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Author:

Dean, Adam

Title:

Terrain-Based Road Vehicle Localization Using Attitude Measurements

Graduate Program:

Mechanical Engineering

Keywords:

vehicle
terrain-based
estimation
kalman filter
particle filter
localization

File:

Download Adam-Dean-Dissertation.pdf

Committee Members:

Sean Brennan, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Henry Joseph Sommer Iii, Committee Member
Karl Martin Reichard, Committee Member
Jack W Langelaan, Committee Member

Author:

Logan, Drew G.

Title:

OPTIMIZATION OF HYBRID POWER SOURCES FOR MOBILE ROBOTICS THROUGH THE USE OF ALLOMETRIC DESIGN PRINCIPLES AND DYNAMIC PROGRAMMING

Graduate Program:

Mechanical Engineering

Keywords:

system modeling
optimal design
hybrid systems
dynamic programming
allometric design
mobile robots
robot performance

File:

Download Drew_Logan_MS_ME_Thesis.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Sean N Brennan, Thesis Advisor/Co-Advisor
Timothy William Simpson, Thesis Advisor/Co-Advisor
Karl Martin Reichard, Thesis Advisor/Co-Advisor

Author:

Stine, Jason S.

Title:

Analyzing Highway Median Safety Through Vehicle Dynamics Simulations

Graduate Program:

Mechanical Engineering

Keywords:

Vehicle dynamics
Median safety
Vehicle rollover
Cross-median collisions

File:

Download Stine_MS_Thesis_Final.pdf

Committee Members:

Sean Brennan, Thesis Advisor/Co-Advisor
Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Jerath, Kshitij

Title:

Impact of Adaptive Cruise Control on the Formation of Self-organized Traffic Jams on Highways

Graduate Program:

Mechanical Engineering

Keywords:

traffic jams
traffic
self-organized
self organization
adaptive cruise control
congestion
multi-agent systems

File:

Download Thesis_20100412_v6.3.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Petersheim, Michael D

Title:

Scaling of Hybrid Electric Vehicle Powertrain Components for Hardware-in-the-Loop Simulation

Graduate Program:

Mechanical Engineering

Keywords:

Buckingham Pi Theorem
hybrid electric vehicles
hardware-in-the-loop

File:

Download ThesisMaster5.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Yu, Nan

Title:

Yaw-Control Enhancement for Buses by Active Front-Wheel Steering

Graduate Program:

Mechanical Engineering

Keywords:

Bus
Heavy Vehicle
Yaw Control
Front-Wheel Steering

File:

Download Thesis_NanYu_Final.pdf

Committee Members:

Sean N Brennan, Committee Chair/Co-Chair
Mark Levi, Committee Member
John M Mason, Committee Member
Christopher Rahn, Committee Member

Author:

Muthiah, Saravanan

Title:

Prediction of Performance Measures for Buses: A System-Based Approach

Graduate Program:

Mechanical Engineering

Keywords:

acceleration and gradeability
fuel economy
Artificial Neural Networks (ANN)
Transit buses
Performance Based Standards (PBS)
pass-by noise
reliability
multi-criteria optimization

File:

Download Phd_Thesis_Saravanan_Muthiah.pdf

Committee Members:

Thomas Litzinger, Committee Chair/Co-Chair
Dr Mirna Urquidi Macdonald, Committee Chair/Co-Chair
Timothy William Simpson, Committee Member
Sean N Brennan, Committee Member
Shelley Marie Stoffels, Committee Member

Author:

Vemulapalli, Pramod Krishna

Title:

DESIGN AND TESTING OF A TERRAIN MAPPING SYSTEM FOR MEDIAN SLOPE MEASUREMENT

Graduate Program:

Mechanical Engineering

Keywords:

road
Medians
Terrain Mapping
cross slope
grade

File:

Download thesis_pramod_vemulapalli.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Chaves, Stephen Marc

Title:

Using Kalman Filtering to Improve a Low-Cost GPS-Based Collision Warning System for Vehicle Convoys

Graduate Program:

Mechanical Engineering

Keywords:

Kalman filter
collision warning
GPS
vehicle convoys

File:

Download CHAVES_MS_THESIS.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Amin, Sanket R

Title:

DETERMINING THE UNCERTAINTY OF A GPS-BASED COLLISION VEHICLE DETECTION SYSTEM

Graduate Program:

Mechanical Engineering

Keywords:

Allan Variance
sensitivity analysis
LIDAR
collision warning system
GPS
friction coefficient estimation

File:

Download Amin_MastersThesis_final.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Sean Brennan, Thesis Advisor/Co-Advisor

Author:

Lapapong, Sittikorn

Title:

Vehicle Rollover Prediction for Banked Surfaces

Graduate Program:

Mechanical Engineering

Keywords:

Rollover Prediction
Vehicle Rollover
Vehicle Dynamics
Vehicle
Zero-Moment Point

File:

Download SittikornLapapong_PhDThesis_2010_11_20.pdf

Committee Members:

Sean N Brennan, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Henry Joseph Sommer Iii, Committee Member
Christopher Rahn, Committee Member
Eric Todd Donnell, Committee Member
Karen Ann Thole, Committee Member

Author:

Varunjikar, Tejas

Title:

Design of Horizontal Curves with Downgrades using Low-Order Vehicle Dynamics Models

Graduate Program:

Mechanical Engineering

Keywords:

horizontal curve design
vehicle dynamics
friction demand
bicycle model
CarSim
point mass model
LuGre tire model
tire pavement friction

File:

Download MS_Thesis_Varunjikar_Tejas.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Gupta, Vishisht Vijay

Title:

Vehicle Localization Using Low-Accuracy GPS, IMU and Map-Aided Vision

Graduate Program:

Mechanical Engineering

Keywords:

GPS
Kalman Filter
IMU
Vehicle Localization
Terrain-Aided Vision
Map-Aided Vision

File:

Download Dissertation_Final.pdf

Committee Members:

Sean N Brennan, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Henry Joseph Sommer Iii, Committee Member
Alok Sinha, Committee Member
Robert T Collins, Committee Member
Jack W Langelaan, Committee Member

Author:

Vemulapalli, Pramod Krishna

Title:

Extrema Features for Global-localization and Pattern Matching of Time-series Data

Graduate Program:

Mechanical Engineering

Keywords:

extrema features
subsequence matching
time series features

File:

Download PramodPhDThesis.pdf

Committee Members:

Sean N Brennan, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Henry Joseph Sommer Iii, Committee Member
Asok Ray, Committee Member
Vishal Monga, Committee Member
Dr Robert T Collins, Committee Member

Author:

Swanson, Kevin Scott

Title:

Identification of Stability Thresholds in Time-delayed Vehicle Teleoperation

Graduate Program:

Mechanical Engineering

Keywords:

vehicle teleoperation
time delay
stability
feedback
driver phase margin

File:

Download SwansonThesisFinal_FormatFix.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Henry Joseph Sommer Iii, Thesis Advisor/Co-Advisor

Author:

Mangus, Anthony Joseph

Title:

Robust Vehicle Localization using GPS, In-Vehicle Camera, Magnetic Guidance and Kalman Filtering

Graduate Program:

Mechanical Engineering

Keywords:

Kalman Filter
Vehicle Localization
Estimation
GPS

File:

Download Mangus_MSThesis.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Corbin, David Jeffrey

Title:

Road-side Obstacle Detection and Threat Assessment

Graduate Program:

Mechanical Engineering

Keywords:

Obstacle detection
hazard analysis
downward-facing LIDAR

File:

Download Corbin_Thesis_2014_08_05.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Briggs, Kathryn Launa

Title:

a coupled mobile base manipulation system for robotic refueling

Graduate Program:

Mechanical Engineering

Keywords:

inverse kinematics
robotic refueling
mobile base
robotic manipulator

File:

Download Penn_State_University_Thesis_FINAL.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Karl Martin Reichard, Thesis Advisor/Co-Advisor

Author:

Dorris, James Theodore

Title:

Automated Docking of a Small-scale Tractor-trailer Using an Infrastructure-based System

Graduate Program:

Mechanical Engineering

Keywords:

automation
tractor-trailer
infrastructure-based
position
orientation
detection
sensors
docking

File:

Download Dorris_MS_Thesis.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Jerath, Kshitij

Title:

Influential Subspaces in Self-organizing Multi-agent Systems

Graduate Program:

Mechanical Engineering

Keywords:

Self-organization
multi-agent system
influential subspace
traffic flow
statistical mechanics
intelligent vehicles

File:

Download PhD_-_Kshitij_Jerath_-_Influential_subspaces_in_self-organizing_multi-agent_systems.pdf

Committee Members:

Sean N Brennan, Dissertation Advisor/Co-Advisor
Asok Ray, Dissertation Advisor/Co-Advisor
Vikash Varun Gayah, Committee Member
Hosam Kadry Fathy, Committee Member

Author:

Safi, Jariullah

Title:

On State of Charge Estimation Accuracy for Battery Cells Connected in Series

Graduate Program:

Mechanical Engineering

Keywords:

batteries
extended kalman filter
fisher information
cramer rao lower bound
bias
collective
estimation
state of charge
SOC

File:

Download Jariullah_Safi_Masters_Thesis_Final.pdf

Committee Members:

Hosam Kadry Fathy, Thesis Advisor/Co-Advisor
Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Mattes, Richard J

Title:

Vehicle Localization With A Downward Facing LIDAR

Graduate Program:

Mechanical Engineering

Keywords:

localization
particle filter
autonomous vehicles
simulation
LIDAR

File:

Download 1-Mattes_MS.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Monaco, Christopher D

Title:

Detecting the Instability of Oncoming Vehicles Using Optical Flow and Map-Based Context

Graduate Program:

Mechanical Engineering

Keywords:

optical flow
visual odometry
instability
vehicles
map
stereo camera
vehicle detection
unscented kalman filter
navigation
advanced driver assistance systems
stereo image processing
kalman filters
road vehicles
optical flow vectors
perception
gps-denied
automotive safety
vehicle instability
vehicle state estimation
egomotion estimation
ego-vehicle
collision avoidance
stereo vision

File:

Download Detecting_the_Instability_of_Oncoming_Vehicles_Using_Optical_Flow_and_Map-Based_Context.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Kurt A Hacker, Committee Member
Kurt A Hacker, Committee Member

Author:

Arora, Prashant

Title:

DEVELOPMENT OF AN OPEN-SOURCE DRIVING SIMULATOR TO EVALUATE DRIVER BEHAVIOR IN AUTONOMOUS ENVIRONMENTS

Graduate Program:

Mechanical Engineering

Keywords:

Driving Simulator
Autonomous Environments
Scenario Authoring

File:

Download Thesis_PrashantArora_Masters_Final.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Matthew B Parkinson, Committee Member
Karen Ann Thole, Committee Member

Author:

Docimo, Donald John

Title:

Insights into the Behavior of Heterogeneous Thermostatically Controlled Loads and Battery Packs

Graduate Program:

Mechanical Engineering

Keywords:

Heterogeneity
Battery Packs
Thermostatically Controlled Loads (TCLs)
Controls
Model Reduction
Demand Response
Energy Systems
Model Predictive Control (MPC)
Lithium-Ion Batteries
Battery balancing

File:

Download DissertationFinalv2.pdf

Committee Members:

Hosam Kadry Fathy, Dissertation Advisor/Co-Advisor
Hosam Kadry Fathy, Committee Chair/Co-Chair
Christopher Rahn, Committee Member
Sean N Brennan, Committee Member
Antonios Armaou, Outside Member

Author:

Whalen, Andrew John

Title:

From Observation to Control of Nonlinear Neuronal Networks in Brain

Graduate Program:

Mechanical Engineering

Keywords:

spreading depression
suppression
confinement
electric field
modulation
spreading depolarization
network control
complex networks
nonlinear
symmetry
brain networks
network observation

File:

Download AndrewJWhalen-Dissertation.pdf

Committee Members:

Steven Schiff, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Reka Z Albert, Committee Member
Alok Sinha, Committee Member
Tim Sauer, Outside Member

Author:

Brennan, Jennifer Bracken

Title:

THE C+C DSM METHOD: MANAGING CHANGE PROPAGATION WHILE PROTOTYPING A ROBOTIC INSPECTION SYSTEM FOR DRY NUCLEAR WASTE STORAGE CASKS

Graduate Program:

Mechanical Engineering

Keywords:

design
change propagation
nuclear storage cask
robotic inspection system
prototyping

File:

Download finalpdf_2018_03_29_Bracken_thesis.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Varadarajan Srinivasan, Krishna Prasad

Title:

ANALYZING THE EFFECTS OF GEOMETRIC LANE CONSTRAINTS ON RADAR-BASED SENSING OF AVAILABLE VEHICLE HEADWAY USING MAPPED LANE GEOMETRY AND CAMERA REGISTRATION OF LANE POSITION

Graduate Program:

Mechanical Engineering

Keywords:

RADAR-based sensing
Connected and Autonomous Vehicles
Headway estimation
Available free space in ego-lane
free space estimation for fuel economy
sensor fusion

File:

Download Krishna_Prasad_Varadarajan_Srinivasan_Masters_Thesis_2019.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Leary, Robert D

Title:

Real-time Vehicle Pose Estimation Utilizing Monocular Vision and Lane Marker Maps

Graduate Program:

Mechanical Engineering

Keywords:

vehicle localization
pose estimation
lane detection
autonomous vehicle
state estimation

File:

Download Leary-Masters.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor

Author:

Topper, Stefan Andreas

Title:

A Proposed Method for Investigating the Effects of Friction Supply on Driver Speed Selection on Horizontal Curves

Graduate Program:

Mechanical Engineering

Keywords:

Friction
Vehicle Dynamics
Risk Perception
Horizontal Curves
Driving Behavior

File:

Download Topper_MS_Thesis_2018_Final.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Matthew B Parkinson, Thesis Advisor/Co-Advisor
Hosam Kadry Fathy, Committee Member
Karen Ann Thole, Committee Member

Author:

Dow, Nicholas William

Title:

A baseline experiment and initial investigation of the effects of virtual immersion on vehicle passenger risk perception

Graduate Program:

Mechanical Engineering

Keywords:

virtual reality
perception of risk
autonomous vehicles
driving simulator

File:

Download 071218_Dow_MastersThesis.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Matthew B Parkinson, Thesis Advisor/Co-Advisor

Author:

Wolkowicz, Kelilah Louise

Title:

Preparing the Automated Future for Wheelchair Users Through Motion Prediction and User Input-Based Intent Inference

Graduate Program:

Mechanical Engineering

Keywords:

Autonomous vehicles
Band-pass filters
Bar codes
Biopotentials
Brain-computer interfaces
Computerized instrumentation
Data acquisition
Design automation
Detection algorithms
Discrete transforms
Electroencephalography
Electromyography
Electrooculography
Estimation theory
Gaze tracking
Human computer interaction
Embedded systems
Indoor localization
Input variables
Intelligent vehicles
Kalman filters
Linear discriminant analysis
Linear feedback control systems
Linear systems
Mechanical engineering
Mechanical Engineering
Mechanical systems
Microprogramming
Motion control
Odometry
Path planning
Pose estimation
Prediction algorithms
Probability
Probability distribution
Programming
Rehabilitation robotics
Research and development
Robot control
Robot kinematics
Robot motion
Robot programming
Robotic equipment testing
Simulation
Simultaneous localization and mapping
State estimation
State feedback
System implementation
System integration
System validation
User interfaces
Virtual reality
Wearable sensors
Biopotential signals
Human-computer interfaces
Decision-making
Intent inference
Slip detection
Motion prediction
Robotic wheelchair

File:

Download Wolkowicz-Dissertation.pdf

Committee Members:

Sean N Brennan, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Jason Zachary Moore, Committee Member
Henry Joseph Sommer III, Committee Member
Bruce Gluckman, Outside Member

Author:

Tau, Seth

Title:

Investigation into the Effects of Obstacle Dimensional Uncertainty on Path Planning Cost Metrics in a Mesh-Free Environment

Graduate Program:

Mechanical Engineering

Keywords:

uncertainty
path-planning

File:

Download Seth_Tau_-_Masters_Thesis.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Karl Martin Reichard, Thesis Advisor/Co-Advisor
Henry Joseph Sommer, III, Committee Member
Daniel Connell Haworth, Program Head/Chair

Author:

Leary, Robert D

Title:

Map-based Vehicle State Estimation Using A Spatiotemporal Preview Filter

Graduate Program:

Mechanical Engineering

Keywords:

autonomous
vehicle
localization
perception
camera
pose estimation
mapping
lidar
state estimation

File:

Download Leary-Dissertation.pdf

Committee Members:

Sean N Brennan, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Matthew B Parkinson, Committee Member
Jacob Willem Langelaan, Committee Member
Karl Martin Reichard, Outside Member

Author:

Wahba, Mohamed

Title:

Factors affecting the repeatability of the fuel consumption of a heavy-duty truck on urban and highway roads

Graduate Program:

Mechanical Engineering

Keywords:

V2I
Truck platoon

File:

Download MohamedWahba-Dissertation.pdf

Committee Members:

Sean Brennan, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Hosam Kadry Fathy, Committee Member
Stephanie Stockar, Committee Member
Eric Norman Johnson, Outside Member
Karen Ann Thole, Program Head/Chair

Author:

Monaco, Christopher D

Title:

Ego-Motion Estimation Using Doppler and Spatial Data in SONAR, RADAR, or Camera Images

Graduate Program:

Mechanical Engineering

Keywords:

ego-motion estimation
doppler
sonar
radar
camera
autonomous
automotive
underwater
motion estimation
localization
perception
odometry
dead-reckoning
vehicle
spatial
doppler velocity log
navigation

File:

Download Monaco_Dissertation.pdf

Committee Members:

Sean N Brennan, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Hosam Kadry Fathy, Committee Member
Jacob Willem Langelaan, Outside Member
Russell Charles Burkhardt, Outside Member
Kurt A Hacker, Special Member
Karen Ann Thole, Program Head/Chair

Author:

Gruning, Veronica

Title:

Maximization of Traversal Speeds for Off-Road Mobility by Modification of Point-to-Point Paths

Graduate Program:

Mechanical Engineering

Keywords:

robotics
path planning

File:

Download Gruning_MS_FA20.pdf

Committee Members:

Sean N Brennan, Thesis Advisor/Co-Advisor
Karen Ann Thole, Program Head/Chair
Karl Martin Reichard, Thesis Advisor/Co-Advisor
Henry Joseph Sommer, III, Committee Member

Author:

Wu, Songlin

Title:

Class B Vehicle Packaging: Designing Bus Cab Layout for U.S. Bus Drivers

Graduate Program:

Mechanical Engineering

Keywords:

anthropometry
body dimension
human variability
vehicle packaging
Class-B vehicle
bus
steering wheel
H point
seat
eye
vision
comfort
Cascade Model
Manikin
Population Model
Hybrid Model
VFT
posture
accommodation

File:

Download WU_MS_THESIS_2020.pdf

Committee Members:

Matthew B Parkinson, Thesis Advisor/Co-Advisor
Karen Ann Thole, Program Head/Chair
Elizabeth Marie Starkey, Committee Member
Sean N Brennan, Committee Member

Author:

Tau, Seth

Title:

The Effects of Path-Planning Uncertainty on Intelligent Vehicle Performance

Graduate Program:

Mechanical Engineering

Keywords:

path planning
intelligent vehicle
ground vehicle
mapping error
sensing error
maneuvering speed

File:

Download Seth_Tau_-_PhD_Dissertation.pdf

Committee Members:

Sean N Brennan, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Henry Joseph Sommer, III, Committee Member
Bo Cheng, Committee Member
Minghui Zhu, Outside Member
Karl Martin Reichard, Dissertation Advisor/Co-Advisor
Karl Martin Reichard, Committee Chair/Co-Chair
Daniel Connell Haworth, Program Head/Chair

Author:

Ochoa Lleras, Nicolas

Title:

Control Systems and Human Factors for the Prevention of Tractor Overturn

Graduate Program:

Mechanical Engineering

Keywords:

Control systems
Tractor
Rollover
ADAS
Human Factors
Simulated environments

File:

Login to Download

Committee Members:

Sean N Brennan, Dissertation Advisor/Co-Advisor
Sean N Brennan, Committee Chair/Co-Chair
Henry Joseph Sommer, III, Committee Member
Dennis Murphy, Committee Member
Yiqi Zhang, Outside Member
Daniel Connell Haworth, Program Head/Chair