Now showing items 11-20 of 75
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. ...
The Logic of Random Pulses: Stochastic Computing.
(2015)
Recent developments in the field of electronics have produced nano-scale devices whose operation can only be described in probabilistic terms. In contrast with the conventional deterministic computing that has dominated ...
Symmetry Method for Limit Cycle Walking of Legged Robots.
(2016)
Dynamic steady-state walking or running gaits for legged robots correspond to periodic orbits in the dynamic model. The common method for obtaining such periodic orbits is conducting a numerical search for fixed points of ...
Delivering Affordable Fault-tolerance to Commodity Computer Systems.
(2011)
To meet an insatiable consumer demand for greater performance at less power, silicon technology
has scaled to unprecedented dimensions. This aggressive scaling has provided designers
with an ever increasing budget of cheaper ...
Power-Efficient Accelerators for High-Performance Applications.
(2011)
Computers, regardless of their function, are always better if they can operate more quickly. The addition of computation resources allows for improved response times, greater functionality and more flexibility. The drawback ...
Realizing Software Defined Radio - A Study in Designing Mobile Supercomputers.
(2008)
The physical layer of most wireless protocols is traditionally implemented in custom hardware to satisfy the heavy computational requirements while keeping power consumption to a minimum. These implementations are time ...
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 ...
UAS Contingency Management Autonomy with Experimentally Validated Models
(2022)
Uncrewed Aerial Systems (UAS) are increasingly deployed for surveillance and transport applications. However, their safety and performance are significant concerns. This dissertation develops a risk-aware autonomy architecture ...
Building Efficient and Reliable Emerging Technology Systems
(2021)
The semiconductor industry has been reaping the benefits of Moore’s law powered by Dennard’s voltage scaling for the past fifty years. However, with the end of Dennard scaling, silicon chip manufacturers are facing a ...