Engineering Commons^™

Planning Algorithms Under Uncertainty For A Team Of A Uav And A Ugv For Underground Exploration, Matteo De Petrillo

Graduate Theses, Dissertations, and Problem Reports

Robots’ autonomy has been studied for decades in different environments, but only recently, thanks to the advance in technology and interests, robots for underground exploration gained more attention. Due to the many challenges that any robot must face in such harsh environments, this remains an challenging and complex problem to solve.

As technology became cheaper and more accessible, the use of robots for underground ex- ploration increased. One of the main challenges is concerned with robot localization, which is not easily provided by any Global Navigation Services System (GNSS). Many developments have been achieved for indoor mobile ground robots, making …

Using Distributed Ledger Technologies In Vanets To Achieve Trusted Intelligent Transportation Systems, Fares Nabil Elamine

Graduate Theses, Dissertations, and Problem Reports

With the recent advancements in the networking realm of computers as well as achieving real-time communication between devices over the Internet, IoT (Internet of Things) devices have been on the rise; collecting, sharing, and exchanging data with other connected devices or databases online, enabling all sorts of communications and operations without the need for human intervention, oversight, or control. This has caused more computer-based systems to get integrated into the physical world, inching us closer towards developing smart cities.

The automotive industry, alongside other software developers and technology companies have been at the forefront of this advancement towards achieving smart …

Increasing The Reliability Of Software Systems On Small Satellites Using Software-Based Simulation Of The Embedded System, Matthew D. Grubb

Graduate Theses, Dissertations, and Problem Reports

The utility of Small Satellites (SmallSats) for technology demonstrations and scientific research has been proven over the past few decades by governments, universities, and private companies. While the research and technology demonstration objectives that can be provided by these SmallSats are becoming similar to larger spacecraft, their reliability still falls behind. This is in part due to the reduced cost of SmallSat missions in comparison to large spacecraft, which requires cheaper components, rapid development schedules, and accepted risk. In these missions, the importance of the flight software is often overlooked, and the software is rushed through development and not fully …

Mitigating Insider Threats In A Cooperative Adaptive Cruise Control System Using Local Intra-Vehicle Data, Alexander Francis Colon

Graduate Theses, Dissertations, and Problem Reports

With the rise of Connected-and-Automated-Vehicle (CAV) technologies on roadways, transportation networks have become increasingly connected through Vehicle-to-Everything (V2X) systems. With access to the additional data from V2X, modern cruise control systems like Adaptive Cruise Control (ACC) are further improved upon to develop systems like Cooperative ACC (CACC) which reduces traffic congestion and increases driver safety and energy efficiency. With that increased connectivity, previously closed vehicle systems are now vulnerable to new security threats which pose new technical challenges. Significant research has been done to strengthen the network against external threats such as denial-of-service attacks (DoS) or passive eavesdropping attacks using …

Rania: A Framework For A Modular, Voice Enabled, Gerontechnology-Centric, Smart-Home System, Emily Francis

Graduate Theses, Dissertations, and Problem Reports

In the United States, the proportion of senior citizens is expected to rise significantly over the next few decades. This increasing number of senior citizens combined with the increasing demand for at home healthcare workers is putting a strain on the elderly healthcare system. Smart-home healthcare technology { such as smart medication dispensers, fall detection systems, smart pantry systems, etc. { has the potential to alleviate this strain on the elderly healthcare system. Smart devices can give an individual more autonomized and personalized surveillance of their health and well-being. While these devices are beneficial as standalone devices, they would be …

Localization Algorithms For Gnss-Denied And Challenging Environments, Chizhao Yang

Graduate Theses, Dissertations, and Problem Reports

In this dissertation, the problem about localization in GNSS-denied and challenging environments is addressed. Specifically, the challenging environments discussed in this dissertation include two different types, environments including only low-resolution features and environments containing moving objects. To achieve accurate pose estimates, the errors are always bounded through matching observations from sensors with surrounding environments. These challenging environments, unfortunately, would bring troubles into matching related methods, such as "fingerprint" matching, and ICP. For instance, in environments with low-resolution features, the on-board sensor measurements could match to multiple positions on a map, which creates ambiguity; in environments with moving objects included, the …

Planetary Rover Inertial Navigation Applications: Pseudo Measurements And Wheel Terrain Interactions, Cagri Kilic

Graduate Theses, Dissertations, and Problem Reports

Accurate localization is a critical component of any robotic system. During planetary missions, these systems are often limited by energy sources and slow spacecraft computers. Using proprioceptive localization (e.g., using an inertial measurement unit and wheel encoders) without external aiding is insufficient for accurate localization. This is mainly due to the integrated and unbounded errors of the inertial navigation solutions and the drifted position information from wheel encoders caused by wheel slippage. For this reason, planetary rovers often utilize exteroceptive (e.g., vision-based) sensors. On the one hand, localization with proprioceptive sensors is straightforward, computationally efficient, and continuous. On the other …

