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Articles 2401 - 2430 of 13037
Full-Text Articles in Computer Engineering
Automatically Generating Searchable Fingerprints For Wordpress Plugins Using Static Program Analysis, Chuang Li
Automatically Generating Searchable Fingerprints For Wordpress Plugins Using Static Program Analysis, Chuang Li
Browse all Theses and Dissertations
This thesis introduces a novel method to automatically generate fingerprints for WordPress plugins. Our method performs static program analysis using Abstract Syntax Trees (ASTs) of WordPress plugins. The generated fingerprints can be used for identifying these plugins using search engines, which have support critical applications such as proactively identifying web servers with vulnerable WordPress plugins. We have used our method to generate fingerprints for over 10,000 WordPress plugins and analyze the resulted fingerprints. Our fingerprints have also revealed 453 websites that are potentially vulnerable. We have also compared fingerprints for vulnerable plugins and those for vulnerability-free plugins.
Semantics-Driven Abstractive Document Summarization, Amanuel Alambo
Semantics-Driven Abstractive Document Summarization, Amanuel Alambo
Browse all Theses and Dissertations
The evolution of the Web over the last three decades has led to a deluge of scientific and news articles on the Internet. Harnessing these publications in different fields of study is critical to effective end user information consumption. Similarly, in the domain of healthcare, one of the key challenges with the adoption of Electronic Health Records (EHRs) for clinical practice has been the tremendous amount of clinical notes generated that can be summarized without which clinical decision making and communication will be inefficient and costly. In spite of the rapid advances in information retrieval and deep learning techniques towards …
Development Of Enhanced User Interaction And User Experience For Supporting Serious Role-Playing Games In A Healthcare Setting, Mark Lee Alow
Development Of Enhanced User Interaction And User Experience For Supporting Serious Role-Playing Games In A Healthcare Setting, Mark Lee Alow
Browse all Theses and Dissertations
Education about implicit bias in clinical settings is essential for improving the quality of healthcare for underrepresented groups. Such a learning experience can be delivered in the form of a serious game simulation. WrightLIFE (Lifelike Immersion for Equity) is a project that combines two serious game simulations, with each addressing the group that faces implicit bias. These groups are individuals that identify as LGBTQIA+ and people with autism spectrum disorder (ASD). The project presents healthcare providers with a training tool that puts them in the roles of the patient and a medical specialist and immerses them in social and clinical …
Deep Understanding Of Technical Documents : Automated Generation Of Pseudocode From Digital Diagrams & Analysis/Synthesis Of Mathematical Formulas, Nikolaos Gkorgkolis
Deep Understanding Of Technical Documents : Automated Generation Of Pseudocode From Digital Diagrams & Analysis/Synthesis Of Mathematical Formulas, Nikolaos Gkorgkolis
Browse all Theses and Dissertations
The technical document is an entity that consists of several essential and interconnected parts, often referred to as modalities. Despite the extensive attention that certain parts have already received, per say the textual information, there are several aspects that severely under researched. Two such modalities are the utility of diagram images and the deep automated understanding of mathematical formulas. Inspired by existing holistic approaches to the deep understanding of technical documents, we develop a novel formal scheme for the modelling of digital diagram images. This extends to a generative framework that allows for the creation of artificial images and their …
Data Science Applied To Discover Ancient Minoan-Indus Valley Trade Routes Implied By Commonweight Measures, Peter Revesz
Data Science Applied To Discover Ancient Minoan-Indus Valley Trade Routes Implied By Commonweight Measures, Peter Revesz
School of Computing: Conference and Workshop Papers
This paper applies data mining of weight measures to discover possible long-distance trade routes among Bronze Age civilizations from the Mediterranean area to India. As a result, a new northern route via the Black Sea is discovered between the Minoan and the Indus Valley civilizations. This discovery enhances the growing set of evidence for a strong and vibrant connection among Bronze Age civilizations.
