UMD Theses and Dissertations
Permanent URI for this collectionhttp://hdl.handle.net/1903/3
New submissions to the thesis/dissertation collections are added automatically as they are received from the Graduate School. Currently, the Graduate School deposits all theses and dissertations from a given semester after the official graduation date. This means that there may be up to a 4 month delay in the appearance of a given thesis/dissertation in DRUM.
More information is available at Theses and Dissertations at University of Maryland Libraries.
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Item Development of a Quadcopter Test Environment and Research Platform(2015) De Prins, Christian; Martins, Nuno C; Electrical Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)This thesis first uses a model-based systems engineering approach to model, design, and implement a quadcopter test environment and research platform (TERP). TERP provides quadcopter state information, using a motion capture system, which can be used with custom feedback strategies to enable controlled flight. Next, it makes use of control theory to develop two controllers for quadcopter flight trajectory tracking: one based on linear quadratic regulation (LQR) and one based on model reference adaption. Simulations of both controllers are done in MATLAB using Simulink and seek to demonstrate the improved performance of the adaptive controller over the LQR controller in flight trajectory tracking with payload uncertainties. Flight tests with the LQR controller are then done to validate the TERP System.Item ADAPTIVE FLIGHT AND ECHOLOCATION BEHAVIOR IN BATS(2015) Falk, Ben; Moss, Cynthia F; Neuroscience and Cognitive Science; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)Bats use sonar to identify and localize objects as they fly and navigate in the dark. They actively adjust the timing, intensity, and frequency content of their sonar signals in response to task demands. They also control the directional characteristics of their sonar vocalizations with respect to objects in the environment. Bats demonstrate highly maneuverable and agile flight, producing high turn rates and abrupt changes in speed, as they travel through the air to capture insects and avoid obstacles. Bats face the challenge of coordinating flight kinematics with sonar behavior, as they adapt to meet the varied demands of their environment. This thesis includes three studies, one on the comparison of flight and echolocation behavior between an open space and a complex environment, one on the coordination of flight and echolocation behavior during climbing and turning, and one on the flight kinematic changes that occur under wind gust conditions. In the first study, we found that bats adapt the structure of the sonar signals, temporal patterning, and flight speed in response to a change in their environment. We also found that flight stereotypy developed over time in the more complex environment, but not to the extent expected from previous studies of non-foraging bats. We found that the sonar beam aim of the bats predicted flight turn rate, and that the relationship changed as the bats reacted to the obstacles. In the second study, we characterized the coordination of flight and sonar behavior as bats made a steep climb and sharp turns while they navigated a net obstacle. We found the coordinated production of sonar pulses with the wingbeat phase became altered during navigation of tight turns. In the third study, we found that bats adapt wing kinematics to perform under wind gust conditions. By characterizing flight and sonar behaviors in an insectivorous bat species, we find evidence for tight coordination of sensory and motor systems for obstacle navigation and insect capture. Through these studies, we learn about the mechanisms by which mammals and other organisms process sensory information to adapt their behaviors.Item Somatosensory Signaling for Flight Control in the Echolocating Bat Eptesicus fuscus(2014) Chadha, Mohit; Moss, Cynthia F; Neuroscience and Cognitive Science; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)Bats are the only mammals to have evolved powered flight. Their specialized hand-wings with elongated digits and a thin membrane spanning the digits not only enable flight, but give them unrivaled aerial maneuverability. Bat wing membrane is endowed with an array of microscopic hairs that are hypothesized to monitor airflow and provide sensory feedback to guide rapid motor adjustments for flight control. The goal of this thesis is to contribute to a broader understanding of the response properties of wing-associated tactile receptive fields, and the representation of aerodynamic feedback in the bat's nervous system. Using the big brown bat, Eptesicus fuscus, a series of neurophysiological experiments were performed where the primary somatosensory cortical (S1) responses to tactile and airflow stimulation of the wings were analyzed. Results demonstrate that the body surface is organized topographically across the surface of S1, with an overrepresentation of wings, head and foot. The wings have an inverted orientation compared to hand representation of terrestrial mammals, with tactile thresholds that are remarkably close to human fingertips. Airflow stimulation of the wings was achieved by brief puffs of air generated using a portable fluid dispensing system. By changing the intensity, duration and direction, airflow sensitive receptive fields were characterized based on responses of S1 neurons. Results reveal that neuronal responses are rapidly adapting, encompassing relatively large and overlapping receptive fields with well-defined centers. S1 responses are directionally selective, with a majority preferring reversed airflow. The onset latency of evoked activity decreases as a function of airflow intensity, with no effect on response magnitude. Furthermore, when dorsal and ventral wings surfaces are stimulated simultaneously, S1 responses are either inhibited or facilitated compared to either wing surface stimulation alone. This finding suggests that outputs from the two wing surfaces are integrated in a manner that reflects the interplay of aerodynamic forces experienced by the wings. To evaluate the central coding mechanisms of airflow sensing by bat wings, I applied an information theoretic framework to spike train data. Results indicate that the strength and direction of airflow can be encoded by the precise timing of spikes, where first post-stimulus spikes transmit bulk of the information, evidence for a latency code.