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Full-Text Articles in Computer Engineering

Nonlinear Attitude And Pose Filters With Superior Convergence Properties, Hashim Abdellah Hashim Mohamed Jul 2019

Nonlinear Attitude And Pose Filters With Superior Convergence Properties, Hashim Abdellah Hashim Mohamed

Electronic Thesis and Dissertation Repository

In this thesis, several deterministic and stochastic attitude filtering solutions on the special orthogonal group SO(3) are proposed. Firstly, the attitude estimation problem is approached on the basis of nonlinear deterministic filters on SO(3) with guaranteed transient and steady-state measures. The second solution to the attitude estimation problem considers nonlinear stochastic filters on SO(3) with superior convergence properties with two filters being developed in the sense of Ito, and one in the sense of Stratonovich.

This thesis also presents several deterministic and stochastic pose filtering solutions developed on the special Euclidean group SE(3). The first solution ...


Nonlinear Observer For Visual-Inertial Navigation Using Intermittent Landmark Measurements, Miaomiao Wang Jun 2019

Nonlinear Observer For Visual-Inertial Navigation Using Intermittent Landmark Measurements, Miaomiao Wang

Western Research Forum

The development of reliable orientation, position and linear velocity estimation algorithms for the 3D visual-inertial navigation system (VINS) is instrumental in many applications, such as autonomous underwater vehicles (AUVs), and unmanned aerial vehicles (UAVs). It is extremely important when the global position system (GPS) is not available in GPS-denied environments. Recently, observers design for VINS using landmark position measurements from Kinect sensors or stereo cameras has been increasingly investigated in the literature.

The aim of this work is to design a nonlinear observer for VINS under the assumption that landmark position measurements are intermittent. In practice, the landmark measurements are ...


Enhanced Multimedia Exchanges Over The Internet, Fuad Shamieh Jun 2019

Enhanced Multimedia Exchanges Over The Internet, Fuad Shamieh

Electronic Thesis and Dissertation Repository

Although the Internet was not originally designed for exchanging multimedia streams, consumers heavily depend on it for audiovisual data delivery. The intermittent nature of multimedia traffic, the unguaranteed underlying communication infrastructure, and dynamic user behavior collectively result in the degradation of Quality-of-Service (QoS) and Quality-of-Experience (QoE) perceived by end-users. Consequently, the volume of signalling messages is inevitably increased to compensate for the degradation of the desired service qualities. Improved multimedia services could leverage adaptive streaming as well as blockchain-based solutions to enhance media-rich experiences over the Internet at the cost of increased signalling volume. Many recent studies in the literature ...


Forecasting Building Energy Consumption With Deep Learning: A Sequence To Sequence Approach, Ljubisa Sehovac, Cornelius Nesen, Katarina Grolinger Jun 2019

Forecasting Building Energy Consumption With Deep Learning: A Sequence To Sequence Approach, Ljubisa Sehovac, Cornelius Nesen, Katarina Grolinger

Electrical and Computer Engineering Publications

Energy Consumption has been continuously increasing due to the rapid expansion of high-density cities, and growth in the industrial and commercial sectors. To reduce the negative impact on the environment and improve sustainability, it is crucial to efficiently manage energy consumption. Internet of Things (IoT) devices, including widely used smart meters, have created possibilities for energy monitoring as well as for sensor based energy forecasting. Machine learning algorithms commonly used for energy forecasting such as feedforward neural networks are not well-suited for interpreting the time dimensionality of a signal. Consequently, this paper uses Recurrent Neural Networks (RNN) to capture time ...


Deep Learning: Edge-Cloud Data Analytics For Iot, Katarina Grolinger, Ananda M. Ghosh Jan 2019

Deep Learning: Edge-Cloud Data Analytics For Iot, Katarina Grolinger, Ananda M. Ghosh

Electrical and Computer Engineering Publications

Sensors, wearables, mobile and other Internet of Thing (IoT) devices are becoming increasingly integrated in all aspects of our lives. They are capable of collecting massive quantities of data that are typically transmitted to the cloud for processing. However, this results in increased network traffic and latencies. Edge computing has a potential to remedy these challenges by moving computation physically closer to the network edge where data are generated. However, edge computing does not have sufficient resources for complex data analytics tasks. Consequently, this paper investigates merging cloud and edge computing for IoT data analytics and presents a deep learning-based ...


