Digital Commons Network^™

Safety Aware Continual Reinforcement Learning-Based Output Tracking Control Of Nonlinear Continuous-Time Systems, Irfan Ganie, Sarangapani Jagannathan

Electrical and Computer Engineering Faculty Research & Creative Works

An output feedback (OF)-based control scheme utilizing both a scalable multilayer neural network (MNN) observer and actor–critic MNN via integral reinforcement learning (IRL)/adaptive dynamics programming (ADP) approach for a class of nonlinear systems with output constraints is introduced. The proposed observer, critic, and actor MNN weight updates are derived using a singular value decomposition (SVD) of MNN activation function gradient along with output error, Bellman and control input errors, respectively. Next, the approach incorporates continual learning (CL), utilizing a penalty function in the weight update laws for both actor–critic MNNs to consolidate knowledge from previous tasks and enhance learning in …

Safe Optimal Control Framework For Cooperative Manipulation Of Objects In Human–Robot Teams, Irfan Ganie, Sarangapani Jagannathan

Electrical and Computer Engineering Faculty Research & Creative Works

This article introduces a distributed deep neural network (NN)-based adaptive control framework for cooperative object manipulation in human–robot teams with unknown agent dynamics by using three distinct multilayer NN observers (MNNOs). The first observer, termed the reference point estimator, enables each robotic agent to estimate the object's reference center using consensus-based learning, even without direct access to global reference trajectories. The second observer, referred to as the human force-to-trajectory estimator, uses human-applied forces to infer the intended position, velocity, and acceleration of the object, enabling real-time estimation of human intent. Together, these two observers allow distributed estimation of human-intended motion. …

Self-Calibrating Uav Navigation: Reinforcement Learning Approaches For Horizontal Trajectory Estimation, Shirin Nasr-Esfahani, S. Jagannathan

Electrical and Computer Engineering Faculty Research & Creative Works

Accurate unmanned aerial vehicle (UAV) trajectory estimation is essential for autonomous navigation, particularly in GPS-denied environments. Visualodometry and simultaneous localization and mapping (SLAM) approaches require precise camera intrinsic parameters, which are typically obtained through predefined or offline calibration. Instead, in this work, we propose a reinforcement learning (RL)-based self-calibration framework that estimates camera intrinsic parameters directly from monocular video sequences, without requiring prior knowledge of the camera, environment, or calibration targets. This intrinsic parameter estimation is then leveraged to achieve robust UAV trajectory estimation using only video data. We formulate the problem as a sequential decision-making task, where an RL …

Online Lifelong Optimal Adaptive Control Of Partially Uncertain Strict Feedback Discrete-Time Systems With Application To Quadrotor Uavs, Maxwell Geiger, Sarangapani Jagannathan

Electrical and Computer Engineering Faculty Research & Creative Works

This article considers the infinite time horizon optimal adaptive tracking control of partially uncertain strict feedback discrete-time (DT) systems with application to quadrotor uncrewed aerial vehicles (UAVs). First, the strict feedback DT system is transformed into an equivalent affine nonlinear DT system in terms of the tracking error dynamics. The optimal adaptive tracking control problem is solved using an augmented system approach, where a horizon of future bounded reference trajectory points is used in the augmented state, when compared to using a single point. It is assumed that the internal dynamics of the strict feedback system are unknown, but the …

New Metrics For Disambiguating Feature Overlap And Catastrophic Forgetting In Incremental Learning Contexts, Niklas M. Melton, Leonardo Enzo Brito Da Silva, Donald C. Wunsch

Electrical and Computer Engineering Faculty Research & Creative Works

Catastrophic forgetting remains a central challenge in lifelong learning, where newly acquired knowledge interferes with previously learned tasks, degrading performance over time. Mitigation strategies such as rehearsal and regularization have been proposed, but both introduce limitations, either by retaining old data or by constraining model updates in ways that may impair learning. Complicating matters, recent findings show that feature-space overlap between tasks can produce similar performance drops even in models that memorize data, making it difficult to distinguish true forgetting from representational interference. Current accuracy-based metrics fail to disentangle these effects, undermining diagnostic clarity. In this work, we introduce the …

