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Master's Theses and Project Reports

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Robot Navigation In Cluttered Environments With Deep Reinforcement Learning, Ryan Weideman, Ryan Dean Weideman Jun 2019

Robot Navigation In Cluttered Environments With Deep Reinforcement Learning, Ryan Weideman, Ryan Dean Weideman

Master's Theses and Project Reports

The application of robotics in cluttered and dynamic environments provides a wealth of challenges. This thesis proposes a deep reinforcement learning based system that determines collision free navigation robot velocities directly from a sequence of depth images and a desired direction of travel. The system is designed such that a real robot could be placed in an unmapped, cluttered environment and be able to navigate in a desired direction with no prior knowledge. Deep Q-learning, coupled with the innovations of double Q-learning and dueling Q-networks, is applied. Two modifications of this architecture are presented to incorporate direction heading information that ...


Evaluating Creative Choice In K-12 Computer Science Curriculum, Kirsten L. Mork Jun 2019

Evaluating Creative Choice In K-12 Computer Science Curriculum, Kirsten L. Mork

Master's Theses and Project Reports

Computer Science is an increasingly important topic in K-12 education. Ever since the "computing crisis" of the early 2000s, where enrollment in CS dropped by over half in a five year span, increasing research has gone into improving and broadening enrollment in CS courses. Research shows the importance of introducing CS at a young age and the need for more exposure for younger children and young adults alike in order to work towards equity in the field. While there are many reasons for disinterest in CS courses, studies found one reason young adults do not want to study CS is ...


Relevance Analysis For Document Retrieval, Eric Labouve Mar 2019

Relevance Analysis For Document Retrieval, Eric Labouve

Master's Theses and Project Reports

Document retrieval systems recover documents from a dataset and order them according to their perceived relevance to a user’s search query. This is a difficult task for machines to accomplish because there exists a semantic gap between the meaning of the terms in a user’s literal query and a user’s true intentions. Even with this ambiguity that arises with a lack of context, users still expect that the set of documents returned by a search engine is both highly relevant to their query and properly ordered. The focus of this thesis is on document retrieval systems that ...


Assessing Risk In Iot Devices, David Levitsky Dec 2018

Assessing Risk In Iot Devices, David Levitsky

Master's Theses and Project Reports

The explosive growth of the Internet of Things ecosystem has thrust these devices into the center of our lives. Unfortunately, the desire to create these devices has been stronger than the one to secure them. Recent attacks have shown us ignoring security in Internet of Things devices can cause severe harm in both a digital and physical sense. This thesis outlines a framework for developers and managers to assess the risk of IoT devices using a weighted scoring system across five different categories. Our case studies suggest that devices with higher security considerations have a better security posture and lower ...


Logging, Visualization, And Analysis Of Network And Power Data Of Iot Devices, Neal Huynh Nguyen Dec 2018

Logging, Visualization, And Analysis Of Network And Power Data Of Iot Devices, Neal Huynh Nguyen

Master's Theses and Project Reports

There are approximately 23.14 billion IoT(Internet of Things) devices currently in use worldwide. This number is projected to grow to over 75 billion by 2025. Despite their ubiquity little is known about the security and privacy implications of IoT devices. Several large-scale attacks against IoT devices have already been recorded.

To help address this knowledge gap, we have collected a year’s worth of network traffic and power data from 16 common IoT devices. From this data, we show that we can identify different smart speakers, like the Echo Dot, from analyzing one minute of power data on ...


Amplifying The Prediction Of Team Performance Through Swarm Intelligence And Machine Learning, Erick Michael Harris Dec 2018

Amplifying The Prediction Of Team Performance Through Swarm Intelligence And Machine Learning, Erick Michael Harris

Master's Theses and Project Reports

Modern companies are increasingly relying on groups of individuals to reach organizational goals and objectives, however many organizations struggle to cultivate optimal teams that can maximize performance. Fortunately, existing research has established that group personality composition (GPC), across five dimensions of personality, is a promising indicator of team effectiveness. Additionally, recent advances in technology have enabled groups of humans to form real-time, closed-loop systems that are modeled after natural swarms, like flocks of birds and colonies of bees. These Artificial Swarm Intelligences (ASI) have been shown to amplify performance in a wide range of tasks, from forecasting financial markets to ...


