Physical Sciences and Mathematics Commons^™

Data-Driven Learning For Robot Physical Intelligence, Leidi Zhao

Dissertations

The physical intelligence, which emphasizes physical capabilities such as dexterous manipulation and dynamic mobility, is essential for robots to physically coexist with humans. Much research on robot physical intelligence has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. In this dissertation, a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation is proposed. This method tackles …

Machine Learning For Analog/Mixed-Signal Integrated Circuit Design Automation, Weidong Cao

McKelvey School of Engineering Theses & Dissertations

Analog/mixed-signal (AMS) integrated circuits (ICs) play an essential role in electronic systems by processing analog signals and performing data conversion to bridge the analog physical world and our digital information world.Their ubiquitousness powers diverse applications ranging from smart devices and autonomous cars to crucial infrastructures. Despite such critical importance, conventional design strategies of AMS circuits still follow an expensive and time-consuming manual process and are unable to meet the exponentially-growing productivity demands from industry and satisfy the rapidly-changing design specifications from many emerging applications. Design automation of AMS IC is thus the key to tackling these challenges and has been …

Privacy-Preserving Cloud-Assisted Data Analytics, Wei Bao

Graduate Theses and Dissertations

Nowadays industries are collecting a massive and exponentially growing amount of data that can be utilized to extract useful insights for improving various aspects of our life. Data analytics (e.g., via the use of machine learning) has been extensively applied to make important decisions in various real world applications. However, it is challenging for resource-limited clients to analyze their data in an efficient way when its scale is large. Additionally, the data resources are increasingly distributed among different owners. Nonetheless, users' data may contain private information that needs to be protected.

Cloud computing has become more and more popular in …

Human Fatigue Predictions In Complex Aviation Crew Operational Impact Conditions, Suresh Rangan

Doctoral Dissertations

In this last decade, several regulatory frameworks across the world in all modes of transportation had brought fatigue and its risk management in operations to the forefront. Of all transportation modes air travel has been the safest means of transportation. Still as part of continuous improvement efforts, regulators are insisting the operators to adopt strong fatigue science and its foundational principles to reinforce safety risk assessment and management. Fatigue risk management is a data driven system that finds a realistic balance between safety and productivity in an organization. This work discusses the effects of mathematical modeling of fatigue and its …

An Inside Vs. Outside Classification System For Wi-Fi Iot Devices, Paul Gralla

Dartmouth College Undergraduate Theses

We are entering an era in which Smart Devices are increasingly integrated into our daily lives. Everyday objects are gaining computational power to interact with their environments and communicate with each other and the world via the Internet. While the integration of such devices offers many potential benefits to their users, it also gives rise to a unique set of challenges. One of those challenges is to detect whether a device belongs to one’s own ecosystem, or to a neighbor – or represents an unexpected adversary. An important part of determining whether a device is friend or adversary is to …

Texture-Driven Image Clustering In Laser Powder Bed Fusion, Alexander H. Groeger

Browse all Theses and Dissertations

The additive manufacturing (AM) field is striving to identify anomalies in laser powder bed fusion (LPBF) using multi-sensor in-process monitoring paired with machine learning (ML). In-process monitoring can reveal the presence of anomalies but creating a ML classifier requires labeled data. The present work approaches this problem by printing hundreds of Inconel-718 coupons with different processing parameters to capture a wide range of process monitoring imagery with multiple sensor types. Afterwards, the process monitoring images are encoded into feature vectors and clustered to isolate groups in each sensor modality. Four texture representations were learned by training two convolutional neural network …

Analysis Of Classifier Weaknesses Based On Patterns And Corrective Methods, Nicholas Skapura

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Classification is an important branch of machine learning that impacts many areas of modern life. Many classification algorithms (classifiers for short) have been developed. They have highly different levels of sophistication and classification accuracy. Classification problems often have highly different levels of hardness and complexity. Practitioners of classification modeling need better understanding of those algorithms in order to select the optimal algorithm for given classification problems. Researchers of classification need new insight on how given classifiers are weak and how they can be improved by correcting their classification errors. This dissertation introduces new tools and concepts to analyze classifier weakness …

Deep Learning For Compressive Sar Imaging With Train-Test Discrepancy, Morgan R. Mccamey

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We consider the problem of compressive synthetic aperture radar (SAR) imaging with the goal of reconstructing SAR imagery in the presence of under sampled phase history. While this problem is typically considered in compressive sensing (CS) literature, we consider a variety of deep learning approaches where a deep neural network (DNN) is trained to form SAR imagery from limited data. At the cost of computationally intensive offline training, on-line test-time DNN-SAR has demonstrated orders of magnitude faster reconstruction than standard CS algorithms. A limitation of the DNN approach is that any change to the operating conditions necessitates a costly retraining …

Texture-Driven Image Clustering In Laser Powder Bed Fusion, Alexander H. Groeger

Browse all Theses and Dissertations

The additive manufacturing (AM) field is striving to identify anomalies in laser powder bed fusion (LPBF) using multi-sensor in-process monitoring paired with machine learning (ML). In-process monitoring can reveal the presence of anomalies but creating a ML classifier requires labeled data. The present work approaches this problem by printing hundreds of Inconel-718 coupons with different processing parameters to capture a wide range of process monitoring imagery with multiple sensor types. Afterwards, the process monitoring images are encoded into feature vectors and clustered to isolate groups in each sensor modality. Four texture representations were learned by training two convolutional neural network …