Bfv-Based Homomorphic Encryption For Privacy-Preserving Cnn Models, Febrianti Wibawa, Ferhat Ozgur Catak, Salih Sarp, Murat Kuzlu
Bfv-Based Homomorphic Encryption For Privacy-Preserving Cnn Models, Febrianti Wibawa, Ferhat Ozgur Catak, Salih Sarp, Murat Kuzlu
Engineering Technology Faculty Publications
Medical data is frequently quite sensitive in terms of data privacy and security. Federated learning has been used to increase the privacy and security of medical data, which is a sort of machine learning technique. The training data is disseminated across numerous machines in federated learning, and the learning process is collaborative. There are numerous privacy attacks on deep learning (DL) models that attackers can use to obtain sensitive information. As a result, the DL model should be safeguarded from adversarial attacks, particularly in medical data applications. Homomorphic encryption-based model security from the adversarial collaborator is one of the answers …
Novel Architecture Of Onem2m-Based Convergence Platform For Mixed Reality And Iot, Seungwoon Lee, Woogeun Kil, Byeong Hee Roh, Si-Jung Kim, Jin Suk Kang
Novel Architecture Of Onem2m-Based Convergence Platform For Mixed Reality And Iot, Seungwoon Lee, Woogeun Kil, Byeong Hee Roh, Si-Jung Kim, Jin Suk Kang
College of Engineering Faculty Research
There have been numerous works proposed to merge augmented reality/mixed reality (AR/MR) and Internet of Things (IoT) in various ways. However, they have focused on their specific target applications and have limitations on interoperability or reusability when utilizing them to different domains or adding other devices to the system. This paper proposes a novel architecture of a convergence platform for AR/MR and IoT systems and services. The proposed architecture adopts the oneM2M IoT standard as the basic framework that converges AR/MR and IoT systems and enables the development of application services used in general-purpose environments without being subordinate to specific …
A Machine Learning Approach To Intended Motion Prediction For Upper Extremity Exoskeletons, Justin Berdell
A Machine Learning Approach To Intended Motion Prediction For Upper Extremity Exoskeletons, Justin Berdell
Graduate Research Theses & Dissertations
A fully solid-state, software-defined, one-handed, handle-type control device built around a machine-learning (ML) model that provides intuitive and simultaneous control in position and orientation each in a full three degrees-of-freedom (DOF) is proposed in this paper. The device, referred to as the “Smart Handle”, and it is compact, lightweight, and only reliant on low-cost and readily available sensors and materials for construction. Mobility chairs for persons with motor difficulties could make use of a control device that can learn to recognize arbitrary inputs as control commands. Upper-extremity exoskeletons used in occupational settings and rehabilitation require a natural control device like …
Deep Learning-Aided Automated Personal Data Discovery And Profiling, Apdullah Yayik, Vedat Aybar, Hasan Hüseyi̇n Apik, Sevcan İçöz, Beki̇r Bakar, Tunga Güngör
Deep Learning-Aided Automated Personal Data Discovery And Profiling, Apdullah Yayik, Vedat Aybar, Hasan Hüseyi̇n Apik, Sevcan İçöz, Beki̇r Bakar, Tunga Güngör
Turkish Journal of Electrical Engineering and Computer Sciences
In Turkey, Turkish Personal Data Protection Rule (PDPR) No. 6698, in force since 2016, provides protection to citizens for the legal existence of their personal data. Although the law provides excellent guidance, companies currently face challenges in complying with its regulations in terms of storing, sharing, or monitoring personal data. Since any specially designed software with wide industrial usage is not on the market, almost all of the companies have no other choice but to take expensive and error-prone operations manually to ensure their compliance. In this paper, we present an automated solution to facilitate and accelerate PDPR compliance. In …
Shape Investigations Of Structures Formed By The Self-Assembly Of Aromaticamino Acids Using The Density-Based Spatial Clustering Of Applications With Noise Algorithm, Mehmet Gökhan Habi̇boğlu, Helen W. Hernandez, Şahi̇n Uyaver
Shape Investigations Of Structures Formed By The Self-Assembly Of Aromaticamino Acids Using The Density-Based Spatial Clustering Of Applications With Noise Algorithm, Mehmet Gökhan Habi̇boğlu, Helen W. Hernandez, Şahi̇n Uyaver
Turkish Journal of Electrical Engineering and Computer Sciences
Tyrosine, tryptophan, and phenylalanine are important aromatic amino acids for human health. If they are not properly metabolized, severe rare mental or metabolic diseases can emerge, many of which are not researched enough due to economic priorities. In our previous simulations, all three of these amino acids are discovered to be self-organizing and to have complex aggregations at different temperatures. Two of these essential stable formations are observed during our simulations: tubular-like and spherical-like structures. In this study, we develop and implement a clustering analyzing algorithm using density-based spatial clustering of applications with noise (DBSCAN) to measure the shapes of …
