Computer Engineering Commons^™

Expecting The Unexpected : Measuring Uncertainties In Mobile Robot Path Planning In Dynamic Envionments, Yan Li, Brian Mac Namee, John D. Kelleher

Conference papers

Unexpected obstacles pose significant challenges to mobile robot navigation. In this paper we investigate how, based on the assumption that unexpected obstacles really follow patterns that can be exploited, a mobile robot can learn the locations within an environment that are likely to contain obstacles, and so plan optimal paths by avoiding these locations in subsequent navigation tasks. We propose the DUNC (Dynamically Updating Navigational Confidence) method to do this. We evaluate the performance of the DUNC method by comparing it with existing methods in a large number of randomly generated simulated test environments. our evaluations show that, by learning …

Robustness Of Speech Quality Metrics To Background Noise And Network Degradations: Comparing Visqol, Pesq And Polqa, Andrew Hines, Naomi Harte, Jan Skoglund, Anil Kokaram

Conference papers

The Virtual Speech Quality Objective Listener (ViSQOL) is a new objective speech quality model. It is a signal based full reference metric that uses a spectro-temporal measure of similarity between a reference and a test speech signal. ViSQOL aims to predict the overall quality of experience for the end listener whether the cause of speech quality degradation is due to ambient noise, or transmission channel degradations. This paper describes the algorithm and tests the model using two speech corpora: NOIZEUS and E4. The NOIZEUS corpus contains speech under a variety of background noise types, speech enhancement methods, and SNR levels. …

Detailed Comparative Analysis Of Pesq And Visqol Behaviour In The Context Of Playout Delay Adjustments Introduced By Voip Jitter Buffer Algorithms, Andrew Hines, Peter Pocta, Hugh Melvin

Conference papers

The default best-effort Internet presents significant challenges for delay-sensitive applications such as VoIP. To cope with non determinism, receiver playout strategies are utilised in VoIP applications that adapt to network condition. Such strategies can be divided into two different groups, namely per-talkspurt and per-packet. The former make use of silence periods within natural speech and adapt such silences to track network conditions, thus preserving the integrity of active speech talkspurts. Examples of this approach are described in [1, 2]. Per packet strategies are different in that adjustments are made both during silence periods and during talkspurts by time-scaling of packets, …

Indeterminate Masses, Elements And Models In Information Fusion, Florentin Smarandache

Branch Mathematics and Statistics Faculty and Staff Publications

In this paper at the beginning, we make a short history of the logics, from the classical Boolean logic to the most general logic of today neutrosophic logic. We define the general logic space and give the definition of the neutrosophic logic. Then we introduce the indeterminate models in information fusion, which are due either to the existence of some indeterminate elements in the fusion space or to some indeterminate masses.

The best approach for dealing with such models is the neutrosophic logic, which is part of neutrosophy. Neutrosophic logic is connected with neutrosophic set and neutrosophic probability and statistics.

A Robust Rgb-D Slam System For 3d Environment With Planar Surfaces, Po-Chang Su

Theses and Dissertations--Electrical and Computer Engineering

Simultaneous localization and mapping is the technique to construct a 3D map of unknown environment. With the increasing popularity of RGB-depth (RGB-D) sensors such as the Microsoft Kinect, there have been much research on capturing and reconstructing 3D environments using a movable RGB-D sensor. The key process behind these kinds of simultaneous location and mapping (SLAM) systems is the iterative closest point or ICP algorithm, which is an iterative algorithm that can estimate the rigid movement of the camera based on the captured 3D point clouds. While ICP is a well-studied algorithm, it is problematic when it is used in …

Independent Component Analysis Enhancements For Source Separation In Immersive Audio Environments, Yue Zhao

Theses and Dissertations--Electrical and Computer Engineering

In immersive audio environments with distributed microphones, Independent Component Analysis (ICA) can be applied to uncover signals from a mixture of other signals and noise, such as in a cocktail party recording. ICA algorithms have been developed for instantaneous source mixtures and convolutional source mixtures. While ICA for instantaneous mixtures works when no delays exist between the signals in each mixture, distributed microphone recordings typically result various delays of the signals over the recorded channels. The convolutive ICA algorithm should account for delays; however, it requires many parameters to be set and often has stability issues. This thesis introduces the …

A New Simplified Federated Single Sign-On System, Chen Liang

Masters

The work presented in this MPhil thesis addresses this challenge by developing a new simplified FSSO system that allows end-users to access desktop systems, web-based services/applications and non-web based services/applications using one authentication process. This new system achieves this using two major components: an “Authentication Infrastructure Integration Program (AIIP)" and an “Integration of Desktop Authentication and Web-based Authentication (IDAWA)." The AIIP acquires Kerberos tickets (for end-users who have been authenticated by a Kerberos single sign-on system in one net- work domain) from Kerberos single sign-on systems in different network domains without establishing trust between these Kerberos single sign-on systems. The …

