Computer Engineering Commons^™

A Turtlebot3 Hardware Testbed For Distributed Kalman Filter Localization, Dmitri Dobrynin, Indigo T. Garcia

Electrical Engineering

This report presents the preliminary design for a distributed localization framework for a multi-robot system. Many robotics research papers provide simulations of proposed algorithms in regards to formation control and task allocation. However, it is often that these proposals are without hardware experiments, being limited only to simulation. The objective of this framework is to provide a hardware implementation of a distributed Kalman filtering algorithm for multi-agent localization, as well as provide grounds for future multi-agent experiments. The framework is implemented on a swarm of three Turtlebot3 mobile robots. The robots can accurately localize themselves with respect to other agents …

Conversational Social Robot, Julianna M. Christopoulos, Mackenzie Goldman, Cece E. Hujanen, Jared Hunter

Mechanical Engineering

Background: Social robots are used in various settings to reduce burden on human workers and expand opportunities for people in need of assistance.

Challenge: Design a humanoid robot head and torso capable of holding conversations and interacting with a user using a LLM and motion. Conversations are limited to discussing Cal Poly resources and opportunities with visitors to the Bently Research Center on campus.

Implementation Of Area-Based Aggregation On Multivariate Continuous Uncertain Data, Rahul Nair

Master's Theses

Uncertain data is incredibly widespread - from sensor data to AI-based learned information, there exists a need to associate information with a certain probability of its veracity. Traditional relational databases lack a built-in functionality to support uncertain data, instead assigning them boilerplate values. Probabilistic databases tackle this problem by assigning non-deterministic data with an associated, often discrete, probability. Variants of probabilistic databases, namely continuous uncertain databases, are used to better model data represented through ranges and distributions. This is especially applicable with sensor-based geographic data as most commercial equipment contains some inherent margin of error.

While uncertain and probabilistic databases …

Ecen191/Robo150 Robotics Tools: Evaluating The Impact Of Project-Based Learning On Teaching Effectiveness, Nikhil Satyala

UNL Faculty Course Portfolios

The course selected for this study aims to introduce the skills and knowledge needed to utilize software and hardware tools used to design and operate robots. In this introductory course, undergraduate students in the Robotics Engineering major are provided with the opportunity to broaden their skill set with focus on specializing in one of three engineering disciplines (Software, Electrical and Mechanical). The primary goal of this course is to teach how develop the proficiency in basic concepts in robotics and enable the students to build and program a small-scale fully functional robotic arm. In this portfolio study, I investigated the …

Sla Evaluation And Composition In Reconfigurable Cloud-Based Services, Michael Iannelli

Dissertations, Theses, and Capstone Projects

Given the business model of offering data and computing services in a cloud setting, a major question arises: How do the services of one cloud provider compare to those of others? With the ubiquitous use of smartphones and tablets, the ability of a cloud provider to support QoS and client mobility becomes paramount. This research proposes a methodology for evaluating service-level agreements (SLAs) between cloud providers and their consumers, with a particular focus on dynamic SLA composition to adapt to changes in the application requirements and the external environment—such as traffic surges, security threats, or evolving business models.

In one …

Analyzing Player Difficulty Perception In Platformers Through Procedural Level Generation, Sasank Madineni

Master's Theses

Games utilizing Procedural Level Generation (PLG), such as Roguelikes, are becoming increasingly popular in today's gaming sphere. In games employing PLG, levels are generated randomly or pseudo-randomly, and aim to retain player attention through variance in levels between playthroughs. However, when generating levels with variance in structure and design, player enjoyment is often a mixed bag. With low enjoyment, player retention for these games can dwindle. This study explores the efficacy of real-time difficulty adjustment in procedurally generated platformers, as a method for maintaining stable player enjoyment without causing frustration. This thesis focuses on creating a short user experience, MIMEVA, …

Meta-Learning Hyperparameters For Foundation Model Adaptation In Remote-Sensing Imagery, Zichen Tian, Yaoyao Liu, Qianru Sun

