Computer Engineering Commons^™

Efficient Neighborhood Graph Construction For Sparse High Dimensional Data, David Anastasiu

Faculty Publications

No abstract provided.

Performance Verification For Robot Missions In Uncertain Environments, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

Abstract—Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results …

Establishing A-Priori Performance Guarantees For Robot Missions That Include Localization Software, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

One approach to determining whether an automated system is performing correctly is to monitor its performance, signaling when the performance is not acceptable; another approach is to automatically analyze the possible behaviors of the system a-priori and determine performance guarantees. Thea authors have applied this second approach to automatically derive performance guarantees for behaviorbased, multi-robot critical mission software using an innovative approach to formal verification for robotic software. Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. Several …

Impact Of Reviewer Social Interaction On Online Consumer Review Fraud Detection, Kunal Goswami, Younghee Park, Chungsik Song

Faculty Publications

Background Online consumer reviews have become a baseline for new consumers to try out a business or a new product. The reviews provide a quick look into the application and experience of the business/product and market it to new customers. However, some businesses or reviewers use these reviews to spread fake information about the business/product. The fake information can be used to promote a relatively average product/business or can be used to malign their competition. This activity is known as reviewer fraud or opinion spam. The paper proposes a feature set, capturing the user social interaction behavior to identify fraud. …

Robust And Agile System Against Fault And Anomaly Traffic In Software Defined Networks, Mihui Kim, Younghee Park, Rohit Kotalwar

Faculty Publications

The main advantage of software defined networking (SDN) is that it allows intelligent control and management of networking though programmability in real time. It enables efficient utilization of network resources through traffic engineering, and offers potential attack defense methods when abnormalities arise. However, previous studies have only identified individual solutions for respective problems, instead of finding a more global solution in real time that is capable of addressing multiple situations in network status. To cover diverse network conditions, this paper presents a comprehensive reactive system for simultaneously monitoring failures, anomalies, and attacks for high availability and reliability. We design three …

A Multi-Value Sequence Generated By Power Residue Symbol And Trace Function Over Odd Characteristic Field, Yasuyuki Nogami, Satoshi Uehara, Kazuyoshi Tsuchiya, Nasima Begum, Hiroto Ino, Robert Morelos-Zaragoza

Faculty Publications

This paper proposes a new multi-value sequence generated by utilizing primitive element, trace, and power residue symbol over odd characteristic finite field. In detail, let p and k be an odd prime number as the characteristic and a prime factor of p-1, respectively. Our proposal generates k-value sequence T={ti | ti=fk(Tr(ωi)+A)}, where ω is a primitive element in the extension field $\F{p}{m}$, Tr(⋅) is the trace function that maps $\F{p}{m} \rightarrow \f{p}$, A is a non-zero scalar in the prime field $\f{p}$, and fk(⋅) is a certain mapping function based on k-th power residue symbol. Thus, the proposed sequence has …

Formal Performance Guarantees For Behavior-Based Localization Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

Abstract— Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this paper we apply our MissionLab/VIPARS mission design and verification approach to an autonomous robot mission that uses probabilistic localization software.

Two approaches to modeling probabilistic localization for verification are presented: a high-level approach, and a sample-based approach which allows run-time code to be embedded in verification. Verification and experimental validation results are presented for two different missions, each using each method, demonstrating the accuracy …

Landmark Detection With Surprise Saliency Using Convolutional Neural Networks, Feng Tang, Damian Lyons, Daniel Leeds

Faculty Publications

Abstract—Landmarks can be used as reference to enable people or robots to localize themselves or to navigate in their environment. Automatic definition and extraction of appropriate landmarks from the environment has proven to be a challenging task when pre-defined landmarks are not present. We propose a novel computational model of automatic landmark detection from a single image without any pre-defined landmark database. The hypothesis is that if an object looks abnormal due to its atypical scene context (what we call surprise saliency), it then may be considered as a good landmark because it is unique and easy to spot by …