Factors Influencing The Effectiveness Of Managing Human–Robot Teams, Theodore B. Terry
Factors Influencing The Effectiveness Of Managing Human–Robot Teams, Theodore B. Terry
Walden Dissertations and Doctoral Studies
Certain factors can influence the capabilities of a robot–human team by affecting their social and behavioral dynamics in a work environment. But these factors were not known due to the progressive nature of human–robot partnerships and a lack of peer-reviewed literature on the topic. This e-Delphi study aimed to identify and understand these unknown influential factors based on the participants’ insights. The overarching research question asked about the need to determine factors that might influence the effectiveness of managing human-robot teams. The basis for the conceptual framework for this study was the theory of communication used in organizational management. Twelve …
การพัฒนาเครื่องมืออัตโนมัติสำหรับสร้างแบบจำลองความสัมพันธ์ของส่วนต่อประสานโปรแกรมประยุกต์เว็บเซอร์วิสแบบเรสต์ฟูล, วิภาดา กลึงเทศ
การพัฒนาเครื่องมืออัตโนมัติสำหรับสร้างแบบจำลองความสัมพันธ์ของส่วนต่อประสานโปรแกรมประยุกต์เว็บเซอร์วิสแบบเรสต์ฟูล, วิภาดา กลึงเทศ
Chulalongkorn University Theses and Dissertations (Chula ETD)
ในอุตสาหกรรมซอฟต์แวร์ นิยมนำซอฟต์แวร์กลับมาใช้ใหม่เป็นจำนวนมาก เนื่องจากเป็นการลดต้นทุนในการพัฒนาซอฟต์แวร์ เอกสารต่าง ๆ ในการพัฒนาระบบจึงมีความสำคัญในการอ้างอิง งานวิจัยนี้ ให้ความสนใจกับแผนภาพยูเอ็มแอลที่เป็นส่วนหนึ่งของเอกสารส่วนต่อประสานโปรแกรมประยุกต์ จึงได้นำเสนอการออกแบบ และพัฒนาเครื่องมืออัตโนมัติสำหรับการสร้างแบบจำลองความสัมพันธ์ของส่วนต่อประสานโปรแกรมประยุกต์เว็บเซอร์วิสแบบเรสต์ฟูลโดยใช้เครื่องมือเสริม PlantUML ที่เป็นเครื่องมือเสริมสำหรับการสร้างแผนภาพ ซึ่งงานวิจัยนี้ได้นำเครื่องมือเสริม PlantUML มาสร้างแผนภาพแบบจำลองความสัมพันธ์ระหว่างคอนโทรลเลอร์ เมธอด และคุณลักษณะภายในของพารามิเตอร์ ที่นำเสนอในรูปแบบของแผนภาพยูเอ็มแอล ดังนั้น เมื่อนำเครื่องมือที่พัฒนาขึ้นไปประยุกต์ใช้ จะช่วยให้ปรับปรุงเอกสารส่วนต่อประสานโปรแกรมประยุกต์ได้ง่ายยิ่งขึ้น และยังช่วยให้เอกสารตรงกับรหัสต้นฉบับ จากการประยุกต์ใช้เครื่องมือกับโครงการ ทำให้ได้ผลลัพธ์ของความถูกต้องเป็น 100%
Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel
Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel
Theses and Dissertations
This thesis presents a learning from demonstration framework that enables a robot to learn and perform creative motions from human demonstrations in real-time. In order to satisfy all of the functional requirements for the framework, the developed technique is comprised of two modular components, which integrate together to provide the desired functionality. The first component, called Dancing from Demonstration (DfD), is a kinesthetic learning from demonstration technique. This technique is capable of playing back newly learned motions in real-time, as well as combining multiple learned motions together in a configurable way, either to reduce trajectory error or to generate entirely …
Artificial Intelligence (Ai): The New Look Of Customer Service In A Cybersecurity World, Sharon L. Burton
Artificial Intelligence (Ai): The New Look Of Customer Service In A Cybersecurity World, Sharon L. Burton
Publications
Cybersecurity leaders are not adequately developed to guide the re-engineering of quality customer service (QCS) workflows, designed with automation and AI, that interrelate with people through customers’ perceptions. Realizing re-engineering processes should be a team effort with well-versed leadership and stakeholders guiding the successful design through a follow-up process. Leaders must shape compelling and straightforward needs to learn and teach employees and chat boxes indispensable customer service skills demonstrating patience, self-discipline, flexibility, and resourcefulness in communication with irritated customers or difficult circumstances. Whether the analysis, design, development, and implementation struggles are vacuums in cybersecurity knowledge, skill, and abilities or a …
Study On Performance Of Pruned Cnn-Based Classification Models, Mengling Deng
Study On Performance Of Pruned Cnn-Based Classification Models, Mengling Deng
Electronic Theses and Dissertations
Convolutional Neural Network (CNN) is a neural network developed for processing image data. CNNs have been studied extensively and have been used in numerous computer vision tasks such as image classification and segmentation, object detection and recognition, etc. [1] Although, the CNNs-based approaches showed humanlevel performances in these tasks [2], they require heavy computation in both training and inference stages, and the models consist of millions of parameters. This hinders the development and deployment of CNN-based models for real world applications. Neural Network Pruning and Compression techniques have been proposed [3, 4] to reduce the computation complexity of trained CNNs …
Spectrum Sensing With Energy Detection In Multiple Alternating Time Slots, Călin Vlădeanu, Alexandru Marţian, Dimitrie C. Popescu
Spectrum Sensing With Energy Detection In Multiple Alternating Time Slots, Călin Vlădeanu, Alexandru Marţian, Dimitrie C. Popescu
Electrical & Computer Engineering Faculty Publications
