Engineering Commons^™

Collaborative Robotic Path Planning For Industrial Spraying Operations On Complex Geometries, Steven Brown

Graduate Theses and Dissertations

Implementation of automated robotic solutions for complex tasks currently faces a few major hurdles. For instance, lack of effective sensing and task variability – especially in high-mix/low-volume processes – creates too much uncertainty to reliably hard-code a robotic work cell. Current collaborative frameworks generally focus on integrating the sensing required for a physically collaborative implementation. While this paradigm has proven effective for mitigating uncertainty by mixing human cognitive function and fine motor skills with robotic strength and repeatability, there are many instances where physical interaction is impractical but human reasoning and task knowledge is still needed. The proposed framework consists …

Data Center Holistic Demand Response Algorithm To Smooth Microgrid Tie-Line Power Fluctuation, Ting Yang, Yingjie Zhao, Haibo Pen, Zhaoxia Wang

Research Collection School Of Computing and Information Systems

With the rapid development of cloud computing, artificial intelligence technologies and big data applications, data centers have become widely deployed. High density IT equipment in data centers consumes a lot of electrical power, and makes data center a hungry monster of energy consumption. To solve this problem, renewable energy is increasingly integrated into data center power provisioning systems. Compared to the traditional power supply methods, renewable energy has its unique characteristics, such as intermittency and randomness. When renewable energy supplies power to the data center industrial park, this kind of power supply not only has negative effects on the normal …

Automatic Identification Of Animals In The Wild: A Comparative Study Between C-Capsule Networks And Deep Convolutional Neural Networks., Joel Kamdem Teto, Ying Xie

Master of Science in Computer Science Theses

The evolution of machine learning and computer vision in technology has driven a lot of

improvements and innovation into several domains. We see it being applied for credit decisions, insurance quotes, malware detection, fraud detection, email composition, and any other area having enough information to allow the machine to learn patterns. Over the years the number of sensors, cameras, and cognitive pieces of equipment placed in the wilderness has been growing exponentially. However, the resources (human) to leverage these data into something meaningful are not improving at the same rate. For instance, a team of scientist volunteers took 8.4 years, …

A Multi-Task Approach To Incremental Dialogue State Tracking, Anh Duong Trinh, Robert J. Ross, John D. Kelleher

Conference papers

Incrementality is a fundamental feature of language in real world use. To this point, however, the vast majority of work in automated dialogue processing has focused on language as turn based. In this paper we explore the challenge of incremental dialogue state tracking through the development and analysis of a multi-task approach to incremental dialogue state tracking. We present the design of our incremental dialogue state tracker in detail and provide evaluation against the well known Dialogue State Tracking Challenge 2 (DSTC2) dataset. In addition to a standard evaluation of the tracker, we also provide an analysis of the Incrementality …

End-To-End Deep Learning Systems For Scene Understanding, Path Planning And Navigation In Fire Fighter Teams, Manish Bhattarai

Shared Knowledge Conference

Firefighting is a dynamic activity with many operations occurring simultaneously. Maintaining situational awareness, defined as knowledge of current conditions and activities at the scene, are critical to accurate decision making. Firefighters often carry various sensors in their personal equipment, namely thermal cameras, gas sensors, and microphones. Improved data processing techniques can mine this data more effectively and be used to improve situational awareness at all times thereby improving real-time decision making and minimizing errors in judgment induced by environmental conditions and anxiety levels. This objective of this research employs state of the art Machine Learning (ML) techniques to create an …

Higher-Level Consistencies: Where, When, And How Much, Robert J. Woodward

School of Computing: Dissertations, Theses, and Student Research

Determining whether or not a Constraint Satisfaction Problem (CSP) has a solution is NP-complete. CSPs are solved by inference (i.e., enforcing consistency), conditioning (i.e., doing search), or, more commonly, by interleaving the two mechanisms. The most common consistency property enforced during search is Generalized Arc Consistency (GAC). In recent years, new algorithms that enforce consistency properties stronger than GAC have been proposed and shown to be necessary to solve difficult problem instances.

