Browsing OSU Theses by Author "Kamalapurkar, Rushikesh"
Now showing items 1-12 of 12
-
Augmented Invariant-EKF designs for simultaneous state and disturbance estimation
Coleman, Kevin (2020-07)In this thesis, we study Invariant-EKF designs for invariant systems with disturbances. We identify two sets of sufficient conditions that preserve the invariance of systems when additive dynamic disturbances are applied. ... -
Cooperative aerial manipulation with force control and attitude stabilization
Thapa, Sandesh (2018-12)Ranging from autonomous flying cars, fixed wing and rotorcraft UAVs, there has been a tremendous interest in aerial robotics over the last decade. This thesis presents contributions to the state-of-art in cooperative payload ... -
Data-driven sparse estimation of nonlinear fluid flows
Mamun, S. M. Abdullah Al (2020-05)Estimation of full state fluid flow from limited observations is central for many practical applications in physics and engineering science. Fluid flows are manifestations of nonlinear multiscale partial differential ... -
Deep Multilayer Convolution Frameworks for Data-Driven Learning of Nonlinear Dynamics in Fluid Flows
Puligilla, Shivakanth Chary (2018-07-01)Abundance of measurement and simulation data has led to the proliferation of machine learning tools for model-based analysis and prediction of fluid flows over the past few years. In this work we explore globally optimal ... -
Impact of vibration and stochastic resonance electrical stimulation on muscle contraction
Hareland, Katrine Jacqueline Marie (2021-05)Motivated by possible applications in pain management and improved prognosis, this study looks into the different methods of potential intervention methods to reduce joint contact forces in the upper and lower extremities. ... -
Maneuvering Intruder Passive Ranging for Detect-and-Avoid
Daugherty, Jordan (2018-05-01)For the last two decades, unmanned aircraft systems (UAS) has seen much interest from both the civilian and military sector. As civilian applications expand, the issue of safety becomes more apparent. One major technical ... -
Nonuniqueness and equivalence in online inverse reinforcement learning with applications to pilot performance modeling
Town, Jared Curtis (2023-05)The focus of this thesis is behavior modeling for pilots of unmanned aerial vehicles.The pilot is assumed to make decisions that optimize an unknown cost functional, which is estimated from observed trajectories using a ... -
Quadcopter Trajectory Prediction and Wind Estimation Using Machine Learning
Allison, Sam (2019-07)Small unmanned aerial systems are heavily impacted by wind disturbances. Wind causes deviations from desired trajectories, potentially leading to crashes. In this thesis, we consider two inherently related problems: ... -
Quantitative analysis of positive-displacement compressor models tested in extrapolation scenarios
Gabel, Kalen S. (2022-12)Testing and evaluation of select semi-empirical compressor models is carried out to quantify performance in modulation (variable speed), extrapolation, and additionally, variable superheat scenarios. Three representative ... -
Recursive Newton-Euler dynamics and sensitivity analysis for dynamic motion planning
Barman, Shuvrodeb (2020-12)In this study, sensitivity equations are derived for recursive Newton-Euler dynamics using Denavit-Hartenberg (DH) moving coordinates. The dynamics and sensitivity equations depend on the 3x3 DH rotation matrices. Compared ... -
Reduced Order Modeling of Geophysical Flows Using Physics-Based and Data-Driven Modeling Techniques
Rahman, Sk. Mashfiqur (2019-07)The growing advancements in computational power, algorithmic innovation, and the availability of data resources have started shaping the way we numerically model physical problems now and for years to come. Many of the ... -
Safety-aware model-based reinforcement learning using barrier transformation
Mahmud, S. M. Nahid (2021-05)The ability to learn and execute optimal control policies safely is critical to the realization of complex autonomy, especially where task restarts are not available and/or when the systems are safety-critical. Safety ...