Open Access. Powered by Scholars. Published by Universities.®

Computer Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

Simulation

Physical Sciences and Mathematics

Institution
Publication Year
Publication
Publication Type

Articles 1 - 24 of 24

Full-Text Articles in Computer Engineering

Evaluating Driving Performance Of A Novel Behavior Planning Model On Connected Autonomous Vehicles, Keyur Shah May 2020

Evaluating Driving Performance Of A Novel Behavior Planning Model On Connected Autonomous Vehicles, Keyur Shah

Honors Scholar Theses

Many current algorithms and approaches in autonomous driving attempt to solve the "trajectory generation" or "trajectory following” problems: given a target behavior (e.g. stay in the current lane at the speed limit or change lane), what trajectory should the vehicle follow, and what inputs should the driving agent apply to the throttle and brake to achieve this trajectory? In this work, we instead focus on the “behavior planning” problem—specifically, should an autonomous vehicle change lane or keep lane given the current state of the system?

In addition, current theory mainly focuses on single-vehicle systems, where vehicles do not ...


The Trolley Problem In Virtual Reality, Jungsu Pak, Ariane Guirguis, Nicholas Mirchandani, Scott Cummings, Uri Maoz Dec 2019

The Trolley Problem In Virtual Reality, Jungsu Pak, Ariane Guirguis, Nicholas Mirchandani, Scott Cummings, Uri Maoz

Student Scholar Symposium Abstracts and Posters

Would people react to the Trolley problem differently based on the medium? Immersive Virtual Reality Driving Simulator was used to examine participants respond to the trolley problem in a realistic and controlled simulated environment.


Domain Adaptation In Unmanned Aerial Vehicles Landing Using Reinforcement Learning, Pedro Lucas Franca Albuquerque Dec 2019

Domain Adaptation In Unmanned Aerial Vehicles Landing Using Reinforcement Learning, Pedro Lucas Franca Albuquerque

Computer Science and Engineering: Theses, Dissertations, and Student Research

Landing an unmanned aerial vehicle (UAV) on a moving platform is a challenging task that often requires exact models of the UAV dynamics, platform characteristics, and environmental conditions. In this thesis, we present and investigate three different machine learning approaches with varying levels of domain knowledge: dynamics randomization, universal policy with system identification, and reinforcement learning with no parameter variation. We first train the policies in simulation, then perform experiments both in simulation, making variations of the system dynamics with wind and friction coefficient, then perform experiments in a real robot system with wind variation. We initially expected that providing ...


A Collaborative Visual Localization Scheme For A Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives, Benjamin Abruzzo, David Cappelleri, Philippos Mordohai Nov 2019

A Collaborative Visual Localization Scheme For A Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives, Benjamin Abruzzo, David Cappelleri, Philippos Mordohai

West Point Research Papers

This paper presents and evaluates a relative localization scheme for a heterogeneous team of low-cost mobile robots. An error-state, complementary Kalman Filter was developed to fuse analytically-derived uncertainty of stereoscopic pose measurements of an aerial robot, made by a ground robot, with the inertial/visual proprioceptive measurements of both robots. Results show that the sources of error, image quantization, asynchronous sensors, and a non-stationary bias, were sufficiently modeled to estimate the pose of the aerial robot. In both simulation and experiments, we demonstrate the proposed methodology with a heterogeneous robot team, consisting of a UAV and a UGV tasked with ...


Virtual Reality And Analysis Framework For Studying Different Layout Designs, Madison Glines Jan 2019

Virtual Reality And Analysis Framework For Studying Different Layout Designs, Madison Glines

Browse all Theses and Dissertations

This thesis describes the tools for studying different design prototypes. The goal was to develop effective tools to study these designs using a data-driven approach. “Proof of concept” experiments were conducted, in which participants were allowed to interact with a virtual environment depicting different designs as data pertaining to their virtual location and orientation was recorded for later analysis. The designs included “flat” store racks, as opposed to racks with more varied shapes, as well as “curved” racks. Focus of the design studies was to assist in identifying optimal locations for different product types. The automated data collection mechanisms required ...


