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Reactive Velocity Control Reduces Energetic Cost Of Jumping With A Virtual Leg Spring On Simulated Granular Media, Sonia F. Roberts, Daniel E. Koditschek 2018 University of Pennsylvania

Reactive Velocity Control Reduces Energetic Cost Of Jumping With A Virtual Leg Spring On Simulated Granular Media, Sonia F. Roberts, Daniel E. Koditschek

Departmental Papers (ESE)

Robots capable of dynamic locomotion behaviors and high-bandwidth sensing with their limbs have a high cost of transport, especially when locomoting over highly dissipative substrates such as sand. We formulate the problem of reducing the energetic cost of locomotion by a Minitaur robot on sand, reacting to robot state variables in the inertial world frame without modeling the ground online. Using a bulk-behavior model of high-velocity intrusions into dry granular media, we simulated single jumps by a one-legged hopper using a Raibert-style compression-extension virtual leg spring. We compose this controller with a controller that added damping to the leg spring ...


Teaching Modeling To Engineers In An Undergraduate Simulation Course, Vikram Mittal, Robert Kewley, Brett Lindberg 2018 United States Military Academy

Teaching Modeling To Engineers In An Undergraduate Simulation Course, Vikram Mittal, Robert Kewley, Brett Lindberg

West Point Research Papers

A significant challenge in teaching simulation to undergraduate students is to find a way to allow them to model a real world referent system within time and student skill constraints. Several research sources highlight not only the important challenge of model development (Garcia and Ceneno, 2009, Tako, 2011) but also the increased need for model development instruction among engineers (Grasas et. al., 2013, Saltzman and Roeder, 2013). One approach to this challenge is to use a general purpose discrete event simulation software package within the course, but this presents two challenges. Teaching the package to the students takes significant time ...


Issues In Reproducible Simulation Research, Ben G. Fitzpatrick 2018 Loyola Marymount University

Issues In Reproducible Simulation Research, Ben G. Fitzpatrick

Annual Symposium on Biomathematics and Ecology: Education and Research

No abstract provided.


Efficacy Of Virtual Models In A Production Systems Course, Lawrence Whitman, Barbara Chaparro 2018 Wichita State University

Efficacy Of Virtual Models In A Production Systems Course, Lawrence Whitman, Barbara Chaparro

Barbara S. Chaparro

Wichita State University has developed an integrated set of virtual reality models of an aircraft assembly line. These models are intended to provide students an ‘artifact’ of industrial and manufacturing engineering by providing a realistic environment for initial learning and application. By utilizing a virtual model of the line, students are able to view the process and interrogate the process details, make changes and observe the effects, and gain a better understanding of the concepts and their interrelationships. This paper presents the method used to assess if virtual models (computer models of a real factory) lead to: improved perception of ...


Sensor-Based Reactive Execution Of Symbolic Rearrangement Plans By A Legged Mobile Manipulator, Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, Daniel E. Koditschek 2018 University of Pennsylvania

Sensor-Based Reactive Execution Of Symbolic Rearrangement Plans By A Legged Mobile Manipulator, Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, Daniel E. Koditschek

Departmental Papers (ESE)

We demonstrate the physical rearrangement of wheeled stools in a moderately cluttered indoor environment by a quadrupedal robot that autonomously achieves a user's desired configuration. The robot's behaviors are planned and executed by a three layer hierarchical architecture consisting of: an offline symbolic task and motion planner; a reactive layer that tracks the reference output of the deliberative layer and avoids unanticipated obstacles sensed online; and a gait layer that realizes the abstract unicycle commands from the reactive module through appropriately coordinated joint level torque feedback loops. This work also extends prior formal results about the reactive layer ...


Inertial Velocity And Attitude Estimation For Quadrotors: Supplementary Material, James B. Svacha Jr, Kartik Mohta, Michael Watterson, Giuseppe Loianno, Vijay Kumar 2018 University of Pennsylvania

Inertial Velocity And Attitude Estimation For Quadrotors: Supplementary Material, James B. Svacha Jr, Kartik Mohta, Michael Watterson, Giuseppe Loianno, Vijay Kumar

Departmental Papers (ESE)

No abstract provided.


