Computer Engineering Commons^™

Dynamic Surgical Tool Tracking And Delivery System Using Baxter Robot, Sthitapragyan Parida, Juan Pablo Wachs, Maria Eugenia Cabrera

The Summer Undergraduate Research Fellowship (SURF) Symposium

Several hospitals face nurse staffing shortages for surgeries. This research focuses on building a system with Baxter robot capable of identifying surgical tools using computer vision and delivering them to the surgeon on demand. This would deal with the issue of nurse unavailability during simple surgical procedures. The key aspects of the project were: testing the accuracies of various Artificial Neural Networks (ANNs) in classifying surgical instruments, and programming Baxter to implement a surgical tool delivery system using magnets at the tip of its 7-DOF robotic arms. The methodology consisted of, first, implementing algorithms to enable Baxter to do pick …

Model-Free Method Of Reinforcement Learning For Visual Tasks, Jeff S. Soldate, Jonghoon Jin, Eugenio Culurciello

The Summer Undergraduate Research Fellowship (SURF) Symposium

There has been success in recent years for neural networks in applications requiring high level intelligence such as categorization and assessment. In this work, we present a neural network model to learn control policies using reinforcement learning. It takes a raw pixel representation of the current state and outputs an approximation of a Q value function made with a neural network that represents the expected reward for each possible state-action pair. The action is chosen an \epsilon-greedy policy, choosing the highest expected reward with a small chance of random action. We used gradient descent to update the weights and biases …

Vast 2014, Challenge One: Event Analysis Within Big Data, Isaac C. Sheeley, Jieqiong Zhao, Jing Xia, Shehzad Afzal, Joseph Christopher, David Ebert Dr.

The Summer Undergraduate Research Fellowship (SURF) Symposium

News articles and email conversation data could be very useful in the analysis of developing and ongoing events, such as preventing a potential threat or possibly even locating a missing person. There is currently no “one-size-fits-all” solution to visualizing diverse forms of datasets and their sheer sizes are far too great to efficiently analyze by brute force methods. However, using principles of Visual Analytics, it is possible to take this information overload and transform it into a useful tool to help increase the efficiency of event analysis. A visualization system was developed for email conversation networks using web technologies. An …

Improved Microrobotic Control Through Image Processing And Automated Hardware Interfacing, Archit R. Aggarwal, Wuming Jing, David J. Cappelleri

The Summer Undergraduate Research Fellowship (SURF) Symposium

Untethered submilliliter-sized robots (microrobots) are showing potential use in different industrial, manufacturing and medical applications. A particular type of these microrobots, magnetic robots, have shown improved performance in power and control capabilities compared to the other thermal and electrostatic based robots. However, the magnetic robot designs have not been assessed in a robust manner to understand the degree of control in different environments and their application feasibility. This research project seeks to develop a custom control software interface to provide a holistic tool for researchers to evaluate the microrobotic performance through advance control features. The software deliverable involved two main …

Social Media Analytics Reporting Toolkit, Yuchen Cui, Junghoon Chae, David Ebert

The Summer Undergraduate Research Fellowship (SURF) Symposium

With the fast growth of social media services, vast amount of user-generated content with time-space stamps are produced everyday. Considerable amount of these data are publicly available online, some of which collectively convey information that are of interest to data analysts. Social media data are dynamic and unstructured by nature, which makes it very hard for analysts to efficiently and effectively retrieve useful information. Social Media Analytics Reporting Toolkit (SMART), a system developed at Purdue VACCINE lab, aims to support such analyzing. The current framework collects real-time Twitter messages and visualizes volume densities on a map. It uses Latent Dirichilet …

Adjustable Resonance Frequency Of Rf-Mems Capacitor By Using Comb- Drive Actuators: A Design Approaches, Agus Santoso Tamsir, Sandy Tannu Wijaya, Dato’ Burhanuddin Yeop Majlis

Makara Journal of Technology

The needs of smaller size RF varactor is a must today, and MEMS comes to be the potential one. In this paper we proposed an adjustable resonance RF-MEMS varactor by using comb-drive actuators placing in each side of the square movable plate. In our preliminary simulation, we found that the device can work properly but some constraints comes such as the dominancies of harmonic resonance frequencies that influences into the nominal capacitances. Therefore for the next step of development we have to find out the window of the structural dimension for a certain spans and a certain operating frequencies.

