Physical Sciences and Mathematics Commons^™

Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel

Theses and Dissertations

This thesis presents a learning from demonstration framework that enables a robot to learn and perform creative motions from human demonstrations in real-time. In order to satisfy all of the functional requirements for the framework, the developed technique is comprised of two modular components, which integrate together to provide the desired functionality. The first component, called Dancing from Demonstration (DfD), is a kinesthetic learning from demonstration technique. This technique is capable of playing back newly learned motions in real-time, as well as combining multiple learned motions together in a configurable way, either to reduce trajectory error or to generate entirely …

Smart City Management Using Machine Learning Techniques, Mostafa Zaman

Theses and Dissertations

In response to the growing urban population, "smart cities" are designed to improve people's quality of life by implementing cutting-edge technologies. The concept of a "smart city" refers to an effort to enhance a city's residents' economic and environmental well-being via implementing a centralized management system. With the use of sensors and actuators, smart cities can collect massive amounts of data, which can improve people's quality of life and design cities' services. Although smart cities contain vast amounts of data, only a percentage is used due to the noise and variety of the data sources. Information and communication technology (ICT) …

K-Nearest Neighbors Density-Based Clustering, Avory C. Bryant

Theses and Dissertations

Traditional density-based clustering approaches rely on a distance-based parameter to define data connectivity and density. However, an appropriate value of this parameter can be difficult to determine as it is highly dependent on the underlying distribution of the data. In particular, distribution parameters affect the scale of inter-group distances (e.g., variance); this dependence leads to a well-known inability to simultaneously detect clusters at varying levels of density. In this work, connectivity and density are defined according to the rank-order induced by the distance metric (i.e., invariant to the expected scale of the distances). Connectivity by k-nearest neighbors and density by …

Explainable Neural Networks Based Anomaly Detection For Cyber-Physical Systems, Kasun Amarasinghe

Theses and Dissertations

Cyber-Physical Systems (CPSs) are the core of modern critical infrastructure (e.g. power-grids) and securing them is of paramount importance. Anomaly detection in data is crucial for CPS security. While Artificial Neural Networks (ANNs) are strong candidates for the task, they are seldom deployed in safety-critical domains due to the perception that ANNs are black-boxes. Therefore, to leverage ANNs in CPSs, cracking open the black box through explanation is essential.

The main objective of this dissertation is developing explainable ANN-based Anomaly Detection Systems for Cyber-Physical Systems (CP-ADS). The main objective was broken down into three sub-objectives: 1) Identifying key-requirements that an …

Assessing The Quality Of Software Development Tutorials Available On The Web, Manziba A. Nishi

Theses and Dissertations

Both expert and novice software developers frequently access software development resources available on the Web in order to lookup or learn new APIs, tools and techniques. Software quality is affected negatively when developers fail to find high-quality information relevant to their problem. While there is a substantial amount of freely available resources that can be accessed online, some of the available resources contain information that suffers from error proneness, copyright infringement, security concerns, and incompatible versions. Use of such toxic information can have a strong negative effect on developer’s efficacy. This dissertation focuses specifically on software tutorials, aiming to automatically …

Graph-Based Regularization In Machine Learning: Discovering Driver Modules In Biological Networks, Xi Gao

Theses and Dissertations

Curiosity of human nature drives us to explore the origins of what makes each of us different. From ancient legends and mythology, Mendel's law, Punnett square to modern genetic research, we carry on this old but eternal question. Thanks to technological revolution, today's scientists try to answer this question using easily measurable gene expression and other profiling data. However, the exploration can easily get lost in the data of growing volume, dimension, noise and complexity. This dissertation is aimed at developing new machine learning methods that take data from different classes as input, augment them with knowledge of feature relationships, …

Assessment And Prediction Of Cardiovascular Status During Cardiac Arrest Through Machine Learning And Dynamical Time-Series Analysis, Sharad Shandilya

Theses and Dissertations

In this work, new methods of feature extraction, feature selection, stochastic data characterization/modeling, variance reduction and measures for parametric discrimination are proposed. These methods have implications for data mining, machine learning, and information theory. A novel decision-support system is developed in order to guide intervention during cardiac arrest. The models are built upon knowledge extracted with signal-processing, non-linear dynamic and machine-learning methods. The proposed ECG characterization, combined with information extracted from PetCO2 signals, shows viability for decision-support in clinical settings. The approach, which focuses on integration of multiple features through machine learning techniques, suits well to inclusion of multiple physiologic …

A Physiological Signal Processing System For Optimal Engagement And Attention Detection., Ashwin Belle

Theses and Dissertations

In today’s high paced, hi-tech and high stress environment, with extended work hours, long to-do lists and neglected personal health, sleep deprivation has become common in modern culture. Coupled with these factors is the inherent repetitious and tedious nature of certain occupations and daily routines, which all add up to an undesirable fluctuation in individuals’ cognitive attention and capacity. Given certain critical professions, a momentary or prolonged lapse in attention level can be catastrophic and sometimes deadly. This research proposes to develop a real-time monitoring system which uses fundamental physiological signals such as the Electrocardiograph (ECG), to analyze and predict …

Contributions To K-Means Clustering And Regression Via Classification Algorithms, Raied Salman

Theses and Dissertations

The dissertation deals with clustering algorithms and transforming regression prob-lems into classification problems. The main contributions of the dissertation are twofold; first, to improve (speed up) the clustering algorithms and second, to develop a strict learn-ing environment for solving regression problems as classification tasks by using support vector machines (SVMs). An extension to the most popular unsupervised clustering meth-od, k-means algorithm, is proposed, dubbed k-means2 (k-means squared) algorithm, appli-cable to ultra large datasets. The main idea is based on using a small portion of the dataset in the first stage of the clustering. Thus, the centers of such a smaller …

Fast Parallel Machine Learning Algorithms For Large Datasets Using Graphic Processing Unit, Qi Li

Theses and Dissertations

This dissertation deals with developing parallel processing algorithms for Graphic Processing Unit (GPU) in order to solve machine learning problems for large datasets. In particular, it contributes to the development of fast GPU based algorithms for calculating distance (i.e. similarity, affinity, closeness) matrix. It also presents the algorithm and implementation of a fast parallel Support Vector Machine (SVM) using GPU. These application tools are developed using Compute Unified Device Architecture (CUDA), which is a popular software framework for General Purpose Computing using GPU (GPGPU). Distance calculation is the core part of all machine learning algorithms because the closer the query …

Fundamental Work Toward An Image Processing-Empowered Dental Intelligent Educational System, Grace Olsen

Theses and Dissertations

Computer-aided education in dental schools is greatly needed in order to reduce the need for human instructors to provide guidance and feedback as students practice dental procedures. A portable computer-aided educational system with advanced digital image processing capabilities would be less expensive than current computer-aided dental educational systems and would also address some of their limitations. This dissertation outlines the development of novel components that would be part of such a system. This research includes the design of a novel image processing technique, the Directed Active Shape Model algorithm, which is used to locate the tooth and drilled preparation from …