Computer Engineering Commons^™

Force Feedback And Intelligent Workspace Selection For Legged Locomotion Over Uneven Terrain, John Rippetoe

USF Tampa Graduate Theses and Dissertations

Legged robots present an incredible opportunity for humanity to conduct dangerous operations such as search and rescue, disaster recovery, and planetary exploration without ever placing themselves in harms way. The ability of a leg to more freely dictate its shape, orientation, and length gives it tremendous mobility and adaptability demanded of a system intended for operation outside of a controlled environment. However, one only need look at the average cat, dog, or friendly neighborhood squirrel to understand the immense gap that exists between what is possible of legged systems and their current set of capabilities.

Areas of study relevant to …

A Flexible, Natural Deduction, Automated Reasoner For Quick Deployment Of Non-Classical Logic, Trisha Mukhopadhyay

USF Tampa Graduate Theses and Dissertations

Automated Theorem Provers (ATP) are software programs which carry out inferences over logico-mathematical systems, often with the goal of finding proofs to some given theorem. ATP systems are enormously powerful computer programs, capable of solving immensely difficult problems. Currently, many automated theorem provers exist like E, vampire, SPASS, ACL2, Coq etc. However, all the available theorem provers have some common problems: (1) Current ATP systems tend not to try to find proofs entirely on their own. They need help from human experts to supply lemmas, guide the proof, etc. (2) There is not a single proof system available which provides …

On The Feasibility Of Profiling, Forecasting And Authenticating Internet Usage Based On Privacy Preserving Netflow Logs, Soheil Sarmadi

USF Tampa Graduate Theses and Dissertations

Understanding Internet user behavior and Internet usage patterns is fundamental in developing future access networks and services that meet technical as well as Internet user needs. User behavior is routinely studied and measured, but with different methods depending on the research discipline of the investigator, and these disciplines rarely cross. We tackle this challenge by developing frameworks that the Internet usage statistics used as the main features in understanding Internet user behaviors, with the purpose of finding a complete picture of the user behavior and working towards a unified analysis methodology. In this dissertation we collected Internet usage statistics via …

Gate Level Probabilistic Simulation Based Hardware Trojan Susceptibility Analysis Of Combinational Circuits, Venkata Lakshmi Bhargavi Gurram

USF Tampa Graduate Theses and Dissertations

Today multi-million gate integrated circuits are being commonly used in many critical (eg., health care) and sensitive (eg., military) applications. Therefore, they are susceptible to malicious modifications, namely, Hardware Trojans (HTs), with the intent of leaking sensitive information, denial-of-service etc. There are many ways of inserting Hardware Trojans in ICs. Thus, HT detection and mitigation are very important tasks. In this thesis, we propose a novel probabilistic simulation based approach to estimate the susceptibility of a combinational circuit to a HT. One of the common ways is to simulate the netlist with typical input sequences and identifying low activity nets …

Understanding Transit System Performance Using Avl-Apc Data: An Analytics Platform With Case Studies For The Pittsburgh Region, Xidong Pi, Mark Egge, Jackson Whitmore, Amy Silbermann, Zhen Sean Qian

Journal of Public Transportation

This paper introduces a novel transit data analytics platform for public transit planning, assessing service quality and revealing service problems in high spatiotemporal resolution for public transit systems based on Automatic Passenger Counting (APC) and Automatic Vehicle Location (AVL) technologies. The platform offers a systematic way for users and decision makers to understand system performance from many aspects of service quality, including passenger waiting time, stop-skipping frequency, bus bunching level, bus travel time, on-time performance, and bus fullness. The AVL-APC data from September 2012 to March 2016 were archived in a database to support the development of a user-friendly web …