We frame the question of balancing the cost and the pruning effectiveness of consistency algorithms as the question of determining where, when, and how much of a higher-level …

Enhancing 3d Visual Odometry With Single-Camera Stereo Omnidirectional Systems, Carlos A. Jaramillo

Dissertations, Theses, and Capstone Projects

We explore low-cost solutions for efficiently improving the 3D pose estimation problem of a single camera moving in an unfamiliar environment. The visual odometry (VO) task -- as it is called when using computer vision to estimate egomotion -- is of particular interest to mobile robots as well as humans with visual impairments. The payload capacity of small robots like micro-aerial vehicles (drones) requires the use of portable perception equipment, which is constrained by size, weight, energy consumption, and processing power. Using a single camera as the passive sensor for the VO task satisfies these requirements, and it motivates the …

Secondary Frequency Stochastic Optimal Control In Independent Microgrids With Virtual Synchronous Generator-Controlled Energy Storage Systems, Ting Yang, Yajian Zhang, Zhaoxia Wang, Haibo Pen

Research Collection School Of Computing and Information Systems

With the increasing proportion of renewable energy in microgrids (MGs), its stochastic fluctuation of output power has posed challenges to system safety and operation, especially frequency stability. Virtual synchronous generator (VSG) technology, as one effectivemethod, was used to smoothen frequency fluctuation and improve the system's dynamic performance,which can simulate the inertia and damping of the traditional synchronous generator. This study outlines the integration of VSG-controlled energy storage systems (ESSs) and traditional synchronous generators so they jointly participate in secondary frequency regulation in an independent MG. Firstly, a new uncertain state-space model for secondary frequency control is established, considering the measurement …

Computational Thinking And Literacy, Sharin Rawhiya Jacob, Mark Warschauer

Journal of Computer Science Integration

Today’s students will enter a workforce that is powerfully shaped by computing. To be successful in a changing economy, students must learn to think algorithmically and computationally, to solve problems with varying levels of abstraction. These computational thinking skills have become so integrated into social function as to represent fundamental literacies. However, computer science has not been widely taught in K-12 schools. Efforts to create computer science standards and frameworks have yet to make their way into mandated course requirements. Despite a plethora of research on digital literacies, research on the role of computational thinking in the literature is sparse. …

Investigating Dataset Distinctiveness, Andrew Ulmer, Kent W. Gauen, Yung-Hsiang Lu, Zohar R. Kapach, Daniel P. Merrick

The Summer Undergraduate Research Fellowship (SURF) Symposium

Just as a human might struggle to interpret another human’s handwriting, a computer vision program might fail when asked to perform one task in two different domains. To be more specific, visualize a self-driving car as a human driver who had only ever driven on clear, sunny days, during daylight hours. This driver – the self-driving car – would inevitably face a significant challenge when asked to drive when it is violently raining or foggy during the night, putting the safety of its passengers in danger. An extensive understanding of the data we use to teach computer vision models – …

Deep Neural Network Architectures For Modulation Classification Using Principal Component Analysis, Sharan Ramjee, Shengtai Ju, Diyu Yang, Aly El Gamal

The Summer Undergraduate Research Fellowship (SURF) Symposium

In this work, we investigate the application of Principal Component Analysis to the task of wireless signal modulation recognition using deep neural network architectures. Sampling signals at the Nyquist rate, which is often very high, requires a large amount of energy and space to collect and store the samples. Moreover, the time taken to train neural networks for the task of modulation classification is large due to the large number of samples. These problems can be drastically reduced using Principal Component Analysis, which is a technique that allows us to reduce the dimensionality or number of features of the samples …

Non-Destructive Evaluation For Composite Material, Desalegn Temesgen Delelegn

Electrical & Computer Engineering Theses & Dissertations

The Nondestructive Evaluation Sciences Branch (NESB) at the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) has conducted impact damage experiments over the past few years with the goal of understanding structural defects in composite materials. The Data Science Team within the NASA LaRC Office of the Chief Information Officer (OCIO) has been working with the Non-Destructive Evaluation (NDE) subject matter experts (SMEs), Dr. Cheryl Rose, from the Structural Mechanics & Concepts Branch and Dr. William Winfree, from the Research Directorate, to develop computer vision solutions using digital image processing and machine learning techniques that can help identify …