Mastering The Game Of Gomoku Without Human Knowledge, Yuan Wang Jun 2018

Mastering The Game Of Gomoku Without Human Knowledge, Yuan Wang

Master's Theses and Project Reports

Gomoku, also called Five in a row, is one of the earliest checkerboard games invented by humans. For a long time, it has brought countless pleasures to us. We humans, as players, also created a lot of skills in playing it. Scientists normalize and enter these skills into the computer so that the computer knows how to play Gomoku. However, the computer just plays following the pre-entered skills, it doesn’t know how to develop these skills by itself. Inspired by Google’s AlphaGo Zero, in this thesis, by combining the technologies of Monte Carlo Tree Search, Deep Neural Networks ...


Artificial Neural Network-Based Robotic Control, Justin Ng Jun 2018

Artificial Neural Network-Based Robotic Control, Justin Ng

Master's Theses and Project Reports

Artificial neural networks (ANNs) are highly-capable alternatives to traditional problem solving schemes due to their ability to solve non-linear systems with a nonalgorithmic approach. The applications of ANNs range from process control to pattern recognition and, with increasing importance, robotics. This paper demonstrates continuous control of a robot using the deep deterministic policy gradients (DDPG) algorithm, an actor-critic reinforcement learning strategy, originally conceived by Google DeepMind. After training, the robot performs controlled locomotion within an enclosed area. The paper also details the robot design process and explores the challenges of implementation in a real-time system.


Towards Autonomous Localization Of An Underwater Drone, Nathan Sfard Jun 2018

Towards Autonomous Localization Of An Underwater Drone, Nathan Sfard

Master's Theses and Project Reports

Autonomous vehicle navigation is a complex and challenging task. Land and aerial vehicles often use highly accurate GPS sensors to localize themselves in their environments. These sensors are ineffective in underwater environments due to signal attenuation. Autonomous underwater vehicles utilize one or more of the following approaches for successful localization and navigation: inertial/dead-reckoning, acoustic signals, and geophysical data. This thesis examines autonomous localization in a simulated environment for an OpenROV Underwater Drone using a Kalman Filter. This filter performs state estimation for a dead reckoning system exhibiting an additive error in location measurements. We evaluate the accuracy of this ...


Funqual: User-Defined, Statically-Checked Call Graph Constraints In C++, Andrew P. Nelson Jun 2018

Funqual: User-Defined, Statically-Checked Call Graph Constraints In C++, Andrew P. Nelson

Master's Theses and Project Reports

Static analysis tools can aid programmers by reporting potential programming mistakes prior to the execution of a program. Funqual is a static analysis tool that reads C++17 code ``in the wild'' and checks that the function call graph follows a set of rules which can be defined by the user. This sort of analysis can help the programmer to avoid errors such as accidentally calling blocking functions in time-sensitive contexts or accidentally allocating memory in heap-sensitive environments. To accomplish this, we create a type system whereby functions can be given user-defined type qualifiers and where users can define their ...


Leave The Features: Take The Cannoli, Jonathan Joseph Catanio Jun 2018

Leave The Features: Take The Cannoli, Jonathan Joseph Catanio

Master's Theses and Project Reports

Programming languages like Python, JavaScript, and Ruby are becoming increasingly popular due to their dynamic capabilities. These languages are often much easier to learn than other, statically type checked, languages such as C++ or Rust. Unfortunately, these dynamic languages come at the cost of losing compile-time optimizations. Python is arguably the most popular language for data scientists and researchers in the artificial intelligence and machine learning communities. As this research becomes increasingly popular, and the problems these researchers face become increasingly computationally expensive, questions are being raised about the performance of languages like Python. Language features found in Python, more ...


Polycommit: Building Better Habits Through Gamification, Elliot Fiske Jun 2018

Polycommit: Building Better Habits Through Gamification, Elliot Fiske

Master's Theses and Project Reports

Computer-assisted learning is older than Turing machines, and constantly evolves as technology improves. While some teachers are resistant to using technology in the classroom, “e-learning” techniques are becoming more common in almost every school, from K-12 to universities. As technology becomes more widespread, it becomes crucial to examine the various methodologies of computer-assisted learning and find the techniques that are most effective.

This paper explores the effectiveness of one such methodology, spaced repetition. This technique applies to homework assignments available to students online. We include an exploration of several existing apps that use this technique, and introduce our own novel ...