Make Or Buy Analysis Model Based On Tolerance Design To Minimize Manufacturing Cost And Quality Loss, Cucuk Nur Rosyidi, Reza Rizkichani Akbar, Wakhid Ahmad Jauhari

Makara Journal of Technology

In a manufacturing company, manufacturing costs, or component prices, and tolerance will affect the price and the quality of a product. Companies must produce high-quality products with low manufacturing costs in order to keep their products competitive in the market; however, it is difficult to produce a high-quality product with a low manufacturing cost. Companies have difficulties in determining the components to be produced using their own manufacturing facilities (make) or outsourced to their suppliers (buy). Hence, a make or buy analysis is needed to minimize the manufacturing costs and quality loss and to determine the optimum alternative regarding make …

Observation Of Tunneling Effects In Lateral Nanowire Pn Junctions, Sri Purwiyanti, Arief Udhiarto, Daniel Moraru, Takeshi Mizuno, Djoko Hartanto, Michiharu Tabe

Makara Journal of Technology

As electronic device dimensions are continuously reduced, applied bias conditions significantly change and the transport mechanisms must be reconsidered. Tunneling devices are promising for scaled-down electronics because of expected high-speed operation and relatively low bias. In this work, we investigated the tunneling features in silicon-oninsulator lateral nanowire pn junction and pin junction devices. By controlling the substrate voltage, tunneling features can be observed in the electrical characteristics. We found that the minimum substrate voltage required for tunneling to occur in pn junctions is higher as compared with pin junctions. The main cause of these effects relies in the difference between …

Argon Ion Irradiation Effect On The Magnetic Properties Of Fe-Al2o3 Nano Granular Film, Setyo Purwanto, Isao Sakamoto

Makara Journal of Technology

We studied the effect of Argon (Ar) ion irradiation on Fe-Al2O3 nanogranular thin film. X-ray diffraction (XRD) patterns show that the ion dose might promote the growth of the Fe2O3 phase from an amorphous phase to a crystalline phase. The magnetic and magnetoresistance properties were investigated using a vibrating sample magnetometer (VSM) and a four point probe (FPP). The results suggest that percolation concentration occurred at the 0.55 Fe volume fraction and with a maximum magnetoresistance (MR) ratio of 3%. The present MR ratio was lower than that of previous results, which might be related to the existence of the …

Digestibility Of Betung Bamboo Fiber Following Fungal Pretreatment, Widya Fatriasari, Wasrin Syafii, Nyoman J. Wistara, Khaswar Syamsu, Bambang Prasetya

Makara Journal of Technology

This research evaluated the effect of fungal pretreatment of betung bamboo fibers and enzymatic- and microwaveassisted hydrolysis on the reducing sugar yield. The enzymatic hydrolysis of the pretreated biomass was carried out with cellulase and 10 and 20 FPU/g of substrate in a shaking incubator at 50 °C and 150 rpm for 48 h. The sulfuric acid concentration used in the microwave-assisted acid hydrolysis was 1.0, 2.5, and 5%, either with or without the addition of activated carbon. Microwave irradiation (330 Watt) was applied for 5–12.5 min. The yield of reducing sugar was better with the microwave-assisted acid hydrolysis, and …

Electron Emission Characteristics Of Multi-Gated Field Emitters, Hidenori Mimura, Yoichiro Neo, Toru Aoki, Tomoya Yoshida, Masayoshi Nagao

Makara Journal of Technology

We have developed a multi-gated field emitter (FE) such as a quadruple-gated FE with a three-stacked electrode lens and a quintuple-gated FE with a four-stacked electrode lens. Both the FEs can focus the electron beam. However, the quintuple-gated FE has a stronger electron convergence than the quadruple-gated FE, and a beam crossover is clearly observed for the quintuple-gated FE.

