Engineering Commons^™

A Compliant Robot Control Based On Extended Social-Force Model For Human-Following And Obstacle Avoidance, Jianwei Peng, Zhelin Liao, Hanchen Yao, Zhiyu Wan, Liqi Zhu, Houde Dai

Journal of System Simulation

Abstract: Human-robot coexisting is an essential feature of the next generation mobile robot. A compliant robot control strategy based on the extended social-force model for human-following and obstacle avoidance in coexisting-cooperative-cognitive environment is presented. The human-following controller based on impedance control can simultaneously adjust human-robot interaction force and position deviation to carry out the compliant human-following of mobile robots. Considering humanrobot- obstacle interactions, based on the extended social-force model and proxemics, a control strategy for human-friendly compliant human-following and obstacle avoidance is designed to solve the obstacle avoidance problem of robot and ensure the human comfort and improving the social …

Hydrodynamic Voltammetry Of Fe2+/3+ In Aqueous Deep Eutectic Solvents Towards Redox Flow Batteries, Desiree Mae Prado, Xiaochen Shen, Robert Savinell, Clemens Burda

Faculty Scholarship

Deep eutectic solvents (DESs) have recently attracted much attention as potential green electrolyte solvents for redox flow batteries. DESs are considered not only as environmentally sustainable but also economically attractive electrolytes because they can be resourced from biological feedstock (alcohols, urea, choline) and are earth-abundant and of low toxicity. Despite these advantages, DESs still have limitations in important aspects such as reactant and ion transport, which is inhibited due to hydrogen-bonding-induced viscosity. Thus, improving the transport properties of redox species in DESs is essential. In addition, we explore the quantitative addition of water to ethaline (a 1:2 choline chloride: ethylene …

Remote Sensing And Gis Based Approach To Evaluate The Impact Of Stone Quarrying And Crushing Activities On Land Resources, R. S. Chaurasia, S. N. Mohapatra

Journal of Sustainable Mining

The land is one of the most treasures to support life, like food, fibre, medicine, and minerals, etc. Stone quarrying is one of the key elements which supports socio-economic development and industrial expansion. RS and GIS play an important role in environmental assessment to monitor the stone quarries and related activities for time to time. The present study was carried out to evaluate the impact of stone quarrying and crushing activities (SQCA) on land resources. Therefore, matrix change analysis of 2021, 2015, 2008 and 2003 were used for change detection. High-resolution Google Earth Pro images were used for the assessment …

Toward An Interoperable And Scalable Iot-Driven Smart City Solution Using Blockchain, Nada Abdulaziz A Alasbali

Student Works (2020-2029)

A smart city is primarily an urban region that makes effective use of contemporary technology to manage its resources, assets, and services. Internet of Things (IoT) devices and sensors are installed throughout the smart city in order to facilitate remote monitoring and data collection in relation to a variety of key infrastructures. The data is then utilised to plan the necessary maintenance tasks to ensure that citizens receive high-quality services. Even though IoT devices make it possible to collect data in real-time in a smart city, most sensors and IoT devices do not have a lot of storage space or …

Predictive Model Of Seismic Vibrations’ Peak Value Induced By Multi-Face Blasting, Krzysztof Fuławka, Lech Stolecki, Piotr Mertuszka, Marcin Szumny, Arkadiusz Anderko

Journal of Sustainable Mining

The seismicity level induced by blasting in the Polish copper mines is very important inlight of the efficiency of active rockburst prevention and safe conduct of blasting operations in the vicinity of the mining infrastructure such as shafts, workings, or function chambers (e.g., workshops, storages, etc.). Knowledge of the seismic vibrations’ peak value might be the basis for designing blasting works in a way that ensures desired seismic effect. However, current experiences show that Peak Particle Velocity prediction models developed so far do not apply to multi-face blasting, where there are many vibrations’ sources at the same time dotted across …

Scale Model Experiments Of Toxic Gas Production From The Combustion Of Polymers When Applied With Different Droplet Sizes Of Water Mist, Nicharee Thinnakornsutubutr, Masayuki Mizuno, Kazunori Kuwana