Rf-Attennet: A Hybrid Attention-Enhanced Network For Mixed Signal Classification In Uav Swarm Detection, Prajoy Podder, Mohammad Atikur Rahman, Maciej Zawodniok, Sanjay Madria

Electrical and Computer Engineering Faculty Research & Creative Works

The continuous increase of UAVs, particularly in swarms, creates significant challenges for security and airspace regulation. Traditional RF fingerprinting methods struggle to detect and classify UAV swarms due to overlapping signals and interference. This study introduces RF-AttenNet, a hybrid deep learning model designed to classify mixed UAV signals by analyzing composite RF spectrograms. RF-AttenNet uses dual attention mechanisms, channel and spatial attention to focus on critical spectral features, enabling the model to effectively separate and identify overlapping UAV signals. We have developed custom composite UAV datasets that simulate real-world swarm interference, incorporating both single and mixed UAV classes. RF-AttenNet achieves …

Fixed-Time Consensus Tracking For Nonlinear Multi-Agent Systems Under Aperiodically Intermittent Control, Lei Xue, Tong Wu, Wenwen Jia, Donald C. Wunsch

Electrical and Computer Engineering Faculty Research & Creative Works

This article explores the problem of fixed-time consensus tracking (FT-CT) for nonlinear multi-agent systems utilizing the a periodically intermittent control (AIC) strategy. In contrast to existing control algorithms, the proposed algorithm utilizes the AIC strategy instead of the conventional continuous-time control strategy, effectively reducing the consumption of communication resources. Moreover, the problem of intermittent FT-CT is well handled by proposing the average control rate of the AIC strategy. Two theorems based on the cases of directed and undirected graphs are proposed, respectively. Finally, the validity of these results is confirmed through numerical simulations on a general nonlinear system and a …

Nash Equilibrium Strategies For Multicluster Pursuit–Evasion Game With Disturbances: A Prescribed-Time Convergence Approach, Lei Xue, Xian Yu, Yongbao Wu, Jian Liu, Changyin Sun, D. C. Wunsch

Electrical and Computer Engineering Faculty Research & Creative Works

This article investigates the problem of prescribed-time Nash equilibrium (NE) seeking for a multicluster pursuit–evasion game (PEG) subject to external disturbances. To mitigate the impact of disturbances and reach the NE within a user-defined prescribed time, a prescribed-time disturbance observer (PTDO) is devised to estimate and compensate for them. Based on this observation, a novel control algorithm is developed, which facilitates collaboration among multiple pursuers to capture multiple evaders within the prescribed time. It is theoretically demonstrated that the designed algorithm ensures prescribed-time convergence to the NE of the multicluster PEG with disturbances. Finally, numerical simulations are conducted to verify …

Ai-Driven Penetration Testing For Arm Systems: A Comprehensive Framework With Experimental Validation, Matthew Ragsdale

College of Graduate Studies: Theses & Dissertations

The convergence of artificial intelligence and cybersecurity presents new opportunities for automated penetration testing capable of discovering, prioritizing, and remediating vulnerabilities at machine speed. However, deployment on resource-constrained ARM platforms remains unexplored despite ARM’s dominance in mobile, IoT, and edge computing with over 280 billion chips deployed globally. This thesis presents systematic experimental evaluation of AI-driven penetration testing across four paradigms—traditional machine learning, deep learning, large language models, and reinforcement learning—on three ARM platform tiers: Raspberry Pi 5 (8GB, Cortex-A76), Radxa ROCK 5B Plus (16GB LPDDR5 with NPU), and NVIDIA Jetson Nano (4GB with Maxwell GPU). The experimental framework generates …

Exploring New Poly-Anion Based Materials For Lithium – Ion Battery Cathodes, Sutapa Bhattacharya

Doctoral Dissertations

The escalating global demand for sustainable energy storage solutions has driven intensive research into novel electrode materials. Polyanion-based cathode materials have emerged as promising candidates due to their structural stability, safety, and voltage tunability enabled by the inductive effect of polyanionic groups. This research explores the synthesis, crystal structure, and electrochemical performance of new polyanion-based cathode materials featuring vanadium, molybdenum, and iron within phosphate and selenite frameworks.

