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2016

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Articles 1771 - 1800 of 9604

Full-Text Articles in Engineering

Grain Boundary Induced Bias Instability In Soluble Acene-Based Thin-Film Transistors, Ky V. Nguyen, Marcia M. Payne, John E. Anthony, Jung Hun Lee, Eunjoo Song, Boseok Kang, Kilwon Cho, Wi Hyoung Lee Sep 2016

Grain Boundary Induced Bias Instability In Soluble Acene-Based Thin-Film Transistors, Ky V. Nguyen, Marcia M. Payne, John E. Anthony, Jung Hun Lee, Eunjoo Song, Boseok Kang, Kilwon Cho, Wi Hyoung Lee

Chemistry Faculty Publications

Since the grain boundaries (GBs) within the semiconductor layer of organic field-effect transistors (OFETs) have a strong influence on device performance, a substantial number of studies have been devoted to controlling the crystallization characteristics of organic semiconductors. We studied the intrinsic effects of GBs within 5,11-bis(triethylsilylethynyl) anthradithiophene (TES-ADT) thin films on the electrical properties of OFETs. The GB density was easily changed by controlling nulceation event in TES-ADT thin films. When the mixing time was increased, the number of aggregates in as-spun TES-ADT thin films were increased and subsequent exposure of the films to 1,2-dichloroethane vapor led to a significant …


Grnsight: A Web Application And Service For Visualizing Models Of Small- To Medium-Scale Gene Regulatory Networks, Kam D. Dahlquist, John David N. Dionisio, Ben G. Fitzpatrick, Nicole A. Anguiano, Anindita Varshneya, Britain J. Southwick, Mihir Samdarshi Sep 2016

Grnsight: A Web Application And Service For Visualizing Models Of Small- To Medium-Scale Gene Regulatory Networks, Kam D. Dahlquist, John David N. Dionisio, Ben G. Fitzpatrick, Nicole A. Anguiano, Anindita Varshneya, Britain J. Southwick, Mihir Samdarshi

Biology Faculty Works

GRNsight is a web application and service for visualizing models of gene regulatory networks (GRNs). A gene regulatory network (GRN) consists of genes, transcription factors, and the regulatory connections between them which govern the level of expression of mRNA and protein from genes. The original motivation came from our efforts to perform parameter estimation and forward simulation of the dynamics of a differential equations model of a small GRN with 21 nodes and 31 edges. We wanted a quick and easy way to visualize the weight parameters from the model which represent the direction and magnitude of the influence of …


Goggatomy: A Method For Opening Small Cuticular Compartments In Arthropods For Physiological Experiments, Alan R. Kay, Davide Raccuglia, Jon Scholte, Elene Sivan-Loukianova, Chirstopher A. Barwacz, Steven R. Armstrong, C. Allan Guymon, Michael N. Nitabach, Daniel F. Eberl Sep 2016

Goggatomy: A Method For Opening Small Cuticular Compartments In Arthropods For Physiological Experiments, Alan R. Kay, Davide Raccuglia, Jon Scholte, Elene Sivan-Loukianova, Chirstopher A. Barwacz, Steven R. Armstrong, C. Allan Guymon, Michael N. Nitabach, Daniel F. Eberl

Faculty Publications

Most sense organs of arthropods are ensconced in small exoskeletal compartments that hinder direct access to plasma membranes. We have developed a method for exposing live sensory and supporting cells in such structures. The technique uses a viscous light cured resin to embed and support the structure, which is then sliced with a sharp blade. We term the procedure a “goggatomy,” from the Khoisan word for a bug, gogga. To demonstrate the utility of the method we show that it can be used to expose the auditory chordotonal organs in the second antennal segment and the olfactory receptor neurons …


Atomistic‐Scale Investigation Of Effective Stress Principle Of Saturated Porous Materials By Molecular Dynamics, Chao Zhang, Zhen Liu, Peng Deng Sep 2016

Atomistic‐Scale Investigation Of Effective Stress Principle Of Saturated Porous Materials By Molecular Dynamics, Chao Zhang, Zhen Liu, Peng Deng

Department of Civil, Environmental, and Geospatial Engineering Publications

The effective stress principle is one of the most fundamental concepts in the mechanics of porous materials. Several mathematical expressions have been proposed for this fundamental principle, leading to unsettled debates on the validity and applicability of the principle and its mathematical descriptions. Recent developments in atomistic modeling techniques make it possible to understand multiphase systems at the atomistic scale. In this paper, molecular dynamics simulation is explored as a tool to investigate the stress formulation in porous materials. A molecular dynamics framework, including molecular models of phases, interatomic potentials, initial configuration, and simulation procedure, is presented. Numerical simulations based …


