Computer Engineering Commons^™

Adaptive Traction, Power And Torque Control Strategies And Optimization In An All-Electric Powertrain, Aymane Hidara

Theses and Dissertations

Electric and hybrid-electric vehicles lean heavily on intricate control algorithms to provide smooth, reliable, and secure operations under any driving conditions. Three distinct supervisory control strategies have been developed, each aiming to improve reliability and vehicle performance of a dual-motor electric vehicle equipped with an all-wheel-drive, fully electric powertrain. These algorithms are adept at dynamically modulating and constraining the torque provided to the wheels, leveraging two autonomous permanent magnet electric drive units. This study utilizes a vehicle model jointly provided by MathWorks and General Motors in partnership with industry sponsors. The these strategies were implemented in the model and enhanced …

Safety-Aware Autonomous Robot Navigation, Mapping And Control By Optimization Techniques, Tingjun Lei

Theses and Dissertations

The realm of autonomous robotics has seen impressive advancements in recent years, with robots taking on essential roles in various sectors, including disaster response, environmental monitoring, agriculture, and healthcare. As these highly intelligent machines continue to integrate into our daily lives, the pressing imperative is to elevate and refine their performance, enabling them to adeptly manage complex tasks with remarkable efficiency, adaptability, and keen decision-making abilities, all while prioritizing safety-aware navigation, mapping, and control systems. Ensuring the safety-awareness of these robotic systems is of paramount importance in their development and deployment. In this research, bio-inspired neural networks, nature-inspired intelligence, deep …

Qasm-To-Hls: A Framework For Accelerating Quantum Circuit Emulation On High-Performance Reconfigurable Computers, Anshul Maurya

Theses and Dissertations

High-performance reconfigurable computers (HPRCs) make use of Field-Programmable Gate Arrays (FPGAs) for efficient emulation of quantum algorithms. Generally, algorithm-specific architectures are implemented on the FPGAs and there is very little flexibility. Moreover, mapping a quantum algorithm onto its equivalent FPGA emulation architecture is challenging. In this work, we present an automation framework for converting quantum circuits to their equivalent FPGA emulation architectures. The framework processes quantum circuits represented in Quantum Assembly Language (QASM) and derives high-level descriptions of the hardware emulation architectures for High-Level Synthesis (HLS) on HPRCs. The framework generates the code for a heterogeneous architecture consisting of a …

Accelerating Machine Learning Inference For Satellite Component Feature Extraction Using Fpgas., Andrew Ekblad

Theses and Dissertations

Running computer vision algorithms requires complex devices with lots of computing power, these types of devices are not well suited for space deployment. The harsh radiation environment and limited power budgets have hindered the ability of running advanced computer vision algorithms in space. This problem makes running an on-orbit servicing detection algorithm very difficult. This work proposes using a low powered FPGA to accelerate the computer vision algorithms that enable satellite component feature extraction. This work uses AMD/Xilinx’s Zynq SoC and DPU IP to run model inference. Experiments in this work centered around improving model post processing by creating implementations …

A New Algorithm For Encounter Generation: Encounters From Actual Trajectories (Enact), James Anthony Ritchie Iii

Theses and Dissertations

There is ongoing research at the Federal Aviation Administration (FAA) and other private industries to examine a concept for delegated separation in multiple classes of airspace to allow unmanned aircraft systems (UAS) to remain well clear of other aircraft. Detect and Avoid (DAA) capabilities are one potential technology being examined to maintain separation. To evaluate these DAA capabilities, input traffic scenarios are needed, but current approaches are limited by the breadth of the traffic recordings available. This thesis derives a new mathematical algorithm that uses great circle navigation equations in an Earth spherical model and an accurate aircraft performance model …

Design And Development Of Clinical Decision Support System For Breast Cancer Diagnosis Using Artificial Intelligence, Karthiga R

Theses and Dissertations

The prevalence of breast cancer in women worldwide is far higher than that of cancers of the lungs, brain, or liver. Increasing ageing populations and poor lifestyle habits among the general public, primarily in industrialized nations, are significant factors contributing to the rise in cancer-related mortality rates worldwide. Approximately one woman in every three will develop breast cancer. This research proposes several advanced computer methods for analyzing breast cancer images. This work analyses breast cancer in four imaging modalities: mammography, thermography, ultrasonography and histopathology.

