Engineering Commons^™

Design Of Human Inspired Feet For Mithra, A High-Performance Humanoid Robot, Spencer Lyle Brewster

Electronic Theses and Dissertations

This thesis explores the foot design for the new humanoid robot Mithra, with the goal to improve impact mitigation, natural gait throughout the gait cycle and balance. Using human gait parameters, a stiff aluminum foot was designed to emulate human center of pressure rollover trajectories. In addition, a 2D dynamic Finite Element Analysis (FEA) of the gait cycle was created in Abaqus to rapidly prototype foot designs. Data from the FE model provided impact forces, parameters for distal foot power evaluation and maximum lean angles. From this model a flexible nylon foot was optimized for the given design objectives. The …

Proposed New Framework Scheme For Path Loss In Wireless Bodyarea Network, Israa Al_Barazanchi, Yitong Niu, Haider Rasheed Abdulshaheed, Wahidah Hashim, Ammar Ahmed Alkahtani, Elika Daghighi, Zahraa A. Jaaz, Shihab A. Shawkat

Iraqi Journal for Computer Science and Mathematics

Recent technical developments in wi-fi networking, microelectronic integration and programming,sensors and the Internet have enabled us to create and enforce a range of new framework schemes to fulfil thenecessities of healthcare-related wireless body area network (WBAN). WBAN sensors continually screen andmeasure patients’ indispensable signs and symptoms, and relay them to scientific monitoring for diagnosis. WBANhas a range of applications, the most necessary of which is to help patients suffering diseases to stay alive. The qualityinstance is the coronary heart implant sensor, whose video display unit monitors coronary heart sign and continuouslytransmits it. This setup eliminates the need for patients to …

Blockchain-Technology-Based Solutions For Iot Security, Israa Al-Barazanchi, Aparna Murthy, Ahmad Abdul Qadir Al Rababah, Ghadeer Khader, Haider Rasheed Abdulshaheed, Elika Daghighi, Yitong Niu

Iraqi Journal for Computer Science and Mathematics

After a long period of development, blockchain innovation has received much attention from scholarsand industry practitioners alike. This innovation allows the issuance of smart contracts, which are utilised to automateand execute deals amongst clients. Blockchain is also being used nowadays by a few IT applications as a specialisedfoundation. This technology also prevents the duplication of information similar to what is being done with Bitcoinand other cryptocurrencies. Specifically, Bitcoin records are virtually impossible to alter as this cryptocurrency isbeing traded amongst hundreds of thousands of servers. Therefore, to launch a successful attack, the aggressor shouldchange the Bitcoin records of 51% of …

Vertex And Region Colourings Of Planar Idempotent Divisor Graphsof Commutative Rings., Mohammed N. Authman, Husam Q. Mohammad, Nazar H. Shuker

Iraqi Journal for Computer Science and Mathematics

The idempotent divisor graph of a commutative ring R is a graph with vertices set in R * = R-{0}, andany distinct vertices x and y are adjacent if and only if x.y = e. For some non-unit idempotent elemente2=e∈R, it isdenoted byΠ(R) . The purpose of this work is to use some properties of ring theory and graph theory to determine theclique number, the chromatic number and the region chromatic number for each planar idempotent divisor graph ofthe commutative rings. furthermore, we show that the clique number is equal to the chromatic number for any planaridempotent divisor graph. Results …

Fuzzy Soc-T-Abso Sub-Modules, Saad S. Marie, Hatam Y. Khalaf

Iraqi Journal for Computer Science and Mathematics

This research analyses the correlation that exists between fuzzy T-ABSO and fuzzy socle. To answerthis question, we define a new concept called, fuzzy socle T-ABSO submodules. Results showed many propertiesthat satisfied the new notion. In addition, we applied some algebra operations and found the relationship betweenfuzzy T-ABSO and fuzzy socle -T-ABSO. We also investigated the structure of fuzzy socle T-ABSO sub- modules ofa module under fuzzy direct sum, homomorphic image and intersection. Moreover, the relation between fuzzy socleT-ABSO sub-module and other types of fuzzy sub-module was presented. The implications of this study could beused to define new concepts that depend …

Bfv-Based Homomorphic Encryption For Privacy-Preserving Cnn Models, Febrianti Wibawa, Ferhat Ozgur Catak, Salih Sarp, Murat Kuzlu

