Computer Engineering Commons^™

A Multi-Case Study Of Student Interactions With Educational Robots And Impact On Science, Technology, Engineering, And Math (Stem) Learning And Attitudes, Stephanie Holmquist

USF Tampa Graduate Theses and Dissertations

The demand for STEM trained workers continues to increase not only in the United States, but globally. Reports have indicated that the United States is not doing a good job encouraging students to pursue STEM oriented degrees. In particular, it has become increasingly important to emphasize STEM connections at an early level in order to encourage student career exploration as they continue their education. Educational robots represent a unique alternative to traditional methods, especially at the elementary level. Considering the use of educational robots have largely been ignored at this level, the purpose of this study was to describe the …

Scene-Dependent Human Intention Recognition For An Assistive Robotic System, Kester Duncan

USF Tampa Graduate Theses and Dissertations

In order for assistive robots to collaborate effectively with humans for completing everyday tasks, they must be endowed with the ability to effectively perceive scenes and more importantly, recognize human intentions. As a result, we present in this dissertation a novel scene-dependent human-robot collaborative system capable of recognizing and learning human intentions based on scene objects, the actions that can be performed on them, and human interaction history. The aim of this system is to reduce the amount of human interactions necessary for communicating tasks to a robot. Accordingly, the system is partitioned into scene understanding and intention recognition modules. …

Theory, Synthesis, And Application Of Adiabatic And Reversible Logic Circuits For Security Applications, Matthew Arthur Morrison

USF Tampa Graduate Theses and Dissertations

Programmable reversible logic is emerging as a prospective logic design style for implementation in modern nanotechnology and quantum computing with minimal impact on circuit heat generation. Adiabatic logic is a design methodology for reversible logic in CMOS where the current flow through the circuit is controlled such that the energy dissipation due to switching and capacitor dissipation is minimized. Recent advances in reversible logic using and quantum computer algorithms allow for improved computer architectures. Production of cost-effective Secure Integrated Chips, such as Smart Cards, requires hardware designers to consider tradeoffs in size, security, and power consumption. In order to design …

Approximate Sub-Graph Isomorphism For Watermarking Finite State Machine Hardware, Richard William Piper Meana

USF Tampa Graduate Theses and Dissertations

We present a method of mitigating theft of sequential circuit Intellectual Property hardware designs through means of watermarking. Hardware watermarking can be performed by selectively embedding a watermark in the state encoding of the Finite State Machine. This form of watermarking can be achieved by matching a directed graph representation of the watermark with a sub-graph in state transition graph representation of the FSM. We experiment with three approaches: a brute force method that provides a proof of concept, a greedy algorithm that provides excellent runtime with a drawback of sub-optimal results, and finally a simulated annealing method that provides …

A Distributed Local-Leg Feedback Algorithm For Robust Walking On Uneven Terrain, Mayur Ramakant Palankar

USF Tampa Graduate Theses and Dissertations

Legged animals can traverse significantly more of the Earth's land mass than man-made wheeled and tracked vehicles~\cite{Anonymous67}. Their impressive mobility is largely due to multiple dexterous legs and the robust algorithms that coordinate and control them. A legged animal such as a squirrel can exhibit multiple locomotion modes such as walking, running and jumping and also multiple gaits or leg phase timings within each mode. A robot that could mimic this level of robust locomotion would be highly useful for planetary exploration, military reconnaissance, and time-critical search and rescue in cluttered or collapsed buildings.

A number of biological studies on …

A Novel Method For Watermarking Sequential Circuits, Matthew Lewandowski

USF Tampa Graduate Theses and Dissertations

We present an Intellectual Property (IP) protection technique for sequential circuits driven by embedding a decomposed signature into a Finite State Machine (FSM) through the manipulation of the arbitrary state encoding of the unprotected FSM. This technique is composed of three steps: (a) transforming the signature into a watermark graph, (b) embedding watermark graphs into the original FSM's State Transition Graph (STG) and (c) generating models for verification and extraction. In the watermark construction process watermark graphs are generated from signatures. The proposed methods for watermark construction are: (1) BSD, (2) FSD, and (3) HSD. The HSD method is shown …

Algorithms And Data Structures For Efficient Timing Analysis Of Asynchronous Real-Time Systems, Yingying Zhang

USF Tampa Graduate Theses and Dissertations

This thesis presents a framework to verify asynchronous real-time systems based on model checking. These systems are modeled by using a common modeling formalism named Labeled Petri-nets(LPNs).