Each modality has some limitations in diagnosing tumors in the breast region. Heavy dose in mammogram …

Travel Time Prediction Using Machine Learning, Vignaan Vardhan Nampalli

Theses and Dissertations

With the rapid growth of urban populations and increasing vehicular traffic, congestion has become a major challenge for transportation systems worldwide. Accurate estimation of travel time plays a crucial role in mitigating congestion and enhancing traffic management. This research focuses on developing a novel methodology that utilizes machine learning models to estimate travel time using real-time traffic data collected through Bluetooth sensors deployed at traffic intersections. The research compares five different prediction systems for replicating travel time estimation, evaluating their performance and accuracy. The results highlight the effectiveness of the machine learning models in accurately predicting travel time. Lastly, the …

Physical Layer Security With Unmanned Aerial Vehicles For Advanced Wireless Networks, Aly Sabri Abdalla

Theses and Dissertations

Unmanned aerial vehicles (UAVs) are emerging as enablers for supporting many applications and services, such as precision agriculture, search and rescue, temporary network deployment, coverage extension, and security. UAVs are being considered for integration into emerging wireless networks as aerial users, aerial relays (ARs), or aerial base stations (ABSs). This dissertation proposes employing UAVs to contribute to physical layer techniques that enhance the security performance of advanced wireless networks and services in terms of availability, resilience, and confidentiality. The focus is on securing terrestrial cellular communications against eavesdropping with a cellular-connected UAV that is dispatched as an AR or ABS. …

Robust And Uncertainty-Aware Software Vulnerability Detection Using Bayesian Recurrent Neural Networks, Orune Aminul

Theses and Dissertations

Software systems are prone to code defects or vulnerabilities, resulting in several cyberattacks such as hacking, identity breach and information leakage leading to system failure. Vulnerabilities in software systems have severe societal implications, including threats to public safety, financial damage, and even risks to national security. Identifying and mitigating software vulnerabilities is critical to protect organizations and societies from potential threats. Machine learning algorithms have been employed to detect and classify potential vulnerabilities in software source code automatically. However, these algorithms are not robust to noise or malicious attacks and cannot quantify uncertainty in the model’s output. Quantifying uncertainty in …

Leveraging Programmable Switches To Enhance The Performance Of Networks: Active And Passive Deployments, Elie Kfoury

Theses and Dissertations

The performance of networks today is drastically affected by: 1) switches equipped with large buffers, referred to as “bloated buffers”: due to the lack of programmability and traffic visibility in legacy switches, operators nowadays configure large buffers statically without considering the characteristics or dynamics of flows. Such buffers increase the delays on packets, causing the Quality of Service (QoS) of networked applications (e.g., voice over IP, web browsing) to degrade; 2) switches forwarding packets on a best-effort basis: traffic crossing a switch is heterogeneous in many ways. Mixing such traffic in a single queue without any QoS measures can drastically …

Digital Health Design For Improving Treatment Decisions, Akanksha Singh

Theses and Dissertations

In the age of artificial intelligence and large datasets, information retrieval by querying large databases is an impossible task for the common user due to the information overload. Recommender Systems (RS) for commercial applications like YouTube, Amazon and Netflix were designed to support users by finding items of interest based on their user profiles and various filtering techniques. Health Recommender Systems (HRS) is a category of RSs that provides immense opportunities for application across several healthcare domains and contexts including treatment decision support. Unlike RS applications that focus on analyzing consumer choices, a key differentiator for HRS applications is the …

User Profiling Through Zero-Permission Sensors And Machine Learning, Ahmed Elhussiny

