Engineering Commons^™

Odometry Correction Of A Mobile Robot Using A Range-Finding Laser, Thomas Epton

All Theses

Two methods for improving odometry using a pan-tilt range-finding laser is considered. The first method is a one-dimensional model that uses the laser with a sliding platform. The laser is used to determine how far the platform has moved along a rail. The second method is a two-dimensional model that mounts the laser to a mobile robot. In this model, the laser is used to improve the odometry of the robot. Our results show that the one-dimensional model proves our basic geometry is correct, while the two-dimensional model improves the odometry, but does not completely correct it.

Forensics Image Background Matching Using Scale Invariant Feature (Sift)Transform And Speeded Up Robust Features (Surf), Paul N. Fogg Ii

Theses and Dissertations

In criminal investigations, it is not uncommon for investigators to obtain a photograph or image that shows a crime being committed. Additionally, thousands of pictures may exist of a location, taken from the same or varying viewpoints. Some of these images may even include a criminal suspect or witness. One mechanism to identify criminals and witnesses is to group the images found on computers, cell phones, cameras, and other electronic devices into sets representing the same location. One or more images in the group may then prove the suspect was at the crime scene before, during, and/or after a crime. …

Operational Strategies For Continuum Manipulators, Matt Csencsits

All Theses

We introduce a novel, intuitive user interface for continuum manipulators through the use of various joystick mappings. This user interface allows for the effective use of continuum manipulators in the lab and in the field. A novel geometric approach is developed to produce a more intuitive understanding of continuum manipulator kinematics. Using this geometric approach we derive the first closed-form solution to the inverse kinematics problem for continuum robots. Using the derived inverse kinematics to convert from workspace coordinates to configuration space coordinates we develop a potential-field path planner for continuum manipulators.

Fabric-On-A-Chip: Toward Consolidating Packet Switching Functions On Silicon, William B. Matthews

Doctoral Dissertations

The switching capacity of an Internet router is often dictated by the memory bandwidth required to bu¤er arriving packets. With the demand for greater capacity and improved service provisioning, inherent memory bandwidth limitations are encountered rendering input queued (IQ) switches and combined input and output queued (CIOQ) architectures more practical. Output-queued (OQ) switches, on the other hand, offer several highly desirable performance characteristics, including minimal average packet delay, controllable Quality of Service (QoS) provisioning and work-conservation under any admissible traffic conditions. However, the memory bandwidth requirements of such systems is O(NR), where N denotes the number of …

Automated Genome-Wide Protein Domain Exploration, Bhanu Prasad Rekepalli

Doctoral Dissertations

Exploiting the exponentially growing genomics and proteomics data requires high quality, automated analysis. Protein domain modeling is a key area of molecular biology as it unravels the mysteries of evolution, protein structures, and protein functions. A plethora of sequences exist in protein databases with incomplete domain knowledge. Hence this research explores automated bioinformatics tools for faster protein domain analysis. Automated tool chains described in this dissertation generate new protein domain models thus enabling more effective genome-wide protein domain analysis. To validate the new tool chains, the Shewanella oneidensis and Escherichia coli genomes were processed, resulting in a new peptide domain …

Self-Certified Public Key Cryptographic Methodologies For Resource-Constrained Wireless Sensor Networks, Ortal Arazi

Doctoral Dissertations

As sensor networks become one of the key technologies to realize ubiquitous computing, security remains a growing concern. Although a wealth of key-generation methods have been developed during the past few decades, they cannot be directly applied to sensor network environments. The resource-constrained characteristics of sensor nodes, the ad-hoc nature of their deployment, and the vulnerability of wireless media pose a need for unique solutions.

A fundamental requisite for achieving security is the ability to provide for data con…dential- ity and node authentication. However, the scarce resources of sensor networks have rendered the direct applicability of existing public key cryptography …

Hardware-Efficient Scalable Reinforcement Learning Systems, Zhenzhen Liu

Doctoral Dissertations

Reinforcement Learning (RL) is a machine learning discipline in which an agent learns by interacting with its environment. In this paradigm, the agent is required to perceive its state and take actions accordingly. Upon taking each action, a numerical reward is provided by the environment. The goal of the agent is thus to maximize the aggregate rewards it receives over time. Over the past two decades, a large variety of algorithms have been proposed to select actions in order to explore the environment and gradually construct an e¤ective strategy that maximizes the rewards. These RL techniques have been successfully applied …

