Computer Engineering Commons^™

Nonlinear Least Squares 3-D Geolocation Solutions Using Time Differences Of Arrival, Michael V. Bredemann

Mathematics & Statistics ETDs

This thesis uses a geometric approach to derive and solve nonlinear least squares minimization problems to geolocate a signal source in three dimensions using time differences of arrival at multiple sensor locations. There is no restriction on the maximum number of sensors used. Residual errors reach the numerical limits of machine precision. Symmetric sensor orientations are found that prevent closed form solutions of source locations lying within the null space. Maximum uncertainties in relative sensor positions and time difference of arrivals, required to locate a source within a maximum specified error, are found from these results. Examples illustrate potential requirements …

Criticality Assessments For Improving Algorithmic Robustness, Thomas B. Jones

Computer Science ETDs

Though computational models typically assume all program steps execute flawlessly, that does not imply all steps are equally important if a failure should occur. In the "Constrained Reliability Allocation" problem, sufficient resources are guaranteed for operations that prompt eventual program termination on failure, but those operations that only cause output errors are given a limited budget of some vital resource, insufficient to ensure correct operation for each of them.

In this dissertation, I present a novel representation of failures based on a combination of their timing and location combined with criticality assessments---a method used to predict the behavior of systems …

High-Performance Testbed For Vision-Aided Autonomous Navigation For Quadrotor Uavs In Cluttered Environments, Shakeeb Ahmad

Electrical and Computer Engineering ETDs

This thesis presents the development of an aerial robotic testbed based on Robot Operating System (ROS). The purpose of this high-performance testbed is to develop a system capable of performing robust navigation tasks using vision tools such as a stereo camera. While ensuring the computation of robot odometery, the system is also capable of sensing the environment using the same stereo camera. Hence, all the navigation tasks are performed using a stereo camera and an inertial measurement unit (IMU) as the main sensor suite. ROS is used as a framework for software integration due to its capabilities to provide efficient …

Improving Hpc Communication Library Performance On Modern Architectures, Matthew G. F. Dosanjh

Computer Science ETDs

As high-performance computing (HPC) systems advance towards exascale (10^18 operations per second), they must leverage increasing levels of parallelism to achieve their performance goals. In addition to increased parallelism, machines of that scale will have strict power limitations placed on them. One direction currently being explored to alleviate those issues are many-core processors such as Intel’s Xeon Phi line. Many-core processors sacrifice clock speed and core complexity, such as out of order pipelining, to increase the number of cores on a die. While this increases floating point throughput, it can reduce the performance of serialized, synchronized, and latency sensitive code …

Distributed Knowledge Discovery For Diverse Data, Hossein Hamooni

Computer Science ETDs

In the era of new technologies, computer scientists deal with massive data of size hundreds of terabytes. Smart cities, social networks, health care systems, large sensor networks, etc. are constantly generating new data. It is non-trivial to extract knowledge from big datasets because traditional data mining algorithms run impractically on such big datasets. However, distributed systems have come to aid this problem while introducing new challenges in designing scalable algorithms. The transition from traditional algorithms to the ones that can be run on a distributed platform should be done carefully. Researchers should design the modern distributed algorithms based on the …