Computer Engineering Commons^™

Radar Based Collision Avoidance For Unmanned Aircraft Systems, Allistair A. Moses

Electronic Theses and Dissertations

Unmanned Aircraft Systems (UAS) have become increasingly prevalent and will represent an increasing percentage of all aviation. These unmanned aircraft are available in a wide range of sizes and capabilities and can be used for a multitude of civilian and military applications. However, as the number of UAS increases so does the risk of mid-air collisions involving unmanned aircraft. This dissertation aims present one possible solution for addressing the mid-air collision problem in addition to increasing the levels of autonomy of UAS beyond waypoint navigation to include preemptive sensor-based collision avoidance. The presented research goes beyond the current state of …

Reducing Communication Delay Variability For A Group Of Robots, Goncalo Martins

Electronic Theses and Dissertations

A novel architecture is presented for reducing communication delay variability for a group of robots. This architecture relies on using three components: a microprocessor architecture that allows deterministic real-time tasks; an event-based communication protocol in which nodes transmit in a TDMA fashion, without the need of global clock synchronization techniques; and a novel communication scheme that enables deterministic communications by allowing senders to transmit without regard for the state of the medium or coordination with other senders, and receivers can tease apart messages sent simultaneously with a high probability of success. This approach compared to others, allows simultaneous communications without …

Robot Team Formation Control Using Communication "Throughput Approach", Fatmazahra Ahmed Benhalim

Electronic Theses and Dissertations

In this thesis, we consider a team of robots forming a mobile robot network cooperating to accomplish a mission in an unknown but structured environment. The team has no a-priori knowledge of the environment. Robots have limited memory storage capabilities, not enough to map the environment. Each robot also has limited sensor capability and computational power. Due to the need to avoid obstacles and other environment effects, some robots get delayed from the rest. Using tracking controller, the robot team should follow the leader in a flexible formation shape without losing network connectivity, and that was achieved by monitoring the …

Modeling Learner Mood In Realtime Through Biosensors For Intelligent Tutoring Improvements, Keith Brawner

Electronic Theses and Dissertations

Computer-based instructors, just like their human counterparts, should monitor the emotional and cognitive states of their students in order to adapt instructional technique. Doing so requires a model of student state to be available at run time, but this has historically been difficult. Because people are different, generalized models have not been able to be validated. As a person’s cognitive and affective state vary over time of day and seasonally, individualized models have had differing difficulties. The simultaneous creation and execution of an individualized model, in real time, represents the last option for modeling such cognitive and affective states. This …

Life Long Learning In Sparse Learning Environments, John Reeder

Electronic Theses and Dissertations

Life long learning is a machine learning technique that deals with learning sequential tasks over time. It seeks to transfer knowledge from previous learning tasks to new learning tasks in order to increase generalization performance and learning speed. Real-time learning environments in which many agents are participating may provide learning opportunities but they are spread out in time and space outside of the geographical scope of a single learning agent. This research seeks to provide an algorithm and framework for life long learning among a network of agents in a sparse real-time learning environment. This work will utilize the robust …

Routing, Localization And Positioning Protocols For Wireless Sensor And Actor Networks, Mustafa Akbas

Electronic Theses and Dissertations

Wireless sensor and actor networks (WSANs) are distributed systems of sensor nodes and actors that are interconnected over the wireless medium. Sensor nodes collect information about the physical world and transmit the data to actors by using one-hop or multi-hop communications. Actors collect information from the sensor nodes, process the information, take decisions and react to the events. This dissertation presents contributions to the methods of routing, localization and positioning in WSANs for practical applications. We first propose a routing protocol with service differentiation for WSANs with stationary nodes. In this setting, we also adapt a sports ranking algorithm to …

Mathematical And Computational Methods For Freeform Optical Shape Description, Ilhan Kaya

