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Articles 3181 - 3210 of 197941
Full-Text Articles in Engineering
Sheep Pen Improvements At City Farm Slo, Ryan S. Bodmer
Sheep Pen Improvements At City Farm Slo, Ryan S. Bodmer
Construction Management
City Farm SLO is an urban non-profit educational farm located in San Luis Obispo, CA. It serves the community through offering farm learning programs, including hands-on experience in sustainable farming practices and livestock care. This project, completed over the winter and spring quarters, focused on delivering an upgraded sheep pen to improve access and safety for both volunteers and sheep. The project consisted of developing design plans, coordination of materials and allowable working times with the owner, where the animals were either moved out of the working area or when work would not jeopardize animal health, schedule creation, cost estimates, …
A Webcam Eye Tracking Infrastructure For Software Engineering Tasks, Zachary M. Kozak
A Webcam Eye Tracking Infrastructure For Software Engineering Tasks, Zachary M. Kozak
School of Computing: Dissertations, Theses, and Student Research
Performing eye tracking utilizing commodity webcams has been explored for over a decade, but limited camera quality and sensitivity to head movements have hindered its adoption in research settings. Recent advances in consumer-grade webcams and machine learning methods present an opportunity to improve the accuracy of webcam eye tracking and extend the feasibility of studies beyond controlled laboratory environments.
Current popular webcam eye tracking methods restrict implementations to the browser and rely on continuous user interactions for calibration, limiting the kinds of studies that can be conducted. This thesis presents a feature-based gaze prediction system that incorporates eye geometry and …
Erratum For "Soil Freezing Characteristic Surface For Partially Frozen Soils", Antai Dong, Xiong Zhang, Ming Xiao
Erratum For "Soil Freezing Characteristic Surface For Partially Frozen Soils", Antai Dong, Xiong Zhang, Ming Xiao
Civil, Architectural and Environmental Engineering Faculty Research & Creative Works
The following corrections should be made to "Soil Freezing Characteristic Surface for Partially Frozen Soils" by Antai Dong, Xiong Zhang, and Ming Xiao, https://doi.org/10.1061/JGGEFK.GTENG -13924: In the third sentence of the Abstract, the value for suction when completely dried is incorrect. It should be 106 kPa. The label at the end of the suction axes in Figs. 1(a) and 2 is similarly inaccurate. Corrected versions of Figs. 1 and 2 are provided herein. To preserve the published version of record, these details have been corrected only in this erratum. (Figure Presented)
Evaluation Of Radar-Derived Polarimetric Precipitation Estimates For Extreme Rain Events Using A Dense Network Of Rain Gauges, Bong Chul Seo, Witold F. Krajewski, James A. Smith, Alexander V. Ryzhkov
Evaluation Of Radar-Derived Polarimetric Precipitation Estimates For Extreme Rain Events Using A Dense Network Of Rain Gauges, Bong Chul Seo, Witold F. Krajewski, James A. Smith, Alexander V. Ryzhkov
Civil, Architectural and Environmental Engineering Faculty Research & Creative Works
The study evaluates radar-based quantitative precipitation estimations (QPEs) for 10 extreme rain events that occurred between 2013 and 2019 in the Kansas City metropolitan area, United States. These precipitation estimates were derived at hourly and approximately 0.5-km scales using two polarimetric QPE algorithms}one based on specific attenuation (A) and the other on specific differential phase (KDP)} for the study area covered by two overlapping radars in Topeka, Kansas, and Kansas City, Missouri. The polarimetric QPE assessment for extreme rain events was motivated by improved flood forecasting and precipitation frequency analysis. The analysis utilizes ground reference observations from a dense network …
Computer Vision And Machine Learning Approaches For Defect Detection In 3d-Printed Cementitious Materials: A Systematic Review, Muhammad Ali Musarat, Ruben Paul Borg, Jingjie Wei, Carl James Debono, Kamal Khayat
Computer Vision And Machine Learning Approaches For Defect Detection In 3d-Printed Cementitious Materials: A Systematic Review, Muhammad Ali Musarat, Ruben Paul Borg, Jingjie Wei, Carl James Debono, Kamal Khayat
Civil, Architectural and Environmental Engineering Faculty Research & Creative Works
3D printing is evolving at a fast pace in both the manufacturing and construction sectors. These advancements can greatly benefit these industries. However, the 3D printing of concrete structures presents some challenges due to defects in the 3D concrete printed elements. Hence, this study systematically reviews Artificial Intelligence (AI)-driven techniques, such as Computer Vision and Machine Learning, to identify surface defects that can occur in 3D-printed cementitious material structures. The adopted methodology was the PRISMA statement with the aim of reporting the systematic review and meta-analysis. Two well-known databases, Web of Science and Scopus, were utilised for data extraction of …
