Physical Sciences and Mathematics Commons^™

Bridging The Gap Between Autonomous Skill Learning And Task-Specific Planning, Shiraj Sen

Open Access Dissertations

Skill acquisition and task specific planning are essential components of any robot system, yet they have long been studied in isolation. This, I contend, is due to the lack of a common representational framework. I present a holistic approach to planning robot behavior, using previously acquired skills to represent control knowledge (and objects) directly, and to use this background knowledge to build plans in the space of control actions.

Actions in this framework are closed-loop controllers constructed from combinations of sensors, effectors, and potential functions. I will show how robots can use reinforcement learning techniques to acquire sensorimotor programs. The …

Accurate And Robust Mechanical Modeling Of Proteins, Naomi Fox

Open Access Dissertations

Through their motion, proteins perform essential functions in the living cell. Although we cannot observe protein motion directly, over 68,000 crystal structures are freely available from the Protein Data Bank. Computational protein rigidity analysis systems leverage this data, building a mechanical model from atoms and pairwise interactions determined from a static 3D structure. The rigid and flexible components of the model are then calculated with a pebble game algorithm, predicting a protein's flexibility with much more computational efficiency than physical simulation. In prior work with rigidity analysis systems, the available modeling options were hard-coded, and evaluation was limited to case …

Multiscale Modeling Of Human Addiction: A Computational Hypothesis For Allostasis And Healing, Yariv Z. Levy

Open Access Dissertations

This dissertation presents a computational multiscale framework for predicting behavioral tendencies related to human addiction. The research encompasses three main contributions. The first contribution presents a formal, heuristic, and exploratory framework to conduct interdisciplinary investigations about the neuropsychological, cognitive, behavioral, and recovery constituents of addiction. The second contribution proposes a computational framework to account for real-life recoveries that are not dependent on pharmaceutical, clinical, and counseling support. This exploration relies upon a combination of current biological beliefs together with unorthodox rehabilitation practices, such as meditation, and proposes a conjecture regarding possible cognitive mechanisms involved in the recovery process. Further elaboration …

Simulating Land Use Land Cover Change Using Data Mining And Machine Learning Algorithms, Amin Tayyebi

Open Access Dissertations

The objectives of this dissertation are to: (1) review the breadth and depth of land use land cover (LUCC) issues that are being addressed by the land change science community by discussing how an existing model, Purdue's Land Transformation Model (LTM), has been used to better understand these very important issues; (2) summarize the current state-of-the-art in LUCC modeling in an attempt to provide a context for the advances in LUCC modeling presented here; (3) use a variety of statistical, data mining and machine learning algorithms to model single LUCC transitions in diverse regions of the world (e.g. United States …

Information Measures For Statistical Orbit Determination, Alinda Kenyana Mashiku

Open Access Dissertations

The current Situational Space Awareness (SSA) is faced with a huge task of tracking the increasing number of space objects. The tracking of space objects requires frequent and accurate monitoring for orbit maintenance and collision avoidance using methods for statistical orbit determination. Statistical orbit determination enables us to obtain estimates of the state and the statistical information of its region of uncertainty given by the probability density function (PDF). As even collision events with very low probability are important, accurate prediction of collisions require the representation of the full PDF of the random orbit state. Through representing the full PDF …