Engineering Commons^™

Human Intention Recognition Based Assisted Telerobotic Grasping Of Objects In An Unstructured Environment, Karan Hariharan Khokar

USF Tampa Graduate Theses and Dissertations

In this dissertation work, a methodology is proposed to enable a robot to identify an object to be grasped and its intended grasp configuration while a human is teleoperating a robot towards the desired object. Based on the detected object and grasp configuration, the human is assisted in the teleoperation task. The environment is unstructured and consists of a number of objects, each with various possible grasp configurations. The identification of the object and the grasp configuration is carried out in real time, by recognizing the intention of the human motion. Simultaneously, the human user is assisted to preshape over …

Visuomotor Learning Enhanced By Augmenting Instantaneous Trajectory Error Feedback During Reaching, James L. Patton, John Wei Yejun, Preeti Bajaj, Robert A. Scheidt

Biomedical Engineering Faculty Research and Publications

We studied reach adaptation to a 30u visuomotor rotation to determine whether augmented error feedback can promote faster and more complete motor learning. Four groups of healthy adults reached with their unseen arm to visual targets surrounding a central starting point. A manipulandum tracked hand motion and projected a cursor onto a display immediately above the horizontal plane of movement. For one group, deviations from the ideal movement were amplified with a gain of 2 whereas another group experienced a gain of 3.1. The third group experienced an offset equal to the average error seen in the initial perturbations, while …

Zheng Classification In Traditional Chinese Medicine Based On Modified Specular-Free Tongue Images, Ratchadaporn Kanawong, Tayo Obafemi-Ajayi, Jun Yu, Dong Xu, Shao Li, Ye Duan

Electrical and Computer Engineering Faculty Research & Creative Works

Traditional Chinese Medicine practitioners usually observe the color and coating of a patient's tongue to determine ZHENG (such as Cold or Hot ZHENG) and to diagnose different stomach disorders including gastritis. In our previous work, we explored new modalities for clinical characterization of ZHENG in gastritis patients via tongue image analysis using various supervised machine-learning algorithms. We proposed a system that learns from the clinical practitioner's subjective data how to classify a patients health status by extracting meaningful features from tongue images based on color-space models. In this paper, we propose an enhancement to the ZHENG classification system: a coating …

Features For Automated Tongue Image Shape Classification, Tayo Obafemi-Ajayi, Ratchadaporn Kanawong, Dong Xu, Shao Li, Ye Duan

Electrical and Computer Engineering Faculty Research & Creative Works

Inspection of the tongue is a key component in Traditional Chinese Medicine. Chinese medical practitioners diagnose the health status of a patient based on observation of the color, shape, and texture characteristics of the tongue. The condition of the tongue can objectively reflect the presence of certain diseases and aid in the differentiation of syndromes, prognosis of disease and establishment of treatment methods. Tongue shape is a very important feature in tongue diagnosis. A different tongue shape other than ellipse could indicate presence of certain pathologies. In this paper, we propose a novel set of features, based on shape geometry …

Electroencephalography (Eeg)-Based Brain Computer Interfaces For Rehabilitation, Dandan Huang

Theses and Dissertations

Objective: Brain-computer interface (BCI) technologies have been the subject of study for the past decades to help restore functions for people with severe motor disabilities and to improve their quality of life. BCI research can be generally categorized by control signals (invasive/non-invasive) or applications (e.g. neuroprosthetics/brain-actuated wheelchairs), and efforts have been devoted to better understand the characteristics and possible uses of brain signals. The purpose of this research is to explore the feasibility of a non-invasive BCI system with the combination of unique sensorimotor-rhythm (SMR) features. Specifically, a 2D virtual wheelchair control BCI is implemented to extend the application of …

A Review Of Situation Identification Techniques In Pervasive Computing, Juan Ye, Simon Dobson, Susan Mckeever

Articles

Pervasive systems must offer an open, extensible, and evolving portfolio of services which integrate sensor data from a diverse range of sources. The core challenge is to provide appropriate and consistent adaptive behaviours for these services in the face of huge volumes of sensor data exhibiting varying degrees of precision, accuracy and dynamism. Situation identification is an enabling technology that resolves noisy sensor data and abstracts it into higher-level concepts that are interesting to applications. We provide a comprehensive analysis of the nature and characteristics of situations, discuss the complexities of situation identification, and review the techniques that are most …