Machine Vision For In Situ Measurement And Control Of Wire Stickout In Lwded Process, Braden Mclain, Remy Mathenia, Todd Sparks, Frank Liou
Machine Vision For In Situ Measurement And Control Of Wire Stickout In Lwded Process, Braden Mclain, Remy Mathenia, Todd Sparks, Frank Liou
Mechanical and Aerospace Engineering Faculty Research & Creative Works
This work presents a machine-vision–based measurement and control framework for laser wire directed energy deposition (LWDED) processes. A visible-light camera system is used to capture meltpool images, from which a novel vision algorithm extracts the wire–meltpool interface location. By utilizing a camera that is rigidly mounted to the deposition head, the vision algorithm provides a relative measurement of the distance between the nozzle tip and the workpiece, also referred to as wire stickout. A proportional-derivative (PD) control strategy is implemented using the measured stickout as feedback to adjust deposition feedrate. Results show that the control system successfully compensates for improper …
Calibration Refinement Of Aashto Paveme For Kentucky Asphalt Overlays, Clayton S. Cook, Kean H. Ashurst Jr., Clark Graves
Calibration Refinement Of Aashto Paveme For Kentucky Asphalt Overlays, Clayton S. Cook, Kean H. Ashurst Jr., Clark Graves
Kentucky Transportation Center Research Report
The Kentucky Transportation Cabinet (KYTC) uses AASHTOWare’s Pavement ME Design Version 3.0 (PaveME) to develop mechanistic-empirical designs for new and reconstructed pavements. Transfer functions used for estimating pavement distress in PaveME rely on national calibration values derived from the Long-Term Pavement Performance (LTPP) database. However, these often fail to reflect Kentucky’s local conditions, materials, and practices. To address this issue, Kentucky Transportation Center (KTC) researchers completed local calibrations for several key transfer functions (rutting, reflective fatigue cracking, and roughness (IRI)) to improve the predictive accuracy of and reduce bias in pavement performance models developed for rehabilitation projects that involve placing …
Building Services Engineering March/April 2026
Building Services Engineering March/April 2026
Building Services Engineering
No abstract provided.
Assessment Of Lake Water Quality Parameters Using Uav Hyperspectral Imaging, Hasanul Banna, Taufiqa Tajnin
Assessment Of Lake Water Quality Parameters Using Uav Hyperspectral Imaging, Hasanul Banna, Taufiqa Tajnin
Publications and Research
Monitoring water quality in lakes is critical for assessing ecosystem health, managing drinking water resources, and detecting harmful algal blooms. Unmanned Aerial Vehicle (UAV)–based hyperspectral imaging provides a promising approach for high-resolution observation of water quality parameters. In this undergraduate research project, hyperspectral imagery collected over sample lakes within the Delaware River Watershed was processed using BaySpec’s CubeStitcher software to assess its capability to detect variations in chlorophyll-a (Chl-a) concentrations. This work was conducted as part of a National Fish and Wildlife Foundation (NFWF)-funded project in collaboration with Princeton Hydro and NYC College of New York. Hyperspectral image cubes were …
An Investigation Of Data Granularity In Rag Pipelines For Personalized Medicine, Paritosh Pandey
An Investigation Of Data Granularity In Rag Pipelines For Personalized Medicine, Paritosh Pandey
Master's Theses
Generative AI, exemplified by large language models like the OpenAI GPT and Meta LLaMA families, can produce diverse content in response to prompts. This capability offers a promising solution to challenges in precision medicine, which seeks to tailor treatments to individual clinical profiles but often struggles with data collection, cost, and privacy concerns. By generating realistic, privacy-preserving patient data, generative AI has the potential to transform patient-centric healthcare. With such motivation, this research develops a comprehensive Generative AI pipeline emphasizing data granularity for accurate prediction of personalized treatments. The pipeline features a central Large Language Model interacting with a Machine …
Simulation Of A Buried Hydrogen Pipeline In Kansas State Soil, Sidney Hines
Simulation Of A Buried Hydrogen Pipeline In Kansas State Soil, Sidney Hines
Master's Theses