Progress in Scale Modeling, an International Journal

This research experimentally investigated the combustion of polymeric materials with water mist application in an enclosure, with an emphasis on the production of toxic gases. Two different diameters, ~100 and ~260 μm, were tested. The experimental conditions were determined based on Froude similarity laws for low drop Reynolds number conditions. Droplets and polymers’ physical and chemical properties influence the burning/extinguishing behavior and toxic-gas evolution. In general, larger droplets can extinguish a fire in a shorter time, and toxic gas concentrations in a test chamber decreased more rapidly. However, the large droplets tended to cause the flame expansion phenomenon for thermoplastics …

Paradigm Review Of Data Localization In India And Its Implications For China, Ying Fan

Bulletin of Chinese Academy of Sciences (Chinese Version)

Data localization is a focal point of global data governance and its impact on global data governance is no longer confined to a single country. Over the years, India has followed a unique policy framework in terms of cross-border data flows and data localization, and its insistence on data sovereignty reflects its position in the international arena. This study uses the Indian data localization paradigm as a research base to discuss the common phenomenon of disconnect between policy motivations and practical effects of data localization, and as an entry point to introduce the latest Indian research findings in this area. …

On Digital Productivity Base Of Policies For Cross-Border Data Flows Between Rcep Parties And Its Influences—Taking Digital Integration Index As A Reference, Gui Huang, Ru Tao

Bulletin of Chinese Academy of Sciences (Chinese Version)

This study reviews the newest legislation and policies of Regional Comprehensive Economic Partnership (RCEP) participating countries on cross-border data flow, and then categorized them according to the ban on data transfer, local storage of data, permission-based regulation, and standards-based regulation. By referring to the indexes in the ASEAN Digital Integration Index, the subject and object factors of digital productivity in RCEP parities are sorted out, as well as the status quo of digital economy. Through the introduction of data value chain theory, the decisive impact of digital productivity factors on the policy formulation of cross-border data flow is expounded; by …

Research On Multi-Source Heterogeneous Big Data Fusion Based On Wsr, Aihua Li, Weijia Xu, Yong Shi

Bulletin of Chinese Academy of Sciences (Chinese Version)

In the era of multi-source heterogeneous big data, big data presents new features such as cross, diversity and variability. The applications of big data in a wider range of fields have new requirements for data fusion. Under this background, the connotation of data fusion is enriched and expanded. The generalized data fusion includes the fusion of data resources, the fusion of model methods, and the fusion of decision-makers' knowledge and experience. This study analyzes the characteristics of multi-source heterogeneous data fusion at three different fusion levels: data level, information level and decision level, and discusses challenges for data fusion in …

Threads, Buckets, And Impact: A Framework For Tool Accelerated Machine Learning Courses, Jonathan Adam Niemirowski

Doctoral Dissertations

Artificial intelligence and machine learning (ML) have exploded in use, accessibility, and awareness in the past few years, particularly with the release of ChatGPT in late 2022. Advances in end-user ML tools are accelerating the development of ML applications, lowering the technical barrier of entry for users outside of the computer science (CS) community. Access to ML education within STEM is mostly limited to upper-level computer science courses that have deep pre-requisite requirements or to introductory workshops that yield limited ML skills. Despite the critical need for ML education, there is a lack of guidance in instructional design for applied …

Don't Fear The Artificial Intelligence: A Systematic Review Of Machine Learning For Prostate Cancer Detection In Pathology, Aaryn Frewing, Alexander B. Gibson, Richard Robertson, Paul Urie, Dennis Della Corte

Faculty Publications

The adoption of whole slide image (WSI) scanners in clinical practice was accelerated by US Food and Drug Administration approval in 2017, which allowed primary pathologic diagnoses to be made on scanned images. Images in the digital domain allow the application of pathology artificial intelligence (AI), including clinical decision support with algorithms performing specific diagnoses.1,2 These algorithms, if trained properly, could go beyond the ability of human observation to detect and quantify features that are not recognizable by human perception.1,3,4

Multi-Agent Deep Reinforcement Learning For Radiation Localization, Benjamin Scott Totten