Data Quality Challenges In Distributed Live-Virtual-Constructive Test Environments, Jeremy R. Millar, Douglas D. Hodson, Gilbert L. Peterson, Darryl K. Ahner

Faculty Publications

Live-Virtual-Constructive (LVC) simulations are complex systems comprising a combination of live (real people operating real equipment), virtual (real people operating simulated equipment or vice versa), and constructive (wholly simulated) entities. Nodes in the system support the simulation of one or more entities and are often geographically distributed to leverage unique assets (e.g., physical test range space or high-fidelity full motion simulators). Abstract excerpt © ACM

Establishing Performance Guarantees For Behavior-Based Robot Missions Using An Smt Solver, Feng Tang, Damian M. Lyons, Ronald Arkin

Faculty Publications

In prior work we developed an approach to formally representing behavior-based multi-robot programs, and the uncertain environments in which they operate, as process networks. We automatically extract a set of probabilistic equations governing program execution in that environment using a static analysis module called VIPARS, and solve these using a Dynamic Bayesian Network (DBN) to establish whether stated performance guarantees hold for the program in that environment. In this paper we address the challenge of expanding the range of performance guarantees that are possible by using an SMT-solver instead of a DBN. We translate flow functions, which are recursive probabilistic …

Development Of Cloud-Based Uav Monitoring And Management System, Mason Itkin, Mihui Kim, Younghee Park

Faculty Publications

Unmanned aerial vehicles (UAVs) are an emerging technology with the potential to revolutionize commercial industries and the public domain outside of the military. UAVs would be able to speed up rescue and recovery operations from natural disasters and can be used for autonomous delivery systems (e.g., Amazon Prime Air). An increase in the number of active UAV systems in dense urban areas is attributed to an influx of UAV hobbyists and commercial multi-UAV systems. As airspace for UAV flight becomes more limited, it is important to monitor and manage many UAV systems using modern collision avoidance techniques. In this paper, …

A Cloud-Based Framework For Smart Permit System For Buildings, Magdalini Eirinaki, Subhankar Dhar, Shishir Mathur

Faculty Publications

In this paper we propose a novel cloud-based platform for building permit system that is efficient, user-friendly, transparent, and has quick turn-around time for homeowners. Compared to the existing permit systems, the proposed smart city permit framework provides a pre-permitting decision workflow, and incorporates a data analytics and mining module that enables the continuous improvement of a) the end user experience, by analyzing explicit and implicit user feedback, and b) the permitting and urban planning process, allowing a gleaning of key insights for real estate development and city planning purposes, by analyzing how users interact with the system depending on …

Pro-Fit: Exercise With Friends, Saumil Dharia, Vijesh Jain, Jvalant Patel, Jainikkumar Vora, Rizen Yamauchi, Magdalini Eirinaki, Iraklis Varlamis

Faculty Publications

The advancements in wearable technology, where embedded accelerometers, gyroscopes and other sensors enable the users to actively monitor their activity have made it easier for individuals to pursue a healthy lifestyle. However, most of the existing applications expect continuous commitment from the end users, who need to proactively interact with the application in order to connect with friends and attain their goals. These applications fail to engage and motivate users who have busy schedules, or are not as committed and self-motivated. In this work, we present PRO-Fit, a personalized fitness assistant application that employs machine learning and recommendation algorithms in …

Threshold-Bounded Influence Dominating Sets For Recommendations In Social Networks, Magdalini Eirinaki, Nuno Moniz, Katerina Potika

Faculty Publications

The process of decision making in humans involves a combination of the genuine information held by the individual, and the external influence from their social network connections. This helps individuals to make decisions or adopt behaviors, opinions or products. In this work, we seek to investigate under which conditions and with what cost we can form neighborhoods of influence within a social network, in order to assist individuals with little or no prior genuine information through a two-phase recommendation process. Most of the existing approaches regard the problem of identifying influentials as a long-term, network diffusion process, where information cascading …

