Computer Engineering Commons^™

Observability-Aware Path Planning For Autonomous Navigation, Raymond Brink Neistat

Open Access Master's Theses

Terrain-Aided Navigation (TAN) is a popular method of localization for GPS-denied vehicles, particularly in the marine domain. There are many ways to perform TAN in a marine setting, such as Bathymetric SLAM (BSLAM) and Bayesian Filtering with the aid of an a priori map. These techniques have been studied extensively, but show an overall lack of rigorous observability analyses. Without nonlinear observability analyses, TAN practitioners do not have an analytical indicator to know which areas of terrain will provide opportunities for the best localization performance. This thesis reviews current developments in the endeavors of nonlinear observability analyses as well as …

Assessing The Condition Of Pavements (Road Surfaces) Using Computer Vision & Machine Learning, Syed Ibrahim Hassam

Doctoral

Regular inspections of pavements are conducted by civil infrastructure departments to evaluate the surface condition. Pavement surfaces are subject to deterioration caused by several factors such as traffic, weather, and sunlight. This deterioration becomes evident through various distresses, including potholes, rutting, cracking, bleeding, patching, and ravelling, which gradually affects the surface layer over time. It is essential to assess the condition of pavements as it not only ensures their usability but also maximises public safety. Effective pavement maintenance requires substantial resources and capital investment to carry out the most suitable maintenance treatments at the optimal time. Furthermore, the outcomes of …

Designing Ris-Assisted Uav 3d Trajectory Using Deep Reinforcement Learning, Linsong Li

Electronic Theses and Dissertations

Unmanned aerial vehicles (UAVs) are increasingly employed as temporary base stations or access points to facilitate data transfer between ground terminals (GTs). However, in urban environments, UAV-GT communication links often face challenges due to obstructions from buildings and other obstacles, resulting in reduced data transfer efficiency. Reconfigurable intelligent surfaces (RIS) provide a promising solution by reflecting signals to enhance communication quality between UAVs and GTs. This thesis addresses the critical challenge of responsive UAV trajectory optimization in RIS-assisted communication networks. A novel approach is proposed, integrating federated learning with reinforcement learning techniques, specifically Double Deep Q-Network (DDQN) and Deep Deterministic …

Machine Learning For Electronic Structure Prediction, Shashank Pathrudkar

Dissertations, Master's Theses and Master's Reports

Kohn-Sham density functional theory is the work horse of computational material science research. The core of Kohn-Sham density functional theory, the Kohn-Sham equations, output charge density, energy levels and wavefunctions. In principle, the electron density can be used to obtain several other properties of interest including total potential energy of the system, atomic forces, binding energies and electric constants. In this work we present machine learning models designed to bypass the Kohn-Sham equations by directly predicting electron density. Two distinct models were developed: one tailored to predict electron density for quasi one-dimensional materials under strain, while the other is applicable …

Performance Characterization And Optimization Of A Point-Cloud-Based Path Planner In Off-Road Terrains, Casey D. Majhor

Dissertations, Master's Theses and Master's Reports

In this dissertation, I present a multifaceted study on the generation of artificial terrains using a multifractal method, and their use in autonomous ground vehicle (AGV) planning and navigation performance characterization in high-fidelity simulations, and automated parameter optimization.

My first contribution is a multifractal artificial terrain generation method leveraging the 3D Weierstrass-Mandelbrot function to control terrain roughness. We generate 60 unique off-road terrains while varying the fractal dimension and test the impact on vehicle traversal difficulty. Results show that increasing the fractal dimension decreases low-roughness areas, increases semi-rough and high-roughness areas, and decreases vehicle success rates while increasing vertical accelerations, …

Effective Data Augmentation Techniques For Time Series Classification: An Empirical Evaluation, Pongpanod Sankosik

Chulalongkorn University Theses and Dissertations (Chula ETD)

