Engineering Commons^™

Analyzing Multi-Robot Leader-Follower Formations In Obstacle-Laden Environments, Zachary J. Hinnen

USF Tampa Graduate Theses and Dissertations

Observations in biological formation from nature likes flocks of birds, herds of mammals and packs of wolves have inspired the innovation of robotic architectures. This thesis presents an approach that aims to use robotic systems to mimic leader-follower behaviors in the navigation and formation of sparse and dense environments. The goal of this work is to extend and further analyze the original work of Weitzenfeld et al [3] to evaluate new swarm and pack based multi-robot architectures with the inclusion of obstacle avoidance and variations in group formations. The multiple robot architecture is based off a wolf pack with a …

Cyber-Physical Multi-Robot Systems In A Smart Factory: A Networked Ai Agents Approach, Zixiang Nie

USF Tampa Graduate Theses and Dissertations

This dissertation focuses on addressing the technical challenges of non-stationarity in smart factories through the use of cyber-physical AI agents. Industry 4.0 and smart manufacturing with smart factories as a central role, have a growing demand for Just-in-Time (JIT) and on-demand production, as well as mass customization—all while maintaining high productivity, resource efficiency and resilience. This research positions Multi-Robot Systems (MRS)-driven smart factories. The heterogeneous production and transportation robots in an MRS collaborate to form multiple real-time adjusted production flows achieving the flexibility to accommodate such on-demand, mass customization.

However, the implementation of MRS introduces new sets of challenges, including …

Enabling Intelligent Network Management Through Multi-Agent Systems: An Implementation Of Autonomous Network System, Petro Mushidi Tshakwanda

Electrical and Computer Engineering ETDs

This Ph.D. dissertation presents a pioneering Multi-Agent System (MAS) approach for intelligent network management, particularly suited for next-generation networks like 5G and 6G. The thesis is segmented into four critical parts. Firstly, it contrasts the benefits of agent-based design over traditional micro-service architectures. Secondly, it elaborates on the implementation of network service agents in Python Agent Development Environment (PADE), employing machine learning and deep learning algorithms for performance evaluation. Thirdly, a new scalable approach, Scalable and Efficient DevOps (SE-DO), is introduced to optimize agent performance in resource-constrained settings. Fourthly, the dissertation delves into Quality of Service (QoS) and Radio Resource …

Modeling And Control Strategies For A Two-Wheel Balancing Mobile Robot, John Alan Moritz

Graduate Theses and Dissertations

The problem of balancing and autonomously navigating a two-wheel mobile robot is an increasingly active area of research, due to its potential applications in last-mile delivery, pedestrian transportation, warehouse automation, parts supply, agriculture, surveillance, and monitoring. This thesis investigates the design and control of a two-wheel balancing mobile robot using three different control strategies: Proportional Integral Derivative (PID) controllers, Sliding Mode Control, and Deep Q-Learning methodology. The mobile robot is modeled using a dynamic and kinematic model, and its motion is simulated in a custom MATLAB/Simulink environment. The first part of the thesis focuses on developing a dynamic and kinematic …

Designing Tomorrow's Reality: The Development And Validation Of An Augmented And Mixed Reality Heuristic Checklist, Jessyca Derby

Doctoral Dissertations and Master's Theses

Augmented (AR) and Mixed Reality (MR) are new and currently developing technologies. They have been used and shown promise and popularity in the domains of education, training, enterprise, retail, consumer products, and more. However, there is a lack of consistency and standards in AR and MR devices and applications. Interactions and standards in one application may drastically differ from another. This may make it difficult for users, especially those new to these technologies, to learn and feel comfortable using the devices or applications. It may also hinder the usability of the applications as designers may not follow proven techniques to …

Machine Tool Communication (Mtcomm) Method And Its Applications In A Cyber-Physical Manufacturing Cloud, S M Nahian Al Sunny

