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Learning visual odometry primitives for computationally constrained platforms
(Massachusetts Institute of Technology, 2019)
Autonomous navigation for robotic platforms, particularly techniques that leverage an onboard camera, are of currently of significant interest to the robotics community. Designing methods to localize small, resource-constrained ...
Modeling and tradespace exploration of a space suit hip bearing assembly using multi-degree-of-freedom range of motion analysis
(Massachusetts Institute of Technology, 2019)
Space suits are crucial to human spaceflight, but can restrict motion, require additional energy, and increase injury risk. Previous planetary suits were largely based on flexible components, which generate additional ...
On maximum-reward motion in stochastic environments
(Massachusetts Institute of Technology, 2015)
In this thesis, we consider the problem of an autonomous mobile robot operating in a stochastic reward field to maximize total rewards collected in an online setting. This is a generalization of the problem where an unmanned ...
Multilayer network modeling of change propagation for engineering change management
(Massachusetts Institute of Technology, 2010)
Engineering change management is a critical and challenging process within product development. One pervasive source of difficulty for this process is the phenomenon of change propagation, by which a change to one part or ...
Addressing design challenges in mechanical counterpressure spacesuit design and space-inspired informal education policy
(Massachusetts Institute of Technology, 2011)
Extravehicular activity (EVA), or spacewalks allows astronauts to accomplish some of the most important endeavors in space history. The importance of EVA will continue to increase as people venture further into our solar ...
A doublet panel method for generalized supersonic lifting surfaces
(Massachusetts Institute of Technology, 2017)
An improved doublet panel method for calculating the aerodynamic properties of lifting surfaces in supersonic flows is derived and implemented. The lifting surfaces are discretized into an arbitrary number of doublet panels ...
Multi-level decision-based system architecting
(Massachusetts Institute of Technology, 2011)
Decision-based system architecting represents a complex system as a set of interconnected decisions that a .system architect can make about the trade space. Modeling a system using decision-based frameworks allows the ...
Task allocation policies for State Dependent queues
(Massachusetts Institute of Technology, 2011)
Consider a model of a dynamical queue with deterministic arrival and service rates, where the service rate depends on the server utilization history. This proposed queueing model occurs in many practical situations. for ...
Performance limits of axial turbomachine stages
(Massachusetts Institute of Technology, 2011)
This thesis assesses the limits of stage efficiency for axial compressor and turbine stages. A stage model is developed, consisting of a specified geometry and a surface velocity distribution with turbulent boundary layers. ...
A critical benefit analysis of artificial gravity as a microgravity countermeasure
(Massachusetts Institute of Technology, 2010)
Human physiological systems, especially the cardiovascular and musculo-skeletal systems, are well-known to decondition during spaceflight. Several countermeasures that are in use today have been rigorously developed over ...