15-04 Travel Behavior Of Blind Individuals Before And After Receiving Orientation And Mobility Training, Dae Shik Kim, C. Scott Smith, Elyse Connors Sep 2016

15-04 Travel Behavior Of Blind Individuals Before And After Receiving Orientation And Mobility Training, Dae Shik Kim, C. Scott Smith, Elyse Connors

Transportation Research Center Reports

In this pilot study, we devised, tested, and refined a protocol for evaluating the travel behavior of blind individuals. Preliminary analyses of our pilot study data suggest that our new method involving Global Positioning Systems (GPS), accelerometers, and Geographic Information Systems (GIS), will enable us to collect objective, quantitative, and valid measures of blind individuals’ travel behavior and Orientation and Mobility (O&M) training’s effectiveness. Preliminary analysis results from a small sample of blind travelers describe the individuals’ trip distances, trip frequencies, trip destinations, trip modes, travel times, whether assisted or not, and perceived ability to get around. With the completion …


Dod Awards Usu Computer Science Faculty For Supporting Student Airman | College Of Engineering, Usu College Of Engineering Sep 2016

Dod Awards Usu Computer Science Faculty For Supporting Student Airman | College Of Engineering, Usu College Of Engineering

College of Engineering News

News Release – LOGAN, UTAH, Sept. 9, 2016 – The Defense Department’s Employer Support of the Guard and Reserve (ESGR) program on Friday recognized a Utah State University faculty member for his support of a student who serves in the Utah Air National Guard.


Mechanical Engineering News, Georgia Southern University Sep 2016

Mechanical Engineering News, Georgia Southern University

Mechanical Engineering: News & Publications (2013-2023)

  • Georgia Environmental Conference Research Award


Model-Free And Model-Based Active Learning For Regression, Jack O'Neill, Sarah Jane Delany, Brian Macnamee Sep 2016

Model-Free And Model-Based Active Learning For Regression, Jack O'Neill, Sarah Jane Delany, Brian Macnamee

Conference papers

Training machine learning models often requires large labelled datasets, which can be both expensive and time-consuming to obtain. Active learning aims to selectively choose which data is labelled in order to minimize the total number of labels required to train an effective model. This paper compares model-free and model-based approaches to active learning for regression, finding that model-free approaches, in addition to being less computationally intensive to implement, are more effective in improving the performance of linear regressions than model-based alternatives.


Keeping It Physical: Convergence On A Physicality Requirement For Patentability Of Software-Related Inventions Under The European Patent Convention And United States Law, Kevin Afghani, Duke W. Yee Sep 2016

Keeping It Physical: Convergence On A Physicality Requirement For Patentability Of Software-Related Inventions Under The European Patent Convention And United States Law, Kevin Afghani, Duke W. Yee

Georgia Journal of Law & Technology

No abstract provided.


Predictive Modeling Of A Paradigm Mechanical Cooling Tower: I. Adjoint Sensitivity Model, Dan Gabriel Cacuci, Ruixian Fang Sep 2016

Predictive Modeling Of A Paradigm Mechanical Cooling Tower: I. Adjoint Sensitivity Model, Dan Gabriel Cacuci, Ruixian Fang

Faculty Publications

Cooling towers discharge waste heat from an industrial process into the atmosphere, and are essential for the functioning of large energy-producing plants, including nuclear reactors. Using a numerical simulation model of the cooling tower together with measurements of outlet air relative humidity, outlet air and water temperatures enables the quantification of the rate of thermal energy dissipation removed from the respective process. The computed quantities depend on many model parameters including correlations, boundary conditions, material properties, etc. Changes in these model parameters will induce changes in the computed quantities of interest (called “model responses”). These changes are quantified by the …


Short Term Forecasting Of Nitrogen Dioxide (No2) Levels Using A Hybrid Statistical And Air Mass History Modelling Approach, Aoife Donnelly, Owen Naughton, Brian Broderick, Bruce Misstear Sep 2016

Short Term Forecasting Of Nitrogen Dioxide (No2) Levels Using A Hybrid Statistical And Air Mass History Modelling Approach, Aoife Donnelly, Owen Naughton, Brian Broderick, Bruce Misstear

