Physical Sciences and Mathematics Commons^™

Respiratory Compensated Robot For Liver Cancer Treatment: Design, Fabrication, And Benchtop Characterization, Mishek Jair Musa

Graduate Theses and Dissertations

Hepatocellular carcinoma (HCC) is one of the leading causes of cancer-related death in the world. Radiofrequency ablation (RFA) is an effective method for treating tumors less than 5 cm. However, manually placing the RFA needle at the site of the tumor is challenging due to the complicated respiratory induced motion of the liver. This paper presents the design, fabrication, and benchtop characterization of a patient mounted, respiratory compensated robotic needle insertion platform to perform percutaneous needle interventions. The robotic platform consists of a 4-DoF dual-stage cartesian platform used to control the pose of a 1-DoF needle insertion module. The active …

Computational Frameworks For Multi-Robot Cooperative 3d Printing And Planning, Laxmi Prasad Poudel

Graduate Theses and Dissertations

This dissertation proposes a novel cooperative 3D printing (C3DP) approach for multi-robot additive manufacturing (AM) and presents scheduling and planning strategies that enable multi-robot cooperation in the manufacturing environment. C3DP is the first step towards achieving the overarching goal of swarm manufacturing (SM). SM is a paradigm for distributed manufacturing that envisions networks of micro-factories, each of which employs thousands of mobile robots that can manufacture different products on demand. SM breaks down the complicated supply chain used to deliver a product from a large production facility from one part of the world to another. Instead, it establishes a network …

Signal Processing And Data Analysis For Real-Time Intermodal Freight Classification Through A Multimodal Sensor System., Enrique J. Sanchez Headley

Graduate Theses and Dissertations

Identifying freight patterns in transit is a common need among commercial and municipal entities. For example, the allocation of resources among Departments of Transportation is often predicated on an understanding of freight patterns along major highways. There exist multiple sensor systems to detect and count vehicles at areas of interest. Many of these sensors are limited in their ability to detect more specific features of vehicles in traffic or are unable to perform well in adverse weather conditions. Despite this limitation, to date there is little comparative analysis among Laser Imaging and Detection and Ranging (LIDAR) sensors for freight detection …

Promoting Diversity In Academic Research Communities Through Multivariate Expert Recommendation, Omar Salman

Graduate Theses and Dissertations

Expert recommendation is the process of identifying individuals who have the appropriate knowledge and skills to achieve a specific task. It has been widely used in the educational environment mainly in the hiring process, paper-reviewer assignment, and assembling conference program committees. In this research, we highlight the problem of diversity and fair representation of underrepresented groups in expertise recommendation, factors that current expertise recommendation systems rarely consider. We introduce a novel way to model experts in academia by considering demographic attributes in addition to skills. We use the h-index score to quantify skills for a researcher and we identify five …

Privacy-Preserving Cloud-Assisted Data Analytics, Wei Bao

Graduate Theses and Dissertations

Nowadays industries are collecting a massive and exponentially growing amount of data that can be utilized to extract useful insights for improving various aspects of our life. Data analytics (e.g., via the use of machine learning) has been extensively applied to make important decisions in various real world applications. However, it is challenging for resource-limited clients to analyze their data in an efficient way when its scale is large. Additionally, the data resources are increasingly distributed among different owners. Nonetheless, users' data may contain private information that needs to be protected.

Cloud computing has become more and more popular in …

Securing Fog Federation From Behavior Of Rogue Nodes, Mohammed Saleh H. Alshehri

Graduate Theses and Dissertations

As the technological revolution advanced information security evolved with an increased need for confidential data protection on the internet. Individuals and organizations typically prefer outsourcing their confidential data to the cloud for processing and storage. As promising as the cloud computing paradigm is, it creates challenges; everything from data security to time latency issues with data computation and delivery to end-users. In response to these challenges CISCO introduced the fog computing paradigm in 2012. The intent was to overcome issues such as time latency and communication overhead and to bring computing and storage resources close to the ground and the …

Low-Power And Reconfigurable Asynchronous Asic Design Implementing Recurrent Neural Networks, Spencer Nelson

Graduate Theses and Dissertations

Artificial intelligence (AI) has experienced a tremendous surge in recent years, resulting in high demand for a wide array of implementations of algorithms in the field. With the rise of Internet-of-Things devices, the need for artificial intelligence algorithms implemented in hardware with tight design restrictions has become even more prevalent. In terms of low power and area, ASIC implementations have the best case. However, these implementations suffer from high non-recurring engineering costs, long time-to-market, and a complete lack of flexibility, which significantly hurts their appeal in an environment where time-to-market is so critical. The time-to-market gap can be shortened through …

Development Of A Reference Design For Intrusion Detection Using Neural Networks For A Smart Inverter, Ammar Mohammad Khan

Graduate Theses and Dissertations

The purpose of this thesis is to develop a reference design for a base level implementation of an intrusion detection module using artificial neural networks that is deployed onto an inverter and runs on live data for cybersecurity purposes, leveraging the latest deep learning algorithms and tools. Cybersecurity in the smart grid industry focuses on maintaining optimal standards of security in the system and a key component of this is being able to detect cyberattacks. Although researchers and engineers aim to design such devices with embedded security, attacks can and do still occur. The foundation for eventually mitigating these attacks …