Palmprint Gender Classification Using Deep Learning Methods, Minou Khayami

Graduate Theses, Dissertations, and Problem Reports

Gender identification is an important technique that can improve the performance of authentication systems by reducing searching space and speeding up the matching process. Several biometric traits have been used to ascertain human gender. Among them, the human palmprint possesses several discriminating features such as principal-lines, wrinkles, ridges, and minutiae features and that offer cues for gender identification. The goal of this work is to develop novel deep-learning techniques to determine gender from palmprint images. PolyU and CASIA palmprint databases with 90,000 and 5502 images respectively were used for training and testing purposes in this research. After ROI extraction and …

Fast Decision-Making Under Time And Resource Constraints, Kyle Gabriel Lassak

Graduate Theses, Dissertations, and Problem Reports

Practical decision makers are inherently limited by computational and memory resources as well as the time available in which to make decisions. To cope with these limitations, humans actively seek methods which limit their resource demands by exploiting structure within the environment and exploiting a coupling between their sensing and actuation to form heuristics for fast decision-making. To date, such behavior has not been replicated in artificial agents. This research explores how heuristics may be incorporated into the decision-making process to quickly make high-quality decisions through the analysis of a prominent case study: the outfielder problem. In the outfielder problem, …

Route Planning For Long-Term Robotics Missions, Christopher Alexander Arend Tatsch

Graduate Theses, Dissertations, and Problem Reports

Many future robotic applications such as the operation in large uncertain environment depend on a more autonomous robot. The robotics long term autonomy presents challenges on how to plan and schedule goal locations across multiple days of mission duration. This is an NP-hard problem that is infeasible to solve for an optimal solution due to the large number of vertices to visit. In some cases the robot hardware constraints also adds the requirement to return to a charging station multiple times in a long term mission. The uncertainties in the robot model and environment require the robot planner to account …

Development Of Software-Only Simulation Test Beds (Sost) For Spacecraft And Smallsats, Scott Alan Zemerick

Graduate Theses, Dissertations, and Problem Reports

Software-only-Simulation Test Beds (SoST) are beginning to become more popular among aircraft, spacecraft, and smallsat embedded system developers due to the high cost of duplicating hardware test beds.

SoSTs provide a software-only, or virtual test bed, that creates a “digital twin” that contains software models of the ETUs and often includes modeled components such as flight computers, busses (e.g., MIL-STD-1553, SPI, I2C), compact PCI (cPCI) backplane cards, sensors, and actuators. The ultimate goal of a SoST is for it to run the native system software compiled-binary on its native CPU architecture (e.g., PowerPC, LEON3/4, ARM) on a standard X86 personal …

Risk Assessment Of Architecture Technical Debt, Mrwan Omar Kh. Ben Idris

Graduate Theses, Dissertations, and Problem Reports

Technical Debt (TD) is a metaphor that refers to short-term solutions in software development that may affect the software development life cycle cost. Researchers have found many TD types. These TD types include but are not limited to code debt (CD), design debt (DD), and architecture technical debt (ATD). Several methods have been used to detect technical debt, such as bad smells, software metrics, and code comments. Although TD has received many researchers’ attention, ATD has received less attention compared with CD and DD. We found a lack of tools to deal with ATD in contrast to CD and DD. …

Deep Learning Based Face Detection And Recognition In Mwir And Visible Bands, Suha Reddy Mokalla

Graduate Theses, Dissertations, and Problem Reports

In non-favorable conditions for visible imaging like extreme illumination or nighttime, there is a need to collect images in other spectra, specifically infrared. Mid-Wave infrared (3-5 microm) images can be collected without giving away the location of the sensor in varying illumination conditions. There are many algorithms for face detection, face alignment, face recognition etc. proposed in visible band till date, while the research using MWIR images is highly limited. Face detection is an important pre-processing step for face recognition, which in turn is an important biometric modality. This thesis works towards bridging the gap between MWIR and visible spectrum …

Automated And Standardized Tools For Realistic, Generic Musculoskeletal Model Development, Trevor Rees Moon

Graduate Theses, Dissertations, and Problem Reports

Human movement is an instinctive yet challenging task that involves complex interactions between the neuromusculoskeletal system and its interaction with the surrounding environment. One key obstacle in the understanding of human locomotion is the availability and validity of experimental data or computational models. Corresponding measurements describing the relationships of the nervous and musculoskeletal systems and their dynamics are highly variable. Likewise, computational models and musculoskeletal models in particular are vitally dependent on these measurements to define model behavior and mechanics. These measurements are often sparse and disparate due to unsystematic data collection containing variable methodologies and reporting conventions. To date, …

Kidney Ailment Prediction Under Data Imbalance, Ranaa Mahveen

Graduate Theses, Dissertations, and Problem Reports

Chronic Kidney Disease (CKD) is the leading cause for kidney failure. It is a global health problem affecting approximately 10% of the world population and about 15% of US adults. Chronic Kidney Diseases do not generally show any disease specific symptoms in early stages thus it is hard to detect and prevent such diseases. Early detection and classification are the key factors in managing Chronic Kidney Diseases.

