Digital Commons Network^™

Full Issue, The Migrant

The Migrant - Tennessee Ornithological Society

No abstract provided.

Full Issue, The Migrant

The Migrant - Tennessee Ornithological Society

No abstract provided.

Full Issue, The Migrant

The Migrant - Tennessee Ornithological Society

No abstract provided.

Full Issue, The Migrant

The Migrant - Tennessee Ornithological Society

No abstract provided.

Using Cobot Technology To Design A Finger-Based Haptic Device, Danielle Carr, Carl A. Moore, Rodney Roberts, Ed Colgate

Florida Conference on Recent Advances in Robotics

Robot telemanipulation systems use operator interfaces coupled to avatars (remote robots) so people can touch and manipulate things far away. When the operator’s hand controls the interface, it may be called a haptic interface. An important haptic research topic is determining how to provide a realistic sensation of a remote object. However, existing haptic devices have been criticized for having limited capabilities that prevent them from excelling at both ends of the impedance spectrum. This can make them operate slowly and be challenging due to issues with mobility, immersive displays, and direct in-hand manipulation. It also reduces haptics to low …

Expanding Accessibility: Improved Resolution Printing With S-Cvt-Based Prr Manipulator, Sywal Mezonlin, Carl Moore, Rodney Roberts

Florida Conference on Recent Advances in Robotics

Fused Deposition Modeling (FDM), a subset of Additive Manufacturing (AM), excels in affordable, rapid 3D printing but struggles with curved geometries due to its inherent planar layered printing methodology. Curved-layer Manufacturing (CLM) addresses this by depositing materials following the part’s local curvature rather than confining them to horizontal planes. However, its reliance on expensive robotic manipulators due to the complex actuators and custom components limits its accessibility for low-volume FDM (e.g., educational, household). Addressing the cost barrier, researchers turned to more affordable actuators such as stepper motors for these manipulators, which leads to a heterogeneous resolution (varied resolution across workspace). …

Coordinating Robots Sharing Vision Cues To Understand Scenes With Extended Waltz Reasoning, Ben Mathew, Akram Alghanmi, Marius Silaghi

Florida Conference on Recent Advances in Robotics

No abstract provided.

A Ugv-Uav Formation Using Leader-Follower-Based Collaborative Navigation, Terrance Williams Jr, Hakki Erhan Sevil

Florida Conference on Recent Advances in Robotics

In this study, a proof-of-concept leader-follower relationship between an unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV) as a method of navigation is developed and tested. A JetHexa hexapod robot was tasked with following a CoDrone EDU quadrotor with no communication between the two platforms. To implement the UAV-following behavior, a You Only Look Once version 5 (YOLOv5) object detection model was developed and employed as part of a Robotic Operating System (ROS) package. According to the results, in controlled testing environments, the UGV is able to follow the UAV over multiple waypoints, following at distances as close …

Development Of A Uav-Based Detection And Tracking Pipeline In Simulation Environment, Hunter Ayers, Hakki Erhan Sevil

Florida Conference on Recent Advances in Robotics

Object detection and tracking are essential for particular applications especially with Unmanned Aerial Vehicles (UAVs). This study focuses on developing a pipeline of an advanced detection and tracking system specifically for use in UAVs, leveraging the capabilities of AirSim. The use of AirSim allows for a more meticulous examination and refinement of targeting theories, thanks to the controlled conditions of the simulation. The project utilizes the YOLO (You Only Look Once) algorithm for object detection and tracking through contour boxes. The experiment results show successful detection and tracking capability of the UAV. The developed pipeline can be used for various …

Realtime Imu Based Gesture Recognition For Assistive Robots, Elias Karner, Brian Butka, Christopher Hockley

Florida Conference on Recent Advances in Robotics

This paper presents a motion capture system designed to enhance the control of assistive robots, with a particular focus on improving the lives of individuals with disabilities. Utilizing lowcost Inertial Measurement Units (IMUs) to accurately capture and translate human motions into robotic actions, this system bridges the gap between human intent and robot execution. Through application of machine learning algorithms for real-time gesture recognition, the research demonstrates a significant advancement in intuitive human-robot interaction.

Key findings from the study include the motion capture system, which achieved an accuracy rate of 93.8% in gesture recognition. The integration of IMU technology facilitated …

Robotic Accessibility Assistant (Raa), Tais Mota, Ohad Nataf, Faith El Massari, Morgan Walkinshaw, Redwan Alqasemi, Rajiv V. Dubey

Florida Conference on Recent Advances in Robotics

Individuals with muscular dystrophy and spinal cord injuries often experience upper-limb disabilities and rely on Power wheelchairs for their mobility. While these wheelchairs enhance their quality of life, they do not fully address challenges in activities of daily living (ADL). Specifically, the stiffening of tendons and ligaments in hand joints makes it difficult for individuals to perform accessibility tasks such as pressing elevator buttons and scanning access cards. This paper presents an affordable, simple, and convenient solution to these challenges.

