Digital Commons Network^™

Bird's Eye View: Cooperative Exploration By Ugv And Uav, Shannon Hood

Theses and Dissertations

This paper proposes a solution to the problem of cooperative exploration using an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicle (UAV). More specifically, the UGV navigates through the free space, and the UAV provides enhanced situational awareness via its higher vantage point. The motivating application is search and rescue in a damaged building. A camera atop the UGV is used to track a fiducial tag on the underside of the UAV, allowing the UAV to maintain a fixed pose relative to the UGV. Furthermore, the UAV uses its front facing camera to provide a birds-eye-view to the remote …

Robustness Evaluation For Phylogenetic Reconstruction Methods And Evolutionary Models Reconstruction Of Tumor Progression, Jun Zhou

Theses and Dissertations

During evolutionary history, genomes evolve by DNA mutation, genome rearrangement, duplication and gene loss events. There has been endless effort to the phylogenetic and ancestral genome inference study. Due to the great development of various technology, the information about genomes is exponentially increasing, which make it possible figure the problem out. The problem has been shown so interesting that a great number of algorithms have been developed rigorously over the past decades in attempts to tackle these problems following different kind of principles. However, difficulties and limits in performance and capacity, and also low consistency largely prevent us from confidently …

Improving Peptide Identification By Considering Ordered Amino Acid Usage, Ahmed Al-Qurri

Theses and Dissertations

Proteomics has made major progress in recent years after the sequencing of the genomes of a substantial number of organisms. A typical method for identifying peptides uses a database of peptides identified using tandem mass spectrometry (MS/MS). The profile of accurate mass and elution time (AMT) for peptides that need to be identified will be compared with this database. Restricting the search to those peptides detectable by MS will reduce processing time and more importantly increase accuracy. In addition, there are significant impacts for clinical studies. Proteotypic peptides are those peptides in a protein sequence that are most likely to …

Underwater Cave Mapping And Reconstruction Using Stereo Vision, Nicholas Weidner

Theses and Dissertations

This work presents a systematic approach for 3-D mapping and reconstruction of underwater caves. Exploration of underwater caves is very important for furthering our understanding of hydrogeology, managing efficiently water resources, and advancing our knowledge in marine archaeology. Underwater cave exploration by human divers however, is a tedious, labor intensive, extremely dangerous operation, and requires highly skilled people. As such, it is an excellent fit for robotic technology. The proposed solution employs a stereo camera and a video-light. The approach utilizes the intersection of the cone of video-light with the cave boundaries resulting in the construction of a wire frame …

Blind Change Point Detection And Regime Segmentation Using Gaussian Process Regression, Sourav Das

Theses and Dissertations

Time-series analysis is used heavily in modeling and forecasting weather, economics, medical data as well as in various other fields. Change point detection (CPD) means finding abrupt changes in the time-series when the statistical property of a certain part of it starts to differ. CPD has attracted a lot of attention in the artificial intelligence, machine learning and data mining communities. In this thesis, a novel CPD algorithm is introduced for segmenting multivariate time-series data. The proposed algorithm is a general pipeline to process any high dimensional multivariate time-series data using nonlinear non-parametric dynamic system. It consists of manifold learning …

Mobile Application For Shipping Goods For Individuals And Truckers In India, Sendurr Selvaraj

Theses and Dissertations

India is a vast country with majority of its cities and towns connected through roads. Road transportation contributes to 86% share of the freight transport of the country with trucking companies dominating the entire space. With growing economy and demands raising, the quality of service of the trucking company remains poor. The major reasons are unorganized practice and lack of transparency. Moreover, limited access for customers to reach out to truckers to transport their goods.

This thesis aims to create a platform for customers and truckers to realize their needs with a help of a mobile application. Customers can search …

Improving Facial Action Unit Recognition Using Convolutional Neural Networks, Shizhong Han

Theses and Dissertations

Recognizing facial action units (AUs) from spontaneous facial expression is a challenging problem, because of subtle facial appearance changes, free head movements, occlusions, and limited AU-coded training data. Most recently, convolutional neural networks (CNNs) have shown promise on facial AU recognition. However, CNNs are often overfitted and do not generalize well to unseen subject due to limited AU-coded training images. In order to improve the performance of facial AU recognition, we developed two novel CNN frameworks, by substituting the traditional decision layer and convolutional layer with the incremental boosting layer and adaptive convolutional layer respectively, to recognize the AUs from …

A Machine Learning Approach For Enhancing Security And Quality Of Service Of Optical Burst Switching Networks, Adel Dabash A. Rajab

Theses and Dissertations

The Optical Bust Switching (OBS) network has become one of the most promising switching technologies for building the next-generation of internet backbone infrastructure. However, OBS networks still face a number of security and Quality of Service (QoS) challenges, particularly from Burst Header Packet (BHP) flooding attacks. In OBS, a core switch handles requests, reserving one of the unoccupied channels for incoming data bursts (DB) through BHP. An attacker can exploit this fact and send malicious BHP without the corresponding DB. If unresolved, threats such as BHP flooding attacks can result in low bandwidth utilization, limited network performance, high burst loss …

Ensuring The Observability Of Structural Test Obligations, Ying Meng

Theses and Dissertations

Test adequacy criteria are widely used to guide test creation. However, many of these criteria are sensitive to statement structure or the choice of test oracle. This is because such criteria ensure that execution reaches the element of interest, but impose no constraints on the execution path after this point. We are not guaranteed to observe a failure just because a fault is triggered. To address this issue, we have proposed the concept of observability—an extension to coverage criteria based on Boolean expressions that combines the obligations of a host criterion with an additional path condition that increases the likelihood …

Investigate Genomic 3d Structure Using Deep Neural Network, Yan Zhang

Theses and Dissertations

The 3D structures of the chromosomes play fundamental roles in essential cellular functions, e.g., gene regulation, gene expression, evolution and Hi-C technique provides the interaction density between loci on chromosomes. In this dissertation, we developed multiple algorithms, focusing the deep learning approach, to study the Hi-C datasets and the genomic 3D structures.

Building 3D structure of the genome one of the most critical purpose of the Hi-C technique. Recently, several approaches have been developed to reconstruct the 3D model of the chromosomes from HiC data. However, all of the methods are based on a particular mathematical model and lack of …