Conditions Under Which Adjustability Lowers The Cost Of A Robust Linear Program, Ali Haddad-Sisakht, Sarah M. Ryan 2018 Iowa State University

Conditions Under Which Adjustability Lowers The Cost Of A Robust Linear Program, Ali Haddad-Sisakht, Sarah M. Ryan

Industrial and Manufacturing Systems Engineering Publications

The adjustable robust counterpart (ARC) of an uncertain linear program extends the robust counterpart (RC) by allowing some decision variables to adjust to the realizations of some uncertain parameters. The ARC may produce a less conservative and costly solution than the RC does but cases are known in which it does not. While the literature documents some examples of cost savings provided by adjustability (particularly affine adjustability), it is not straightforward to determine in advance whether they will materialize. The affine adjustable robust counterpart, while having a tractable structure, still may be much larger than the original problem. We establish ...


Application Of Bayesian Belief Network For Agile Kanban Backlog Estimation, Eric D. Weflen, Kevin Korniejczuk, Sharon Lau, Steven S. Kryk, Cameron A. MacKenzie, Iris V. Rivero 2018 Iowa State University

Application Of Bayesian Belief Network For Agile Kanban Backlog Estimation, Eric D. Weflen, Kevin Korniejczuk, Sharon Lau, Steven S. Kryk, Cameron A. Mackenzie, Iris V. Rivero

Sharon Lau

What is Agile Kanban?

• Different from Kanban for JIT manufacturing!

• Visualization of workflow

• Limit work in process (WIP)


Application Of Bayesian Belief Network For Agile Kanban Backlog Estimation, Eric Weflen, Kevin Korniejczuk, Sharon Lau, Steven Kryk, Cameron A. MacKenzie, Iris V. Rivero 2018 Iowa State University

Application Of Bayesian Belief Network For Agile Kanban Backlog Estimation, Eric Weflen, Kevin Korniejczuk, Sharon Lau, Steven Kryk, Cameron A. Mackenzie, Iris V. Rivero

Sharon Lau

This paper presents an approach based on influence diagrams for reducing uncertainty in Agile Kanban backlog feature completion time. Agile project management techniques, including SCRUM and Kanban, are prevalent in software development and spreading to other product development fields. A key artifact of Agile is the product backlog, containing work which needs to be completed by the development team. Internal and external stakeholders often require projections for completion of backlogged requests or features. Current estimation techniques such as duration assignments through planning poker and the use of story points to calculate velocity require persistent team input, while task counting has ...


Design Parameters For Small Engines Based On Market Research, Vikram Mittal 2018 United States Military Academy

Design Parameters For Small Engines Based On Market Research, Vikram Mittal

West Point Research Papers

Small internal combustion engines outperform batteries and fuel cells in regards to weight for a range of applications, including consumer products, marine vehicles, small manned ground vehicles, unmanned vehicles, and generators. The power ranges for these applications are typically between 1 kW and 10 kW. There are numerous technical challenges associated with engines producing power in this range resulting in low power density and high specific fuel consumption. As such, there is a large range of engine design solutions that are commercially available in this power range to overcome these technical challenges. A market survey was conducted of commercially available ...


Distributed Methods For Composite Optimization: Communication Efficiency, Load-Balancing And Local Solvers, Chenxin Ma 2018 Lehigh University

Distributed Methods For Composite Optimization: Communication Efficiency, Load-Balancing And Local Solvers, Chenxin Ma

Theses and Dissertations

The scale of modern datasets necessitates the development of efficient distributed opti- mization methods for composite problems, which have numerous applications in the field of machine learning. A critical challenge in realizing this promise of scalability is to develop efficient methods for communicating and coordinating information between distributed ma- chines, taking into account the specific needs of machine learning algorithms. Recent work in this area has been limited by focusing heavily on developing highly specific methods for the distributed environment. These special-purpose methods are often unable to fully leverage the competitive performance of their well-tuned and customized single machine counterparts ...