Underground pipelines can be used to transport large amounts of pressurized hydrogen gas over several hundred kilometers. The design will be sensitive to the pipe material, diameter, and trench construction, and traffic loads above the pipe. The purpose of this paper is to conduct various geotechnical engineering analyses (seepage, stress, and slope stability) using the software program GeoStudio (version 2025.2.0) on a buried steel or FRP pipe section in a specific soil type, Harney Soil. Harney soil is of particular interest, because it is the Kansas State Soil and the analysis is for a buried gas pipe to run through …
Deep Learning For Predicting Impact Energy And Compression After Impact Strength Of Composite Materials Using C-Scan Images, K. T. Tan, Jason P. Mack, Faizan Mirza, Zhong-Hui Duan
Deep Learning For Predicting Impact Energy And Compression After Impact Strength Of Composite Materials Using C-Scan Images, K. T. Tan, Jason P. Mack, Faizan Mirza, Zhong-Hui Duan
University Research
Traditional assessment of post-impact performance in carbon fiber reinforced polymer (CFRP) composites often relies on simplified scalar metrics that fail to capture the complex spatial interactions driving failure. This study addresses this limitation by developing an automated, end-to-end deep learning framework that shifts from manual feature extraction to the direct interpretation of raw damage morphology from ultrasonic C-scans. Using a ResNet18-based convolutional neural network (CNN) trained on 1,428 augmented images, the model achieved coefficients of determination (R2) of 0.7948 ± 0.0847 for compression after impact (CAI) strength and 0.9436 ± 0.0098 for impact energy. Beyond prediction, this dual-purpose methodology serves …
Design And Evaluation Of A Single-Gate Multi-Threshold Null Convention Logic Architecture For Area Efficiency, John Edward Swaim
Design And Evaluation Of A Single-Gate Multi-Threshold Null Convention Logic Architecture For Area Efficiency, John Edward Swaim
Graduate Theses and Dissertations
Asynchronous circuit design paradigms, such as NULL convention logic (NCL) and Multi-Threshold NCL (MTNCL), offer increased energy efficiency over synchronous equivalents and robust pipelines with minimal timing analysis. However, their dependency on dual-rail signal encoding causes significant overhead compared to single-rail equivalents. Previous single-gate and single-rail NCL paradigms have sought to reduce circuit area, but most compromise their quasi-delay-insensitivity and correct-by-construction nature with logic gate and system-level design choices. This thesis presents Single-Gate MTNCL (SG-MTNCL), a register controlled, single-gate, and dual-rail asynchronous architecture to improve the area efficiency of MTNCL without compromising the reliability of previous paradigms. The benefits of …
Design And Optimization To Advance Silicon Carbide Modules For Medium Voltage High Power Applications, Ahmed Ismail
Design And Optimization To Advance Silicon Carbide Modules For Medium Voltage High Power Applications, Ahmed Ismail
Graduate Theses and Dissertations
The commercial availability of the first 10 kV silicon carbide (SiC) MOSFET removes the principal semiconductor barrier to medium-voltage power conversion, enabling converter topologies that are structurally inaccessible to silicon IGBT solutions at this voltage class. This dissertation presents the characterization infrastructure, device-level data, and preliminary system-level validation needed to advance the deployment of the third-generation 10 kV SiC MOSFET in converter applications. A custom-built 10 kV double-pulse test platform is developed with a fully documented component-sizing methodology, custom medium-voltage magnetics, and a measurement infrastructure capable of high bandwidth waveform capture at kilovolt common-mode potentials. On this platform, the third-generation …
Automated Circuit Design Algorithm And Implementation For Asynchronous Reset (Ares) Physically Unclonable Functions, Andrew Michael Felder
Automated Circuit Design Algorithm And Implementation For Asynchronous Reset (Ares) Physically Unclonable Functions, Andrew Michael Felder
Graduate Theses and Dissertations
Technology is increasingly interwoven in all aspects of society as it solves new problems, creates new possibilities, and enables new conveniences. With its unceasing evolution, environments handling protected information such as military, finance, and medicine demand ever-evolving threat mitigation. Combating attackers’ abilities to spoof devices, uncover cryptographic keys, and bypass security features is a never-ending task which drives technological advancement to improve existing capabilities and develop entirely new methodologies. In this dissertation work, the hybrid Asynchronous RESet Physically Unclonable Function (ARES PUF) is evaluated at the circuit to determine its merits as a PUF. As part of this evaluation, results …
Study On The Effects Of Molecular Layer Deposition Coating And Mechanical Pressure On Lithium Metal Anodes, Cameron Mondl
Study On The Effects Of Molecular Layer Deposition Coating And Mechanical Pressure On Lithium Metal Anodes, Cameron Mondl
Graduate Theses and Dissertations