Time series classification is crucial in fields such as healthcare, finance, and industrial processes, but it faces challenges like temporal data ordering, class im-balance, noise, and limited data. This research explores data augmentation techniques to improve classification performance, focusing on the MiniRocket classifier across 85 UCR datasets. The study identifies conditions under which augmentation techniques, like wDBA, enhance accuracy, though overall performance may vary. A dataset-specific approach is essential for effective augmentation. The research also examines the impact of augmentation on datasets with different characteristics, providing insights into when specific strategies are most benefi-cial. Future work includes optimizing augmentation methods …

Sales Forecasting For Retail Business Using Xgboost Algorithm And Timesfm, Prathana Dankorpho

Chulalongkorn University Theses and Dissertations (Chula ETD)

The retail industry is continuously evolving with the expansion of sales channels and the diversification of product assortments. However, current forecasting methods, relying on simplistic statistical models, frequently encounter difficulties in adjusting to the dynamic environment. This limitation leads to challenges in accurately predicting sales. Consequently, there is a critical need to improve the accuracy and frequency of sales predictions to enable timely decision-making for business strategies. Through a comprehensive analysis of datasets from 2019 to 2023, this study illustrates the advantages of integrating XGBoost and TimesFM to gain deeper insights into sales patterns. Results demonstrate a significant enhancement in …

Anonymous Attribute-Based Broadcast Encryption With Hidden Multiple Access Structures, Tran Viet Xuan Phuong

School of Cybersecurity Faculty Publications

Due to the high demands of data communication, the broadcasting system streams the data daily. This service not only sends out the message to the correct participant but also respects the security of the identity user. In addition, when delivered, all the information must be protected for the party who employs the broadcasting service. Currently, Attribute-Based Broadcast Encryption (ABBE) is useful to apply for the broadcasting service. (ABBE) is a combination of Attribute-Based Encryption (ABE) and Broadcast Encryption (BE), which allows a broadcaster (or encrypter) to broadcast an encrypted message, including a predefined user set and specified access policy to …

Evaluating The Performance Of 5g Nr In Indoor Environments: An Experimental Study, Bikash Chandra Singh, Rafael Diaz, Sachin Shetty

School of Cybersecurity Faculty Publications

The 5G wireless standard has emerged as a trans-formative technology with the potential to revolutionize various industries by providing enhanced connectivity and communication capabilities. This advanced standard offers a diverse range of applications, including Ultra-Reliable Low-Latency Communication (URLLC), Enhanced Mobile Broadband (eMBB), and Massive Machine Type Communication (mMTC). In this Scientific research paper, we present a comprehensive analysis of the performance and capabilities of a deployed indoor 5G network in a controlled laboratory environment. The experimental setup comprises an Amarisoft Callbox, serving as the 5G core, along with a Remote Radio Head (RRH) and user equipment (UEs). Our primary objective …

Reinventing Integrated Photonic Devices And Circuits For High Performance Communication And Computing Applications, Venkata Sai Praneeth Karempudi

Theses and Dissertations--Electrical and Computer Engineering

The long-standing technological pillars for computing systems evolution, namely Moore's law and Von Neumann architecture, are breaking down under the pressure of meeting the capacity and energy efficiency demands of computing and communication architectures that are designed to process modern data-centric applications related to Artificial Intelligence (AI), Big Data, and Internet-of-Things (IoT). In response, both industry and academia have turned to 'more-than-Moore' technologies for realizing hardware architectures for communication and computing. Fortunately, Silicon Photonics (SiPh) has emerged as one highly promising ‘more-than-Moore’ technology. Recent progress has enabled SiPh-based interconnects to outperform traditional electrical interconnects, offering advantages like high bandwidth density, …

Fake News Detection In Online Platforms, Elena Shushkevich

Doctoral

This thesis presents research conducted during a Ph.D. program at Technological University Dublin from 2020 to 2024. The objective of this research is to develop and evaluate effective methods for detecting and classifying fake news in social media and press, addressing the critical issue of misinformation in the digital age. The relevance of this study is underscored by the increasing prevalence of fake news and its potential societal impact, emphasizing the importance of advanced tools for identifying and mitigating misinformation.

