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Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Computer Science ETDs
Robot motion planning in dynamic environments is critical for many robotic applications, such as self-driving cars, UAVs and service robots operating in changing environments. However, motion planning in dynamic environments is very challenging as this problem has been shown to be NP-Hard and in PSPACE, even in the simplest case. As a result, the lack of safe, efficient planning solutions for real-world robots is one of the biggest obstacles for ubiquitous adoption of robots in everyday life. Specifically, there are four main challenges facing motion planning in dynamic environments: obstacle motion uncertainty, obstacle interaction, complex robot dynamics and noise, and …
Development Of Wireless Pebble For Packed Bed Heat Transfer Measurements And Machine Learning-Aided Accident Diagnosis For Loss Of Flow Accident (Lofa), Dongjune Chang
Nuclear Engineering ETDs
In the first study, a novel wireless pebble for scale experiments is developed, and a simple heat transfer experiment is conducted to determine the difference in the local heat transfer coefficient. Based on the fact that the use of Dowtherm A between approximately 57–87 °C is an alternative to the normal use of the FliBe temperature range of 600–700°C, a new-concept wireless device in a scaled experiment is introduced. This device consists of a 63.5 mm diameter metal shell and contains a built-in customized circuit board and battery for driving temperature measurements and wireless data transfer. The circuit board used …