Lithium (Li) metal is a highly promising anode material for next-generation energy storage systems due to its outstanding theoretical capacity and low electrochemical potential. However, its commercialization implementation has been hindered due to interfacial instability and uncontrollable dendrite formation, leading to poor cycling efficiency and thermal runaway. Among the most promising stabilization strategies, protective interfacial coatings have emerged as an effective solution to promote more uniform Li deposition and suppress erratic morphological inconsistencies. In particular, molecular layer deposition (MLD) enables uniform film thickness through layer-by-layer deposits, offering a highly versatile approach to protective interfacial layers. In addition to interfacial engineering, …
An Efficient Implementation Of Gibbs-Duhem Integration For Solid-Liquid Phase Coexistence In Binary Lennard-Jones System With Relevance To Aav Capsid Separation, Muhi Muntaka
Graduate Theses and Dissertations
Gene therapy using adeno-associated viruses (AAVs) holds promise for treating genetic diseases, but high manufacturing costs limit its widespread use. A major challenge is separating functional (full) AAV capsids from non-functional (empty) ones, which are produced in similar amounts and have nearly identical structures. Conventional purification methods, such as density gradient ultracentrifugation and chromatography, face drawbacks like low yield, poor scalability, and high cost, often requiring multi-step processes. Recently, selective crystallization has emerged as a promising alternative, offering improved efficiency, scalability, and product quality. However, optimizing this method requires a deep understanding of thermodynamic phase behavior in multicomponent systems. In …
Recovery And Evaluation Of A Germanium Infrared Camera, Michael Paszek
Recovery And Evaluation Of A Germanium Infrared Camera, Michael Paszek
Graduate Theses and Dissertations
Short-wave infrared imagers made of germanium are a promising way to extend silicon-compatible imaging beyond the visible spectrum. They also use mature CMOS fabrication and readout electronics. This thesis details the recovery, initialization, and evaluation of a germanium focal plane array (FPA) infrared camera system using both a sealed TriWave camera and a modular prototype platform. Functionality was restored to this legacy hardware, and repeatable testing workflows were established for evaluating packaged infrared imagers under controlled indoor and outdoor conditions. The prototype used a custom software interface named Merlott for evaluation, and it followed a standard sequence that included checking …
The Effect Of Hydroflow Devices On Calcium Carbonate Buildup., Holton Shults
The Effect Of Hydroflow Devices On Calcium Carbonate Buildup., Holton Shults
Master of Engineering Theses
Water containing high levels of dissolved minerals, mainly calcium and magnesium, is known as hard water, which is commonly found across the world due to calcium’s abundance in the earth’s crust. Hard water can lead to calcium carbonate buildup (also referred to as limescale) that reduces flow, clogs pipes, and lowers heat exchanger efficiency, all of which can drive up costs. This work evaluated two commercially available chemical-free treatment devices from HydroFLOW USA LLC, called the Pearl Plus and s38 devices. These electromagnetic devices are designed to alter calcium carbonate crystal structure, potentially reducing the amount of calcium …
Simultaneous Carrier, Cargo, And Functional Tracking Of Lipid Nanoparticles, Hannia Vanessa Balcorta Muñoz
Simultaneous Carrier, Cargo, And Functional Tracking Of Lipid Nanoparticles, Hannia Vanessa Balcorta Muñoz
Open Access Theses & Dissertations
Lipid nanoparticles (LNPs) have become effective delivery vehicles in nanomedicine, particularly for nucleic acid-based treatments. However, a major limitation remains in the field regarding the simultaneous monitoring of the nanoparticle carrier, its encapsulated payload, and the resulting functional protein production in both in vitro and in vivo systems. Furthermore, traditional lipophilic dyes employed for labeling LNPs frequently exhibit incompatibility with tissue-clearing methods, such as CLARITY, due to signal loss following lipid removal. This research developed and evaluated a new fluorescent labeling method using CM-DiI, a dye that reacts with thiols, for multimodal tracking of LNPs. CM-DiI was included in the …
A Systems Engineering-Based Method For Enabling Digital Transformation In A Binational Small Healthcare Enterprise, Manuel Adrian Alvarez Ramirez
A Systems Engineering-Based Method For Enabling Digital Transformation In A Binational Small Healthcare Enterprise, Manuel Adrian Alvarez Ramirez
Open Access Theses & Dissertations
