Computer Engineering Commons^™

Bio-Inspired Robotic Fish With Vision Based Target Tracking, Eric Anderson

Open Access Theses

The lionfish is an invasive species that out-competes and overcrowds native sh species along the eastern seaboard of the United States and down into the Caribbean. Lionfish populations are growing rapidly. Current methods of monitoring lionfish populations are costly and time intensive. A bio-inspired robotic fish was built to use as an autonomous lionfish tracking platform. Lionfish are tracked visually using an onboard processor. Five different computer vision methods for identification and tracking are proposed and discussed. These include: background subtraction, color tracking, mixture of Gaussian background subtraction, speeded up robust feature (SURF), and CamShift based tracking. Each of these …

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 …

Principle Of Bio-Inspired Insect Wing Rotational Hinge Design, Fan Fei

Open Access Theses

A principle for designing and fabricating bio-inspired miniature artificial insect flapping wing using flexure rotational hinge design is presented. A systematic approach of selecting rotational hinge stiffness value is proposed. Based on the understanding of flapping wing aerodynamics, a dynamic simulation is constructed using the established quasi-steady model and the wing design. Simulations were performed to gain insight on how different parameters affect the wing rotational response. Based on system resonance a model to predict the optimal rotational hinge stiffness based on given wing parameter and flapping wing kinematic is proposed. By varying different wing parameters, the proposed method is …

Effects Of Hip And Ankle Moments On Running Stability: Simulation Of A Simplified Model, Rubin C. Cholera

Open Access Theses

In human running, the ankle, knee, and hip moments are known to play different roles to influence the dynamics of locomotion. A recent study of hip moments and several hip-based legged robots have revealed that hip actuation can significantly improve the stability of locomotion, whether controlled or uncontrolled. Ankle moments are expected to also significantly affect running stability, but in a different way than hip moments. Here we seek to advance the current theory of dynamic running and associated legged robots by determining how simple open-loop ankle moments could affect running stability. We simulate a dynamical model, and compare it …

Joint Architecture For Reusable Vehicle-Integrated Software (J.A.R.V.I.S), Anthony Mark Kane

Open Access Theses

An integrated software architecture for development of unmanned research vehicles is developed. It has been created under the premise that all unmanned vehicles require a core set of functionality that is common across platforms and that priority should be to the readability and reusability of the code base. The architecture defines the top-level system interfaces allowing internal algorithms to be manipulated without affecting the rest of the system. A robust aerospace toolbox has been developed that provides a means to rapidly prototype algorithms without the need of recreating commonly used functions or the use of expensive, proprietary software.

Design And Analysis Of A Cable-Driven Test Apparatus For Flapping-Flight Research, Stephen J. Musick

Open Access Theses

The biology, physiology, kinematics, and aerodynamics of insect flight have been a longstanding fascination for biologists and engineers. The former three are easily obtained through the observation of the organic species. The latter though, is very difficult to study in this fashion. In many cases, aerodynamic forces and fluid-body interactions can be simulated with computational fluid dynamics; another option is to use dynamically-scaled, experimental set-ups to measure physically these values.

An archetypal, experimental set-up may include one or two scaled wings, where each wing is actuated to achieve upwards of three degrees of freedom. The three degrees of freedom correspond …

Realization And Evaluation Of A 3-Degrees-Of-Freedom Mouse Model, Udayan Umapathi

Open Access Theses

Kinesiology research has shown that translation and rotation are inseparable actions in the real world. Motivated by this fact, this thesis explores a model for the computer mouse, the new addition being rotational input about vertical axis of a mouse. We realize our model through Mushaca, a 3-degrees-of-freedom mouse (3DOF mouse) that can sense rotation, in addition to sensing XY planar translation. The thesis presents two realizations of Mushaca - namely a MEMS version that uses accelerometer and gyroscope, and an optical sensor version that uses two optical sensors. Through a controlled user study we try to find out if …