Novel selenite-based materials, such as LiFe(SeO₃)₂ and Li₀.₂₅V₂O₃(SeO₃)₂, were synthesized and characterized, revealing stable electrochemical cycling associated with Fe2+/Fe3+ and V⁴⁺/V⁵⁺ transitions. Additionally, a systematic investigation was conducted on molybdenum phosphate compounds, including …

Theoretical Study Of Long-Range Molecular Interactions, Adrian Luis Batista-Planas

Doctoral Dissertations

Describing intermolecular forces is fundamental to modeling and predicting the behavior of molecular systems. In particular, long-range molecular interactions—with electrostatic, induction, and dispersion as main components—play a critical role, especially for low-temperature and low-density regimes. Long-range interactions are often described through perturbation theory, representing the electronic charge distribution via multipolar series of the moments and polarizability tensors corresponding to each molecule. However, while the theory is well-established, obtaining the resulting analytical expressions (and their practical implementation) constitutes a highly complex and system-dependent task. To address this challenge, we developed Long-Range-Fit (LRF), an interactive and user-friendly software package designed to automate …

Security And Energy-Efficiency In Federated Learning, Priyesh Ranjan

Doctoral Dissertations

Federated Learning (FL), which facilitates collaborative model training and protects users' privacy, has drawn great interest from the research community. With FL, the participants train their models on local data and submit the corresponding updates for aggregation to a server. While concealing the participants' identities, FL may attract adversaries aiming to hamper the underlying model. These adversaries aim to submit malicious weight updates that corrupt the performance of the server model. Further, these models when communicated to the participating clients extend the behavior which is undesirable. Additionally, FL suffers from increased energy consumption at the edge device level due to …

Temperature-Dependent Dielectric Function Of Solids From Coupled Oscillators With Radiation Reaction: Application To Atom–Surface Interactions, Tuhin Kanti Das

Doctoral Dissertations

In this dissertation, we propose a uniform functional form of the dielectric function of solids that is applicable over a wide range of frequencies. We apply our model to describe the dielectric function of two technologically important materials: silicon and calcium fluoride. The temperature dependence of their dielectric functions is also described using simple analytic forms. We found that a generalized Sellmeier-type model with complex denominators (“damped oscillators”) does not lead to a satisfactory fit of experimental data for the dielectric function. In contrast, our model, which is analytically only slightly more involved (“complex oscillator strengths”, complex numerators), allows us …

Trust-Aware Algorithms For Stackelberg Ground Vehicle Routing, Doris Evelyn Meredith Brown

Doctoral Dissertations

Despite decades of research focused on reducing ground vehicle traffic congestion, urban traffic networks worldwide continue to experience traffic flows that lead to increased network travel times, largely resulting from the routing decisions of individual vehicles. To address this challenge, this work leverages a Stackelberg game framework to model the interaction between a vehicle agent and a routing authority as a leader–follower game, in which the routing authority proposes routing interventions to which the agent responds. This research contributes to existing traffic mitigation literature by exploring the role of trust in route decision-making and providing trust-aware algorithms that influence vehicle …

Essays On Accelerated Failure Time Models For Recurrent Event Data, Emmanuel Masavo Djegou

Doctoral Dissertations

Recurrent event data arise in many fields such as medicine, reliability, insurance, and economics, where the same event may occur repeatedly for a subject. Accelerated Failure Time (AFT) models provide an intuitive framework for relating covariates to event times and offer a useful alternative to proportional hazards models, allowing direct prediction of event timing under right censoring. However, existing AFT extensions for recurrent events, such as accelerated gap time (AGT) models, often fail to account for interventions between events and may not capture complex temporal patterns.