Efficient, Scalable, Parallel, Matrix-Matrix Multiplication, Enrique Portillo

Open Access Theses & Dissertations

For the past decade, power/energy consumption has become a limiting factor for large-scale and embedded High Performance Computing (HPC) systems. This is especially true for systems that include accelerators, e.g., high-end computing devices, such as Graphics Processing Units (GPUs), with terascale computing capabilities and high power draws that greatly surpass that of multi-core CPUs. Accordingly, improving the node-level power/energy efficiency of an application can have a direct and positive impact on both classes of HPC systems.

The research reported in this thesis explores the use of software techniques to enhance the execution-time and power-consumption performance of applications executed on a …

Anasic Design And Test Methodology For An Undergraduate Design And Fabrication Project, Arun Joseph Kurian

Open Access Theses & Dissertations

During the 1990's the main focus of chip design methodologies was on the timings and area constraints. Power consumption was considered significant only after a drastic increase of device densities from 130nm on as well as dramatic increases in sub threshold leakage. As technology advanced from 130nm to 90nm and below there was a significant increase in leakage current due to lower threshold voltage and the influence of the deep submicron effects. High power consumption causes different problems such as increasing the cost of the product, reducing the reliability, reducing the battery life among others. Therefore EDA tools were designed …

An Exploration Of Social Media Use Among Multiply Minoritized Lgbtq Youth, Alfie Leanna Lucero

Open Access Theses & Dissertations

This study responds to a need for research in a fast-growing and significant area of study, that of exploring, understanding, and documenting the numerous ways that multiply marginalized LGBTQ youth between the ages of 14 and 17 use social media. The primary research question examined whether social media provide safe spaces for multiply minoritized LGBTQ youth to express and explore issues of sexuality and gender. In addition, the study explores and categorizes multiple ways that the participants interact with social media and makes comparisons to prior work with more general populations. The study provides descriptions of the participants in terms …

Orientation Invariant Ecg-Based Stethoscope Tracking For Heart Auscultation Training On Augmented Standardized Patients, Nahom Kidane, Salim Chemlal, Jiang Li, Frederic D. Mckenzie, Tom Hubbard

Computational Modeling & Simulation Engineering Faculty Publications

Auscultation, the act of listening to the heart and lung sounds, can reveal substantial information about patients’ health and other cardiac-related problems; therefore, competent training can be a key for accurate and reliable diagnosis. Standardized patients (SPs), who are healthy individuals trained to portray real patients, have been extensively used for such training and other medical teaching techniques; however, the range of symptoms and conditions they can simulate remains limited since they are only patient actors. In this work, we describe a novel tracking method for placing virtual symptoms in correct auscultation areas based on recorded ECG signals with various …

Turing Test As A Defining Feature Of Ai-Completeness, Roman V. Yampolskiy

Faculty and Staff Scholarship

The paper contributes to the development of the theory of AI-Completeness by formalizing the notion of AI-Complete, C-Complete and AI-Hard problems. The intended goal is to provide a classification of problems in the field of Artificial General Intelligence. We prove Turing Test to be an instance of an AI-Complete problem and further show certain AI problems to be AI-Complete or AI-Hard via polynomial time reductions. Finally, the paper suggests some directions for future work on the theory of AI-Completeness.

Design Of A Running Robot And The Effects Of Foot Placement In The Transverse Plane, Timothy James Sullivan

Open Access Theses

The purpose of this thesis is to make advances in the design of humanoid bipedal running robots. We focus on achieving dynamic running locomotion because it is one metric by which we can measure how far robotic technologies have advanced, in relation to existing benchmarks set by humans and other animals. Designing a running human-inspired robot is challenging because human bodies are exceptionally complex mechanisms to mimic. There are only a few humanoid robots designed specifically for running and the existing robots are either constrained to a plane, do not yet exhibit human-like motion, or are unstable.

