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Learning State-Dependent Sensor Measurement Models To Improve Robot Localization Accuracy, Troi André Williams
Learning State-Dependent Sensor Measurement Models To Improve Robot Localization Accuracy, Troi André Williams
USF Tampa Graduate Theses and Dissertations
This dissertation proposes a novel method called state-dependent sensor measurement models (SDSMMs). Such models dynamically predict the state-dependent bias and uncertainty of sensor measurements, ultimately improving fundamental robot tasks such as localization. In our first investigation, we introduced the state-dependent sensor measurement model framework, described their properties, stated the input and output of these models, and described how to train them. We also explained how to integrate such models with an Extended Kalman Filter and a Particle Filter, two popular robot state estimation algorithms. We validated the proposed framework through a series of localization tasks. The results showed that our …
Adaptive Mobile Eeg Noise Cancellation Using 2d Convolutional Autoencoders For Bci Authentication, Tyree Lewis
Adaptive Mobile Eeg Noise Cancellation Using 2d Convolutional Autoencoders For Bci Authentication, Tyree Lewis
USF Tampa Graduate Theses and Dissertations
Electroencephalography (EEG) signals can be used for many purposes and has the potential to be adapted to various systems. When EEG is recorded from users, these studies are performed primarily in an indoor environment, while the user is stationary. This is due to the levels of noise that are experienced when recording EEG data, to minimize errors in the data. This thesis aims to adapt tasks that are performed indoors to an external environment by removing both noise and artefacts in EEG, using a 2D Convolutional Autoencoder (CAE). The data is recorded from subjects is passed into the 2D CAE …
Strategies In Botnet Detection And Privacy Preserving Machine Learning, Di Zhuang
Strategies In Botnet Detection And Privacy Preserving Machine Learning, Di Zhuang
USF Tampa Graduate Theses and Dissertations
Peer-to-peer (P2P) botnets have become one of the major threats in network security for serving as the infrastructure that responsible for various of cyber-crimes. Though a few existing work claimed to detect traditional botnets effectively, the problem of detecting P2P botnets involves more challenges. In this dissertation, we present two P2P botnet detection systems, PeerHunter and Enhanced PeerHunter. PeerHunter starts from a P2P hosts detection component. Then, it uses mutual contacts as the main feature to cluster bots into communities. Finally, it uses community behavior analysis to detect potential botnet communities and further identify bot candidates. Enhanced PeerHunter is an …