In this work, we first propose a class of semiparametric AGT models incorporating an …

Incremental Cluster Validity Indices And Their Role In Interpreting Lifelong Learning Systems, Niklas Max Melton

Doctoral Dissertations

Clustering and supervised learning are often treated as distinct paradigms, yet both rely on structure in feature space. This dissertation investigates the relationship between cluster validity indices (CVIs) and supervised learning in real-time and lifelong learning settings where data arrive incrementally and cannot be revisited. Across four studies, it develops methods for online cluster validation, uses supervised learning to improve their interpretability, and applies these ideas to evaluating performance degradation in continual learning.

The first study extends incremental cluster validity indices (iCVIs), enabling widely used validation metrics to operate in streaming environments. Experiments on synthetic and real-world datasets show systematic …

Fully Differential Studies On Dissociative Capture In P + D2 Collisions And On Ionization In P + He Collisions, Shruti Majumdar

Doctoral Dissertations

Advancing our understanding of few-body dynamics in simple atomic systems is a fundamental objective in atomic scattering research. The underlying problem is that the Schrödinger equation is not analytically solvable for more than two mutually interacting particles. This involves a comprehensive exploration of various channels, such as ionization, capture, and excitation. A common theoretical approach to describe ion-atom collisions is based on perturbation theory, where the scattering amplitude is expanded in powers of the interaction potential. Here, understanding the few-body problem means accurately describing the relative importance of the higher- vs the first order terms.

In the case of ionization, …

An Energy-Stable Mixed Cg-Dg Scheme For A Full Shliomis Phase Field Model Of Two-Phase Ferrofluid Flows, Mahdi Gharehbaygloo

Doctoral Dissertations

"Ferrofluids are magnetic nanoparticle suspensions whose motion couples surface tension, flow field, magnetostatics, and magnetization dynamics. This dissertation develops, analyzes, and validates an energy-stable finite element method for a two-phase ferrofluid model that couples the Cahn-Hilliard equations with the full Shliomis model of single-phase ferrofluids, retaining its damping torque term, magnetic torque term, and magnetic stress term.

The spatial discretization is a mixed continuous Galerkin (CG) and discontinuous Galerkin (DG) formulation. It uses continuous ��2 elements for the phase field, chemical potential, velocity, and magnetostatic potential, discontinuous ��2 elements for the magnetization, and discontinuous ��1 elements for the pressure. The …

Harnessing Coherent-Wave Control For Sensing Applications In Scattering Media, Pablo Xavier Jara Palacios

Doctoral Dissertations

"Diffuse electromagnetic waves are widely used for non-invasive sensing and imaging in complex scattering media such as biological tissues. A fundamental limitation of such techniques is the scarcity of detected photons: as the source-detector separation increases to access deeper regions of the medium, the signal strength decays rapidly, leading to poor signal-to-noise ratio and limited sensitivity. This dissertation addresses this challenge through a combination of theory and computation.

We show that coherent control of the incident optical wavefront can compensate for the scarcity of detected photons that limits conventional diffuse optical imaging, typically performed in the near-infrared spectral region. By …

Innovative Methods In Intact Rock Deformation Detection, Ali Abdullah M Alzahrani

Doctoral Dissertations

"An accurate assessment of intact rock deformation is imperative in engineering activities carried out either in or above rock masses. However, instruments used for post-peak deformation are easily debonded and cannot record the whole process of post-peak deformation required in the failure modeling of rocks. This dissertation focuses on the investigation of the performance of two non-contact measuring systems (Laser Displacement Sensor (LDS) and Inductive Proximity Sensor (IPS)) compared to the contact type instrument (conventional Strain Gauge System (SGS)) in monitoring intact rock deformations. Subsequently, an IPS was installed in a high-pressure triaxial testing system before investigating its performance in …

Analyzing Sleep Architecture And Brain State Transitions Via Hidden Markov Models On Fmri Data, Brileigh Jay Cates

Masters Theses

Sleep is associated with systematic changes in brain activity and functional connectivity observable in functional magnetic resonance imagining (fMRI) signals. Because subjects often fall asleep during resting-state experiments, the absence of vigilance monitoring can confound the interpretation of resting-state dynamics. Although electroencephalography (EEG) is the gold standard for sleep staging, simultaneous EEG-fMRI acquisition is not always feasible.

