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You searched for +publisher:"Texas A&M University" +contributor:("Alexander, Parlos"). Showing records 1 – 2 of 2 total matches.

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Texas A&M University

1. Maithripala, Diyogu Hennadige Asanka. Coordinated Multi-Agent Motion Planning Under Realistic Constraints.

Degree: 2009, Texas A&M University

Considered is a class of cooperative control problems that has a special affine characterization. Included in this class of multi-agent problems are the so called radar deception problem, formation keeping and formation reconfiguration. An intrinsic geometric formulation of the associated constraints unifies this class of problems and it is the first time such a generalization has been presented. Based on this geometric formulation, a real-time motion planning algorithm is proposed to generate dynamically feasible reference trajectories for the class. The proposed approach explicitly considers actuator and operating constraints of the individual agents and constrained dynamics are derived intrinsically for the multi-agent system which makes these constraints transparent. Deriving the constrained dynamics eliminates the need for nonlinear programming to account for the system constraints, making the approach amenable to real-time control. Explicit consideration of actuator and operating limitations and nonholonomic constraints in the design of the reference trajectories addresses the important issue of dynamic feasibility. The motion planning algorithm developed here is verified through simulations for the radar deception, rigid formation keeping and formation reconfiguration problems. A key objective of this study is to advocate a change in paradigm in the approach to formation control by addressing the key issues of dynamic feasibility and computational complexity. The other important contributions of this study are: Unifying formulation of constrained dynamics for a class of problems in formation control through the intrinsic geometry of their nonholonomic and holonomic constraints; Deriving these constrained dynamics in any choice of frame that can even be coordinate free; Explicit consideration of actuator and operating limits in formation control to design dynamically feasible reference trajectories and Developing a real-time, distributed, scalable motion planning algorithm applicable to a class of autonomous multi-agent systems in formation control. Advisors/Committee Members: Suhada, Jayasuriya (advisor), Alexander, Parlos (committee member), Aniruddha, Datta (committee member), Tamas, Kalmar-Nagy (committee member).

Subjects/Keywords: trajectory generation; real-time guidance

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Maithripala, D. H. A. (2009). Coordinated Multi-Agent Motion Planning Under Realistic Constraints. (Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/ETD-TAMU-3007

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Maithripala, Diyogu Hennadige Asanka. “Coordinated Multi-Agent Motion Planning Under Realistic Constraints.” 2009. Thesis, Texas A&M University. Accessed July 16, 2019. http://hdl.handle.net/1969.1/ETD-TAMU-3007.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Maithripala, Diyogu Hennadige Asanka. “Coordinated Multi-Agent Motion Planning Under Realistic Constraints.” 2009. Web. 16 Jul 2019.

Vancouver:

Maithripala DHA. Coordinated Multi-Agent Motion Planning Under Realistic Constraints. [Internet] [Thesis]. Texas A&M University; 2009. [cited 2019 Jul 16]. Available from: http://hdl.handle.net/1969.1/ETD-TAMU-3007.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Maithripala DHA. Coordinated Multi-Agent Motion Planning Under Realistic Constraints. [Thesis]. Texas A&M University; 2009. Available from: http://hdl.handle.net/1969.1/ETD-TAMU-3007

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation


Texas A&M University

2. Kim, Youngbok. Front-end circuits for chemical and molecular sensing.

Degree: 2005, Texas A&M University

This research demonstrates two building blocks for CMOS integrated sensor IC for molecular or chemical sensing. One of them for molecular sensing is the capacitance sensing circuit to detect the change of the dielectric constant of novel nanowell devices. The size of nanowell (10nm-100nm) enables high fidelity detection and analysis through Broadband Dielectric Spectroscopy (BDS) of the parallel-plate capacitor formed by the nanowell and the targeted molecules. The signal tranduction is done by a novel, continuous-time detection circuit using a low-noise lock-in architecture which generates the current output containing the information about the admittance of the sensor as a function of the frequency for BDS. This current signal is processed in the current domain by a low power current-mode A/D converter. The current signal transducer has a quasilinear capacitance resolution of 164pA/aF (at 1Ghz) and power consumption of only 30uW in 0.18um TSMC CMOS technology. Another building block is a low noise front end for feature extraction for gas and nanoparticle detection using Van der Waals sensors. The output of such a sensor consists of particle specific information in the low frequency range from 0 to 100 KHz in the form of stochastic fluctuations. Such detection schemes are termed as fluctuation enhanced sensing, which exploit the statistics of the noise in the low frequency spectrum. The front end consists of a low pass filter bank to process the amplified signal from a low-noise transimpedance amplifier. It handles the noise-like information signal from the sensor with filters having increasing cut-off frequencies. It is designed to operate at temperature as high as 200C with low leakage currents to maximize the stochastic fluctuation noise generation. The front-end system was fabricated with TSMC 0.18um technology and tested. The gain of the front-end circuit is at least 87dB and its power consumption with one transimpedance amplifier and 10 filters is just 1.1mW. Moreover, the worst-case maximum input current signal is 0.2uApp while satisfying 5% THD and the equivalent input current noise level is under 7nA. The front-end circuit demonstrates the considerably high dynamic range with the low noise input range suitable for applications for sensing using fluctuation enhanced techniques. Advisors/Committee Members: Sonkusale, Sameer (advisor), Alexander, Parlos (committee member), Kish, Laszlo (committee member), Silva-Martinez, Jose (committee member).

Subjects/Keywords: SENSING; CHEMICAL; MOLECULAR

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Kim, Y. (2005). Front-end circuits for chemical and molecular sensing. (Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/2575

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Kim, Youngbok. “Front-end circuits for chemical and molecular sensing.” 2005. Thesis, Texas A&M University. Accessed July 16, 2019. http://hdl.handle.net/1969.1/2575.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Kim, Youngbok. “Front-end circuits for chemical and molecular sensing.” 2005. Web. 16 Jul 2019.

Vancouver:

Kim Y. Front-end circuits for chemical and molecular sensing. [Internet] [Thesis]. Texas A&M University; 2005. [cited 2019 Jul 16]. Available from: http://hdl.handle.net/1969.1/2575.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Kim Y. Front-end circuits for chemical and molecular sensing. [Thesis]. Texas A&M University; 2005. Available from: http://hdl.handle.net/1969.1/2575

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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