Research Collection School Of Computing and Information Systems

Training large foundation models of remote-sensing (RS) images is almost impossible due to the limited and long-tailed data problems. Fine-tuning natural image pre-trained models on RS images is a straightforward solution. To reduce computational costs and improve performance on tail classes, existing methods apply parameter-efficient fine-tuning (PEFT) techniques, such as LoRA and AdaptFormer. However, we observe that fixed hyperparameters -- such as intra-layer positions, layer depth, and scaling factors, can considerably hinder PEFT performance, as fine-tuning on RS images proves highly sensitive to these settings. To address this, we propose MetaPEFT, a method incorporating adaptive scalers that dynamically adjust module …

Fault Tolerant Dynamic Task Allocation For Heterogeneous Multi-Robot Systems, Jack R. Cline

Master's Theses

This research presents a novel approach to dynamic task allocation in heterogeneous multi-robot systems with integrated fault detection capabilities. As multiple industries are becoming more reliant on multi-robot systems for tasks, maintaining operational efficiency despite robot failures becomes critical. We propose a framework that combines optimization-based task allocation with a Kalman filter that estimates task progress for anomaly detection to identify unreliable agents and dynamically redistribute tasks. Observing values such as the normalized innovation squared (NIS), covariance, and progress rate, the algorithm can designate a robot as faulty. Embedding information about which robots are faulty in the task algorithm allows …

Distributed Formation Control Of Nonholonomic Mobile Robots: Safety-Critical Leader-Follower Approach With Obstacle Avoidance And Dynamic Reconfiguration, Kelvin C. Villago

Master's Theses

Networked control systems for multi-agent robotics have emerged as a critical paradigm for executing complex coordinated tasks in diverse environments. While formation control serves as the backbone of such systems, real-world deployment introduces significant challenges including communication constraints, environmental obstacles, and the need for adaptive reconfiguration. This research addresses these challenges by developing a novel unified framework that seamlessly integrates obstacle avoidance algorithms with dynamic formation reconfiguration capabilities, specifically designed for communication-limited networked control architectures. The proposed framework represents a significant advancement over existing approaches by simultaneously handling both static and dynamic obstacles while maintaining system cohesion under communication constraints. …

Optimizing Web Servers With Io_Uring, Mihika Nigam

Master's Theses

Modern web servers face unprecedented demands for high throughput and low latency [10] [11]. Yet, even the state-of-the-art optimizations often fail under heavy workloads on existing infrastructure. Despite advancements in hardware, communication between applications and the kernel remains a critical bottleneck.

Industry surveys reveal that over 50% of production servers still rely on traditional epoll-based architectures [5]. This research aims to investigate and characterize Linux’s new io_uring subsystem, which has the potential to overcome these challenges. Through controlled load testing of various existing architectures like event-driven, multi-process, and multi-threaded architectures (including other commercial servers), we demonstrate how io_uring can help …

A Fault-Tolerant, Multi-Heap Dynamic Memory Allocator For Freertos, Garrett E. O'Neill

Master's Theses

The use of dynamic memory allocation presents a significant challenge for embedded systems, particularly in applications that require high reliability. The software controlling these systems needs to perform critical operations within strict timing constraints, and memory management plays a critical role in a system’s ability to meet these constraints. Dynamic memory allocation is inherently non-deterministic: if a task requests memory, it is impossible to predict how long it will take for the memory to be allocated. If a critical task were to rely on dynamically allocated memory, its execution could become stalled leading to a missed deadline and system failure. …

Open Source Asic Design Curriculum, Francisco Wilken

Master's Theses

The ever-growing importance of Application-Specific Integrated Circuits (ASICs) in a high-compute world necessitates that college graduates entering the workforce are well prepared to design them. This thesis details the design of novel ASIC curriculum, using open source tools to teach at the undergraduate level. By moving to a higher level of abstraction than classical transistor-focused coursework, chip design material can be made accessible earlier in an undergraduate degree. Additionally, open source tools provide a powerful, free, and portable platform for students to create their own designs, solving assignments focused on industry readiness. Finally, this thesis studies the results and challenges …

Adversarial Robustness In Advanced Machine Learning Models Integrating Graph Neural Networks And Large Language Models, Mahmoud Nazzal

Dissertations

Artificial intelligence (AI) has achieved remarkable performances across various domains. In most real-world applications, data often takes relational forms, such as graphs and networks, or sequential forms, such as text and time series. As AI evolves, specialized models have emerged to handle these structures; Graph Neural Networks (GNNs) for relational mining and Large Language Models (LLMs) for sequential understanding. Despite their success, these models face challenges in security, robustness, and interpretability. GNNs excel in relational reasoning but are vulnerable to adversarial manipulation and lack interpretability, while LLMs are strong in linguistic reasoning and generalization yet struggle with relational data and …

