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- All Subjects: engineering
- Creators: Mechanical and Aerospace Engineering Program
- Resource Type: Text
To achieve this goal, a model of a swarm performing a collective transport task in a bounded domain featuring convex obstacles was simulated in MATLAB/ Simulink®. The closed-loop dynamic equations of this model were linearized about an equilibrium state with angular acceleration and linear acceleration set to zero. The simulation was run over 30 times to confirm system ability to successfully transport the payload to a goal point without colliding with obstacles and determine ideal operating conditions by testing various orientations of objects in the bounded domain. An additional purely MATLAB simulation was run to identify local minima of the Hessian of the navigation-like potential function. By calculating this Hessian periodically throughout the system’s progress and determining the signs of its eigenvalues, a system could check whether it is trapped in a local minimum, and potentially dislodge itself through implementation of a stochastic term in the robot controllers. The eigenvalues of the Hessian calculated in this research suggested the model local minima were degenerate, indicating an error in the mathematical model for this system, which likely incurred during linearization of this highly nonlinear system.
STEM programs are the programs for the future. Technology is advancing at a rapid speed and the world is trying to keep up. Engineering is leading the charge within that because engineers are always at the forefront of innovation. However, just the prospect of growth is not enough for students to want to become professional engineers. Black female students have the desire to better their knowledge by going to institutions of higher education, but they do not share that same passion for engineering education. This study aims to understand that. This research is looking into retention factors for students in engineering and how those factors can be transferred to Black women. It was found that factors like bias training for students and faculty, integration to engineering organizations, getting more Black female professors and faculty, and introduction to prerequisite courses like calculus and physics to Black females in grade school.