Electronic Theses and Dissertations

Slow-servo single-point diamond turning as well as advances in computer controlled small lap polishing enable the fabrication of freeform optics, specifically, optical surfaces for imaging applications that are not rotationally symmetric. Freeform optical elements will have a profound importance in the future of optical technology. Orthogonal polynomials added onto conic sections have been extensively used to describe optical surface shapes. The optical testing industry has chosen to represent the departure of a wavefront under test from a reference sphere in terms of orthogonal φ-polynomials, specifically Zernike polynomials. Various forms of polynomials for describing freeform optical surfaces may be considered, however, …

Recognition Of Complex Events In Open-Source Web-Scale Videos: Features, Intermediate Representations And Their Temporal Interactions, Subhabrata Bhattacharya

Electronic Theses and Dissertations

Recognition of complex events in consumer uploaded Internet videos, captured under realworld settings, has emerged as a challenging area of research across both computer vision and multimedia community. In this dissertation, we present a systematic decomposition of complex events into hierarchical components and make an in-depth analysis of how existing research are being used to cater to various levels of this hierarchy and identify three key stages where we make novel contributions, keeping complex events in focus. These are listed as follows: (a) Extraction of novel semi-global features – firstly, we introduce a Lie-algebra based representation of dominant camera motion …

Robust Subspace Estimation Using Low-Rank Optimization. Theory And Applications In Scene Reconstruction, Video Denoising, And Activity Recognition., Omar Oreifej

Electronic Theses and Dissertations

In this dissertation, we discuss the problem of robust linear subspace estimation using low-rank optimization and propose three formulations of it. We demonstrate how these formulations can be used to solve fundamental computer vision problems, and provide superior performance in terms of accuracy and running time. Consider a set of observations extracted from images (such as pixel gray values, local features, trajectories . . . etc). If the assumption that these observations are drawn from a liner subspace (or can be linearly approximated) is valid, then the goal is to represent each observation as a linear combination of a compact …

Measuring The Evolving Internet Ecosystem With Exchange Points, Mohammad Zubair Ahmad

Electronic Theses and Dissertations

The Internet ecosystem comprising of thousands of Autonomous Systems (ASes) now include Internet eXchange Points (IXPs) as another critical component in the infrastructure. Peering plays a significant part in driving the economic growth of ASes and is contributing to a variety of structural changes in the Internet. IXPs are a primary component of this peering ecosystem and are playing an increasing role not only in the topology evolution of the Internet but also inter-domain path routing. In this dissertation we study and analyze the overall affects of peering and IXP infrastructure on the Internet. We observe IXP peering is enabling …

Influence Of Task-Role Mental Models On Human Interpretation Of Robot Motion Behavior, Scott Ososky

Electronic Theses and Dissertations

The transition in robotics from tools to teammates has begun. However, the benefit autonomous robots provide will be diminished if human teammates misinterpret robot behaviors. Applying mental model theory as the organizing framework for human understanding of robots, the current empirical study examined the influence of task-role mental models of robots on the interpretation of robot motion behaviors, and the resulting impact on subjective ratings of robots. Observers (N = 120) were exposed to robot behaviors that were either congruent or incongruent with their task-role mental model, by experimental manipulation of preparatory robot task-role information to influence mental models (i.e., …

Performance Study Of Ofdm Over Fading Channels For Wireless Communications, Ahmed Alshammari

Electronic Theses and Dissertations

Orthogonal Frequency Division Multiplexing (OFDM) is a very efficient multicarrier technique. OFDM is used more and more in recent wideband digital communications. It has numerous advantages such as the ability to handle severe channel conditions, efficient spectral usage, reduced inter symbol interference (ISI), and high data rate. Therefore, it has been utilized in many wired and wireless communication systems like DSL, wireless networks and 4G mobile communications.

