Computer Engineering Commons^™

Real-Time Motion Controller For Human-Robot Teams Utilizing Artificial Potential Fields, Gabriella Graziani

Theses and Dissertations

This thesis presents a real-time robotic motion control system for human-robot teams. The framework utilizes artificial potential fields (APFs) to guide robotic agents towards a “goal” agent while navigating around “obstacle” agents; these goals and obstacles are also dynamic agents with their own set of tasks. This system is also developed for a live-programming environment, where a controlling agent updates the tasks of all agents within the system at any time during the system’s runtime. This motion controller was created and tested for a human-robot choreographic team. After the controller was fully integrated on a Trossen Robotic LoCobot Wx200 robotic …

Data-Integrity Aware Stochastic Model For Cascading Failures In Power Grids, Rezoan Ahmed Shuvro, Pankaz Das, Jamir Shariar Jyoti, Joana M. Abreu, Majeed M. Hayat

Electrical and Computer Engineering Faculty Research and Publications

The reliable operation of power grids during cascading failures is heavily dependent on the interdependencies between the power grid components and the supporting communications and control networks. Moreover, the system operators' expertise in dealing with cascading failures can play a pivotal role during contingencies. In this paper, a dynamical probabilistic model is developed based on Markov-chains, which captures the dynamics of cascading failures in the power grid. Specifically, a previously developed Markov-chain based model is extended to capture the trade-off between the benefits of having a robust communication infrastructure and its vulnerability from data integrity (e.g., cyber-attacks). State-space reduction of …

Work In Progress: A Virtual Educational Robotics Coding Club Framework To Improve K-6 Students Emotional Engagement In Stem, Kate Carmody, Julie Booth, Jospehine Bleach, Pramod Pathak, Paul Styles

Conference papers

The growing popularity and deployment of Internet of Things (IoT) devices has led to serious security concerns. The integration of a security operations center (SOC) becomes increasingly important in this situation to ensure the security of IoT devices. In this article, we will present a summary of IoT device security issues, their vulnerabilities, a review of current challenges to keep these devices secure, and discuss the role that SOC can bring in protecting IoT devices while considering the challenges encountered and the directions to consider when implementing a reliable SOC for IoT monitoring.

Energy-Efficient Hmac For Wireless Communications, Cesar Enrique Castellon Escobar

UNF Graduate Theses and Dissertations

This thesis introduces the Farming Lightweight Protocol (FLP) optimized for energy-restricted environments that depend upon secure communication, such as multi-robot information gathering systems within the vision of ``smart'' agriculture. FLP uses a hash-based message authentication code (HMAC) to achieve data integrity. HMAC implementations, resting upon repeated use of the SHA256 hashing operator, impose additional resource requirements and thus also impact system availability. We address this particular integrity/availability trade-off by proposing an energy-saving algorithmic engineering method on the internal SHA256 hashing operator. The energy-efficient hash is designed to maintain the original security benefits yet reduce the negative effects on system availability. …

Modeling Of Quad-Station Module Cluster Tools Using Petri Nets, Aung Nay

Theses

The semiconductor industry is highly competitive, and with the recent chip shortage, the throughput of wafers has become more important than ever. One of the tools that the industry has deployed is to use of quad-station modules instead of the traditional single-station modules that allow for higher throughput and better wafer consistency by processing multiple wafers at the same time and distributing work. The industry trend is to use multiple transfer chamber robots to stack the quad-station modules in a series, particularly for etch products. In this work, the quad-station cluster tool wafer movement is modeled by using Petri net …

Hybrid Artificial Bee Colony And Improved Simulatedannealing For The Capacitated Vehicle Routing Problem, Farhanna Mar'i, Hafidz Ubaidillah, Wayan Firdaus Mahmudy, Ahmad Afif Supianto

Knowledge Engineering and Data Science

Capacitated Vehicle Routing Problem (CVRP) is a type of NP-Hard combinatorial problem that requires a high computational process. In the case of CVRP, there is an additional constraint in the form of a capacity limit owned by the vehicle, so the complexity of the problem from CVRP is to find the optimum route pattern for minimizing travel costs which are also adjusted to customer demand and vehicle capacity for distribution. One method of solving CVRP can be done by implementing a meta-heuristic algorithm. In this research, two meta-heuristic algorithms have been hybridized: Artificial Bee Colony (ABC) with Improved Simulated Annealing …

