Engineering Commons^™

Intelligent Therapeutic Robot: Design, Development, And Control, Asif Al Zubayer Swapnil

Theses and Dissertations

This research contributes to developing an Intelligent Therapeutic Robot (iTbot) designed to provide therapy to patients with upper limb impairment due to stroke, injury, and other trauma. This robot aims to implement robotic rehabilitation based on principles of motor rehabilitation and Neuroplasticity. The iTbot, as developed in this research, can provide end-effector type rehabilitation exercises in various configurations, including motion in the vertical and horizontal plane. It can provide passive, active, and active-assisted rehabilitation therapies to patients with limited upper limb mobility.

The iTbot has been designed with simplicity in mind with a minimum viability approach. With a minimum amount …

Detection Of Stealthy False Data Injection Attacks Against State Estimation In Electric Power Grids Using Deep Learning Techniques, Qingyu Ge

Theses and Dissertations

Since communication technologies are being integrated into smart grid, its vulnerability to false data injection is increasing. State estimation is a critical component which is used for monitoring the operation of power grid. However, a tailored attack could circumvent bad data detection of the state estimation, thus disturb the stability of the grid. Such attacks are called stealthy false data injection attacks (FDIAs). This thesis proposed a prediction-based detector using deep learning techniques to detect injected measurements. The proposed detector adopts both Convolutional Neural Networks and Recurrent Neural Networks, making full use of the spatial-temporal correlations in the measurement data. …

Monte Carlo Tree Search Applied To A Modified Pursuit/Evasion Scotland Yard Game With Rendezvous Spaceflight Operation Applications, Joshua A. Daughtery

Theses and Dissertations

This thesis takes the Scotland Yard board game and modifies its rules to mimic important aspects of space in order to facilitate the creation of artificial intelligence for space asset pursuit/evasion scenarios. Space has become a physical warfighting domain. To combat threats, an understanding of the tactics, techniques, and procedures must be captured and studied. Games and simulations are effective tools to capture data lacking historical context. Artificial intelligence and machine learning models can use simulations to develop proper defensive and offensive tactics, techniques, and procedures capable of protecting systems against potential threats. Monte Carlo Tree Search is a bandit-based …

Extracting Range Data From Images Using Focus Error, Erik M. Madden

Theses and Dissertations

Air-to-air refueling (AAR) has become a staple when performing long missions with aircraft. With modern technology, however, people have begun to research how to perform this task autonomously. Automated air-to-air refueling (A3R) is this exact concept. Combining many different systems, the idea is to allow computers on the aircraft to link up via the refueling boom, refuel, and detach before resuming pilot control. This document lays out one of the systems that is needed to perform A3R, namely, the system that extracts range data. While stereo cameras perform such tasks, there is interest in finding other ways of accomplishing the …

Object Detection With Deep Learning To Accelerate Pose Estimation For Automated Aerial Refueling, Andrew T. Lee

Theses and Dissertations

Remotely piloted aircraft (RPAs) cannot currently refuel during flight because the latency between the pilot and the aircraft is too great to safely perform aerial refueling maneuvers. However, an AAR system removes this limitation by allowing the tanker to directly control the RP A. The tanker quickly finding the relative position and orientation (pose) of the approaching aircraft is the first step to create an AAR system. Previous work at AFIT demonstrates that stereo camera systems provide robust pose estimation capability. This thesis first extends that work by examining the effects of the cameras' resolution on the quality of pose …

Algorithm Selection Framework: A Holistic Approach To The Algorithm Selection Problem, Marc W. Chalé

Theses and Dissertations

A holistic approach to the algorithm selection problem is presented. The “algorithm selection framework" uses a combination of user input and meta-data to streamline the algorithm selection for any data analysis task. The framework removes the conjecture of the common trial and error strategy and generates a preference ranked list of recommended analysis techniques. The framework is performed on nine analysis problems. Each of the recommended analysis techniques are implemented on the corresponding data sets. Algorithm performance is assessed using the primary metric of recall and the secondary metric of run time. In six of the problems, the recall of …

Pedestrian Navigation Using Artificial Neural Networks And Classical Filtering Techniques, David J. Ellis

Theses and Dissertations

The objective of this thesis is to explore the improvements achieved through using classical filtering methods with Artificial Neural Network (ANN) for pedestrian navigation techniques. ANN have been improving dramatically in their ability to approximate various functions. These neural network solutions have been able to surpass many classical navigation techniques. However, research using ANN to solve problems appears to be solely focused on the ability of neural networks alone. The combination of ANN with classical filtering methods has the potential to bring beneficial aspects of both techniques to increase accuracy in many different applications. Pedestrian navigation is used as a …