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Full-Text Articles in Dynamics and Dynamical Systems
Safety And Optimality Monitors For Learning-Enabled Systems Using Conformal Prediction, Jackson Cox
Safety And Optimality Monitors For Learning-Enabled Systems Using Conformal Prediction, Jackson Cox
McKelvey School of Engineering Graduate Student Theses & Dissertations
The use of machine learning to create data-driven plant models and controllers has led to an increased need for safety and optimality monitors for model-based systems. System plant models are subject to uncertainty due to learning constraints such as unseen data and overfitting or physical constraints such as unknown dynamics and noise. This uncertainty is detrimental to safety-critical systems and must be properly regulated. To curb this uncertainty, we create prediction sets using the guarantees provided by Conformal Prediction. With a user-specified high probability, these prediction sets contain the true plant system states for an entire prediction horizon, which we …
Dynamic And Control Of Air-Bearing Spacecraft Simulator, Jacob Joseph Korczyk
Dynamic And Control Of Air-Bearing Spacecraft Simulator, Jacob Joseph Korczyk
Doctoral Dissertations and Master's Theses
An air bearing is being designed as a spacecraft rotational motion simulator, featuring the Sawyer Robot and its control box. The objective is to maneuver the robot as desired, performing operations specific to on-orbit servicing operations while maintaining stability of the system. Before the control can be designed, the dynamics of the platform and the robot must be modeled. The dynamics of the robot can be derived utilizing a Newton-Euler recursive approach. By beginning with a simple pendulum, then adding links (degrees of freedom) to more closely resemble the Sawyer arm, the equations of motion for the robot can be …