Vehicle Pseudonym Association Attack Model, Pierson Yieh, Pierson Yieh Jun 2018

Vehicle Pseudonym Association Attack Model, Pierson Yieh, Pierson Yieh

Master's Theses and Project Reports

With recent advances in technology, Vehicular Ad-hoc Networks (VANETs) have grown in application. One of these areas of application is Vehicle Safety Communication (VSC) technology. VSC technology allows for vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications that enhance vehicle safety and driving experience. However, these newly developing technologies bring with them a concern for the vehicular privacy of drivers. Vehicles already employ the use of pseudonyms, unique identifiers used with signal messages for a limited period of time, to prevent long term tracking. But can attackers still attack vehicular privacy even when vehicles employ a pseudonym change strategy? The major contribution ...


Automated Pruning Of Greenhouse Indeterminate Tomato Plants, Joey M. Angeja, Joey M. Angeja Jun 2018

Automated Pruning Of Greenhouse Indeterminate Tomato Plants, Joey M. Angeja, Joey M. Angeja

Master's Theses and Project Reports

Pruning of indeterminate tomato plants is vital for a profitable yield and it still remains a manual process. There has been research in automated pruning of grapevines, trees, and other plants, but tomato plants have yet to be explored. Wage increases are contributing to the depleting profits of greenhouse tomato farmers. Rises in population are the driving force behind the need for efficient growing techniques. The major contribution of this thesis is a computer vision algorithm for detecting greenhouse tomato pruning points without the use of depth sensors. Given an up-close 2-D image of a tomato stem with the background ...


Object Tracking In Games Using Convolutional Neural Networks, Anirudh Venkatesh Jun 2018

Object Tracking In Games Using Convolutional Neural Networks, Anirudh Venkatesh

Master's Theses and Project Reports

Computer vision research has been growing rapidly over the last decade. Recent advancements in the field have been widely used in staple products across various industries. The automotive and medical industries have even pushed cars and equipment into production that use computer vision. However, there seems to be a lack of computer vision research in the game industry. With the advent of e-sports, competitive and casual gaming have reached new heights with regard to players, viewers, and content creators. This has allowed for avenues of research that did not exist prior.

In this thesis, we explore the practicality of object ...


A Comparative Study Of Feature Detection Methods For Auv Localization, Andrew Y. Kim Jun 2018

A Comparative Study Of Feature Detection Methods For Auv Localization, Andrew Y. Kim

Master's Theses and Project Reports

Underwater localization is a difficult task when it comes to making the system autonomous due to the unpredictable environment. The fact that radio signals such as GPS cannot be transmitted through water makes autonomous movement and localization underwater even more challenging. One specific method that is widely used for autonomous underwater navigation applications is Simultaneous Localization and Mapping (SLAM), a technique in which a map is created and updated while localizing the vehicle within the map. In SLAM, feature detection is used in landmark extraction and data association by examining each pixel and differentiating landmarks pixels from those of the ...


Corridor Navigation For Monocular Vision Mobile Robots, Matthew James Ng Jun 2018

Corridor Navigation For Monocular Vision Mobile Robots, Matthew James Ng

Master's Theses and Project Reports

Monocular vision robots use a single camera to process information about its environment. By analyzing this scene, the robot can determine the best navigation direction. Many modern approaches to robot hallway navigation involve using a plethora of sensors to detect certain features in the environment. This can be laser range finders, inertial measurement units, motor encoders, and cameras.

By combining all these sensors, there is unused data which could be useful for navigation. To draw back and develop a baseline approach, this thesis explores the reliability and capability of solely using a camera for navigation. The basic navigation structure begins ...


The Design, Building, And Testing Of A Constant On Discreet Jammer For The Ieee 802.15.4/Zigbee Wireless Communication Protocol, Alexandre J. Marette Jun 2018

The Design, Building, And Testing Of A Constant On Discreet Jammer For The Ieee 802.15.4/Zigbee Wireless Communication Protocol, Alexandre J. Marette

Master's Theses and Project Reports

As wireless protocols become easier to implement, more products come with wireless connectivity. This latest push for wireless connectivity has left a gap in the development of the security and the reliability of some protocols. These wireless protocols can be used in the growing field of IoT where wireless sensors are used to share information throughout a network. IoT is being implemented in homes, agriculture, manufactory, and in the medical field. Disrupting a wireless device from proper communication could potentially result in production loss, security issues, and bodily harm. The 802.15.4/ZigBee protocol is used in low power ...