Graduate Theses and Dissertations

The integration of cyber-physical systems and cloud manufacturing has the potential to revolutionize existing manufacturing systems by enabling better accessibility, agility, and efficiency. To achieve this, it is necessary to establish a communication method of manufacturing services over the Internet to access and manage physical machines from cloud applications. Most of the existing industrial automation protocols utilize Ethernet based Local Area Network (LAN) and are not designed specifically for Internet enabled data transmission. Recently MTConnect has been gaining popularity as a standard for monitoring status of machine tools through RESTful web services and an XML based messaging structure, but it …

Towards Agile Academia: An Approach To Scientific Paper Writing Inspired By Software Engineering, Tyler Procko

Doctoral Dissertations and Master's Theses

The construction of scientific papers is performed in service of the greater scientific community. This iterative process is, in effect, an academic economy, where all members benefit from well-written papers. However, many published scientific papers are poorly written; they often lack sufficient detail to allow replication, there is improper usage of citations or a lack of regard to relevant work, reporting is vague or without linked empirical data to allow verification, figures do not correspond to text or are non-sensical, literary elements, e.g., bulleted lists, are used ineffectively, formatting renders certain sections unreadable, and grammatical errors abound. The issues of …

Framework For Implementing Advanced Radar Plotting Aid Capability For Small Maritime Vessels, Jason Stark Harris

Electrical & Computer Engineering Theses & Dissertations

Every year in the United States many people are killed or injured when maritime vessels collide with other vessels or fixed objects. According to the United States Coast Guard, the top contributing factors to these collisions are operator inattention, operator inexperience and an improper lookout. Larger commercial vessels are required to have RADAR systems which support Automatic RADAR Plotting Aid (ARPA) which can automatically detect collisions and alert an operator to change course. These systems can be very expensive which put them out of reach of the average recreational boater. It is however possible to implement a low cost ARPA …

Modeling And Compensating Of Noise In Time-Of-Flight Sensors, Bryan Rodriguez

Electrical Engineering Theses and Dissertations

Three-dimensional (3D) sensors provide the ability to perform contactless measurements of objects and distances that are within their field of view. Unlike traditional two-dimensional (2D) cameras, which only provide RGB data about objects within a scene, 3D sensors are able to directly provide depth information for objects within a scene. Of these 3D sensing technologies, Time-of-Flight (ToF) sensors are becoming more compact which allows them to be more easily integrated with other devices and to find use in more applications. ToF sensors also provide several benefits over other 3D sensing technologies that increase the types of applications where ToF sensors …

A Memory Contention Responsive Hash Join Algorithm Design And Implementation On Apache Asterixdb, Giulliano Silva Zanotti Siviero

Computer Science and Engineering Master's Theses

Efficient data management is crucial in complex computer systems, and Database Management Systems (DBMS) are indispensable for handling and processing large datasets. In DBMSs that concurrently execute multiple queries, adapting to varying workloads is desirable. Yet, predicting the fluctuating quantity and size of queries in such environments proves challenging. Over-allocating resources to a single query can impede the execution of future queries while under-allocating resources to a query expecting increased workload can lead to significant processing delays. Moreover, join operations place substantial demands on memory. This resource’s availability fluctuates as queries enter and exit the DBMS. The development of join …

Advanced Traffic Video Analytics For Robust Traffic Accident Detection, Hadi Ghahremannezhad

Dissertations

Automatic traffic accident detection is an important task in traffic video analysis due to its key applications in developing intelligent transportation systems. Reducing the time delay between the occurrence of an accident and the dispatch of the first responders to the scene may help lower the mortality rate and save lives. Since 1980, many approaches have been presented for the automatic detection of incidents in traffic videos. In this dissertation, some challenging problems for accident detection in traffic videos are discussed and a new framework is presented in order to automatically detect single-vehicle and intersection traffic accidents in real-time.

First, …

Toward Smart And Efficient Scientific Data Management, Jinzhen Wang

Dissertations

Scientific research generates vast amounts of data, and the scale of data has significantly increased with advancements in scientific applications. To manage this data effectively, lossy data compression techniques are necessary to reduce storage and transmission costs. Nevertheless, the use of lossy compression introduces uncertainties related to its performance. This dissertation aims to answer key questions surrounding lossy data compression, such as how the performance changes, how much reduction can be achieved, and how to optimize these techniques for modern scientific data management workflows.