An Accurate Real-Time Method For Face Mask Detectionusing Cnn And Svm, Shili Hechmi

Knowledge Engineering and Data Science

Infectious respiratory diseases, including COVID-19, pose a significant challenge to humanity and a potential threat to life due to their severity and rapid spread. Using a surgical mask is among the most significant safety precautions that can help keep this sort of pandemic from spreading, and manual monitoring of large crowds in public places for face masks is problematic. In this research, we suggest a real-time approach for face mask detection. First, we use a multi-scale deep neural network to extract features. As a result, the attributes are better suited for training the detection system. We employ SVM post-processing in …

Indonesian Language Term Extraction Using Multi-Task Neural Network, Joan Santoso, Esther Irawati Setiawan, Fransiskus Xaverius Ferdinandus, Gunawan Gunawan, Leonel Hernandez Collantes

Knowledge Engineering and Data Science

The rapidly expanding size of data makes it difficult to extricate information and store it as computerized knowledge. Relation extraction and term extraction play a crucial role in resolving this issue. Automatically finding a concealed relationship between terms that appear in the text can help people build computer-based knowledge more quickly. Term extraction is required as one of the components because identifying terms that play a significant role in the text is the essential step before determining their relationship. We propose an end-to-end system capable of extracting terms from text to address this Indonesian language issue. Our method combines two …

Adaptive Neuro-Fuzzy Inference System For Waste Prediction, Haviluddin Haviluddin, Herman Santoso Pakpahan, Novianti Puspitasari, Gubtha Mahendra Putra, Rima Yustika Hasnida, Rayner Alfred

Knowledge Engineering and Data Science

The volume of landfills that are increasingly piled up and not handled properly will have a negative impact, such as a decrease in public health. Therefore, predicting the volume of landfills with a high degree of accuracy is needed as a reference for government agencies and the community in making future policies. This study aims to analyze the accuracy of the Adaptive Neuro-Fuzzy Inference System (ANFIS) method. The prediction results' accuracy level is measured by the value of the Mean Absolute Percentage Error (MAPE). The final results of this study were obtained from the best MAPE test results. The best …

Associated Patterns In Open-Ended Concept Maps Within E-Learning, Didik Dwi Prasetya, Tsukasa Hirasama

Knowledge Engineering and Data Science

A concept map is a diagram that visualizes the structure of individual cognitive knowledge. An approach to creating a concept map structure that allows users to contribute concepts and linkages that express their understanding freely is known as an "open-ended concept map." It has been demonstrated that an open-ended concept map accurately depicts student knowledge structures and reveals student differences. However, manually analyzing an open-ended map is difficult, time-consuming, and includes many propositions, especially in a big classroom. Educational data mining could be used to further process and analyze a collection of concept maps. However, many works attempted to employ …

Design And Prototyping Of A Low-Cost High Frequency Antenna For Vicinity Coupling Devices, Benjamin Kommey, Ernest Ofosu Addo, Elvis Tamakloe

Makara Journal of Technology

This paper describes the development of a high frequency (HF) antenna for high output power vicinity coupling devices (VCDs) operating at 13.56 MHz. Key design parameters, such as RF power level, antenna size, and communication protocol, and their link to the antenna features and requirements, have been discussed. For efficient reader interrogation, detection, and recovery of transponder responses, a tuning circuit necessary to adjust the antenna power matching and resonance characteristics was designed and prototyped. The antenna was fed to an industry standard reader and evaluated for read range performance with vicinity cards. The designed antenna on the reader achieved …

Damage Stability Study Of A 500 Dw Ro-Ro Ferry Vessel, Zulfaidah Ariany, Budhi Santoso, Sarwoko Sarwoko, Nauval Abdurrahman Prasetyo

Makara Journal of Technology

The development of the crossing transportation industry is currently increasing in the island areas. The use of Ro-Ro type ferry boats is extremely efficient in moving people, goods, and vehicles. The current research focuses on the damage stability of the 500 DWT Ro-Ro ferry, which aims to meet the needs of the Ro-Ro ferry in the archipelago area. The previously existing initial design of a barge hull with a main size Lpp = 40.15 m, B = 12 m, H = 3.2 m, and T = 2.15 m was used to analyze the damage stability condition further. First, the drawings …

