Computer Engineering Commons^™

Rapid Indirect Trajectory Optimization On Highly Parallel Computing Architectures, Thomas Antony

Open Access Theses

Trajectory optimization is a field which can benefit greatly from the advantages offered by parallel computing. The current state-of-the-art in trajectory optimization focuses on the use of direct optimization methods, such as the pseudo-spectral method. These methods are favored due to their ease of implementation and large convergence regions while indirect methods have largely been ignored in the literature in the past decade except for specific applications in astrodynamics. It has been shown that the shortcomings conventionally associated with indirect methods can be overcome by the use of a continuation method in which complex trajectory solutions are obtained by solving …

Impact Of License Selection On Open Source Software Quality, Benjamin J. Cotton

Open Access Theses

Open source software plays an important part in the modern world, powering businesses large and small. However, little work has been done to evaluate the quality of open source software. Two different license paradigms exist within the open source world, and this study examines the difference in software quality between them. In this thesis, the author uses technical debt as a measure of software quality. Eighty open source projects (40 from each paradigm) were downloaded from the popular open source hosting website SourceForge. Using complexity, code duplication, comments, and unit test coverage as inputs to the SonarQube technical debt model, …

Wi-Fi Real Time Location Systems, Benjamin A. Doll

Open Access Theses

This thesis objective was to determine the viability of utilizing an untrained Wi-Fi real time location system as a GPS alternative for indoor environments. Background research showed that GPS is rarely able to penetrate buildings to provide reliable location data. The benefit of having location information in a facility and how they might be used for disaster or emergency relief personnel and their resources motivated this research. A building was selected with a well-deployed Wi-Fi infrastructure and its untrained location feature was used to determine the distance between the specified test points and the system identified location. It was found …

Paxos Based Directory Updates For Geo-Replicated Cloud Storage, Srivathsava Rangarajan

Open Access Theses

Modern cloud data stores (e.g., Spanner, Cassandra) replicate data across geographically distributed data centers for availability, redundancy and optimized latencies.^ An important class of cloud data stores involves the use of directories to track the location of individual data objects. Directory-based datastores allow flexible data placement, and the ability to adapt placement in response to changing workload dynamics. However, a key challenge is maintaining and updating the directory state when replica placement changes.^ In this thesis, we present the design and implementation of a system to address the problem of correctly updating these directories. Our system is built around JPaxos, …

Software Architecture And Development For Controlling A Hubo Humanoid Robot, Manas Ajit Paldhe

Open Access Theses

Due to their human-like structure, humanoid robots are capable of doing some complex tasks. Since a humanoid robot has a large number of actuators and sensors, controlling it is a difficult task. For various tasks like balancing, driving a car, and interacting with humans, real-time response of the robot is essential. Efficiently controlling a humanoid robot requires a software that guarantees real-time interface and control mechanism so that real-time response of the robot is possible. Addition- ally, to reduce the development effort and time, the software should be open-source, multi-lingual and should have high-level constructs inbuilt in it.

Currently Robot …

Analysis Of Eye Tracking Data Obtained By Customers’ Product Evaluations, Shweta Sanjay Sareen

Open Access Theses

Within the mechanical engineering discipline, product representational studies have been used to inform engineers on the suitability of their product designs for prospective customers. Mainly based in customers' oral responses, engineers would modify the product design accordingly. The incorporation of eye tracking data, in addition to the oral responses, in these product representational studies is a recent addition. This case study performs data analysis of a product representational study conducted by Reid, MacDonald and Du (2012), which considers the impact of 2D and 3D product representation on customer judgments with associated eye gaze patterns. The aim of this thesis is …

Reliability Guided Resource Allocation For Large-Scale Supercomputing Systems, Shruti Umamaheshwaran

Open Access Theses

In high performance computing systems, parallel applications request a large number of resources for long time periods. In this scenario, if a resource fails during the application runtime, it would cause all applications using this resource to fail. The probability of application failure is tied to the inherent reliability of resources used by the application. Our investigation of high performance computing systems operating in the field has revealed a significant difference in the measured operational reliability of individual computing nodes. By adding awareness of the individual system nodes' reliability to the scheduler along with the predicted reliability needs of parallel …