Engineering Technology Faculty Publications

Medical data is frequently quite sensitive in terms of data privacy and security. Federated learning has been used to increase the privacy and security of medical data, which is a sort of machine learning technique. The training data is disseminated across numerous machines in federated learning, and the learning process is collaborative. There are numerous privacy attacks on deep learning (DL) models that attackers can use to obtain sensitive information. As a result, the DL model should be safeguarded from adversarial attacks, particularly in medical data applications. Homomorphic encryption-based model security from the adversarial collaborator is one of the answers …

Design And Control Of Quasi-Direct Drive Actuation For Lightweight And Versatile Wearable Robots, Shuangyue Yu

Dissertations and Theses

Wearable robots have shown great potential for augmenting the physical capabilities of humans in lab settings. However, wearable robots for augmenting the physical capabilities of humans under community-based conditions are the new frontier of robotics. Furthermore, the design and control are still considered to be grand challenges for providing physical augmentation for humans. In terms of design, the state-of-the-art exoskeletons are typically rigid, bulky, and limited to lab settings. In terms of control, most of the rhythmic controllers are not versatile and are focused only on steady-state walking assistance.

The motivation behind my research is to improve both the design …

Novel Architecture Of Onem2m-Based Convergence Platform For Mixed Reality And Iot, Seungwoon Lee, Woogeun Kil, Byeong Hee Roh, Si-Jung Kim, Jin Suk Kang

College of Engineering Faculty Research

There have been numerous works proposed to merge augmented reality/mixed reality (AR/MR) and Internet of Things (IoT) in various ways. However, they have focused on their specific target applications and have limitations on interoperability or reusability when utilizing them to different domains or adding other devices to the system. This paper proposes a novel architecture of a convergence platform for AR/MR and IoT systems and services. The proposed architecture adopts the oneM2M IoT standard as the basic framework that converges AR/MR and IoT systems and enables the development of application services used in general-purpose environments without being subordinate to specific …

Review Of Mathematical Modelling Techniques With Applicationsin Biosciences, Ahmed Hasan Alridha, Ahmed Sabah Al-Jilawi, Fouad H. Abd Alsharify

Iraqi Journal for Computer Science and Mathematics

Modelling can provide intellectual frameworks that are necessary to translate data into knowledge.Mathematical modelling has played an important role in many applications, such as ecology, genetics, engineering,psychology, sociology, physics and computer science, in recent years. This study focused on reviewing mathematicalmodelling and its applications to biological systems by tracing many metabolic activities of cellular interactions onthe one hand and between the spread of epidemics and population growth on the other hand. Various mathematicalequations have played fundamental roles in the formation of these systems for model development proceduresby describing them mathematically and establishing relationships that characterise the dynamics of a biologicalphenomenon. …

A Machine Learning Approach To Intended Motion Prediction For Upper Extremity Exoskeletons, Justin Berdell

Graduate Research Theses & Dissertations

A fully solid-state, software-defined, one-handed, handle-type control device built around a machine-learning (ML) model that provides intuitive and simultaneous control in position and orientation each in a full three degrees-of-freedom (DOF) is proposed in this paper. The device, referred to as the “Smart Handle”, and it is compact, lightweight, and only reliant on low-cost and readily available sensors and materials for construction. Mobility chairs for persons with motor difficulties could make use of a control device that can learn to recognize arbitrary inputs as control commands. Upper-extremity exoskeletons used in occupational settings and rehabilitation require a natural control device like …

Nbp 2.0: Updated Next Bar Predictor, An Improved Algorithmic Music Generator, Belinda M. Dungan, Proceso L. Fernandez Jr

Electronics, Computer, and Communications Engineering Faculty Publications

Deep neural network advancements have enabled machines to produce melodies emulating human-composed music. However, the implementation of such machines is costly in terms of resources. In this paper, we present NBP 2.0, a refinement of the previous model next bar predictor (NBP) with two notable improvements: first, transforming each training instance to anchor all the notes to its musical scale, and second, changing the model architecture itself. NBP 2.0 maintained its straightforward and lightweight implementation, which is an advantage over the baseline models. Improvements were assessed using quantitative and qualitative metrics and, based on the results, the improvements from these …

Intelligent Voice Guidance In Vr: Understanding The Value Of Nlp In Virtual Environments, Zhiyu Xiao

Dartmouth College Master’s Theses

Virtual assistants such as Google Assistant, Alexa and Siri emerged because of the growth of NLP(natural language processing) technology. At the same time, virtual reality has developed rapidly in recent years and has become a crucial tool in engineering product development procedures. However, people feel overwhelmed in some complicated VR environments. Thus, this thesis tries to incorporate NLP technology into the VR environment and explores the value of intelligent voice guidance in VR environments. In this thesis, a car repair training system with intelligent voice guidance is designed: users can utilize voice to perform various tasks in this system, such …