Personal Universes: A Solution To The Multi-Agent Value Alignment Problem, Roman V. Yampolskiy Jan 2019

Personal Universes: A Solution To The Multi-Agent Value Alignment Problem, Roman V. Yampolskiy

Faculty Scholarship

AI Safety researchers attempting to align values of highly capable intelligent systems with those of humanity face a number of challenges including personal value extraction, multi-agent value merger and finally in-silico encoding. State-of-the-art research in value alignment shows difficulties in every stage in this process, but merger of incompatible preferences is a particularly difficult challenge to overcome. In this paper we assume that the value extraction problem will be solved and propose a possible way to implement an AI solution which optimally aligns with individual preferences of each user. We conclude by analyzing benefits and limitations of the proposed approach.


Agent-Based Modeling And Simulation Approaches In Stem Education Research, Shanna R. Simpson-Singleton, Xiangdong Che Jan 2019

Agent-Based Modeling And Simulation Approaches In Stem Education Research, Shanna R. Simpson-Singleton, Xiangdong Che

Journal of International Technology and Information Management

The development of best practices that deliver quality STEM education to all students, while minimizing achievement gaps, have been solicited by several national agencies. ABMS is a feasible approach to provide insight into global behavior based upon the interactions amongst agents and environments. In this review, we systematically surveyed several modeling and simulation approaches and discussed their applications to the evaluation of relevant theories in STEM education. It was found that ABMS is optimal to simulate STEM education hypotheses, as ABMS will sensibly present emergent theories and causation in STEM education phenomena if the model is properly validated and calibrated.


Implementation Of Unmanned Aerial Vehicles Reporting Plume Cloud Concentration Values In A 3d Simulation Environment, Emily Catherine Novak Jan 2018

Implementation Of Unmanned Aerial Vehicles Reporting Plume Cloud Concentration Values In A 3d Simulation Environment, Emily Catherine Novak

Browse all Theses and Dissertations

Unmanned aerial vehicles, or UAVs, have the potential to vastly improve plume cloud tracking at low cost. Plume clouds can be produced from blast mining, chemical warfare, unintended man-made disasters, and natural causes. This thesis provides implementation of the capability to simulate a 3D environment in which UAVs are individually controlled and each report a plume's concentration value at a specific location. It leverages existing industry standard technologies, including the PX4 autopilot system, the Gazebo simulation environment, the Robot Operating System (ROS), and QGroundControl. The provided system integrates the existing tools with a plume model plug-in that provides simulated ...


Design And Implementation Of A Stand-Alone Tool For Metabolic Simulations, Milad Ghiasi Rad Dec 2017

Design And Implementation Of A Stand-Alone Tool For Metabolic Simulations, Milad Ghiasi Rad

Computer Science and Engineering: Theses, Dissertations, and Student Research

In this thesis, we present the design and implementation of a stand-alone tool for metabolic simulations. This system is able to integrate custom-built SBML models along with external user’s input information and produces the estimation of any reactants participating in the chain of the reactions in the provided model, e.g., ATP, Glucose, Insulin, for the given duration using numerical analysis and simulations. This tool offers the food intake arguments in the calculations to consider the personalized metabolic characteristics in the simulations. The tool has also been generalized to take into consideration of temporal genomic information and be flexible ...


Integrated Environment And Proximity Sensing For Uav Applications, Shawn S. Brackett Aug 2017

Integrated Environment And Proximity Sensing For Uav Applications, Shawn S. Brackett

Electronic Theses and Dissertations

As Unmanned Aerial Vehicle (UAV), or “drone” applications expand, new methods for sensing, navigating and avoiding obstacles need to be developed. The project applies an Extended Kalman Filter (EKF) to a simulated quadcopter vehicle though Matlab in order to estimate not only the vehicle state but the world state around the vehicle. The EKF integrates multiple sensor readings from range sensors, IMU sensors, and radiation sensors and combines this information to optimize state estimates. The result is an estimated world map to be used in vehicle navigation and obstacle avoidance.

The simulation handles the physics behind the vehicle flight. As ...