In this thesis, we propose a new machine learning technique for Kidney Ailment Prediction. We focus on two key issues in machine learning, especially in its application to disease prediction. One is related …

Immunity-Based Framework For Autonomous Flight In Gps-Challenged Environment, Mohanad Al Nuaimi

Graduate Theses, Dissertations, and Problem Reports

In this research, the artificial immune system (AIS) paradigm is used for the development of a conceptual framework for autonomous flight when vehicle position and velocity are not available from direct sources such as the global navigation satellite systems or external landmarks and systems. The AIS is expected to provide corrections of velocity and position estimations that are only based on the outputs of onboard inertial measurement units (IMU). The AIS comprises sets of artificial memory cells that simulate the function of memory T- and B-cells in the biological immune system of vertebrates. The innate immune system uses information about …

Leveraging Writing And Photography Styles For Drug Trafficker Identification In Darknet Markets, Wei Song

Graduate Theses, Dissertations, and Problem Reports

Due to its anonymity, there has been a dramatic growth of underground drug markets hosted in the darknet (e.g., Dream Market and Valhalla). To combat drug trafficking (a.k.a. illicit drug trading) in the cyberspace, there is an urgent need for automatic analysis of participants in darknet markets. However, one of the key challenges is that drug traffickers (i.e., vendors) may maintain multiple accounts across different markets or within the same market.

To address this issue, in this thesis, we propose and develop an intelligent system named uStyle-uID leveraging both writing and photography styles for drug trafficker identification at the first …

Textured Contact Lens Based Iris Presentation Attack In Uncontrolled Environment, Daksha Yadav

Graduate Theses, Dissertations, and Problem Reports

The widespread use of smartphones has spurred the research in mobile iris devices. Due to their convenience, these mobile devices are also utilized in unconstrained outdoor conditions. At the same time, iris recognition in the visible spectrum has developed into an active area of research. These scenarios have necessitated the development of reliable iris recognition algorithms for such an uncontrolled environment. Additionally, iris presentation attacks such as textured contact lens pose a major challenge to current iris recognition systems.

Motivated by these factors, in this thesis, a detailed analysis of the effect of textured contact lenses on iris recognition in …

Investigation And Development Of Exhaust Flow Rate Estimation Methodologies For Heavy-Duty Vehicles, Chakradhar Reddy Vardhireddy

Graduate Theses, Dissertations, and Problem Reports

Exhaust gas flow rate from a vehicle tailpipe has a great influence on emission mass rate calculations, as the emission fractions of individual gases in the exhaust are calculated by using the measured exhaust flow rate. The development of high-end sensor technologies and emission pollutant measurement instruments, which can give instantaneous values of volume concentration of pollutants flowing out of the engine are gaining importance because of their ease of operation. The volume concentrations measured can then be used with the instantaneous exhaust flow rate values to obtain mass flow rates of pollutants.

With the recent promulgation of real world …

An Empirical Analysis Of An Algorithm For The Budgeted Maximum Vertex Cover Problem In Trees, Mujidat Abisola Adeyemo

Graduate Theses, Dissertations, and Problem Reports

Covering problems are commonly studied in fields such as mathematics, computer science, and engineering. They are also applicable in the real world, e.g., given a city, can we build base-stations such that there is network availability everywhere in the city. However, in the real world, there are usually constraints such as cost and resources. The Budgeted Maximum Vertex Cover is a generalization of covering problems. It models situations with constraints. In this thesis, we empirically analyze an algorithm for the problem of finding the Budgeted Maximum Vertex Cover in undirected trees (BMVCT). The BMVCT problem is defined as follows: Given …

Genet-Cnv: Boolean Implication Networks For Modeling Genome-Wide Co-Occurrence Of Dna Copy Number Variations, Salvi Singh

Graduate Theses, Dissertations, and Problem Reports

Lung cancer is the leading cause of cancer-related death in the world. Lung cancer can be categorized as non-small cell lung cancer (NSCLC) and small cell lung cancer (SCLC). NSCLC makes up about 80% to 85% of lung cancer cases diagnosed, whereas SCLC is responsible for 10% to 15% of the cases. It remains a challenge for physicians to identify patients who shall benefit from chemotherapy. In such a scenario, identifying genes that can facilitate therapeutic target discoveries and better understanding disease mechanisms and their regulation in different stages of lung cancer, remains an important topic of research.