Channel Camouflage And Manipulation Techniques In Wireless Networks, Song Fang

USF Tampa Graduate Theses and Dissertations

The security of wireless networks and systems is becoming increasingly important as wireless devices are more and more ubiquitous nowadays. The wireless channel exhibits the spatial uncorrelation property, which is that the characteristics of a wireless channel become uncorrelated every half carrier wavelength over distance. This property has prompted an emerging research area that utilizes wireless channel characteristics to achieve location distinction, to detect location changes or facilitate authentication of wireless users, and to establish shared secret key between legitimate communicators. This dissertation includes two work toward the security improvement of existing wireless networks and systems. With the discovered channel …

Sr Flip-Flop Based Physically Unclonable Function (Puf) For Hardware Security, Rohith Prasad Challa

USF Tampa Graduate Theses and Dissertations

Physically Unclonable Functions (PUFs) are now widely being used to uniquely identify Integrated Circuits (ICs). In this work, we propose a novel Set-Reset (SR) Flip-flop based PUF design. For a NAND gate based SR flip-flop, the input condition S (Set) = 1 and R (Reset) = 1 must be avoided as it is an inconsistent condition. When S=R=1 is applied followed by S=R=0, then the outputs Q and Q' undergo race condition and depending on the delays of the NAND gates in the feedback path, the output Q can settle at either 0 or 1. Because of process variations in …

Emerging Non-Volatile Memory Technologies For Computing And Security, Rekha Govindaraj

USF Tampa Graduate Theses and Dissertations

With CMOS technology scaling reaching its limitations rigorous research of alternate and competent technologies is paramount to push the boundaries of computing. Spintronic and resistive memories have proven to be effective alternatives in terms of area, power and performance to CMOS because of their non-volatility, ability for logic computing and easy integration with CMOS. However, deeper investigations to understand their physical phenomenon and improve their properties such as writability, stability, reliability, endurance, uniformity with minimal device-device variations is necessary for deployment as memories in commercial applications. Application of these technologies beyond memory and logic are investigated in this thesis i.e. …

Multi-Objective Resource Provisioning In Network Function Virtualization Infrastructures, Diogo Oliveira

USF Tampa Graduate Theses and Dissertations

Network function virtualization (NFV) and software-dened networking (SDN) are two recent networking paradigms that strive to increase manageability, scalability, pro- grammability and dynamism. The former decouples network functions and hosting devices, while the latter decouples the data and control planes. As more and more service providers adopt these new paradigms, there is a growing need to address multi-failure conditions, particularly those arising from large-scale disaster events. Overall, addressing the virtual network function (VNF) placement and routing problem is crucial to deploy NFV surviv- ability. In particular, many studies have inspected non-survivable VNF provisioning, however no known work have proposed survivable/resilient …

Learning To Predict Clinical Outcomes From Soft Tissue Sarcoma Mri, Hamidreza Farhidzadeh

USF Tampa Graduate Theses and Dissertations

Soft Tissue Sarcomas (STS) are among the most dangerous diseases, with a 50% mortality rate in the USA in 2016. Heterogeneous responses to the treatments of the same sub-type of STS as well as intra-tumor heterogeneity make the study of biopsies imprecise. Radiologists make efforts to find non-invasive approaches to gather useful and important information regarding characteristics and behaviors of STS tumors, such as aggressiveness and recurrence. Quantitative image analysis is an approach to integrate information extracted using data science, such as data mining and machine learning with biological an clinical data to assist radiologists in making the best recommendation …

Strong-Dism: A First Attempt To A Dynamically Typed Assembly Language (D-Tal), Ivory Hernandez

USF Tampa Graduate Theses and Dissertations

Dynamically Typed Assembly Language (D-TAL) is not only a lightweight and effective solution to the gap generated by the drop in security produced by the translation of high-level language instructions to low-level language instructions, but it considerably eases up the burden generated by the level of complexity required to implement typed assembly languages statically. Although there are tradeoffs between the static and dynamic approaches, focusing on a dynamic approach leads to simpler, easier to reason about, and more feasible ways to understand deployment of types over monomorphically-typed or untyped intermediate languages. On this occasion, DISM, a simple but powerful and …

Multi-Scale Spatial Cognition Models And Bio-Inspired Robot Navigation, Martin I. Llofriu Alonso

USF Tampa Graduate Theses and Dissertations

The rodent navigation system has been the focus of study for over a century. Discoveries made lately have provided insight on the inner workings of this system. Since then, computational approaches have been used to test hypothesis, as well as to improve robotics navigation and learning by taking inspiration on the rodent navigation system.

