Artificial Intelligence and Robotics Commons^™

Construction Of Machine Learning Data Set For Analyzing The Replay Of The Wargaming, Dayong Zhang, Jingyu Yang, Jun Ma, Chenye Song

Journal of System Simulation

Abstract: The first problem to be solved in the application of machine learning to the analysis of the replay of the wargaming is the construction of data sets. Due to the standardization requirements of machine learning for data structure, as well as the limitations of computing power and storage, building a machine learning data set through the wargaming data still faces many problems in terms of how to describe the wargaming situation, how to describe the wargaming process, how to handle high dimensional data, and how to prevent data distortion. To solve these problems, this paper constructs a mapping model …

Preprocessing Of Astronomical Images From The Neowise Survey For Near-Earth Asteroid Detection With Machine Learning, Rachel Meyer

ELAIA

Asteroid detection is a common field in astronomy for planetary defense, requiring observations from survey telescopes to detect and classify different objects. The amount of data collected each night is continually increasing as new and better-designed telescopes begin collecting information each year. This amount of data is quickly becoming unmanageable, and researchers are looking for ways to better process this data. The most feasible current solution is to implement computer algorithms to automatically detect these sources and then use machine learning to create a more efficient and accurate method of classification. Implementation of such methods has previously focused on larger …

Accelerating Machine Learning Inference For Satellite Component Feature Extraction Using Fpgas., Andrew Ekblad

Theses and Dissertations

Running computer vision algorithms requires complex devices with lots of computing power, these types of devices are not well suited for space deployment. The harsh radiation environment and limited power budgets have hindered the ability of running advanced computer vision algorithms in space. This problem makes running an on-orbit servicing detection algorithm very difficult. This work proposes using a low powered FPGA to accelerate the computer vision algorithms that enable satellite component feature extraction. This work uses AMD/Xilinx’s Zynq SoC and DPU IP to run model inference. Experiments in this work centered around improving model post processing by creating implementations …

Learning-Based Ant Colony Optimization Algorithm For Solving A Kind Of Complex 2-Echelon Vehicle Routing Problem, Xue Chen, Rong Hu, Hui Wang, Zuocheng Li, Bin Qian, Yixu Li

Journal of System Simulation

Abstract: Aiming at green 2-echelon vehicle routing problem with simultaneous pick-up and delivery, a learning-based ant colony optimization algorithm combined with clustering decomposition is proposed. The objective function to be minimized is total transportation cost wherein carbon emission cost is specially considered. Associated with the mutual coupling features of the 2-echelon vehicle routing problem, we propose a distance-based clustering method to decompose the original problem into a set of sub-problems. Then, a learning-based ant colony optimization algorithm is presented to find the solutions of the sub-problems based on which the solution of the original problem can be obtained. In the …

Autonomous Shipwreck Detection & Mapping, William Ard

LSU Master's Theses

This thesis presents the development and testing of Bruce, a low-cost hybrid Remote Operated Vehicle (ROV) / Autonomous Underwater Vehicle (AUV) system for the optical survey of marine archaeological sites, as well as a novel sonar image augmentation strategy for semantic segmentation of shipwrecks. This approach takes side-scan sonar and bathymetry data collected using an EdgeTech 2205 AUV sensor integrated with an Harris Iver3, and generates augmented image data to be used for the semantic segmentation of shipwrecks. It is shown that, due to the feature enhancement capabilities of the proposed shipwreck detection strategy, correctly identified areas have a 15% …

Wearable Sensor Gait Analysis For Fall Detection Using Deep Learning Methods, Haben Girmay Yhdego

Electrical & Computer Engineering Theses & Dissertations

World Health Organization (WHO) data show that around 684,000 people die from falls yearly, making it the second-highest mortality rate after traffic accidents [1]. Early detection of falls, followed by pneumatic protection, is one of the most effective means of ensuring the safety of the elderly. In light of the recent widespread adoption of wearable sensors, it has become increasingly critical that fall detection models are developed that can effectively process large and sequential sensor signal data. Several researchers have recently developed fall detection algorithms based on wearable sensor data. However, real-time fall detection remains challenging because of the wide …

Information-Theoretic Model Diagnostics (Infomod), Armin Esmaeilzadeh

UNLV Theses, Dissertations, Professional Papers, and Capstones

Model validation is a critical step in the development, deployment, and governance of machine learning models. During the validation process, the predictive power of a model is measured on unseen datasets with a variety of metrics such as Accuracy and F1-Scores for classification tasks. Although the most used metrics are easy to implement and understand, they are aggregate measures over all the segments of heterogeneous datasets, and therefore, they do not identify the performance variation of a model among different data segments. The lack of insight into how the model performs over segments of unseen datasets has raised significant challenges …