The proposed robotic arm offers several unique features. Equipped with a 4-DOF system (3 revolute joints and 1 prismatic joint), …

Robust Fragile Object Picking By Integrating A Robotic Manipulator With Low-Cost Force Sensors, Dylan Shim, Minghan Wei

Florida Conference on Recent Advances in Robotics

Grasping objects represents a fundamental skill for autonomous robotic manipulators and has been the subject of extensive study. Recent advancements have highlighted the efficacy of utilizing visual inputs to identify full 6-Degree-of-Freedom (6-DoF) grasp poses for picking up rigid objects. However, the robust grasping of fragile objects remains a challenge, as visual-only inputs lack the capability to measure the applied grasping force accurately. Fragile objects are particularly susceptible to damage from excessive forces exerted by the manipulator. In this paper, we address this issue by integrating a low-cost force sensor onto the gripper of a manipulator, making it contact-force-aware during …

Robotic Ad-Hoc Networks, Marius Silaghi, Khulud Alawaji, Mohammed Alghamdi, Akram Alghanmi, Ameerah Alsulami

Florida Conference on Recent Advances in Robotics

Practical robotic adhoc networks (RANETs), a type of mobile wireless adhoc networks (WANETs) supporting the WiFi-Direct modes common in internet of things and phone devices, is proposed based on a strategy of exploiting WiFi-Direct connection modes to overcome hardware restrictions. For a certain period of time the community was enthusiastic about the endless opportunities in fair, robust, efficient, and cheap communication created by the Adhoc mode of the WiFi IEEE 802.11 independent basic service set (IBSS) configuration that required no dedicated access points. The mode was a main enabler of wireless Adhoc networks (WANETS). This communication mode unfortunately did not …

Design Of A Low Cost 2dof Geartrain For Broad Applications In Quadrupedal Robots, Benjamin Labiner, David Jay

Florida Conference on Recent Advances in Robotics

This paper presents the design and analysis of a low-cost two-degree-of-freedom (2DOF) geartrain tailored for versatile applications in quadrupedal robots. Leveraging principles of simplicity and affordability, the described geartrain design aims to provide an effective solution for transferring power from motors to limbs while minimizing manufacturing costs. This paper discusses the key considerations in geartrain design, including gear ratio selection, material choice, and mechanical efficiency, highlighting the trade-offs between performance and cost. Through mathematical modeling and extensive testing, the ideal parameters of the geartrain are identified to achieve desired locomotion capabilities across various terrains and loads. This geartrain design offers …

Quantifying Impact Of Robot Perception Accuracy At Landmarks In Decision-Making During Complex Situations, Sheuli Paul, Steven Liu, Akram Alghanmi, Veton Kepuska, Marius Silaghi

Florida Conference on Recent Advances in Robotics

Perception and decision making is contextual. Landmarks are components of the environment associated with high perception and localization accuracy and their presence can significantly impact agent beliefs and decisions. Our research focuses on integrating state-of-the-art sensing technologies to enhance human decision-making. The perception model incorporates multi-sensor fusion, utilizing LiDAR, cameras, and inertial sensors to create a dynamic representation of the environment. Object recognition and tracking algorithms further enable the robot to interpret the scene providing valuable insights for informed decision-making. This effort involves a novel perception model tailored for mobile robots, emphasizing its role in assisting humans during decision-making processes. …

Carpool-Based Parking Assignment Policy, Daniel Rodriguez-Roman, Héctor Carlo Colón, Nayda G. Santiago, Alberto M. Figueroa Medina, Peng Chen, Ran Tao

Research Reports

A new travel demand management (TDM) strategy is proposed that integrates ride-matching and parking management to tackle traffic congestion and air pollution problems that arise when the demand for parking spaces exceeds parking supply. The proposed strategy implements a centralized system that assigns parking spaces, free of out-of-pocket costs, according to users’ reservation requests, users’ travel schedules, and available parking supply. Concurrent to the parking assignment process, the system coordinates carpools by finding minimum travel cost matches between drivers whose parking requests were accepted and system participants that require transportation. This report presents an optimization model for the implementation of …

Microencapsulated Thermochromic Materials And Uses Thereof, Manoj Kumar Ram, Elias K. Stefanakos

USF Patents

A variety of particles forming microencapsulated thermochromic materials. The particles can include a thermochromic core and a metal oxide shell encapsulating the thermochromic core. The thermochromic core can include one or both of an organic thermochromic material and an inorganic salt thermochromic material. In some aspects, the particles include a dye selected from a crystal violet lactone dye, a fluoran dye, and a combination thereof. In still further aspects, the particles include a color developer selected from a hydroxybenzoate, a 4,4′-dihydroxydiphenyl propane, a hydroxycoumarin derivative, a lauryl gallate, and a combination thereof. In some aspects, the metal oxide shell is …

