Engineering Commons^™

Robot Area Coverage Path Planning In Aquatic Environments, Nare Karapetyan

Theses and Dissertations

This thesis is motivated by real world problems faced in aquatic environments. It addresses the problem of area coverage path planning with robots - the problem of moving an end-effector of a robot over all available space while avoiding existing obstacles. The problem is considered first in a 2D space with a single robot for specific environmental monitoring operations, and then with multi-robot systems — a known NP-complete problem. Next we tackle the coverage problem in 3D space - a step towards underwater mapping of shipwrecks or monitoring of coral reefs.

The first part of this thesis leverages human expertise …

Intelligent Optimization Algorithm-Based Path Planning For A Mobile Robot, Qisong Song, Shaobo Li, Jing Yang, Qiang Bai, Jianjun Hu, Xingxing Zhang, Ansi Zhang

Faculty Publications

The purpose of mobile robot path planning is to produce the optimal safe path. However, mobile robots have poor real-time obstacle avoidance in local path planning and longer paths in global path planning. In order to improve the accuracy of real-time obstacle avoidance prediction of local path planning, shorten the path length of global path planning, reduce the path planning time, and then obtain a better safe path, we propose a real-time obstacle avoidance decision model based on machine learning (ML) algorithms, an improved smooth rapidly exploring random tree (S-RRT) algorithm, and an improved hybrid genetic algorithm-ant colony optimization (HGA-ACO). …

High-Throughput Discovery Of Novel Cubic Crystal Materials Using Deep Generative Neural Networks, Yong Zhao, Mohammed Al-Fahdi, Ming Hu, Edirisuriya M.D. Siriwardane, Yuqi Song, Alireza Nasiri, Jianjun Hu

Faculty Publications

High-throughput screening has become one of the major strategies for the discovery of novel functional materials. However, its effectiveness is severely limited by the lack of sufficient and diverse materials in current materials repositories such as the open quantum materials database (OQMD). Recent progress in deep learning have enabled generative strategies that learn implicit chemical rules for creating hypothetical materials with new compositions and structures. However, current materials generative models have difficulty in generating structurally diverse, chemically valid, and stable materials. Here we propose CubicGAN, a generative adversarial network (GAN) based deep neural network model for large scale generative design …

Mlatticeabc: Generic Lattice Constant Prediction Of Crystal Materials Using Machine Learning, Yuxin Li, Wenhui Yang, Rongzhi Dong, Jianjun Hu

Faculty Publications

Lattice constants such as unit cell edge lengths and plane angles are important parameters of the periodic structures of crystal materials. Predicting crystal lattice constants has wide applications in crystal structure prediction and materials property prediction. Previous work has used machine learning models such as neural networks and support vector machines combined with composition features for lattice constant prediction and has achieved a maximum performance for cubic structures with an average coefficient of determination (R2) of 0.82. Other models tailored for special materials family of a fixed form such as ABX3 perovskites can achieve much higher performance due …

Unified Multi-Objective Genetic Algorithm For Energy Efficient Job Shop Scheduling, Hongjong Wei, Shaobo Li, Huageng Quan, Dacheng Liu, Shu Rao, Chuanjiang Li, Jianjun Hu

Faculty Publications

In recent years, people have paid more and more attention to traditional manufacturing’s environmental impact, especially in terms of energy consumption and related emissions of carbon dioxide. Except for adopting new equipment, production scheduling could play an important role in reducing the total energy consumption of a manufacturing plant. Machine tools waste a considerable amount of energy because of their underutilization. Consequently, energy saving can be achieved by switching machines to standby or off when they lay idle for a comparatively long period. Herein, we first introduce the objectives of minimizing non-processing energy consumption, total weighted tardiness and earliness, and …

Multi-Robot Coordination With Environmental Disturbances, Adem Coskun

Theses and Dissertations

Multi-robot systems are increasingly deployed in environments where they interact with humans. From the perspective of a robot, such interaction could be considered a disturbance that causes a well-planned trajectory to fail. This dissertation addresses the problem of multi-robot coordination in scenarios where the robots may experience unexpected delays in their movements.

Prior work by Čáp, Gregoire, and Frazzoli introduced a control law, called RMTRACK, which enables robots in such scenarios to execute pre-planned paths in spite of disturbances that affect the execution speed of each robot while guaranteeing that each robot can reach its goal without collisions and without …

Deep Learning Based Sound Event Detection And Classification, Alireza Nasiri

Theses and Dissertations

Hearing sense has an important role in our daily lives. During the recent years, there has been many studies to transfer this capability to the computers. In this dissertation, we design and implement deep learning based algorithms to improve the ability of the computers in recognizing the different sound events.

In the first topic, we investigate sound event detection, which identifies the time boundaries of the sound events in addition to the type of the events. For sound event detection, we propose a new method, AudioMask, to benefit from the object-detection techniques in computer vision. In this method, we convert …

Identify Rna-Associated Subcellular Localizations Based On Multi-Label Learning Using Chou’S 5-Steps Rule, Hao Wang, Yijie Ding, Jijun Tang Ph.D., Quan Zou, Fei Guo

Faculty Publications

Background: Biological functions of biomolecules rely on the cellular compartments where they are located in cells. Importantly, RNAs are assigned in specific locations of a cell, enabling the cell to implement diverse biochemical processes in the way of concurrency. However, lots of existing RNA subcellular localization classifiers only solve the problem of single-label classification. It is of great practical significance to expand RNA subcellular localization into multi-label classification problem.

Results: In this study, we extract multi-label classification datasets about RNA-associated subcellular localizations on various types of RNAs, and then construct subcellular localization datasets on four RNA categories. In order to …

Semantics Of The Black-Box: Can Knowledge Graphs Help Make Deep Learning Systems More Interpretable And Explainable?, Manas Gaur, Keyur Faldu, Amit Sheth

Publications

The recent series of innovations in deep learning (DL) have shown enormous potential to impact individuals and society, both positively and negatively. The DL models utilizing massive computing power and enormous datasets have significantly outperformed prior historical benchmarks on increasingly difficult, well-defined research tasks across technology domains such as computer vision, natural language processing, signal processing, and human-computer interactions. However, the Black-Box nature of DL models and their over-reliance on massive amounts of data condensed into labels and dense representations poses challenges for interpretability and explainability of the system. Furthermore, DLs have not yet been proven in their ability to …