Secured Data Masking Framework And Technique For Preserving Privacy In A Business Intelligence Analytics Platform, Osama Ali Dec 2018

Secured Data Masking Framework And Technique For Preserving Privacy In A Business Intelligence Analytics Platform, Osama Ali

Electronic Thesis and Dissertation Repository

The main concept behind business intelligence (BI) is how to use integrated data across different business systems within an enterprise to make strategic decisions. It is difficult to map internal and external BI’s users to subsets of the enterprise’s data warehouse (DW), resulting that protecting the privacy of this data while maintaining its utility is a challenging task. Today, such DW systems constitute one of the most serious privacy breach threats that an enterprise might face when many internal users of different security levels have access to BI components. This thesis proposes a data masking framework (iMaskU: Identify ...


Generalized Scattering-Based Stabilization Of Nonlinear Interconnected Systems, Anastasiia Usova Oct 2018

Generalized Scattering-Based Stabilization Of Nonlinear Interconnected Systems, Anastasiia Usova

Electronic Thesis and Dissertation Repository

The research presented in this thesis is aimed at development of new methods and techniques for stability analysis and stabilization of interconnections of nonlinear systems, in particular, in the presence of communication delays. Based on the conic systems' formalism, we extend the notion of conicity for the non-planar case where the dimension of the cone's central subspace may be greater than one. One of the advantages of the notion of non-planar conicity is that any dissipative system with a quadratic supply rate can be represented as a non-planar conic system; specifically, its central subspace and radius can be calculated ...


Development Of Digital Control Systems For Wearable Mechatronic Devices: Applications In Musculoskeletal Rehabilitation Of The Upper Limb, Tyler Desplenter Oct 2018

Development Of Digital Control Systems For Wearable Mechatronic Devices: Applications In Musculoskeletal Rehabilitation Of The Upper Limb, Tyler Desplenter

Electronic Thesis and Dissertation Repository

The potential for wearable mechatronic systems to assist with musculoskeletal rehabilitation of the upper limb has grown with the technology. One limiting factor to realizing the benefits of these devices as motion therapy tools is within the development of digital control solutions. Despite many device prototypes and research efforts in the surrounding fields, there are a lack of requirements, details, assessments, and comparisons of control system characteristics, components, and architectures in the literature. Pairing this with the complexity of humans, the devices, and their interactions makes it a difficult task for control system developers to determine the best solution for ...


Recurrent Neural Network Architectures Toward Intrusion Detection, Wafaa Anani Aug 2018

Recurrent Neural Network Architectures Toward Intrusion Detection, Wafaa Anani

Electronic Thesis and Dissertation Repository

Recurrent Neural Networks (RNN) show a remarkable result in sequence learning, particularly in architectures with gated unit structures such as Long Short-term Memory (LSTM). In recent years, several permutations of LSTM architecture have been proposed mainly to overcome the computational complexity of LSTM. In this dissertation, a novel study is presented that will empirically investigate and evaluate LSTM architecture variants such as Gated Recurrent Unit (GRU), Bi-Directional LSTM, and Dynamic-RNN for LSTM and GRU specifically on detecting network intrusions. The investigation is designed to identify the learning time required for each architecture algorithm and to measure the intrusion prediction accuracy ...


Automatic Image Classification For Planetary Exploration, Lei Shu Aug 2018

Automatic Image Classification For Planetary Exploration, Lei Shu

Electronic Thesis and Dissertation Repository

Autonomous techniques in the context of planetary exploration can maximize scientific return and reduce the need for human involvement. This thesis work studies two main problems in planetary exploration: rock image classification and hyperspectral image classification. Since rock textural images are usually inhomogeneous and manually hand-crafting features is not always reliable, we propose an unsupervised feature learning method to autonomously learn the feature representation for rock images. The proposed feature method is flexible and can outperform manually selected features. In order to take advantage of the unlabelled rock images, we also propose self-taught learning technique to learn the feature representation ...


