In motion planning, high clearance paths are favorable due to their increased visibility and reduction of collision risk such as the safety of problems involving: human- robot cooperation. One popular approach to solving motion planning problems is the Probabilistic Roadman Method (PRM), which generates a graph of the free space of an environment referred to as a roadmap. In this work we describe a new approach to making high clearance paths when using PRM The medial axis is useful for this since it represents the set of points with maximal clearance and is well defined in higher dimensions. However it can only be computed exactly in workspace. Our goal is to generate roadmaps with paths following the medial axis of an environment without explicitly computing the medial axis. One of the major steps of PRM is local planning: the planning of motion between two nearby nodes PRMs have been used to build roadmaps that have nodes on the medial axis but so far there has been no local planner method proposed for connecting these nodes on the medial axis. These types of high clearance motions are desirable and needed in many robotics applications. This work proposes Medial Axis Local Planner (MALP), a local planner which attempts to connect medial axis configurations via the medial axis. The recursive method takes a simple path between two medial axis configurations and attempts to deform the path to fit the medial axis. This deformation creates paths with high clearance and visibility properties. We have implemented this local planner and have tested it in 2D and 3D rigid body and 8D and 16D fixed base articulated linkage environments. We compare MALP with a straight-line local planner (SL), a typical local planer used in motion planning that interpolated along a line in the planning space. Our results indicate that MALP generated higher clearance paths than SL local planning. As a result, MALP found more connections and generated fewer connected components as compared to connecting the same nodes using SL connections. Using MALP connects noes on the medial axis, increasing the overall clearance of the roadmap generated.

This dissertation discusses vision-based static obstacle avoidance for a fleet of nonholonomic robots tasked to arrive at a final destination simultaneously. Path generation for each vehicle is computed using a single polynomial function that incorporates the vehicle constraints on velocity and acceleration and satisfies boundary conditions by construction. Furthermore, the arrival criterion and a preliminary obstacle avoidance scheme is incorporated into the path generation. Each robot is equipped with an inertial measurement unit that provides measurements of the vehicle's position and velocity, and a monocular camera that detects obstacles. The obstacle avoidance algorithm deforms the vehicle's original path around at most one obstacle per vehicle in a direction that minimizes an obstacle avoidance potential function. Deconfliction of the vehicles during obstacle avoidance is achieved by imposing a separation condition at the path generation level. Two estimation schemes are applied to estimate the unknown obstacle parameters. The first is an existing method known in the literature as Identifier-Based Observer and the second is a recently-developed fast estimator. It is shown that the performance of the fast estimator and its effect on the obstacle avoidance algorithm can be arbitrarily improved by the appropriate choice of parameters as compared to the Identifier-Based Observer method. Coordination in time of all vehicles is completed in an outer loop which adjusts the desired velocity profile of each vehicle in order to meet the simultaneous arrival constraints. Simulation results illustrate the theoretical findings. / Ph. D.

Mining operations produce a multiscale network of fractures in the coal seams. Permeability evolution in rocks is important for coal bed methane (CBM) and shale gas exploitation as well as for greenhouse gas storage. Therefore, this work presents laboratory tests and a coupled model using PFC3D and FLAC3D to simulate the stress induced permeability evolution in coal samples. Basic mechanical properties are determined via lab testing. The spatial distributions of different components inside the reconstructed samples produce a significant heterogeneity based on CT technique. A newly developed experimental system is employed to perform 3-dimensional loading and to measure the flow rate simultaneously. The evolution process is described by 5 distinct phases in terms of permeability and deformation. Triaxial tests are simulated with PFC3D using a novel flexible wall boundary method. Gas seepage simulations are performed with FLAC3D. Relations between hydraulic properties and fracture data are established. Permeability and volumetric strain show good nonlinear exponential relation after a newly introduced expansion point. Piecewise relations fit the whole process, the expansion point can be treated as critical point. The structural characteristics of the samples influence this relation before and after the expansion point significantly.