One aspect of …

A Large Scale Distributed Syntactic, Semantic And Lexical Language Model For Machine Translation, Ming Tan

Browse all Theses and Dissertations

The n-gram model is the most widely used language model (LM) in statistical machine translation system, due to its simplicity and scalability. However, it only encodes the local lexical relation between adjacent words and clearly ignores the rich syntactic and semantic structures of the natural languages. Attempting to increase the order of an n-gram to describe longer range dependencies in natural language immediately runs into the curse of dimensionality. Although previous researches tried to increase the order of n-gram on a large corpus, they did not see obvious improvement beyond 6-gram. Meanwhile, other LMs, such as syntactic language models and …

Maximizing Resource Utilization In Video Streaming Systems, Mohammad A. Alsmirat

Wayne State University Dissertations

Video streaming has recently grown dramatically in popularity over the Internet, Cable TV, and wire-less networks. Because of the resource demanding nature of video streaming applications, maximizing resource utilization in any video streaming system is a key factor to increase the scalability and decrease the cost of the system. Resources to utilize include server bandwidth, network bandwidth, battery life in battery operated devices, and processing time in limited processing power devices. In this work, we propose new techniques to maximize the utilization of video-on-demand (VOD) server resources. In addition to that, we propose new framework to maximize the utilization of …

Autonomic Management And Performance Optimization For Cloud Computing Services, Xiangping Bu

Wayne State University Dissertations

Cloud computing has become an increasingly important computing paradigm. It offers three levels of on-demand services to cloud users: software as a service (SaaS), platform as a service (PaaS), and infrastructure as a service (IaaS) . The success of cloud services heavily depends on the effectiveness of cloud management strategies. In this dissertation work, we aim to design and implement an automatic cloud management system to improve application performance, increase platform efficiency and optimize resource allocation.

For large-scale multi-component applications, especially web-based cloud applica- tions, parameter setting is crucial to the service availability and quality. The increas- ing system complexity …

Advanced Augmented Reality Telestration Techniques With Applications In Laparoscopic And Robotic Surgery, Stephen Dworzecki

Wayne State University Dissertations

The art of teaching laparoscopic or robotic surgery currently has a primary reliance on an expert surgeon tutoring a student during a live surgery. During these operations, surgeons are viewing the inside of the body through a manipulatable camera. Due to the viewpoint translation and narrow field of view, these techniques have a substantial learning curve in order to gain the mastery necessary to operate safely. In addition to moving and rotating the camera, the surgeon must also manipulate tools inserted into the body. These tools are only visible on camera, and pass through a pivot point on the body …

A Relevance Feedback-Based System For Quickly Narrowing Biomedical Literature Search Result, Massuod Hassan Alatrash

Wayne State University Dissertations

The online literature is an important source that helps people find the information. The quick increase of online literature makes the manual search process for the most relevant information a very time-consuming task and leads to sifting through many results to find the relevant ones. The existing search engines and online databases return a list of results that satisfy the user's search criteria. The list is often too long for the user to go through every hit if he/she does not exactly know what he/she wants or/and does not have time to review them one by one. My focus is …

Statistical And Visual Analysis Of Spatio-Temporal Dynamics Of Dengue Fever Epidemic, Amana Arshad

Open Access Theses

Public health-care data possess spatio-temporal features and it evolves with time. For example, patient count visiting an ER in a hospital evolves with time. Clustering of such input data patterns into different groups over a certain temporal duration is useful for the purpose of health-care surveillance purpose. The objective of this study is to visualize and analyze these data patterns to get an insight into data characteristics for the purpose of the health-surveillance and to correlate these findings with the possible reasons for epidemic spread. The dynamics of this spatio-temporal pattern analysis is useful for epidemic spread surveillance in large …

Adaptive Nonlinear Control For Autonomous Ground Vehicles, William Spencer Black

Open Access Theses

We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design …

Combining Multiple, Inexpensive Gps Receivers To Increase Accuracy And Reliability, Daniel Kenneth Schrader

Open Access Theses

GPS is a technology that allows for accurate tracking of various parameters, namely speed and location. Many modern systems and tools require a rapidly-refreshing report of their speed and/or location, but the GPS technology available to most users may not be accurate enough for some applications. Methods currently

exist to improve GPS accuracy, but many or all of these methods are expensive, difficult, or simply not available without special technology and permission.

The research presented in this thesis describes an attempt to improve the accuracy and/or reliability of GPS, without using any expensive or restricted methods. The ability for any …

Interactive Multivariate Data Exploration For Risk-Based Decision Making, Silvia Oliveros Torres

Open Access Theses

Risk-based decision making is a data-driven process used to gather data about outcomes, analyze different scenarios, and deliver informed decisions to mitigate risk.