Properties Of Lignin From Oil Palm Empty Fruit Bunch And Its Application For Plywood Adhesive, Lucky Risanto, Euis Hermiati, Yanni Sudiyani

Makara Journal of Technology

Lignin from lignocellulosic biomass is a potential biopolymer for wood adhesive. The aims of this study were to characterize lignin isolated from the black liquor of oil palm empty fruit bunch fiber pretreated with steam explosion in alkaline conditions and to examine the bond quality of aqueous polymer isocyanate (API) adhesive prepared from lignin, natural rubber latex (NRL), and polyvinyl alcohol (PVA) as base polymers with isocyanate crosslinkers. Lignin was precipitated from the black liquor by adding hydrochloric acid; then the precipitate was separated by filtration, thoroughly washed with water up to pH 2 and pH 5, and dried. The …

The Gaussian Orthogonal Laplacianfaces Modelling In Feature Space For Facial Image Recognition, Arif Muntasa

Makara Journal of Technology

Dimensionality reduction based on appearance has been interesting issue on the face image research fields. Eigenface and Fisherface are linear techniques based on full spectral features, for both Eigenface and Fisherface produce global manifold structure. Inability of them in yielding local manifold structure have been solved by Laplacianfaces and further improved by Orthogonal Laplacianfaces, so it can yield orthogonal feature vectors. However, they have also a weakness, when training set samples have non-linear distribution. To overcome this weakness, feature extraction through data mapping from input to feature space using Gaussian kernel function is proposed. To avoid singularity, the Eigenface decomposition …

Series-Interconnected Plastic Dye-Sensitized Solar Cells Prepared By Low- Temperature Binder-Free Titania Paste, Erlyta Septa Rosa, Lia Muliani, Shobih Shobih, Jojo Hidayat, Brian Yuliarto

Makara Journal of Technology

The aim of this research is to study dye-sensitized solar cells (DSSC). This was implemented on a flexible polyethylene terephthalate (PET) substrate using a mixture of transparent and scattered mesoporous anatase-titania as the electron transport layer for the photoelectrode. This mixture of anatase titania performed a dual function of light scattering and efficient dye absorption. In this study, a porous nano-TiO2 film was prepared on indium tin oxide (ITO) coated polyethylene terephthalate (PET) by using a binder-free titania paste; on it, a DSSC was fabricated. The paste which contained a mixture of TiO2 nanoparticles, acid chloride, and ethanol was printed …

Foss Big Data Storage Solution, Gary L. Jaffe

STAR Program Research Presentations

Utilizing the AERO Institute as an IT test bed or “sandbox”, a small-agile development team will design, build, and test a data management storage system to support post processing of archived and in-flight data collected with the Piccolo flight control system and Compact Fiber Optic Sensing System (C-FOSS). Both systems are integrated on the APV3 aircraft, a small remote-operated vehicle. Due to the amount of data collected from C-FOSS, a system will be designed to sort and organize large data sets. An open-source database will be explored as a viable solution to manage large data loads and provide multi-cluster system …

Foss Big Data Storage Solution, Nurdeen Salami

STAR Program Research Presentations

NASA projects require a reliable approach to store large volumes of data. Accordingly, it is crucial to adopt a lightweight, reliable, and scalable database. Current NASA databases bear costly license fees with undesirable speed and flexibility. The purpose of utilizing the AERO Institute as an IT test bed, or “Sandbox,” is to design, build, test, and implement software solutions prior to transfer to NASA projects. Cassandra coupled with the Astyanax API is a viable solution for storing big data. Store a minimum of 2GB of C-FOSS data in multiple file formats (.csv, .log, .xml, and .jpg). Use benchmark tests to …

Information Encryption, Transmission, And Retrieval Via Chaotic Modulation In A Hybrid Acousto-Optic Bragg Cell Under Profiled Beam Illumination, Monish Ranjan Chatterjee, Fares S. Almehmadi

Electrical and Computer Engineering Faculty Publications

In recent work, the propagation of a profiled optical beam through an open-loop acousto-optic Bragg cell was examined using a transfer function formalism. The device was also studied under closed-loop via intensity feedback, and shown to exhibit more extended chaotic band responses, thereby potentially increasing the dynamic range and parameter sensitivities of any applied signal and the device operation respectively.