Articles

A novel hybrid model has been developed to support the provision of real-time air quality forecasts. Statistical techniques have been applied in parallel with airmass history modelling to provide an efficient and accurate forecasting system with the ability to identify high NO2 events, which tend to be the episodes ofmost significance in Ireland. Airmass history modelling and k-means clustering are used to identify air mass types that lead to high NO2 levels in Ireland. Trajectory matching techniques allow data associated with these air masses to be partitioned during model development. Non-parametric regression (NPR) has been applied to describe nonlinear variations …


Fusion Of Renewable Ring Resonator Lasers And Ultrafast Laser Inscribed Photonic Waveguides, Hengky Chandrahalim, Stephen C. Rand, Xudong Fan Sep 2016

Fusion Of Renewable Ring Resonator Lasers And Ultrafast Laser Inscribed Photonic Waveguides, Hengky Chandrahalim, Stephen C. Rand, Xudong Fan

Faculty Publications

We demonstrated the monolithic integration of reusable and wavelength reconfigurable ring resonator lasers and waveguides of arbitrary shapes to out-couple and guide laser emission on the same fused-silica chip. The ring resonator hosts were patterned by a single-mask standard lithography, whereas the waveguides were inscribed in the proximity of the ring resonator by using 3-dimensional femtosecond laser inscription technology. Reusability of the integrated ring resonator – waveguide system was examined by depositing, removing, and re-depositing dye-doped SU-8 solid polymer, SU-8 liquid polymer, and liquid solvent (toluene). The wavelength reconfigurability was validated by employing Rhodamine 6G (R6G) and 3,3′-Diethyloxacarbocyanine iodide (CY3) …


Optical Wavelength Ratiometric Monitoring System For Data Centre Cwdm Applications, Anthony Colohan, Thomas Freir, Derek Finlay Sep 2016

Optical Wavelength Ratiometric Monitoring System For Data Centre Cwdm Applications, Anthony Colohan, Thomas Freir, Derek Finlay

Conference papers

The development of the internet and the subsequent increase in the quantity of connected devices in recent years has given rise to an explosion in demand of data traffic across telecommunication networks. Converged networks deliver high speed bit rates for the purpose of streaming videos, downloading music files and communicating over the internet; voice over internet protocol (VOIP). Further additional data traffic growth stemming from the upsurge in the amount of ‘tweets’ and instant messages (IM) created as well as emails written and cloud storage, has led to a demand for the construction of much larger data centres, which …


Microfluidic Devices In Biotechnology, Maribel Vazquez Sep 2016

Microfluidic Devices In Biotechnology, Maribel Vazquez

Open Educational Resources

This lecture/laboratory course focuses on the fundamentals of modern microfluidic devices with applications to biomedical measurements. Students will review fundamental properties of microfluidic systems including the effects of viscous flow, heat transfer, and electromagnetic phenomena on biological systems. Multiple laboratory modules will expose students to photolithographic and surface treatment techniques required for device development. An end of term project will require students to analyze designs of upcoming biomedical inventions and present their critiques via written report and oral presentation.


Approximated Proportionate Affine Projection Algorithms For Block-Sparse Identification, Felix Albu, Jianming Liu, Steven L. Grant Sep 2016

Approximated Proportionate Affine Projection Algorithms For Block-Sparse Identification, Felix Albu, Jianming Liu, Steven L. Grant

Electrical and Computer Engineering Faculty Research & Creative Works

In this paper two block-sparse approximated memory improved proportionate affine projection algorithm are proposed for block sparse system identification. An approximation is used for a recently proposed family of block-sparse proportionate affine projection algorithms. It is shown that the proposed algorithms have close convergence performance to the original ones, and they are less numerically complex. An investigation of the influence of their parameters is also presented.


Polymeric Prodrug, David A. Puleo, Thomas D. Dziubla, Theodora Asafo-Adjei Sep 2016

Polymeric Prodrug, David A. Puleo, Thomas D. Dziubla, Theodora Asafo-Adjei

Biomedical Engineering Faculty Patents

The presently-disclosed subject matter includes compounds that comprise an initiator and an active agent that is covalently bonded to the initiator through a ring-opening polymerization process, an atom-transfer radical polymerization process, a Michael addition reaction, or a ring-opening metathesis polymerization process. In some embodiments the active agent includes simvastatin. The presently-disclosed subject matter also includes methods for making the compositions and methods for using the compositions to treat tissue wounds.