This dissertation focuses on the study of the multi-scale representation of the rat’s current location found in the rat hippocampus. It first introduces a model that uses these different scales in the Morris maze task to show their advantages. The generalization power of larger scales of …

Real-Time Classification Of Biomedical Signals, Parkinson’S Analytical Model, Abolfazl Saghafi

USF Tampa Graduate Theses and Dissertations

The reach of technological innovation continues to grow, changing all industries as it evolves. In healthcare, technology is increasingly playing a role in almost all processes, from patient registration to data monitoring, from lab tests to self-care tools. The increase in the amount and diversity of generated clinical data requires development of new technologies and procedures capable of integrating and analyzing the BIG generated information as well as providing support in their interpretation.

To that extent, this dissertation focuses on the analysis and processing of biomedical signals, specifically brain and heart signals, using advanced machine learning techniques. That is, the …

Exploiting On-Chip Voltage Regulators As A Countermeasure Against Power Analysis Attacks, Weize Yu

USF Tampa Graduate Theses and Dissertations

Non-invasive side-channel attacks (SCA) are powerful attacks which can be used to obtain the secret key in a cryptographic circuit in feasible time without the need for expensive measurement equipment. Power analysis attacks (PAA) are a type of SCA that exploit the correlation between the leaked power consumption information and processed/stored data. Differential power analysis (DPA) and leakage power analysis (LPA) attacks are two types of PAA that exploit different characteristics of the side-channel leakage profile. DPA attacks exploit the correlation between the input data and dynamic power consumption of cryptographic circuits. Alternatively, LPA attacks utilize the correlation between the …

Adaptive Region-Based Approaches For Cellular Segmentation Of Bright-Field Microscopy Images, Hady Ahmady Phoulady

USF Tampa Graduate Theses and Dissertations

Microscopy image processing is an emerging and quickly growing field in medical imaging research area. Recent advancements in technology including higher computation power, larger and cheaper storage modules, and more efficient and faster data acquisition devices such as whole-slide imaging scanners contributed to the recent microscopy image processing research advancement. Most of the methods in this research area either focus on automatically process images and make it easier for pathologists to direct their focus on the important regions in the image, or they aim to automate the whole job of experts including processing and classifying images or tissues that leads …

Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West

USF Tampa Graduate Theses and Dissertations

A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and …

Impact Force Reduction Using Variable Stiffness With An Optimal Approach For Jumping Robots, Juan Manuel Calderon Chavez

USF Tampa Graduate Theses and Dissertations

Running, jumping and walking are physical activities that are performed by humans in a simple and efficient way. However, these types of movements are difficult to perform by humanoid robots. Humans perform these activities without difficulty thanks to their ability to absorb the ground impact force. The absorption of the impact force is based on the human ability to vary muscles stiffness.

The principal objective of this dissertation is to study vertical jumps in order to reduce the impact force in the landing phase of the jump motion of humanoid robots. Additionally, the impact force reduction is applied to an …

Leveraging Lexical Link Analysis (Lla) To Discover New Knowledge, Ying Zhao, Douglas J. Mackinnon, Shelley P. Gallup, Joseph L. Billingsley

Military Cyber Affairs

Lexical Link Analysis (LLA) is a form of text mining in which word meanings represented in lexical terms (e.g., word pairs) are treated as if they are in a community of a word network. LLA can provide automated awareness for analyzing text data and reveal previously unknown, data-driven themed connections. We applied LLA to develop authentic archetypes and conversely determine potential imposters of that same archetype. We use publically available social media data to develop a cyber professional as an example. This paper reports the development of the algorithm, the collection and labeling of data, as well as the results …