Identification And Optimal Linear Tracking Control Of Odu Autonomous Surface Vehicle, Nadeem Khan

Mechanical & Aerospace Engineering Theses & Dissertations

Autonomous surface vehicles (ASVs) are being used for diverse applications of civilian and military importance such as: military reconnaissance, sea patrol, bathymetry, environmental monitoring, and oceanographic research. Currently, these unmanned tasks can accurately be accomplished by ASVs due to recent advancements in computing, sensing, and actuating systems. For this reason, researchers around the world have been taking interest in ASVs for the last decade. Due to the ever-changing surface of water and stochastic disturbances such as wind and tidal currents that greatly affect the path-following ability of ASVs, identification of an accurate model of inherently nonlinear and stochastic ASV system …

Using Eeg-Validated Music Emotion Recognition Techniques To Classify Multi-Genre Popular Music For Therapeutic Purposes, Dejoy Shastikk Kumaran

The International Student Science Fair 2018

Music is observed to possess significant beneficial effects to human mental health, especially for patients undergoing therapy and older adults. Prior research focusing on machine recognition of the emotion music induces by classifying low-level music features has utilized subjective annotation to label data for classification. We validate this approach by using an electroencephalography-based approach to cross-check the predictions of music emotion made with the predictions from low-level music feature data as well as collected subjective annotation data. Collecting 8-channel EEG data from 10 participants listening to segments of 40 songs from 5 different genres, we obtain a subject-independent classification accuracy …

Using Eeg-Validated Music Emotion Recognition Techniques To Classify Multi-Genre Popular Music For Therapeutic Purposes, Dejoy Shastikk Kumaran

The International Student Science Fair 2018

Music is observed to possess significant beneficial effects to human mental health, especially for patients undergoing therapy and older adults. Prior research focusing on machine recognition of the emotion music induces by classifying low-level music features has utilized subjective annotation to label data for classification. We validate this approach by using an electroencephalography-based approach to cross-check the predictions of music emotion made with the predictions from low-level music feature data as well as collected subjective annotation data. Collecting 8-channel EEG data from 10 participants listening to segments of 40 songs from 5 different genres, we obtain a subject-independent classification accuracy …

Combination Forecasting Of Stock Index Time Series Based On Cooperative Game Theory, Luo Wei

Journal of System Simulation

Abstract: In view of the characteristics of nonlinear, large amplitude, frequent fluctuations in China's stock market, a prediction method of intelligent composite stock index time series based on the cooperative game is presented. The prediction model of stock index time series is established by using neural network method based on the correlations among the various economic indicators, and the development trend and laws of stock index time series are established by using the improved ARIMA method. The two methods are combined by importing cooperative game method. Simulation results show that the prediction accuracy of the presented method is controlled …

Real-Time Simulator For Spatial Information Networks Based On Analog If Signal Processing, Zeguo Yang, Ma Shang, Diaopeng Huang, Jianhao Hu, Lixiang Liu

Journal of System Simulation

Abstract: To solve the problem of real-time simulation of spatial information network with high dynamic network topology, a real-time simulator based on the IF signal processing is proposed. Compared with traditional channel simulator, it supports both the channel transmission characteristics like channel fading, Doppler shift, noise, and path delay, and the real-time simulation of dynamic network topology changes. The simulator supports 8~128 70 MHz IF (0~20 MHz signal bandwidth) emulated nodes with flexible link type configuration. The maximal fading depth is 100 dB, the maximal Doppler shift is 2 MHz, and the maximal path delay can reach up …

A Lightweight Modeling And Simulation Technical Framework For Complex Systems, Ji Hang, Junhua Zhou, Guoqiang Shi, Tingyu Lin, Junjie Xue

Journal of System Simulation

Abstract: Aiming at the modeling and simulation verification of complex systems, the paper established a lightweight simulation technical framework and a system building method. The simulation technical framework is built based on distributed network communication middleware and has graphic user interface, simulation management and run control modules, it packages effective and lightweight network middleware, object management, event management and time management and it is capable of interoperability and its members have abilities of reusable and combinable. The results show that the framework can supports flexible construction and effective simulation on complex systems.

