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Fall 2019
Q-learning can be difficult to use in continuous action spaces, because a difficult optimization has to be solved to find the maximal action. Some common strategies have been to discretize the action space, solve the maximization with a powerful optimizer at each step, restrict the functional...
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Computer Vision-Based Motion Control and State Estimation for Unmanned Aerial Vehicles (UAVs)
DownloadSpring 2018
To achieve a fully autonomous unmanned aerial vehicle (UAV) the vehicle needs a high level of self awareness. At a minimum it needs to know where it is and where it wants to go. Computer vision (CV) is a logical solution to this problem. However, using CV to solve motion control problems for UAVs...
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Fall 2024
The objective of this work was to create a Graphical Processing Unit (GPU)-based Real-Time Particle Image Velocimetry (RT-PIV) system for use in Active Flow Control (AFC) of a Turbulent Boundary Layer (TBL), and to evaluate the effect of effect of the flow control on the boundary layer. The...
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Spring 2023
Vision is one of the essential means for humans to perceive the world. Similarly, today's intelligent robot agents rely on camera images to perform complex tasks in the real world. Due to the ever-changing nature of the real world, intelligent robot agents must continually learn from...
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Spring 2021
There is a growing trend of using unmanned aerial vehicles (also known as UAVs, uncrewed aerial vehicles, or drones) to manipulate and interact with their surroundings. The algorithms and tools used are typically unique to the different tasks performed by UAVs; however, the fundamental UAV system...
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Fall 2016
Different model based control strategies are developed for combustion timing and load control in a single cylinder Homogeneous Charge Compression Ignition (HCCI) engine. In HCCI engines, a lean homogeneous air-fuel mixture auto-ignites due to compression and the resulting combustion occurs at...
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Fall 2018
Steerable needles have been widely used in minimally-invasive surgical procedures such as brachytherapy, biopsy, and neurosurgery in which long flexible needles are inserted into the human body for treatment, diagnosis or sample removal. Prostate brachytherapy, known as a cost-effective and...
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NOVEL CONTROL APPROACHES TO IMPROVE SINGLE AND MODULAR DC-DC CONVERTERS DYNAMICS IN DATA CENTERS
DownloadFall 2023
In many modern power electronics applications such as data centers, there are specific requirements such as fast load dynamics and sensitive power, voltage or current sharing. Therefore, power converters need to provide and maintain ultra fast responses to achieve a certain control objective. For...
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Fall 2021
Climate change concerns have raised awareness about the importance of decarbonizing the power sector. In achieving such a goal, energy storage is a critical operation that is currently done using mostly fossil fuels as chemical energy storage. The only viable alternative is battery energy storage...
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Resilient Estimation and Control on k-Nearest Neighbor Platoons: A Network-Theoretic Approach
Download2018-01-01
Pirani, Mohammad, Hashemi, Ehsan, Fidan, Baris, Simpson-Porco, John W., Sandberg, Henrik, Johansson, Karl Henrik
This paper is concerned with the network-theoretic properties of so-called k-nearest neighbor intelligent vehicular platoons, where each vehicle communicates with k vehicles, both in front and behind. The network-theoretic properties analyzed in this paper play major roles in quantifying the...