In order to verify the real-time systems algorithmically, the zone-based timing analysis method is used for LPNs. It searches the state space with timing information (represented by zones). When there is a high degree of concurrency in the model, firing concurrent enabled transitions in different order may result in different zones, and these zones may be combined without affecting the verification result. Since the zone-based method could not deal with this problem efficiently, …

Design Of An Advanced Lighting Measurement System For Roadway Safety, Mathew Johnson

USF Tampa Graduate Theses and Dissertations

Roadway illumination is a vital component of safety while driving during the night. There are regulations in place to ensure all publicly maintained roads are properly lit, but the validation process is too time consuming, costly, and dangerous for adequate data collection studies. The work in this thesis is aimed toward remedying this problem by creating an Advanced Lighting Measurement System (ALMS) capable of recording illumination readings while traveling at normal driving speeds. This solution is based on the Arduino Uno development board, a cost effective yet powerful embedded platform. This thesis involves collecting data along 100 centerline miles of …

Robotic Swarming Without Inter-Agent Communication, Daniel Jonathan Standish

USF Tampa Graduate Theses and Dissertations

Many physical and algorithmic swarms utilize inter-agent communication to achieve advanced swarming behaviors. These swarms are inspired by biological swarms that can be seen throughout nature and include bee swarms, ant colonies, fish schools, and bird flocks. These biological swarms do not utilize inter-agent communication like their physical and algorithmic counterparts. Instead, organisms in nature rely on a local awareness of other swarm members that facilitates proper swarm motion and behavior. This research aims to pursue an effective swarm algorithm using only line-of-sight proximity information and no inter-agent communication. It is expected that the swarm performance will be lower than …

A Multi-Parameter Functional Side Channel Analysis Method For Hardware Trojan Detection In Untrusted Fpga Bitstreams, Christopher William Bell

USF Tampa Graduate Theses and Dissertations

Hardware Trojan Horses (HTHs or Trojans) are malicious design modifications intended to cause the design to function incorrectly. Globalization of the IC development industry has created new opportunities for rogue agents to compromise a design in such a way. Offshore foundries cannot always be trusted, and the use of trusted foundries is not always practical or economical. There is a pressing need for a method to reliably detect these Trojans, to prevent compromised designs from being put into production.

This thesis proposes a multi-parameter analysis method that is capable of reliably detecting function-altering and performance-degrading Trojans in FPGA bitstreams. It …

Packet Coalescing And Server Substitution For Energy-Proportional Operation Of Network Links And Data Servers, Mehrgan Mostowfi

USF Tampa Graduate Theses and Dissertations

Electricity generation for Information and Communications Technology (ICT) contributes over 2% of the human-generated CO2 to the atmosphere. Energy costs are rapidly becoming the major operational expense for ICT and may soon dwarf capital expenses as software and hardware continue to drop in price. In this dissertation, three new approaches to achieving energy-proportional operation of network links and data servers are explored.