Temperature Characteristics Of Contact Wire Under Different Driving Intervals, Hongwei Wang, Zhang Kai, Zhiyong Wang, Fengyi Guo, Liu Shuai, Zhang Qiong

Journal of System Simulation

Abstract: To reduce the wear of pantograph and catenary system while decreasing the headway, the temperature field of the contact wire is studied. A simulation model is established by using the COMSOL Multiphysics software. The effectiveness of the model is verified with temperature experiments. Temperature field of the contact wire of freight locomotive and passenger locomotive in different intervals is studied by simulation. The smaller the headway of trains, the higher the temperature value, and the shorter the balance process. Under the constraint of temperature field, the headway of freight locomotive couldn't be less than 180s under long term operation. …

Analysis And Simulation Of Temperature Control For Battery Pole Piece Electromagnetic Heating Roller, Jing Ran, Feng Hua, Yonggeng Wang, Haiping Song, Yanjun Xiao

Journal of System Simulation

Abstract: With the application of electromagnetic heating roller on battery pole piece rolling,the processing technology, quality and efficiency of the battery pole piece are improved. The special heating technology of electromagnetic heating roller which involves multi-physics coupling in the process of conversion makes it difficult to control the heating process and determine the control index. By studying the electromagnetic heating theory, the mathematical model of electromagnetic heating roller is established and the simulation and analysis of the electromagnetic heating roller using MATLAB software and the finite difference method are carried out. The distribution, change rule and influence factors of the …

Modeling & Simulation Technology In Manufacturing, Zhang Lin, Longfei Zhou

Journal of System Simulation

Abstract: With the continuous deepening of the application of information technology in the manufacturing field, the informatization of manufacturing systems is developing from unit digital manufacturing to integration networked manufacturing, and then to the comprehensive digital, networked and intelligent manufacturing. As a comprehensive information technology integrating computer, model theory, and scientific computing, modeling & simulation technology plays an irreplaceable role during the development of manufacturing informatization and is widely applied in all phases of the whole product lifecycle, such as design, manufacturing, testing, maintenance, purchase, sales and other phase. This paper reviews and summarizes the research and application of modeling …

Research On Maturity Evaluation Technology Of Complex Digital Industrial System, Geng Chao, Shiyou Qu, Tingyu Lin, Guoqiang Shi, Yingying Xiao, Wang Mei, Qiudan Ma, Ji Hang

Journal of System Simulation

Abstract: Under the background of a new round of the innovation of science and technology and the revolution of industry, the complex digital industrial system is constantly innovating and shaping. Firstly, the paper established maturity evaluation model of the complex digital industrial system based on system engineering. Then, the paper proposed multi - index maturity analysis method and multi - enterprise maturity synthesis method of the complex digital industrial system. Combined with the digital industrial system of aerospace complex product, an evaluation example is presented. The results show that the maturity evaluation method can be used to standardize and guide …

Identification Of Closed Loop Projection Subspace For Motor Based On Hankel Correlation Function, Minghong She

Journal of System Simulation

Abstract: To solve estimation deviation problem of model parameter in the closed-loop system identification, the subspace identification model and state space model based on the estimation of the correlation function are presented, and through the correlation function estimation and zero space followed by projection, the block Hankel matrix of identification framework was filled so as to obtain the scope of the extended observability matrix; on the basis of the same projection on the time offset set of related data, the RQ decomposition of the projection is calculated by numerical calculation, and the dynamic estimation of the system model is obtained. …

High Frequency Blend Clips Matching Based Fire Sound Synthesis, Yin Qiang, Shiguang Liu

Journal of System Simulation

Abstract: Aimed at the problem which generated by fire sound simulation in virtual reality field, a new fire sound synthesis method was proposed. Most of the sound synthesis methods currently separate the fire sound into low and high frequencies for synthesizing. The influence of low frequency fire sound models was considered and the low frequency signal was synthesized based on the physical visual fire model data. The high frequency sound signal was synthesized based on high frequency blend clips matching method. According to the characteristics of the fire's high frequency, the different frequency bands of high noise signal …

Clustering Method Based On Graph Data Model And Reliability Detection, Yanyun Cheng, Huisong Bian, Changsheng Bian