Dissertations and Theses

For the safety of both equipment and human life, it is important to identify the location of orphaned radioactive material as quickly and accurately as possible. There are many factors that make radiation localization a challenging task, such as low gamma radiation signal strength and the need to search in unknown environments without prior information. The inverse-square relationship between the intensity of radiation and the source location, the probabilistic nature of nuclear decay and gamma ray detection, and the pervasive presence of naturally occurring environmental radiation complicates localization tasks. The presence of obstructions in complex environments can further attenuate the …

Mechanochemical Esterification Of Cellulose Nanofibers Lyophilized From Eutectic Water–Tert-Butanol Mixtures, Miran Mavlan, Taehoo Chang, Rudan Feng, Jake R. Wilkinson, Robert J. Nicholas, Nosa B. Idahagbon, Jeffrey Youngblood, Alexander Wei

Department of Chemistry Faculty Publications

Freeze-dried CNFs can be modified by mechanochemical (MC) processes with minimal use of auxiliary solvents, however aggregation of nanofibers during lyophilization compromises their granularity and reaction efficiency. Adding 10 wt% tert-butanol (TBA) to aqueous slurries of wood-derived CNF creates a eutectic mixture that reduces hornification during lyophilization, resulting in well-formed aerogels with minimal shrinkage in volume. CNFs lyophilized from mixtures containing at least 10 wt% TBA exhibit an order of magnitude increase in specific surface area relative to CNFs freeze-dried from water alone. The amount of TBA and input energy needed for lyophilization can be reduced considerably by dewatering …

Theoretical Analysis Of Charge Conduction And Rectification In Self-Assembled-Monolayers In Molecular Junctions, Francis Adoah

Electronic Theses and Dissertations, 2020-2023

As electrical devices shrink to the atomic scale, it is expected that Moore's law will soon be obsolete for semiconductor devices. In 1974, Avriam and Ratner predicted that organic devices could replace semiconductor technology, leading to extensive research on molecular-based organic devices. This dissertation delves into the theoretical frameworks used to examine the transport in molecular junctions and aims to enhance our comprehension of charge transport and conduction properties. The studies presented in this thesis illustrates that a molecule's alteration by just a single atom can change it from an insulator to a conductor, and also that, by fine-tuning the …

Autonomous Shipwreck Detection & Mapping, William Ard

LSU Master's Theses

This thesis presents the development and testing of Bruce, a low-cost hybrid Remote Operated Vehicle (ROV) / Autonomous Underwater Vehicle (AUV) system for the optical survey of marine archaeological sites, as well as a novel sonar image augmentation strategy for semantic segmentation of shipwrecks. This approach takes side-scan sonar and bathymetry data collected using an EdgeTech 2205 AUV sensor integrated with an Harris Iver3, and generates augmented image data to be used for the semantic segmentation of shipwrecks. It is shown that, due to the feature enhancement capabilities of the proposed shipwreck detection strategy, correctly identified areas have a 15% …

Managing The Rock Mass Destruction Under The Explosion, Maksym Kononenko, Oleh Khomenko, Ivan Sadovenko, Valeriy Sobolev, Yuliya Pazynich, Adam Smoliński

Journal of Sustainable Mining

Using the theory of elasticity and the main provisions of the quasi-static-wave hypothesis of the mechanism of the destruction of a solid medium under the action of an explosion, analytical modelling of the parameters of the formation of crumpling zones and crushing of the rock mass around the charging cavity during its explosive loading was carried out. Analytical models of the radii of the crumpling, intensive fragmentation and fracturing zones formed around the charging cavity in the rock mass during its explosive loading, taking into account the pressure of the explosion products, the limit of tensile-compressive strength of the rocks, …

Ranking And Analysis The Strategies Of Crowd Management To Reduce The Risks Of Crushes And Stampedes In Crowded Environments And Ensure The Safety Of Passengers, Waleed Tawfiq Al-Nami

