Artificial Intelligence and Robotics Commons^™

Sparse Representation Learning For Temporal Networks, Maxwell Mcneil

Electronic Theses & Dissertations (2024 - present)

Temporal networks arise in many domains including activity of social network users, sensor network readings over time, and time course gene expression within the interaction network of a model organism. Data of this type contains a wealth of prior information such as the connectivity among nodes (e.g., a friendship graph), and prior knowledge of expected temporal patterns (e.g., periodicity). Modeling these temporal and network patterns jointly is essential for state-of-the-art performance in temporal network data analysis and mining. Sparse dictionary encoding is one modeling approach for such underlying patterns. However, most classical approaches consider only one dimension of the data …

Transformer-Enabled Deep Reinforcement Learning For Coverage Path Planning, Daniel B. Tiu

UNF Graduate Theses and Dissertations

Coverage path planning (CPP) is the problem of covering all points in an environment and is a well-researched topic in robotics due to its sheer practical relevance. This paper investigates such an offline CPP problem where the primary objective is to minimize the path length to achieve complete coverage. Furthermore, the literature suggests that taking turns leads to a higher energy use than going straight. To this end, we design a novel objective function that aims to minimize the number of turns as well. We have proposed a deep reinforcement learning (DRL)-based framework that uses a Transformer model. Unlike state-of-the-art …

Simulation Of A Pick And Place System For Electronic Cards Using A Yumi Cobot, Derrick Sze, Rosula Sj Reyes, Patricia Angela R. Abu

Electronics, Computer, and Communications Engineering Faculty Publications

Collaborative Robots are one of the main drivers of Industry 4.0, which started as a vision focusing on industrial production. It addresses several challenges in the current manufacturing industry such as performing repetitive work and requiring highly skilled workers. The goal of the research is to be able to simulate a pick and place environment with electronic cards using a YuMi cobot and mobile platforms in Coppeliasim. The mobile robot is responsible for transporting the electronic cards to the target location through path planning implemented using the OMPL plug-in. After arriving at the target location, YuMi will then perform the …

Autonomous Strike Uavs In Support Of Homeland Security Missions: Challenges And Preliminary Solutions, Meshari Aljohani, Ravi Mukkamala, Stephan Olariu

Computer Science Faculty Publications

Unmanned Aerial Vehicles (UAVs) are becoming crucial tools in modern homeland security applications, primarily because of their cost-effectiveness, risk reduction, and ability to perform a wider range of activities. This study focuses on the use of autonomous UAVs to conduct, as part of homeland security applications, strike missions against high-value terrorist targets. Owing to developments in ledger technology, smart contracts, and machine learning, activities formerly carried out by professionals or remotely flown UAVs are now feasible. Our study provides the first in-depth analysis of the challenges and preliminary solutions for the successful implementation of an autonomous UAV mission. Specifically, we …

Disentangling Cyclic Causality: An Instance-Based Framework For Causal Discovery, Chase A. Yakaboski

Dartmouth College Ph.D Dissertations

Correlation does not imply causation" is one of the fundamental principles taught in science, emphasizing that associations between variables do not necessarily indicate causality. Yet, over the past three decades, extensive research has begun to challenge this perspective by developing sophisticated methods to differentiate causal from correlative relationships. This research suggests that correlations often involve a blend of confounded and causal interactions, which, given certain assumptions, can be disentangled to uncover actionable insights and deepen our understanding of physical, biological, and societal systems.

Accurately discovering causal relationships from data amidst cyclic dynamics remains a challenging open problem in causality research. …

A Memory Efficient Deep Recurrent Q-Learning Approach For Autonomous Wildfire Surveillance, Jeremy A. Cantor

UNF Graduate Theses and Dissertations

Previous literature demonstrates that autonomous UAVs (unmanned aerial vehicles) have the po- tential to be utilized for wildfire surveillance. This advanced technology empowers firefighters by providing them with critical information, thereby facilitating more informed decision-making processes. This thesis applies deep Q-learning techniques to the problem of control policy design under the objective that the UAVs collectively identify the maximum number of locations that are under fire, assuming the UAVs can share their observations. The prohibitively large state space underlying the control policy motivates a neural network approximation, but prior work used only convolutional layers to extract spatial fire information from …

Ethical Decision-Making In Older Drivers During Critical Driving Situations: An Online Experiment, Amandeep Singh, Sarah Yahoodik, Yovela Murzello, Samuel Petkac, Yusuke Yamani, Siby Samuel