Deep Learning-Aided Automated Personal Data Discovery And Profiling, Apdullah Yayik, Vedat Aybar, Hasan Hüseyi̇n Apik, Sevcan İçöz, Beki̇r Bakar, Tunga Güngör

Turkish Journal of Electrical Engineering and Computer Sciences

In Turkey, Turkish Personal Data Protection Rule (PDPR) No. 6698, in force since 2016, provides protection to citizens for the legal existence of their personal data. Although the law provides excellent guidance, companies currently face challenges in complying with its regulations in terms of storing, sharing, or monitoring personal data. Since any specially designed software with wide industrial usage is not on the market, almost all of the companies have no other choice but to take expensive and error-prone operations manually to ensure their compliance. In this paper, we present an automated solution to facilitate and accelerate PDPR compliance. In …

Shape Investigations Of Structures Formed By The Self-Assembly Of Aromaticamino Acids Using The Density-Based Spatial Clustering Of Applications With Noise Algorithm, Mehmet Gökhan Habi̇boğlu, Helen W. Hernandez, Şahi̇n Uyaver

Turkish Journal of Electrical Engineering and Computer Sciences

Tyrosine, tryptophan, and phenylalanine are important aromatic amino acids for human health. If they are not properly metabolized, severe rare mental or metabolic diseases can emerge, many of which are not researched enough due to economic priorities. In our previous simulations, all three of these amino acids are discovered to be self-organizing and to have complex aggregations at different temperatures. Two of these essential stable formations are observed during our simulations: tubular-like and spherical-like structures. In this study, we develop and implement a clustering analyzing algorithm using density-based spatial clustering of applications with noise (DBSCAN) to measure the shapes of …

A Reynolds Number Based Sampling Technique For 3-D Vector Fields In Computational Fluid Dynamic Environments, Trent James Schweitzer

Graduate Student Theses, Dissertations, & Professional Papers

Effective visualization of unsteady, time-dependent vector fields in a virtual environment is not a trivial task. This is due to the fact that most visualization techniques require the user to have a prior understanding of how the vector field will behave to set the parameters used to create the visualization. In this thesis we will take air flow data from a computational fluid dynamic simulations to calculate the amount of turbulence (represented as Reynolds numbers) to identify regions of interest. We then calculate wind pathlines that will intersect with these points sampled from these regions. We address the issue of …

Factors Influencing The Effectiveness Of Managing Human–Robot Teams, Theodore B. Terry

Walden Dissertations and Doctoral Studies

Certain factors can influence the capabilities of a robot–human team by affecting their social and behavioral dynamics in a work environment. But these factors were not known due to the progressive nature of human–robot partnerships and a lack of peer-reviewed literature on the topic. This e-Delphi study aimed to identify and understand these unknown influential factors based on the participants’ insights. The overarching research question asked about the need to determine factors that might influence the effectiveness of managing human-robot teams. The basis for the conceptual framework for this study was the theory of communication used in organizational management. Twelve …

Jitim Front Cover Vol 31 1 2022

Journal of International Technology and Information Management

Table of Content JITIM Vol 31. issue 1, 2022

Backlog Burner: An Adventure Into Automated Scheduling, Anjolaoluwa J. Olubusi

Senior Independent Study Theses

The focus of this independent study is to explain the nurse scheduling problem (NSP) and use it as a basis to create an automated scheduling program. The nurse scheduling problem is an operational research problem that sets to find an optimal hospital schedule that fulfills the needs of the hospital and the personal requests of the nurses. The majority of solutions for the nurse scheduling problem are often designed within a hospital setting. The objective of this independent study is to use the solutions of the nurse scheduling problem to develop an automated scheduling program for the College of Wooster …

A Graph-Based Approach To Boundary Estimation With Mobile Sensors, Sean Onufer Stalley, Dingyu Wang, Gautam Dasarathy, John Lipor

Electrical and Computer Engineering Faculty Publications and Presentations

We consider the problem of adaptive sampling for boundary estimation, where the goal is to identify the two dimensional spatial extent of a phenomenon of interest. Motivated by applications in estimating the spread of wildfires with a mobile sensor, we present a novel graph-based algorithm that is efficient in both the number of samples taken and the distance traveled. The key idea behind our approach is that by sampling locations close to known cut edges (edges whose vertices lie on opposite sides of the boundary), we can reliably find additional cut edges. Our approach repeats this process of using the …

