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(1 - 5 of 5)
- Title
- AUTONOMOUS ENVIRONMENTAL MAPPING IN MULTI-AGENT UAV SYSTEMS.
- Creator
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Luotsinen, Linus Jan, Boloni, Ladislau L., University of Central Florida
- Abstract / Description
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UAV units are by many researchers and aviation specialists considered the future and cutting edge of modern flight technology. This thesis discusses methods for efficient autonomous environmental mapping in a multi-agent domain. An algorithm that emphasizes on team work by sharing the agents local map information and exploration intentions is presented as a solution to the mapping problem. General theories on how to model and implement rational autonomous behaviour for UAV agents are...
Show moreUAV units are by many researchers and aviation specialists considered the future and cutting edge of modern flight technology. This thesis discusses methods for efficient autonomous environmental mapping in a multi-agent domain. An algorithm that emphasizes on team work by sharing the agents local map information and exploration intentions is presented as a solution to the mapping problem. General theories on how to model and implement rational autonomous behaviour for UAV agents are presented. Three different human and tactical behaviour modeling techniques are evaluated. The author found the CxBR paradigm to be the most interesting approach. Also, in order to test and quantify the theories presented in this thesis a simulation environment was developed. This simulation software allows for UAV agents to operate in a visual 3-D environment with mountains, other various terrain types, danger points and enemies to model unexpected events.
Show less - Date Issued
- 2004
- Identifier
- CFE0000051, ucf:46111
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000051
- Title
- A Multiagent Q-learning-based Restoration Algorithm for Resilient Distribution System Operation.
- Creator
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Hong, Jungseok, Sun, Wei, Zhou, Qun, Zheng, Qipeng, University of Central Florida
- Abstract / Description
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Natural disasters, human errors, and technical issues have caused disastrous blackouts to power systems and resulted in enormous economic losses. Moreover, distributed energy resources have been integrated into distribution systems, which bring extra uncertainty and challenges to system restoration. Therefore, the restoration of power distribution systems requires more efficient and effective methods to provide resilient operation.In the literature, using Q-learning and multiagent system (MAS...
Show moreNatural disasters, human errors, and technical issues have caused disastrous blackouts to power systems and resulted in enormous economic losses. Moreover, distributed energy resources have been integrated into distribution systems, which bring extra uncertainty and challenges to system restoration. Therefore, the restoration of power distribution systems requires more efficient and effective methods to provide resilient operation.In the literature, using Q-learning and multiagent system (MAS) to restore power systems has the limitation in real system application, without considering power system operation constraints. In order to adapt to system condition changes quickly, a restoration algorithm using Q-learning and MAS, together with the combination method and battery algorithm is proposed in this study. The developed algorithm considers voltage and current constraints while finding system switching configuration to maximize the load pick-up after faults happen to the given system. The algorithm consists of three parts. First, it finds switching configurations using Q-learning. Second, the combination algorithm works as a back-up plan in case of the solution from Q-learning violates system constraints. Third, the battery algorithm is applied to determine the charging or discharging schedule of battery systems. The obtained switching configuration provides restoration solutions without violating system constraints. Furthermore, the algorithm can adjust switching configurations after the restoration. For example, when renewable output changes, the algorithm provides an adjusted solution to avoid violating system constraints.The proposed algorithm has been tested in the modified IEEE 9-bus system using the real-time digital simulator. Simulation results demonstrate that the algorithm offers an efficient and effective restoration strategy for resilient distribution system operation.
Show less - Date Issued
- 2017
- Identifier
- CFE0006746, ucf:51856
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0006746
- Title
- Planning and Control of Swarm Motion as Continua.
- Creator
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Rastgoftar, Hossein, Jayasuriya, Suhada, Das, Tuhin, Xu, Chengying, Qu, Zhihua, Simaan, Marwan, University of Central Florida
- Abstract / Description
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In this thesis, new algorithms for formation control of multi agent systems (MAS) based on continuum mechanics principles will be investigated. For this purpose agents of the MAS are treated as particles in a continuum, evolving in an n-D space, whose desired configuration is required to satisfy an admissible deformation function. Considered is a specific class of mappings that is called homogenous where the Jacobian of the mapping is only a function of time and is not spatially varying. The...
