Browsing by Subject "Underground"
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Item A 3D obstacle detection system for a complex mobile robot in a hazardous underground tunnel environment(2019-05-09) Suarez, Christopher William; Landsberger, Sheldon; Pryor, Mitchell WayneThis thesis presents a 3D obstacle detection system developed for use in the H-Canyon Air Exhaust (HCAEX) tunnel project. The HCAEX tunnel is a harsh environment with positive, negative, and hanging obstacles along with a muddy uneven floor. The mobile platform developed to explore this tunnel is highly complex and requires advanced knowledge of its state relative to the environment. A LiDAR sensor was identified and a Robot Operating System (ROS) package was developed to detect obstacles in 3D while accounting for the challenges presented by the project. Tests were performed in two outdoor environments and an HCAEX mock tunnel environment. Results showed that the obstacle detection system correctly identified obstacles in the environments at both roll and pitch states up to 45°, though further refinement and implementation can be performed.Item The Revolutionaries(2012-12) Basu, Rhituparna; Shea, Andrew Brendan; Stekler, Paul; Schiesari, Nancy; Ramirez-Berg, CharlesThis report outlines the creation of my thesis project “The Revolutionaries: An Untold History of Freedom” from concept to completed film. The Revolutionary Movement was an underground militant movement in pre-independent India which sought to overthrow the British government by force. The film interleaves the interview of an elderly ex-Revolutionary with a high-level history of this mostly-forgotten underground movement.