Computer Engineering Commons^™

Enhanced Mobile Networking Using Multi-Connectivity And Packet Duplication In Next-Generation Cellular Networks, Prabodh Mishra

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Modern cellular communication systems need to handle an enormous number of users and large amounts of data, including both users as well as system-oriented data. 5G is the fifth-generation mobile network and a new global wireless standard that follows 4G/LTE networks. The uptake of 5G is expected to be faster than any previous cellular generation, with high expectations of its future impact on the global economy. The next-generation 5G networks are designed to be flexible enough to adapt to modern use cases and be highly modular such that operators would have the flexibility to provide selective features based on user …

Enabling High Throughput And Reliable Low Latency Communication Over Vehicular Mobility In Next-Generation Cellular Networks, Snigdhaswin Kar

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The fifth-generation (5G) networks and beyond need paradigm shifts to realize the exponentially increasing demands of next-generation services for high throughputs, low latencies, and reliable communication under various mobility scenarios. However, these promising features have critical gaps that need to be filled before they can be fully implemented for mobile applications in complex environments like smart cities. Although the sub-6 GHz bands can provide reliable and larger coverage, they cannot provide high data rates with low latencies due to a scarcity of spectrum available in these bands. Millimeter wave (mmWave) communication is a key enabler for a significant increase in …

Deep Reinforcement Learning And Game Theoretic Monte Carlo Decision Process For Safe And Efficient Lane Change Maneuver And Speed Management, Shahab Karimi

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Predicting the states of the surrounding traffic is one of the major problems in automated driving. Maneuvers such as lane change, merge, and exit management could pose challenges in the absence of intervehicular communication and can benefit from driver behavior prediction. Predicting the motion of surrounding vehicles and trajectory planning need to be computationally efficient for real-time implementation. This dissertation presents a decision process model for real-time automated lane change and speed management in highway and urban traffic. In lane change and merge maneuvers, it is important to know how neighboring vehicles will act in the imminent future. Human driver …

Modeling, Control And Estimation Of Reconfigurable Cable Driven Parallel Robots, Adhiti Raman Thothathri

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The motivation for this thesis was to develop a cable-driven parallel robot (CDPR) as part of a two-part robotic device for concrete 3D printing. This research addresses specific research questions in this domain, chiefly, to present advantages offered by the addition of kinematic redundancies to CDPRs. Due to the natural actuation redundancy present in a fully constrained CDPR, the addition of internal mobility offers complex challenges in modeling and control that are not often encountered in literature.

This work presents a systematic analysis of modeling such kinematic redundancies through the application of reciprocal screw theory (RST) and Lie algebra while …

Multi-Robot Symbolic Task And Motion Planning Leveraging Human Trust Models: Theory And Applications, Huanfei Zheng

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Multi-robot systems (MRS) can accomplish more complex tasks with two or more robots and have produced a broad set of applications. The presence of a human operator in an MRS can guarantee the safety of the task performing, but the human operators can be subject to heavier stress and cognitive workload in collaboration with the MRS than the single robot. It is significant for the MRS to have the provable correct task and motion planning solution for a complex task. That can reduce the human workload during supervising the task and improve the reliability of human-MRS collaboration. This dissertation relies …

Algorithm Optimization And Hardware Acceleration For Machine Learning Applications On Low-Energy Systems, Jianchi Sun

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Machine learning (ML) has been extensively employed for strategy optimization, decision making, data classification, etc. While ML shows great triumph in its application field, the increasing complexity of the learning models introduces neoteric challenges to the ML system designs. On the one hand, the applications of ML on resource-restricted terminals, like mobile computing and IoT devices, are prevented by the high computational complexity and memory requirement. On the other hand, the massive parameter quantity for the modern ML models appends extra demands on the system's I/O speed and memory size. This dissertation investigates feasible solutions for those challenges with software-hardware …

Snap : A Software-Defined & Named-Data Oriented Publish-Subscribe Framework For Emerging Wireless Application Systems, Manveen Kaur

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The evolution of Cyber-Physical Systems (CPSs) has given rise to an emergent class of CPSs defined by ad-hoc wireless connectivity, mobility, and resource constraints in computation, memory, communications, and battery power. These systems are expected to fulfill essential roles in critical infrastructure sectors. Vehicular Ad-Hoc Network (VANET) and a swarm of Unmanned Aerial Vehicles (UAV swarm) are examples of such systems. The significant utility of these systems, coupled with their economic viability, is a crucial indicator of their anticipated growth in the future. Typically, the tasks assigned to these systems have strict Quality-of-Service (QoS) requirements and require sensing, perception, and …

Control, Decision-Making, And Learning Approaches For Connected And Autonomous Driving Systems With Humans-In-The-Loop, Fangjian Li

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By virtue of vehicular connectivity and automation, the vehicle becomes increasingly intelligent and self-driving capable. However, no matter what automation level the vehicle can achieve, humans will still be in the loop despite their roles. First, considering the manual driving car as a disturbance to the connected and autonomous vehicles (CAVs), a novel string stability is proposed for mixed traffic platoons consisting of both autonomous and manual driving cars to guarantee acceptable motion fluctuation and platoon safety. Furthermore, humans are naturally considered as the rider in the passenger vehicle. A human-centered cooperative adaptive cruise control (CACC) is designed to improve …

Deep Learning Based Speech Enhancement And Its Application To Speech Recognition, Ju Lin

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Speech enhancement is the task that aims to improve the quality and the intelligibility of a speech signal that is degraded by ambient noise and room reverberation. Speech enhancement algorithms are used extensively in many audio- and communication systems, including mobile handsets, speech recognition, speaker verification systems and hearing aids. Recently, deep learning has achieved great success in many applications, such as computer vision, nature language processing and speech recognition. Speech enhancement methods have been introduced that use deep-learning techniques, as these techniques are capable of learning complex hierarchical functions using large-scale training data. This dissertation investigates the deep learning …

Design Of A Wide Area Controller Using Eigenstructure Assignment In Power Systems, Parimal Saraf

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Small signal stability has become a major concern for power system operators around the world. This has resulted from constantly evolving changes in the power system ranging from increased number of interconnections to ever increasing demand of power. In highly stressed operating conditions, even a small disturbance such as a load change can make the system unstable resulting in small signal instability. The main reason for small signal instability in power systems is an inter-area mode/s becoming unstable. Inter-area modes involve a group of generators oscillating against each other. Traditionally, power system stabilizers installed on the synchrous machines were used …

Cloud-Based Strategies For Robust Connectivity And Efficient Transmission In Vehicular Networks, Ke Xu

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Leveraging multiple wireless technologies and radio access networks, vehicles on the move have the potential to get ubiquitous broadband Internet connectivity. Many studies have put lots of efforts on vehicle-to-vehicle networks for relaying strategies, popular content distribution, etc. However, in dominant infrastructure-based vehicular networks, supporting continuous and fast data transfer for today's prevalent services, e.g. video streaming, for vehicles anytime and anywhere is still a difficult research problem. By looking into such problem, impacts such as intermittent connectivity, dynamic network topology, fluctuating signal coverage, and inefficient transmissions, all result from two root causes in vehicular network- mobility and limited infrastructure …