Studying the performance of OFDM over different channels is the main focus of this research. Channels' environments simulated in Matlab are additive white Gaussian noise (AWGN) and fading channels. Each channel affects the …

Novelty-Assisted Interactive Evolution Of Control Behaviors, Brian G. Woolley

Electronic Theses and Dissertations

The field of evolutionary computation is inspired by the achievements of natural evolution, in which there is no final objective. Yet the pursuit of objectives is ubiquitous in simulated evolution because evolutionary algorithms that can consistently achieve established benchmarks are lauded as successful, thus reinforcing this paradigm. A significant problem is that such objective approaches assume that intermediate stepping stones will increasingly resemble the final objective when in fact they often do not. The consequence is that while solutions may exist, searching for such objectives may not discover them. This problem with objectives is demonstrated through an experiment in this …

Using Eye Tracking And Attention Maps In Computer Science Education, Austin Pernell

Electronic Theses and Dissertations

Eye tracking has been used for many different areas of study where a user's eye movements are considered the most important information available. Before eye tracking was possible, the only way that information could be obtained was to ask the user where they looked and what caught their attention. Now, with the rise of eye tracking cameras, this data can be captured, stored, and processed in a meaningful way. These cameras aren't perfectly accurate however and there is still some interpretation that must be applied to more accurately represent the true gaze path of the user. This paper establishes some …

Virtual Worlds And Conservational Channel Evolution And Pollutant Transport Systems (Concepts), Chenchutta Denaye Jackson

Electronic Theses and Dissertations

Many models exist that predict channel morphology. Channel morphology is defined as the change in geometric parameters of a river. Channel morphology is affected by many factors. Some of these factors are caused either by man or by nature. To combat the adverse effects that man and nature may cause to a water system, scientists and engineers develop stream rehabilitation plans. Stream rehabilitation as defined by Shields et al., states that "restoration is the return from a degraded ecosystem back to a close approximation of its remaining natural potential" [Shields et al., 2003]. Engineers construct plans that will restore streams …

Specification And Runtime Checking Of Timing Constraints In Safety Critical Java, Ghaith Haddad

Electronic Theses and Dissertations

The Java platform is becoming a vital tool for developing real-time and safety-critical systems. Design patterns and the availability of Java libraries, both provide solutions to many known problems. Furthermore, the object-oriented nature of Java simplifies modular development of real-time systems. However, limitations of Java as a programming language for real-time systems are a notable obstacle to producing safe real-time systems. These limitations are found in the unpredictable execution model of the language, due to Java’s garbage collector, and the lack of support for non-functional specification and verification tools. In this dissertation I introduce SafeJML, a specification language for support …

Implementation Of Multiple-Instance Learning In Drug Activity Prediction, Gang Fu

Electronic Theses and Dissertations

In the context of drug discovery and development, much effort has been exerted to determine which conformers of a given molecule are responsible for the observed biological activity. In this work we aimed to predict bioactive conformers using a variant of supervised learning, named multiple-instance learning. A single molecule, treated as a bag of conformers, is biologically active if and only if at least one of its conformers, treated as an instance, is responsible for the observed bioactivity; and a molecule is inactive if none of its conformers is responsible for the observed bioactivity. The implementation requires instance-based embedding, and …

Stereoscopic Vision In Vehicle Navigation., Behnoush Abdollahi 1986-

Electronic Theses and Dissertations

Traffic sign (TS) detection and tracking is one of the main tasks of an autonomous vehicle which is addressed in the field of computer vision. An autonomous vehicle must have vision based recognition of the road to follow the rules like every other vehicle on the road. Besides, TS detection and tracking can be used to give feedbacks to the driver. This can significantly increase safety in making driving decisions. For a successful TS detection and tracking changes in weather and lighting conditions should be considered. Also, the camera is in motion, which results in image distortion and motion blur. …

A Water Distribution And Treatment Simulation For Testing Cyber Security Enhancements For Water Sector Scada Systems., Justin Robert Adams