Gamified Gait Rehabilitation Via Real-Time Biofeedback And Adaptive Hip-Exoskeleton Control, Mariya Huzaifa Tohfafarosh

Theses

Gait impairments arise from systemic diseases, age-related degeneration, musculoskeletal dysfunctions, or neurological conditions. While traditional rehabilitation can be effective, they often face challenges such as high costs, inaccessibility, and low patient engagement. To address these challenges, my work introduces a virtual reality-based rehabilitation (VRBR) system, integrating real-time motion and electromyographic (EMG) muscle activation feedback with a gamified virtual environment for enhanced adaptability and engagement. The system includes a custom-designed hip-exoskeleton that provides adaptive spring-like assistance or resistance, supporting both mobility-impaired users and strength training. Assistance levels can be tuned to match the user's progress. Additionally, a custom pressure insole was …

Codelympics: An Educational Game, Shreyas Raghunath, Riley Guioguio

Computer Science and Engineering Senior Theses

This thesis addresses the growth of Computer Science and the increasing demand for resources that educate people about programming. The central problem is that existing resources either fall short in engaging the user, or are ineffective at communicating the basics of programming. Through a year of development and testing, we developed an application to serve as a bridge between games and educational content, making programming skills fun and accessible for younger students with no prior experience.

This thesis details the development of Codelympics, an educational game designed to teach the basics of computer programming, including control flow, functions, variables, and …

Are Cycles Of Neural Activity The Algorithm Of The Brain?, Edwin Omondi Onyango

Computer Science Senior Theses

We propose that precisely timed neural activity cycles can serve as structural primitives for memory and computation in a system that exhibits associative learning like the brain. Inspired by biologically grounded mechanisms such as calcium-dependent plasticity, spike-timing-dependent learning, and phase-sensitive excitability, we construct a spiking neural network model in which repeated temporal coincidences drive the formation of self-sustaining activity loops. These cycles, once formed, persist as dynamic memory traces: not stored as static weights, but as reverberating patterns that replay in time when these loops are restarted. We show that noise alone fails to induce stable structure, but even sparse, …

True-Bsg: A True Random Bit-Stream Generator For Fast And Efficient Stochastic Computing, Mehran Shoushtari Moghadam, M. Hassan Najafi

Faculty Scholarship

Stochastic computing (SC) leverages random bitstreams to perform arithmetic operations, offering ultra-lowcost, fault-tolerant, and highly parallelizable computations. The quality of these bit-streams is crucial for the accuracy and reliability of SC. This paper introduces TRUE-BSG, a novel true random bit-stream generator designed for fast and energyefficient SC. Unlike state-of-the-art (SoTA) pseudo-random and quasi-random bit-stream generators, TRUE-BSG utilizes a highquality true random number generator (TRNG), capable of producing random bits at a rate of 1 Gigabit per second. Our TRNG ensures high entropy and minimal correlation. TRUE-BSG shows comparable accuracy to software-based generators and better energy efficiency than SoTA bit-stream generators, …

Ams-Hd: Acute Mountain Sickness Detection With Hyperdimensional Computing, M. Hassan Najafi, Mehran Shoushtari Moghadam

Faculty Scholarship

Acute mountain sickness (AMS) is a potentially life-threatening condition that affects many individuals traveling to high altitudes. Early diagnosis is crucial, especially for travelers who may not have immediate access to medical resources. While traditional machine learning (ML) methods have been used to detect AMS using biomedical data (e.g., heart rate, blood oxygen saturation, respiration rate, blood pressure, and body temperature), hyperdimensional computing (HDC) has yet to be explored for this purpose using the few of biomedical data. Previous classification methods fall short of balancing accuracy with low hardware complexity, but HDC offers a promising solution. HDC provides a hardware-efficient …

Endo Almost 3–Absorbing Sub-Modules (Modules) And Related Concepts, Wafaa H. Hanoon, Mahmood S. Fiadh, Marwah W. Allami