Microencapsulated Thermochromic Materials And Uses Thereof, Manoj Kumar Ram, Elias K. Stefanakos

USF Patents

A variety of particles forming microencapsulated thermochromic materials. The particles can include a thermochromic core and a metal oxide shell encapsulating the thermochromic core. The thermochromic core can include one or both of an organic thermochromic material and an inorganic salt thermochromic material. In some aspects, the particles include a dye selected from a crystal violet lactone dye, a fluoran dye, and a combination thereof. In still further aspects, the particles include a color developer selected from a hydroxybenzoate, a 4,4′-dihydroxydiphenyl propane, a hydroxycoumarin derivative, a lauryl gallate, and a combination thereof. In some aspects, the metal oxide shell is …

Improving Ethics Surrounding Collegiate-Level Hacking Education: Recommended Implementation Plan & Affiliation With Peer-Led Initiatives, Shannon Morgan, Dr. Sanjay Goel

Military Cyber Affairs

Cybersecurity has become a pertinent concern, as novel technological innovations create opportunities for threat actors to exfiltrate sensitive data. To meet the demand for professionals in the workforce, universities have ramped up their academic offerings to provide a broad range of cyber-related programs (e.g., cybersecurity, informatics, information technology, digital forensics, computer science, & engineering). As the tactics, techniques, and procedures (TTPs) of hackers evolve, the knowledge and skillset required to be an effective cybersecurity professional have escalated accordingly. Therefore, it is critical to train cyber students both technically and theoretically to actively combat cyber criminals and protect the confidentiality, integrity, …

Using Digital Twins To Protect Biomanufacturing From Cyberattacks, Brenden Fraser-Hevlin, Alec W. Schuler, B. Arda Gozen, Bernard J. Van Wie

Military Cyber Affairs

Understanding of the intersection of cyber vulnerabilities and bioprocess regulation is critical with the rise of artificial intelligence and machine learning in manufacturing. We detail a case study in which we model cyberattacks on network-mediated signals from a novel bioreactor, where it is important to control medium feed rates to maintain cell proliferation. We use a digital twin counterpart reactor to compare glucose and oxygen sensor signals from the bioreactor to predictions from a kinetic growth model, allowing discernment of faulty sensors from hacked signals. Our results demonstrate a successful biomanufacturing cyberattack detection system based on fundamental process control principles.

Surmounting Challenges In Aggregating Results From Static Analysis Tools, Dr. Ann Marie Reinhold, Brittany Boles, A. Redempta Manzi Muneza, Thomas Mcelroy, Dr. Clemente Izurieta

Military Cyber Affairs

Aggregation poses a significant challenge for software practitioners because it requires a comprehensive and nuanced understanding of raw data from diverse sources. Suites of static-analysis tools (SATs) are commonly used to assess organizational security but simultaneously introduce significant challenges. Challenges include unique results, scales, configuration environments for each SAT execution, and incompatible formats between SAT outputs. Here, we document our experiences addressing these issues. We highlight the problem of relying on a single vendor's SAT version and offer a solution for aggregating findings across multiple SATs, aiming to enhance software security practices and deter threats early with robust defensive operations.

Characterizing Advanced Persistent Threats Through The Lens Of Cyber Attack Flows, Logan Zeien, Caleb Chang, Ltc Ekzhin Ear, Dr. Shouhuai Xu

Military Cyber Affairs

Effective cyber defense must build upon a deep understanding of real-world cyberattacks to guide the design and deployment of appropriate defensive measures against current and future attacks. In this abridged paper (of which the full paper is available online), we present important concepts for understanding Advanced Persistent Threats (APTs), our methodology to characterize APTs through the lens of attack flows, and a detailed case study of APT28 that demonstrates our method’s viability to draw useful insights. This paper makes three technical contributions. First, we propose a novel method of constructing attack flows to describe APTs. This abstraction allows technical audiences, …

Generative Machine Learning For Cyber Security, James Halvorsen, Dr. Assefaw Gebremedhin

Military Cyber Affairs

Automated approaches to cyber security based on machine learning will be necessary to combat the next generation of cyber-attacks. Current machine learning tools, however, are difficult to develop and deploy due to issues such as data availability and high false positive rates. Generative models can help solve data-related issues by creating high quality synthetic data for training and testing. Furthermore, some generative architectures are multipurpose, and when used for tasks such as intrusion detection, can outperform existing classifier models. This paper demonstrates how the future of cyber security stands to benefit from continued research on generative models.