Insecs: An Intelligent Network Security System, Nadun Rajasinghe Aug 2018

Insecs: An Intelligent Network Security System, Nadun Rajasinghe

Electronic Thesis and Dissertation Repository

There are new challenges in network security, introduced by the nature of modern networks like IoT systems, Cloud systems, and other distributed systems. System resource limitations in IoT, delays in processing the large stream of data from Cloud and distributed system, incapability to handle multi-step attacks due to delay in updates, limited datasets used for Intrusion Detection System (IDS) training which impacts the system performance are some of the pressing issues. To address these challenges, the author proposes Intelligent Network Security Systems, a framework that can handle these issues and also be as accurate as a commercial grade IDS. The ...


Real-Time Intrusion Detection Using Multidimensional Sequence-To-Sequence Machine Learning And Adaptive Stream Processing, Gobinath Loganathan Aug 2018

Real-Time Intrusion Detection Using Multidimensional Sequence-To-Sequence Machine Learning And Adaptive Stream Processing, Gobinath Loganathan

Electronic Thesis and Dissertation Repository

A network intrusion is any unauthorized activity on a computer network. There are host-based and network-based Intrusion Detection Systems (IDS's), of which there are each signature-based and anomaly-based detection methods. An anomalous network behavior can be defined as an intentional violation of the expected sequence of packets. In a real-time network-based IDS, incoming packets are treated as a stream of data. A stream processor takes any stream of data or events and extracts interesting patterns on the fly. This representation allows applying statistical anomaly detection using sequence prediction algorithms as well as using a stream processor to perform signature-based ...


Resource Brokering In Grid Computing, Adrian T. Bienkowski May 2018

Resource Brokering In Grid Computing, Adrian T. Bienkowski

Electronic Thesis and Dissertation Repository

Grid Computing has emerged in the academia and evolved towards the bases of what is currently known as Cloud Computing and Internet of Things (IoT). The vast collection of resources that provide the nature for Grid Computing environment is very complex; multiple administrative domains control access and set policies to the shared computing resources. It is a decentralized environment with geographically distributed computing and storage resources, where each computing resource can be modeled as an autonomous computing entity, yet collectively can work together. This is a class of Cooperative Distributed Systems (CDS). We extend this by applying characteristic of open ...


Efficient Alignment Algorithms For Dna Sequencing Data, Nilesh Vinod Khiste Jan 2018

Efficient Alignment Algorithms For Dna Sequencing Data, Nilesh Vinod Khiste

Electronic Thesis and Dissertation Repository

The DNA Next Generation Sequencing (NGS) technologies produce data at a low cost, enabling their application to many ambitious fields such as cancer research, disease control, personalized medicine etc. However, even after a decade of research, the modern aligners and assemblers are far from providing efficient and error free genome alignments and assemblies respectively. This is due to the inherent nature of the genome alignment and assembly problem, which involves many complexities. Many algorithms to address this problem have been proposed over the years, but there still is a huge scope for improvement in this research space.

Many new genome ...


Energy Slices: Benchmarking With Time Slicing, Katarina Grolinger, Hany F. Elyamany, Wilson Higashino, Miriam Am Capretz, Luke Seewald Jan 2018

Energy Slices: Benchmarking With Time Slicing, Katarina Grolinger, Hany F. Elyamany, Wilson Higashino, Miriam Am Capretz, Luke Seewald

Electrical and Computer Engineering Publications

Benchmarking makes it possible to identify low-performing buildings, establishes a baseline for measuring performance improvements, enables setting of energy conservation targets, and encourages energy savings by creating a competitive environment. Statistical approaches evaluate building energy efficiency by comparing measured energy consumption to other similar buildings typically using annual measurements. However, it is important to consider different time periods in benchmarking because of differences in their consumption patterns. For example, an office can be efficient during the night, but inefficient during operating hours due to occupants’ wasteful behavior. Moreover, benchmarking studies often use a single regression model for different building categories ...