This thesis theoretically investigates the electronic transport properties of defective carbon nanotubes (CNTs). For the defects the focus is set to vacancy types. The calculations are performed using quantum transport theory and an underlying density-functional-based tight-binding method. Two algorithmic improvements are derived, which accelerate the common methods for quasi one-dimensional systems for the specific case of (i) randomly distributed defects and (ii) long unit cells. With this, the transmission spectrum and the conductance is calculated as a function of the CNT length, diameter, chiral angle, defect type, defect density, defect fraction, and temperature. The diffusive and the localized transport regime are described by extracting elastic mean free paths and localization lengths for metallic and semiconducting CNTs. Simple analytic models for estimating or even predicting the conductance dependence on the mentioned parameters are derived. Finally, the formation of defect-induced long-range deformations and its influence on the conductance are studied.:1 Introduction 2 Fundamentals 2.1 Carbon nanotubes 2.1.1 Structure 2.1.2 Properties 2.1.3 Defects 2.1.4 Synthesis 2.1.5 Characterization 2.1.6 Applications 2.2 Electron structure theory 2.2.1 Introduction 2.2.2 Density functional theory 2.2.3 Density-functional-based tight binding 2.2.3.1 First-order expansion 2.2.3.2 Creation of the parameter set 2.2.3.3 Second-order expansion 2.2.3.4 Usage 2.3 Electron transport 2.3.1 Equilibrium Green’s-function-based quantum transport theory 2.3.2 Transport regimes 2.3.3 Classical derivation: drift-diffusion equation with a sink 2.3.4 Quantum derivation: Dorokhov-Mello-Pereyra-Kumar theory A Improved recursive Green’s function formalism for quasi one-dimensional systems with realistic defects (J. Comput. Phys. 334 (2017), 607–619) A.1 Introduction A.2 Quantum transport theory A.3 Recursive Green’s function formalisms A.3.1 Forward iteration scheme A.3.2 Recursive decimation scheme A.3.3 Renormalization decimation algorithm A.4 Improved RGF+RDA A.5 Performance test A.5.1 Random test matrix A.5.2 Transport through carbon nanotubes A.6 Summary and conclusions B Strong localization in defective carbon nanotubes: a recursive Green’s function study (New J. Phys. 16 (2014), 123026) B.1 Introduction B.2 Theoretical framework B.2.1 Transport formalism B.2.2 Recursive Green’s function formalism B.2.3 Electronic structure B.2.4 Strong localization B.3 Modeling details of the defective system B.4 Results and discussion B.4.1 Single defects B.4.2 Randomly distributed defects B.4.3 Localization exponent B.4.4 Diameter dependence and temperature dependence of the localization exponent B.5 Summary and conclusions Supplementary material C Electronic transport in metallic carbon nanotubes with mixed defects within the strong localization regime (Comput. Mater. Sci. 138 (2017), 49–57) C.1 Introduction C.2 Theoretical framework C.3 Modeling details C.4 Results and discussion C.4.1 Conductance C.4.2 Localization exponent C.4.3 Influence of temperature C.4.4 Conductance estimation C.5 Summary and conclusions D An improved Green’s function algorithm applied to quantum transport in carbon nanotubes (arXiv: 1806.02039) D.1 Introduction D.2 Electronic transport D.3 Decimation technique and renormalization-decimation algorithm D.4 Renormalization-decimation algorithm for electrodes with long unit cells D.4.1 Surface Green’s functions D.4.2 Bulk Green’s functions and electrode density of states D.5 Complexity measure and performance test D.6 Exemplary results D.7 Summary and conclusions E Electronic transport through defective semiconducting carbon nanotubes (J. Phys. Commun. 2 (2018), 105012) E.1 Introduction E.2 Theoretical framework E.3 Modeling details E.4 Results and discussion E.4.1 Transmission and transport regimes E.4.2 Energy dependent localization exponent and elastic mean free path E.4.3 Conductance, effective localization exponent and effective elastic mean free path E.5 Summary and conclusions Supplementary material F Influence of defect-induced deformations on electron transport in carbon nanotubes (J. Phys. Commun. 