Pocketcubes/Cubesats On Antares, Robert J. Twiggs, Walter Holemans, Michael Bitzer Sep 2016

Pocketcubes/Cubesats On Antares, Robert J. Twiggs, Walter Holemans, Michael Bitzer

Robert "Bob" Twiggs STEM Education Collection

A PowerPoint Presentation created by Professor Bob Twiggs, Walter Holmans, and Michael Bitzer titled "PocketCubes/CubeSats on Antares" from September 6, 2016.


An Interactive Videogame Designed To Improve Respiratory Navigator Efficiency In Children Undergoing Cardiovascular Magnetic Resonance, Sean M. Hamlet, Christopher M. Haggerty, Jonathan D. Suever, Gregory J. Wehner, Jonathan D. Grabau, Kristin N. Andres, Moriel H. Vandsburger, David K. Powell, Vincent L. Sorrell, Brandon K. Fornwalt Sep 2016

An Interactive Videogame Designed To Improve Respiratory Navigator Efficiency In Children Undergoing Cardiovascular Magnetic Resonance, Sean M. Hamlet, Christopher M. Haggerty, Jonathan D. Suever, Gregory J. Wehner, Jonathan D. Grabau, Kristin N. Andres, Moriel H. Vandsburger, David K. Powell, Vincent L. Sorrell, Brandon K. Fornwalt

Saha Cardiovascular Research Center Faculty Publications

Background: Advanced cardiovascular magnetic resonance (CMR) acquisitions often require long scan durations that necessitate respiratory navigator gating. The tradeoff of navigator gating is reduced scan efficiency, particularly when the patient’s breathing patterns are inconsistent, as is commonly seen in children. We hypothesized that engaging pediatric participants with a navigator-controlled videogame to help control breathing patterns would improve navigator efficiency and maintain image quality.

Methods: We developed custom software that processed the Siemens respiratory navigator image in real-time during CMR and represented diaphragm position using a cartoon avatar, which was projected to the participant in the scanner as visual feedback. The …


Pushing And Pulling Sara: A Case Study Of The Contrasting Influences Of High School And University Experiences On Engineering Agency, Identity, And Participation, Allison Godwin, Geoff Potvin Sep 2016

Pushing And Pulling Sara: A Case Study Of The Contrasting Influences Of High School And University Experiences On Engineering Agency, Identity, And Participation, Allison Godwin, Geoff Potvin

School of Engineering Education Faculty Publications

This manuscript reports on a longitudinal case study of how one woman, Sara, who had previously considered dropping out of high school authored strong mathematics and science identities and purposefully exhibited agency through her experiences in high school science. These experiences empowered her to choose an engineering major in college; however, her introductory university engineering experiences ultimately pushed her out of engineering. Drawing on critical agency theory, we argue that by paying careful attention to how and why women author their identities and build agency through their experiences in high school, we may gain insight into why women may choose …


Protective Conversion Coating On Mixed-Metal Substrates And Methods Thereof, Matthew O'Keefe, Surender Maddela Sep 2016

Protective Conversion Coating On Mixed-Metal Substrates And Methods Thereof, Matthew O'Keefe, Surender Maddela

Materials Science and Engineering Faculty Research & Creative Works

Mixed-metal automotive vehicle bodies-in-white comprising ferrous metal surfaces, zinc surfaces, aluminum alloy surfaces, and magnesium alloy surfaces are cleaned and immersed in an aqueous bath comprising an adhesion promoter and an aqueous electrocoat bath (the adhesion promoter may be in the electrocoat bath. The adhesion promoter, which may be a cerium salt, is selected to react with each metal in the body surfaces to form an oxide layer that provides corrosion resistance for the surface and adherence for the deposited polymeric paint coating. The body is cathodic in the electrocoat deposition.