Electronic Theses and Dissertations

Supervisory control and data acquisition (SCADA) systems are used by many critical infrastructures including electric power production and distribution, water and waste water treatment, rail transportation, and gas and oil distribution. Originally isolated proprietary systems, SCADA systems are increasingly connected to enterprise networks and the Internet and today use commercial hardware and software. As a result SCADA systems now face serious cyber-security threats. The need for testing and evaluation of developed cyber-security solutions presents a challenge since evaluation on actual systems is usually not possible and building complete physical testbeds is costly. This thesis presents the design and development of …

Simulation, Application, And Resilience Of An Organic Neuromorphic Architecture, Made With Organic Bistable Devices And Organic Field Effect Transistors, Robert A. Nawrocki

Electronic Theses and Dissertations

This thesis presents work done simulating a type of organic neuromorphic architecture, modeled after Artificial Neural Network, and termed Synthetic Neural Network, or SNN. The first major contribution of this thesis is development of a single-transistor-single-organic-bistable-device-per-input circuit that approximates behavior of an artificial neuron. The efficacy of this design is validated by comparing the behavior of a single synthetic neuron to that of an artificial neuron as well as two examples involving a network of synthetic neurons. The analysis utilizes electrical characteristics of polymer electronic elements, namely Organic Bistable Device and Organic Field Effect Transistor, created in the laboratory at …

Video Stabilization Using Sift Features, Fuzzy Clustering, And Kalman Filtering, Kevin Veon

Electronic Theses and Dissertations

Video stabilization removes unwanted motion from video sequences, often caused by vibrations or other instabilities. This improves video viewability and can aid in detection and tracking in computer vision algorithms. We have developed a digital video stabilization process using scale-invariant feature transform (SIFT) features for tracking motion between frames. These features provide information about location and orientation in each frame. The orientation information is generally not available with other features, so we employ this knowledge directly in motion estimation. We use a fuzzy clustering scheme to separate the SIFT features representing camera motion from those representing the motion of moving …

Patterns Of Motion: Discovery And Generalized Representation, Imran Saleemi

Electronic Theses and Dissertations

In this dissertation, we address the problem of discovery and representation of motion patterns in a variety of scenarios, commonly encountered in vision applications. The overarching goal is to devise a generic representation, that captures any kind of object motion observable in video sequences. Such motion is a significant source of information typically employed for diverse applications such as tracking, anomaly detection, and action and event recognition. We present statistical frameworks for representation of motion characteristics of objects, learned from tracks or optical flow, for static as well as moving cameras, and propose algorithms for their application to a variety …

A Sustainable Autonomic Architecture For Organically Reconfigurable Computing Systems, Rashad S. Oreifej

Electronic Theses and Dissertations

A Sustainable Autonomic Architecture for Organically Reconfigurable Computing System based on SRAM Field Programmable Gate Arrays (FPGAs) is proposed, modeled analytically, simulated, prototyped, and measured. Low-level organic elements are analyzed and designed to achieve novel self-monitoring, self-diagnosis, and self-repair organic properties. The prototype of a 2-D spatial gradient Sobel video edge-detection organic system use-case developed on a XC4VSX35 Xilinx Virtex-4 Video Starter Kit is presented. Experimental results demonstrate the applicability of the proposed architecture and provide the infrastructure to quantify the performance and overcome fault-handling limitations. Dynamic online autonomous functionality restoration after a malfunction or functionality shift due to changing …

An Adaptive Modular Redundancy Technique To Self-Regulate Availability, Area, And Energy Consumption In Mission-Critical Applications, Rawad N. Al-Haddad

Electronic Theses and Dissertations

As reconfigurable devices' capacities and the complexity of applications that use them increase, the need for self-reliance of deployed systems becomes increasingly prominent. A Sustainable Modular Adaptive Redundancy Technique (SMART) composed of a dual-layered organic system is proposed, analyzed, implemented, and experimentally evaluated. SMART relies upon a variety of self-regulating properties to control availability, energy consumption, and area used, in dynamically-changing environments that require high degree of adaptation. The hardware layer is implemented on a Xilinx Virtex-4 Field Programmable Gate Array (FPGA) to provide self-repair using a novel approach called a Reconfigurable Adaptive Redundancy System (RARS). The software layer supervises …

