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University of Texas – Austin
1.
Lowery, Timothy Vernon.
The autonomous guidance, navigation, and control laboratory at the University of Texas at Austin.
Degree: MSin Engineering, Aerospace Engineering, 2015, University of Texas – Austin
URL: http://hdl.handle.net/2152/32865 
► This report details the design, construction, and contents of the Autonomous Guidance, Navigation, and Control Laboratory (AGNC Lab) for Dr. Behcet Acikmese at the University…
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▼ This report details the design, construction, and contents of the
Autonomous Guidance, Navigation, and Control Laboratory (AGNC Lab) for Dr. Behcet Acikmese at the University of Texas. It is intended as a resource for those who are new to the lab or to one of its systems. The lab was created to test – on real-world platforms – the control algorithms produced by Dr. Acikmese’s research group. To separate the control problems from other engineering challenges of
autonomous vehicles, the lab uses an optical motion
capture system which can relay vehicle's their position and orientation. To support hardware development, the lab houses a full compliment of hand tools, electronics equipment, and a 3D extrusion printer. The primary research vehicle is the quadrotor, selected for its mechanical simplicity, aerial agility, and recent ubiquity. Through the testing of several quadrotors, my group found existing platforms did not fulfill our need for small size and weight, outdoor flight, payload capacity, and computational power. In response, we designed a custom quadrotor and autopilot. The vehicle flies safely indoors, confidently outdoors, and with a payload of up to half its own mass. The autopilot is based on an ARM microprocessor, leaving ample overhead for our group's algorithms, and can easily add new functionality with breakout boards.
Advisors/Committee Members: Açıkmeşe, Behçet (advisor), Akella, Maruthi R (committee member).
Subjects/Keywords: Quadrotor; Autonomous vehicles; Motion capture; Research laboratory; Autopilot; UAV
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APA (6th Edition):
Lowery, T. V. (2015). The autonomous guidance, navigation, and control laboratory at the University of Texas at Austin. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/32865
Chicago Manual of Style (16th Edition):
Lowery, Timothy Vernon. “The autonomous guidance, navigation, and control laboratory at the University of Texas at Austin.” 2015. Masters Thesis, University of Texas – Austin. Accessed March 08, 2021.
http://hdl.handle.net/2152/32865.
MLA Handbook (7th Edition):
Lowery, Timothy Vernon. “The autonomous guidance, navigation, and control laboratory at the University of Texas at Austin.” 2015. Web. 08 Mar 2021.
Vancouver:
Lowery TV. The autonomous guidance, navigation, and control laboratory at the University of Texas at Austin. [Internet] [Masters thesis]. University of Texas – Austin; 2015. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/2152/32865.
Council of Science Editors:
Lowery TV. The autonomous guidance, navigation, and control laboratory at the University of Texas at Austin. [Masters Thesis]. University of Texas – Austin; 2015. Available from: http://hdl.handle.net/2152/32865
University of Illinois – Urbana-Champaign
2.
Rana, Pushpendra.
Elite capture and forest governance in India.
Degree: PhD, 0341, 2014, University of Illinois – Urbana-Champaign
URL: http://hdl.handle.net/2142/49520
► Elite capture is a persistent problem in forest governance. Influential and powerful elites often capture a major portion of forest-based benefits due to their well-entrenched…
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▼ Elite
capture is a persistent problem in forest governance. Influential and powerful elites often
capture a major portion of forest-based benefits due to their well-entrenched structural domination of forest governance. The problem is chronic and many scholars have held it responsible for the continuous failure of the state efforts to manage forests equitably and sustainably. They have blamed it for inequitable outcomes. The representation of the state as an incapable entity in countering the elite domination has encouraged various actors to promote the alternative institutional arrangements.
Community-based natural resource management (CBNRM) is one of such initiatives that call for an active involvement of communities in forest governance through arrangements that do not include only government. CBNRM has been implemented in many countries through decentralization reforms mostly driven by international donors, non-governmental organizations, fiscal compulsions of central governments and the demands of the civil society and social movements.
CBNRM is considered as an antidote to the persistent problem of elite
capture. By empowering communities to make plans, and implement them, CBNRM aims at tackling the influence and the domination of the elites over the decision-making processes. However, the evidence does not support this contention. Many studies have shown that CBNRM is highly prone to elite
capture. Overwhelming evidence from several studies have shown that CBNRM ignores issues of power relations favoring elites. The poor fail to participate effectively in the participatory programs due to structural barriers and, therefore, fail to shape the decisions on forest resources on which their own livelihoods depend. CBNRM has largely failed in breaking the tight inter-locking and multifaceted control of the elites over forest-related decisions. The continuous failure of forest governance to tackle elite
capture motivates the question: “What governance mechanisms reduce the probability of elite
capture in forest management to ensure equitable and sustainable outcomes?”