Developing Digital Media Platforms For Early Design, Sriram Karthik Badam

Open Access Theses

In recent times, mobile devices are becoming an integral part of our daily life. Software applications on these handheld devices are successfully migrating the traditional paper-based activities such as reading news, books, and even navigating through maps, onto the digital medium. While these applications allow information access anywhere and anytime, there is still a necessity for repurposing these digital media to support content/information creation especially in domains such as industrial design where paper-based activities are common. To utilize direct-touch tablets for collaborative conceptual design, we studied their affordances and iteratively developed a web-based wiki system, named skWiki. In this thesis, …

Designing Customizable Network-On-Chip With Support For Embedded Private Memory For Multi-Processor System-On-Chips, Azad Fakhari

Graduate Theses and Dissertations

The computer industry's transition to multiprocessor systems on chip (MPSoC) architectures is increasing the need for new scalable high-bandwidth on-chip communication

backbones. Network-on-Chip (NoC) interconnects are gaining interest for serving as the on-chip communication infrastructure. The most important issues to be considered in designing a NoC are topology, routing algorithm, flow control, and buffering and also the trade-offs between performance, power, and area.

This research proposes a custom-designed NoC specifically for MPSoCs on FPGAs. The proposed design allows the communication infrastructure to seamlessly scale as the numbers of processors within the chip increases. The design adds a new level of …

Developing An Embedded System Solution For High-Speed, High-Capacity Data Logging For A Size-Constrained, Low-Power Biomechanical Telemetry System And Investigating Components For Optimal Performance, Brandon Blaine Gardner

Open Access Theses

The Purdue Neurotrauma Group (PNG) seeks to develop a biomechanical telemetry system capable of monitoring and storing athletes' head motions with the intention of identifying when a player may be at risk of neurophysiological damage, especially brain damage. A number of commercially-available systems exist with a similar goal; however, each of these systems discards information below an acceleration threshold. Research by PNG indicates that any acceleration may contribute to brain damage and that, because of this, an event-based model is insufficient for a proper understanding of an athlete's neurophysiological health. Continuous-time monitoring of head accelerations is therefore necessary. To facilitate …

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 …

A Framework For Synthesizing Agent-Based Heterogeneous Population Model For Epidemic Simulation, Madih Sahar

Open Access Theses

Social interactions play an important role in spread of a disease. In this thesis we propose a probabilistic approach to synthesize an agent-based heterogeneous population interaction model to study the spatio-temporal dynamics of an air-born epidemic, such as influenza, in a metropolitan area. The proposed methodology is generic in nature and can generate a baseline population for the cities for which detailed population summary tables are not available. The joint probabilities of population demographics are estimated using the International Public Use Microsimulation Data (IPUMS) sample data set. Based on the population density and the socio-economic status, the population is divided …

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 …

A Sensor Ontology For The Domain Of Firefighting Robots, Amy Renae Wagoner

Open Access Theses

Fires create thousands of dollars in damage and thousands of deaths each year. Firefighters risk their lives everyday and are often killed in action. Firefighting robots may be able to reduce the loss of lives and damage due to fires. Robots are often used for redundant tasks that require the consistency and efficiency of a machine. They are especially optimal for tasks that require strength that exceeds that of a typical human being or for environments that are hazardous to people. Robots' metallic exteriors are far more durable and easier to replace than flesh and blood, thus they are ideal …

Characterizing The Intra-Warp Address Distribution And Bandwidth Demands Of Gpgpus, Calvin Holic

Open Access Theses

General-purpose Graphics Processing Units (GPGPUs) are an important class of architectures that offer energy-efficient, high performance computation for data- parallel workloads. GPGPUs use single-instruction, multiple-data (SIMD) hardware as the core execution engines with (typically) 32 to 64 lanes of data width. Such SIMD operation is key to achieving high-performance; however, if memory demands of the different lanes in the "warp" cannot be satisfied, overall system performance can suffer.

There are two challenges in handling such heavy demand for memory bandwidth. First, the hardware necessary to coalesce multiple accesses to the same cache block--a key function necessary to reduce the demand …