Theses and Dissertations

With the rise of mobile and pervasive computing, users are often ingesting content on the go. Services are constantly competing for attention in a very crowded field. It is only logical that users would allot their attention to the services that are most likely to adapt to their needs and interests. This matter becomes trivial when users create accounts and explicitly inform the services of their demographics and interests. Unfortunately, due to privacy and security concerns, and due to the fast nature of computing today, users see the registration process as an unnecessary hurdle to bypass, effectively refusing to provide …

Mixed-Criticality Scheduling Using Reinforcement Learning, Omar Elseadawy

Theses and Dissertations

Mixed-criticality (MC) scheduling is necessary for many safety-critical real-time embedded systems, as a failure of high-criticality jobs could lead to fatal accidents. With the emergence of software technologies in software-defined vehicles in the automotive and avionics industries, studying Mixed-Critically (MC) systems is essential to their safety standards, similar to ISO26262. The real-time operation of MC systems makes it an inherently online problem, such that the scheduler is only aware of the jobs that are currently released at any point in time and has no knowledge of future jobs. Due to the overhead cost of preemption, this study focuses on enforcing …

Towards Optimal Operation And Control Of Emerging Electric Distribution Networks, Jimiao Zhang

Theses and Dissertations

The growing integration of power-electronics converters enabled components causes low inertia in the evolving electric distribution networks, which also suffer from uncertainties due to renewable energy sources, electric demands, and anomalies caused by physical or cyber attacks, etc. These issues are addressed in this dissertation. First, a virtual synchronous generator (VSG) solution is provided for solar photovoltaics (PVs) to address the issues of low inertia and system uncertainties. Furthermore, for a campus AC microgrid, coordinated control of the PV-VSG and a combined heat and power (CHP) unit is proposed and validated. Second, for islanded AC microgrids composed of SGs and …

A Graph-Based Approach For Adaptive Serious Games, Nidhi G. Patel

Theses and Dissertations

Traditional education systems are based on the one-size-fits-all approach, which lacks personalization, engagement, and flexibility necessary to meet the diverse needs and learning styles of students. This encouraged researchers to focus on exploring automated, personalized instructional systems to enhance students’ learning experiences. Motivated by this remark, this thesis proposes a personalized instructional system using a graph method to enhance a player’s learning process by preventing frustration and avoiding a monotonous experience. Our system uses a directional graph, called an action graph, for representing solutions to in-game problems based on possible player actions. Through our proposed algorithm, a serious game integrated …

Secure And Efficient Federated Learning, Xingyu Li

Theses and Dissertations

In the past 10 years, the growth of machine learning technology has been significant, largely due to the availability of large datasets for training. However, gathering a sufficient amount of data on a central server can be challenging. Additionally, with the rise of mobile networking and the large amounts of data generated by IoT devices, privacy and security issues have become a concern, resulting in government regulations such as GDPR, HIPAA, CCPA, and ADPPA. Under these circumstances, traditional centralized machine learning methods face a problem in that sensitive data must be kept locally for privacy reasons, making it difficult to …

Unmanned Aerial System Integration Safety And Security Technology Ontology, Rebecca A. Garcia

Theses and Dissertations

Unmanned Aerial System (UAS) is a versatile and essential tool for law enforcement, first responders, utility providers, and the general public. Integrating the UAS into the National Airspace System (NAS) poses a significant challenge to policymakers and manufacturers. A UAS Integration Safety and Security Technology Ontology (ISSTO) has been developed in the Web Ontology Language (OWL) to aid in this integration. ISSTO is a domain ontology covering aviation topics corresponding to flights, aircraft types, manufacturers, temporal/spatial, waivers and authorizations, track data, NAS facilities, air traffic control advisories, weather phenomena, surveillance and security equipment, and events, sensor types, radio frequency ranges, …