In this paper, simple low- to mid-RF signals (periodic waveforms and low BW audio) are transmitted through the closed-loop system and the resulting encryption and recovery at the receiver are examined especially from the perspective of overall robustness of the …

Security Risk Assessment: Towards A Justification For The Security Risk Factor Table Model, Beverly Rivera, Francisco Zapata, Vladik Kreinovich

Departmental Technical Reports (CS)

One of the widely used methods to gauge risk is the Security Risk Factor Table (SRFT) model. While this model has been empirically successful, its use is limited by the fact that its formulas do not have a theoretical explanation -- and thus, there is no guarantee that these formulas will work in other situations as well. In this paper, we provide a theoretical explanation for the SFRT formulas.

If Many Physicists Are Right And No Physical Theory Is Perfect, Then By Using Physical Observations, We Can Feasibly Solve Almost All Instances Of Each Np-Complete Problem, Olga Kosheleva, Michael Zakharevich, Vladik Kreinovich

Departmental Technical Reports (CS)

Many real-life problems are, in general, NP-complete, i.e., informally speaking, are difficult to solve -- at least on computers based on the usual physical techniques. A natural question is: can the use of non-standard physics speed up the solution of these problems? This question has been analyzed for several specific physical theories, e.g., for quantum field theory, for cosmological solutions with wormholes and/or casual anomalies, etc. However, many physicists believe that no physical theory is perfect, i.e., that no matter how many observations support a physical theory, inevitably, new observations will come which will require this theory to be updated. …

Towards A Formal Description Of Understandability (Causality, Pre-Requisites): From Prosorov's Phonocentric Topology To More General Interior (Closure) Structures, Olga Kosheleva, Vladik Kreinovich

Departmental Technical Reports (CS)

In many real life situations, a text consists of related parts; so, to understand a part, we need to first understand some (or all) preceding parts: e.g., to understand Chapter 3, we first need to understand Chapters 1 and 2. In many cases, this dependence is described by a partial order. For this case, O.~Prosorov proposed a natural description of the dependence structure as a topology (satisfying the separation axiom T₀).

In some practical situations, dependence is more general than partial order: e.g., to understand Chapter 3, we may need to understand either Chapter 1 or Chapter 2, …

From Numerical Probabilities To Linguistic Probabilities: A Theoretical Justification Of Empirical Granules Used In Risk Management, Beverly Rivera, Francisco Zapata, Vladik Kreinovich

Departmental Technical Reports (CS)

In many risk management situations, instead of the exact probability values, specialists use a granule to which this probability belongs. Specifically, they use five granules, corresponding to thresholds 10%, 40%, 60%, and 90%. In this paper, we provide an explanation for such non-uniform granulation.

Homotopy Techniques In Solving Systems Of Nonlinear Equations: A Theoretical Justification Of Convex Combinations, Nicholas Sun

Departmental Technical Reports (CS)

One of the techniques for solving systems of non-linear equations F₁(x₁,...,x_n) = 0, ..., F_n(x₁,...,x_n) = 0, (F(x) = 0 in vector notations) is a homotopy method, when we start with a solution of a simplified (and thus easier-to-solve) approximate system G_i(x₁,...,x_n) = 0, and then gradually adjust this solution by solving intermediate systems of equation H_i(x₁,...,x_n) = 0 for an appropriate "transition" function H(x) = f(λ,F(x),G(x)). The success of this method depends on the …

Log-Periodic Power Law As A Predictor Of Catastrophic Events: A New Mathematical Justification, Vladik Kreinovich, Hung T. Nguyen, Songsak Sriboonchitta

Departmental Technical Reports (CS)

To decrease the damage caused by meteorological disasters, it is important to be able to predict these disasters as accurately as possible. One of the most promising ways of achieving such a prediction comes from the observation that in the vicinity of a catastrophic event, many parameters exhibit log-periodic power behavior, with oscillations of increasing frequency. By fitting the corresponding formula to the observations, it is often possible to predict the catastrophic event. Such successful predictions were made in many application areas ranging from ruptures of fuel tanks to earthquakes to stock market disruptions. The fact that similar formulas can …

An Adaptive Educational Game To Help Students Learn How To Solve Systems Of Linear Equations, Wang Zhang

Theses and Dissertations

Educational games have been proven to be effective in developing problem solving skills in well-defined domain, such as Math and Physics. In this thesis, an educational game called Matrix was developed to foster problem solving skills in the domain of linear algebra, particularly solving a system of linear equations. Matrix is an adaptive educational game that uses intelligent tutoring modules to guide the student's learning process and provide feedback based on the student's performance. These modules are domain module, student module, pedagogical module and presentation module. The domain module contains all the concepts the student needs to learn and an …