Detection Of Tooth Position By Yolov4 And Various Dental Problems Based On Cnn With Bitewing Radiograph, Kuo Chen Li, Yi-Cheng Mao, Mu-Feng Lin, Yi-Qian Li, Chiung-An Chen, Tsung-Yi Chen, Patricia Angela R. Abu

Department of Information Systems & Computer Science Faculty Publications

Periodontitis is a high prevalence dental disease caused by bacterial infection of the bone that surrounds the tooth. Early detection and precision treatment can prevent more severe symptoms such as tooth loss. Traditionally, periodontal disease is identified and labeled manually by dental professionals. The task requires expertise and extensive experience, and it is highly repetitive and time-consuming. The aim of this study is to explore the application of AI in the field of dental medicine. With the inherent learning capabilities, AI exhibits remarkable proficiency in processing extensive datasets and effectively managing repetitive tasks. This is particularly advantageous in professions demanding …

An Approach For Robotic Pollination That Utilizes Imitation Learning, Ronald Michael Butts Ii

Graduate Theses, Dissertations, and Problem Reports (ETD)

The global decline in pollinator populations poses a significant threat to agriculture, motivating the development of robotic pollination systems. Previous works demonstrated successful robotic pollination of bramble flowers using visual servoing; however, pollination was limited to specific flower orientations. As such, the objective of this work is to develop a robotic pollination system that is capable of pollinating a wider range of orientations.

This research introduces an imitation learning-based framework for robotic pollination that positions the manipulator to view chosen flowers in specific orientations. The developed model leverages object detection (YOLOv8) to identify individual flowers and a convolutional neural network …

Autonomous Object Search Planning In Large-Scale Environments, Matthew A. Collins

Graduate Theses, Dissertations, and Problem Reports (ETD)

The advancement of autonomous search holds significant promise for applications ranging from emergency response to planetary exploration. This thesis investigates strategies to enhance autonomous search performance in large-scale environments. The main contribution of this work is its practical application in real-world scenarios, where efficient search methods are essential for managing vast amounts of data, particularly in large environments. Effective search planning requires navigating complexities such as limited prior information and managing large state spaces, necessitating advanced strategies to plan with this limited information. Additionally, balancing exploration and exploitation is crucial for optimizing the search process, as it ensures thorough coverage …

Enhancing Robotic Exploration Through Semantically-Guided Sampling Strategies, Christopher Alexander Arend Tatsch

Graduate Theses, Dissertations, and Problem Reports (ETD)

From space and deep-sea exploration to disaster response and environmental monitoring, autonomous robots are essential for advancing science, improving safety, and addressing critical challenges. This dissertation introduces a novel open-source strategy for autonomous robotic exploration: the Semantically-Guided Exploration (SGE) framework. Designed for ground vehicles, SGE integrates semantic understanding into the autonomous exploration process, improving decision-making in complex environments. Specifically, the proposed sampling-based approach uses the information from the semantic segmentation of RGB images and depth images to guide the robot's selection of exploration goals. This method enables the robot to steer away from potential dangers such as large rocks and …

Foraging Economies: A Market Based Methodology For Robotic Swarm Foraging, John A. Little

Graduate Theses, Dissertations, and Problem Reports (ETD)

Swarm robotics involves coordinating large groups of autonomous agents to accomplish complex tasks through decentralized, adaptive behaviors, providing a robust and scalable approach suited to dynamic and unpredictable environments. While traditional swarm models frequently draw inspiration from biological systems such as ant colonies or bee foraging, other approaches use techniques from physics, control theory, and economics to achieve effective coordination. This study distinguishes itself by applying economic principles—specifically, market-driven mechanisms like auctions, utility functions based on opportunity cost, and supply-demand dynamics based on fluctuating resource values at a central base—to improve task allocation within a swarm foraging context. This approach …

A New Cache Replacement Policy In Named Data Network Based On Fib Table Information, Mehran Hosseinzadeh, Neda Moghim, Samira Taheri, Nasrin Gholami

VMASC Publications

Named Data Network (NDN) is proposed for the Internet as an information-centric architecture. Content storing in the router’s cache plays a significant role in NDN. When a router’s cache becomes full, a cache replacement policy determines which content should be discarded for the new content storage. This paper proposes a new cache replacement policy called Discard of Fast Retrievable Content (DFRC). In DFRC, the retrieval time of the content is evaluated using the FIB table information, and the content with less retrieval time receives more discard priority. An impact weight is also used to involve both the grade of retrieval …