Intelligent Advancements In Location Management And C-Ran Power-Aware Resource Allocation, Emad Ali Aqeeli Dec 2017

Intelligent Advancements In Location Management And C-Ran Power-Aware Resource Allocation, Emad Ali Aqeeli

Electronic Thesis and Dissertation Repository

The evolving of cellular networks within the last decade continues to focus on delivering a robust and reliable means to cope with the increasing number of users and demanded capacity. Recent advancements of cellular networks such as Long-Term Evolution (LTE) and LTE-advanced offer a remarkable high bandwidth connectivity delivered to the users. Signalling overhead is one of the vital issues that impact the cellular behavior. Causing a significant load in the core network hence effecting the cellular network reliability. Moreover, the signaling overhead decreases the Quality of Experience (QoE) of users. The first topic of the thesis attempts to reduce ...


Optimal Decomposition Strategy For Tree Edit Distance, Shaofeng Jiang Dec 2017

Optimal Decomposition Strategy For Tree Edit Distance, Shaofeng Jiang

Electronic Thesis and Dissertation Repository

An ordered labeled tree is a tree where the left-to-right order among siblings is significant. Given two ordered labeled trees, the edit distance between them is the minimum cost edit operations that convert one tree to the other.

In this thesis, we present an algorithm for the tree edit distance problem by using the optimal tree decomposition strategy. By combining the vertical compression of trees with optimal decomposition we can significantly reduce the running time of the algorithm. We compare our method with other methods both theoretically and experimentally. The test results show that our strategies on compressed trees are ...


Grouping Environmental Factors Influencing Individual Decision-Making Behavior In Software Projects: A Cluster Analysis, Luiz Fernando Capretz Oct 2017

Grouping Environmental Factors Influencing Individual Decision-Making Behavior In Software Projects: A Cluster Analysis, Luiz Fernando Capretz

Electrical and Computer Engineering Publications

An individual’s decision-making behavior is heavily influenced by and adapted to external environmental factors. Given that software development is a human-centered activity, individual decision-making behavior may affect the software project quality. Although environmental factors affecting decision-making behavior in software projects have been identified in prior literature, there is not yet an objective and a full taxonomy of these factors. Thus, it is not trivial to manage these complex and diverse factors. To address this deficiency, we first design a semantic similarity algorithm between words by utilizing the synonymy and hypernymy relationships in WordNet. Further, we propose a method to ...


Modeling Of Force And Motion Transmission In Tendon-Driven Surgical Robots, Farshad Anooshahpour Oct 2017

Modeling Of Force And Motion Transmission In Tendon-Driven Surgical Robots, Farshad Anooshahpour

Electronic Thesis and Dissertation Repository

Tendon-based transmission is a common approach for transferring motion and forces in surgical robots. In spite of design simplicity and compactness that comes with the tendon drives, there exists a number of issues associated with the tendon-based transmission. In particular, the elasticity of the tendons and the frictional interaction between the tendon and the routing result in substantially nonlinear behavior. Also, in surgical applications, the distal joints of the robot and instruments cannot be sensorized in most cases due to technical limitations. Therefore, direct measurement of forces and use of feedback motion/force control for compensation of uncertainties in tendon-based ...


Lmproving Microcontroller And Computer Architecture Education Through Software Simulation, Kevin Brightwell Aug 2017

Lmproving Microcontroller And Computer Architecture Education Through Software Simulation, Kevin Brightwell

Electronic Thesis and Dissertation Repository

In this thesis, we aim to improve the outcomes of students learning Computer Architecture and Embedded Systems topics within Software and Computer Engineering programs. We develop a simulation of processors that attempts to improve the visibility of hardware within the simulation environment and replace existing solutions in use within the classroom. We designate a series of requirements of a successful simulation suite based on current state-of-the-art simulations within literature. Provided these requirements, we build a quantitative rating of the same set of simulations. Additionally, we rate our previously implemented tool, hc12sim, with current solutions. Using the gaps in implementations from ...