The year 2020, often described as "the great accelerator" for emerging technologies, marked a period of significant transformation in lifestyles, work patterns, and business strategies. For instance, online meetings have become more convenient than in-person interactions, even with colleagues in neighboring offices. For small businesses, rapid regulatory and technological changes required swift adaptation, including the acquisition of new technologies, tools, and software to ensure survival. This transition also necessitated adopting indirect engagement, revising communication protocols, and digitally transforming information. Small and Medium-sized Enterprises (SMEs) in essential service sectors face also a fundamental paradox: their dependence on the skills, relationships, and …
Development Of A Simulation-Driven Evaluation System For Foreign Objects In Aircraft Structures, Daniela Garcia
Development Of A Simulation-Driven Evaluation System For Foreign Objects In Aircraft Structures, Daniela Garcia
Open Access Theses & Dissertations
This thesis investigates the use of simulation-driven methods to evaluate the behavior and potential impact of foreign objects within aircraft structures. Foreign Object Damage (FOD) remains a major concern in aerospace safety, as small components unintentionally left inside aircraft compartments can create uncertainty regarding their effect during flight. Although current inspection methods can detect the presence of foreign objects (FOs), they often cannot determine whether these objects pose a significant structural risk, leading to conservative maintenance decisions. To address this limitation, this work develops a simulation-based framework that integrates Computational Fluid Dynamics (CFD) and Finite Element Analysis (FEA) to evaluate …
Influence Of Nickel Content On Microstructural Evolution And Densification Of Tungsten Fabricated Via Vat Photopolymerization, Jose Miguel Gonzalez
Influence Of Nickel Content On Microstructural Evolution And Densification Of Tungsten Fabricated Via Vat Photopolymerization, Jose Miguel Gonzalez
Open Access Theses & Dissertations
Hybrid additive manufacturing of tungsten-nickel alloys, combining vat photopolymerization (VPP) for patterning with custom thermo-hydrogen post-processing for reduction and densification, has emerged as a promising route for fabricating complex, high-resolution tungsten architectures. However, fabrication of tungsten via this hybrid AM technique remains challenging due to poor densification and significant defect formation during debinding and sintering. In this work, these limitations were addressed using nickel as a sintering aid in combination with controlled thermal processing conditions. Existing studies on activated sintering of tungsten typically focus on a single composition or sintering condition, limiting understanding of the combined effects of composition and …
Ai-Based Framework For Elucidating The Ring Opening Energy Of Cycloalkanes, Evan Griffin
Ai-Based Framework For Elucidating The Ring Opening Energy Of Cycloalkanes, Evan Griffin
Open Access Theses & Dissertations
Cycloalkanes are a prominent component of jet fuels due to their high volumetric energy density and lower soot yield compared to aromatics. However, the structural nuance of cycloalkanes can make predicting their combustion kinetics challenging. The present study aims to develop a quantitative structure-property relationship of the ring opening energy (ROE) of cycloalkanes. A total of 253 cycloalkanes were curated from the ZINC15 database, ranging from monocycloalkanes to tetra-cycloalkanes. The 3-D cartesian coordinates of the closed shell and open shell diradical states for all curated cycloalkanes was generated with RDKit in Python and used MMFF94 to optimize the molecular geometries. …
Additively Manufactured Grx-810 Alloy: The Influence Of Build Interruptions Onmicrostructure, Tensile Strength And Fatigue Life., Javier Eduardo Lares Monarrez
Additively Manufactured Grx-810 Alloy: The Influence Of Build Interruptions Onmicrostructure, Tensile Strength And Fatigue Life., Javier Eduardo Lares Monarrez
Open Access Theses & Dissertations
This study investigates the influence of build interruption on the microstructure, microhardness, tensile behavior, and fatigue performance of laser powder-bed fusion (LP-BF) specimens in both the as-built and heat-treated conditions using the GRX-810 alloy. The heat treated condition incorporated Hot Isostatic Pressing (HIP), and both interrupted and uninterrupted samples were evaluated to isolate the effects of processing variables. Results indicate that build interruption did not produce significant changes in yield strength, ultimate tensile strength, or ductility, suggesting that the LP-BF process is robust enough to tolerate controlled interruptions without compromising bulk mechanical integrity. Microhardness measurements and microstructural observations further supported …