Sports Data Mining Technology Used In Basketball Outcome Prediction, Chenjie Cao

Dissertations

Driven by the increasing comprehensive data in sports datasets and data mining technique successfully used in different area, sports data mining technique emerges and enables us to find hidden knowledge to impact the sport industry. In many instances, predicting the outcomes of sporting events has always been a challenging and attractive work and is therefore drawing a wide concern to conduct research in this field. This project focuses on using machine learning algorithms to build a model for predicting the NBA game outcomes and the algorithms involve Simple Logistics Classifier, Artificial Neural Networks, SVM and Naïve Bayes. In order to …

A Study Of Localization And Latency Reduction For Action Recognition, Syed Zain Masood

Electronic Theses and Dissertations

The success of recognizing periodic actions in single-person-simple-background datasets, such as Weizmann and KTH, has created a need for more complex datasets to push the performance of action recognition systems. In this work, we create a new synthetic action dataset and use it to highlight weaknesses in current recognition systems. Experiments show that introducing background complexity to action video sequences causes a significant degradation in recognition performance. Moreover, this degradation cannot be fixed by fine-tuning system parameters or by selecting better feature points. Instead, we show that the problem lies in the spatio-temporal cuboid volume extracted from the interest point …

Methodology For Behavioral-Based Malware Analysis And Detection Using Random Projections And K-Nearest Neighbors Classifiers, Jozsef Hegedus, Yoan Miche, Alexander Ilin, Amaury Lendasse

Engineering Management and Systems Engineering Faculty Research & Creative Works

In This Paper, a Two-Stage Methodology to Analyze and Detect Behavioral-Based Malware is Presented. in the First Stage, a Random Projection is Decreasing the Variable Dimensionality of the Problem and is Simultaneously Reducing the Computational Time of the Classification Task by Several Orders of Magnitude. in the Second Stage, a Modified K-Nearest Neighbors Classifier is Used with Virus total Labeling of the File Samples. This Methodology is Applied to a Large Number of File Samples Provided by F-Secure Corporation, for Which a Dynamic Feature Has Been Extracted during Deep guard Sandbox Execution. as a Result, the Files Classified as False …

An Evaluation Of The Eeg Alpha-To-Theta And Theta-To-Alpha Band Ratios As Indexes Of Mental Workload, Bujar Raufi, Luca Longo

Articles

Many research works indicate that EEG bands, specifically the alpha and theta bands, have been potentially helpful cognitive load indicators. However, minimal research exists to validate this claim. This study aims to assess and analyze the impact of the alpha-to-theta and the theta-to-alpha band ratios on supporting the creation of models capable of discriminating self-reported perceptions of mental workload. A dataset of raw EEG data was utilized in which 48 subjects performed a resting activity and an induced task demanding exercise in the form of a multitasking SIMKAP test. Band ratios were devised from frontal and parietal electrode clusters. …

Learning Local Features Using Boosted Trees For Face Recognition, Rajkiran Gottumukkal

Electrical & Computer Engineering Theses & Dissertations

Face recognition is fundamental to a number of significant applications that include but not limited to video surveillance and content based image retrieval. Some of the challenges which make this task difficult are variations in faces due to changes in pose, illumination and deformation. This dissertation proposes a face recognition system to overcome these difficulties. We propose methods for different stages of face recognition which will make the system more robust to these variations. We propose a novel method to perform skin segmentation which is fast and able to perform well under different illumination conditions. We also propose a method …

Data Mining Based Learning Algorithms For Semi-Supervised Object Identification And Tracking, Michael P. Dessauer

Doctoral Dissertations

Sensor exploitation (SE) is the crucial step in surveillance applications such as airport security and search and rescue operations. It allows localization and identification of movement in urban settings and can significantly boost knowledge gathering, interpretation and action. Data mining techniques offer the promise of precise and accurate knowledge acquisition techniques in high-dimensional data domains (and diminishing the “curse of dimensionality” prevalent in such datasets), coupled by algorithmic design in feature extraction, discriminative ranking, feature fusion and supervised learning (classification). Consequently, data mining techniques and algorithms can be used to refine and process captured data and to detect, recognize, classify, …