Ethernet is the dominant wireline communications technology for Internet connectivity. IEEE 802.3az Energy Efficient Ethernet (EEE) describes a Low Power Idle (LPI) mechanism for allowing Ethernet links to sleep. A method of coalescing packets to consolidate link idle …

Fpca Based Human-Like Trajectory Generating, Wei Dai

USF Tampa Graduate Theses and Dissertations

This thesis presents a new human-like upper limb and hand motion generating method. The work is based on Functional Principal Component Analysis and Quadratic Programming. The human-like motion generating problem is formulated in a framework of minimizing the difference of the dynamic profile of the optimal trajectory and the known types of trajectory. Statistical analysis is applied to the pre-captured human motion records to work in a low dimensional space. A novel PCA FPCA hybrid motion recognition method is proposed. This method is implemented on human grasping data to demonstrate its advantage in human motion recognition. One human grasping hierarchy …

Determining The Benefit Of Human Input In Human-In-The-Loop Robotic Systems, Christine Elizabeth Bringes

USF Tampa Graduate Theses and Dissertations

This work analyzes human-in-the-loop robotic systems to determine where human input can be most beneficial to a collaborative task. This is accomplished by implementing a pick-and-place task using a human-in-the-loop robotic system and determining which segments of the task, when replaced by human guidance, provide the most improvement to overall task performance and require the least cognitive effort.

The first experiment entails implementing a pick and place task on a commercial robotic arm. Initially, we look at a pick-and-place task that is segmented into two main areas: coarse approach towards a goal object and fine pick motion. For the fine …

Efficient And Private Processing Of Analytical Queries In Scientific Datasets, Anand Kumar

USF Tampa Graduate Theses and Dissertations

Large amount of data is generated by applications used in basic-science research and development applications. The size of data introduces great challenges in storage, analysis and preserving privacy. This dissertation proposes novel techniques to efficiently analyze the data and reduce storage space requirements through a data compression technique while preserving privacy and providing data security.

We present an efficient technique to compute an analytical query called spatial distance histogram (SDH) using spatiotemporal properties of the data. Special spatiotemporal properties present in the data are exploited to process SDH efficiently on the fly. General purpose graphics processing units (GPGPU or just …

Classification Models In Clinical Decision Making, Eleazar Gil-Herrera

USF Tampa Graduate Theses and Dissertations

In this dissertation, we present a collection of manuscripts describing the development of prognostic models designed to assist clinical decision making. This work is motivated by limitations of commonly used techniques to produce accessible prognostic models with easily interpretable and clinically credible results. Such limitations hinder prognostic model widespread utilization in medical practice.

Our methodology is based on Rough Set Theory (RST) as a mathematical tool for clinical data anal- ysis. We focus on developing rule-based prognostic models for end-of life care decision making in an effort to improve the hospice referral process. The development of the prognostic models is …

Prevention And Detection Of Intrusions In Wireless Sensor Networks, Ismail Butun

USF Tampa Graduate Theses and Dissertations

Wireless Sensor Networks (WSNs) continue to grow as one of the most exciting and challenging research areas of engineering. They are characterized by severely constrained computational and energy

resources and also restricted by the ad-hoc network operational

environment. They pose unique challenges, due to limited power

supplies, low transmission bandwidth, small memory sizes and limited energy. Therefore, security techniques used in traditional networks cannot be directly adopted. So, new ideas and approaches are needed, in order to increase the overall security of the network. Security applications in such resource constrained WSNs with minimum overhead provides significant challenges, and is the …

Design Of A Highly Portable Data Logging Embedded System For Naturalistic Motorcycle Study, Noureddine Elmehraz

USF Tampa Graduate Theses and Dissertations

According to Motorcycle Industrial Council (MIC), in USA the number of owned

motorcycle increased during last few years and most likely will keep increasing. However, the

number of the deadly crash accidents associated with motorcycles is on the rise. Although MIC

doesn't explain why the accident rate has increased, the unprotected motorcyclist gear can be one

of the reasons. The most recent National Highway Traffic Safety Administration (NHTSA)

annual report stated that its data analyses are based on their experiences and the best judgment is

not based on solid scientific experiment [3]. Thus, building a framework for the data acquisition …

Human Intention Recognition Based Assisted Telerobotic Grasping Of Objects In An Unstructured Environment, Karan Hariharan Khokar