Psychology Faculty Publications

The present study examined the impact of aging on ethical decision-making in simulated critical driving scenarios. 204 participants from North America, grouped into two age groups (18–30 years and 65 years and above), were asked to decide whether their simulated automated vehicle should stay in or change from the current lane in scenarios mimicking the Trolley Problem. Each participant viewed a video clip rendered by the driving simulator at Old Dominion University and pressed the space-bar if they decided to intervene in the control of the simulated automated vehicle in an online experiment. Bayesian hierarchical models were used to analyze …

Sub-Band Backdoor Attack In Remote Sensing Imagery, Kazi Aminul Islam, Hongyi Wu, Chunsheng Xin, Rui Ning, Liuwan Zhu, Jiang Li

Electrical & Computer Engineering Faculty Publications

Remote sensing datasets usually have a wide range of spatial and spectral resolutions. They provide unique advantages in surveillance systems, and many government organizations use remote sensing multispectral imagery to monitor security-critical infrastructures or targets. Artificial Intelligence (AI) has advanced rapidly in recent years and has been widely applied to remote image analysis, achieving state-of-the-art (SOTA) performance. However, AI models are vulnerable and can be easily deceived or poisoned. A malicious user may poison an AI model by creating a stealthy backdoor. A backdoored AI model performs well on clean data but behaves abnormally when a planted trigger appears in …

Ai And Ml-Based Risk Assessment Of Chemicals: Predicting Carcinogenic Risk From Chemical-Induced Genomic Instability, Ajay Vikram Singh, Preeti Bhardwaj, Peter Laux, Prachi Pradeep, Madleen Busse, Andreas Luch, Akihiko Hirose, Christopher J. Osgood, Michael W. Stacey

Biological Sciences Faculty Publications

Chemical risk assessment plays a pivotal role in safeguarding public health and environmental safety by evaluating the potential hazards and risks associated with chemical exposures. In recent years, the convergence of artificial intelligence (AI), machine learning (ML), and omics technologies has revolutionized the field of chemical risk assessment, offering new insights into toxicity mechanisms, predictive modeling, and risk management strategies. This perspective review explores the synergistic potential of AI/ML and omics in deciphering clastogen-induced genomic instability for carcinogenic risk prediction. We provide an overview of key findings, challenges, and opportunities in integrating AI/ML and omics technologies for chemical risk assessment, …

Triphlapan: Predicting Hla Molecules Binding Peptides Based On Triple Coding Matrix And Transfer Learning, Meng Wang, Chuqi Lei, Jianxin Wang, Yaohang Li, Min Li

Computer Science Faculty Publications

Human leukocyte antigen (HLA) recognizes foreign threats and triggers immune responses by presenting peptides to T cells. Computationally modeling the binding patterns between peptide and HLA is very important for the development of tumor vaccines. However, it is still a big challenge to accurately predict HLA molecules binding peptides. In this paper, we develop a new model TripHLApan for predicting HLA molecules binding peptides by integrating triple coding matrix, BiGRU + Attention models, and transfer learning strategy. We have found the main interaction site regions between HLA molecules and peptides, as well as the correlation between HLA encoding and binding …

Advancing Chronic Kidney Disease Prediction Through Machine Learning And Deep Learning With Feature Analysis, Shiddarth Dey Tusar, S. M. Ahad Ali Chowdhury, Md. Jalal Uddin Chowdhury, Rana M. Pir, H. M. Nur A. Alam, Muhammad Rezaur Rahman, Md. Nural Absar Siddiky, Muhammad Enayetur Rahman

Electrical & Computer Engineering Faculty Publications

Chronic Kidney Diesease (CKD) is a significant health issue, ranking as the fourth leading cause of mortality worldwide. The traditional diagnosis and treatment process, reliant on medical experts, is time-consuming. Therefore, thereis an urgent need for more efficient diagnostic methods to improve patient outcomes and reduce mortality rates. In this study, we employ Machine Learning (ML) and Deep Learning (DL) techniques to predict CKD based on important features. Feature analysis was performed using a correlation matrix and the LASSO algo-rithm to identify the most relevant features for model training. We evaluated several ML and DL classifiers, including Logistic Regression (LR), …

Machine Learning Based Intrusion Detection Framework For Can Bus Vulnerabilities In Modern Vehicles, Obinna C. Agbo

Graduate Theses, Dissertations, and Problem Reports (ETD)