Digital Platform To Aid Youth Substance Abuse Prevention, Bingxuan Li

Discovery Undergraduate Interdisciplinary Research Internship

Through research and interviews, I discovered that a significant portion of students in Africa become drug addicts and drop out of school. The solution is to prevent youth substance abuse before it happens, so that more students in Africa may continue their education. With the strong motivation of expanding African student involvement in higher education, I participated DURI program to increase higher education rates in the Democratic Republic of the Congo, Africa. The local government is establishing rehabilitation centers to monitor at-risk students and prevent youth substance abuse, but due to extremely limited resources, it is critical to evaluate the …

Towards Multipronged On-Chip Memory And Data Protection From Verification To Design And Test, Senwen Kan, Jennifer Dworak

Computer Science and Engineering Theses and Dissertations

Modern System on Chips (SoCs) generally include embedded memories, and these memories may be vulnerable to malicious attacks such as hardware trojan horses (HTHs), test access port exploitation, and malicious software. This dissertation contributes verification as well as design obfuscation solutions aimed at design level detection of memory HTH circuits as well as obfuscation to prevent HTH triggering for embedded memory during functional operation. For malicious attack vectors stemming from test/debug interfaces, this dissertation presents novel solutions that enhance design verification and securitization of an IJTAG based test access interface. Such solutions can enhance SoC protection by preventing memory test …

Development Of Directed Randomization For Discussing A Minimal Security Architecture, Henrique Oyama, Dominic Messina, Keshav Kasturi Rangan, Akkarakaran Francis Leonard, Kip Nieman, Helen Durand, Katie Tyrrell, Katrina Hinzman, Michael Williamson

Chemical Engineering and Materials Science Faculty Research Publications

Strategies for mitigating the impacts of cyberattacks on control systems using a control-oriented perspective have become of greater interest in recent years. Our group has contributed to this trend by developing several methods for detecting cyberattacks on process sensors, actuators, or both sensors and actuators simultaneously using an advanced optimization-based control strategy known as Lyapunov-based economic model predictive control (LEMPC). However, each technique comes with benefits and limitations, both with respect to one another and with respect to traditional information technology and computer science-type approaches to cybersecurity. An important question to ask, therefore, is what the goal should be of …

Comparing Importance Of Knowledge And Professional Skill Areas For Engineering Programming Utilizing A Two Group Delphi Survey, John F. Hutton

Theses and Dissertations

All engineering careers require some level of programming proficiency. However, beginning programming classes are challenging for many students. Difficulties have been well-documented and contribute to high drop-out rates which prevent students from pursuing engineering. While many approaches have been tried to improve the performance of students and reduce the dropout rate, continued work is needed. This research seeks to re-examine what items are critical for programming education and how those might inform what is taught in introductory programming classes (CS1). Following trends coming from accreditation and academic boards on the importance of professional skills, we desire to rank knowledge and …

A Robust Platform For Mobile Robotics Teaching And Developing Using Arduino’S Integrated Development Environment (Ide) For Programming The Arduino Mega 2560, Sajjad Alhassan

Department of Electrical and Computer Engineering: Dissertations, Theses, and Student Research

In light of the rapid pace at which development happens with modern technology, mobile robots play an important role in our daily lives. This is due to their great importance in facilitating the affairs of life in various economic, commercial, industrial, scientific, and many other fields. In this research and project, we have restructured the microcontroller and system for one of the mobile robots (CEENBOT) that was designed by the University of Nebraska and replaced it with an Arduino Mega 2560.

The purpose of using the Arduino Mega 2560 robot is to provide alternative programming for the CEENBOT platform to …

Identifying And Minimizing Underspecification In Breast Cancer Subtyping, Jonathan Cheuk-Kiu Tang

Master's Theses

In the realm of biomedical technology, both accuracy and consistency are crucial to the development and deployment of these tools. While accuracy is easy to measure, consistency metrics are not so simple to measure, especially in the scope of biomedicine where prediction consistency can be difficult to achieve. Typically, biomedical datasets contain a significantly larger amount of features compared to the amount of samples, which goes against ordinary data mining practices. As a result, predictive models may fail to find valid pathways for prediction during training on such datasets. This concept is known as underspecification.