Analysis Of The Electric Vehicles Adoption Over The United States, Ali Soltani-Sobh, Kevin Heaslip, Aleksandar Stevanovic, Ryan Bosworth, Danilo Radiviojevic Sep 2016

Analysis Of The Electric Vehicles Adoption Over The United States, Ali Soltani-Sobh, Kevin Heaslip, Aleksandar Stevanovic, Ryan Bosworth, Danilo Radiviojevic

Applied Economics Faculty Publications

Increasing the use of electric vehicles (EVs) has been suggested as a possible method to decrease fuel consumption and greenhouse gas (GHG) emissions in an effort to mitigate the causes of climate change. In this study, the relationship between the market share of electric vehicles and the presence of government incentives, and other influential socio-economic factors were examined. The methodology of this study is based on a cross-sectional/time-series (panel) analysis. The developed model is an aggregated binomial logit share model that estimates the modal split between EV and conventional vehicles for different U.S. states from 2003 to 2011. The results …


Nonmetropolitan Nebraskans’ Perceptions Of Local Schools: 2016 Nebraska Rural Poll Results, Rebecca J. Vogt, Cheryl A. Burkhart-Kriesel, Randolph L. Cantrell, Bradley Lubben, L.J. Mcelravy, Jeanne Lorraine Surface Sep 2016

Nonmetropolitan Nebraskans’ Perceptions Of Local Schools: 2016 Nebraska Rural Poll Results, Rebecca J. Vogt, Cheryl A. Burkhart-Kriesel, Randolph L. Cantrell, Bradley Lubben, L.J. Mcelravy, Jeanne Lorraine Surface

Rural Futures Institute: Publications

Conclusion

Most rural Nebraskans have elementary, middle and high schools in their community or nearest community. Most of the schools available are public but many rural Nebraskans report having both public and private schools of each grade level. Persons living in or near larger communities are more likely than persons living in or near smaller communities to have each level of school in their community. And, persons living in or near the larger communities are more likely than persons living in or near smaller communities to have both public and private schools available.

When asked about priorities for their local …


Proposal Of Hybrid Damping Package Design, Qi Zhang, Katsuhiko Saito, Katsushige Nagaoka Sep 2016

Proposal Of Hybrid Damping Package Design, Qi Zhang, Katsuhiko Saito, Katsushige Nagaoka

Journal of Applied Packaging Research

To protect products from shock and vibration during transport, Cushioning Packaging Design is implemented. The cushioning performance and anti-vibration performance of a package is tested by a drop test and a vibration test. The effectiveness of the cushioning during a drop test is predictable because the cushioning material`s thickness and bearing area are determined by the cushion curves which are plotted based on the results of the tests. However, an effective package-design method which can predict the package vibration of all the static stresses that are suitable for cushioning package design has not been established yet.thus, it remains uncertain until …


Project Daedalus: An Additive Manufacturing Vending Machine, Paul A. Galarnyk, Roxanna Stein, Priscilla Mcdonald, Sky Comarsh White, Matthew Caixeiro, Alexander Seifans, Chris Hays, Benjamin Sallick, Katherine Mcbrayer, Skyler Singleton, Scott Wt Kent Sep 2016

Project Daedalus: An Additive Manufacturing Vending Machine, Paul A. Galarnyk, Roxanna Stein, Priscilla Mcdonald, Sky Comarsh White, Matthew Caixeiro, Alexander Seifans, Chris Hays, Benjamin Sallick, Katherine Mcbrayer, Skyler Singleton, Scott Wt Kent

Student Works

The project was a research endeavor focused on designing and building a vending machine for 3D-printed parts. It also had the secondary objective of catalyzing leadership qualities among its membership by emphasizing individual responsibility and forward thinking. The project began in the spring of 2015, when the topic of autonomous 3D-printing was chosen, funding was secured, and the majority of the leadership was brought on. Over the summer and into the fall semester the team developed project requirements and infrastructure, and gathered members from the parent organization. By December of 2015 most of the machine design had been completed, and …


Energy Managment Of Photovoltaic Charging Station (Pv-Cs) For Green University Campus Transportation, Ayda Esfandyari, Brian Norton, Michael Conlon, Sarah Mccormack Sep 2016

Energy Managment Of Photovoltaic Charging Station (Pv-Cs) For Green University Campus Transportation, Ayda Esfandyari, Brian Norton, Michael Conlon, Sarah Mccormack

Conference Papers

Battery Electric Vehicles (BEVs) have been recognised as the ideal solution for lowering the CO2 emissions in the transport sector and helping to achieve a sustainable future. When BEV technology is leveraged with a solar energy source such as a Photovoltaic Charging Station (PV-CS), the CO2 saving potential is extended to both generation and consumption points. Due to the intermittent nature of our solar resource, once the PV-CS is combined with a storage unit, energy production is achieved without risking the disruption to power supply reliability and quality. Technological University Dublin (DIT) has recognised the viability of this …


Improving Gold/Gold Microcontact Performance And Reliability Under Low-Frequency Ac Through Circuit Loading, T. Laurvick, Ronald A. Coutu Jr. Sep 2016

Improving Gold/Gold Microcontact Performance And Reliability Under Low-Frequency Ac Through Circuit Loading, T. Laurvick, Ronald A. Coutu Jr.