Utilizing Multivariate Analysis For Assessing Student Learning Through Effective College-Industry Partnerships, Caleb Burns, Shweta Chopra, Mack C. Shelley II, Gretchen A. Mosher 2018 Danfoss

Utilizing Multivariate Analysis For Assessing Student Learning Through Effective College-Industry Partnerships, Caleb Burns, Shweta Chopra, Mack C. Shelley Ii, Gretchen A. Mosher

Shweta Chopra

There is no doubt that college–industry collaborations are vital to the success of undergraduate students with engineering and technology majors. This collaboration provides students with an opportunity to bridge the gap between classroom education and real-world experience. Inviting industry representatives to engage in the classroom and involving students with professional organizations, student field trips, virtual plant tours, and industry-focused final projects are ways in which an instructor can incorporate student–industry engagement into their course. During their undergraduate degree program, students are required to participate in an internship program where they gain substantial industry engagement and opportunities to learn ...


Robust Engineering Of Dynamic Structures In Complex Networks, Walter Botongo Bomela 2018 Washington University in St. Louis

Robust Engineering Of Dynamic Structures In Complex Networks, Walter Botongo Bomela

Engineering and Applied Science Theses & Dissertations

Populations of nearly identical dynamical systems are ubiquitous in natural and engineered systems, in which each unit plays a crucial role in determining the functioning of the ensemble. Robust and optimal control of such large collections of dynamical units remains a grand challenge, especially, when these units interact and form a complex network. Motivated by compelling practical problems in power systems, neural engineering and quantum control, where individual units often have to work in tandem to achieve a desired dynamic behavior, e.g., maintaining synchronization of generators in a power grid or conveying information in a neuronal network; in this ...


Space Architecture Assessment Using System-Of-Systems Methodologies, Liam Durbin, Cesare Guariniello, Daniel DeLaurentis 2018 Purdue University

Space Architecture Assessment Using System-Of-Systems Methodologies, Liam Durbin, Cesare Guariniello, Daniel Delaurentis

The Summer Undergraduate Research Fellowship (SURF) Symposium

As technologies in the space exploration community are further developed, mission complexity and the associated risks have become greater. Dozens of complicated system interactions may result in unexpected, potentially dangerous emergent behaviors. Early efforts are underway by NASA to map potential system architectures (collections of systems which fulfill design requirements) for future human space exploration missions. However, current mission complexity requires the determination of emergent behaviors, as well as time requirements, and safety levels of complicated space exploration architectures, which current analysis methods in use cannot address. To that end, a newer technique has been developed—System Operability Dependency Analysis ...


What Is A Good Pattern Of Life Model? Guidance For Simulations, Barry G. Silverman, Gnana K. Bharathy, Nathan Weyer 2018 University of Pennsylvania

What Is A Good Pattern Of Life Model? Guidance For Simulations, Barry G. Silverman, Gnana K. Bharathy, Nathan Weyer

Departmental Papers (ESE)

We have been modeling an ever-increasing scale of applications with agents that simulate the pattern of life (PoL) and real-world human behaviors in diverse regions of the world. The goal is to support sociocultural training and analysis. To measure progress, we propose the definition of a measure of goodness for such simulated agents, and review the issues and challenges associated with first-generation (1G) agents. Then we present a second generation (2G) agent hybrid approach that seeks to improve realism in terms of emergent daily activities, social awareness, and micro-decision making in simulations. We offer a PoL case study with a ...


Analytically-Guided Design Of A Tailed Bipedal Hopping Robot, Abdulaziz Shamsah, Avik De, Daniel E. Koditschek 2018 University of Pennsylvania

Analytically-Guided Design Of A Tailed Bipedal Hopping Robot, Abdulaziz Shamsah, Avik De, Daniel E. Koditschek

Departmental Papers (ESE)

We present the first fully spatial hopping gait of a 12 DoF tailed biped driven by only 4 actuators. The control of this physical machine is built up from parallel compositions of controllers for progressively higher DoF extensions of a simple 2 DoF, 1 actuator template. These template dynamics are still not themselves integrable, but a new hybrid averaging analysis yields a conjectured closed form representation of the approximate hopping limit cycle as a function of its physical and control parameters. The resulting insight into the role of the machine's kinematic and dynamical design choices affords a redesign leading ...