In this …

Security Bug Report Classification Using Feature Selection, Clustering, And Deep Learning, Tanner D. Gantzer

Graduate Theses, Dissertations, and Problem Reports

As the numbers of software vulnerabilities and cybersecurity threats increase, it is becoming more difficult and time consuming to classify bug reports manually. This thesis is focused on exploring techniques that have potential to improve the performance of automated classification of software bug reports as security or non-security related. Using supervised learning, feature selection was used to engineer new feature vectors to be used in machine learning. Feature selection changes the vocabulary used by selecting words with the greatest impact on classification. Feature selection was able to increase the F-Score across the datasets by increasing the precision. We also explored …

Virtual Morphology As A Method Of Robotic Control, Conner Todd Castle

Graduate Theses, Dissertations, and Problem Reports

This thesis presents Virtual Morphology (VM), a method that explores a different perspective on the design of robot autonomy using inspiration from morphological computing and programmed computation. Morphological computation offers physical solutions that solve complex tasks, like robotic grasping of unknown objects, with relative ease. Unfortunately, these physical solutions are difficult to adjust post-development, and are usually designed to complete only one or a few specific tasks. Programmed computational approaches are more flexible because they can be implemented and adjusted through software, but unfortunately, these approaches can become rather complex as tasks become more difficult. This thesis explores the potential …

Roadnet: Robust Adaptive Network For Information Diffusion In Vanet, Priyashraba Misra

Graduate Theses, Dissertations, and Problem Reports

The automotive industry has changed more in the last one decade than ever before. Rapid advancements in autonomous driving have opened up opportunities for CAVs (Connected and Automated Vehicles). Vehicles today rely on a sensor-suite to map the surrounding and use that information for safety and navigation. The sensor's view is limited to its line of sight and this drawback can be tapered off by using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I), generally referred to as Vehicle to Everything (V2X) communication. In this thesis, we specifically focus on utilizing V2V communication using on-board Dedicated Short Range Communication …

Blockchain For Trustful Collaborations Between Immigrants, Citizens And Governments, Chun-Wei Chiang

Graduate Theses, Dissertations, and Problem Reports

mmigrants usually are pro-social towards their hometowns and try to improve them. However, the lack of trust in their government can drive immigrants to work individually. As a result, their pro-social activities are usually limited in impact and scope. Although blockchain technology have the potential to solve the trust issue, people are not familiar with the technology and they have no idea why it is trustworthy. Previous research showed that the adopting user interface properly can increase people's trust in technology. This paper studies the interface factors that ease collaborations between immigrants and their home governments. We specifically focus on …

On Designing An Ecg-Based Intelligent System: Utilizing The Heart’S Electrical Activity To Recognize Humans And Detect Arrhythmia, Sara Saeed Abdeldayem

Graduate Theses, Dissertations, and Problem Reports

The electrocardiogram (ECG) signal is the bioelectrical signal that reflects the heart's activity. It has been extensively used as a diagnostic tool since it holds information about the cardiac health condition. However, recent researches have shown that it exhibits an inter-subject variability property. Therefore, it can be used as a biometric-based modality for either identification or verification purposes. Nevertheless, some of the challenges are faced while employing such a signal. For instance, ECG signal is prone to noise, accordingly, noise filters should be designed to remove the noise while keeping the signal properties. Moreover, factors such as medications, health condition, …

Explanatory And Causality Analysis In Software Engineering, Yasser Ali Alshehri

Graduate Theses, Dissertations, and Problem Reports

Software fault proneness and software development efforts are two key areas of software engineering. Improving them will significantly reduce the cost and promote good planning and practice in developing and managing software projects. Traditionally, studies of software fault proneness and software development efforts were focused on analysis and prediction, which can help to answer questions like `when’ and `where’. The focus of this dissertation is on explanatory and causality studies that address questions like `why’ and `how’.

First, we applied a case-control study to explain software fault proneness. We found that Bugfixes (Prerelease bugs), Developers, Code Churn, and Age of …

Validating The Representativeness Of Test Samples For Performance Prediction Of Face Recognition, Jason Hooks

Graduate Theses, Dissertations, and Problem Reports

One of the reasons testing biometric systems is difficult lays in the fact that the test sample available during technology evaluation may not be sufficiently similar to the usage profile that the system will encounter in operations. As the result, performance expectations derived from testing prior to system deployment may not match actual performance after the deployment. A specific instance of this problem occurs when the data from the field in which biometric system will be deployed is sequestered.

In this study, we simulated the stated scenario using two datasets, originally claimed to be similar and adequate for performance prediction; …