One of the major challenges in adopting lossy compression techniques is the trade-off between data accuracy …

Toward Building An Intelligent And Secure Network: An Internet Traffic Forecasting Perspective, Sajal Saha

Electronic Thesis and Dissertation Repository

Internet traffic forecast is a crucial component for the proactive management of self-organizing networks (SON) to ensure better Quality of Service (QoS) and Quality of Experience (QoE). Given the volatile and random nature of traffic data, this forecasting influences strategic development and investment decisions in the Internet Service Provider (ISP) industry. Modern machine learning algorithms have shown potential in dealing with complex Internet traffic prediction tasks, yet challenges persist. This thesis systematically explores these issues over five empirical studies conducted in the past three years, focusing on four key research questions: How do outlier data samples impact prediction accuracy for …

Multi-Agent Deep Reinforcement Learning For Radiation Localization, Benjamin Scott Totten

Dissertations and Theses

For the safety of both equipment and human life, it is important to identify the location of orphaned radioactive material as quickly and accurately as possible. There are many factors that make radiation localization a challenging task, such as low gamma radiation signal strength and the need to search in unknown environments without prior information. The inverse-square relationship between the intensity of radiation and the source location, the probabilistic nature of nuclear decay and gamma ray detection, and the pervasive presence of naturally occurring environmental radiation complicates localization tasks. The presence of obstructions in complex environments can further attenuate the …

Evaluating Eeg–Emg Fusion-Based Classification As A Method For Improving Control Of Wearable Robotic Devices For Upper-Limb Rehabilitation, Jacob G. Tryon

Electronic Thesis and Dissertation Repository

Musculoskeletal disorders are the biggest cause of disability worldwide, and wearable mechatronic rehabilitation devices have been proposed for treatment. However, before widespread adoption, improvements in user control and system adaptability are required. User intention should be detected intuitively, and user-induced changes in system dynamics should be unobtrusively identified and corrected. Developments often focus on model-dependent nonlinear control theory, which is challenging to implement for wearable devices.

One alternative is to incorporate bioelectrical signal-based machine learning into the system, allowing for simpler controller designs to be augmented by supplemental brain (electroencephalography/EEG) and muscle (electromyography/EMG) information. To extract user intention better, sensor …

Watch: A Distributed Clock Time Offset Estimation Tool On The Platform For Open Wireless Data-Driven Experimental Research, Cassie Jeng

McKelvey School of Engineering Theses & Dissertations

The synchronization of the clocks used at different devices across space is of critical importance in wireless communications networks. Each device’s local clock differs slightly, affecting the times at which packets are transmitted from different nodes in the network. This thesis provides experimentation and software development on POWDER, the Platform for Open, Wireless Data-driven Experimental Research, an open wireless testbed across the University of Utah campus. We build upon Shout, a suite of Python scripts that allow devices to iteratively transmit and receive with each other and save the collected data. We introduce WATCH, an experimental method to estimate clock …

Classification Of Ddos Attack With Machine Learning Architectures And Exploratory Analysis, Amreen Anbar

Electronic Thesis and Dissertation Repository

The ever-increasing frequency of occurrence and sophistication of DDoS attacks pose a serious threat to network security. Accurate classification of DDoS attacks with efficiency is crucial in order to develop effective defense mechanisms. In this thesis, we propose a novel approach for DDoS classification using the CatBoost algorithm, on CICDDoS2019, a benchmark dataset containing 12 variations of DDoS attacks and legitimate traffic using real-world traffic traces. With a developed ensemble feature selection method and feature engineering, our model proves to be a good fit for DDoS attack type prediction. Our experimental results demonstrate that our proposed approach achieves high classification …

Analyzing The System Features, Usability, And Performance Of A Containerized Application On Cloud Computing Systems, Anoop Abraham

Masters Theses

This study analyzed the system features, usability, and performance of three serverless cloud computing platforms: Google Cloud’s Cloud Run, Amazon Web Service’s App Runner, and Microsoft Azure’s Container Apps. The analysis was conducted on a containerized mobile application designed to track real-time bus locations for San Antonio public buses on specific routes and provide estimated arrival times for selected bus stops. The study evaluated various system-related features, including service configuration, pricing, and memory & CPU capacity, along with performance metrics such as container latency, Distance Matrix API response time, and CPU utilization for each service. Easy-to-use usability was also evaluated …