Cross-Platform Development Of Wake-Up-Word, Christopher Ryan Woodle

Theses and Dissertations

The goal of this project will be to explore cross-platform implementation of Wake-Up- Word (WUW). To enable the development of future speech-based artificial intelligence applications, it is important to have robust and accessible implementations of WUW. Adoption of Unix based operating systems continues to expand for server, backend, and embedded applications, therefore a WUW implementation in Unix will become essential. As web technologies continue to grow, WUW will also need to be implemented in web, using technologies such as JavaScript and Web Assembly (WASM). This project encompasses porting the previous implementation of WUW from Microsoft Windows to Unix, building a …

Real-Time Facial Expression Recognition Using Edge Ai Accelerators, Mark Heath Smith

Theses and Dissertations

Facial expression recognition is a popular and challenging area of research in machine learning applications. Facial expressions are critical to human communication and allow us to convey complex thoughts and emotions beyond spoken language. The complexity of facial expressions creates a difficult problem for computer vision systems, especially edge computing systems. Current Deep Learning (DL) methods rely on large-scale Convolutional Neural Networks (CNN) which require millions of floating point operations (FLOPS) to accomplish similar image classification tasks. However, on edge and IoT devices, large-scale convolutional models can cause problems due to memory and power limitations. The intent of this work …

A Semantic Web Approach To Fault Tolerant Autonomous Manufacturing, Fadi El Kalach

Theses and Dissertations

The next phase of manufacturing is centered on making the switch from traditional automated to autonomous systems. Future Factories are required to be agile, allowing for more customized production, and resistant to disturbances. Such production lines would have the capability to reallocate resources as needed and eliminate downtime while keeping up with market demands. These systems must be capable of complex decision making based on different parameters such as machine status, sensory data, and inspection results. Current manufacturing lines lack this complex capability and instead focus on low level decision making on the machine level without utilizing the generated data …

Skeleton-Based Hand Gesture Recognition Using Data-Level Fusion, Oluwaleke Yusuf

Theses and Dissertations

Hand Gesture Recognition (HGR) is a form of perceptual computing that allows artificial systems to capture and interpret human gestures. HGR has applications in human-machine interaction, virtual reality, augmented reality, and human behavior analysis. The human hand can assume a near-infinite number of poses and orientations to form myriad gestures, thus increasing the difficulty of the HGR task.

The hand skeleton of connected joints effectively describes the hand’s geometric shape and thus contains richer semantic gesture information while eliminating noise from individual differences in physical hand characteristics. The efficacy and computational efficiency of skeleton-based HGR frameworks can be significantly enhanced …

Virtual Plc Platform For Security And Forensics Of Industrial Control Systems, Syed Ali Qasim

Theses and Dissertations

Industrial Control Systems (ICS) are vital in managing critical infrastructures, including nuclear power plants and electric grids. With the advent of the Industrial Internet of Things (IIoT), these systems have been integrated into broader networks, enhancing efficiency but also becoming targets for cyberattacks. Central to ICS are Programmable Logic Controllers (PLCs), which bridge the physical and cyber worlds and are often exploited by attackers. There's a critical need for tools to analyze cyberattacks on PLCs, uncover vulnerabilities, and improve ICS security. Existing tools are hindered by the proprietary nature of PLC software, limiting scalability and efficiency.

To overcome these challenges, …

Improving The Performance, Energy Efficiency And Security Of Gpus, Xin Wang

Theses and Dissertations

The work in this dissertation achieves to enhance the performance, energy-efficiency, and security of the GPUs. We noticed that, as the demand of hardware resources keeps rising in GPUs, the energy consumption becomes unaffordable and places barriers for further performance boost. To resolve this issue, we have proposed several novel GPU micro-architectures that are able to assist the GPUs to execute in an energy-efficient manner. They also provide the potential for further performance enhancement in GPUs. Firstly, we proposed a GPU register packing scheme that stores multiple narrow-width operands to a single register to save register file resources. The unoccupied …

Improving The Flexibility And Robustness Of Machine Tending Mobile Robots, Richard Ethan Hollingsworth