Energy detection (ED) represents a low complexity approach used by secondary users (SU) to sense spectrum occupancy by primary users (PU) in cognitive radio (CR) systems. In this paper, we present a new algorithm that senses the spectrum occupancy by performing ED in K consecutive sensing time slots starting from the current slot and continuing by alternating before and after the current slot. We consider a PU traffic model specified in terms of an average duty cycle value, and derive analytical expressions for the false alarm probability (FAP) and correct detection probability (CDP) for any value of K . Our …
Effect Of Connection State & Transport/Application Protocol On The Machine Learning Outlier Detection Of Network Intrusions, George Yuchi, Torrey J. Wagner, Paul Auclair, Brent T. Langhals
Effect Of Connection State & Transport/Application Protocol On The Machine Learning Outlier Detection Of Network Intrusions, George Yuchi, Torrey J. Wagner, Paul Auclair, Brent T. Langhals
Faculty Publications
The majority of cyber infiltration & exfiltration intrusions leave a network footprint, and due to the multi-faceted nature of detecting network intrusions, it is often difficult to detect. In this work a Zeek-processed PCAP dataset containing the metadata of 36,667 network packets was modeled with several machine learning algorithms to classify normal vs. anomalous network activity. Principal component analysis with a 10% contamination factor was used to identify anomalous behavior. Models were created using recursive feature elimination on logistic regression and XGBClassifier algorithms, and also using Bayesian and bandit optimization of neural network hyperparameters. These models were trained on a …
A Practical Approach To Automated Software Correctness Enhancement, Aleksandr Zakharchenko
A Practical Approach To Automated Software Correctness Enhancement, Aleksandr Zakharchenko
Dissertations
To repair an incorrect program does not mean to make it correct; it only means to make it more-correct, in some sense, than it is. In the absence of a concept of relative correctness, i.e. the property of a program to be more-correct than another with respect to a specification, the discipline of program repair has resorted to various approximations of absolute (traditional) correctness, with varying degrees of success. This shortcoming is concealed by the fact that most program repair tools are tested on basic cases, whence making them absolutely correct is not clearly distinguishable from making them relatively more-correct. …
Scalable Scientific Data Management On High-Performance Computing Systems, Zhenbo Qiao
Scalable Scientific Data Management On High-Performance Computing Systems, Zhenbo Qiao
Dissertations
As high-performance computing (HPC) is being scaled up to exascale to accommodate new modeling and simulation needs, I/O has continued to be a major bottleneck in the end-to-end scientific processes. To bridge the widening gap between compute and I/O, and enable data to be more efficiently stored and analyzed, simulation outputs need to be refactored, reduced, and appropriately mapped to storage tiers. Also, a major question that the community is striving to answer is how to co-design data storage and complex physics-rich analytics in a way that the time to knowledge can be minimized in post-processing. As HPC storage systems …
Comparative Analysis Of Rgb-Based Eye-Tracking For Large-Scale Human-Machine Applications, Brett Thaman, Trung Cao
Comparative Analysis Of Rgb-Based Eye-Tracking For Large-Scale Human-Machine Applications, Brett Thaman, Trung Cao
Posters-at-the-Capitol
Gaze tracking has become an established technology that enables using an individual’s gaze as an input signal to support a variety of applications in the context of Human-Computer Interaction. Gaze tracking primarily relies on sensing devices such as infrared (IR) cameras. Nevertheless, in the recent years, several attempts have been realized at detecting gaze by acquiring and processing images acquired from standard RGB cameras. Nowadays, there are only a few publicly available open-source libraries and they have not been tested extensively. In this paper, we present the result of a comparative analysis that studied a commercial eye-tracking device using IR …
Robotic Olfactory-Based Navigation With Mobile Robots, Lingxiao Wang
Robotic Olfactory-Based Navigation With Mobile Robots, Lingxiao Wang
Doctoral Dissertations and Master's Theses
Robotic odor source localization (OSL) is a technology that enables mobile robots or autonomous vehicles to find an odor source in unknown environments. It has been viewed as challenging due to the turbulent nature of airflows and the resulting odor plume characteristics. The key to correctly finding an odor source is designing an effective olfactory-based navigation algorithm, which guides the robot to detect emitted odor plumes as cues in finding the source. This dissertation proposes three kinds of olfactory-based navigation methods to improve search efficiency while maintaining a low computational cost, incorporating different machine learning and artificial intelligence methods.