Drawing on the literature from political science, political ecology, policy sciences and natural resource governance literature to conclude, elite
capture is reduced when (i) state or external interventions adopt a pro-poor targeted approach, and (ii)
autonomous counter power has emerged in the form of individuals or groups that constantly challenge the institutionalized authority of elites. A mixed method approach - both qualitative as well as quantitative - provides a deeper understanding of the processes involved in elite
capture generalizes to large set of cases. This dissertation is based on the analysis of (i) comparative case studies of elite
capture in three local governments under decentralized forest management (ii) a dataset of 38 local governments over 7 years on the distribution of timber for house construction and repair from public forests, and (iii) state regulation of felling of trees on private lands that includes market…
Advisors/Committee Members: Chhatre, Ashwini (advisor), Chhatre, Ashwini (Committee Chair), McLafferty, Sara L. (committee member), Ribot, Jesse C. (committee member), Dill, Brian J. (committee member), Baylis, Katherine R. (committee member).
Subjects/Keywords: Forest governance; elite capture; decentralization; autonomous counter power; natural resource management; spatial econometrics; matching methods
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APA (6th Edition):
Rana, P. (2014). Elite capture and forest governance in India. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/49520
Chicago Manual of Style (16th Edition):
Rana, Pushpendra. “Elite capture and forest governance in India.” 2014. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 08, 2021.
http://hdl.handle.net/2142/49520.
MLA Handbook (7th Edition):
Rana, Pushpendra. “Elite capture and forest governance in India.” 2014. Web. 08 Mar 2021.
Vancouver:
Rana P. Elite capture and forest governance in India. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2014. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/2142/49520.
Council of Science Editors:
Rana P. Elite capture and forest governance in India. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2014. Available from: http://hdl.handle.net/2142/49520
Delft University of Technology
3.
de Jong, Marnix (author).
Small Scale Methanol Production: Process modelling and design of an autonomous, renewable container sized methanol plant.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:46bdddec-12bd-49dc-8535-b0eb7698bc28
► At the United Nations Climate Change Conference held in Paris in 2015, ambitious goals for the worldwide CO2 emissions were set. To achieve these goals,…
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▼ At the United Nations Climate Change Conference held in Paris in 2015, ambitious goals for the worldwide CO2 emissions were set. To achieve these goals, a huge reduction in CO2 emissions must be realized. For the energy market, the current aim is to use renewable electricity instead of fossil fuels. However, there are multiple sectors where electricity is not a suitable form of energy, due to storage issues. For example, the chemical industry is heavily based on fossil fuels as a resource to synthesize chemicals. It is therefore useful to investigate the feasibility of renewable synthetic fuels. The goal of this thesis is to design a process that converts the hydrocarbon fuel combustion products CO2 and H2O into a fuel that is a liquid at atmospheric conditions. Methanol is selected as the liquid fuel because of its basic molecule structure. It requires much more energy to obtain methanol from CO2 and H2O than it does from natural gas. The process is determined to be container-sized to become cost competitive through mass production. The technical feasibility of a mass produced,
autonomous, renewable and container-sized methanol production plant is studied in this thesis. The whole process is divided into sub processes. H2O is obtained from desalination of seawater. The H2O is split into H2 and O2 using alkaline electrolysis. The CO2 is adsorbed from the air and recovered using pressure and temperature swing. The required energy is obtained using solar PV and solar thermal. The H2 and CO2 are finally converted to methanol in the methanol synthesis sub process. The intermittent character of solar energy yields a dynamically operated process. The methanol synthesis sub process is studied further because of the small scale and dynamic operation that are new concepts for this technology. The other sub processes are considered as black boxes with fixed in- and outputs. The steady state operation of the whole process is modeled using Aspen Plus™ and the distillation process is modelled in MATLAB®. Using the results from Aspen, pinch analysis is performed for optimal use of the available heat. From the results of the model, it is found that an
autonomous container-sized methanol production plant is technically feasible. 140 kg of methanol can be produced daily with a purity of at least 96.6 %, using a set-up of three 40 feet sea containers, two of which are dedicated to the
capture of CO2. 288 kW of electrical power and 24 kW of heat is required for the operation. This is equal to a solar park with an area of 1663 m2 assuming an average 6 hours of solar irradiance. Using the LHV of methanol in the calculation, the total efficiency of the process is estimated at 45 %. The results from the MATLAB® model of the distillation cannot be validated because the used equation of state of REFPROP underestimates the concentration of methanol in each iteration, yielding an invalid mass balance. Fixing this issue results in an invalid energy balance. It is therefore concluded that REFPROP is not suitable for iterative…
Advisors/Committee Members: de Jong, Wiebren (mentor), Korevaar, Gijsbert (graduation committee), Woudstra, Theo (graduation committee), van Kranendonk, J (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Methanol; Renewable; Circular; Autonomous; Container Sized; Aspen Plus; MATLAB; Modelling; Design; Process design; Solar Energy; Electrolysis; Carbon capture
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APA ·
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APA (6th Edition):
de Jong, M. (. (2018). Small Scale Methanol Production: Process modelling and design of an autonomous, renewable container sized methanol plant. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:46bdddec-12bd-49dc-8535-b0eb7698bc28
Chicago Manual of Style (16th Edition):
de Jong, Marnix (author). “Small Scale Methanol Production: Process modelling and design of an autonomous, renewable container sized methanol plant.” 2018. Masters Thesis, Delft University of Technology. Accessed March 08, 2021.