2 (2018), 115023) F.1 Introduction F.2 Theory F.3 Results F.4 Summary and conclusions 3 Ongoing work 4 Summary and outlook 4.1 Summary 4.2 Outlook 5 Appendix 5.1 Bandstructure of graphene 5.2 Quantum transport theory and Landauer-Büttiker formula References List of figures List of tables Acknowledgement Selbstständigkeitserklärung Curriculum vitae List of publications / Diese Dissertation untersucht mittels theoretischer Methoden die elektronischen Transporteigenschaften von defektbehafteten Kohlenstoffnanoröhren (englisch: carbon nanotubes, CNTs). Dabei werden Vakanzen als Defekte fokussiert behandelt. Die Berechnungen werden mittels Quantentransporttheorie und einer zugrunde liegenden dichtefunktionalbasierten Tight-Binding-Methode durchgeführt. Zwei algorithmische Verbesserungen werden hergeleitet, welche die üblichen Methoden für quasi-eindimensionale Systeme für zwei spezifische Fälle beschleunigen: (i) zufällig verteilte Defekte und (ii) lange Einheitszellen. Damit werden das Transmissionsspektrum und der Leitwert als Funktion von CNT-Länge, Durchmesser, chiralem Winkel, Defekttyp, Defektdichte, Defektanteil und Temperatur berechnet. Das Diffusions- und das Lokalisierungstransportregime werden beschrieben, indem die elastische freie Weglänge und die Lokalisierungslänge für metallische und halbleitende CNTs extrahiert werden. Einfache analytische Modelle zur Abschätzung bis hin zur Vorhersage des Leitwertes in Abhängigkeit besagter Parameter werden abgeleitet. Schlussendlich werden die Bildung einer defektinduzierten, langreichweitigen Deformation und deren Einfluss auf den Leitwert studiert.:1 Introduction 2 Fundamentals 2.1 Carbon nanotubes 2.1.1 Structure 2.1.2 Properties 2.1.3 Defects 2.1.4 Synthesis 2.1.5 Characterization 2.1.6 Applications 2.2 Electron structure theory 2.2.1 Introduction 2.2.2 Density functional theory 2.2.3 Density-functional-based tight binding 2.2.3.1 First-order expansion 2.2.3.2 Creation of the parameter set 2.2.3.3 Second-order expansion 2.2.3.4 Usage 2.3 Electron transport 2.3.1 Equilibrium Green’s-function-based quantum transport theory 2.3.2 Transport regimes 2.3.3 Classical derivation: drift-diffusion equation with a sink 2.3.4 Quantum derivation: Dorokhov-Mello-Pereyra-Kumar theory A Improved recursive Green’s function formalism for quasi one-dimensional systems with realistic defects (J. Comput. Phys. 334 (2017), 607–619) A.1 Introduction A.2 Quantum transport theory A.3 Recursive Green’s function formalisms A.3.1 Forward iteration scheme A.3.2 Recursive decimation scheme A.3.3 Renormalization decimation algorithm A.4 Improved RGF+RDA A.5 Performance test A.5.1 Random test matrix A.5.2 Transport through carbon nanotubes A.6 Summary and conclusions B Strong localization in defective carbon nanotubes: a recursive Green’s function study (New J. Phys. 16 (2014), 123026) B.1 Introduction B.2 Theoretical framework B.2.1 Transport formalism B.2.2 Recursive Green’s function formalism B.2.3 Electronic structure B.2.4 Strong localization B.3 Modeling details of the defective system B.4 Results and discussion B.4.1 Single defects B.4.2 Randomly distributed defects B.4.3 Localization exponent B.4.4 Diameter dependence and temperature dependence of the localization exponent B.5 Summary and conclusions Supplementary material C Electronic transport in metallic carbon nanotubes with mixed defects within the strong localization regime (Comput. Mater. Sci. 138 (2017), 49–57) C.1 Introduction C.2 Theoretical framework C.3 Modeling details C.4 Results and discussion C.4.1 Conductance C.4.2 Localization exponent C.4.3 Influence of temperature C.4.4 Conductance estimation C.5 Summary and conclusions D An improved Green’s function algorithm applied to quantum transport in carbon nanotubes (arXiv: 1806.02039) D.1 Introduction D.2 Electronic transport D.3 Decimation technique and renormalization-decimation algorithm D.4 Renormalization-decimation algorithm for electrodes with long unit cells D.4.1 Surface Green’s functions D.4.2 Bulk Green’s functions and electrode density of states D.5 Complexity measure and performance test D.6 Exemplary results D.7 Summary and conclusions E Electronic transport through defective semiconducting carbon nanotubes (J. Phys. Commun. 2 (2018), 105012) E.1 Introduction E.2 Theoretical framework E.3 Modeling details E.4 Results and discussion E.4.1 Transmission and transport regimes E.4.2 Energy dependent localization exponent and elastic mean free path E.4.3 Conductance, effective localization exponent and effective elastic mean free path E.5 Summary and conclusions Supplementary material F Influence of defect-induced deformations on electron transport in carbon nanotubes (J. Phys. Commun. 2 (2018), 115023) F.1 Introduction F.2 Theory F.3 Results F.4 Summary and conclusions 3 Ongoing work 4 Summary and outlook 4.1 Summary 4.2 Outlook 5 Appendix 5.1 Bandstructure of graphene 5.2 Quantum transport theory and Landauer-Büttiker formula References List of figures List of tables Acknowledgement Selbstständigkeitserklärung Curriculum vitae List of publications