Methods That Support The Validation Of Agent-Based Models: An Overview And Discussion, Andrew Collins, Matthew Koehler, Christopher Lynch

Engineering Management & Systems Engineering Faculty Publications

Validation is the process of determining if a model adequately represents the system under study for the model’s intended purpose. Validation is a critical component in building the credibility of a simulation model with its end-users. Effectively conducting validation can be a daunting task for both novice and experienced simulation developers. Further compounding the difficult task of conducting validation is that there is no universally accepted approach for assessing a simulation. These challenges are particularly relevant to the paradigm of Agent-Based Modeling and Simulation (ABMS) because of the complexity found in these models’ mechanisms and in the real-world situations they …

Integrating Knowledge Graphs With Large Language Models For Natural Language Querying, Rakesh Kandula

Browse all Theses and Dissertations

This research explores the integration of knowledge graphs with large language models that have already been trained on a vast pool of unstructured text data. Large language models trained on this type of data have a tendency to hallucinate and produce factually inaccurate results. This behavior is primarily due to the data being trained is unstructured and huge text corpus, and large language model uses predictive text analysis methods to obtain a response. These issues can be addressed by applying Retrieval Augmented Generation and Fine-tuning to large language models, employing an underlying domainspecific knowledge graph. Integrating knowledge graph and large …

Prediction Interpretations Of Ensemble Models In Chronic Kidney Disease Using Explainable Ai, K M Tawsik Jawad

Browse all Theses and Dissertations

Chronic Kidney Disease (CKD) poses significant health and financial threat to millions of patients all around the world. The irreversible nature of this disease not just leads to comorbid diseases like Diabetes Mellitus, Hypertension, Anemia, Bone Disease, Neurological Implants etc. It can permanently damage the kidney by progressing to Acute Kidney Injury (AKI) or End Stage Renal Diseases (ESRD). The risk factors of CKD become more dangerous as patients suffering from it have little to no idea about the presence of CKD in their body until it takes the shape of AKI or ESRD. There are severe economic burdens for …

Managing Inventory With A Database, David Bartlett

Williams Honors College, Honors Research Projects

Large commercial companies often use warehouses to store and organize their product inventory. However, manually keeping track of inventory through physical means can be a tedious process and is at risk for a variety of potential issues. It is very easy for records to be inaccurate or duplicated, especially if large reorganizations are undertaken, as this can cause issues such as duplicate product ID numbers. Therefore, it was decided that an inventory management system utilizing a SQL database should be created. The system needed to have capabilities including allowing the entry of product information, the ability to search database records …

Children's Hospital Animatronic, Erin Keller, Wesley Cunningham, Dylan Mueller, Carl Richter

Williams Honors College, Honors Research Projects

This senior project explores the development of a pediatric-oriented animatronic designed to enhance the hospital experience for children. Recognizing the importance of alleviating the anxiety and fear that often accompany hospital visits, the project focuses on creating an engaging and interactive companion to soothe children.

Key components of this project include:

1. Creative Design: The animatronic character's design prioritizes child-friendliness, employing research into child psychology and preferences to ensure an appealing and approachable aesthetic.

2. Electrical and Mechanical Engineering: A robust mechanical and electronic system was engineered to enable lifelike movements, gestures, and responses.

3. Interactive Features: A simple, user-friendly app will be …

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Development Of A Solidworks Api, Andrew Magyar

Williams Honors College, Honors Research Projects

With the current advancements in CAD software, and precision of modern motors, we believe that a new way to communicate from hardware to software is possible. This report details the steps we have taken to attempt just that. The essential idea behind this is that modern controls for robotics are not as user friendly as they can be. The general action taken is to create an API for SolidWorks that connects it to the other necessary controller software and makes it so that a robot, and its exact current position, can be changed simply and intuitively from SolidWorks. Furthermore, the …

