{"id":1328,"date":"2014-03-20T05:02:35","date_gmt":"2014-03-20T05:02:35","guid":{"rendered":"http:\/\/www.kam.k.leang.com\/academics\/?page_id=1328"},"modified":"2021-10-09T14:43:52","modified_gmt":"2021-10-09T14:43:52","slug":"theses","status":"publish","type":"page","link":"http:\/\/www.kam.k.leang.com\/academics\/publications\/theses\/","title":{"rendered":"Masters theses"},"content":{"rendered":"
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2022<\/h3>
19.<\/div>
\"Information-Based<\/div>

N. R. Olsen<\/p>

Information-Based Mobile Sensor Network Coordination for Localizing and Tracking of an Uncooperative Target Masters Thesis<\/span> <\/p>

2022<\/span>.<\/p>

BibTeX<\/a><\/span><\/p>

@mastersthesis{OlsenNR_2022MS,
\r\ntitle = {Information-Based Mobile Sensor Network Coordination for Localizing and Tracking of an Uncooperative Target},
\r\nauthor = {N. R. Olsen},
\r\nyear  = {2022},
\r\ndate = {2022-11-09},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {mastersthesis}
\r\n}
\r\n<\/pre><\/div>
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18.<\/div>
\"Bayesian<\/div>
M. Goodell<\/p>
Bayesian Find-and-Consume Strategy for Mobile Robotic Sensor Networks: Estimating and Localizing Multiple Gas Leaks Masters Thesis<\/span> <\/p>
2022<\/span>.<\/p>
BibTeX<\/a><\/span><\/p>
@mastersthesis{GoodellM_2022_MS,
\r\ntitle = {Bayesian Find-and-Consume Strategy for Mobile Robotic Sensor Networks: Estimating and Localizing Multiple Gas Leaks},
\r\nauthor = {M. Goodell},
\r\nyear  = {2022},
\r\ndate = {2022-05-28},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {mastersthesis}
\r\n}
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2021<\/h3>
17.<\/div>
\"The<\/div>
Cheng Gordon Kou<\/p>
The Effect of Surface Roughness on Quasi-Steady in-Ground Effect for Multirotor Aerial Vehicles Masters Thesis<\/span> <\/p>
University of Utah, <\/span>2021<\/span>.<\/p>
Abstract<\/a><\/span> | BibTeX<\/a><\/span><\/p>
@mastersthesis{KouG_2021,
\r\ntitle = {The Effect of Surface Roughness on Quasi-Steady in-Ground Effect for Multirotor Aerial Vehicles},
\r\nauthor = {Cheng Gordon Kou},
\r\nyear  = {2021},
\r\ndate = {2021-06-19},
\r\nschool = {University of Utah},
\r\nabstract = {When a rotorcraft aerial vehicle comes within close proximity to the ground, the vehicle experiences an increase in thrust despite constant power being applied to the propellers.  This behavior is known as ground effect (GE).  Current GE models for multirotor aerial vehicles assume that the ground plane is flat and smooth.  However, very little is known about the impact of surface roughness on GE. This thesis investigates the influence of aerodynamically-rough surfaces on ground effect behavior, specifically, in the case of a single rotor blade in quasi-steady hover. A nondimensional model is derived that incorporates the aerodynamic roughness and zero-plane displacement height of a rough surface with GE parameters previously found in literature. A new GE model that accounts for surface roughness is proposed. Physical experiments are conducted to measure the aerodynamic properties of controlled surfaces and to measure GE strength through observations of in-ground effect and out-of-ground effect thrusts. Statistical and nondimensional analysis are used to validate the proposed model. The results show that the average root-mean-squared error for all test surfaces is 0.90% with an average maximum error of 2.39% for the blades used. The results suggest that the proposed model effectively captures the impact of surface roughness on IGE, and the findings can be exploited for motion control and vehicle design.},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {mastersthesis}
\r\n}
\r\n<\/pre><\/div>
Close<\/a><\/p><\/div>
When a rotorcraft aerial vehicle comes within close proximity to the ground, the vehicle experiences an increase in thrust despite constant power being applied to the propellers.  This behavior is known as ground effect (GE).  Current GE models for multirotor aerial vehicles assume that the ground plane is flat and smooth.  However, very little is known about the impact of surface roughness on GE. This thesis investigates the influence of aerodynamically-rough surfaces on ground effect behavior, specifically, in the case of a single rotor blade in quasi-steady hover. A nondimensional model is derived that incorporates the aerodynamic roughness and zero-plane displacement height of a rough surface with GE parameters previously found in literature. A new GE model that accounts for surface roughness is proposed. Physical experiments are conducted to measure the aerodynamic properties of controlled surfaces and to measure GE strength through observations of in-ground effect and out-of-ground effect thrusts. Statistical and nondimensional analysis are used to validate the proposed model. The results show that the average root-mean-squared error for all test surfaces is 0.90% with an average maximum error of 2.39% for the blades used. The results suggest that the proposed model effectively captures the impact of surface roughness on IGE, and the findings can be exploited for motion control and vehicle design.<\/div>