Lidar Buoy Detection For Autonomous Marine Vessel Using Pointnet Classification, Christopher Adolphi, Dorothy Dorie Parry, Yaohang Li, Masha Sosonkina, Ahmet Saglam, Yiannis E. Papelis

Modeling, Simulation and Visualization Student Capstone Conference

Maritime autonomy, specifically the use of autonomous and semi-autonomous maritime vessels, is a key enabling technology supporting a set of diverse and critical research areas, including coastal and environmental resilience, assessment of waterway health, ecosystem/asset monitoring and maritime port security. Critical to the safe, efficient and reliable operation of an autonomous maritime vessel is its ability to perceive on-the-fly the external environment through onboard sensors. In this paper, buoy detection for LiDAR images is explored by using several tools and techniques: machine learning methods, Unity Game Engine (herein referred to as Unity) simulation, and traditional image processing. The Unity Game …

Design, Determination, And Evaluation Of Gender-Based Bias Mitigation Techniques For Music Recommender Systems, Sunny Shrestha

Electronic Theses and Dissertations

The majority of smartphone users engage with a recommender system on a daily basis. Many rely on these recommendations to make their next purchase, download the next game, listen to the new music or find the next healthcare provider. Although there are plenty of evidence backed research that demonstrates presence of gender bias in Machine Learning (ML) models like recommender systems, the issue is viewed as a frivolous cause that doesn’t merit much action. However, gender bias poses to effect more than half of the population as by default ML systems are designed to cater to a cisgender man. This …

Adversarial Training Of Deep Neural Networks, Anabetsy Termini

CCE Theses and Dissertations

Deep neural networks used for image classification are highly susceptible to adversarial attacks. The de facto method to increase adversarial robustness is to train neural networks with a mixture of adversarial images and unperturbed images. However, this method leads to robust overfitting, where the network primarily learns to recognize one specific type of attack used to generate the images while remaining vulnerable to others after training. In this dissertation, we performed a rigorous study to understand whether combinations of state of the art data augmentation methods with Stochastic Weight Averaging improve adversarial robustness and diminish adversarial overfitting across a wide …

An Optimized And Scalable Blockchain-Based Distributed Learning Platform For Consumer Iot, Zhaocheng Wang, Xueying Liu, Xinming Shao, Abdullah Alghamdi, Md. Shirajum Munir, Sujit Biswas

School of Cybersecurity Faculty Publications

Consumer Internet of Things (CIoT) manufacturers seek customer feedback to enhance their products and services, creating a smart ecosystem, like a smart home. Due to security and privacy concerns, blockchain-based federated learning (BCFL) ecosystems can let CIoT manufacturers update their machine learning (ML) models using end-user data. Federated learning (FL) uses privacy-preserving ML techniques to forecast customers' needs and consumption habits, and blockchain replaces the centralized aggregator to safeguard the ecosystem. However, blockchain technology (BCT) struggles with scalability and quick ledger expansion. In BCFL, local model generation and secure aggregation are other issues. This research introduces a novel architecture, emphasizing …

Security Of Internet Of Things (Iot) Using Federated Learning And Deep Learning — Recent Advancements, Issues And Prospects, Vinay Gugueoth, Sunitha Safavat, Sachin Shetty

Electrical & Computer Engineering Faculty Publications

There is a great demand for an efficient security framework which can secure IoT systems from potential adversarial attacks. However, it is challenging to design a suitable security model for IoT considering the dynamic and distributed nature of IoT. This motivates the researchers to focus more on investigating the role of machine learning (ML) in the designing of security models. A brief analysis of different ML algorithms for IoT security is discussed along with the advantages and limitations of ML algorithms. Existing studies state that ML algorithms suffer from the problem of high computational overhead and risk of privacy leakage. …

Local Learning Algorithms For Stochastic Spiking Neural Networks, Bleema Rosenfeld

Dissertations

This dissertation focuses on the development of machine learning algorithms for spiking neural networks, with an emphasis on local three-factor learning rules that are in keeping with the constraints imposed by current neuromorphic hardware. Spiking neural networks (SNNs) are an alternative to artificial neural networks (ANNs) that follow a similar graphical structure but use a processing paradigm more closely modeled after the biological brain in an effort to harness its low power processing capability. SNNs use an event based processing scheme which leads to significant power savings when implemented in dedicated neuromorphic hardware such as Intel’s Loihi chip.