A Contextual Approach To Learning Collaborative Behavior Via Observation, Cynthia L. Johnson

Electronic Theses and Dissertations

This dissertation describes a novel technique to creating a simulated team of agents through observation. Simulated human teamwork can be used for a number of purposes, such as expert examples, automated teammates for training purposes and realistic opponents in games and training simulation. Current teamwork simulations require the team member behaviors be programmed into the simulation, often requiring a great deal of time and effort. None are able to observe a team at work and replicate the teamwork behaviors. Machine learning techniques for learning by observation and learning by demonstration have proven successful at observing behavior of humans or other …

Effective Task Transfer Through Indirect Encoding, Phillip Verbancsics

Electronic Theses and Dissertations

An important goal for machine learning is to transfer knowledge between tasks. For example, learning to play RoboCup Keepaway should contribute to learning the full game of RoboCup soccer. Often approaches to task transfer focus on transforming the original representation to fit the new task. Such representational transformations are necessary because the target task often requires new state information that was not included in the original representation. In RoboCup Keepaway, changing from the 3 vs. 2 variant of the task to 4 vs. 3 adds state information for each of the new players. In contrast, this dissertation explores the idea …

Optimal Detour Planning Around Blocked Construction Zones, Mutasem Jardaneh

Electronic Theses and Dissertations

Construction zones are traffic way areas where construction, maintenance or utility work is identified by warning signs, signals and indicators, including those on transport devices that mark the beginning and end of construction zones. Construction zones are among the most dangerous work areas, with workers facing workplace safety challenges that often lead to catastrophic injuries or fatalities. In addition, daily commuters are also impacted by construction zone detours that affect their safety and daily commute time. These problems represent major challenges to construction planners as they are required to plan vehicle routes around construction zones in such a way that …

Energy-Economical Heuristically Based Control Of Compass Gait Walking On Stochastically Varying Terrain, Christian Hubicki

Master’s Theses

Investigation uses simulation to explore the inherent tradeoffs ofcontrolling high-speed and highly robust walking robots while minimizing energy consumption. Using a novel controller which optimizes robustness, energy economy, and speed of a simulated robot on rough terrain, the user can adjust their priorities between these three outcome measures and systematically generate a performance curveassessing the tradeoffs associated with these metrics.

Algorithms For Training Large-Scale Linear Programming Support Vector Regression And Classification, Pablo Rivas Perea

Open Access Theses & Dissertations

The main contribution of this dissertation is the development of a method to train a Support Vector Regression (SVR) model for the large-scale case where the number of training samples supersedes the computational resources. The proposed scheme consists of posing the SVR problem entirely as a Linear Programming (LP) problem and on the development of a sequential optimization method based on variables decomposition, constraints decomposition, and the use of primal-dual interior point methods. Experimental results demonstrate that the proposed approach has comparable performance with other SV-based classifiers. Particularly, experiments demonstrate that as the problem size increases, the sparser the solution …

Exploiting Opponent Modeling For Learning In Multi-Agent Adversarial Games, Kennard R. Laviers

Electronic Theses and Dissertations

An issue with learning effective policies in multi-agent adversarial games is that the size of the search space can be prohibitively large when the actions of both teammates and opponents are considered simultaneously. Opponent modeling, predicting an opponent’s actions in advance of execution, is one approach for selecting actions in adversarial settings, but it is often performed in an ad hoc way. In this dissertation, we introduce several methods for using opponent modeling, in the form of predictions about the players’ physical movements, to learn team policies. To explore the problem of decision-making in multi-agent adversarial scenarios, we use our …

Automated Semantic Understanding Of Human Emotions In Writing And Speech, Ricardo A. Calix