Underspecification has been more accepted …

A Stacking-Based Misbehavior Detection System In Vehicular Communication Networks, Troy Green

Department of Electrical and Computer Engineering: Dissertations, Theses, and Student Research

Over the past few decades communication systems for vehicles have continued to advance. Communications between these vehicles can be classified into safety related and non safety related messages. An example of a safety related message would be one vehicle warning others of an icy road it encountered, where a non safety related communication would be a passenger streaming a movie. In either case it's important to secure the communications so that the system continues to behave as expected. In this thesis we propose a Misbehavior Detection System (MDS), which is a system that monitors messages sent between vehicles, and detects …

Domain Aware Deep Learning For Wireless Physical Layer, Shuvam Chakraborty

Legacy Theses & Dissertations (2009 - 2024)

Wireless receiver design for OFDM systems is well investigated with classical signal processing tools, which lack the capacity to extract intrinsic channel effects in received signal and lead to high decoding error in receiver. Current deep learning techniques have shown improvement in such cases. But these models are mostly being developed as black box without any anchor to the theory of wireless signal propagation, which leads to surface level information gain and lacks generalizability. We propose deep learning models where the hyperparameters and learning objectives are derived from domain knowledge of wireless signal propagation. These models not only increase the …

Low Power Multi-Channel Interface For Charge Based Tactile Sensors, Samuel Hansen

Department of Electrical and Computer Engineering: Dissertations, Theses, and Student Research

Analog front end electronics are designed in 65 nm CMOS technology to process charge pulses arriving from a tactile sensor array. This is accomplished through the use of charge sensitive amplifiers and discrete time filters with tunable clock signals located in each of the analog front ends. Sensors were emulated using Gaussian pulses during simulation. The digital side of the system uses SAR (successive approximation register) ADCs for sampling of the processed sensor signals.

Adviser: Sina Balkır

A Low-Power, Low-Area 10-Bit Sar Adc With Length-Based Capacitive Dac, Zhili Pan

Department of Electrical and Computer Engineering: Dissertations, Theses, and Student Research

A 2.5 V single-ended 10-bit successive-approximation-register analog-to-digital converter (SAR ADC) based on the TSMC 65 nm CMOS process is designed with the goal of achieving low power consumption (33.63 pJ/sample) and small area (2874 µm^2 ). It utilizes a novel length-based capacitive digital-to-analog converter (CDAC) layout to achieve low total capacitance for power efficiency, and a custom static asynchronous logic to free the dependence on a high-frequency external clock source. Two test chips have been designed and the problems found through testing the first chip are analyzed. Multiple improved versions of the ADC with minor variations are implemented on the …

Modeling, Control And Estimation Of Reconfigurable Cable Driven Parallel Robots, Adhiti Raman Thothathri

All Dissertations

The motivation for this thesis was to develop a cable-driven parallel robot (CDPR) as part of a two-part robotic device for concrete 3D printing. This research addresses specific research questions in this domain, chiefly, to present advantages offered by the addition of kinematic redundancies to CDPRs. Due to the natural actuation redundancy present in a fully constrained CDPR, the addition of internal mobility offers complex challenges in modeling and control that are not often encountered in literature.

This work presents a systematic analysis of modeling such kinematic redundancies through the application of reciprocal screw theory (RST) and Lie algebra while …

Optimized Learning Using Fuzzy-Inference-Assisted Algorithms For Deep Learning, Miroslava Barua

Open Access Theses & Dissertations

For years, researchers in Artificial Intelligence (AI) and Deep Learning (DL) observed that performance of a Deep Learning Network (DLN) could be improved by using larger and larger datasets coupled with complex network architectures. Although these strategies yield remarkable results, they have limits, dictated by data quantity and quality, rising costs by the increased computational power, or, more frequently, by long training times on networks that are very large. Training DLN requires laborious work involving multiple layers of densely connected neurons, updates to millions of network parameters, while potentially iterating thousands of times through millions of entries in a big …

An Overview Of Bidirectional Electric Vehicles Charging System As A Vehicle To Anything (V2x) Under Cyber–Physical Power System (Cpps), Onur Elma, Umit Cali, Murat Kuzlu