This work …

Un-Fair Trojan: Targeted Backdoor Attacks Against Model Fairness, Nicholas Furth

Theses

Machine learning models have been shown to be vulnerable against various backdoor and data poisoning attacks that adversely affect model behavior. Additionally, these attacks have been shown to make unfair predictions with respect to certain protected features. In federated learning, multiple local models contribute to a single global model communicating only using local gradients, the issue of attacks become more prevalent and complex. Previously published works revolve around solving these issues both individually and jointly. However, there has been little study on the effects of attacks against model fairness. Demonstrated in this work, a flexible attack, which we call Un-Fair …

Data-Driven Framework For Understanding & Modeling Ride-Sourcing Transportation Systems, Bishoy Kelleny

Civil & Environmental Engineering Theses & Dissertations

Ride-sourcing transportation services offered by transportation network companies (TNCs) like Uber and Lyft are disrupting the transportation landscape. The growing demand on these services, along with their potential short and long-term impacts on the environment, society, and infrastructure emphasize the need to further understand the ride-sourcing system. There were no sufficient data to fully understand the system and integrate it within regional multimodal transportation frameworks. This can be attributed to commercial and competition reasons, given the technology-enabled and innovative nature of the system. Recently, in 2019, the City of Chicago the released an extensive and complete ride-sourcing trip-level data for …

Preprocessing Of Astronomical Images From The Neowise Survey For Near-Earth Asteroid Detection, Rachel Meyer

Scholar Week 2016 - present

Asteroid detection is a common field in astronomy for planetary defense which requires observations from survey telescopes to detect and classify different objects. The amount of data collected each night is increasing as better designed telescopes are created each year. This amount is quickly becoming unmanageable and many researchers are looking for ways to better process this data. The dominant solution is to implement computer algorithms to automatically detect these sources and to use Machine Learning in order to create a more efficient and accurate classifier. In the past there has been a focus on larger asteroids that create streaks …

Classification Of Electropherograms Using Machine Learning For Parkinson’S Disease, Soroush Dehghan

Electronic Theses and Dissertations

Parkinson’s disease (PD) is a neurodegenerative movement disorder that progresses gradually over time. The onset of symptoms in people who are suffering from PD can vary from case to case, and it depends on the progression of the disease in each patient. The PD symptoms gradually develop and exacerbate the patient’s movements throughout time. An early diagnosis of PD could improve the outcomes of treatments and could potentially delay the progression of this disorder and that makes discovering a new diagnostic method valuable. In this study, I investigate the feasibility of using a machine learning (ML) approach to classify PD …

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 …

Behavior Modeling For Computer Generated Forces Based On Machine Learning, Zhang Qi, Junjie Zeng, Xu Kai, Qin Long, Quanjun Yin

Journal of System Simulation

Abstract: With the rapid development of Machine Learning, especially deep learning, it has become an important way of modeling Computer Generated Force (CGF) behavior by ML methods, which can overcome the challenges of traditional methods. The existing research and application of three typical learning methods in CGF behavior modeling are discussed, and the effects of introducing learning into different stages of the typical CGF applications are analyzed, and the function and performance requirements of CGF behavior modeling using machine learning are proposed. Four potential research directions in the field for future are proposed.

Embedded Power Optimization Method Based On User Behavior, Wang Hai, Gao Ling, Dongqi Chen, Ren Jie

Journal of System Simulation

Abstract: In recent years, with the rapid development of embedded device represented by mobile phone and tablet computer, low power technology has been one of the hotspots in the embedded research field. Because the battery capacity of embedded device is limited due to its restricted volume and weight, there are often users suffering the problem that their phone battery being dead. There are many research directions in embedded low power field at present. The relationship between low power and user behavior recognition was aimed, which started with recognizing user behavior using machine learning and then obtains the user’s daily usage …

Gep Automatic Clustering Algorithm With Dynamic Penalty Factors, Chen Yan, Kangshun Li, Yang Lei

Journal of System Simulation

Abstract: Various problems such as sensitive selection of initial clustering center, easily falling into local optimal solution, and determining numbers of clusters, still exist in the traditional clustering algorithm. A GEP automatic clustering algorithm with dynamic penalty factors was proposed. This algorithm combines penalty factors and GEP clustering algorithm, and doesn't rely on any priori knowledge of the data set. And a dynamic algorithm was proposed to generate the penalty factors according to the distribution characteristics of different data sets, which is a better solution for the impact of isolated points and noise points. According to four dataset, penalty factors' …

Human Facial Emotion Recognition System In A Real-Time, Mobile Setting, Claire Williamson

Honors Theses

The purpose of this project was to implement a human facial emotion recognition system in a real-time, mobile setting. There are many aspects of daily life that can be improved with a system like this, like security, technology and safety.