Resource Banking An Energy-Efficient, Run-Time Adaptive Processor Design Technique, Jacob Staples

Electronic Theses and Dissertations

From the earliest and simplest scalar computation engines to modern superscalar out-oforder processors, the evolution of computational machinery during the past century has largely been driven by a single goal: performance. In today’s world of cheap, billion-plus transistor count processors and with an exploding market in mobile computing, a design landscape has emerged where energy efficiency, arguably more than any other single metric, determines the viability of a processor for a given application. The historical emphasis on performance has left modern processors bloated and over provisioned for everyday tasks in the hope that during computationally intensive periods some performance improvement …

Measuring And Improving Internet Video Quality Of Experience, Mukundan Venkataraman Iyengar

Electronic Theses and Dissertations

Streaming multimedia content over the IP-network is poised to be the dominant Internet traffic for the coming decade, predicted to account for more than 91% of all consumer traffic in the coming years. Streaming multimedia content ranges from Internet television (IPTV), video on demand (VoD), peer-to-peer streaming, and 3D television over IP to name a few. Widespread acceptance, growth, and subscriber retention are contingent upon network providers assuring superior Quality of Experience (QoE) on top of todays Internet. This work presents the first empirical understanding of Internet’s video-QoE capabilities, and tools and protocols to efficiently infer and improve them. To …

Modeling Pedestrian Behavior In Video, Paul Scovanner

Electronic Theses and Dissertations

The purpose of this dissertation is to address the problem of predicting pedestrian movement and behavior in and among crowds. Specifically, we will focus on an agent based approach where pedestrians are treated individually and parameters for an energy model are trained by real world video data. These learned pedestrian models are useful in applications such as tracking, simulation, and artificial intelligence. The applications of this method are explored and experimental results show that our trained pedestrian motion model is beneficial for predicting unseen or lost tracks as well as guiding appearance based tracking algorithms. The method we have developed …

Towards Calibration Of Optical Flow Of Crowd Videos Using Observed Trajectories, Iman K. Elbadramany

Electronic Theses and Dissertations

The need exists for finding a quantitative method for validating crowd simulations. One approach is to use optical flow of videos of real crowds to obtain velocities that can be used for comparison to simulations. Optical flow, in turn, needs to be calibrated to be useful. It is essential to show that optical flow velocities obtained from crowd videos can be mapped into the spatially averaged velocities of the observed trajectories of crowd members, and to quantify the extent of the correlation of the results. This research investigates methods to uncover the best conditions for a good correlation between optical …

Reconode: Towards An Autonomous Multi-Robot Team Agent For Usar, Kang Li

Electronic Theses and Dissertations

Urban search and rescue (USAR) robots can benefit from small size as it facilitates movement in cramped quarters. Yet, small size limits actuator power, sensor payloads, computational capacity and battery life. We are alleviating these issues by developing the hardware and software infrastructure for high performance, heterogeneous, dynamically-reconfigurable miniature USAR robots, as well as a host of other relevant applications. In this thesis, a generic modular embedded system architecture based on the RecoNode multiprocessor is proposed, which consists of a set of hardware and software modules that can be configured to construct various types of robot systems for dynamic and …

Application Of Temporal Difference Learning To The Game Of Snake., Christopher Lockhart

Electronic Theses and Dissertations

The game of Snake has been selected to provide a unique application of the TD( ) algorithm as proposed by Sutton. A reinforcement learning technique for producing computer controlled players is documented. Using value function approximation with multilayer artificial neural networks and the actor-critic architecture, computer players capable of playing the game of Snake can be created. The adaptation to the standard neural network backpropagation procedure will be documented. Not only does the proposed technique provide reasonable player performance, its application is unique; this approach to Snake has never been documented. By performing sets of trials, the performance of the …