LSU Doctoral Dissertations

Affective Human Computer Interaction (A-HCI) will be critical for the success of new technologies that will prevalent in the 21st century. If cell phones and the internet are any indication, there will be continued rapid development of automated assistive systems that help humans to live better, more productive lives. These will not be just passive systems such as cell phones, but active assistive systems like robot aides in use in hospitals, homes, entertainment room, office, and other work environments. Such systems will need to be able to properly deduce human emotional state before they determine how to best interact with …

Prediction Of Brain Tumor Progression Using Multiple Histogram Matched Mri Scans, Debrup Banerjee, Loc Tran, Jiang Li, Yuzhong Shen, Frederic Mckenzie, Jihong Wang, Ronald M. Summers (Ed.), Bram Van Ginneken (Ed.)

Electrical & Computer Engineering Faculty Publications

In a recent study [1], we investigated the feasibility of predicting brain tumor progression based on multiple MRI series and we tested our methods on seven patients' MRI images scanned at three consecutive visits A, B and C. Experimental results showed that it is feasible to predict tumor progression from visit A to visit C using a model trained by the information from visit A to visit B. However, the trained model failed when we tried to predict tumor progression from visit B to visit C, though it is clinically more important. Upon a closer look at the MRI scans …

Prediction Of Brain Tumor Progression Using A Machine Learning Technique, Yuzhong Shen, Debrup Banerjee, Jiang Li, Adam Chandler, Yufei Shen, Frederic D. Mckenzie, Jihong Wang, Nico Karssemeijer (Ed.), Ronald M. Summers (Ed.)

Electrical & Computer Engineering Faculty Publications

A machine learning technique is presented for assessing brain tumor progression by exploring six patients' complete MRI records scanned during their visits in the past two years. There are ten MRI series, including diffusion tensor image (DTI), for each visit. After registering all series to the corresponding DTI scan at the first visit, annotated normal and tumor regions were overlaid. Intensity value of each pixel inside the annotated regions were then extracted across all of the ten MRI series to compose a 10 dimensional vector. Each feature vector falls into one of three categories:normal, tumor, and normal but progressed to …

Creating Insanity In Learning Systems: Addressing Ambiguity Effects Of Predicting Non-Linear Continuous Valued Functions With Reconstructabilty Analysis From Large Categorically Valued Input Data Sets, William D. Eisenhauer

Systems Science Friday Noon Seminar Series

Being told to give two different, and potentially counter, responses to the same stimulus can set up a double bind in humans, leading to a type of insanity. So what how do you deal with it when it comes up quite frequently in modeling through simplification and removal of predictive variables?

In his current dissertation research Ike Eisenhauer is using reconstructability analysis to implement K-System, U-System, and B-System approaches to predict a continuously valued function through discrete categorically valued input variables [e.g. textual data]. One of the key issues is how to address the inability of K-Systems and U-Systems to …

A Neural Network Approach To Border Gateway Protocol Peer Failure Detection And Prediction, Cory B. White

Master's Theses

The size and speed of computer networks continue to expand at a rapid pace, as do the corresponding errors, failures, and faults inherent within such extensive networks. This thesis introduces a novel approach to interface Border Gateway Protocol (BGP) computer networks with neural networks to learn the precursor connectivity patterns that emerge prior to a node failure. Details of the design and construction of a framework that utilizes neural networks to learn and monitor BGP connection states as a means of detecting and predicting BGP peer node failure are presented. Moreover, this framework is used to monitor a BGP network …

A Unified Multi-Functional Dynamic Spectrum Access Framework: Tutorial, Theory And Multi-Ghz Wideband Testbed, Robert Qiu, Nan Guo, Husheng Li, Zhiqiang Wu, Vasu Chakravarthy, Yu Song, Zhen Hu, Peng Zhang, Zhe Chen

Electrical Engineering Faculty Publications

Dynamic spectrum access is a must-have ingredient for future sensors that are ideally cognitive. The goal of this paper is a tutorial treatment of wideband cognitive radio and radar—a convergence of (1) algorithms survey, (2) hardware platforms survey, (3) challenges for multi-function (radar/communications) multi-GHz front end, (4) compressed sensing for multi-GHz waveforms—revolutionary A/D, (5) machine learning for cognitive radio/radar, (6) quickest detection, and (7) overlay/underlay cognitive radio waveforms. One focus of this paper is to address the multi-GHz front end, which is the challenge for the next-generation cognitive sensors. The unifying theme of this paper is to spell out the …