Electrical and Computer Engineering Faculty Research and Publications

This paper investigates the performance and reliability of microcontacts under low-frequency and low-amplitude ac test conditions. Current microcontact theory is based on dc tests adapted to RF applications. To help better apply dc theory to RF applications, frequencies between 100 Hz to 100 kHz were experimentally investigated. Microcontacts designed to conduct performance and reliability measurements were used, which in prior dc testing typically lasted for 100 million cycles or more. Under ac loads, at similar power levels, eight devices were tested under cold-switching conditions, and only one was still operational at 10 million cycles. The effect of external circuitry on …


Gc Verification Of The Spacecraft Atmosphere Monitor, Jessica S. Castro, Richard D. Kidd, Jeffrey D. Hein Sep 2016

Gc Verification Of The Spacecraft Atmosphere Monitor, Jessica S. Castro, Richard D. Kidd, Jeffrey D. Hein

STAR Program Research Presentations

International Space Station crew members face the unique challenge of maintaining air quality due to the volatile organic compounds (VOCs) that have the potential to accumulate at unsafe levels. The Spacecraft Atmosphere Monitor (SAM) is a miniature gas chromatograph/mass spectrometer (GCMS) designed to measure major constituents (such as N2, O2 and CO2) and trace VOCs within the cabin of the spacecraft. The gas chromatograph is responsible for separating the sample into its components in order to be characterized. The oven of the gas chromatograph must reach a temperature of 150°C in order to heat constituents …


Environmental Efficiency Assessment Of U.S. Transport Sector: A Slack-Based Data Envelopment Analysis Approach, Yong Shin Park, Siew Hoon Lim, Gokhan Egilmez, Joseph Szmerekovsky Sep 2016

Environmental Efficiency Assessment Of U.S. Transport Sector: A Slack-Based Data Envelopment Analysis Approach, Yong Shin Park, Siew Hoon Lim, Gokhan Egilmez, Joseph Szmerekovsky

Mechanical and Industrial Engineering Faculty Publications

Sustainable transportation in the U.S. is essential for long-term economic growth and mobility, and environmental preservation. Using a non-radial slack-based measurement data envelopment analysis (SBM-DEA) model and state-level data, this study assesses the environmental efficiency of the transportation sector in the U.S. from years 2004 to 2012. In addition to environmental efficiency, carbon efficiency and potential carbon reduction were estimated for the 50 U.S. states. The findings of this study reveal that U.S. transportation sector was environmentally inefficient; U.S. states had an average transportation environmental efficiency score below 0.64. Therefore the states could substantially reduce carbon emissions to improve the …


Fall 2016 Sep 2016

Fall 2016

In The Loop

Dean David Miller and CDM Through the Years; The New ABCs of Digital Literacy; The Younger Generation: Computer Scientists of the Future; The Final Hurdle: Thesis Talk; Telling Stories in Cuba with Abbas Kiarostami with James Choi; Collegiate Cyber Defense Competition; TEDxDePaulUniversity Conference; Tim Nedow, Olympian; Omnibus Crowdfunded Game; News Briefs; The Social Technocrat: Andrew Ruginis; When Computing and Biology Collide; Tori Meschino: Campus Leader and All-Around Superstar; Degrees Offered at CDM


A Framework For Collaborative Multi-Task, Multi-Robot Missions, John T. Shepard Sep 2016

A Framework For Collaborative Multi-Task, Multi-Robot Missions, John T. Shepard

Engineering Ph.D. Theses

Robotics is a transformative technology that will empower our civilization for a new scale of human endeavors. Massive scale is only possible through the collaboration of individual or groups of robots. Collaboration allows specialization, meaning a multirobot system may accommodate heterogeneous platforms including human partners.

This work develops a unified control architecture for collaborative missions comprised of multiple, multi-robot tasks. Using kinematic equations and Jacobian matrices, the system states are transformed into alternative control spaces which are more useful for the designer or more convenient for the operator. The architecture allows multiple tasks to be combined, composing tightly coordinated missions. …