On The Simulation And Mitigation Of Anisoplanatic Optical Turbulence For Long Range Imaging, Russell C. Hardie, Daniel A. Lemaster Jun 2017

On The Simulation And Mitigation Of Anisoplanatic Optical Turbulence For Long Range Imaging, Russell C. Hardie, Daniel A. Lemaster

Russell C. Hardie

We describe a numerical wave propagation method for simulating long range imaging of an extended scene under anisoplanatic conditions. Our approach computes an array of point spread functions (PSFs) for a 2D grid on the object plane. The PSFs are then used in a spatially varying weighted sum operation, with an ideal image, to produce a simulated image with realistic optical turbulence degradation. To validate the simulation we compare simulated outputs with the theoretical anisoplanatic tilt correlation and differential tilt variance. This is in addition to comparing the long- and short-exposure PSFs, and isoplanatic angle. Our validation analysis shows an ...


On The Simulation And Mitigation Of Anisoplanatic Optical Turbulence For Long Range Imaging, Russell C. Hardie, Daniel A. Lemaster May 2017

On The Simulation And Mitigation Of Anisoplanatic Optical Turbulence For Long Range Imaging, Russell C. Hardie, Daniel A. Lemaster

Electrical and Computer Engineering Faculty Publications

We describe a numerical wave propagation method for simulating long range imaging of an extended scene under anisoplanatic conditions. Our approach computes an array of point spread functions (PSFs) for a 2D grid on the object plane. The PSFs are then used in a spatially varying weighted sum operation, with an ideal image, to produce a simulated image with realistic optical turbulence degradation. To validate the simulation we compare simulated outputs with the theoretical anisoplanatic tilt correlation and differential tilt variance. This is in addition to comparing the long- and short-exposure PSFs, and isoplanatic angle. Our validation analysis shows an ...


A Simulation-Based Layered Framework Framework For The Development Of Collaborative Autonomous Systems, Ioannis Sakiotis Jul 2016

A Simulation-Based Layered Framework Framework For The Development Of Collaborative Autonomous Systems, Ioannis Sakiotis

Computational Modeling and Simulation Engineering Theses & Dissertations

The purpose of this thesis is to introduce a simulation-based software framework that facilitates the development of collaborative autonomous systems. Significant commonalities exist in the design approaches of both collaborative and autonomous systems, mirroring the sense, plan, act paradigm, and mostly adopting layered architectures. Unfortunately, the development of such systems is intricate and requires low-level interfacing which significantly detracts from development time. Frameworks for the development of collaborative and autonomous systems have been developed but are not flexible and center on narrow ranges of applications and platforms. The proposed framework utilizes an expandable layered structure that allows developers to define ...


Computational Framework For Small Animal Spect Imaging: Simulation And Reconstruction, Sang Hyeb Lee May 2015

Computational Framework For Small Animal Spect Imaging: Simulation And Reconstruction, Sang Hyeb Lee

Doctoral Dissertations

Small animal Single Photon Emission Computed Tomography (SPECT) has been an invaluable asset in biomedical science since this non-invasive imaging technique allows the longitudinal studies of animal models of human diseases. However, the image degradation caused by non-stationary collimator-detector response and single photon emitting nature of SPECT makes it difficult to provide a quantitative measure of 3D radio-pharmaceutical distribution inside the patient. Moreover, this problem exacerbates when an intra-peritoneal X-ray contrast agent is injected into a mouse for low-energy radiotracers.

In this dissertation, we design and develop a complete computational framework for the entire SPECT scan procedure from the radio-pharmaceutical ...


An Embodied Approach To Evolving Robust Visual Classifiers, Karol Zieba Jan 2015

An Embodied Approach To Evolving Robust Visual Classifiers, Karol Zieba

Graduate College Dissertations and Theses

From the very creation of the term by Czech writer Karel Capek in 1921, a "robot" has been synonymous with an artificial agent possessing a powerful body and cogitating mind. While the fields of Artificial Intelligence (AI) and Robotics have made progress into the creation of such an android, the goal of a cogitating robot remains firmly outside the reach of our technological capabilities. Cognition has proved to be far more complex than early AI practitioners envisioned. Current methods in Machine Learning have achieved remarkable successes in image categorization through the use of deep learning. However, when presented with novel ...


