Computer Engineering Commons^™

Improving The Flexibility And Robustness Of Machine Tending Mobile Robots, Richard Ethan Hollingsworth

Theses and Dissertations

While traditional manufacturing production cells consist of a fixed base robot repetitively performing tasks, the Industry 5.0 flexible manufacturing cell (FMC) aims to bring Autonomous Industrial Mobile Manipulators (AIMMs) to the factory floor. Composed of a wheeled base and a robot arm, these collaborative robots (cobots) operate alongside people while autonomously performing tasks at different workstations. AIMMs have been tested in real production systems, but the development of the control algorithms necessary for automating a robot that is a combination of two cobots remains an open challenge before the large scale adoption of this technology occurs in industry. Currently popular …

Wifi Sensing At The Edge Towards Scalable On-Device Wireless Sensing Systems, Steven M. Hernandez

Theses and Dissertations

WiFi sensing offers a powerful method for tracking physical activities using the radio-frequency signals already found throughout our homes and offices. This novel sensing modality offers continuous and non-intrusive activity tracking since sensing can be performed (i) without requiring wearable sensors, (ii) outside the line-of-sight, and even (iii) through the wall. Furthermore, WiFi has become a ubiquitous technology in our computers, our smartphones, and even in low-cost Internet of Things devices. In this work, we consider how the ubiquity of these low-cost WiFi devices offer an unparalleled opportunity for improving the scalability of wireless sensing systems. Thus far, WiFi sensing …

Machine Learning Models To Automate Radiotherapy Structure Name Standardization, Priyankar Bose

Theses and Dissertations

Structure name standardization is a critical problem in Radiotherapy planning systems to correctly identify the various Organs-at-Risk, Planning Target Volumes and `Other' organs for monitoring present and future medications. Physicians often label anatomical structure sets in Digital Imaging and Communications in Medicine (DICOM) images with nonstandard random names. Hence, the standardization of these names for the Organs at Risk (OARs), Planning Target Volumes (PTVs), and `Other' organs is a vital problem. Prior works considered traditional machine learning approaches on structure sets with moderate success. We compare both traditional methods and deep neural network-based approaches on the multimodal vision-language prostate cancer …

Portable Robotic Navigation Aid For The Visually Impaired, Lingqiu Jin

Theses and Dissertations

This dissertation aims to address the limitations of existing visual-inertial (VI) SLAM methods - lack of needed robustness and accuracy - for assistive navigation in a large indoor space. Several improvements are made to existing SLAM technology, and the improved methods are used to enable two robotic assistive devices, a robot cane, and a robotic object manipulation aid, for the visually impaired for assistive wayfinding and object detection/grasping. First, depth measurements are incorporated into the optimization process for device pose estimation to improve the success rate of VI SLAM's initialization and reduce scale drift. The improved method, called depth-enhanced visual-inertial …

Virtual Plc Platform For Security And Forensics Of Industrial Control Systems, Syed Ali Qasim

Theses and Dissertations

Industrial Control Systems (ICS) are vital in managing critical infrastructures, including nuclear power plants and electric grids. With the advent of the Industrial Internet of Things (IIoT), these systems have been integrated into broader networks, enhancing efficiency but also becoming targets for cyberattacks. Central to ICS are Programmable Logic Controllers (PLCs), which bridge the physical and cyber worlds and are often exploited by attackers. There's a critical need for tools to analyze cyberattacks on PLCs, uncover vulnerabilities, and improve ICS security. Existing tools are hindered by the proprietary nature of PLC software, limiting scalability and efficiency.

To overcome these challenges, …