A. …
Tooth Position Determination By Automatic Cutting And Marking Of Dental Panoramic X-Ray Film In Medical Image Processing, Yen-Cheng Huang, Chiung-An Chen, Tsung-Yi Chen, He-Sheng Chou, Wei-Chi Lin, Tzu-Chien Li, Jia-Jun Yuan, Szu-Yin Lin, Chun-Wei Li, Shih-Lun Chen, Yi-Cheng Mao, Patricia Angela R. Abu, Wei-Yuan Chiang, Wen-Shen Lo
Tooth Position Determination By Automatic Cutting And Marking Of Dental Panoramic X-Ray Film In Medical Image Processing, Yen-Cheng Huang, Chiung-An Chen, Tsung-Yi Chen, He-Sheng Chou, Wei-Chi Lin, Tzu-Chien Li, Jia-Jun Yuan, Szu-Yin Lin, Chun-Wei Li, Shih-Lun Chen, Yi-Cheng Mao, Patricia Angela R. Abu, Wei-Yuan Chiang, Wen-Shen Lo
Department of Information Systems & Computer Science Faculty Publications
This paper presents a novel method for automatic segmentation of dental X-ray images into single tooth sections and for placing every segmented tooth onto a precise corresponding position table. Moreover, the proposed method automatically determines the tooth’s position in a panoramic X-ray film. The image-processing step incorporates a variety of image-enhancement techniques, including sharpening, histogram equalization, and flat-field correction. Moreover, image processing was implemented iteratively to achieve higher pixel value contrast between the teeth and cavity. The next image-enhancement step is aimed at detecting the teeth cavity and involves determining the segment and points separating the upper and lower jaw, …
Computational Solutions To Exosomal Microrna Biomarker Detection In Pancreatic Cancer, Thuy T. An
Computational Solutions To Exosomal Microrna Biomarker Detection In Pancreatic Cancer, Thuy T. An
School of Computing: Dissertations, Theses, and Student Research
Pancreatic cancer is the fourth leading cause of cancer death in the United States and the 5-year survival rate is only 5% to 10%. There are only a few non-specific symptoms associated with the early-stage cancer, therefore most patients are diagnosed in a late stage. Due to the lack of effective treatments and the fact that the early stage has a 39% 5-year survival rate, the biggest hope to control this disease is early detection. Therefore, discovery of effective and reliable non-invasive biomarkers for early detection of pancreatic cancer has been a major topic. Very recently, exosomal microRNAs have become …
Messiness: Automating Iot Data Streaming Spatial Analysis, Christopher White, Atilio Barreda Ii
Messiness: Automating Iot Data Streaming Spatial Analysis, Christopher White, Atilio Barreda Ii
Publications and Research
The spaces we live in go through many transformations over the course of a year, a month, or a day; My room has seen tremendous clutter and pristine order within the span of a few hours. My goal is to discover patterns within my space and formulate an understanding of the changes that occur. This insight will provide actionable direction for maintaining a cleaner environment, as well as provide some information about the optimal times for productivity and energy preservation.
