for Unmanned Aerial Vehicles.
Towards enabling a UAV to autonomously sense and avoid moving obstacles, this thesis makes the following contributions. Initially, an image-based reactive motion planner is developed for a quadrotor to avoid a fast approaching obstacle. Furthermore, A Dubin’s curve based geometry method is developed as a global path planner for a fixed-wing UAV to avoid collisions with aircraft. The image-based method is unable to produce an optimal path and the geometry method uses a simplified UAV model. To compensate
these two disadvantages, a series of algorithms built upon the Closed-Loop Rapid Exploratory Random Tree are developed as global path planners to generate collision avoidance paths in real time. The algorithms are validated in Software-In-the-Loop (SITL) and Hardware-In-the-Loop (HIL) simulations using a fixed-wing UAV model and in real flight experiments using quadrotors. It is observed that the algorithm enables a UAV to avoid moving obstacles approaching to it with different directions and speeds.
Aging is a universal process that every being encounters on their journey of life. The effect of dance as a form of improvement of physical and well-being on the aging body brings upon the question of the impact of somatic-based movement, specifically gestural movement on the perceptions of aging within older and younger adults through a bi-cultural lens of the United States and India. This was investigated using a series of creative partnership workshops that included listening, drawing, and culminating movement activities, followed by a group discussion about the creative process. There were four different participant groups: a group of college students taking an Aging in American Culture collegiate class, a Somatic Practices collegiate dance class, a group of older adults at the Tempe Multigenerational Center, and a group of older adults in Bangalore, India. Inter-generational and cross-cultural observations were discussed, and it was seen that the workshops were able to foster feelings of community and camaraderie among participants depending on the group’s relationship to dance-making. From the research, a dance performance was developed and performed specifically with women of color in ASU’s Dance program with the choreographic process discussed in detail, along with key takeaways about facilitating a multi-dimensional experience for the dancers and choreographer. Future directions for the work include working with intergenerational populations and researching community effects on gendered aging experiences across cultures in the dance world.
Students who transfer to a university from a community college are a diverse, resilient group of individuals who often face many challenges and barriers upon transitioning from a 2-year institution to a 4-year institution. Due to their upper-division status upon arrival at the university, transfer students are often overlooked and even unsupported throughout multiple aspects of the transfer process. To further understand the issues that are faced by transfer students throughout the transfer process, we conducted research to get a better understanding of exactly who transfer students are, what challenges they face, and how universities can better support these students so they are able to complete their baccalaureate. We compiled this research into an annotated bibliography and developed a presentation to discuss our findings, personal anecdotes, and the suggestions we have to help Barrett, the Honors College move towards a more transfer-receptive culture. All questions asked during the presentation have been documented.
Students who transfer to a university from a community college are a diverse, resilient group of individuals who often face many challenges and barriers upon transitioning from a 2-year institution to a 4-year institution. Due to their upper-division status upon arrival at the university, transfer students are often overlooked and even unsupported throughout multiple aspects of the transfer process. To further understand the issues that are faced by transfer students throughout the transfer process, we conducted research to get a better understanding of exactly who transfer students are, what challenges they face, and how universities can better support these students so they are able to complete their baccalaureate. We compiled this research into an annotated bibliography and developed a presentation to discuss our findings, personal anecdotes, and the suggestions we have to help Barrett, the Honors College move towards a more transfer-receptive culture. All questions asked during the presentation have been documented.