Iraqi Journal for Computer Science and Mathematics

The concept of Endo Almost 3-Absorbing sub-modules (modules) is presented in this study, along with observations and the connections between Endo 2-Absorbing sub-modules (modules), Endo Approximately 2-Absorbing sub-modules (modules), Endo quasi-prime sub-modules (modules), and Endo prime sub-modules (modules). The study provides a range of attributes, illustrations, and justifications for these concepts. We aim to utilize the ramifications of this research to develop new ideas based on Endo Almost 3-Absorbing sub-modules (modules). Along with observations and an exploration of the relationships between Endo 2-Absorbing sub-modules (modules), Endo Approximately 2-Absorbing sub-modules (modules), Endo quasi-prime sub-modules (modules), and Endo prime sub-modules (modules), the …

Retracted: A Group Decision-Making For Selecting Multi-Deep Face Recognition Models, Abdulbasit Alazzawi, Qahtan M. Yas, Burhan Albayati

Iraqi Journal for Computer Science and Mathematics

Deep face recognition is a significant area of biometric authentication that addresses challenges such as low resolution, varying facial expressions, and inconsistent lighting. This paper presents a robust deep-learning approach to tackle these challenges. The study aims to employ multi-criteria decision-making techniques and verify the influence of individual and group expert opinions in decision-making. However, balancing criteria such as accuracy, sensitivity, specificity, precision, and recall remain challenging across different models. To fill this gap, the study utilized a decision-support framework that included the fuzzy analytical hierarchical process to set criteria weights based on expert input and the Technique for Order …

Ecg-Based Biometric Key Generation Using Principal Component Analysis And Machine Learning, Ahmad Abadleh

Iraqi Journal for Computer Science and Mathematics

Biometric authentication techniques are fast becoming imperative methods for secure identifications in a wide range of applications, while most of the traditional systems are easily spoofed or forged. In this paper a new approach of deriving a unique biometric key from an electrocardiogram signal is presented owing to physiological uniqueness of heart activity. In this respect, by focusing on RR intervals extracted from ECG signals, the PCA is applied in order to reduce its dimensionality and then form a compact and distinctive biometric key. Thereafter, a Random Forest classifier was used in evaluating the effectiveness of features, where a high …

Retracted: Robust Security System: A Novel Facial Recognition Optimization Using Coronavirus-Inspired Algorithm And Machine Learning, Saif Mohanad Kadhim, Johnny Koh Siaw Paw, Yaw Chong Tak, Shahad Thamear Abd Al-Latief

Iraqi Journal for Computer Science and Mathematics

Facial recognition has become an invaluable and rapidly advancing technology that plays a crucial role in various daily applications. From identity authentication to video surveillance, mobile payment, and even law enforcement and security measures. Despite the remarkable progress, facial recognition is still a dynamic research field and confronts several challenges. One of the main challenges is the high variability in facial images due to factors like facial expressions, lighting conditions, aging, and the presence of accessories. Additionally, the computational complexity and the time concerns surrounding face recognition systems have raised considerations that need to be addressed. This research presents a …

Retracted: Accurate Electrocardiogram Classification Of Heart Disease Using Deep Learning Network, Hadeel M. Saleh, Sahar Hamad Ahmed, Akeel Sh. Mahmoud

Iraqi Journal for Computer Science and Mathematics

Long short-term memory networks can effectively process complex temporal patterns in electrocardiogram data. These sequential models excel at classifying heart disease from the rich signals captured by electrocardiograms. However, traditional algorithms struggle with the intricate waveforms encoded in each heartbeat. Deeper architectures such as LSTM are better equipped to untangle the subtle variations between healthy sinus rhythms and lethal arrhythmias. In this study, an LSTM model was developed to diagnose disease from the PTB dataset. The network was trained using a fusion of deep learning schemes for sequential data. The model underwent several evaluations, from a confusion matrix mapping predictions …

Retracted: Intrusion Detection System For Iot Based On Modified Random Forest Algorithm, Omar Z. Akif, Sura Mazin Ali, Ann F. Sabih, Ahmed T. Sadiq, S. K. Subramaniam

Iraqi Journal for Computer Science and Mathematics

An intrusion detection system (IDS) is key to having a comprehensive cybersecurity solution against any attack, and artificial intelligence techniques have been combined with all the features of the IoT to improve security. In response to this, in this research, an IDS technique driven by a modified random forest algorithm has been formulated to improve the system for IoT. To this end, the target is made as one-hot encoding, bootstrapping with less redundancy, adding a hybrid features selection method into the random forest algorithm, and modifying the ranking stage in the random forest algorithm. Furthermore, three datasets have been used …