Modeling Adversarial Insider Vehicles In Mix Zones, Nicholas Plewtong Mar 2018

Modeling Adversarial Insider Vehicles In Mix Zones, Nicholas Plewtong

Master's Theses and Project Reports

Security is a necessity when dealing with new forms of technology that may not have been analyzed from a security perspective. One of the latest growing technological advances are Vehicular Ad-Hoc Networks (VANETs). VANETs allow vehicles to communicate information to each other wirelessly which allows for an increase in safety and efficiency for vehicles. However, with this new type of computerized system comes the need to maintain security on top of it.

In order to try to protect location privacy of the vehicles in the system, vehicles change pseudonyms or identifiers at areas known as mix zones. This thesis implements ...


Predicting The Vote Using Legislative Speech, Aditya Budhwar Mar 2018

Predicting The Vote Using Legislative Speech, Aditya Budhwar

Master's Theses and Project Reports

As most dedicated observers of voting bodies like the U.S. Supreme Court can attest, it is possible to guess vote outcomes based on statements made during deliberations or questioning by the voting members. In most forms of representative democracy, citizens can actively petition or lobby their representatives, and that often means understanding their intentions to vote for or against an issue of interest. In some U.S. state legislators, professional lobby groups and dedicated press members are highly informed and engaged, but the process is basically closed to ordinary citizens because they do not have enough background and familiarity ...


Genealogy Extraction And Tree Generation From Free Form Text, Timothy Sui-Tim Chu Dec 2017

Genealogy Extraction And Tree Generation From Free Form Text, Timothy Sui-Tim Chu

Master's Theses and Project Reports

Genealogical records play a crucial role in helping people to discover their lineage and to understand where they come from. They provide a way for people to celebrate their heritage and to possibly reconnect with family they had never considered. However, genealogical records are hard to come by for ordinary people since their information is not always well established in known databases. There often is free form text that describes a person’s life, but this must be manually read in order to extract the relevant genealogical information. In addition, multiple texts may have to be read in order to ...


Sd-Mcan: A Software-Defined Solution For Ip Mobility In Campus Area Networks, Adam Chase Calabrigo Dec 2017

Sd-Mcan: A Software-Defined Solution For Ip Mobility In Campus Area Networks, Adam Chase Calabrigo

Master's Theses and Project Reports

Campus Area Networks (CANs) are a subset of enterprise networks, comprised of a network core connecting multiple Local Area Networks (LANs) across a college campus. Traditionally, hosts connect to the CAN via a single point of attachment; however, the past decade has seen the employment of mobile computing rise dramatically. Mobile devices must obtain new Internet Protocol (IP) addresses at each LAN as they migrate, wasting address space and disrupting host services. To prevent these issues, modern CANs should support IP mobility: allowing devices to keep a single IP address as they migrate between LANs with low-latency handoffs. Traditional approaches ...


A Data-Driven Approach To Cubesat Health Monitoring, Serbinder Singh Jun 2017

A Data-Driven Approach To Cubesat Health Monitoring, Serbinder Singh

Master's Theses and Project Reports

Spacecraft health monitoring is essential to ensure that a spacecraft is operating properly and has no anomalies that could jeopardize its mission. Many of the current methods of monitoring system health are difficult to use as the complexity of spacecraft increase, and are in many cases impractical on CubeSat satellites which have strict size and resource limitations. To overcome these problems, new data-driven techniques such as Inductive Monitoring System (IMS), use data mining and machine learning on archived system telemetry to create models that characterize nominal system behavior. The models that IMS creates are in the form of clusters that ...


Models For Pedestrian Trajectory Prediction And Navigation In Dynamic Environments, Jeremy N. Kerfs May 2017

Models For Pedestrian Trajectory Prediction And Navigation In Dynamic Environments, Jeremy N. Kerfs

Master's Theses and Project Reports

Robots are no longer constrained to cages in factories and are increasingly taking on roles alongside humans. Before robots can accomplish their tasks in these dynamic environments, they must be able to navigate while avoiding collisions with pedestrians or other robots. Humans are able to move through crowds by anticipating the movements of other pedestrians and how their actions will influence others; developing a method for predicting pedestrian trajectories is a critical component of a robust robot navigation system. A current state-of-the-art approach for predicting pedestrian trajectories is Social-LSTM, which is a recurrent neural network that incorporates information about neighboring ...


