Now showing items 1-10 of 14
Toward Co-Design of Autonomous Aerospace Cyber-Physical Systems.
(2014)
Modern vehicles are equipped with a complex suite of computing (cyber) and electromechanical (physical) systems. Holistic design, modeling, and optimization of such Cyber-Physical Systems (CPS) requires new techniques ...
Nonholonomic Virtual Constraints and Gait Optimization for Robust Robot Walking Control.
(2016)
Bipedal locomotion is well suited for mobile robotics because it promises to allow robots to traverse difficult terrain and work effectively in man-made environments. Despite this inherent advantage, however, no existing ...
Advances in Simultaneous Localization and Mapping in Confined Underwater Environments Using Sonar and Optical Imaging.
(2016)
This thesis reports on the incorporation of surface information into a probabilistic simultaneous localization and mapping (SLAM) framework used on an autonomous underwater vehicle (AUV) designed for underwater inspection. ...
Design of Sequential Stochastic Computing Systems
(2019)
Stochastic computing (SC) is an unconventional technique that has recently re-emerged as an attractive design alternative to conventional binary computing (BC). SC represents data using probabilistic bit-streams, whose ...
Advances in Game-Theoretic, Set-Theoretic and Optimal Control to Enhance Mobility
(2022)
Advances in mobility technology are expected to greatly improve our access to transportation and the convenience of life. Many challenges in achieving the safety, efficiency, and comfort of mobility systems still exist. ...
Design and Testing Novel Wearable Instrumentation for Assessing Pelvic Floor Function and Exploring Continence Mechanisms
(2020)
Urinary incontinence (UI) and fecal incontinence (FI) affect 20% of North Americans, with a higher prevalence in women and the elderly. The prevention and treatment of these conditions unfortunately leaves much to be ...
Correct-by-Construction Control Adaptation against Sensing, Model, and Information Uncertainty
(2022)
The theory of formal methods had a profound effect on computer science. By providing tools that can verify a program’s correctness or generate software that is “correct-by-construction,” Formal Methods made it much easier ...
Streaming Architectures for Medical Image Reconstruction
(2020)
Non-invasive imaging modalities have recently seen increased use in clinical diagnostic procedures. Unfortunately, emerging computational imaging techniques, such as those found in 3D ultrasound and iterative magnetic ...
Semantic Robot Programming for Taskable Goal-Directed Manipulation
(2020)
Autonomous robots have the potential to assist people to be more productive in factories, homes, hospitals, and similar environments. Unlike traditional industrial robots that are pre-programmed for particular tasks in ...
Autonomous Scene Understanding, Motion Planning, and Task Execution for Geometrically Adaptive Robotized Construction Work
(2019)
The construction industry suffers from such problems as high cost, poor quality, prolonged duration, and substandard safety. Robots have the potential to help alleviate such problems by becoming construction co-workers, ...