Computationally Efficient Mixed Pixel Decomposition Using Constrained Optimizations, Lidan Miao

Doctoral Dissertations

Sensors with spatial resolution larger than targets yield mixed pixel, i.e., pixel whose measurement is a composite of different sources (endmembers). The analysis of mixed pixels demands subpixel methods to perform source separation and quantification, which is a problem of blind source separation (BSS). Although various algorithms have been proposed, several important issues remain unresolved. First, assuming the endmembers are known, the abundance estimation is commonly performed by employing a least squares criterion, which however makes the estimation sensitive to noise and outliers, and the endmembers with very similar signatures are difficult to differentiate. In addition, the …

Using Gis To Optimize The Design And Implementation Of The Rtk Reference Network In Abu Dhabi, Mustafa Abdulla Mohammed Almusawa

Theses

Several challenging applications and construction works demand real-time measurements for positioning at the centimeter-level accuracy. This positioning accuracy can be obtained by using a Global Positioning System (GPS) roving unit and employing a single reference station (base-station) or through utilizing the service of multiple reference stations forming a Real-Time Kinematics (RTK) Reference Network.

The limitation of the single reference approach is that measurement errors are distance dependent and good accuracy can be only obtained when distances are less than 10 kms. In addition, this method requires a nearby Geodetic Control Point (GCP). Recently, RTK reference networks are widely established in …

Performance Testing An Inline Network Intrusion Detection System Using Snort, Richard Wagoner

Morehead State Theses and Dissertations

A thesis presented to the faculty of the College of Science and Technology at Morehead State University in partial fulfillment of the requirements for the Degree of Master of Science by Richard Wagoner on November 16, 2007.

Diseño Y Modelamiento De Un Robot Cartesiano Para El Posicionamiento De Piezas, Rubén Darío Godoy Hernández, Willy Rodríguez Quintero

Ingeniería en Automatización

En el presente proyecto se realiza el diseño y modelamiento de un robot cartesiano para el posicionamiento de piezas en el módulo de almacenamiento del laboratorio de automatización y robótica. Se recuperan, manipulan y almacenan forma automática las piezas del CIM. El robot consta de tres grados de libertad, cada articulación es prismática, el desplazamiento en el eje X es por medio de una correa dentada conectada a un motor paso a paso. Para el desplazamiento en el eje Z se utiliza un tornillo de bolas el cual se moverá por un motor paso a paso. Para la ubicación de …

Lazy Preservation: Reconstructing Websites From The Web Infrastructure, Frank Mccown

Computer Science Theses & Dissertations

Backup or preservation of websites is often not considered until after a catastrophic event has occurred. In the face of complete website loss, webmasters or concerned third parties have attempted to recover some of their websites from the Internet Archive. Still others have sought to retrieve missing resources from the caches of commercial search engines. Inspired by these post hoc reconstruction attempts, this dissertation introduces the concept of lazy preservation{ digital preservation performed as a result of the normal operations of the Web Infrastructure (web archives, search engines and caches). First, the Web Infrastructure (WI) is characterized by its preservation …

Radar System Characterization Extended To Hardware In The Loop Simulation For The Lab-Volt™ Training System, Oscar C. Mayhew

Theses and Dissertations

Modeling RADAR signals in software allows the testing of potential electronic counter measures and electronic counter counter measures without the associated RADAR hardware and test facilities. Performing a characterization process on a real world RADAR system reveals all imperfections within the system. The Lab-Volt™ RADAR system served as the characterized real world RADAR system. The characterization process consisted of measurements at selected front panel locations on the Lab-Volt™ transmitter module, antenna pedestal, receiver module, and dual channel sampler module. Due to the overwhelming influence of antenna parameters on a received signal, the characterization process also attempted to derive an antenna …

Route Recovery Schemes For Link And Node Failure And Link Congestion, Ibrahim Takouna

Theses

Link/Node failure occurs frequently causing service disruption in computer networks. Hardware techniques have been developed to protect the network from Link/Node failure. These techniques work in physical layer, therefore their convergence time is very small. On the other hand, many schemes have been proposed to mitigate the failure influence on the network. These schemes work in upper layers such as the network layer. However, hardware solutions faster than other schemes, but they are expensive. Link/Node failure causes all flows which were using the failed link/node are temporarily interrupted till a new path reestablished.