An interactive visual analytics system can help derive insights from large amounts of data and facilitate the risk management process thereby providing a suitable solution to examine different decision factors. This work introduces two separate systems that

incorporate visual analytics techniques to help the users in the tasks of identifying patterns, finding correlations, designing mitigation strategies, and assisting in the long term planning and assessment process. The first system looks at the National Health

and Nutrition Examination …

Analysis Of An Actuated Two Segment Leg Model Of Locomotion, Nikhil Vinayak Rao

Open Access Theses

Research studies on dynamic models of legged locomotion have generally focused on telescoping-type leg models. Such telescoping spring loaded inverted pendulum (SLIP) models have been able to accurately predict observed center of mass (CoM) trajectories. There have been comparatively fewer studies on dynamics of locomotion

with segmented legs. Some earlier studies on the dynamics due to leg segmentation appear straightforward. For example, a simple model with the only joint moment being due to a passive springy knee has been shown to behave similarly to a telescoping spring-mass model. However, in real-life animal locomotion, there are multiple joint-moments acting at the …

Monitoring The Effects Of Temporal Clipping On Voip Speech Quality, Andrew Hines, Naomi Harte, Jan Skoglund, Anil Kokaram

Conference papers

This paper presents work on a real-time temporal clipping monitoring tool for VoIP. Temporal clipping can occur as a result of voice activity detection (VAD) or echo cancellation where comfort noise in used in place of clipped speech segments. The algorithm presented will form part of a no-reference objective model for quantifying perceived speech quality in VoIP. The overall approach uses a modular design that will help pinpoint the reason for degradations in addition to quantifying their impact on speech quality. The new algorithm was tested for VAD compared over a range of thresholds and varied speech frame sizes. The …

Android Hacking And Analysis, Daun Lee

Summer Community of Scholars Posters (RCEU and HCR Combined Programs)

No abstract provided.

Evaluating And Training Intraoperative Analysis Of The Mitral Valve, Neil A. Tenenholtz

Link Foundation Modeling, Simulation and Training Fellowship Reports

Mitral valve repair is the recommended method of treating valve incompetency. However, the procedure is quite difficult and, as a result, underperformed due to surgeon’s need to predict the closed valve shape of the patient’s arrested heart. While the interactive process of predicting closed valve shape is achieved by physically manipulating valve tissue (known as valve analysis), surgical training consists of traditional, non-interactive pedagogy (e.g., book-based learning and lectures) followed by an apprenticeship model where the trainee is gradually given hands-on experience, resulting in post-medical school training that is often 10 years or greater. The continuing education of practicing cardiac …

Application Of Self-Monitoring For Situational Awareness, Christopher Trickler

College of Graduate Studies: Theses & Dissertations

Self-monitoring devices and services are used for physical wellness, personal tracking and self-improvement. These individual devices and services can only provide information based on what they can measure directly or historically without an intermediate system. This paper proposes a self-monitoring system to perform situational awareness which may extend into providing insight into predictable behaviors. Knowing an individual’s current state and likelihood of particular behaviors occurring is a general solution. This knowledge-based solution derived from sensory data has many applications. The proposed system could monitor current individual situational status, automatically provide personal status as it changes, aid personal improvement, contribute to …

A Semantics-Based Approach To Machine Perception, Cory Andrew Henson

Browse all Theses and Dissertations

Machine perception can be formalized using semantic web technologies in order to derive abstractions from sensor data using background knowledge on the Web, and efficiently executed on resource-constrained devices. Advances in sensing technology hold the promise to revolutionize our ability to observe and understand the world around us. Yet the gap between observation and understanding is vast. As sensors are becoming more advanced and cost-effective, the result is an avalanche of data of high volume, velocity, and of varied type, leading to the problem of too much data and not enough knowledge (i.e., insights leading to actions). Current estimates predict …

A Methodology For Extracting Human Bodies From Still Images, Athanasios Tsitsoulis

Browse all Theses and Dissertations

Monitoring and surveillance of humans is one of the most prominent applications of today and it is expected to be part of many future aspects of our life, for safety reasons, assisted living and many others. Many efforts have been made towards automatic and robust solutions, but the general problem is very challenging and remains still open. In this PhD dissertation we examine the problem from many perspectives. First, we study the performance of a hardware architecture designed for large-scale surveillance systems. Then, we focus on the general problem of human activity recognition, present an extensive survey of methodologies that …

Anomalies In Sensor Network Deployments: Analysis, Modeling, And Detection, Giovani Rimon Abuaitah

Browse all Theses and Dissertations

A sensor network serves as a vital source for collecting raw sensory data. Sensor data are later processed, analyzed, visualized, and reasoned over with the help of several decision making tools. A decision making process can be disastrously misled by a small portion of anomalous sensor readings. Therefore, there has been a vast demand for mechanisms that identify and then eliminate such anomalies in order to ensure the quality, integrity, and/or trustworthiness of the raw sensory data before they can even be interpreted.

Prior to identifying anomalies, it is essential to understand the various anomalous behaviors prevalent in a sensor …