USF Tampa Graduate Theses and Dissertations

In this dissertation work, a methodology is proposed to enable a robot to identify an object to be grasped and its intended grasp configuration while a human is teleoperating a robot towards the desired object. Based on the detected object and grasp configuration, the human is assisted in the teleoperation task. The environment is unstructured and consists of a number of objects, each with various possible grasp configurations. The identification of the object and the grasp configuration is carried out in real time, by recognizing the intention of the human motion. Simultaneously, the human user is assisted to preshape over …

A Location-Aware Architecture Supporting Intelligent Real-Time Mobile Applications, Sean J. Barbeau

USF Tampa Graduate Theses and Dissertations

This dissertation presents LAISYC, a modular location-aware architecture for intelligent real-time mobile applications that is fully-implementable by third party mobile app developers and supports high-precision and high-accuracy positioning systems such as GPS. LAISYC significantly improves device battery life, provides location data authenticity, ensures security of location data, and significantly reduces the amount of data transferred between the phone and server. The design, implementation, and evaluation of LAISYC using real mobile phones include the following modules: the GPS Auto-Sleep module saves battery energy when using GPS, maintaining acceptable movement tracking (approximately 89% accuracy) with an approximate average doubling of battery life. …

Algorithms For Visual Maritime Surveillance With Rapidly Moving Camera, Sergiy Fefilatyev

USF Tampa Graduate Theses and Dissertations

Visual surveillance in the maritime domain has been explored for more than a decade. Although it has produced a number of working systems and resulted in a mature technology, surveillance has been restricted to the port facilities or areas close to the coastline assuming a fixed-camera scenario. This dissertation presents several contributions in the domain of maritime surveillance. First, a novel algorithm for open-sea visual maritime surveillance is introduced. We explore a challenging situation with a camera mounted on a buoy or other floating platform. The developed algorithm detects, localizes, and tracks ships in the field of view of the …

Overcoming Limitations Of Serial Audio Search, Isabela Cordeiro Ribeiro Moura Hidalgo

USF Tampa Graduate Theses and Dissertations

The typical approach for finding audio recordings, such as music and sound effects, in a database is to enter some textual information into a search field. The results appear summarized in a list of textual descriptions of the audio files along with a function for playing back the recordings. Exploring such a list sequentially is a time-consuming and tedious way to search for sounds. This research evaluates whether searching for audio information can become more effective with a user interface capable of presenting multiple audio streams simultaneously.

A prototype audio player was developed with a user interface suitable for both …

Design Methodologies For Reversible Logic Based Barrel Shifters, Saurabh Kotiyal

USF Tampa Graduate Theses and Dissertations

The reversible logic has the promising applications in emerging computing paradigm

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 an 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 as the garbage outputs. The number of

ancilla inputs, number of garbage outputs and quantum cost plays an important role in

the evaluation of reversible circuits. Thus minimizing these …

The Creation Of A Robotics Based Human Upper Body Model For Predictive Simulation Of Prostheses Performance, Derek James Lura

USF Tampa Graduate Theses and Dissertations

This work focuses on the use of 3D motion capture data to create and optimize a robotic human body model (RHBM) to predict the inverse kinematics of the upper body. The RHBM is a 25 degrees of freedom (DoFs) upper body model with subject specific kinematic parameters. The model was developed to predict the inverse kinematics of the upper body in the simulation of a virtual person, including persons with functional limitations such as a transradial or transhumeral amputation. Motion data were collected from 14 subjects: 10 non-amputees control subjects, 1 person with a transradial amputation, and 3 persons with …

Basal Graph Structures For Geometry Based Organization Of Wide-Baseline Image Collections, Aveek Shankar Brahmachari

USF Tampa Graduate Theses and Dissertations

We propose algorithms for organization of images in wide-area sparse-view datasets. In such datasets, if the images overlap in scene content, they are related by wide-baseline geometric transformations. The challenge is to identify these relations even if the images sparingly overlap in their content. The images in a dataset are then grouped into sets of related images with the relations captured in each set as a basal (minimal and foundational) graph structures. Images form the vertices in the graph structure and the edges define the geometric relations between the images. We use these basal graphs for geometric walkthroughs and detection …