Data Science Solution For User Authentication, Anas Ibrahim Jul 2017

Data Science Solution For User Authentication, Anas Ibrahim

Electronic Thesis and Dissertation Repository

User authentication is considered a key factor in almost any software system and is often the first layer of security in the digital world. Authentication methods utilize one, or a combination of up to two, of the following factors: something you know, something you have and something you are. To prevent serious data breaches that have occurred using the traditional authentication methods, a fourth factor, something you do, that is being discussed among researchers; unfortunately, methods that rely on this fourth factor have problems of their own.

This thesis addresses the issues of the fourth authentication factor and proposes a ...


Machs: Mitigating The Achilles Heel Of The Cloud Through High Availability And Performance-Aware Solutions, Manar Jammal Apr 2017

Machs: Mitigating The Achilles Heel Of The Cloud Through High Availability And Performance-Aware Solutions, Manar Jammal

Electronic Thesis and Dissertation Repository

Cloud computing is continuously growing as a business model for hosting information and communication technology applications. However, many concerns arise regarding the quality of service (QoS) offered by the cloud. One major challenge is the high availability (HA) of cloud-based applications. The key to achieving availability requirements is to develop an approach that is immune to cloud failures while minimizing the service level agreement (SLA) violations. To this end, this thesis addresses the HA of cloud-based applications from different perspectives. First, the thesis proposes a component’s HA-ware scheduler (CHASE) to manage the deployments of carrier-grade cloud applications while maximizing ...


Metafork: A Compilation Framework For Concurrency Models Targeting Hardware Accelerators, Xiaohui Chen Mar 2017

Metafork: A Compilation Framework For Concurrency Models Targeting Hardware Accelerators, Xiaohui Chen

Electronic Thesis and Dissertation Repository

Parallel programming is gaining ground in various domains due to the tremendous computational power that it brings; however, it also requires a substantial code crafting effort to achieve performance improvement. Unfortunately, in most cases, performance tuning has to be accomplished manually by programmers. We argue that automated tuning is necessary due to the combination of the following factors. First, code optimization is machine-dependent. That is, optimization preferred on one machine may be not suitable for another machine. Second, as the possible optimization search space increases, manually finding an optimized configuration is hard. Therefore, developing new compiler techniques for optimizing applications ...


A Framework For Tumor Localization In Robot-Assisted Minimally Invasive Surgery, Nikita Chopra Feb 2017

A Framework For Tumor Localization In Robot-Assisted Minimally Invasive Surgery, Nikita Chopra

Electronic Thesis and Dissertation Repository

Manual palpation of tissue is frequently used in open surgery, e.g., for localization of tumors and buried vessels and for tissue characterization. The overall objective of this work is to explore how tissue palpation can be performed in Robot-Assisted Minimally Invasive Surgery (RAMIS) using laparoscopic instruments conventionally used in RAMIS. This thesis presents a framework where a surgical tool is moved teleoperatively in a manner analogous to the repetitive pressing motion of a finger during manual palpation. We interpret the changes in parameters due to this motion such as the applied force and the resulting indentation depth to accurately ...


Bim Assisted Design Process Automation For Pre-Engineered Buildings (Peb), Mohammad Delavar Feb 2017

Bim Assisted Design Process Automation For Pre-Engineered Buildings (Peb), Mohammad Delavar

Electronic Thesis and Dissertation Repository

The effective adoption and implementation of Building Information Modeling (BIM) is still challenging for the construction industry. However, studies and reports show a significant increase in the rate of BIM implementation and adoption in mainstream construction activities over the last five years. In contrast, Pre-Engineered Building (PEB) construction, a specialized construction system which provides a very efficient approach for construction of primarily industrial buildings, has not seen the same uptake in BIM implementation and adoption. The thesis reviews the benefits and the main applications of BIM for the PEB industry as well as challenges of its practical implementation. To facilitate ...