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2019<\/h3>
16.<\/div>
\"Hygroscopic<\/div>
Tom Tyler<\/p>
Hygroscopic swelling for 4D fabrication of ionic polymer-metal composite soft-robotic devices Masters Thesis<\/span> <\/p>
University of Utah, <\/span>2019<\/span>.<\/p>
BibTeX<\/a><\/span><\/p>
@mastersthesis{TylerT_2019,
\r\ntitle = {Hygroscopic swelling for 4D fabrication of ionic polymer-metal composite soft-robotic devices},
\r\nauthor = {Tom Tyler},
\r\nyear  = {2019},
\r\ndate = {2019-04-06},
\r\nschool = {University of Utah},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {mastersthesis}
\r\n}
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2018<\/h3>
15.<\/div>
\"Design<\/div>
E. Andersen<\/p>
Design and control of a micro aerial vehicle powered with resonant inductive wireless power transfer Masters Thesis<\/span> <\/p>
University of Utah, <\/span>2018<\/span>.<\/p>
BibTeX<\/a><\/span><\/p>
@mastersthesis{AndersenE_2018_MS,
\r\ntitle = {Design and control of a micro aerial vehicle powered with resonant inductive wireless power transfer},
\r\nauthor = {E. Andersen},
\r\nyear  = {2018},
\r\ndate = {2018-10-31},
\r\nschool = {University of Utah},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {mastersthesis}
\r\n}
\r\n<\/pre><\/div>
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14.<\/div>
\"Near-optimal<\/div>
K. Jenson-Nau<\/p>
Near-optimal area coverage path planning for an energy constrained autonomous mobile robot: application to autonomous aerial chemical sensing Masters Thesis<\/span> <\/p>
University of Utah, <\/span>2018<\/span>.<\/p>
BibTeX<\/a><\/span><\/p>
@mastersthesis{JensonJau_2018_MS,
\r\ntitle = {Near-optimal area coverage path planning for an energy constrained autonomous mobile robot: application to autonomous aerial chemical sensing},
\r\nauthor = {K. Jenson-Nau},
\r\nyear  = {2018},
\r\ndate = {2018-07-31},
\r\nschool = {University of Utah},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {mastersthesis}
\r\n}
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13.<\/div>
\"Characterization,<\/div>
Kyle C. Hoffman<\/p>
Characterization, Modeling, and Feedforward Compensation of Gas Sensor Dynamics for Aerial Robot Chemical Plume Mapping and Swarm-based Localization Masters Thesis<\/span> <\/p>
University of Utah, <\/span>2018<\/span>.<\/p>
BibTeX<\/a><\/span><\/p>
@mastersthesis{HoffmanKC_2018_MS,
\r\ntitle = {Characterization, Modeling, and Feedforward Compensation of Gas Sensor Dynamics for Aerial Robot Chemical Plume Mapping and Swarm-based Localization},
\r\nauthor = {Kyle C. Hoffman},
\r\nyear  = {2018},
\r\ndate = {2018-07-14},
\r\nschool = {University of Utah},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {mastersthesis}
\r\n}
\r\n<\/pre><\/div>
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12.<\/div>
\"Design,<\/div>
Keith Dockstader<\/p>
Design, modeling, and gait control of a rolling quadruped (Roll-U-Ped) Masters Thesis<\/span> <\/p>
University of Utah, <\/span>2018<\/span>.<\/p>
BibTeX<\/a><\/span><\/p>
@mastersthesis{DockstaderK_2018_MS,
\r\ntitle = {Design, modeling, and gait control of a rolling quadruped (Roll-U-Ped)},
\r\nauthor = {Keith Dockstader},
\r\nyear  = {2018},
\r\ndate = {2018-01-01},
\r\nschool = {University of Utah},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {mastersthesis}
\r\n}
\r\n<\/pre><\/div>
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2016<\/h3>
11.<\/div>
\"Design<\/div>
Christopher J. Pratt<\/p>
Design and modeling of the dynamic underactuated flying-walking (DUCK) robot<\/a> Masters Thesis<\/span> <\/p>
University of Utah, <\/span>2016<\/span>.<\/p>
Links<\/a><\/span> | BibTeX<\/a><\/span><\/p>
@mastersthesis{PrattCJ_2017,
\r\ntitle = {Design and modeling of the dynamic underactuated flying-walking (DUCK) robot},
\r\nauthor = {Christopher J. Pratt},
\r\nurl = {http:\/\/www.kam.k.leang.com\/academics\/pubs\/PrattCJ_MSThesis2016.pdf},
\r\nyear  = {2016},
\r\ndate = {2016-12-31},
\r\nschool = {University of Utah},
\r\nkeywords = {},
\r\npubstate = {published},
\r\ntppubtype = {mastersthesis}
\r\n}
\r\n<\/pre><\/div>
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