The Controller Area Network (CAN) bus is a crucial communication backbone in modern vehicles, connecting various Electronic Control Units (ECUs). However, inherent design weaknesses such as the lack of encryption and authentication make CAN networks vulnerable to cyber-attacks, including spoofing, Denial of Service (DoS), and fuzzing attacks. This thesis thoroughly evaluates these vulnerabilities and the limitations of existing security frameworks like Message Authentication Codes (MACs) and encryption, advocating for the adoption of Intrusion Detection Systems (IDS) as a more practical solution for CAN bus security. The proposed IDS leverages advanced machine learning techniques to accurately detect intrusions, even under complex …

Machine Learning Based Three-Limb Core-Type Transformer Core Aspect Ratios Identification, Ananta Bijoy Bhadra

College of Graduate Studies: Theses & Dissertations

Power transformers are considered one of the key elements of electric grids. Transient studies include transformer transient analysis which is required for the continuous power supply. However, to perform the transient analysis, the details of the internal structure of the transformer are required which are unobtainable and considered as confidential information. Therefore, the application of topological-based transformer models is limited although the models can accurately represent the transformers. To address this concern, a novel approach utilizing Machine Learning (ML) to identify the core aspect ratios of the three-limb core-type transformer is introduced. The proposed approach, using only the voltage and …

Foraging Economies: A Market Based Methodology For Robotic Swarm Foraging, John A. Little

Graduate Theses, Dissertations, and Problem Reports (ETD)

Swarm robotics involves coordinating large groups of autonomous agents to accomplish complex tasks through decentralized, adaptive behaviors, providing a robust and scalable approach suited to dynamic and unpredictable environments. While traditional swarm models frequently draw inspiration from biological systems such as ant colonies or bee foraging, other approaches use techniques from physics, control theory, and economics to achieve effective coordination. This study distinguishes itself by applying economic principles—specifically, market-driven mechanisms like auctions, utility functions based on opportunity cost, and supply-demand dynamics based on fluctuating resource values at a central base—to improve task allocation within a swarm foraging context. This approach …

Latent Space Dynamics Learning For Stiff Collisional-Radiative Models, Xuping Xie, Qi Tang, Xianzhu Tang

Mathematics & Statistics Faculty Publications

In this work, we propose a data-driven method to discover the latent space and learn the corresponding latent dynamics for a collisional-radiative (CR) model in radiative plasma simulations. The CR model, consisting of high-dimensional stiff ordinary differential equations, must be solved at each grid point in the configuration space, leading to significant computational costs in plasma simulations. Our method employs a physics-assisted autoencoder to extract a low-dimensional latent representation of the original CR system. A flow map neural network is then used to learn the latent dynamics. Once trained, the reduced surrogate model predicts the entire latent dynamics given only …

Implementing Unmanned Aerial Vehicles To Collect Human Gait Data At Distance And Altitude For Identification And Re-Identification, Donn E. Bartram

Graduate Theses, Dissertations, and Problem Reports (ETD)

Gait patterns are a class of biometric information pertaining to the way a person moves and poses. Gait information is unique to each person and can be used to identify and reidentify people. Historically, this task has been achieved through the use of multiple ground-based imaging sensors. However, as Unmanned Aerial Vehicles (UAVs) advance, they present the opportunity to evolve the process of persons identification and re-identification. Collecting human gait data using UAVs at distances ranging from 20m to 500m and altitudes ranging from 0m to 120m is a challenging task. The current biometric data collection methods, primarily designed for …

Applications Of Ai/Ml In Maritime Cyber Supply Chains, Rafael Diaz, Ricardo Ungo, Katie Smith, Lida Haghnegahdar, Bikash Singh, Tran Phuong

School of Cybersecurity Faculty Publications

Digital transformation is a new trend that describes enterprise efforts in transitioning manual and likely outdated processes and activities to digital formats dominated by the extensive use of Industry 4.0 elements, including the pervasive use of cyber-physical systems to increase efficiency, reduce waste, and increase responsiveness. A new domain that intersects supply chain management and cybersecurity emerges as many processes as possible of the enterprise require the convergence and synchronizing of resources and information flows in data-driven environments to support planning and execution activities. Protecting the information becomes imperative as big data flows must be parsed and translated into actions …

Towards Algorithmic Justice: Human Centered Approaches To Artificial Intelligence Design To Support Fairness And Mitigate Bias In The Financial Services Sector, Jihyun Kim