Gate Monte Carlo Simulations In A Cloud Computing Environment, Blake Austin Rowedder Aug 2014

Gate Monte Carlo Simulations In A Cloud Computing Environment, Blake Austin Rowedder

UNLV Theses, Dissertations, Professional Papers, and Capstones

The GEANT4-based GATE is a unique and powerful Monte Carlo (MC) platform, which provides a single code library allowing the simulation of specific medical physics applications, e.g. PET, SPECT, CT, radiotherapy, and hadron therapy. However, this rigorous yet flexible platform is used only sparingly in the clinic due to its lengthy calculation time. By accessing the powerful computational resources of a cloud computing environment, GATE's runtime can be significantly reduced to clinically feasible levels without the sizable investment of a local high performance cluster. This study investigated a reliable and efficient execution of GATE MC simulations using a ...


Design Of Cpu Simulation Software For Armv7 Instruction Set Architecture, Dillon Tellier Jun 2014

Design Of Cpu Simulation Software For Armv7 Instruction Set Architecture, Dillon Tellier

Computer Engineering

Simulations have long been a part of the engineering process in both the professional and academic domain. From a pedagogic standpoint, simulations allow students to explore the dynamics of engineering scenarios by controlling variables, taking measurements, and observing behavior which would be difficult or impossible without simulation. One such tool is a CPU simulator used in Cal Poly’s Computer Architecture classes; this software simulates an instruction accurate operation of a computer processor and reports statistics regarding the execution of the supplied compiled machine code. For the last several years Cal Poly’s computer architecture classes have used a previous ...


Stochastic Modeling And Time-To-Event Analysis Of Voip Traffic, Imad Al Ajarmeh Mar 2013

Stochastic Modeling And Time-To-Event Analysis Of Voip Traffic, Imad Al Ajarmeh

College of Computing and Digital Media Dissertations

Voice over IP (VoIP) systems are gaining increased popularity due to the cost effectiveness, ease of management, and enhanced features and capabilities. Both enterprises and carriers are deploying VoIP systems to replace their TDM-based legacy voice networks. However, the lack of engineering models for VoIP systems has been realized by many researchers, especially for large-scale networks. The purpose of traffic engineering is to minimize call blocking probability and maximize resource utilization. The current traffic engineering models are inherited from the legacy PSTN world, and these models fall short from capturing the characteristics of new traffic patterns. The objective of this ...


Packet Coalescing And Server Substitution For Energy-Proportional Operation Of Network Links And Data Servers, Mehrgan Mostowfi Jan 2013

Packet Coalescing And Server Substitution For Energy-Proportional Operation Of Network Links And Data Servers, Mehrgan Mostowfi

Graduate Theses and Dissertations

Electricity generation for Information and Communications Technology (ICT) contributes over 2% of the human-generated CO2 to the atmosphere. Energy costs are rapidly becoming the major operational expense for ICT and may soon dwarf capital expenses as software and hardware continue to drop in price. In this dissertation, three new approaches to achieving energy-proportional operation of network links and data servers are explored.

Ethernet is the dominant wireline communications technology for Internet connectivity. IEEE 802.3az Energy Efficient Ethernet (EEE) describes a Low Power Idle (LPI) mechanism for allowing Ethernet links to sleep. A method of coalescing packets to consolidate link ...


Simulation, Development And Deployment Of Mobile Wireless Sensor Networks For Migratory Bird Tracking, William P. Bennett Jr Aug 2012

Simulation, Development And Deployment Of Mobile Wireless Sensor Networks For Migratory Bird Tracking, William P. Bennett Jr

Computer Science and Engineering: Theses, Dissertations, and Student Research

This thesis presents CraneTracker, a multi-modal sensing and communication system for monitoring migratory species at the continental level. By exploiting the robust and extensive cellular infrastructure across the continent, traditional mobile wireless sensor networks can be extended to enable reliable, low-cost monitoring of migratory species. The developed multi-tier architecture yields ecologists with unconventional behavior information not furnished by alternative tracking systems at such a large scale and for a low-cost. The simulation, development and implementation of the CraneTracker software system is presented. The system is shown effective through multiple proxy deployments on wildlife and has been operational for 10 months ...