Machine Learning Security For Tactical Operations, Dr. Denaria Fields, Shakiya A. Friend, Andrew Hermansen, Dr. Tugba Erpek, Dr. Yalin E. Sagduyu

Military Cyber Affairs

Deep learning finds rich applications in the tactical domain by learning from diverse data sources and performing difficult tasks to support mission-critical applications. However, deep learning models are susceptible to various attacks and exploits. In this paper, we first discuss application areas of deep learning in the tactical domain. Next, we present adversarial machine learning as an emerging attack vector and discuss the impact of adversarial attacks on the deep learning performance. Finally, we discuss potential defense methods that can be applied against these attacks.

Securing The Void: Assessing The Dynamic Threat Landscape Of Space, Brianna Bace, Dr. Unal Tatar

Military Cyber Affairs

Outer space is a strategic and multifaceted domain that is a crossroads for political, military, and economic interests. From a defense perspective, the U.S. military and intelligence community rely heavily on satellite networks to meet national security objectives and execute military operations and intelligence gathering. This paper examines the evolving threat landscape of the space sector, encompassing natural and man-made perils, emphasizing the rise of cyber threats and the complexity introduced by dual-use technology and commercialization. It also explores the implications for security and resilience, advocating for collaborative efforts among international organizations, governments, and industry to safeguard the space sector.

Commercial Enablers Of China’S Cyber-Intelligence And Information Operations, Ethan Mansour, Victor Mukora

Military Cyber Affairs

In a globally commercialized information environment, China uses evolving commercial enabler networks to position and project its goals. They do this through cyber, intelligence, and information operations. This paper breaks down the types of commercial enablers and how they are used operationally. It will also address the CCP's strategy to gather and influence foreign and domestic populations throughout cyberspace. Finally, we conclude with recommendations for mitigating the influence of PRC commercial enablers.

Summit Report: Artificial Intelligence In The Era Of Strategic Competition, Sarah Brown

GNSI Summit Reports

The 3^rd Tampa Summit: Artificial Intelligence in the Era of Strategic Competition was held March 5-7^th, 2024 at the University of South Florida and encompassed the 9^th event in the Great Power Competition Conference series. The Global and National Security Institute (GNSI), in partnership with U.S. Central Command (USCENTCOM), the U.S. Department of Defense Chief Digital and Artificial Intelligence Office (CDAO), and the USF Institute for Artificial Intelligence (AI+X) brought together over 50 experts from government, academia and private industry to discuss the current and future applications of artificial intelligence in national security.

Cargo Consolidation, Routing, And Location Optimization To Reduce Traffic Congestion By Minimizing Commercial Heavy Vehicle Trips, Mario M. Monsreal, Seckin Ozkul, Bill Prieto, Jose Rivera, William Eisele

Research Reports

Commercial heavy vehicles, given their frequency of acceleration and deceleration, impact the traffic stream more than passenger cars, leading to greater congestion on the roads. Mixed-cargo shipments, or cargo consolidation, is an operational strategy that has gained traction in many industries because it reduces transportation costs while increasing asset utilization, such as making use of all the available capacity. This practice achieves cost reductions and increased asset efficiency by reducing the number of trips that are needed to deliver the same volume of products among different companies. However, its implementation is far from optimal since it is often carried out …

Nature-Based Solutions Workshop Report: Belize City, Belize (Report No. 4), W. A. Webb, K. Hinds, A. Brinton, L. Cheek, R. K. Zarger, L. Carne, N. Bood, R. Mckenna, C. Baron-Aguilar, S. Fogg, J. Neal, A. Guerry, C. G. Lasserre, D. Gutteirrez, J. Silver, T. Moore, M. Beck, M. A. Trotz

Strong Coasts Collection

As coastal communities grapple with the impending risks of climate change, there's been a rush to find workable, scalable solutions. One promising approach is using "Nature-Based Solutions", a model of utilizing ecosystems to increase coastal resilience and improve well-being. The idea is that by restoring and conserving natural systems, we can reduce the impact of storm surges and erosion while creating a richer environment for people to thrive in.

Putting these solutions into practice, however, is a complex social endeavor. It requires that we not only develop a detailed understanding of the world around us, but also that we understand …

Developing A Foundation For The Informational Needs Of Generative Ai Users Through The Means Of Established Interdisciplinary Relationships, Evan Fruehauf, Andrew Beman-Cavallaro, Leetta Schmidt

USF Libraries Faculty and Staff Publications

University faculty immediately had many questions and concerns in response to the public proliferation of generative artificial intelligence programs leveraging large language models to generate complex text responses to simple prompts. Librarians at the University of South Florida (USF) pooled their skills, existing relationships with faculty and professional staff across campus to provide information that answered common questions raised by those faculty on generative artificial intelligence usage within research related topics. Faculty concern regarding the worry of plagiarism, how to instruct students to use the new tools and how to discern the reliability of information generated by artificial intelligence tools …