A Probabilistic Model To Estimate Visual Inspection Error For Metalcastings Given Different Training And Judgment Types, Environmental And Human Factors, And Percent Of Defects, Michelle M. Stallard-Voelker, Cameron A. MacKenzie, Frank E. Peters 2018 Iowa State University

A Probabilistic Model To Estimate Visual Inspection Error For Metalcastings Given Different Training And Judgment Types, Environmental And Human Factors, And Percent Of Defects, Michelle M. Stallard-Voelker, Cameron A. Mackenzie, Frank E. Peters

Industrial and Manufacturing Systems Engineering Publications

Current methods for visual inspection of cast metal surfaces are variable in both terms of repeatability and reproducibility. Because of this variation in the inspection methods, extra finishing operations are often prescribed; much of this is over processing in attempt to avoid rework or customer rejection. Additionally, defective castings may pass inspection and be delivered to the customer. Given the importance of ensuring that customers receive high-quality castings, this article analyzes and quantifies the probability of Type I and II errors, where a Type I error is a false alarm, and a Type II error misses a present defect. A ...


Conditions Under Which Adjustability Lowers The Cost Of A Robust Linear Program, Ali Haddad-Sisakht, Sarah M. Ryan 2018 Iowa State University

Conditions Under Which Adjustability Lowers The Cost Of A Robust Linear Program, Ali Haddad-Sisakht, Sarah M. Ryan

Sarah M. Ryan

The adjustable robust counterpart (ARC) of an uncertain linear program extends the robust counterpart (RC) by allowing some decision variables to adjust to the realizations of some uncertain parameters. The ARC may produce a less conservative and costly solution than the RC does but cases are known in which it does not. While the literature documents some examples of cost savings provided by adjustability (particularly affine adjustability), it is not straightforward to determine in advance whether they will materialize. The affine adjustable robust counterpart, while having a tractable structure, still may be much larger than the original problem. We establish ...


Vertical Hopper Compositions For Preflexive And Feedback-Stabilized Quadrupedal Bounding, Pacing, Pronking, And Trotting, Avik De, Daniel E. Koditschek 2018 University of Pennsylvania

Vertical Hopper Compositions For Preflexive And Feedback-Stabilized Quadrupedal Bounding, Pacing, Pronking, And Trotting, Avik De, Daniel E. Koditschek

Departmental Papers (ESE)

This paper applies an extension of classical averaging methods to hybrid dynamical systems, thereby achieving formally specified, physically effective and robust instances of all virtual bipedal gaits on a quadrupedal robot. Gait specification takes the form of a three parameter family of coupling rules mathematically shown to stabilize limit cycles in a low degree of freedom template: an abstracted pair of vertical hoppers whose relative phase locking encodes the desired physical leg patterns. These coupling rules produce the desired gaits when appropriately applied to the physical robot. The formal analysis reveals a distinct set of morphological regimes determined by the ...


A Framework And Exploration Of A Cybersecurity Education Escape Room, Justin Charles Snyder 2018 Brigham Young University

A Framework And Exploration Of A Cybersecurity Education Escape Room, Justin Charles Snyder

Theses and Dissertations

This thesis presents a review of educational-escape-room literature followed by a design-oriented framework (the Snyder Escape Room Framework or SERF) and demonstrates the potential efficacy of escape-rooms in cybersecurity education. Several authors have proposed frameworks and guidelines for game and educational design regarding escape rooms. This work coalesces some of those ideas into a more substantial and comprehensive framework (SERF) that designers can use when developing educational escape rooms. The Snyder Escape Room Framework provides heuristics for goals and objectives, players, activities, context, trajectory design, and evaluation. Additionally, this work describes and analyzes the novel prototyped BYU GCC escape room ...


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