Using Agile Software Development Practices In A Research Oriented Distributed Simulation, Douglas James Mielke Jul 2008

Using Agile Software Development Practices In A Research Oriented Distributed Simulation, Douglas James Mielke

Computational Modeling and Simulation Engineering Theses & Dissertations

Although sometimes controversial, agile methodologies have proven to be a viable choice for some software development projects. Projects suited to agile methodologies are those that involve new technology, have requirements that change rapidly, and are controlled by small, talented teams. Much literature about agile software development leans towards business products and non-government entities. Only a handful of literature resources mention agile software development being used in government contracts and even fewer resources mention research projects. NASA's Airspace and Traffic Operations Simulation (ATOS) is a research oriented simulation that doesn't follow the traditional business project mold. In an effort ...


Robust Control Techniques Enabling Duty Cycle Experiments Utilizing A 6-Dof Crewstation Motion Base, A Full Scale Combat Hybrid Electric Power System, And Long Distance Internet Communications, Marc Compere, Jarrett Goodell, Miguel Simon, Wilford Smith, Mark Brudnak Nov 2006

Robust Control Techniques Enabling Duty Cycle Experiments Utilizing A 6-Dof Crewstation Motion Base, A Full Scale Combat Hybrid Electric Power System, And Long Distance Internet Communications, Marc Compere, Jarrett Goodell, Miguel Simon, Wilford Smith, Mark Brudnak

Publications

The RemoteLink effort supports the U.S. Army's objective for developing and fielding next generation hybrid-electric combat vehicles. It is a distributed soldierin- the-Ioop and hardware-in-the-Ioop environment with a 6-DOF motion base for operator realism, a full-scale combat hybrid electric power system, and an operational context provided by OneSAF. The driver/gunner crewstations rest on one of two 6-DOF motion bases at the U.S. Army TARDEC Simulation Laboratory (TSL). The hybrid power system is located 2,450 miles away at the TARDEC Power and Energy System Integration Laboratory (P&E SIL). The primary technical challenge in the RemoteLink ...


Robust Control Techniques For State Tracking In The Presence Of Variable Time Delays, Jarrett Goodell, Marc Compere, Miguel Simon, Wilford Smith, Ronnie Wright, Mark Brudnak Jan 2005

Robust Control Techniques For State Tracking In The Presence Of Variable Time Delays, Jarrett Goodell, Marc Compere, Miguel Simon, Wilford Smith, Ronnie Wright, Mark Brudnak

Publications

In this paper, a distributed driver-in-the-Ioop and hardware-in-the-Ioop simulator is described with a driver on a motion simulator at the U.S. Army TARDEC Ground Vehicle Simulation Laboratory (GVSL). Realistic power system response is achieved by linking the driver in the GVSL with a full-sized hybrid electric power system located 2,450 miles away at the TARDEC Power and Energy Systems Integration Laboratory (P&E SIL), which is developed and maintained by Science Applications International Corporation (SAIC). The goal is to close the loop between the GVSL and P&E SIL over the Internet to provide a realistic driving experience ...


Collecting Data About Logic Simulation, Roger D. Chamberlain, Mark A. Franklin May 1985

Collecting Data About Logic Simulation, Roger D. Chamberlain, Mark A. Franklin

All Computer Science and Engineering Research

Design of high performance hardware and software based gate-switch level logic simulators requires knowledge about the logic simulation process itself. Unfortunately, little data is publically available concerning key aspects of this process. An example of this is the lack of published empirical measurements relating to the time distribution of events generated by such simulators. This paper presents a gate-switch level logic simulator lsim which is oriented towards the collection of data about the simulation process. The basic components of lsim are reviewed, and its relevant data gathering facilities are discussed. An example is presented which illustrates the use of lsim ...