Computer Science Theses and Dissertations

Permanent URI for this collectionhttp://hdl.handle.net/1903/2756

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    MODEL-BASED SYSTEMS ENGINEERING SIMULATION FRAMEWORK FOR ROBOT GRASPING
    (2021) Menaka Sekar, Praveen Kumar; Baras, John S; Systems Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    Constant rise in industrial usage of robots for commercial applications has led to the need for rapid, efficient, and reliable robotic system development processes. Integration of tools from various disciplines to perform design space exploration,taking into consideration the stakeholder and system requirements, is one major step in regards to this. In this thesis, we apply Model-Based Systems Engineering (MBSE) principles to a simple pick and place task. We do this by integrating Cameo Systems Modeling Language (SysML) tool, CoppeliaSim robot simulator, and Gurobi Optimizer to facilitate and accelerate the design process for a robot grasping system. A simulation based Verification & Validation approach supports design space exploration to obtain optimal design solutions, thereby leading to successful and profitable deployment and operation.
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    Model-Based Systems Engineering Applied to the Detection and Correction of Object Slippage Within a Dexterous Robotic Hand from the Laboratory to Simulation
    (2020) Meehan, Charles Anthony; Baras, John S; Systems Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    Now more than ever, it is important to have the ability to replicate robotic tasks in simulation and be able to validate the simulation against stakeholder requirements and verify the simulation against simulation requirements. In a previous study, a five-fingered robotic hand, the Shadow Dexterous Hand, with haptic BioTac SP sensors attached was used to detect the moment of slip of an object from the robotic hand while weight was continuously being added and stop the object from falling from the grasp while not overcorrecting. This work was accomplished by Dr. Zhenyu Lin, Dr. John S. Baras, and the author in the Autonomy Robotics Cognition Laboratory at the University of Maryland. This thesis will present the use of Model-Based System Engineering techniques to replicate the detection and correction of object slippage by a five-fingered robotic hand using force feedback control in simulation.
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    Model Based Systems Engineering for a Typical Smartgrid
    (2019) Ninawe, Omkar; Baras, John S; Systems Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    The complexity and heterogeneity of today’s large Cyber-Physical Systems (CPS) is addressed by model based design. This class of systems is a direct consequence of our entry into the new era of systems characterized by high complexity, increased software dependency, multifaceted support for networking and inclusion of data and services form global networks. Cyber-Physical Power Systems such as SmartGrids provide perfect example to emphasis heterogeneity and complexity of today’s systems. In this thesis we work towards augmenting the creation and demonstration of a framework for developing an integrated CPS modelling hub with powerful and diverse tradeoff analysis methods and tools for design exploration of CPS.
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    SysML Executable Model of an Energy Efficient House and Trade-Off Analysis
    (2018) Cawasji, Kersasp Aspi; Baras, John S.; Systems Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    With the growing complexity of energy efficient buildings, the methods of modeling and simulating such structures must account for monitoring several thousand design parameters across multiple diverse domains. As a result, modeling tools are now very specific to their respective domains and are growing more and more incongruous with each other. This calls for a way to integrate multiple modeling tools in the effort to create a single, large model capable to encapsulate data from multiple, different models. Thus, in this thesis, different methods to perform an integration with Systems Modeling Language (SysML) and a simulation tool were identified, described and evaluated. Then, a new method was developed and discussed. Finally, the new method was demonstrated by developing a SysML executable model of a simple two-room house that utilizes solar power for space heating, with a heat pump used as a backup. Using the Functional Mock-up Interface (FMI) standard, the SysML model is integrated with a Modelica model, and a simulation is run in Simulink. Finally, a tradeoff analysis was performed for the purpose of design space exploration.
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    Distributed Search Method for Teams of Small Unmanned Aircraft Systems
    (2018) Moschler, Jacob D.; Baras, John S; Systems Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    We apply Model Based Systems Engineering (MBSE) methods to develop requirements for unmanned aircraft systems (UAS) use cases across industries and create new path planning algorithms for one group of use cases with similar requirements. We then develop and validate models to estimate cost versus data quality for the aforementioned group of use cases. We use our models in conjunction with the MBSE process to plan and execute flights beyond visual line of sight (BVLOS) to scan large areas of remote jungle using small UAS.