Systems Engineering Commons^™

Model Reference Adaptive Control For Mobile Manipulators And Beyond, Srivatsan Srinivasan

All Dissertations

In recent years, robotics has expanded into various sectors, including manufacturing, transportation, and household services, making the integration of autonomy a critical area of research. This shift aims to ensure safety and enhance the utility of autonomous systems. Traditionally, robotic applications focused separately on mobility, like automated guided vehicles, and manipulation, such as serial-chain arms in manufacturing. Today, however, we see a merging of these capabilities in the growing field of mobile manipulator robots that combine movement with purposeful interactive functionalities.

A typical mobile manipulator is a robotic arm mounted on a wheeled base. This thesis focuses on advancing control …

A Systems Theory-Based Framework For Uncertainty In Complex System Governance, Teresa Anne Crater

Engineering Management & Systems Engineering Theses & Dissertations

Complex systems are all around. A complex system is a system whose collective behavior is more than the behavior exhibited by the individual parts. Such a system is characterized by an exponential increase in information, complexity, ambiguity, emergence, and high levels of uncertainty (Jaradat, 2015). Uncertainty is intrinsic to complex systems. Uncertainty refers to epistemic situations involving imperfect or unknown information. Uncertainty can refer to the chance of certain anticipated outcomes occurring, or it can refer to the unknown events that are not foreseeable as to when or if one might occur. It applies to predictions of future events, to …

Simulation-Based Optimization: Implications Of Complex Adaptive Systems And Deep Uncertainty, Andreas Tolk

VMASC Publications

Within the modeling and simulation community, simulation-based optimization has often been successfully used to improve productivity and business processes. However, the increased importance of using simulation to better understand complex adaptive systems and address operations research questions characterized by deep uncertainty, such as the need for policy support within socio-technical systems, leads to the necessity to revisit the way simulation can be applied in this new area. Similar observations can be made for complex adaptive systems that constantly change their behavior, which is reflected in a continually changing solution space. Deep uncertainty describes problems with inadequate or incomplete information about …

Computational Modeling For Decision-Making Under Climate Change Uncertainty: Reservoir Simulation Game, Julianne Quinn

All ECSTATIC Materials

Almost every decision you make is under uncertainty. Will I need a rain jacket in the afternoon? Will they say yes if I ask them out? Is 1 hour enough time to finish this assignment? Oftentimes, we can use computational modeling to simulate different scenarios of what might happen in the future to inform what decisions are best on average, or what decisions minimize the worst case outcome. For example, you could decide what player to draft for your Fantasy Football team by simulating player performance. In this activity, we will simulate how much water to release from a dam …

Interaction Model Of Functions In The National Airspace System, Nathan F. Koerschner, Steven J. Landry

The Summer Undergraduate Research Fellowship (SURF) Symposium

The National Airspace System (NAS) is comprehensively described by five functions derived from big-picture goals: (1) conflict detection and resolution, (2) controlling aircraft states, (3) traffic flow management, (4) controlling passenger states, and (5) controlling company resources. It can be reasonably assumed that these functions interact in some way; this interaction is currently unknown. A model of the entire NAS would be helpful in discovering these interactions, yet no such comprehensive model exists. To address this problem an agent-based state-based model was created in MATLAB. To date, only functions (1) and (2) were implemented. Running the model shows that there …

A Mechanism Design Approach To Bandwidth Allocation In Tactical Data Networks, Ankur Mour

Open Access Theses

The defense sector is undergoing a phase of rapid technological advancement, in the pursuit of its goal of information superiority. This goal depends on a large network of complex interconnected systems - sensors, weapons, soldiers - linked through a maze of heterogeneous networks. The sheer scale and size of these networks prompt behaviors that go beyond conglomerations of systems or `system-of-systems'. The lack of a central locus and disjointed, competing interests among large clusters of systems makes this characteristic of an Ultra Large Scale (ULS) system. These traits of ULS systems challenge and undermine the fundamental assumptions of today's software …

Risk And System-Of-Systems: Toward A Unified Concept, C. Ariel Pinto, Michael K. Mcshane, Rani Kady

Engineering Management & Systems Engineering Faculty Publications

The scope of this paper is the survey of both fundamental and most recent publications in system-of-systems, business and insurance, as well as risk analysis, modeling, and management for the purpose of better describing the concept of risk in recognition of emergence and complexity which characterizes many systems within the concern of engineering and business managers. The ultimate goal is to provide engineering and business managers the necessary perspective on the concept of risk and in its management for the next generation of sustainable systems - including various descriptions of risk and discussion of the relevance of properties of system-of-systems …

Goal Approach To Risk Scenario Identification In Systems Development, Cesar Ariel Pinto, Andreas Tolk, Rafael Landaeta

Engineering Management & Systems Engineering Faculty Publications

The scope of this paper is the exploration of fundamental issues in identifying risk scenarios during systems development. Systems development refers to a series of processes which span conceptualization, designing the architecture, obtaining the elements, and eventually integrating all these elements into the fully developed final system. For truly sustainable and green systems, identifying risk scenarios early and continuously over the system development processes is vital. This paper contains various descriptions of risk from the project (i.e. programmatic) and technical perspectives, an exploration of the generally accepted risk management process, and how these relate to systems development through system goals. …

Towards A Diagnostic Framework For Understanding Complex Situations, José J. Padilla, Andres Sousa-Poza, Arturo Tejada, Samuel Kovacic

VMASC Publications

This paper presents a theoretical framework for the concept of understanding and how it can be used for assessing complex situations. Understanding is presented as a cognitive process on how an individual perceives and represents a complex domain based on his/her own predispositions, and how he/she selects knowledge or what may not be knowledge based on the same predispositions towards finding a set of solutions for the situation. Predispositions, in this case, are based on his/her epistemological, ontological and teleological biases while the domain is represented by irreducible and transient conditions. The final outcome is the match or mismatch of …