Neutrosophic Systems with Applications

Public gatherings, transit hubs, stadiums, and crowded retail malls are just a few examples of places where crowd management has become an urgent issue in recent years. Effective crowd management strategies have been required due to the increasing population, urbanization, and frequency of large-scale meetings. These strategies are used in dynamic, sometimes chaotic, circumstances to protect people and facilitate their free movement. The purpose of this study is to analyze and rank various strategies for crowd management to reduce the risks of crushes and stampedes, improve security, and facilitate smoother traffic flow. This study used the single-valued neutrosophic set to …

Ranking And Analysis The Strategies Of Crowd Management To Reduce The Risks Of Crushes And Stampedes In Crowded Environments And Ensure The Safety Of Passengers, Waleed Tawfiq Al-Nami

Neutrosophic Systems with Applications

Public gatherings, transit hubs, stadiums, and crowded retail malls are just a few examples of places where crowd management has become an urgent issue in recent years. Effective crowd management strategies have been required due to the increasing population, urbanization, and frequency of large-scale meetings. These strategies are used in dynamic, sometimes chaotic, circumstances to protect people and facilitate their free movement. The purpose of this study is to analyze and rank various strategies for crowd management to reduce the risks of crushes and stampedes, improve security, and facilitate smoother traffic flow. This study used the single-valued neutrosophic set to …

Static Malware Family Clustering Via Structural And Functional Characteristics, David George, Andre Mauldin, Josh Mitchell, Sufiyan Mohammed, Robert Slater

SMU Data Science Review

Static and dynamic analyses are the two primary approaches to analyzing malicious applications. The primary distinction between the two is that the application is analyzed without execution in static analysis, whereas the dynamic approach executes the malware and records the behavior exhibited during execution. Although each approach has advantages and disadvantages, dynamic analysis has been more widely accepted and utilized by the research community whereas static analysis has not seen the same attention. This study aims to apply advancements in static analysis techniques to demonstrate the identification of fine-grained functionality, and show, through clustering, how malicious applications may be grouped …

Vertical Federated Learning Using Autoencoders With Applications In Electrocardiograms, Wesley William Chorney

Theses and Dissertations

Federated learning is a framework in machine learning that allows for training a model while maintaining data privacy. Moreover, it allows clients with their own data to collaborate in order to build a stronger, shared model. Federated learning is of particular interest to healthcare data, since it is of the utmost importance to respect patient privacy while still building useful diagnostic tools. However, healthcare data can be complicated — data format might differ across providers, leading to unexpected inputs and incompatibility between different providers. For example, electrocardiograms might differ in sampling rate or number of leads used, meaning that a …

Ide-Based Learning Analytics For Assessing Introductory Programming Skill, Phyllis J. Beck

Theses and Dissertations

Providing a sufficient level of personalized feedback on students' current level of strategic knowledge within the context of the natural programming environment through IDE-based learning analytics would transform learning outcomes for introductory programming students. However, providing sufficient insight into the programming process was previously inaccessible due to the need for more complex and scalable data collection methods and metrics with a wider variety for understanding programming metacognition and the full programming process.

This research developed a custom-built web-based IDE and event compression system to investigate two of the five components of a five-dimensional model of cognition for programming skill estimation …

Direct Measurement Of The 114cd(N, Gamma)115cd Cross Section In The 1 Ev To 300 Kev Energy Range, Kofi Tutu Addo Assumin-Gyimah

Theses and Dissertations

The large thermal cross section of cadmium makes it ideal for many practical applications where screening of thermal neutrons is desired. For example, in non-destructive assay techniques, or for astrophysical studies of the s-process. All such applications require precise knowledge of the neutron-capture cross section on cadmium. Although there are some data on neutron-capture cross sections particularly at thermal energies and at energies relevant for astrophysics, there is very little data at most other energies. Further, the evaluated cross sections from the ENDF and JENDL databases disagree at high energies. Therefore, there is a critical need for precise knowledge of …

Application Geological Strength Index (Gsi) Quantification Method On The Characterization Of Carbonate Rock Mass, Singgih Saptono, Danu Mirza Rezky