Three recovery algorithms have been proposed that …

Personalized Health Monitoring Using Evolvable Block-Based Neural Networks, Wei Jiang

Doctoral Dissertations

This dissertation presents personalized health monitoring using evolvable block-based neural networks. Personalized health monitoring plays an increasingly important role in modern society as the population enjoys longer life. Personalization in health monitoring considers physiological variations brought by temporal, personal or environmental differences, and demands solutions capable to reconfigure and adapt to specific requirements. Block-based neural networks (BbNNs) consist of 2-D arrays of modular basic blocks that can be easily implemented using reconfigurable digital hardware such as field programmable gate arrays (FPGAs) that allow on-line partial reorganization. The modular structure of BbNNs enables easy expansion in size by adding more blocks. …

Study Of Interaction Between Mexican Free-Tailed Bats (Tadarida Brasiliensis) And Moths And Counting Moths In A Real Time Video, Haritha Kolli

Masters Theses

Brazilian free tailed bats (Tadarida brasiliensis) are among the most abundant and widely distributed species in the southwestern United States in the summer. Because of their high metabolic needs and diverse diets, bats can impact the communities in which they live in a variety of important ways. The role of bats in pollination, seed dispersal and insect control has been proven to be extremely significant. Due to human ignorance, habitat destruction, fear and low reproductive rates of bats, there is a decline in bat populations. T.brasiliensis eats large quantities of insects but is not always successful in prey …

Channel Management In Heterogeneous Cellular Networks, Mohammad Hadi Arbabi

Computer Science Theses & Dissertations

Motivated by the need to increase system capacity in the face of tight FCC regulations, modem cellular systems are under constant pressure to increase the sharing of the frequency spectrum among the users of the network.

Key to increasing system capacity is an efficient channel management strategy that provides higher capacity for the system while, at the same time, providing the users with Quality of Service guarantees. Not surprisingly, dynamic channel management has become a high profile topic in wireless communications. Consider a highly populated urban area, where mobile traffic loads are increased due to highway backups or sporting events. …

Gate Level Dynamic Energy Estimation In Asynchronous Circuits Using Petri Nets, Ryan Mabry

USF Tampa Graduate Theses and Dissertations

This thesis introduces a new methodology for energy estimation in asynchronous circuits. Unlike existing probabilistic methods, this is the first simulative work for energy estimation in all types of asynchronous circuits.

The new simulative methodology is based on Petri net modeling. A real delay model is incorporated to capture both gate delays and interconnect delays. The switching activity at each gate is captured to measure the average dynamic energy consumed per request/acknowledge handshaking pair. The new type of Petri net is called Hierarchical Colored Asynchronous Hardware Petri net (HCAHPN). The HCAHPN is able to capture the temporal and spatial correlations …

Análisis De Señales Mioeléctricas Orientadas A La Robótica, Bryant Fernando Salas Flórez, Yeyson Alejandro Becerra Mora

Ingeniería en Automatización

Gracias a que las señales electromiográficas (EMG) o señales mioeléctricas pueden ser generadas de manera voluntaria por las personas y se requiere un número reducido de sensores y de canales para obtenerlas, representan una excelente opción para una futura orientación a la Robótica, después de lograr la clasificación de las señales EMG, resulta relativamente fácil traducirlas a comandos que permitan controlar futuras interfaces hombre – máquina, permitiendo desarrollar aplicaciones en campos tan variados como la medicina en procesos de rehabilitación y de diagnostico, la industria, el hogar, entre otros. La metodología seguida (véase Figura. 1) fue una serie de pruebas …

Diseño E Implementación De Un Sistema De Monitoreo Y Control Vía Internet Para Una Planta Piloto De Refrigeración, Edwin Alexander Rincón Molina, Ivan Dario Luengas Castañeda

Ingeniería en Automatización

En el presente documento se presenta el Diseño E Implementación De Un Sistema De Monitoreo Y Control Vía Internet Para Una Planta Piloto De Refrigeración. Durante el transcurso del proyecto se tuvo como objetivo el monitoreo vía internet de a planta piloto y como visualizar y controlar las variables en el sistema.