This study investigates whether sleep stages can be inferred directly from fMRI using a probabilistic latent-state framework. Hidden Markov Models (HMMs) are applied to blood-oxygen-level-dependent (BOLD) time series to identify latent brain states and their temporal transitions. Inferred states are aligned with EEG-derived …

Cervical Ligament Systems In Sauropod Dinosaurs: What Support Is There?, Audrey Rose Williams

Masters Theses

"Sauropod dinosaurs, such as Diplodocus, have been the subject of numerous hypotheses about what ligamentous structures could have lifted and supported their long necks. Because the supportive tissues rarely fossilize, palaeontologists rely on osteological correlates on the bone to infer their nature. Options for supportive cervical ligaments in sauropods are mammal-style nuchal ligaments, avian-style interlaminar elastic ligaments, reptilian-style supraspinal ligaments, or some combination thereof. This study tested for the presence of a mammal-style nuchal ligament via histological and micro-computed tomography of posterior cervical hemispinous processes of Apatosaurus and Diplodocus, in addition to examining gross morphological features of the cervical vertebrae …

A Systematic Review And Characterization Of Privacy Noncompliance In Real-World Applications, Alexander E. Charkiewicz

Graduate Studies Theses and Dissertations 2026

Software applications increasingly rely on user data to provide their functionality, but improper handling of such data can lead to serious privacy noncompliance with applicable regulations and policies. A prominent example is the Facebook–Cambridge Analytica scandal, in which a third-party application collected the personal data of approximately 87 million Facebook users without users' consent. Despite growing attention to privacy compliance, two key challenges hinder the systematic understanding and analysis of privacy noncompliance. First, unlike security vulnerabilities, which have been systematically categorized through taxonomies such as the Common Weakness Enumeration (CWE), privacy noncompliance lacks a technical taxonomy describing how it manifests …

Design, Fabrication Modeling, And Optical Metrology Of Mwir Silicon Metalenses, Weiyu Chen

Graduate Studies Theses and Dissertations 2026

Mid-wave infrared (MWIR) optical systems require compact, broadband, manufacturable components whose performance can be predicted and measured reliably. Silicon metalenses are attractive because silicon combines high refractive index, MWIR transparency, and semiconductor-compatible fabrication. This dissertation develops a scale-bridging design–fabrication-modeling–metrology framework for MWIR silicon metalenses.

A shared full-aperture framework connects meta-atom libraries, physical layout generation, angular-spectrum propagation, point-spread-function calculation, and focal-plane energy metrics. Building on this foundation, the Dispersive Sweatt Model (DSM) incorporates meta-atom dispersion into conventional ray-tracing software, enabling broadband co-optimization of metasurfaces and refractive elements. A process-aware design framework then incorporates scanning electron microscopy (SEM)-measured height–radius relationships produced by …

An Empirical Comparison Of K-Nearest-Neighbors And Logistic Regression Classification Models, Jackson Cushing

Graduate Studies Theses and Dissertations 2026

This thesis presents an empirical comparison of two classification methods: Logistic Regression and K Nearest Neighbors (KNN). The primary objective of this research is to evaluate the strengths and limitations of each method when applied to real-world datasets. Several publicly available datasets on diabetes, breast cancer, heart attack risk, and cardiovascular disease, were analyzed. For each dataset, K Nearest Neighbors models were implemented in the same way logistic regression had already been applied. The results demonstrate that while logistic regression offers interpretable parameter estimates and performs well when the underlying predictor and outcome relationship is approximately linear, however KNN can …

Non-Gaussian Phenomena In Light Scattering And Applications, Shubham Atul Dawda

Graduate Studies Theses and Dissertations 2026

Physical reality is rarely deterministic; which, when probed by electromagnetic fields that also fluctuate, leads to observables that are most efficiently modelled as statistical processes. At equilibrium, this is usually achieved by invoking the Gaussian statistics of underlying physical processes, however, in practice, one often encounters out-of-equilibrium conditions where Gaussian descriptions may not suffice. Such situations are plentiful in nature– from biology to astronomy. This dissertation addresses several non-Gaussian phenomena associated with light scattering, and includes specific models’ derivations, experimental techniques developments, and demonstrations of potential applications. The systematic presentation will consider circumstances that infringe upon specific assumptions of the …