Retracted: Cipher Text To Secure Li-Fi System Using Hybrid Encryption Algorithm, Mohammed M. Ahmed, Satea H. Alnajjar

Iraqi Journal for Computer Science and Mathematics

It is important to pay attention to develop our security systems, due to the increase in cyberattacks and the development of their methods and the work to develop quantum computers capable of penetrating the solution of complex equations of encryption algorithms. The need to develop protection methods has emerged in line with the development of hackers to ensure the security and safety of users' data. In this research, work was done on the modern Li-Fi technology based on comparing the values with Kim's model and a distance of more than 13 km was reached in the fresh air. This technology …

A New Class Of Endo-R.B Module And Its Relationship With Modules, Mohammed Salman Murad, Buthyna Najad Shihab

Iraqi Journal for Computer Science and Mathematics

This paper gives a definition of a new class of T-module and T-submodule called an Endo-Restricted Bounded module (submodule) written shortly by Endo-R.B. module (submodule) and present some different approaches to connect this class of module with other types of modules such as: compressible modules, monoform modules, critically compressible modules, retractable modules, and quasi-Dedekind modules. One of the main purpose of this work is to introduce a few new conditions and reveal some properties and corollaries. This paper considered to be another solution or answer for Zelmanowitz’s problem. In fact, an Endo-R.B. T-module plays an important role to this problem …

Detection And Mitigation Of Out-Of-Band Channel Wormhole Attack In Wireless Network Using Propagation Delay, Harry May

Doctoral Dissertations

Wireless networks, susceptible to a range of attacks due to their simplicity and ease of evasion, face a significant threat from control data attacks, notably the elusive wormhole attack. Detecting and mitigating such attacks poses challenges, particularly in the absence of a digital signature. This dissertation introduces an innovative approach that utilizes the propagation delay associated with malicious nodes’ timing characteristics for detection, employing the Ad-hoc On-Demand Distance Vector (AODV) algorithm as its foundation. The inherent propagation delay in the AODV protocol is calculated for each node link along the entire communication path, offering a distinctive timing method that provides …

Bronconest, Jake Esperson, Andrew Collins, Anish Katragadda

Computer Science and Engineering Senior Theses

Selecting suitable housing is a critical yet often overwhelming aspect of the college experience, particularly for incoming students who lack access to transparent and meaningful information about residential life. Existing platforms, such as official university housing portals or external real estate websites, fail to capture the nuanced, day-to-day experiences that influence student well-being, including cleanliness, social atmosphere, and sense of community. This issue is further compounded by the growing prevalence of remote decision-making and scattered, unverified sources of housing feedback.

To address this challenge, we developed BroncoNest, a scalable, cross-platform mobile application designed to centralize and personalize the student housing …

Design And Optimization Of Low-Loss, High-Gain Metamaterial-Based Log-Periodic Dipole Array Antenna For Full Ka-Band Coverage, Mohamed El Moniar, Ahmed Abd El Hady, Yasser Ismail, Nihal Areed

Turkish Journal of Electrical Engineering and Computer Sciences

This work describes a microstrip log-periodic dipole array (MLPDA) antenna that uses metamaterials and operates across the whole Ka-band. The suggested MLPDA antenna layout provides a wide bandwidth with fewer dipole elements than traditional MLPDA antennas while maintaining the same resonance frequencies. To reduce size while covering a wide operational spectrum, the antenna design includes bending dipoles as radiating elements, as well as an incomplete ground plane. Furthermore, the proposed MLPDA antenna’s energy loss has been reduced while boosting its signal strength (gain) by inserting a metamaterial-based structure in front of it at a certain distance and on the same …

A Data-Driven Approach To Smart Shopping: Optimizing Grocery Trips Using Geolocation And Store Inventory Data, Kien T. Giang

Honors Theses

This project presents a data-driven web-based application, Smart Shopping, designed to help customers optimize their grocery purchases based on location and store inventory information. The application allows users to add items to a shopping list and either enter an address or use their browser’s location services to identify nearby stores. It then retrieves product availability and prices from a mock database representing stores at user’s selected locations. The program compares prices across stores to provide users with two optimized options: the cheapest shopping bill from a single store, and the lowest individual item prices across multiple stores. Additionally, the …