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Theses/Dissertations

Artificial Intelligence and Robotics

William & Mary

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Full-Text Articles in Engineering

Gait Characterization Using Computer Vision Video Analysis, Martha T. Gizaw May 2020

Gait Characterization Using Computer Vision Video Analysis, Martha T. Gizaw

Undergraduate Honors Theses

The World Health Organization reports that falls are the second-leading cause of accidental death among senior adults around the world. Currently, a research team at William & Mary’s Department of Kinesiology & Health Sciences attempts to recognize and correct aging-related factors that can result in falling. To meet this goal, the members of that team videotape walking tests to examine individual gait parameters of older subjects. However, they undergo a slow, laborious process of analyzing video frame by video frame to obtain such parameters. This project uses computer vision software to reconstruct walking models from residents of an independent living retirement ...


Learning & Planning For Self-Driving Ride-Hailing Fleets, Jack Morris May 2020

Learning & Planning For Self-Driving Ride-Hailing Fleets, Jack Morris

Undergraduate Honors Theses

Through simulation, we demonstrate that incorporation of self-driving vehicles into ride-hailing fleets can greatly improve urban mobility. After modeling existing driver-rider matching algorithms including Uber’s Batched Matching and Didi Chuxing’s Learning and Planning approach, we develop a novel algorithm adapting the latter to a fleet of Autos – self-driving ride-hailing vehicles – and Garages – specialized hubs for storage and refueling. By compiling driver-rider matching, idling, storage, refueling, and redistribution decisions in one unifying framework, we enable a system-wide optimization approach for self-driving ride-hailing previously unseen in the literature. In contrast with existing literature that labeled driverless taxis as economically infeasible ...


Sonar Sensor Interpretation For Ectogeneous Robots, Wen Gao Jan 2005

Sonar Sensor Interpretation For Ectogeneous Robots, Wen Gao

Dissertations, Theses, and Masters Projects

We have developed four generations of sonar scanning systems to automatically interpret surrounding environment. The first two are stationary 3D air-coupled ultrasound scanning systems and the last two are packaged as sensor heads for mobile robots. Template matching analysis is applied to distinguish simple indoor objects. It is conducted by comparing the tested echo with the reference echoes. Important features are then extracted and drawn in the phase plane. The computer then analyzes them and gives the best choices of the tested echoes automatically. For cylindrical objects outside, an algorithm has been presented to distinguish trees from smooth circular poles ...