Using a Raspberry Pi, I will set up automated image capture in a room in my home. These images will …
Semantically Meaningful Sentence Embeddings, Rojina Deuja
Semantically Meaningful Sentence Embeddings, Rojina Deuja
School of Computing: Dissertations, Theses, and Student Research
Text embedding is an approach used in Natural Language Processing (NLP) to represent words, phrases, sentences, and documents. It is the process of obtaining numeric representations of text to feed into machine learning models as vectors (arrays of numbers). One of the biggest challenges in text embedding is representing longer text segments like sentences. These representations should capture the meaning of the segment and the semantic relationship between its constituents. Such representations are known as semantically meaningful embeddings. In this thesis, we seek to improve upon the quality of sentence embeddings that capture semantic information.
The current state-of-the-art models are …
Contrastive Learning For Unsupervised Auditory Texture Models, Christina Trexler
Contrastive Learning For Unsupervised Auditory Texture Models, Christina Trexler
Computer Science and Computer Engineering Undergraduate Honors Theses
Sounds with a high level of stationarity, also known as sound textures, have perceptually relevant features which can be captured by stimulus-computable models. This makes texture-like sounds, such as those made by rain, wind, and fire, an appealing test case for understanding the underlying mechanisms of auditory recognition. Previous auditory texture models typically measured statistics from auditory filter bank representations, and the statistics they used were somewhat ad-hoc, hand-engineered through a process of trial and error. Here, we investigate whether a better auditory texture representation can be obtained via contrastive learning, taking advantage of the stationarity of auditory textures to …
Respiratory Compensated Robot For Liver Cancer Treatment: Design, Fabrication, And Benchtop Characterization, Mishek Jair Musa
Respiratory Compensated Robot For Liver Cancer Treatment: Design, Fabrication, And Benchtop Characterization, Mishek Jair Musa
Graduate Theses and Dissertations
Hepatocellular carcinoma (HCC) is one of the leading causes of cancer-related death in the world. Radiofrequency ablation (RFA) is an effective method for treating tumors less than 5 cm. However, manually placing the RFA needle at the site of the tumor is challenging due to the complicated respiratory induced motion of the liver. This paper presents the design, fabrication, and benchtop characterization of a patient mounted, respiratory compensated robotic needle insertion platform to perform percutaneous needle interventions. The robotic platform consists of a 4-DoF dual-stage cartesian platform used to control the pose of a 1-DoF needle insertion module. The active …
Risk-Based Machine Learning Approaches For Probabilistic Transient Stability, Umair Shahzad
Risk-Based Machine Learning Approaches For Probabilistic Transient Stability, Umair Shahzad
Department of Electrical and Computer Engineering: Dissertations, Theses, and Student Research
Power systems are getting more complex than ever and are consequently operating close to their limit of stability. Moreover, with the increasing demand of renewable wind generation, and the requirement to maintain a secure power system, the importance of transient stability cannot be overestimated. Considering its significance in power system security, it is important to propose a different approach for enhancing the transient stability, considering uncertainties. Current deterministic industry practices of transient stability assessment ignore the probabilistic nature of variables (fault type, fault location, fault clearing time, etc.). These approaches typically provide a conservative criterion and can result in expensive …
Comparative Analysis Of Kmer Counting And Estimation Tools, Ankitha Vejandla
Comparative Analysis Of Kmer Counting And Estimation Tools, Ankitha Vejandla
School of Computing: Dissertations, Theses, and Student Research
The rapid development of next-generation sequencing (NGS) technologies for determining the sequence of DNA has revolutionized genome research in recent years. De novo assemblers are the most commonly used tools to perform genome assembly. Most of the assemblers use de Bruijn graphs that break the sequenced reads into smaller sequences (sub-strings), called kmers, where k denotes the length of the sub-strings. The kmer counting and analysis of kmer frequency distribution are important in genome assembly. The main goal of this research is to provide a detailed analysis of the performance of different kmer counting and estimation tools that are currently …
Material Handling With Embodied Loco-Manipulation, Jean Chagas Vaz
Material Handling With Embodied Loco-Manipulation, Jean Chagas Vaz
UNLV Theses, Dissertations, Professional Papers, and Capstones
Material handling is an intrinsic component of disaster response. Typically, first responders, such as firefighters and/or paramedics, must carry, push, pull, and handle objects, facilitating the transportation of goods. For many years, researchers from around the globe have sought to enable full-sized humanoid robots to perform such essential material handling tasks. This work aims to tackle current limitations of humanoids in the realm of interaction with common objects such as carts, wheelbarrows, etc. Throughout this research, many methods will be applied to ensure a stable Zero Moment Point (ZMP) trajectory to allow a robust gait while loco-manipulating a cart. The …