CMC Senior Theses

Artificial Intelligence (AI) has positively transformed the Financial services sector but also introduced AI biases against protected groups, amplifying existing prejudices against marginalized communities. The financial decisions made by biased algorithms could cause life-changing ramifications in applications such as lending and credit scoring. Human Centered AI (HCAI) is an emerging concept where AI systems seek to augment, not replace human abilities while preserving human control to ensure transparency, equity and privacy. The evolving field of HCAI shares a common ground with and can be enhanced by the Human Centered Design principles in that they both put humans, the user, at …

Research On Digital Twin Data Modeling And Evaluation Method Of Automated Container Terminal, Guoxuan Xu, Daofang Chang, Jiaqi Li, Qiang Ling

Journal of System Simulation

Abstract: To make full use of the massive operation data of automated container terminals and further realize the digital and intelligent transformation of terminals driven by digital twin, a method for digital twin data modeling and effect verification and evaluation of automated container terminals is proposed. The application framework and operation mechanism based on digital twin are studied. Based on the data processing logic of digital twin framework, a method of terminal operation process evolution and dynamic data modeling based on digital twin is proposed. To verify whether the data could meet the effective operation of the digital twin, a …

Reducing Food Scarcity: The Benefits Of Urban Farming, S.A. Claudell, Emilio Mejia

Journal of Nonprofit Innovation

Urban farming can enhance the lives of communities and help reduce food scarcity. This paper presents a conceptual prototype of an efficient urban farming community that can be scaled for a single apartment building or an entire community across all global geoeconomics regions, including densely populated cities and rural, developing towns and communities. When deployed in coordination with smart crop choices, local farm support, and efficient transportation then the result isn’t just sustainability, but also increasing fresh produce accessibility, optimizing nutritional value, eliminating the use of ‘forever chemicals’, reducing transportation costs, and fostering global environmental benefits.

Imagine Doris, who is …

Development Of Several Typical Virtual Reality Fusion Technologies, Qiqi Feng, Zhiming Dong, Wencheng Peng, Yi Dai, Bingshan Si

Journal of System Simulation

Abstract: Virtual reality fusion can realize the two-way interaction, mapping and linkage between virtual world and physical world, which attracts the attention of countries in the world. In order to sort out and make statistics on concept connotation, academic status and application of the related new technologies, digital twin, cyber-physical systems, metaverse and live-virtual-constructive simulation are taken as representatives. The comparison on the development process, functional characteristics, target trends, etc. is carried out.

Unrelated Parallel Machine Scheduling With Additional Resource And Learning Effect, Youlian Zheng, Deming Lei

Journal of System Simulation

Abstract: To solve unrelated parallel machine scheduling problem(UPMSP) with additional resource and learning effect, a dynamical artificial bee colony(DABC) algorithm is proposed to minimize the makespan. A new representation and decoding process is given and two initial bee swarms are constructed. A swarm evaluation method is applied to dynamically decide employed bee swarms and onlooker bee swarms. Employed bee phase and onlooker bee phase are implemented in different ways to increase exploration ability. The experimental results show that the new strategies of DABC are effective and reasonable, and can obtain results with better convergence, average value and stability, which d …

Research And Design Of Etc Simulation Platform For Expressway, Fumin Zou, Feng Guo, Sijie Luo, Lüchao Liao, Nan Li, Yue Xing

Journal of System Simulation

Abstract: It is difficult to quantitatively calculate and display the real-time traffic situation of expressway ETC system, and there is no simulation system for ETC to optimize the operating situation. A simulation system based on ETC data in proposed, in witch there are three key algorithms. ETC data feature extraction algorithm provides the feature of generating simulation data for the simulation platform. The improved multitask scheduling algorithm has the computing ability of multitasks in simulation environment. The algorithm of expressway traffic flow control strategy provides the decision index for traffic flow control on the way. The experimental results show that …

Research And Development Of Simulation Training Platform For Multi-Agent Collaborative Decision-Making, Cheng Cheng, Zhijie Chen, Ziming Guo, Ni Li

Journal of System Simulation

Abstract: Reinforcement learning simulation platform can be an interactive and training environment for reinforcement learning. In order to make the simulation platform compatible with the multi-agent reinforcement learning algorithms and meet the needs of simulation in military field, the similar processes in multi-agent reinforcement learning algorithms are refined and a unified interface is designed to embed and verify different types of deep reinforcement learning algorithms on the simulation platform and to optimize the back-end service of the simulation platform to accelerate the training process of the algorithm model. The experimental results show that, by unifing the interface, the simulation platform …