Theses and Dissertations

While traditional manufacturing production cells consist of a fixed base robot repetitively performing tasks, the Industry 5.0 flexible manufacturing cell (FMC) aims to bring Autonomous Industrial Mobile Manipulators (AIMMs) to the factory floor. Composed of a wheeled base and a robot arm, these collaborative robots (cobots) operate alongside people while autonomously performing tasks at different workstations. AIMMs have been tested in real production systems, but the development of the control algorithms necessary for automating a robot that is a combination of two cobots remains an open challenge before the large scale adoption of this technology occurs in industry. Currently popular …

Machine Learning Models To Automate Radiotherapy Structure Name Standardization, Priyankar Bose

Theses and Dissertations

Structure name standardization is a critical problem in Radiotherapy planning systems to correctly identify the various Organs-at-Risk, Planning Target Volumes and `Other' organs for monitoring present and future medications. Physicians often label anatomical structure sets in Digital Imaging and Communications in Medicine (DICOM) images with nonstandard random names. Hence, the standardization of these names for the Organs at Risk (OARs), Planning Target Volumes (PTVs), and `Other' organs is a vital problem. Prior works considered traditional machine learning approaches on structure sets with moderate success. We compare both traditional methods and deep neural network-based approaches on the multimodal vision-language prostate cancer …

Initiating Change In Care: Socially Assistive Robots, Sooraj Sushama

Theses and Dissertations

Socially assistive robots (SAR) are autonomous machines equipped with sensors and software that allow them to interact socially with humans. SAR robots are commonly used in healthcare settings to provide patients with non-clinical support, such as conversation and emotional companionship. SARs can also deliver reminders, monitor vital signs, and provide educational information about health conditions or medications. Researchers have studied SAR applications in detail. Additionally, there has been prior research on SAR where users' sociodemographic factors and technology acceptance were studied. But even though the backbone of SAR is an advanced technology, no known research has been done on users' …

Wifi Sensing At The Edge Towards Scalable On-Device Wireless Sensing Systems, Steven M. Hernandez

Theses and Dissertations

WiFi sensing offers a powerful method for tracking physical activities using the radio-frequency signals already found throughout our homes and offices. This novel sensing modality offers continuous and non-intrusive activity tracking since sensing can be performed (i) without requiring wearable sensors, (ii) outside the line-of-sight, and even (iii) through the wall. Furthermore, WiFi has become a ubiquitous technology in our computers, our smartphones, and even in low-cost Internet of Things devices. In this work, we consider how the ubiquity of these low-cost WiFi devices offer an unparalleled opportunity for improving the scalability of wireless sensing systems. Thus far, WiFi sensing …

Portable Robotic Navigation Aid For The Visually Impaired, Lingqiu Jin

Theses and Dissertations

This dissertation aims to address the limitations of existing visual-inertial (VI) SLAM methods - lack of needed robustness and accuracy - for assistive navigation in a large indoor space. Several improvements are made to existing SLAM technology, and the improved methods are used to enable two robotic assistive devices, a robot cane, and a robotic object manipulation aid, for the visually impaired for assistive wayfinding and object detection/grasping. First, depth measurements are incorporated into the optimization process for device pose estimation to improve the success rate of VI SLAM's initialization and reduce scale drift. The improved method, called depth-enhanced visual-inertial …

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 …

Design, Development And Evaluation Of The Ruggedized Edge Computing Node (Recon), Sahil Girin Patel

Theses and Dissertations

The increased quality and quantity of sensors provide an ever-increasing capability to collect large quantities of high-quality data in the field. Research devoted to translating that data is progressing rapidly; however, translating field data into usable information can require high performance computing capabilities. While high performance computing (HPC) resources are available in centralized facilities, bandwidth, latency, security and other limitations inherent to edge location in field sensor applications may prevent HPC resources from being used in a timely fashion necessary for potential United States Army Corps of Engineers (USACE) field applications. To address these limitations, the design requirements for RECON …