Behavioral Modeling And Fpga Synthesis Of Ieee 802.11n Orthogonal Frequency Division Multiplexing (Ofdm) Scheme, Ragahv Sharma

USF Tampa Graduate Theses and Dissertations

In the field of communications, a high data rate and low multi-path fading is required for efficient information exchange. Orthogonal Frequency Division Multiplexing (OFDM) is a widely accepted IEEE 802.11n (and many others) standard for usage in communication systems operating in fading dispersive channels. In this thesis, we modeled the OFDM algorithm at the behavioral level in VHDL/Verilog that was successfully synthesized/verified on an FPGA. Due to rapid technology scaling, FPGAs have become popular and are low-cost and high performance alternatives to (semi-) custom ASICs. Further, due to reprogramming flexibility, FPGAs are useful in rapid prototyping. As per the IEEE …

Threshold Voltage Defined Switches And Gates To Prevent Reverse Engineering, Ithihasa Reddy Nirmala

USF Tampa Graduate Theses and Dissertations

¹Semiconductor supply chain is increasingly getting exposed to variety of security attacks such as Trojan insertion, cloning, counterfeiting, reverse engineering (RE), piracy of Intellectual Property (IP) or Integrated Circuit (IC) and side-channel analysis due to involvement of untrusted parties. In this thesis, we use threshold voltage-defined switches to design a logic gate that will camouflage the conventional logic gates both logically and physically to resist RE and IP piracy. The proposed gate can function as NAND, AND, NOR, OR, XOR, and XNOR robustly using threshold defined switches. We also propose a flavor of camouflaged gate that represents reduced functionality …

Methodologies To Exploit Atpg Tools For De-Camouflaging, Deepak Reddy Vontela

USF Tampa Graduate Theses and Dissertations

Semiconductor supply chain is increasingly getting exposed to Reverse Engineering (RE) of Intellectual Property (IP). Camouflaging of gates in integrated circuits are typically employed to hide the gate functionality to prevent reverse engineering. The functionalities of these gates cannot be found by De-layering as they don’t leave any layout clues. Adversaries perform reverse engineering by replacing the camouflaged gate with the known gate and by developing custom software to determine test patterns. These test patterns are used to analyze the outputs and to conclude the functionality of the camouflaged gate.

In this thesis, we show that reverse engineering of camouflaged …

Protocol Guided Trace Analysis For Post-Silicon Debug Under Limited Observability, Yuting Cao Cao

USF Tampa Graduate Theses and Dissertations

This thesis considers the problem of reconstructing system level behavior of an SoC design from a partially observed signal trace. Solving this problem is a critical activity in post-silicon validation, and currently depends primarily on human creativity and insights. In this thesis, we provide algorithms to automatically infer system level flows from incomplete, ambiguous, and noisy trace data. This thesis also demonstrates the approach on two case studies, a multicore SoC model developed within the within the GEM5 environment, and a cycle accurate register transfer level model of a similar SoC design.

Enforcing Security Policies On Gpu Computing Through The Use Of Aspect-Oriented Programming Techniques, Bader Albassam

USF Tampa Graduate Theses and Dissertations

This thesis presents a new security policy enforcer designed for securing parallel computation on CUDA GPUs. We show how the very features that make a GPGPU desirable have already been utilized in existing exploits, fortifying the need for security protections on a GPGPU. An aspect weaver was designed for CUDA with the goal of utilizing aspect-oriented programming for security policy enforcement. Empirical testing verified the ability of our aspect weaver to enforce various policies. Furthermore, a performance analysis was performed to demonstrate that using this policy enforcer provides no significant performance impact over manual insertion of policy code. Finally, future …

Design Exploration And Application Of Reversible Circuits In Emerging Technologies, Saurabh Kotiyal