Hil Simulation For Smartphone-Guided Autonomous Systems, Matthew Gerdt

Computer Engineering

My bachelor thesis focuses on implementing a Hardware in the Loop (HIL) simulation for a quadcopter controlled by an Android smartphone. The HIL simulation will be able to test the software running on an Android smartphone by simulating a virtual quadcopter on the computer without the need to use an actual quadcopter. To accomplish this I will have to modify my team’s existing simulation to allow for the communication between the smartphone and simulation. At the completion of my work the HIL simulation will allow the testing of different aspects of the Android application, such as the tracking of an …

A Load-Based Approach To Forming A Connected Dominating Set For An Ad Hoc Network, Raihan Hazarika

All Theses

Efficient routing in mobile ad hoc networks (MANETs) is highly desired and connected dominating sets (CDS) have been gaining significant popularity in this regard. The CDS based approach reduces the search for a minimum cost path between a pair of source and destination terminals to the set of terminals forming the backbone network. Researchers over the years have developed numerous distributed and localized algorithms for constructing CDSs which minimize the number of terminals forming the backbone or which provide multiple node-disjoint paths between each pair of terminals. However none of this research focuses on minimizing the load at the bottleneck …

Realization Of Negative Index In Second-Order Dispersive Metamaterials Using Standard Dispersion Models For Electromagnetic Parameters, Tarig A. Algadey, Monish Ranjan Chatterjee

Electrical and Computer Engineering Faculty Publications

In recent work, electromagnetic propagation velocities for plane waves in dispersive metamaterials were calculated assuming frequency dispersion up to the second order. The three velocities were expressed in terms of dispersive coefficients under certain simplifying constraints. Frequency domains were found to exist around resonances where group and phase velocities are in opposition, implying possible negative index behavior.

In this paper, we incorporate in the derived equations physical models (including Debye, Lorentz and Condon) for material dispersion in permittivity, permeability and chirality in order to further examine the consequences of second-order dispersion leading to negative index for practical cases, and also …

Modeling Of Power Spectral Density Of Modified Von Karman Atmospheric Phase Turbulence And Acousto-Optic Chaos Using Scattered Intensity Profiles Over Discrete Time Intervals, Monish Ranjan Chatterjee, Fathi H.A. Mohamed

Electrical and Computer Engineering Faculty Publications

In recent research, propagation of plane electromagnetic (EM) waves through a turbulent medium with modified von Karman phase characteristics was modeled and numerically simulated using transverse planar apertures representing narrow phase turbulence along the propagation path.

The case for extended turbulence was also studied by repeating the planar phase screens multiple times over the propagation path and incorporating diffractive effects via a split-step algorithm. The goal of the research reported here is to examine two random phenomena: (a) atmospheric turbulence due to von Karman-type phase fluctuations, and (b) chaos generated in an acousto-optic (A-O) Bragg cell under hybrid feedback. The …

Software Porting Of A 3d Reconstruction Algorithm To Razorcam Embedded System On Chip, Kevin Curtis Gunn

Graduate Theses and Dissertations

A method is presented to calculate depth information for a UAV navigation system from Keypoints in two consecutive image frames using a monocular camera sensor as input and the OpenCV library. This method was first implemented in software and run on a general-purpose Intel CPU, then ported to the RazorCam Embedded Smart-Camera System and run on an ARM CPU onboard the Xilinx Zynq-7000. The results of performance and accuracy testing of the software implementation are then shown and analyzed, demonstrating a successful port of the software to the RazorCam embedded system on chip that could potentially be used onboard a …

Reputation Computation In Social Networks And Its Applications, Jooyoung Lee

Dissertations - ALL

This thesis focuses on a quantification of reputation and presents models which compute reputation within networked environments. Reputation manifests past behaviors of users and helps others to predict behaviors of users and therefore reduce risks in future interactions. There are two approaches in computing reputation on networks- namely, the macro-level approach and the micro-level approach. A macro-level assumes that there exists a computing entity outside of a given network who can observe the entire network including degree distributions and relationships among nodes. In a micro-level approach, the entity is one of the nodes in a network and therefore can only …