vehicles (EV) and Smart Grid (SG) technologies to make bidirectional flow of energy possible, has contributed to this changing landscape in the distribution side of the traditional power grid.

Trading energy among users in a decentralized fashion has been referred …

Benchmarking Model Predictive Control And Reinforcement Learning For Legged Robot Locomotion, Shivayogi Akki

Dissertations, Master's Theses and Master's Reports

This research delves into the realm of quadrupedal robotics, focusing on the comparative analysis of Model Predictive Control (MPC) and Reinforcement Learning (RL) as predominant control strategies. Through the comprehensive dataset compiled and the insights derived from this analysis, this research aims to serve as a valuable resource for the legged robotics community, guiding researchers and practitioners in the selection and implementation of control strategies. The ultimate goal is to contribute to the advancement of legged robot capabilities and facilitate their successful deployment in real-world applications.

In this study, we employ the Unitree Go1 quadrupedal robot as a testbed, subjecting …