Physical Sciences and Mathematics Commons^™

Robotic Olfactory-Based Navigation With Mobile Robots, Lingxiao Wang

Doctoral Dissertations and Master's Theses

Robotic odor source localization (OSL) is a technology that enables mobile robots or autonomous vehicles to find an odor source in unknown environments. It has been viewed as challenging due to the turbulent nature of airflows and the resulting odor plume characteristics. The key to correctly finding an odor source is designing an effective olfactory-based navigation algorithm, which guides the robot to detect emitted odor plumes as cues in finding the source. This dissertation proposes three kinds of olfactory-based navigation methods to improve search efficiency while maintaining a low computational cost, incorporating different machine learning and artificial intelligence methods.

A. …

Acoustic/Gravity Wave Phenomena In Wide-Field Imaging: From Data Analysis To A Modeling Framework For Observability In The Mlt Region And Beyond, Jaime Aguilar Guerrero

Doctoral Dissertations and Master's Theses

Acoustic waves, gravity waves, and larger-scale tidal and planetary waves are significant drivers of the atmosphere’s dynamics and of the local and global circulation that have direct and indirect impacts on our weather and climate. Their measurements and characterization are fundamental challenges in Aeronomy that require a wide range of instrumentation with distinct operational principles. Most measurements share the common features of integrating optical emissions or effects on radio waves through deep layers of the atmosphere. The geometry of these integrations create line-of-sight effects that must be understood, described, and accounted for to properly present the measured data in traditional …

Ultra-Low Frequency Waves At Middle Latitudes During Substorms: Observations And Modeling, Mergen Alimaganbetov

Doctoral Dissertations and Master's Theses

This doctoral dissertation presents the results of investigation of the Ultra-Low Frequency (ULF) waves at middle latitudes during substorms. The dissertation consists of two major parts, observations and simulations. The research in this dissertation proposes that the main role in the generation of ULF waves at middle latitudes during substorm belongs to the plasmapause.

The first part of the dissertation presents results of the data analysis of 84 intense substorm events as well as an overview of space observation programs such as CRRES, Van Allen Probes and DMSP. Data used in this study are from the ACE satellite taken measurements …

Adaptive-Optimal Control Of Spacecraft Near Asteroids, Madhur Tiwari

Doctoral Dissertations and Master's Theses

Spacecraft dynamics and control in the vicinity of an asteroid is a challenging and exciting problem. Currently, trajectory tracking near asteroid requires extensive knowledge about the asteroid and constant human intervention to successfully plan and execute proximity operation. This work aims to reduce human dependency of these missions from a guidance and controls perspective. In this work, adaptive control and model predictive control are implemented to generating and tracking obstacle avoidance trajectories in asteroid’s vicinity.

Specifically, direct adaptive control derived from simple adaptive control is designed with e modification to track user-generated trajectories in the presence of unknown system and …

Thruster Communication For Subsurface Environments; Turning Waste Noise Into Useful Data, Stephen Cronin

Doctoral Dissertations and Master's Theses

Acoustic communication serves as one of the primary means of wirelessly communicating underwater. Whereas much of the developments in the field of wireless communication have focused on radio frequency technology, water highly absorbs radio waves rendering the link not feasible for most all subsurface operations. While acoustic links have enabled new capabilities for systems operating in this challenging environment, it has yet to reach the commodity availability of radio systems, meaning that an entire class of small, low-cost systems have been unable to make use of these links. The systems in question are primarily autonomous underwater vehicles (AUVs), as they …

Dynamic Task Allocation In Partially Defined Environments Using A* With Bounded Costs, James Hendrickson

Doctoral Dissertations and Master's Theses

The sector of maritime robotics has seen a boom in operations in areas such as surveying and mapping, clean-up, inspections, search and rescue, law enforcement, and national defense. As this sector has continued to grow, there has been an increased need for single unmanned systems to be able to undertake more complex and greater numbers of tasks. As the maritime domain can be particularly difficult for autonomous vehicles to operate in due to the partially defined nature of the environment, it is crucial that a method exists which is capable of dynamically accomplishing tasks within this operational domain. By considering …

A Framework To Detect The Susceptibility Of Employees To Social Engineering Attacks, Hashim H. Alneami

Doctoral Dissertations and Master's Theses

Social engineering attacks (SE-attacks) in enterprises are hastily growing and are becoming increasingly sophisticated. Generally, SE-attacks involve the psychological manipulation of employees into revealing confidential and valuable company data to cybercriminals. The ramifications could bring devastating financial and irreparable reputation loss to the companies. Because SE-attacks involve a human element, preventing these attacks can be tricky and challenging and has become a topic of interest for many researchers and security experts. While methods exist for detecting SE-attacks, our literature review of existing methods identified many crucial factors such as the national cultural, organizational, and personality traits of employees that enable …

Investigation Of Trajectory And Control Designs For A Solar Sail To The Moon, Michelle Nadeau

Doctoral Dissertations and Master's Theses

NASA’s Artemis program and other government and commercial projects are working toward establishing a sustainable human presence on the moon. This thesis investigates the technical feasibility of a solar sail-based spacecraft (sailcraft) as a low-cost method of delivering cargo or science instruments to the moon and demonstrates how this sailcraft could be controlled to change its orbit. The concept is a low-cost, commercial launch vehicle-deployable, CubeSat-based sailcraft with a square sail, assumed attitude control, and a small payload traversing from low-Earth orbit toward the moon with zero propellant use. In this thesis, methods for sailcraft to increase altitude, the trajectory …

A Comprehensive Mapping And Real-World Evaluation Of Multi-Object Tracking On Automated Vehicles, Alexander Bassett

Doctoral Dissertations and Master's Theses

Multi-Object Tracking (MOT) is a field critical to Automated Vehicle (AV) perception systems. However, it is large, complex, spans research fields, and lacks resources for integration with real sensors and implementation on AVs. Factors such those make it difficult for new researchers and practitioners to enter the field.

This thesis presents two main contributions: 1) a comprehensive mapping for the field of Multi-Object Trackers (MOTs) with a specific focus towards Automated Vehicles (AVs) and 2) a real-world evaluation of an MOT developed and tuned using COTS (Commercial Off-The-Shelf) software toolsets. The first contribution aims to give a comprehensive overview of …

Proton Aurora At Mars: Assessing The Characteristics, Variability, And Driving Mechanisms Of A Newly Discovered Phenomenon, Andréa C.G. Hughes

Doctoral Dissertations and Master's Theses

The purpose of this doctoral research dissertation is to develop a deeper understanding of the phenomenology, variability and driving processes of proton aurora at Mars. Proton aurora are the most recently discovered of the three types of Martian aurora. Due to Mars’ lack of a global dipole magnetic field, the formation processes of Martian proton aurora are uniquely different than aurora on Earth. Martian proton aurora are expected to form on the planet’s dayside via electron stripping/charge exchange processes between solar wind protons and the neutral hydrogen corona. Herein, I present the results of a study of proton aurora at …