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Optimization-based multibody dynamics modeling method for team lifting simulation
(2019-12)
A novel optimization-based multibody dynamics modeling method is proposed for two-dimensional (2D) team lifting prediction. The box itself is modeled as a floating-base rigid body in Denavit-Hartenberg representation. The ...
Characterization of the impulsive jet produced from a dolphin's blowhole
(2020-12)
The health of bottlenose dolphins can be monitored by marine biologists through the analysis of their exhaled breath. Unique concepts to capture this breath in the wild include flying an Unmanned Aerial System (UAS) through ...
Augmented Invariant-EKF designs for simultaneous state and disturbance estimation
(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. ...
Nonuniqueness and equivalence in online inverse reinforcement learning with applications to pilot performance modeling
(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 ...
Effect of pregnancy-induced mass gain and footwear on postural stability
(2021-05)
Pregnancy induces tremendous changes in the body, which increases the risk of falling. Falls are rarely as costly as when they happen during pregnancy, leading to tremendous healthcare, emotional, and societal costs. More ...
Safety-aware model-based reinforcement learning using barrier transformation
(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 ...
Impact of vibrations on mobile infrasound sensing and the development of a custom sensor package
(2023-05)
Acoustic frequencies below 20 Hz, referred to as "infrasound", are emitted by various phenomena. Events such as volcanoes, tornadoes, earthquakes, industrial processes, detonations, and bolides, can be analyzed via the ...
Design and evaluation of a thermal nozzle for small-scale turbojets
(2022-05)
This paper presents the design and evaluation of a thermal nozzle for small-scale turbojets. Historically, small-scale turbojets have suffered from poor thermal efficiency and thrust specific fuel consumption (TSFC). This ...
Computational analysis of sweeping jet actuator using dynamic mode decomposition
(2022-12)
A sweeping jet actuator (SJA) is a self-sustaining, periodically oscillating device without involving any moving parts. SJA requires only pressurized fluid at the inlet to transfer momentum via the Coanda effect. As an ...
Empirical indicated loss analysis of a semi-hermetic light-commercial spool compressor
(2021-05)
An analysis of the indicated losses is presented for a semi-hermetic, light-commercial, prototype, spool compressor. The spool compressor prototype was instrumented with five high-speed pressure sensors, three in the ...