Electrical and Computer Engineering Commons^™

Advanced Navigation For Planetary Vehicles Applying An Approximate Mapping Technique, Timothy R. Mcjunkin

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This thesis provides a method for compressing the information provided by JPL Mars rover obstacle sensors by creating an approximate map of the terrain around the vehicle. This thesis demonstrates that this method provides adequate information for a human operator to negotiate complex obstacles fields.

By dividing the area around the vehicle into regions and classifying each region as to how dangerous (impassable), the sensor data can be accumulated with minimal overhead. The terrain in each region has a number between zero and one, with zero meaning completely passable and one meaning completely impassable. A continuum of possible values between …

The Design Of An Augmentative Communications Device, Darren Blaser, Scott Sorenson

Undergraduate Honors Capstone Projects

There is an extremely large number of people in the modem world who have difficulty communicating. Among these are approximately 25 million people with cerebral palsy. Cerebral palsy is a disability that is usually caused during, or shortly after birth. Cerebral palsy usually affects a person's motor skills and sense of balance, often rendering them incapable of speaking clearly enough to be understood well. Because this group of people cannot communicate as effectively as other individuals, many uninformed people suppose they do not have as great a need to speak, to say things like, "How are you?", ''I'm Hungry", "Thank …

Developing A Benchmark For Evaluating The Performance Of Parallel Computers, D. Ladd Williamson

Undergraduate Honors Capstone Projects

This paper discusses the development of a portable suite of benchmarking programs for parallel computers. Comparative measurement of the performance of parallel computing systems has been limited because of the great diversity of architectures and of processor interconnection schemes. One solution is to translate benchmark codes into a consistent and portable parallel language. This paper reports on progress in developing such a portable suite of benchmarks. An extensive introduction to parallel computing is included as an appendix, to provide a thorough understanding of the factors complicating development of the performance suite. Key to the development was the use of p4, …

Epistemic Decision Theory Applied To Multiple-Target Tracking, T. K. Moon, Scott E. Budge, W. C. Stirling, J. B. Thompson

Electrical and Computer Engineering Faculty Publications

A decision philosophy that seeks the avoidance of error by trading off belief of truth and value of information is applied to the problem of recognizing tracks from multiple targets (MTT). A successful MTT methodology should be robust in that its performance degrades gracefully as the conditions of the collection become less favorable to optimal operation. By stressing the avoidance, rather than the explicit minimization, of error, the authors obtain a decision rule for trajectory-data association that does not require the resolution of all conflicting hypotheses when the database does not contain sufficient information to do so reliably. This rule, …

Classification Using Set-Valued Kalman Filtering And Levi's Decision Theory, T.K. Moon, Scott E. Budge

Electrical and Computer Engineering Faculty Publications

We consider the problem of using Levi's expected epistemic decision theory for classification when the hypotheses are of different informational values, conditioned on convex sets obtained from a set-valued Kalman filter. The background of epistemic utility decision theory with convex probabilities is outlined and a brief introduction to set-valued estimation is given. The decision theory is applied to a classifier in a multiple-target tracking scenario. A new probability density, appropriate for classification using the ratio of intensities, is introduced.