Rules Based Analysis Engine For Application Layer Ids, David Scrobonia May 2017

Rules Based Analysis Engine For Application Layer Ids, David Scrobonia

Master's Theses and Project Reports

Web application attack volume, complexity, and costs have risen as people, companies, and entire industries move online. Solutions implemented to defend web applications against malicious activity have traditionally been implemented at the network or host layer. While this is helpful for detecting some attacks, it does not provide the gran- ularity to see malicious behavior occurring at the application layer. The AppSensor project, an application level intrusion detection system (IDS), is an example of a tool that operates in this layer. AppSensor monitors users within the application by observing activity in suspicious areas not able to be seen by traditional ...


Normalizer: Augmenting Code Clone Detectors Using Source Code Normalization, Kevin Ly Mar 2017

Normalizer: Augmenting Code Clone Detectors Using Source Code Normalization, Kevin Ly

Master's Theses and Project Reports

Code clones are duplicate fragments of code that perform the same task. As software code bases increase in size, the number of code clones also tends to increase. These code clones, possibly created through copy-and-paste methods or unintentional duplication of effort, increase maintenance cost over the lifespan of the software. Code clone detection tools exist to identify clones where a human search would prove unfeasible, however the quality of the clones found may vary. I demonstrate that the performance of such tools can be improved by normalizing the source code before usage. I developed Normalizer, a tool to transform C ...


Revalume: Configurable Employee Evaluations In The Cloud, Terrence Zone Li Mar 2017

Revalume: Configurable Employee Evaluations In The Cloud, Terrence Zone Li

Master's Theses and Project Reports

The software industry has seen a shift from annual to more frequent quarterly and even weekly employee reviews. As a result, there is a high demand for employee evaluations to be less costly and less time-consuming, while providing key insights for richer interactions between employees and their employers or managers. Tech com- panies are constantly looking for methods of producing high quality evaluations to prevent costly turnover. In an industry where software engineers are in high demand, tech companies face a challenging problem. Issues with employee evaluations typi- cally include the lack of performance transparency, unhelpful feedback, lack of metrics ...


Corgi: Compute Oriented Recumbent Generation Infrastructure, Christopher Allen Hunt, Christopher Allen Hunt Mar 2017

Corgi: Compute Oriented Recumbent Generation Infrastructure, Christopher Allen Hunt, Christopher Allen Hunt

Master's Theses and Project Reports

Creating a bicycle with a rideable geometry is more complicated than it may appear, with today’s mainstay designs having evolved through years of iteration. This slow evolution coupled with the bicycle’s intricate mechanical system has lead most builders to base their new geometries off of previous work rather than expand into new design spaces. This crutch can lead to slow bicycle iteration rates, often causing bicycles to all look about the same. To combat this, several bicycle design models have been created over the years, with each attempting to define a bicycle’s handling characteristics given its physical ...


Encouraging Development Of Mobile Applications As A Service To The Community, Vanessa Marie Forney Nov 2016

Encouraging Development Of Mobile Applications As A Service To The Community, Vanessa Marie Forney

Master's Theses and Project Reports

The convenience of mobile applications combined with the efficiency and effectiveness provided by technology has contributed to an increased interest in mobile applications. Local groups and non-profit organizations often utilize outdated, manual processes and don’t have the resources or time to look into improving these systems. For Cal Poly students and other members of the community, this means there is an opportunity to apply technical skills and school projects to address these inefficiencies. This work explores whether a better system can be developed to provide the functionality of the existing system and enhance the experience of users through technology ...


Inducing Emotional Response In Interactive Media, Keenan M. Reimer Aug 2016

Inducing Emotional Response In Interactive Media, Keenan M. Reimer

Master's Theses and Project Reports

Video games, and entertainment media have been developed for many years, and eliciting emotional experiences is an integral part of that process. Producing and editing game content in order to affect desired emotional experiences can be expensive and cumbersome to developers. This paper presents a study intended to show that such experiences can be affected with simple after-the-fact audio-visual effects. As subjects of the study, participants experience three different emotional states, fear, peace, and none, over three rounds and in three different game environments. They are given a simple narrative in each environment that directs them to gather various objects ...