Dynamic Systems Commons^™

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 …

Universal Systems Simulation Via Constraint Hypergraphs With Applications To Digital Twins, John Morris

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The characterization of systems encompasses a variety of modeling frameworks designed to capture specific behaviors and components of various system domains. Whatever the framework, the core elements of a system representation are the information of the system and a description of how that information is related. The relations in deterministic systems are functions, which, when composed to form executable processes, can be used to simulate system data. A declarative modeling framework is one that encodes mechanisms for preparing these simulations within the model structure, allowing an external agent to form the execution processes required for a given context. To date, …

Frameworks For The Techno-Economic Assessment Of Membrane-Based Bioprocessing Platforms, Juan Jose Romero Conde

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This dissertation describes developing and implementing computational frameworks for simulating and optimizing purification processes in the biopharmaceutical industry. The framework performs techno-economic analyses to establish value propositions for new process alternatives, especially membrane technologies. Initially, the focus is developing a framework capable of simulating monoclonal antibody (mAb) capture using membrane and resin media in multi-column chromatography (MCC) platforms for continuous manufacturing. Subsequently, the impact of capture MCC is compared against other intensification strategies in established mAb manufacturing facilities. Finally, the framework application expands to simulate the purification of adeno-associated virus (AAV) vectors for gene therapy.

Chapter 2 details the framework …

Controlled Manipulation And Transport By Microswimmers In Stokes Flows, Jake Buzhardt

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Remotely actuated microscale swimming robots have the potential to revolutionize many aspects of biomedicine. However, for the longterm goals of this field of research to be achievable, it is necessary to develop modelling, simulation, and control strategies which effectively and efficiently account for not only the motion of individual swimmers, but also the complex interactions of such swimmers with their environment including other nearby swimmers, boundaries, other cargo and passive particles, and the fluid medium itself. The aim of this thesis is to study these problems in simulation from the perspective of controls and dynamical systems, with a particular focus …

Aspects Of Stochastic Geometric Mechanics In Molecular Biophysics, David Frost

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In confocal single-molecule FRET experiments, the joint distribution of FRET efficiency and donor lifetime distribution can reveal underlying molecular conformational dynamics via deviation from their theoretical Forster relationship. This shift is referred to as a dynamic shift. In this study, we investigate the influence of the free energy landscape in protein conformational dynamics on the dynamic shift by simulation of the associated continuum reaction coordinate Langevin dynamics, yielding a deeper understanding of the dynamic and structural information in the joint FRET efficiency and donor lifetime distribution. We develop novel Langevin models for the dye linker dynamics, including rotational dynamics, based …