Time-Based Ensembles For Prediction Of Rare Events In News Streams, Nuno Moniz, Luís Torgo, Magdalini Eirinaki

Faculty Publications

Thousands of news are published everyday reporting worldwide events. Most of these news obtain a low level of popularity and only a small set of events become highly popular in social media platforms. Predicting rare cases of highly popular news is not a trivial task due to shortcomings of standard learning approaches and evaluation metrics. So far, the standard task of predicting the popularity of news items has been tackled by either of two distinct strategies related to the publication time of news. The first strategy, a priori, is focused on predicting the popularity of news upon their publication when …

Youth And The Posthuman: Personhood, Transcendence, And Siri, Erik Leafblad, Andrew Root

Faculty Publications

When everything gets turned into a technology, and existence is about practical mastery, the mystery of being is buried and everything is made an object, blurring the lines between human personhood and other technological objects.

Thorough Exploration Of Complex Environments With A Space-Based Potential Field, Kenealy Alina, Nicholas Primiano, Alex Keyes, Lyons Damian

Faculty Publications

Robotic exploration, for the purposes of search and rescue or explosive device detection, can be improved by using a team of multiple robots. Potential field navigation methods offer natural and efficient distributed exploration algorithms in which team members are mutually repelled to spread out and cover the area efficiently. However, they also suffer from field minima issues. Liu and Lyons proposed a Space-Based Potential Field (SBPF) algorithm that disperses robots efficiently and also ensures they are driven in a distributed fashion to cover complex geometry. In this paper, the approach is modified to handle two problems with the original SBPF …

Homing With Stereovision, Paramesh Nirmal, Damian Lyons

Faculty Publications

Visual Homing is a navigation method based on comparing a stored image of a goal location to the current image to determine how to navigate to the goal location. It is theorized that insects such as ants and bees employ visual homing techniques to return to their nest or hive, and inspired by this, several researchers have developed elegant robot visual homing algorithms. Depth information, from visual scale, or other modality such as laser ranging, can improve the quality of homing. While insects are not well equipped for stereovision, stereovision is an effective robot sensor. We describe the challenges involved …

Evaluation Of Parallel Reduction Strategies For Fusion Of Sensory Information From A Robot Team., Damian M. Lyons, Joseph Leroy

Faculty Publications

The advantage of using a team of robots to search or to map an area is that by navigating the robots to different parts of the area, searching or mapping can be completed more quickly. A crucial aspect of the problem is the combination, or fusion, of data from team members to generate an integrated model of the search/mapping area. In prior work we looked at the issue of removing mutual robots views from an integrated point cloud model built from laser and stereo sensors, leading to a cleaner and more accurate model. This paper addresses a further challenge: Even …

Leveraging Area Bounds Information For Autonomous Decentralized Multi-Robot Exploration, Tsungming Liu, Damian Lyons

Faculty Publications

This paper proposes a simple and uniform, decentralized approach to the problem of dispersing a team of robots to explore an area quickly. The Decentralized Space-Based Potential Field (D-SBPF) algorithm is a potential field approach that leverages knowledge of the overall bounds of the area to be explored. It includes a monotonic coverage factor in the potential field to avoid minima, realistic sensor bounds, and a distributed map exchange protocol. The D-SBPF approach yields a simple potential field control strategy for all robots but nonetheless has good dispersion and overlap performance in exploring areas with convex geometry while avoiding potential …

Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ron Arkin, Shu Jiang, Tsungming Liu, Paramesh Nirmal

Faculty Publications

Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results are …

Probabilistic Verification Of Multi-Robot Missions In Uncertain Environments, Damian M. Lyons, Ronald Arkin, Shu Jiang, Dagan Harrington, Feng Tang, Peng Tang