Expert-In-The-Loop Multilateral Telerobotics For Haptics-Enabled Motor Function And Skills Development, Mahya Shahbazi Jan 2017

Expert-In-The-Loop Multilateral Telerobotics For Haptics-Enabled Motor Function And Skills Development, Mahya Shahbazi

Electronic Thesis and Dissertation Repository

Among medical robotics applications are Robotics-Assisted Mirror Rehabilitation Therapy (RAMRT) and Minimally-Invasive Surgical Training (RAMIST) that extensively rely on motor function development. Haptics-enabled expert-in-the-loop motor function development for such applications is made possible through multilateral telerobotic frameworks. While several studies have validated the benefits of haptic interaction with an expert in motor learning, contradictory results have also been reported. This emphasizes the need for further in-depth studies on the nature of human motor learning through haptic guidance and interaction. The objective of this study was to design and evaluate expert-in-the-loop multilateral telerobotic frameworks with stable and human-safe control loops that ...


Contextual Model-Based Collaborative Filtering For Recommender Systems, Dennis E. Bachmann Jan 2017

Contextual Model-Based Collaborative Filtering For Recommender Systems, Dennis E. Bachmann

Electronic Thesis and Dissertation Repository

Recommender systems have dramatically changed the way we consume content. Internet applications rely on these systems to help users navigate among the ever-increasing number of choices available. However, most current systems ignore that user preferences can change according to context, resulting in recommendations that do not fit user interests. Context-aware models have been proposed to address this issue, but these models have problems of their own. The ever-increasing speed at which data are generated presents a scalability challenge for single-model approaches. Moreover, the complexity of these models prevents small players from adapting and implementing contextual models that meet their needs ...


An Ensemble Learning Framework For Anomaly Detection In Building Energy Consumption, Daniel B. Araya, Katarina Grolinger, Hany F. Elyamany, Miriam Am Capretz, Girma T. Bitsuamlak Jan 2017

An Ensemble Learning Framework For Anomaly Detection In Building Energy Consumption, Daniel B. Araya, Katarina Grolinger, Hany F. Elyamany, Miriam Am Capretz, Girma T. Bitsuamlak

Electrical and Computer Engineering Publications

During building operation, a significant amount of energy is wasted due to equipment and human-related faults. To reduce waste, today's smart buildings monitor energy usage with the aim of identifying abnormal consumption behaviour and notifying the building manager to implement appropriate energy-saving procedures. To this end, this research proposes a new pattern-based anomaly classifier, the collective contextual anomaly detection using sliding window (CCAD-SW) framework. The CCAD-SW framework identifies anomalous consumption patterns using overlapping sliding windows. To enhance the anomaly detection capacity of the CCAD-SW, this research also proposes the ensemble anomaly detection (EAD) framework. The EAD is a generic ...


Study Of Mobile Robot Operations Related To Lunar Exploration, Matthew Cross Dec 2016

Study Of Mobile Robot Operations Related To Lunar Exploration, Matthew Cross

Electronic Thesis and Dissertation Repository

Mobile robots extend the reach of exploration in environments unsuitable, or unreachable, by humans. Far-reaching environments, such as the south lunar pole, exhibit lighting conditions that are challenging for optical imagery required for mobile robot navigation. Terrain conditions also impact the operation of mobile robots; distinguishing terrain types prior to physical contact can improve hazard avoidance.

This thesis presents the conclusions of a trade-off that uses the results from two studies related to operating mobile robots at the lunar south pole. The lunar south pole presents engineering design challenges for both tele-operation and lidar-based autonomous navigation in the context of ...


Analysis Of 3d Cone-Beam Ct Image Reconstruction Performance On A Fpga, Devin Held Dec 2016

Analysis Of 3d Cone-Beam Ct Image Reconstruction Performance On A Fpga, Devin Held

Electronic Thesis and Dissertation Repository

Efficient and accurate tomographic image reconstruction has been an intensive topic of research due to the increasing everyday usage in areas such as radiology, biology, and materials science. Computed tomography (CT) scans are used to analyze internal structures through capture of x-ray images. Cone-beam CT scans project a cone-shaped x-ray to capture 2D image data from a single focal point, rotating around the object. CT scans are prone to multiple artifacts, including motion blur, streaks, and pixel irregularities, therefore must be run through image reconstruction software to reduce visual artifacts. The most common algorithm used is the Feldkamp, Davis, and ...