USF Tampa Graduate Theses and Dissertations

The reversible logic has promising applications in emerging computing paradigms, such as quantum computing, quantum dot cellular automata, optical computing, etc. In reversible logic gates, there is a unique one-to-one mapping between the inputs and outputs. To generate a useful gate function, the reversible gates require some constant ancillary inputs called ancilla inputs. Also to maintain the reversibility of the circuits some additional unused outputs are required that are referred to as the garbage outputs. The number of ancilla inputs, the number of garbage outputs and quantum cost plays an important role in the evaluation of reversible circuits. Thus minimizing …

Data To Decisions For Cyberspace Operations, Steve Stone

Military Cyber Affairs

In 2011, the United States (U.S.) Department of Defense (DOD) named cyberspace a new operational domain. The U.S. Cyber Command and the Military Services are working to make the cyberspace environment a suitable place for achieving national objectives and enabling military command and control (C2). To effectively conduct cyberspace operations, DOD requires data and analysis of the Mission, Network, and Adversary. However, the DOD’s current data processing and analysis capabilities do not meet mission needs within critical operational timelines. This paper presents a summary of the data processing and analytics necessary to effectively conduct cyberspace operations.

Synthesis Techniques For Sub-Threshold Leakage And Nbti Optimization In Digital Vlsi Systems, Shilpa Pendyala

USF Tampa Graduate Theses and Dissertations

The rising power demands and cost motivates us to explore low power solutions in electronics. In nanometer Complementary Metal Oxide Semiconductor (CMOS) processes with low threshold voltages and thin gate oxides, subthreshold leakage power dominates total power of a circuit. As technology scales, Negative Bias Temperature Instability (NBTI) emerged as a major limiting reliability mechanism. It causes a threshold voltage shift which, over time, results in circuit performance degradation. Hence, leakage power and NBTI degradation are two key challenges in deep sub micron regime.

In this dissertation, interval arithmetic based interval propagation technique is introduced as an effective leakage optimization …

Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali

USF Tampa Graduate Theses and Dissertations

A mobile manipulator is a robotic arm mounted on a robotic mobile platform. In such a system, the degrees of freedom of the mobile platform are combined with that of the manipulator. As a result, the workspace of the manipulator is substantially extended. A mobile manipulator has two trajectories: the end-effector trajectory and the mobile platform trajectory. Typically, the mobile platform trajectory is not defined and is determined through inverse kinematics. But in some applications it is important to follow a specified mobile platform trajectory. The main focus of this work is to determine the inverse kinematics of a mobile …

Embedded System Design Of A Real-Time Parking Guidance System, Omkar Dokur

USF Tampa Graduate Theses and Dissertations

The primary objective of this work is to design a parking guidance system to reliably detect entering/exiting vehicles to a parking garage in a cost-efficient manner. Existing solutions (inductive loops, RFID based systems, and video image processors) at shopping malls, universities, airports etc., are expensive due to high installation and maintenance costs. There is a need for a parking guidance system that is reliable, accurate, and cost-effective. The proposed parking guidance system is designed to optimize the use of parking spaces and to reduce wait times. Based on a literature review we identify that the ultrasonic sensor is suitable to …

Knowledge Discovery And Predictive Modeling From Brain Tumor Mris, Mu Zhou

USF Tampa Graduate Theses and Dissertations

Quantitative cancer imaging is an emerging field that develops computational techniques to acquire a deep understanding of cancer characteristics for cancer diagnosis and clinical decision making. The recent emergence of growing clinical imaging data provides a wealth of opportunity to systematically explore quantitative information to advance cancer diagnosis. Crucial questions arise as to how we can develop specific computational models that are capable of mining meaningful knowledge from a vast quantity of imaging data and how to transform such findings into improved personalized health care?

This dissertation presents a set of computational models in the context of malignant brain tumors— …

Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang

USF Tampa Graduate Theses and Dissertations

A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also …