A Unique Method Of Using Information Entropy To Evaluate The Reliability Of Deep Neural Network Predictions On Intracranial Electroencephalogram, Elakkat Dharmaraj Gireesh

Electronic Theses and Dissertations, 2020-

Deep Neural networks (DNN) are fundamentally information processing machines, which synthesize the complex patterns in input to arrive at solutions, with applications in various fields. One major question when working with the DNN is, which features in the input lead to a specific decision by DNN. One of the common methods of addressing this question involve generation of heatmaps. Another pertinent question is how effectively DNN has captured the entire information presented in the input, which can potentially be addressed with complexity measures of the inputs. In the case of patients with intractable epilepsy, appropriate clinical decision making depends on …

Autonomous Shipwreck Detection & Mapping, William Ard

LSU Master's Theses

This thesis presents the development and testing of Bruce, a low-cost hybrid Remote Operated Vehicle (ROV) / Autonomous Underwater Vehicle (AUV) system for the optical survey of marine archaeological sites, as well as a novel sonar image augmentation strategy for semantic segmentation of shipwrecks. This approach takes side-scan sonar and bathymetry data collected using an EdgeTech 2205 AUV sensor integrated with an Harris Iver3, and generates augmented image data to be used for the semantic segmentation of shipwrecks. It is shown that, due to the feature enhancement capabilities of the proposed shipwreck detection strategy, correctly identified areas have a 15% …

Design And Fabrication Of A Trapped Ion Quantum Computing Testbed, Christopher A. Caron

Masters Theses

Here we present the design, assembly and successful ion trapping of a room-temperature ion trap system with a custom designed and fabricated surface electrode ion trap, which allows for rapid prototyping of novel trap designs such that new chips can be installed and reach UHV in under 2 days. The system has demonstrated success at trapping and maintaining both single ions and cold crystals of ions. We achieve this by fabricating our own custom surface Paul traps in the UMass Amherst cleanroom facilities, which are then argon ion milled, diced, mounted and wire bonded to an interposer which is placed …

Learning To Rig Characters, Zhan Xu

Doctoral Dissertations

With the emergence of 3D virtual worlds, 3D social media, and massive online games, the need for diverse, high-quality, animation-ready characters and avatars is greater than ever. To animate characters, artists hand-craft articulation structures, such as animation skeletons and part deformers, which require significant amount of manual and laborious interaction with 2D/3D modeling interfaces. This thesis presents deep learning methods that are able to significantly automate the process of character rigging. First, the thesis introduces RigNet, a method capable of predicting an animation skeleton for an input static 3D shape in the form of a polygon mesh. The predicted skeletons …

Physical Layer Security With Unmanned Aerial Vehicles For Advanced Wireless Networks, Aly Sabri Abdalla

Theses and Dissertations

Unmanned aerial vehicles (UAVs) are emerging as enablers for supporting many applications and services, such as precision agriculture, search and rescue, temporary network deployment, coverage extension, and security. UAVs are being considered for integration into emerging wireless networks as aerial users, aerial relays (ARs), or aerial base stations (ABSs). This dissertation proposes employing UAVs to contribute to physical layer techniques that enhance the security performance of advanced wireless networks and services in terms of availability, resilience, and confidentiality. The focus is on securing terrestrial cellular communications against eavesdropping with a cellular-connected UAV that is dispatched as an AR or ABS. …

Transforming Large-Scale Virtualized Networks: Advancements In Latency Reduction, Availability Enhancement, And Security Fortification, Ibrahim Tamim