Journal of Sustainable Mining

Determining GSI as a representation of the presence of rock mass in slope analysis continues to develop. The development of the quantitative GSI method was carried out because the basic (qualitative) GSI values were deemed too subjective so the results from the use of the quantitative GSIwere expected to be more objective and accurate. The method used is to combine 3 GSI quantitative methods to find GSI based on surface conditions and joint structure. The results showed that the Quantitative GSI value was smaller than the GSI predictive value (qualitative). The GSI approach with RQD and UCS parameters is also …

New Statistical Methodology For Capacitor Data Analysis Via Lcr Meter, Usama Afzal, Muhammad Aslam

Neutrosophic Systems with Applications

This research work introduces a novel methodology to establish the relationship between capacitance and resistance when dealing with imprecise data obtained from LCR meters. The proposed relationship is based on the principles of neutrosophic statistics, enabling the utilization of interval data of resistance or capacitance without losing the indeterminacy of the intervals. By employing this relationship, we can accurately determine capacitance values from interval data of resistance, thereby generating more flexible and informative graphs. Additionally, we have applied the neutrosophic analysis method to the interval data of resistance to further enhance our findings. The comparative analysis demonstrates the superiority of …

New Types Of Soft Sets” Hypersoft Set, Indetermsoft Set, Indetermhypersoft Set, And Treesoft Set”: An Improved Version, Florentin Smarandache

Neutrosophic Systems with Applications

This is an improved paper of [10], where we recall the definitions together with practical applications of the Soft Set and its extensions to HyperSoft Set, IndetermSoft Set, IndetermHyperSoft Set, and TreeSoft Set.

New Statistical Methodology For Capacitor Data Analysis Via Lcr Meter, Usama Afzal, Muhammad Aslam

Neutrosophic Systems with Applications

This research work introduces a novel methodology to establish the relationship between capacitance and resistance when dealing with imprecise data obtained from LCR meters. The proposed relationship is based on the principles of neutrosophic statistics, enabling the utilization of interval data of resistance or capacitance without losing the indeterminacy of the intervals. By employing this relationship, we can accurately determine capacitance values from interval data of resistance, thereby generating more flexible and informative graphs. Additionally, we have applied the neutrosophic analysis method to the interval data of resistance to further enhance our findings. The comparative analysis demonstrates the superiority of …

New Types Of Soft Sets” Hypersoft Set, Indetermsoft Set, Indetermhypersoft Set, And Treesoft Set”: An Improved Version, Florentin Smarandache

Neutrosophic Systems with Applications

This is an improved paper of [10], where we recall the definitions together with practical applications of the Soft Set and its extensions to HyperSoft Set, IndetermSoft Set, IndetermHyperSoft Set, and TreeSoft Set.

Design Of Stormwater Bmps For Surface And Groundwater Protection Based On Site-Scale Soil Properties: Phase I, Kelly Kibler, Lisa Chambers, Melanie Beazley

Florida DOT

Much of Earth’s nutrient cycling takes place in soils. Characteristics of soils control physical, chemical, and biological processes that determine rates of nutrient fluxes, storage, or transformation. As remediation of excess nutrients in stormwater runoff is one function of stormwater Best Management Practices (BMPs), the soil profile constitutes one of the most important factors of BMP design. Variation observed in BMP effectiveness (e.g., why one BMP design works effectively in one place and not another) can often be explained by variations in the soil profile, either through direct means or by a soil’s influence on hydraulics of stormwater flow through …

An Introduction To Bipolar Pythagorean Refined Sets, R. Janani, A. Francina Shalini

Neutrosophic Systems with Applications

The aim of this paper is to introduce the new concept of a Bipolar Pythagorean refined set by combining the two notions called a Bipolar Pythagorean set and a Pythagorean refined set. Also, the basic operations and algebraic properties of the Bipolar Pythagorean refined set are discussed with suitable examples.

An Introduction To Bipolar Pythagorean Refined Sets, R. Janani, A. Francina Shalini

Neutrosophic Systems with Applications

The aim of this paper is to introduce the new concept of a Bipolar Pythagorean refined set by combining the two notions called a Bipolar Pythagorean set and a Pythagorean refined set. Also, the basic operations and algebraic properties of the Bipolar Pythagorean refined set are discussed with suitable examples.