Quantifying Spatiotemporal Ev In-Motion Load Dynamics For Flexible Distribution Grid Operations, Travis Newbolt
Quantifying Spatiotemporal Ev In-Motion Load Dynamics For Flexible Distribution Grid Operations, Travis Newbolt
Open Access Theses & Dissertations
The emergence of novel in-motion Electric Vehicle (EV) charging through Dynamic Wireless Power Transfer (DWPT) technology is enabling the transformation of traditional roadway infrastructures into fully integrated Electrified Transportation Networks (ETNs) by the direct coupling of roadways with electric power grids. This paradigm has the potential to improve charging safety, extend driving ranges, reduce EV manufacturing costs through smaller battery sizes, and shift EV charging demand to periods when Distributed Energy Resources (DERs) are more readily available. In addition, the transition to ETNs can improve air quality and reduce noise pollution by displacing fossil fuel consumption from vehicles to centralized …
Mitigating Clay Contamination In Field Sands To Prevent Early Age Failure In Asphalt Mixtures, Suhail Rashid Vaid
Mitigating Clay Contamination In Field Sands To Prevent Early Age Failure In Asphalt Mixtures, Suhail Rashid Vaid
Open Access Theses & Dissertations
Field sands are commonly incorporated into hot mix asphalt (HMA) pavements due to their availability and cost-effectiveness compared to crushed aggregates, primarily to enhance workability. Their usage, however, is generally restricted to no more than 10% of the total aggregate content because of concerns regarding their potential negative influence on pavement performance. A major concern is the presence of deleterious clay particles, which can substantially affect the behavior of asphalt concrete (AC). This research explored how clay minerals influence AC performance by examining Superpave mixtures and characterizing both clay and sand properties. The methylene blue value (MBV) was employed to …
Ai Institute Summer Camp Webinar Summary, Dora Nguyen
Ai Institute Summer Camp Webinar Summary, Dora Nguyen
Paul English Applied Artificial Intelligence (AI) Institute Publications
This report summarizes the AI Institute Summer Camp informational webinar hosted by the Paul English Applied Artificial Intelligence Institute (PEAAII) at the University of Massachusetts Boston. The webinar introduced the structure, curriculum, learning objectives, and student outcomes associated with the 2026 AI Institute Summer Camp. In addition to summarizing the webinar content, this report analyzes participant questions, engagement trends, and areas of audience interest. Findings indicate strong interest in coding accessibility, mentorship opportunities, student outcomes, research experiences, and program flexibility. The report also identifies opportunities for improving future webinar delivery, including expanded eligibility guidance, pre-camp learning resources, enhanced presentation of …
Investigation Of Low-Pressure Mercury Lamp System Configurations And Xenon Excimer Lamp System Development As Vacuum Ultraviolet Sources For Optimal Photolytic Degradation Of Poly-/Perfluoroalkyl Substances, Eman Zuhair Alhamdan
All Dissertations
PFAS are persistent synthetic chemicals, with unique properties that enable them to easily enter and accumulate in water sources. Their public health impacts have raised concern and highlighted the need for effective treatment. Numerous techniques for PFAS removal from water have been studied, few have proven the ability of breaking down PFAS rather than separating and concentrating it. Many of these methods are chain-length dependent, showing slower degradation rate of short-chain PFAS and requiring substantial amounts of energy, and chemical agents that may produce byproducts.
Among available PFAS destruction methods, direct photolysis by high-energy UV with wavelength below 200 nm …
Safe Control Design For Quadruped Locomotion In Unstructured Environments Using Linear Transfer Operators, Sriram Sundar Krishnamoorthy Shankara Narayanan
Safe Control Design For Quadruped Locomotion In Unstructured Environments Using Linear Transfer Operators, Sriram Sundar Krishnamoorthy Shankara Narayanan
All Dissertations
Deploying quadruped robots in unstructured, obstacle-rich environments requires control and planning methods that remain safe and reliable despite complex terrain geometry, limited sensing, and inevitable modeling errors. This thesis develops operator-theoretic tools for safe control design of robotic systems using linear transfer operators, with a focus on quadruped locomotion in unstructured environments. The central goal is to develop a unified operator-theoretic framework for safe control design based on the Perron–Frobenius (P–F) and Koopman operators. In particular, the thesis leverages \emph{density functions} to develop safe navigation frameworks in the dual space of densities. In the operator-theoretic perspective, the P–F operator governs …