Computer Engineering Commons^™

A Framework For Stable Robot-Environment Interaction Based On The Generalized Scattering Transformation, Kanstantsin Pachkouski

Electronic Thesis and Dissertation Repository

This thesis deals with development and experimental evaluation of control algorithms for stabilization of robot-environment interaction based on the conic systems formalism and scattering transformation techniques. A framework for stable robot-environment interaction is presented and evaluated on a real physical system. The proposed algorithm fundamentally generalizes the conventional passivity-based approaches to the coupled stability problem. In particular, it allows for stabilization of not necessarily passive robot-environment interaction. The framework is based on the recently developed non-planar conic systems formalism and generalized scattering-based stabilization methods. A comprehensive theoretical background on the scattering transformation techniques, planar and non-planar conic systems is presented. …

Efficient Discovery And Utilization Of Radio Information In Ultra-Dense Heterogeneous 3d Wireless Networks, Mattaka Gamage Samantha Sriyananda

Electronic Thesis and Dissertation Repository

Emergence of new applications, industrial automation and the explosive boost of smart concepts have led to an environment with rapidly increasing device densification and service diversification. This revolutionary upward trend has led the upcoming 6th-Generation (6G) and beyond communication systems to be globally available communication, computing and intelligent systems seamlessly connecting devices, services and infrastructure facilities. In this kind of environment, scarcity of radio resources would be upshot to an unimaginably high level compelling them to be very efficiently utilized. In this case, timely action is taken to deviate from approximate site-specific 2-Dimensional (2D) network concepts in radio resource utilization …

Machine Learning Prediction Of Shear Capacity Of Steel Fiber Reinforced Concrete, Wassim Ben Chaabene

Electronic Thesis and Dissertation Repository

The use of steel fibers for concrete reinforcement has been growing in recent years owing to the improved shear strength and post-cracking toughness imparted by fiber inclusion. Yet, there is still lack of design provisions for steel fiber-reinforced concrete (SFRC) in building codes. This is mainly due to the complex shear transfer mechanism in SFRC. Existing empirical equations for SFRC shear strength have been developed with relatively limited data examples, making their accuracy restricted to specific ranges. To overcome this drawback, the present study suggests novel machine learning models based on artificial neural network (ANN) and genetic programming (GP) to …

Towards Efficient Intrusion Detection Using Hybrid Data Mining Techniques, Fadi Salo

Electronic Thesis and Dissertation Repository

The enormous development in the connectivity among different type of networks poses significant concerns in terms of privacy and security. As such, the exponential expansion in the deployment of cloud technology has produced a massive amount of data from a variety of applications, resources and platforms. In turn, the rapid rate and volume of data creation in high-dimension has begun to pose significant challenges for data management and security. Handling redundant and irrelevant features in high-dimensional space has caused a long-term challenge for network anomaly detection. Eliminating such features with spectral information not only speeds up the classification process, but …

Automated Image Interpretation For Science Autonomy In Robotic Planetary Exploration, Raymond Francis

Electronic Thesis and Dissertation Repository

Advances in the capabilities of robotic planetary exploration missions have increased the wealth of scientific data they produce, presenting challenges for mission science and operations imposed by the limits of interplanetary radio communications. These data budget pressures can be relieved by increased robotic autonomy, both for onboard operations tasks and for decision- making in response to science data.

This thesis presents new techniques in automated image interpretation for natural scenes of relevance to planetary science and exploration, and elaborates autonomy scenarios under which they could be used to extend the reach and performance of exploration missions on planetary surfaces.

Two …