Constructing And Probing A Fortified Network, Maxim Davis

Williams Honors College, Honors Research Projects

Computer networking is extremely valuable and is essential to modern infrastructure and life. Due to this fact, network security is also extremely vital and is also constantly under attack due to how precious information is in the modern world. In order to set up network security and harden systems from attack, many organizations establish guidelines, standards and techniques to defend against such threats. There is also the major issue of needing to constantly test these different standards and procedures regarding network security as if these security measures are not tested, the danger of potential threats is exponential. This project seeks …

Smart Dog Door, Andrew Shetler, William Boissoneault, Jacob Stump, Benjamin Charlson

Williams Honors College, Honors Research Projects

With modern life getting busier and more complex, many have turned to autonomous assistance for taking care of pets. The objective of this project is to design and prototype a device and application that will allow only certain dogs to enter and exit through a dog door while making the owners aware of their dog's activity. The dog door will utilize wireless communication from the dog to the door to control the status of the door’s lock and update the database that will send updates to the application. The application will keep track of when the dog enters and exits …

Midi Recorder And Learning Tool, Caden Dees, Saikishore Gowrishankar, Cameron Johnson, Benjamin Bolyard

Williams Honors College, Honors Research Projects

The project's goal is to create a device that can record MIDI files from any standard 88-key piano as well as teach piano learners how to play songs.

Autonomous Damage And Structure Scanning Drone, Natasha Ninan, Amber Long, Lee Nestor, Emmanuel Jensen

Williams Honors College, Honors Research Projects

Remote damage analysis plays a crucial role in lowering the risk associated with human presence at dangerous sites. This project focuses on developing a system for remote structural examination using photogrammetric techniques and analysis. The system utilizes a drone equipped with cameras for photogrammetry, and LiDARs for navigation. This setup can enable efficient structural model generation with the collection of images from multiple points. A novel structural analysis is performed to detect potential damage or points of failure in the structure.

Key components include a teleoperated drone, a software pipeline for photogrammetric analysis, collision protection mechanisms, and a user interface. …

Security Information And Event Management Optimization Using Deep Federated Learning In Cloud-Based Autonomous Cyber-Physical Systems, Mohamed Mounir Moussa

Wayne State University Dissertations

The integration of cloud-based technologies into Connected and Autonomous Vehicles (CAVs) is reshaping the field by combining Deep Federated Learning (DFL), Security Information and Event Management (SIEM), and cloud-dew computing. This solution leverages cloud-based resource provisioning, which is crucial for allocating scalable and efficient computational resources in a dynamic manner. These resources are essential for managing the intricate data and computing requirements of distributed systems, especially in the intelligent vehicle sector. This provisioning facilitates the efficient control of route mapping and cybersecurity in Connected Autonomous Vehicles (CAVs), guaranteeing the ability to process and make decisions in real-time.The research evaluates the …

An Ml-Assisted Golden-Free Hardware Trojan Localization And Detection Approach For Trusted Microelectronics, Ashutosh Ghimire

Browse all Theses and Dissertations

Hardware Trojans are malicious circuits, hidden in integrated circuits (ICs) which pose a significant threat to security. Detection of hardware Trojans is important to build trust, verify, and make the semiconductor ICs process secure. The existing hardware Trojan detection methods are generally destructive, require intricate comparisons, or require a long time for reverse engineering. In the initial phase of this study, the substitution of supervised hardware Trojan detection methods in ASICs chips is explored with unsupervised approaches, thereby eliminating the dependence on golden references. The Trojan detection uses a ring oscillator (RO) based on NAND as the power monitor. Frequency …

Improved Portable Back Pain Relief Device With User Interface, Zachary Bobango, Samuel J. Dauterman, Benjamin Bowman

Williams Honors College, Honors Research Projects

The objective of this project is to design and create a massage system that is user interactive, portable, safe, efficient, and comfortable. The system should allow for user feedback from an outside peripheral such as a phone to be able to modify the system. Some challenges facing the implementation of such a system include: ensuring the product can withstand substantial force without breaking or malfunctioning while simultaneously being light enough for a consumer to carry without difficulty, engineering the massage heads to be able to move in multiple different motion types, creating the software that can control the device, and …