Deciphering Ultrafast Photoinduced And Photocatalytic Reaction Dynamics On Oxide Surfaces: Direct Detection Of Radical Intermediates, Fragment Trapping, And Carbon–Carbon, Carbon–Oxygen, And Carbon–Hydrogen Bond Formation Pathways, Aakash Gupta

Graduate Studies Theses and Dissertations 2026

Understanding photoinduced reactions at solid interfaces is essential for advancing heterogeneous photocatalysis, surface photochemistry, and energy conversion technologies. This dissertation investigates the ultrafast dynamics of reactive intermediates, fragment trapping, and radical-mediated bond formation on oxide surfaces using time-of-flight mass spectrometry in conjunction with femtosecond pump-probe spectroscopy. Various experimental findings are validated through collaborations via density functional theory (DFT). By combining temporal, mass, and energy-resolved measurements, this work provides molecular-level insight into the elementary processes governing light-driven surface reactions. The photodissociation dynamics of CH₃I adsorbed on TiO₂(110), TiO₂(100), and amorphous silicon oxide surfaces are examined …

Modeling And Mitigating Atmospheric Degradation In Computer Vision With Application In Renewable Energy Prediction, Sumit Laha

Graduate Studies Theses and Dissertations 2026

Weather-induced variability poses significant challenges to the reliability and performance of modern computational systems, particularly those relying on visual perception and environmental prediction. This dissertation focuses on enhancing computer vision and machine learning based predictive models that operate under varying atmospheric conditions. Two representative weather-impacted applications are investigated: image dehazing and solar photovoltaic (PV) power output forecasting. Image dehazing focuses on the restoration of clear, unobstructed visuals from hazy or foggy images, a task that is vital for various applications. On the other hand, photovoltaic (PV) power forecasting aims to predict future solar energy generation based on historical sky images …

Emergent Spin Fluctuation And Structural Metastability In Self-Intercalated Cr1+Xte2 Compounds, Clayton Conner, Ali Sarikhani, Theo Volz, Mathew Pollard, Mitchel Vaninger, Xiaoqing He, Steven Kelley, Jacob Cook, Avinash Sah, John Clark, Hunter Lucker, Cheng Zhang, Paul Miceli, Yew San Hor

Physics Faculty Research & Creative Works

Intercalated van der Waals (vdW) magnetic materials host unique magnetic properties due to the interplay of competing interlayer and intralayer exchange couplings, which depend on the intercalant concentration within the van der Waals gaps. Magnetic vdW compound chromium telluride, (Formula presented.), has demonstrated rich magnetic phases at various Cr concentrations, such as the coexistence of ferromagnetic and antiferromagnetic phases in (Formula presented.) (equivalently, (Formula presented.)). The compound is created by intercalating 0.25 Cr atom per unit cell within the van der Waals gaps of (Formula presented.). In this work, we report a notably increased Curie Temperature and an emergent in-plane …

Generation Of Wave Turbulence In Dipolar Gases Driven Across Their Phase Transitions, Georgios A. Bougas, Koushik Mukherjee, Simeon Mistakidis

Physics Faculty Research & Creative Works

Ultracold quantum gases with long-range anisotropic interactions host novel exotic phases of matter, such as super solids, exhibiting both rigid and superfluid characteristics. The impact of this interplay on the out-of-equilibrium dynamics of dipolar gases, and in particular its connection with universal turbulent behavior, remains highly unexplored. Here, upon considering a dipolar Bose-Einstein condensate of dysprosium atoms being dynamically driven across the super solid-superfluid phase transition and vice versa, we unveil the emergence of a robust nonequilibrium quasi-steady state. This state displays self-similar momentum distributions exhibiting algebraic decay at large momenta, with scaling exponents supporting the existence of wave turbulence. …