Electronic Thesis and Dissertation Repository

In today’s digital age, the increasing demand for networks, driven by the proliferation of connected devices, data-intensive applications, and transformative technologies, necessitates robust and efficient network infrastructure. This thesis addresses the challenges posed by virtualization in 5G networking and focuses on enhancing next-generation Radio Access Networks (RANs), particularly Open-RAN (O-RAN). The objective is to transform virtualized networks into highly reliable, secure, and latency-aware systems. To achieve this, the thesis proposes novel strategies for virtual function placement, traffic steering, and virtual function security within O-RAN. These solutions utilize optimization techniques such as binary integer programming, mixed integer binary programming, column generation, …

Design And Analysis Of Content Caching Systems, Anirudh Sabnis

Doctoral Dissertations

Caching is a simple yet powerful technique that has had a significant impact on improving the performance of various computer systems. From internet content delivery to CPUs, domain name systems, and database systems, caching has played a pivotal role in making these systems faster and more efficient. The basic idea behind caching is to store frequently accessed data locally, so that future requests for that data can be served more quickly. For example, a Content Delivery Network (CDN) like Akamai deploys thousands of edge caches across the globe, so that end-user requests can be served from a nearby cache, rather …

Enabling Novel Network Economics Using Multi-Hop, Asynchronous Resource Exchanges, Puming Fang

Doctoral Dissertations

Economic transactions typically involve only the parties directly involved, known as single-hop economic exchange. However, this model has limitations since only the final contributors participate in the resource exchange and acquire ownership of resources from previous contributors. In contrast, distributed systems aggregate resources from multiple entities across multiple hops. In Web 3.0, everyone can be a content creator and take ownership of their creations. To address this issue, we propose a value tree model that includes all contributors and enables multi-hop and asynchronous resource exchange. We propose two different approaches to implement the value tree model: value tree single contract, …

Sel4 On Risc-V - Developing High Assurance Platforms With Modular Open-Source Architectures, Michael A. Doran Jr

Masters Theses

Virtualization is now becoming an industry standard for modern embedded systems. Modern embedded systems can now support multiple applications on a single hardware platform while meeting power and cost requirements. Virtualization on an embedded system is achieved through the design of the hardware-software interface. Instruction set architecture, ISA, defines the hardware-software interface for an embedded system. At the hardware level the ISA, provides extensions to support virtualization.

In addition to an ISA that supports hypervisor extensions it is equally important to provide a hypervisor completely capable of exploiting the benefits of virtualization for securing modern embedded systems. Currently there does …

Anomaly Detection On Complex Health Information Technology Systems, Haoran Niu

Doctoral Dissertations

While modern complex computer systems provide enormous benefits to our daily lives, the increasing complexity of these large-scale systems also makes them more susceptible to unexpected software malfunctions and malicious attacks. This is especially true for Health Information Technology (HIT), which has revolutionized healthcare delivery by making it more efficient, effective, and accessible. Nevertheless, the widespread adoption of HIT has introduced new challenges related to ensuring system reliability and security. As a result, the development of novel algorithms and frameworks to detect anomalies in such systems has become increasingly important for enhancing patient safety and improving the efficiency and effectiveness …

Deep Learning Based Power System Stability Assessment For Reduced Wecc System, Yinfeng Zhao

Doctoral Dissertations

Power system stability is the ability of power system, for a giving initial operating condition, to reach a new operation condition with most of the system variables bounded in normal range after subjecting to a short or long disturbance. Traditional power system stability mainly uses time-domain simulation which is very time consuming and only appropriate for offline assessment.

Nowadays, with increasing penetration of inverter based renewable, large-scale distributed energy storage integration and operation uncertainty brought by weather and electricity market, system dynamic and operating condition is more dramatic, and traditional power system stability assessment based on scheduling may not be …

Controllable Language Generation Using Deep Learning, Rohola Zandie

Electronic Theses and Dissertations

The advent of deep neural networks has sparked a revolution in Artificial Intelligence (AI), notably with the creation of Transformer models like GPT-X and ChatGPT. These models have surpassed previous methods in various Natural Language Processing (NLP) tasks. As the NLP field evolves, there is a need to further understand and question the capabilities of these models. Text generation, a crucial part of NLP, remains an area where our comprehension is limited while being critical in research.

This dissertation focuses on the challenging problem of controlling the general behaviors of language models such as sentiment, topical focus, and logical reasoning. …