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Tyler Bishop

Publications and source records attributed to Tyler Bishop.

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Electron Temperature Gradients Regulate the Duration of Two-Stage Plasmasphere Refilling

After geomagnetic storms erode the plasmasphere, cold ionospheric plasma flows along magnetic field lines to refill the depleted flux tubes. Previous studies have suggested that refilling undergoes two stages characterized by their distinct refilling rates; however, not all observations or models exhibit this feature, and a recent analysis indicates that only a subset of refilling events display two clear stages. In this study, we show that the magnitude of the field-aligned electron temperature gradient and initial/boundary temperature regulate the durations of both the early and late stages. Performing multivariate regressions from the results of simulating early and late-time refilling demonstrated that the length of each stage uniquely depends on the temperature gradient and initial/boundary temperature. These results suggest that variations in the temperature profile may explain why some refilling events appear single-staged in observations.

physics.space-ph

Design and Central Pattern Generator Control of a New Transformable Wheel-Legged Robot

This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized in terms of key locomotion characteristics as a function of the design. Kinematic analysis is conducted based on a generalized four-bar mechanism driven by a coaxial hub arrangement. The analysis is used to inform the design of a central pattern generator to control the robot by mapping oscillator states to wheel-leg trajectories and implementing differential steering within the oscillator network. Three oscillator models are used as the basis of the CPGs, and their performance is compared over a range of inputs. The CPG-based controller is used to drive the developed robot prototype on level ground and over obstacles. Additional simulated tests are performed for uneven terrain negotiation and obstacle climbing. Results demonstrate the effectiveness of CPG control in transformable wheel-legged robots.

cs.RO