High Energy And Power Density Peptidoglycan Musclesthrough Super-Viscous Nanoconfined Water, Haozhen Wang, Zhi-Lun Liu, Jianpei Lao, Sheng Zhang, Rinat Abzalimov, Tong Wang, Xi Chen

Advanced Science Research Center

Water-responsive (WR) materials that reversibly deform in response to humidity changes show great potential for developing muscle-like actuators for miniature and biomimetic robotics. Here, it is presented that Bacillus (B.) subtilis’ peptidoglycan (PG) exhibits WR actuation energy and power densities reaching 72.6 MJ m−3 and 9.1 MW m−3, respectively, orders of magnitude higher than those of frequently used actuators, such as piezoelectric actuators and dielectric elastomers. PG can deform as much as 27.2% within 110 ms, and its actuation pressure reaches ≈354.6 MPa. Surprisingly, PG exhibits an energy conversion efficiency of ≈66.8%, which can be attributed to its super-viscous nanoconfined …

Knowledge-Infused Reinforcement Learning, Kaushik Roy, Manas Gaur, Qi Zhang, Amit Sheth

Publications

Virtual health agents (VHAs) have received considerable attention, but the early focus has been on collecting data, helping patients follow generic health guidelines, and providing reminders for clinical appointments. While presenting the collected data and frequency of visits to the clinician is useful, further context and personalization are needed for a VHA to interpret and understand what the data means in clinical terms. This has made their use in managing health limited. Such understanding enables patient empowerment and self-appraisal – i.e., aiding the patient in interpreting the data to understand the changes in the patient’s health conditions, and self-management – …

การพัฒนาเครื่องมืออัตโนมัติสำหรับสร้างแบบจำลองความสัมพันธ์ของส่วนต่อประสานโปรแกรมประยุกต์เว็บเซอร์วิสแบบเรสต์ฟูล, วิภาดา กลึงเทศ

Chulalongkorn University Theses and Dissertations (Chula ETD)

ในอุตสาหกรรมซอฟต์แวร์ นิยมนำซอฟต์แวร์กลับมาใช้ใหม่เป็นจำนวนมาก เนื่องจากเป็นการลดต้นทุนในการพัฒนาซอฟต์แวร์ เอกสารต่าง ๆ ในการพัฒนาระบบจึงมีความสำคัญในการอ้างอิง งานวิจัยนี้ ให้ความสนใจกับแผนภาพยูเอ็มแอลที่เป็นส่วนหนึ่งของเอกสารส่วนต่อประสานโปรแกรมประยุกต์ จึงได้นำเสนอการออกแบบ และพัฒนาเครื่องมืออัตโนมัติสำหรับการสร้างแบบจำลองความสัมพันธ์ของส่วนต่อประสานโปรแกรมประยุกต์เว็บเซอร์วิสแบบเรสต์ฟูลโดยใช้เครื่องมือเสริม PlantUML ที่เป็นเครื่องมือเสริมสำหรับการสร้างแผนภาพ ซึ่งงานวิจัยนี้ได้นำเครื่องมือเสริม PlantUML มาสร้างแผนภาพแบบจำลองความสัมพันธ์ระหว่างคอนโทรลเลอร์ เมธอด และคุณลักษณะภายในของพารามิเตอร์ ที่นำเสนอในรูปแบบของแผนภาพยูเอ็มแอล ดังนั้น เมื่อนำเครื่องมือที่พัฒนาขึ้นไปประยุกต์ใช้ จะช่วยให้ปรับปรุงเอกสารส่วนต่อประสานโปรแกรมประยุกต์ได้ง่ายยิ่งขึ้น และยังช่วยให้เอกสารตรงกับรหัสต้นฉบับ จากการประยุกต์ใช้เครื่องมือกับโครงการ ทำให้ได้ผลลัพธ์ของความถูกต้องเป็น 100%

Improving Feature Learning Capability And Interpretability Of Unsupervised Neural Networks, Chathurika S. Wickramasinghe Brahmana

Theses and Dissertations

The motivation for this dissertation is two-prong. Firstly, the current state of machine learning imposes the need for unsupervised Machine Learning (ML). Secondly, once such models are developed, a deeper understanding of ML models is necessary for humans to adapt and use such models.

