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Tech Report: Fly-By-Logic: Control Of Multi-Drone Fleets With Temporal Logic Objectives, Yash Vardhan Pant, Houssam Abbas, Rhudii A. Quaye, Rahul Mangharam 2018 University of Pennsylvania

Tech Report: Fly-By-Logic: Control Of Multi-Drone Fleets With Temporal Logic Objectives, Yash Vardhan Pant, Houssam Abbas, Rhudii A. Quaye, Rahul Mangharam

Real-Time and Embedded Systems Lab (mLAB)

The problem of safe planning and control for multi- drone systems across a variety of missions is of critical importance, as the scope of tasks assigned to such systems increases. In this paper, we present an approach to solve this problem for multi-quadrotor missions. Given a mission expressed in Signal Temporal Logic (STL), our controller maximizes robustness to generate trajectories for the quadrotors that satisfy the STL specification in continuous-time. We also show that the constraints on our optimization guarantees that these trajectories can be tracked nearly perfectly by lower level off-the-shelf position and attitude controllers. Our approach avoids the ...


Vision-Based Assistive Indoor Localization, Feng Hu 2018 The Graduate Center, City University of New York

Vision-Based Assistive Indoor Localization, Feng Hu

All Dissertations, Theses, and Capstone Projects

An indoor localization system is of significant importance to the visually impaired in their daily lives by helping them localize themselves and further navigate an indoor environment. In this thesis, a vision-based indoor localization solution is proposed and studied with algorithms and their implementations by maximizing the usage of the visual information surrounding the users for an optimal localization from multiple stages. The contributions of the work include the following: (1) Novel combinations of a daily-used smart phone with a low-cost lens (GoPano) are used to provide an economic, portable, and robust indoor localization service for visually impaired people. (2 ...


Internet Of Underground Things: Sensing And Communications On The Field For Precision Agriculture, Mehmet C. Vuran, Abdul Salam, Rigoberto Wong, Suat Irmak 2018 University of Nebraska-Lincoln

Internet Of Underground Things: Sensing And Communications On The Field For Precision Agriculture, Mehmet C. Vuran, Abdul Salam, Rigoberto Wong, Suat Irmak

CSE Conference and Workshop Papers

The projected increases in World population and need for food have recently motivated adoption of information technology solutions in crop fields within precision agriculture approaches. Internet of underground things (IOUT), which consists of sensors and communication devices, partly or completely buried underground for real-time soil sensing and monitoring, emerge from this need. This new paradigm facilitates seamless integration of underground sensors, machinery, and irrigation systems with the complex social network of growers, agronomists, crop consultants, and advisors. In this paper, state-of-the-art communication architectures are reviewed, and underlying sensing technology and communication mechanisms for IOUT are presented. Recent advances in the ...


Efficient Alignment Algorithms For Dna Sequencing Data, Nilesh Vinod Khiste 2018 The University of Western Ontario

Efficient Alignment Algorithms For Dna Sequencing Data, Nilesh Vinod Khiste

Electronic Thesis and Dissertation Repository

The DNA Next Generation Sequencing (NGS) technologies produce data at a low cost, enabling their application to many ambitious fields such as cancer research, disease control, personalized medicine etc. However, even after a decade of research, the modern aligners and assemblers are far from providing efficient and error free genome alignments and assemblies respectively. This is due to the inherent nature of the genome alignment and assembly problem, which involves many complexities. Many algorithms to address this problem have been proposed over the years, but there still is a huge scope for improvement in this research space.

Many new genome ...


Moral Authority And Artificial Intelligence, Jacob Souza 2018 Carroll College, Helena, MT

Moral Authority And Artificial Intelligence, Jacob Souza

Power, Voice, Mandate: Moral Authority in the Contemporary Age

This paper looks at the relationship between Artificial intelligence and moral authority. It explores the important concepts related to moral authority, such as power, authority, responsibility, and morality, but also defines what a thinking machine will look like in human society. What the paper determines is that it is difficult to trust machines that do not show emotion, but thinking machines without emotion will still have an important role in society and that when emotional AIs are achievable, they will be able to achieve moral authority.


The Construction Of Open Data Portal Using Dkan For Integrate To Multiple Japanese Local Government Open Data, Toshikazu Seto, Yoshihide Sekimoto 2018 Center for Spatial Information Science, the University of Tokyo

The Construction Of Open Data Portal Using Dkan For Integrate To Multiple Japanese Local Government Open Data, Toshikazu Seto, Yoshihide Sekimoto

Free and Open Source Software for Geospatial (FOSS4G) Conference Proceedings

In recent years, the Code for Japan, a civic tech community in Japan, has focused on the context of the FOSS4G. Consequently, the Japanese have published open data in more than 150 local governments, but these data are almost simply provided as a file on their website. And also CKAN portal are used less than 20 cities. In this study, we built open data platform that uses DKAN for integrated open data distribution of Japanese local governments.