http://resolver.tudelft.nl/uuid:46bdddec-12bd-49dc-8535-b0eb7698bc28.
MLA Handbook (7th Edition):
de Jong, Marnix (author). “Small Scale Methanol Production: Process modelling and design of an autonomous, renewable container sized methanol plant.” 2018. Web. 08 Mar 2021.
Vancouver:
de Jong M(. Small Scale Methanol Production: Process modelling and design of an autonomous, renewable container sized methanol plant. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 08].
Available from: http://resolver.tudelft.nl/uuid:46bdddec-12bd-49dc-8535-b0eb7698bc28.
Council of Science Editors:
de Jong M(. Small Scale Methanol Production: Process modelling and design of an autonomous, renewable container sized methanol plant. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:46bdddec-12bd-49dc-8535-b0eb7698bc28
York University
4.
Dong, Gangqi.
Autonomous Visual Servo Robotic Capture of Non-cooperative Target.
Degree: PhD, Earth & Space Science, 2017, York University
URL: http://hdl.handle.net/10315/33406
► This doctoral research develops and validates experimentally a vision-based control scheme for the autonomous capture of a non-cooperative target by robotic manipulators for active space…
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▼ This doctoral research develops and validates experimentally a vision-based control scheme for the
autonomous capture of a non-cooperative target by robotic manipulators for active space debris removal and on-orbit servicing. It is focused on the final
capture stage by robotic manipulators after the orbital rendezvous and proximity maneuver being completed. Two challenges have been identified and investigated in this stage: the dynamic estimation of the non-cooperative target and the
autonomous visual servo robotic control. First, an integrated algorithm of photogrammetry and extended Kalman filter is proposed for the dynamic estimation of the non-cooperative target because it is unknown in advance. To improve the stability and precision of the algorithm, the extended Kalman filter is enhanced by dynamically correcting the distribution of the process noise of the filter. Second, the concept of incremental kinematic control is proposed to avoid the multiple solutions in solving the inverse kinematics of robotic manipulators. The proposed target motion estimation and visual servo control algorithms are validated experimentally by a custom built visual servo manipulator-target system. Electronic hardware for the robotic manipulator and computer software for the visual servo are custom designed and developed. The experimental results demonstrate the effectiveness and advantages of the proposed vision-based robotic control for the
autonomous capture of a non-cooperative target. Furthermore, a preliminary study is conducted for future extension of the robotic control with consideration of flexible joints.
Advisors/Committee Members: Zhu, George (advisor).
Subjects/Keywords: Engineering; Robotic manipulator; Visual servo; Non-cooperative target; Target estimation; Autonomous capture; Kinematics-based robotic control; Joint flexibility; On orbit servicing; Active debris removal
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APA ·
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Manager
APA (6th Edition):
Dong, G. (2017). Autonomous Visual Servo Robotic Capture of Non-cooperative Target. (Doctoral Dissertation). York University. Retrieved from http://hdl.handle.net/10315/33406
Chicago Manual of Style (16th Edition):
Dong, Gangqi. “Autonomous Visual Servo Robotic Capture of Non-cooperative Target.” 2017. Doctoral Dissertation, York University. Accessed March 08, 2021.
http://hdl.handle.net/10315/33406.
MLA Handbook (7th Edition):
Dong, Gangqi. “Autonomous Visual Servo Robotic Capture of Non-cooperative Target.” 2017. Web. 08 Mar 2021.
Vancouver:
Dong G. Autonomous Visual Servo Robotic Capture of Non-cooperative Target. [Internet] [Doctoral dissertation]. York University; 2017. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/10315/33406.
Council of Science Editors:
Dong G. Autonomous Visual Servo Robotic Capture of Non-cooperative Target. [Doctoral Dissertation]. York University; 2017. Available from: http://hdl.handle.net/10315/33406
. 
Open Access Theses and Dissertations