Physical Sciences and Mathematics Commons^™

A Tool-Supported Metamodel For Program Bugfix Analysis In Empirical Software Engineering, Manal Zneit

Theses and Dissertations

This thesis describes a software modeling approach aimed at addressing empirical studies in software engineering. We build a metamodel that provides an overview of the taxonomy of program bugfixes in deep learning programs. For modeling purposes, we present a prototype tool that is an implementation of the model-driven techniques presented.

V-Slam And Sensor Fusion For Ground Robots, Ejup Hoxha

Dissertations and Theses

In underground, underwater and indoor environments, a robot has to rely solely on its on-board sensors to sense and understand its surroundings. This is the main reason why SLAM gained the popularity it has today. In recent years, we have seen excellent improvement on accuracy of localization using cameras and combinations of different sensors, especially camera-IMU (VIO) fusion. Incorporating more sensors leads to improvement of accuracy,but also robustness of SLAM. However, while testing SLAM in our ground robots, we have seen a decrease in performance quality when using the same algorithms on flying vehicles.We have an additional sensor for ground …

Enhancing 3d Visual Odometry With Single-Camera Stereo Omnidirectional Systems, Carlos A. Jaramillo

Dissertations, Theses, and Capstone Projects

We explore low-cost solutions for efficiently improving the 3D pose estimation problem of a single camera moving in an unfamiliar environment. The visual odometry (VO) task -- as it is called when using computer vision to estimate egomotion -- is of particular interest to mobile robots as well as humans with visual impairments. The payload capacity of small robots like micro-aerial vehicles (drones) requires the use of portable perception equipment, which is constrained by size, weight, energy consumption, and processing power. Using a single camera as the passive sensor for the VO task satisfies these requirements, and it motivates the …

List, Sample, And Count, Ali Assarpour

Dissertations, Theses, and Capstone Projects

Counting plays a fundamental role in many scientific fields including chemistry, physics, mathematics, and computer science. There are two approaches for counting, the first relies on analytical tools to drive closed form expression, while the second takes advantage of the combinatorial nature of the problem to construct an algorithm whose output is the number of structures. There are many algorithmic techniques for counting, they cover the explicit approach of counting by listing to the approximate approach of counting by sampling.

This thesis looks at counting three sets of objects. First, we consider a subclass of boolean functions that are monotone. …