An Initial Report On The Impact Of Multiple Technical Degree Programs On Undergraduate Recruitment, Amber Settle, Liz Friedman 2018 DePaul University

An Initial Report On The Impact Of Multiple Technical Degree Programs On Undergraduate Recruitment, Amber Settle, Liz Friedman

Amber Settle

In this paper, we describe initial results of a survey taken by freshman and first-year transfer students at DePaul University during the 2009-2010 academic year. While DePaul is unusual in offering a large number of technically-oriented degree programs and this information is prominent in promotional literature, no study of the impact of multiple degree programs on the recruitment of first-year students had been conducted. The results of this initial study show that while a large majority of students indicate that the number of degree programs is a positive factor for application and enrollment at DePaul, more important factors include the ...


What’S Motivation Got To Do With It? A Survey Of Recursion In The Computing Education Literature, Amber Settle 2018 DePaul University

What’S Motivation Got To Do With It? A Survey Of Recursion In The Computing Education Literature, Amber Settle

Amber Settle

One of the most challenging topics for both computing educators and students is recursion. Pedagogical approaches for teaching recursion have appeared in the computing education literature for over 30 years, and the topic has generated a significant body of work. Given its persistence, relatively little attention has been paid to student motivation. This article summarizes results on teaching and learning recursion explored by the computing education community, noting the relative lack of interest in motivation. It concludes by briefly discussing an approach to teaching recursion is appealing for students interested in web development.


Computational Thinking Across The Curriculum: A Conceptual Framework, Amber Settle, Ljubomir Perkovic 2018 DePaul University

Computational Thinking Across The Curriculum: A Conceptual Framework, Amber Settle, Ljubomir Perkovic

Amber Settle

We describe a framework for implementing computational thinking in a broad variety of general education courses. The framework is designed to be used by faculty without formal training in information technology in order to understand and integrate computational thinking into their own general education courses. The framework includes examples of computational thinking in a variety of general education courses, as well as sample in-class activities, assignments, and other assessments for the courses. The examples in the different courses are related and differentiated using categories taken from Peter Denning’s Great Principles of Computing, so that similar types of computational thinking ...


Employing A User-Centered Design Process For Cybersecurity Awareness In The Power Grid, Jean C. Scholtz, Lyndsey Franklin, Aditya Ashok, Katya LeBlanc, Christopher Bonebrake, Eric Andersen, Michael Cassiadoro 2018 Pacific Northwest National Laboratory

Employing A User-Centered Design Process For Cybersecurity Awareness In The Power Grid, Jean C. Scholtz, Lyndsey Franklin, Aditya Ashok, Katya Leblanc, Christopher Bonebrake, Eric Andersen, Michael Cassiadoro

Journal of Human Performance in Extreme Environments

In this paper, we discuss the process we are using in the design and implementation of a tool to improve the situation awareness of cyberattacks in the power grid. We provide details of the steps we have taken to date and describe the steps that still need to be accomplished. The focus of this work is to provide situation awareness of the power grid to staff from different, non-overlapping roles in an electrical transmission organization in order to facilitate an understanding of a possible occurrence of a cyberattack. Our approach follows a user-centered design process and includes determining the types ...


Rigid Object Tracking Algorithms For Low-Cost Ar Devices, Timothy Garrett, Saverio Debernardis, Rafael Radkowski, Carl K. Chang, Michele Fiorentino, Antonio E. Uva, James H. Oliver 2018 Iowa State University

Rigid Object Tracking Algorithms For Low-Cost Ar Devices, Timothy Garrett, Saverio Debernardis, Rafael Radkowski, Carl K. Chang, Michele Fiorentino, Antonio E. Uva, James H. Oliver

James H. Oliver

Augmented reality (AR) applications rely on robust and efficient methods for tracking. Tracking methods use a computer-internal representation of the object to track, which can be either sparse or dense representations. Sparse representations use only a limited set of feature points to represent an object to track, whereas dense representations almost mimic the shape of an object. While algorithms performed on sparse representations are faster, dense representations can distinguish multiple objects. The research presented in this paper investigates the feasibility of a dense tracking method for rigid object tracking, which incorporates the both object identification and object tracking steps. We ...


The Fat-Pyramid: A Robust Network For Parallel Computation, Ronald I. Greenberg 2018 Loyola University Chicago

The Fat-Pyramid: A Robust Network For Parallel Computation, Ronald I. Greenberg

Ronald Greenberg

This paper shows that a fat-pyramid of area Theta(A) built from processors of size lg A requires only O(lg^2 A) slowdown in bit-times to simulate any network of area A under very general conditions. Specifically, there is no restriction on processor size (amount of attached memory) or number of processors in the competing network, nor is the assumption of unit wire delay required. This paper also derives upper bounds on the slowdown required by a fat-pyramid to simulate a network of larger area in the case of unit wire delay.


Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg 2018 Selected Works

Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg

Ronald Greenberg

This paper provides tips for LEGO robot construction involving bracing or gear meshing along a diagonal using standard Botball kits.


Randomized Routing On Fat-Trees, Ronald I. Greenberg 2018 Selected Works

Randomized Routing On Fat-Trees, Ronald I. Greenberg

Ronald Greenberg

Fat-trees are a class of routing networks for hardware-efficient parallel computation. This paper presents a randomized algorithm for routing messages on a fat-tree. The quality of the algorithm is measured in terms of the load factor of a set of messages to be routed, which is a lower bound on the time required to deliver the messages. We show that if a set of messages has load factor lambda on a fat-tree with n processors, the number of delivery cycles (routing attempts) that the algorithm requires is O(lambda+lgnlglgn) with probability 1-O(1/n). The ...


Pythagorean Approximations For Lego: Merging Educational Robot Construction With Programming And Data Analysis, Ronald I. Greenberg 2018 Selected Works

Pythagorean Approximations For Lego: Merging Educational Robot Construction With Programming And Data Analysis, Ronald I. Greenberg

Ronald Greenberg

Abstract. This paper can be used in two ways. It can provide reference information for incorporating diagonal elements (for bracing or gear meshing) in educational robots built from standard LEGO kits. Alternatively, it can be used as the basis for an assignment for high school or college students to recreate this information; in the process, students will exercise skills in both computer programming and data analysis. Using the paper in the second way can be an excellent integrative experience to add to an existing course; for example, the Exploring Computer Science high school curriculum concludes with the units “Introduction to ...


Motion Planning For Simple Two-Wheeled Robots, Ronald I. Greenberg, Jeffery M. Karp 2018 Selected Works

Motion Planning For Simple Two-Wheeled Robots, Ronald I. Greenberg, Jeffery M. Karp

Ronald Greenberg

This paper considers various simple ways of navigating in a 2-dimensianal territory with a two-wheeled robot of a type typical in educational robotics. We determine shortest paths under various modes of operation and compare.


An Empirical Comparison Of Area-Universal And Other Parallel Computing Networks, Ronald I. Greenberg, Lee Guan 2018 Selected Works

An Empirical Comparison Of Area-Universal And Other Parallel Computing Networks, Ronald I. Greenberg, Lee Guan

Ronald Greenberg

This paper provides empirical comparison of the communication capabilities of two area-universal networks, the fat-tree and the fat-pyramid, to the popular mesh and hypercube networks for parallel computation. While area-universal networks have been proven capable of simulating, with modest slowdown, any computation of any other network of comparable area, prior work has generally left open the question of how area-universal networks compare to other networks in practice. Comparisons are performed using techniques of throughput and latency analysis that have previously been applied to k-ary n-cube networks and using various existing models to equate the hardware cost of the networks being ...


An Improved Analytical Model For Wormhole Routed Networks With Application To Butterfly Fat-Trees, Ronald I. Greenberg, Lee Guan 2018 Selected Works

An Improved Analytical Model For Wormhole Routed Networks With Application To Butterfly Fat-Trees, Ronald I. Greenberg, Lee Guan

Ronald Greenberg

A performance model for wormhole routed interconnection networks is presented and applied to the butterfly fat-tree network. Experimental results agree very closely over a wide range of load rate. Novel aspects of the model, leading to accurate and simple performance predictions, include (1) use of multiple-server queues, and (2) a general method of correcting queuing results based on Poisson arrivals to apply to wormhole routing. These ideas can also be applied to other networks.


An Empirical Comparison Of Networks And Routing Strategies For Parallel Computation, Ronald I. Greenberg, Lee Guan 2018 Selected Works

An Empirical Comparison Of Networks And Routing Strategies For Parallel Computation, Ronald I. Greenberg, Lee Guan

Ronald Greenberg

This paper compares message routing capabilities of important networks proposed for general-purpose parallel computing. All the networks have been proven to have some type of universality property, i.e., an ability to simulate other networks of comparable cost with modest slowdown, using appropriate cost and communication models. But in this paper we seek an empirical comparison of communication capability under typical direct use rather than an analysis of worst-case results for simulating message traffic of another network.


A Systolic Simulation And Transformation System, Ronald I. Greenberg, H.-C. Oh 2018 Selected Works

A Systolic Simulation And Transformation System, Ronald I. Greenberg, H.-C. Oh

Ronald Greenberg

This paper presents a CAD tool, SystSim, to ease the design of systolic systems. Given a high-level, functional description of processors, and a high-level description of their interconnection, SystSim will perform simulations and provide graphical output. SystSim will also perform transformations such as retiming, which eases use of the methodology of Leiserson and Saxe of designing a system with broadcasting and then obtaining a systolic system through retiming.


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