Reliable Emergency Rescue Model Of Uavs Based On Blockchain, Mengyao Du, Kai Xu, Miao Zhang, Xiang Fu, Quanjun Yin

Journal of System Simulation

Abstract: Natural disasters may unpredictably disrupt ground communication infrastructure and transportation systems, and UAVs emergency response can deal with such uncertainties and highly dynamic scenarios. Aiming at the robustness requirements of decentralized rescue systems. UAV emergency rescue chain (UERChain) based on blockchain technology is proposed. By deploying UAV backbone nodes within a layered local network, the smart contracts for managing reputation considering UAV social relationships are designed. The blockchain is employed as a trust mechanism to realize the trustworthy interactions among distributed UAVs. Experimental results show that, UERChain has higher robustness, and within controllable resource constraints, the reputation management and …

Optimized Scheduling Of Distribution Network With Distributed Generation Based On Coronavirus Herd Immunity Optimizer Algorithm, Xiaomeng Wu, Rongze Yuan, Yingliang Li, Qi Zhu

Journal of System Simulation

Abstract: Following the large-scale entry of distributed new energy into the network, the uncertainty factor of the distribution network increases significantly, and the difficulty of reactive power optimization scheduling increases accordingly. Traditional optimization solutions have many limitations and shortcomings, and a dynamic reactive power optimization scheme for active distribution networks based on a multi-scenario approach is proposed. The mathematical modeling is carried out separately for the uncertainty of new energy and load, and the multi-scenario method is used to transform the uncertainty problem into a deterministic problem. A mathematical model is constructed on the distribution network side to pursue the …

Data Simulation Testing Framework For Complex Process Equipment Software, Jinkun Zhang, Longfei Shi, Chi Hu, Hao Zhang, Yonghui Yang

Journal of System Simulation

Abstract: Due to the complex task, tight coupling, strict timing, and a large amount of interchange data, the technical threshold of automated testing of bus communication equipment software is high, and the implementation is difficult. The ideas of data-driven testing and keyword-driven testing are introduced, and a data simulation testing framework is proposed. Configuration rules are formulated and implemented in the framework. Testers can simulate peripheral data for complex process equipment software and implement automated testing by only focusing on the task analysis, and configuring interchange data and keywords. There is no need to develop test scripts, which reduces the …

Urban Uav Path Planning Based On Improved Beetle Search Algorithm, Qingqing Yang, Minyi Deng, Yi Peng

Journal of System Simulation

Abstract: An improved SABAS is proposed to improve the safety and path smoothing of UAV missions in urban multi-obstacle environments and to obtain the shortest path. The algorithm no longer completely depends on the difference of odor concentration between the left and the right tentacles of beetle when exploring the path for position update. Instead, it makes full use of the strong searching ability of BAS algorithm, and introduces the annealing algorithm to add the neighborhood position solution of the next position, and finally selects the next best position from the neighborhood position solution. Metropolis criterion of annealing algorithm is …

Task Scheduling For Internet Of Vehicles Based On Deep Reinforcement Learning In Edge Computing, Xiang Ju, Shengchao Su, Chaojie Xu, Beibei He

Journal of System Simulation

Abstract: Aiming at the offloading and execution of delay-constrained computing tasks for internet of vehicles in edge computing, a task scheduling method based on deep reinforcement learning is proposed. In multi-edge server scenario, a software-defined network-aided internet of vehicles task offloading system is built. On this basis, the task scheduling model of vehicle computation offloading is given. According to the characteristics of task scheduling, a scheduling method based on an improved pointer network is designed. Considering the complexity of task scheduling and computing resource allocation, the deep reinforcement learning algorithm is used to train the pointer network. The vehicle offloading …

Airport Operational Efficiency Evaluation Based On Combined Weighting-Topsis Model, Jie Hu, Fan Bao

Journal of System Simulation

Abstract: In order to improve the scientificity and comprehensiveness of the airport operational efficiency evaluation, a new method based on the combined weighting-TOPSIS model is proposed. From 4 dimensions of stand operational efficiency, passenger boarding efficiency, aircraft taxiing efficiency, and coordination efficiency, a new airport operational efficiency evaluation system consisting of 11 indicators, such as flight approach rate, corridor bridge turnover rate, stand change ratio, etc., are constructed. G1 method and entropy weight method are implemented respectively to calculate the subjective and objective weights of the evaluation indicators, and the combined weights are calculated by minimizing the deviation of subjective …