Show moreIn this thesis, new algorithms for formation control of multi agent systems (MAS) based on continuum mechanics principles will be investigated. For this purpose agents of the MAS are treated as particles in a continuum, evolving in an n-D space, whose desired configuration is required to satisfy an admissible deformation function. Considered is a specific class of mappings that is called homogenous where the Jacobian of the mapping is only a function of time and is not spatially varying. The primary objectives of this thesis are to develop the necessary theory and its validation via simulation on a mobile-agent based swarm test bed that includes two primary tasks: 1) homogenous transformation of MAS and 2) deployment of a random distribution of agents on to a desired configuration. Developed will be a framework based on homogenous transformations for the evolution of a MAS in an n-D space (n=1, 2, and 3), under two scenarios: 1) no inter-agent communication (predefined motion plan); and 2) local inter-agent communication. Additionally, homogenous transformations based on communication protocols will be used to deploy an arbitrary distribution of a MAS on to a desired curve. Homogenous transformation with no communication: A homogenous transformation of a MAS, evolving in an R^n space, under zero inter agent communication is first considered. Here the homogenous mapping, is characterized by an n x n Jacobian matrix Q(t) and an n x 1 rigid body displacement vector D(t), that are based on positions of n+1 agents of the MAS, called leader agents. The designed Jacobian Q(t) and rigid body displacement vector D(t) are passed onto rest of the agents of the MAS, called followers, who will then use that information to update their positions under a pre-defined motion plan. Consequently, the motion of MAS will evolve as a homogenous transformation of the initial configuration without explicit communication among agents. Homogenous Transformation under Local Communication: We develop a framework for homogenous transformation of MAS, evolving in R^n, under a local inter agent communication topology. Here we assume that some agents are the leaders, that are transformed homogenously in an n-D space. In addition, every follower agent of the MAS communicates with some local agents to update its position, in order to grasp the homogenous mapping that is prescribed by the leader agents. We show that some distance ratios that are assigned based on initial formation, if preserved, lead to asymptotic convergence of the initial formation to a final formation under a homogenous mapping.Deployment of a Random Distribution on a Desired Manifold: Deployment of agents of a MAS, moving in a plane, on to a desired curve, is a task that is considered as an application of the proposed approach. In particular, a 2-D MAS evolution problem is considered as two 1-D MAS evolution problems, where x or y coordinates of the position of all agents are modeled as points confined to move on a straight line. Then, for every coordinate of MAS evolution, bulk motion is controlled by two agents considered leaders that move independently, with rest of the follower agents motions evolving through each follower agent communicating with two adjacent agents.
Show less - Date Issued
- 2013
- Identifier
- CFE0004915, ucf:49640
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0004915
- Title
- The Measurement of Motivation: Examining the Measurement Properties of the Motivation Assessment System.
- Creator
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Schmerling, Daniel, Fritzsche, Barbara, Joseph, Dana, Jentsch, Florian, Roth, Colin, University of Central Florida
- Abstract / Description
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The current study investigated the Pritchard-Ashwood (P-A) Theory of Motivation (Pritchard (&) Ashwood, 2008) by examining a measure of P-A Theory labeled the Motivation Assessment System (MAS). P-A Theory combines prior motivation theories such as expectancy theory, goal setting theory, justice theory, and needs theory and consolidates them into one integrated theory of motivation. In essence, P-A theory posits that one's motivation is determined by four perceptions, including the extent to...
Show moreThe current study investigated the Pritchard-Ashwood (P-A) Theory of Motivation (Pritchard (&) Ashwood, 2008) by examining a measure of P-A Theory labeled the Motivation Assessment System (MAS). P-A Theory combines prior motivation theories such as expectancy theory, goal setting theory, justice theory, and needs theory and consolidates them into one integrated theory of motivation. In essence, P-A theory posits that one's motivation is determined by four perceptions, including the extent to which one believes: (a) his/her actions will lead to results, (b) his/her results will lead to positive evaluations, (c) his/her evaluations will lead to positive outcomes, and (d) his/her outcomes will satisfy his/her needs. The MAS is designed to capture P-A Theory by assessing these four perceptions, and this dissertation examined tenets of P-A Theory by investigating the measurement properties of the MAS via confirmatory factor analysis. Findings showed that the model set forth by P-A Theory had the best fit compared to the other competing models when analyzing MAS data, suggesting the MAS is an appropriate measure of P-A Theory. This research should help to bridge the gap between motivation theory and practice by providing initial evidence of support for a practical measure that captures the full spectrum of employee motivation as set forth in P-A Theory. Recommendations for future research using the MAS to study motivation are suggested.
Show less - Date Issued
- 2013
- Identifier
- CFE0004749, ucf:49801
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0004749
- Title
- A PLURI-NATIONAL STATE: THE IMPACT OF THE MAS ON THE STATUS OF INDIGENOUS PEOPLE IN BOLIVIA.
- Creator
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Medina, Pamela, Morales, Waltraud, University of Central Florida
- Abstract / Description
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In 2005 the largely indigenous country of Bolivia elected its first indigenous president, Evo Morales of the Movement toward Socialism (MAS) Party. Morales ran on a promise of re-distributing wealth, to aid in the development of one of Latin America‟s poorest countries. Morales‟ first term in office marked a historical achievement for the indigenous movement in Bolivia, and sparked social change in the country. The government also experienced a momentous achievement through the re...
Show moreIn 2005 the largely indigenous country of Bolivia elected its first indigenous president, Evo Morales of the Movement toward Socialism (MAS) Party. Morales ran on a promise of re-distributing wealth, to aid in the development of one of Latin America‟s poorest countries. Morales‟ first term in office marked a historical achievement for the indigenous movement in Bolivia, and sparked social change in the country. The government also experienced a momentous achievement through the re-writing of the Bolivian constitution, acknowledging the country‟s multi-ethnic and pluri-national character. Although his social, domestic and foreign policies have been controversial, particularly in the United States, Morales was re-elected to serve a second term in 2009. This research analyzes the outcomes of Morales‟ policy changes during his first term in office, from 2006-2009 to examine how the election of the MAS has impacted the marginalized status of indigenous people in Bolivia.
Show less - Date Issued
- 2010
- Identifier
- CFE0003242, ucf:48561
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0003242
