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Full-Text Articles in Engineering
Immunity-Based Framework For Autonomous Flight In Gps-Challenged Environment, Mohanad Al Nuaimi
Immunity-Based Framework For Autonomous Flight In Gps-Challenged Environment, Mohanad Al Nuaimi
Graduate Theses, Dissertations, and Problem Reports
In this research, the artificial immune system (AIS) paradigm is used for the development of a conceptual framework for autonomous flight when vehicle position and velocity are not available from direct sources such as the global navigation satellite systems or external landmarks and systems. The AIS is expected to provide corrections of velocity and position estimations that are only based on the outputs of onboard inertial measurement units (IMU). The AIS comprises sets of artificial memory cells that simulate the function of memory T- and B-cells in the biological immune system of vertebrates. The innate immune system uses information about …
Virtual Morphology As A Method Of Robotic Control, Conner Todd Castle
Virtual Morphology As A Method Of Robotic Control, Conner Todd Castle
Graduate Theses, Dissertations, and Problem Reports
This thesis presents Virtual Morphology (VM), a method that explores a different perspective on the design of robot autonomy using inspiration from morphological computing and programmed computation. Morphological computation offers physical solutions that solve complex tasks, like robotic grasping of unknown objects, with relative ease. Unfortunately, these physical solutions are difficult to adjust post-development, and are usually designed to complete only one or a few specific tasks. Programmed computational approaches are more flexible because they can be implemented and adjusted through software, but unfortunately, these approaches can become rather complex as tasks become more difficult. This thesis explores the potential …