Journal of System Simulation

Abstract: For the data in feature space, traditional clustering algorithm can take clustering analysis directly. High-dimensional spatial data cannot achieve intuitive and effective graphical visualization of clustering results in 2D plane. Graph data can clearly reflect the similarity relationship between objects. According to the distance of the data objects, the feature space data are modeled as graph data by iteration. Cluster analysis based on modularity is carried out on the modeling graph data. The two-dimensional visualization of non-spherical-shape distribution data cluster and result is achieved. The concept of credibility of the clustering result is proposed, and a method is proposed, …

Aerodynamic Simulation Of Multi-Dof Flapping-Wing Air Vehicle Of Bird-Like Based On Xflow Software, Yonggang Yang, Hanping Su

Journal of System Simulation

Abstract: The aerodynamic characteristics analysis of flapping-wing is of great significance to the design, manufacturing and control of the aircraft. In this paper, a simple motion model of multiple-Degrees-of- Freedom (multi-DOF) of “swing-torsion-bending and folding” is established by analyzing the flight characteristics of bird-like flapping wing. The flapping-wing air vehicle of multi-DOF is numerically simulated in the case of unsteady flow at low Reynolds number by XFlow software. The effects of flapping wing shape, frequency and inflow on surrounding air are analyzed. The simulation results provide theory and technique supports for the flapping-wing air vehicle'research and development.

Simulation Analysis Of Magnetic Field Effect In Induction Heating Coil Of Porous Silicon Core Furnace, Jingang Li, Gaoyuan Liu

Journal of System Simulation

Abstract: A new technology of porous coil disposable drawing a plurality of single crystal silicon rod can solve the problem of low efficiency and high cost of zone melting method of single induction heating coil in drawing monocrystalline silicon. However,the missing of the theoretical research and mature technology leads to different sizes of monocrystalline silicon rods. According to electromagnetic theory,Some characterisitics of the porous coil are studied,including magnetic field model,operating principle,magnetic field distribution.To prove the mechanism of the technology, a mathematical model of the porous coil is constructed based on Matlab and Ansys software. The magnetic flux density distribution …

Synthesizing Rotational Human Motion With Physical Reality, Wei Yi, Shihong Xia

Journal of System Simulation

Abstract: Both keyframes and their timings play an important role in synthesizing physically realistic human motion. However, physically plausible timings are hard to set by manual. By combing keyframes and the physics-based optimization, a new method is proposed to solve physically plausible timings of given keyframes. Firstly, the keyframes and the initial value of the timings of keyframes are set through a graphical user interface. Secondly, the physically plausible timings of keyframes are obtained by optimizing a small-size nonlinear optimization model. Finally, the rotational human motion is synthesized by the keyframes and the computed timings of keyframes. Experiments are performed …

Equipment Rul Prediction Oriented Parallel Simulation Framework, Chenglong Ge, Yuanchang Zhu, Yanqiang Di, Zhiwei Hu, Zhihua Dong

Journal of System Simulation

Abstract: As the equipment states are complicated with uncertainty, predicting remaining useful life with self-updating ability has become a hard task. Simulation provides an effective way to solve the problem. The concept and technology framework of equipment remaining useful life prediction oriented parallel simulation are proposed based on parallel system theory and the concept, characteristics, capacity demands and functional compositions of parallel simulation are introduced. The main modeling technologies of equipment remaining useful life prediction oriented parallel simulation are discussed, which include awareness of equipment degradation state, construction of equipment degradation state space model and evolution of equipment degradation state …

Matlab-Based Physical Real-Time Simulation Platform Of Pmsm In Intelligent Test System, Mengru Wang, Zhou Shan, Jinbo Wang, Panpan Xue

Journal of System Simulation

Abstract: As the physical objects cannot simulate multiple failure modes to cooperate with space controller test, a solution that establishing the real-time physics simulation platform which contains the controlled object and the control system is proposed in this paper. In this solution, we established permanent magnet synchronous motor vector control model using MATLAB /Simulink toolbox of System Generator, then implemented on FPGA; After hardware extension, a complete closed-loop test system is constructed with the DUT(controller) and the motor simulation model; the model has high pointing and tracking precision. Besides simulating motor's normal functions, the model's parameters can be changed …