There were three main design requirements for this project. The first was to get an accuracy rate of 70%, which must remain consistent for people with various distinguishing facial features. The second goal was to have one execution of the system take no longer than half of a second to keep it as close to real time as possible. Lastly, …

A Framework For Vector-Weighted Deep Neural Networks, Carter Chiu

UNLV Theses, Dissertations, Professional Papers, and Capstones

The vast majority of advances in deep neural network research operate on the basis of a real-valued weight space. Recent work in alternative spaces have challenged and complemented this idea; for instance, the use of complex- or binary-valued weights have yielded promising and fascinating results. We propose a framework for a novel weight space consisting of vector values which we christen VectorNet. We first develop the theoretical foundations of our proposed approach, including formalizing the requisite theory for forward and backpropagating values in a vector-weighted layer. We also introduce the concept of expansion and aggregation functions for conversion between real …

Monocular Depth Image Mark-Less Pose Estimation Based On Feature Regression, Chen Ying, Shen Li

Journal of System Simulation

Abstract: Monocular camera mark-less pose estimation system suffers low accuracy, robustness and efficiency due to variety of action, self-occlusion of human body. A method of feature exaction from point clouds was proposed, in which a single-to-multiple (S2M) feature regressor and a joint position regressor were designed to quickly and accurately predict the 3D positions of body joints from a single depth image without any temporal information. Experiment result shows that the estimation accuracy is superior to that of state-of-the-arts and multi-camera based methods.

Automated Recognition Of Facial Affect Using Deep Neural Networks, Behzad Hasani

Electronic Theses and Dissertations

Automated Facial Expression Recognition (FER) has been a topic of study in the field of computer vision and machine learning for decades. In spite of efforts made to improve the accuracy of FER systems, existing methods still are not generalizable and accurate enough for use in real-world applications. Many of the traditional methods use hand-crafted (a.k.a. engineered) features for representation of facial images. However, these methods often require rigorous hyper-parameter tuning to achieve favorable results.

Recently, Deep Neural Networks (DNNs) have shown to outperform traditional methods in visual object recognition. DNNs require huge data as well as powerful computing units …

Facial Action Unit Detection With Deep Convolutional Neural Networks, Siddhesh Padwal

Electronic Theses and Dissertations

The facial features are the most important tool to understand an individual's state of mind. Automated recognition of facial expressions and particularly Facial Action Units defined by Facial Action Coding System (FACS) is challenging research problem in the field of computer vision and machine learning. Researchers are working on deep learning algorithms to improve state of the art in the area. Automated recognition of facial action units has man applications ranging from developmental psychology to human robot interface design where companies are using this technology to improve their consumer devices (like unlocking phone) and for entertainment like FaceApp. Recent studies …

Chaotic Time Series Prediction Based On Gaussian Processes Mixture, Zhenjie Feng, Fan Yu

Journal of System Simulation

Abstract: Aiming at the problem that the existing learning algorithms of Gaussian processes mixture (GPM) model, such as Markov Chain Monte Carlo (MCMC), variation or leave one out, have high computational complexity, a hidden variables posterior hard-cut iterative training algorithm is proposed, which simplifies the training process of the model. The GPM model based on the proposed algorithm is applied to chaotic time series prediction. The effects of embedding dimension, time delay, learning sample number, and testing sample numbers on predictive ability are discussed. It is demonstrated by the experimental results that the prediction of the GPM model is more …

Characteristic Index Digging Of Combat Sos Capability Based On Machine Learning, Yongli Yang, Xiaofeng Hu, Rong Ming, Xiaojing Yin, Wenxiang Wang

Journal of System Simulation

Abstract: Aiming at the two difficulties in characteristic index digging of combat system of systems (CSoS), namely operation data generation and digging method selection, this paper proposes a new digging method, that is, using the simulation testbed to generate operation data, then adopting the machine learning to dig characteristic index. Two methods of characteristic index digging based on machine learning are researched: (1) the method based on network convergence, divides the communities for fundamental indexes based on their relationship, and obtains the characteristic indexes by principal component analysis (PCA); this method is applied to dig the characteristic indexes of …

Exploring The Behavior Repertoire Of A Wireless Vibrationally Actuated Tensegrity Robot, Zongliang Ji

Honors Theses

Soft robotics is an emerging field of research due to its potential to explore and operate in unstructured, rugged, and dynamic environments. However, the properties that make soft robots compelling also make them difficult to robustly control. Here at Union, we developed the world’s first wireless soft tensegrity robot. The goal of my thesis is to explore effective and efficient methods to explore the diverse behavior our tensegrity robot. We will achieve that by applying state-of-art machine learning technique and a novelty search algorithm.

Depressiongnn: Depression Prediction Using Graph Neural Network On Smartphone And Wearable Sensors, Param Bidja

Honors Scholar Theses

Depression prediction is a complicated classification problem because depression diagnosis involves many different social, physical, and mental signals. Traditional classification algorithms can only reach an accuracy of no more than 70% given the complexities of depression. However, a novel approach using Graph Neural Networks (GNN) can be used to reach over 80% accuracy, if a graph can represent the depression data set to capture differentiating features. Building such a graph requires 1) the definition of node features, which must be highly correlated with depression, and 2) the definition for edge metrics, which must also be highly correlated with depression. In …