Using Student Mood And Task Performance To Train Classifier Algorithms To Select Effective Coaching Strategies Within Intelligent Tutoring Systems (Its), Robert Sottilare

Electronic Theses and Dissertations

The ultimate goal of this research was to improve student performance by adjusting an Intelligent Tutoring System's (ITS) coaching strategy based on the student's mood. As a step toward this goal, this study evaluated the relationships between each student's mood variables (pleasure, arousal, dominance and mood intensity), the coaching strategy selected by the ITS and the student's performance. Outcomes included methods to increase the perception of the intelligent tutor to allow it to adapt coaching strategies (methods of instruction) to the student's affective needs to mitigate barriers to performance (e.g. negative affect) during the one-to-one tutoring process. The study evaluated …

Concept Learning By Example Decomposition, Sameer Joshi

Electronic Theses and Dissertations

For efficient understanding and prediction in natural systems, even in artificially closed ones, we usually need to consider a number of factors that may combine in simple or complex ways. Additionally, many modern scientific disciplines face increasingly large datasets from which to extract knowledge (for example, genomics). Thus to learn all but the most trivial regularities in the natural world, we rely on different ways of simplifying the learning problem. One simplifying technique that is highly pervasive in nature is to break down a large learning problem into smaller ones; to learn the smaller, more manageable problems; and then to …

Analyses Of Crash Occurence And Injury Severities On Multi Lane Highways Using Machine Learning Algorithms, Abhishek Das

Electronic Theses and Dissertations

Reduction of crash occurrence on the various roadway locations (mid-block segments; signalized intersections; un-signalized intersections) and the mitigation of injury severity in the event of a crash are the major concerns of transportation safety engineers. Multi lane arterial roadways (excluding freeways and expressways) account for forty-three percent of fatal crashes in the state of Florida. Significant contributing causes fall under the broad categories of aggressive driver behavior; adverse weather and environmental conditions; and roadway geometric and traffic factors. The objective of this research was the implementation of innovative, state-of-the-art analytical methods to identify the contributing factors for crashes and injury …

Quantum Inductive Learning And Quantum Logic Synthesis, Martin Lukac

Dissertations and Theses

Since Quantum Computer is almost realizable on large scale and Quantum Technology is one of the main solutions to the Moore Limit, Quantum Logic Synthesis (QLS) has become a required theory and tool for designing Quantum Logic Circuits. However, despite its growth, there is no any unified aproach to QLS as Quantum Computing is still being discovered and novel applications are being identified.

The intent of this study is to experimentally explore principles of Quantum Logic Synthesis and its applications to Inductive Machine Learning. Based on algorithmic approach, I first design a Genetic Algorithm for Quantum Logic Synthesis that is …

An Analysis Of Misclassification Rates For Decision Trees, Mingyu Zhong

Electronic Theses and Dissertations

The decision tree is a well-known methodology for classification and regression. In this dissertation, we focus on the minimization of the misclassification rate for decision tree classifiers. We derive the necessary equations that provide the optimal tree prediction, the estimated risk of the tree's prediction, and the reliability of the tree's risk estimation. We carry out an extensive analysis of the application of Lidstone's law of succession for the estimation of the class probabilities. In contrast to existing research, we not only compute the expected values of the risks but also calculate the corresponding reliability of the risk (measured by …

Towards A Self-Calibrating Video Camera Network For Content Analysis And Forensics, Imran Junejo

Electronic Theses and Dissertations

Due to growing security concerns, video surveillance and monitoring has received an immense attention from both federal agencies and private firms. The main concern is that a single camera, even if allowed to rotate or translate, is not sufficient to cover a large area for video surveillance. A more general solution with wide range of applications is to allow the deployed cameras to have a non-overlapping field of view (FoV) and to, if possible, allow these cameras to move freely in 3D space. This thesis addresses the issue of how cameras in such a network can be calibrated and how …