Design Of A Reversible Alu Based On Novel Reversible Logic Structures, Matthew Arthur Morrison

USF Tampa Graduate Theses and Dissertations

Programmable reversible logic is emerging as a prospective logic design style for implementation in modern nanotechnology and quantum computing with minimal impact on circuit heat generation. Recent advances in reversible logic using and quantum computer algorithms allow for improved computer architecture and arithmetic logic unit designs. In this paper, a 2*2 Swap gate which is a reduced implementation in terms of quantum cost and delay to the previous Swap gate is presented. Next, a novel 3*3 programmable UPG gate capable of calculating the fundamental logic calculations is presented and verified, and its advantages over the Toffoli and Peres gates are …

Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence

USF Tampa Graduate Theses and Dissertations

The wheelchair-mounted robotic arm (WMRA) is a 9-degree of freedom (DoF) assistive system that consists of a 2-DoF modified commercial power wheelchair and a custom 7-DoF robotic arm. Kinematics and control methodology for the 9-DoF system that combine mobility and manipulation have been previously developed and implemented. This combined control allows the wheelchair and robotic arm to follow a single trajectory based on weighted optimizations. However, for the execution of activities of daily living (ADL) in the real-world environment, modified control techniques have been implemented.

In order to execute macro ADL tasks, such as a "go to and pick up" …

A Dynamic Hierarchical Web-Based Portal, Matthew James Spaulding

USF Tampa Graduate Theses and Dissertations

A dynamic hierarchical web-based portal was created to house a suite of web-based supply chain management applications. The portal was designed in a hierarchical manner to match the structure of large companies. Administrators of the the portal have the ability to form the portal in such a way to mimic the existing structure of their company. Access rights to the applications in the portal may be granted or denied per division and the users of the portal are placed in these divisions based on their duty in the company. In addition, users are granted roles which dictate their ability to …

Design, Synthesis And Test Of Reversible Circuits For Emerging Nanotechnologies, Himanshu Thapliyal

USF Tampa Graduate Theses and Dissertations

Reversible circuits are similar to conventional logic circuits except that they are built from reversible gates. In reversible gates, there is a unique, one-to-one mapping between the inputs and outputs, not the case with conventional logic. Also, reversible gates require constant ancilla inputs for reconfiguration of gate functions and garbage outputs that help in keeping reversibility. Reversible circuits hold promise in futuristic computing technologies like quantum computing, quantum dot cellular automata, DNA computing, optical computing, etc. Thus, it is important to minimize parameters such as ancilla and garbage bits, quantum cost and delay in the design of reversible circuits.

The …

Asymmetric Passive Dynamic Walker Used To Examine Gait Rehabilitation Methods, John Sushko

USF Tampa Graduate Theses and Dissertations

Testing gait rehabilitation devices on humans can be a difficult task, due to the effects of the neurological controls of the human body. This thesis advances the use of a passive dynamic walker (PDW) tuned to have asymmetric gait patterns similar to those with physical impairments to test rehabilitation devices. A passive dynamic walker is a multipendulum system that has a stable gait pattern when walking down a slope without any energy inputs except the forces due to gravity. A PDW model is better suited for testing rehabilitation devices because it has been shown to resemble human gait and separates …

Robotic Hand Evaluation Based On Task Specific Kinematic Requirements, Carlos Rafael Neninger

USF Tampa Graduate Theses and Dissertations

With the rise autonomous and robotic systems in field applications, the need for dexterous, highly adaptable end effectors has become a major research topic. Control mechanisms of robotics hands with a high number independent actuators is recognized as a complex, high dimensional problem, with exponentially complex algorithms. However, recent studies have shown that human hand motion possesses very high joint correlation which translates into a set of predefined postures, or synergies. The hand produces a motion using a complementing contribution of multiple joints, called synergies. The similarities place variables onto a common dimensional space, effectively reducing the number of independent …