Engineering Technology Faculty Publications

Nowadays, EVs are rapidly increasing in popularity, and are accepted as the vehicles of the future all over the world. The most important components are their battery and charging systems. The energy capacity of EVs’ batteries has a significant potential to supply different energy requirements. Therefore, EVs must be designed in accordance with bidirectional power flow, and Electric Vehicle Supply Equipment (EVSE) should be upgraded as Electric Vehicle Power Exchange Equipment (EVPE). This power exchange infrastructure can be called Vehicle-to-Anything (V2X). V2X will also be the key solution for energy grids of the future that will turn into a much …

Dual-Band Circularly Polarized Shared Aperture Antenna For Cubesat Communication System, Syed Salman Kabir

Graduate Theses and Dissertations (2019 - present)

For space exploration, a special class of small satellite known as CubeSat, has become popular in academia and industry in recent years. Due to its low cost and short development time, researchers prefer CubeSat over large-scale satellites wherever possible. In academia, CubeSat has major applications in the field of space atmosphere, space-to-ground communication, weather forecasting, etc. Like other spacecrafts, CubeSat uses multiple antennas in different frequency bands to establish a communication link with ground stations. Recent CubeSat missions are generating a large amount of data which cannot be downlinked using conventional antennas. The demand for a compact antenna system that …

Effective Short Text Classification Via The Fusion Of Hybrid Features For Iot Social Data, Xiong Luo, Zhijian Yu, Zhigang Zhao, Wenbing Zhao, Jenq-Haur Wang

Electrical and Computer Engineering Faculty Publications

Nowadays short texts can be widely found in various social data in relation to the 5G-enabled Internet of Things (IoT). Short text classification is a challenging task due to its sparsity and the lack of context. Previous studies mainly tackle these problems by enhancing the semantic information or the statistical information individually. However, the improvement achieved by a single type of information is limited, while fusing various information may help to improve the classification accuracy more effectively. To fuse various information for short text classification, this article proposes a feature fusion method that integrates the statistical feature and the comprehensive …

Performance Comparison Of Several Control Algorithms For Tracking Control Of Pantograph Mechanism, Laylaa Mahmoud Eng, Mohamed Shamseldin Dr, Mohamed Sallam Dr, Abdelghany Mohamed Prof

Future Engineering Journal

A sort of parallel manipulator known as a pantograph robot mechanism was created primarily for industrial requests that required high precision and satisfied speed. While tracking a chosen trajectory profile requires a powerful controller. Because it has four active robot links and one robot passive link in place of just two links like the open chain does, it can carry more loads than the open chain robot mechanism while maintaining accuracy and stability. The calculated model for a closed chain pantograph robot mechanism presented in this paper takes into account the boundary conditions. For the purpose of simulating the dynamics …

Relative Rate Observer Self-Tuning Of Fuzzy Pid Virtual Inertia Control For An Islanded Microgrid, Ahmed H. Mohamed, Helmy M. El Zoghby, Mohiy Bahgat, A. M. Abdel Ghany

Future Engineering Journal

Expanding the usage of renewable energy in islanded microgrids leads to a reduction in its total inertia. Low inertia microgrids have difficulties in voltage and frequency control. That affected saving its stability and preventing a blackout. To improve low inertia islanded microgrids' dynamic response and save their stability, this paper presented relative rate observer self-tuning fuzzy PID (RROSTF-PID) based on virtual inertia control (VIC) for an islanded microgrid with a high renewable energy sources (RESs) contribution. RROSTF-PID based on VIC's success in showing remarkable improvement in the microgrid's dynamic response and enhancement of its stability. Moreover, it handles different contingency …

Information Dissemination And Perpetual Network, Harshit Srivastava

USF Tampa Graduate Theses and Dissertations

Social networks have attracted increasing attention from both physical and social scientists. Social networks are essential elements in societies, serving as channels for exchanging various benefits, such as innovation, information, and social support. Moreover, research in social networks helps explain macro-level social phenomena, such as social polarization and social contagion. An understanding of social networks has significant implications, such as improving social welfare and political participation. Modeling social network formation has typically employed game theory or agent-based modeling. These studies typically propose simple and tractable micro-level rules for link formation mechanisms and show that these rules have implications for known …