Real-Time Gps-Alternative Navigation Using Commodity Hardware, Jordon L. Fletcher

Theses and Dissertations

Modern navigation systems can use the Global Positioning System (GPS) to accurately determine position with precision in some cases bordering on millimeters. Unfortunately, GPS technology is susceptible to jamming, interception, and unavailability indoors or underground. There are several navigation techniques that can be used to navigate during times of GPS unavailability, but there are very few that result in GPS-level precision. One method of achieving high precision navigation without GPS is to fuse data obtained from multiple sensors. This thesis explores the fusion of imaging and inertial sensors and implements them in a real-time system that mimics human navigation. In …

Distributed Web Services Firewall, Hesham Samy Sabry

Archived Theses and Dissertations

No abstract provided.

Integrating Globalization Processes Into The Rational Unified Process, Omar Bahy Badreddin

Archived Theses and Dissertations

No abstract provided.

System Level Modeling And Design Using Sysml And Systemc, Waseem Mohamed Raslan

Archived Theses and Dissertations

No abstract provided.

Automated Selection Of Legacy Systems Soa Modernization Strategies Using Decision Theory, Rafik Amir Salama

Archived Theses and Dissertations

No abstract provided.

Parallel Fast Multipole Method For Molecular Dynamics, Reid G. Ormseth

Theses and Dissertations

We report on a parallel version of the Fast Multipole Method (FMM) implemented in the classical molecular dynamics code, NAMD (Not Another Molecular Dynamics program). This novel implementation of FMM aims to minimize interprocessor communication through the modification of the FMM grid to match the hybrid force and spatial decomposition scheme already present in NAMD. This new implementation has the benefit of replacing all-to-all communications broadcasts with direct communications between nearest neighbors. This results in a significant reduction in the amount of communication compared to earlier attempts to integrate FMM into common molecular dynamics programs. The early performance of FMM …

Voice And Video Capacity Of A Secure Wireless System, Jason R. Seyba

Theses and Dissertations

Improving the security and availability of secure wireless multimedia systems is the purpose of this thesis. Specifically, this thesis answered research questions about the capacity of wireless multimedia systems and how three variables relate to this capacity. The effects of securing the voice signal, real-time traffic originating foreign to a wireless local area network and use of an audio-only signal compared with a combined signal were all studied. The research questions were answered through a comprehensive literature review in addition to an experiment which had thirty-six subjects using a secure wireless multimedia system which was developed as part of this …

Performance Analysis And Comparison Of Multiple Routing Protocols In A Large-Area, High Speed Mobile Node Ad Hoc Network, Daniel K. Roberts

Theses and Dissertations

The U.S. Air Force is interested in developing a standard ad hoc framework using "heavy" aircraft to route data across large regions. The Zone Routing Protocol (ZRP) has the potential to provide seamless large-scale routing for DOD under the Joint Tactical Radio System program. The goal of this study is to determine if there is a difference between routing protocol performance when operating in a large-area MANET with high-speed mobile nodes. This study analyzes MANET performance when using reactive, proactive, and hybrid routing protocols, specifically AODV, DYMO, Fisheye, and ZRP. This analysis compares the performance of the four routing protocols …

Development And Evaluation Of A Simultaneous Multithreading Processor Simulator, Carla Verena S. Nunez

Theses

Modem processors are designed to achieve greater amounts of instruction level parallelism (ILP) and thread level parallelism (TLP). Simultaneous multithreading (SMT) is an architecture that exploits both LLP and TLP. It improves the utilization of the processor resources by allowing multiple independent threads to reside in the pipeline and dynamically scheduling the available resources among the threads.

The first part of this thesis presents the development of a simultaneous multithreading processor simulator. The SMT simulator is derived from SimpleScalar, a superscalar processor simulator widely used in the computer architecture research field. The basic pipeline is expanded to allow multiple threads …

Sexual Conflict Over Egg Allocation: A Dynamic Programming Approach To Modeling The Evolution Of Male Harm And Female Resistance, David Kelley

Honors Capstone Projects - All

Sexual conflict, which is expected to be ubiquitous among polygamous species, is known to occasionally result in male adaptations that are harmful to females. One theoretical model indicates that males may benefit from physically harming their mates by triggering a “terminal investment” reproductive response by them. Using dynamic programming, we explore how females optimize their lifetime egg allocation, how selection acts on males to exploit such allocation, and how females respond to resist this exploitation. The model reveals alternative female response pathways; one of the most effective of which is simply to forgo plasticity in egg allocation. By switching to …