Real-world systems generate massive amounts of unlabeled data at rapid speed, limiting the usability of state-of-the-art supervised machine learning approaches. Further, the manual labeling process is expensive, time-consuming, and requires the expertise of the data. Therefore, the existing supervised learning algorithms are unable to take advantage of the abundance of real-world unlabeled data. Thus, relying on …

Continual Learning From Stationary And Non-Stationary Data, Lukasz Korycki

Theses and Dissertations

Continual learning aims at developing models that are capable of working on constantly evolving problems over a long-time horizon. In such environments, we can distinguish three essential aspects of training and maintaining machine learning models - incorporating new knowledge, retaining it and reacting to changes. Each of them poses its own challenges, constituting a compound problem with multiple goals.

Remembering previously incorporated concepts is the main property of a model that is required when dealing with stationary distributions. In non-stationary environments, models should be capable of selectively forgetting outdated decision boundaries and adapting to new concepts. Finally, a significant difficulty …

Machine Learning (Ml) - Assisted Tools For Enhancing Security And Privacy Of Edge Devices, Santosh Kumar Nukavarapu

Theses and Dissertations

The rapid growth of edge-based IoT devices, their use cases, and autonomous communication has created new challenges with privacy and security. Side-channel attacks are one of the examples of security and privacy vulnerabilities that can cause inference at Internet-Service Provider (ISP) and local Wi-Fi networks. Such an attack would leak user’s sensitive information such as home occupancy, medical activity, and daily routines. Another example is that these devices have weak authentication and low encryption standards, making them an easy target for malware-based attacks such as denial of service or launching other network attacks using these infected devices. This thesis dissertation …

Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel

Theses and Dissertations

This thesis presents a learning from demonstration framework that enables a robot to learn and perform creative motions from human demonstrations in real-time. In order to satisfy all of the functional requirements for the framework, the developed technique is comprised of two modular components, which integrate together to provide the desired functionality. The first component, called Dancing from Demonstration (DfD), is a kinesthetic learning from demonstration technique. This technique is capable of playing back newly learned motions in real-time, as well as combining multiple learned motions together in a configurable way, either to reduce trajectory error or to generate entirely …

Artificial Intelligence (Ai): The New Look Of Customer Service In A Cybersecurity World, Sharon L. Burton

Publications

Cybersecurity leaders are not adequately developed to guide the re-engineering of quality customer service (QCS) workflows, designed with automation and AI, that interrelate with people through customers’ perceptions. Realizing re-engineering processes should be a team effort with well-versed leadership and stakeholders guiding the successful design through a follow-up process. Leaders must shape compelling and straightforward needs to learn and teach employees and chat boxes indispensable customer service skills demonstrating patience, self-discipline, flexibility, and resourcefulness in communication with irritated customers or difficult circumstances. Whether the analysis, design, development, and implementation struggles are vacuums in cybersecurity knowledge, skill, and abilities or a …

Face Representation Learning And Its Applications: From Image Editing To 3d Avatar Animation, Xudong Liu

Graduate Theses, Dissertations, and Problem Reports (ETD)

Face representation learning is one of the most popular research topics in the computer vision community, as it is the foundation of face recognition and face image generation. Numerous representation learning frameworks have been integrated into applications in daily life, such as face recognition, image editing, and face tracking. Researchers have developed advanced algorithms for face recognition with successful commercial productions, for example, FaceID on the smartphone. The performance record on face recognition is constantly updated and becoming saturated with the help of large-scale datasets and advanced computational resources. Thanks to the robust representation in face recognition, in this dissertation, …

Study On Performance Of Pruned Cnn-Based Classification Models, Mengling Deng

Electronic Theses and Dissertations

Convolutional Neural Network (CNN) is a neural network developed for processing image data. CNNs have been studied extensively and have been used in numerous computer vision tasks such as image classification and segmentation, object detection and recognition, etc. [1] Although, the CNNs-based approaches showed humanlevel performances in these tasks [2], they require heavy computation in both training and inference stages, and the models consist of millions of parameters. This hinders the development and deployment of CNN-based models for real world applications. Neural Network Pruning and Compression techniques have been proposed [3, 4] to reduce the computation complexity of trained CNNs …

Human Mental Workload: A Survey And A Novel Inclusive Definition, Luca Longo, Christopher D. Wickens, Gabriella Hancock, P.A. Hancock

Articles

Human mental workload is arguably the most invoked multidimensional construct in Human Factors and Ergonomics, getting momentum also in Neuroscience and Neuroergonomics. Uncertainties exist in its characterization, motivating the design and development of computational models, thus recently and actively receiving support from the discipline of Computer Science. However, its role in human performance prediction is assured. This work is aimed at providing a synthesis of the current state of the art in human mental workload assessment through considerations, definitions, measurement techniques as well as applications, Findings suggest that, despite an increasing number of associated research works, a single, reliable and …