Faculty Publications

The effective use of autonomous robot teams in highly-critical missions depends on being able to establish performance guarantees. However, establishing a guarantee for the behavior of an autonomous robot operating in an uncertain environment with obstacles is a challenging problem. This paper addresses the challenges involved in building a software tool for verifying the behavior of a multi-robot waypoint mission that includes uncertain environment geometry as well as uncertainty in robot motion. One contribution of this paper is an approach to the problem of a-priori specification of uncertain environments for robot program verification. A second contribution is a novel method …

A Human-Centered Credit-Banking System For Convenient, Fair And Secure Carpooling Among Members Of An Association, H.-S. Jacob Tsao, Magdalini Eirinaki

Faculty Publications

This paper proposes an unconventional carpool-matching system concept that is different from existing systems with four innovative operational features: (F1) The proposed matching system will be used by members of an association and sponsored by the association, e.g., the employees of a company, members of a homeowner association, employees of a shopping center. This expands the scope beyond commute trips. Such associations can also voluntarily form alliances to increase the number of possible carpool partners and geographical reach. (F2) Service provided by a driver or received by a rider incurs credit or debt to a bank centrally and fairly managed …

Qcm-D Monitoring Of Binding-Induced Conformational Change Of Calmodulin, Hyun J. Kwon, Brian Dodge

Faculty Publications

Understanding conformational changes are important when studying a protein such as calmodulin (CaM), which activates various target enzymes and regulates numerous physiological functions. CaM is a highly flexible protein that can transitorily adopt various conformations. A quartz crystal microbalance with dissipation (QCM-D) sensor was used to study binding-induced conformational changes of surface-immobilized CaM. Structural changes of CaM were evaluated using the Voigt’s viscoelastic model with frequency (ΔF) and dissipation change (ΔD). When Apo-CaM layer was incubated in 0.1 mM Ca2+ solution, the layer decreased by approximately 0.56 nm, due to the release of coupled water molecules and conformational change. The …

A Kinect-Based System For Automatic Recording Of Some Pigeon Behaviors, Damian Lyons, James Macdonall, Kelly Cunningham

Faculty Publications

Contact switches and touch screens are the state of the art for recording pigeons’ pecking behavior. Recording other behavior, however, requires a different sensor for each behavior, and some behaviors cannot easily be recorded. We present a flexible and inexpensive image-based approach to detecting and counting pigeon behaviors that is based on the Kinect sensor from Microsoft. Although the system is as easy to set up and use as the standard approaches, it is more flexible because it can record behaviors in addition to key pecking. In this article, we show how both the fast, fine motion of key pecking …

Verifying And Validating Multirobot Missions, Damian M. Lyons, Ronald C. Arkin, Shu Jiang, Dagon Harrington, Tsung-Ming Liu

Faculty Publications

We have developed an approach that can be used by mission designers to determine whether or not a performance guarantee for their mission software, when carried out under the uncertain conditions of a real-world environment, will hold within a threshold probability. In this paper we demonstrate its utility for verifying multirobot missions, in particular a bounding overwatch mission.

Getting It Right The First Time: Verification Of Behavior-Based Multirobot Missions, Damian M. Lyons, Ronald C. Arkin, Shu Jiang, Dagon Harrington, Matthew O'Brien

Faculty Publications

No abstract provided.

Leveraging Area Bounds Information For Autonomous Multi-Robot Exploration, Tsung-Ming Liu, Damian M. Lyons

Faculty Publications

In this paper we propose an approach, the Space-Based Potential Field (SBPF) approach, to controlling multiple robots for area exploration missions that focus on robot dispersion. The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored. This additional information allows a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multi-robot scenarios while avoiding potential minima. Both simulation and robot experimental results are presented as evidence.

Getting It Right The First Time: Verification Of Autonomous Behavior-Based Multirobot Missions, Ronald C. Arkin, Damian M. Lyons

Faculty Publications

No abstract provided.

Querie: Collaborative Database Exploration, Magdalini Eirinaki, Suju Abraham, Neoklis Polyzotis, Naushin Shaikh

Faculty Publications

No abstract provided.