Artificial Intelligence and Robotics Commons^™

The Effect Of Endgame Tablebases On Modern Chess Engines, Christopher D. Peterson

Computer Engineering

Modern chess engines have the ability to augment their evaluation by using massive tables containing billions of positions and their memorized solutions. This report examines the importance of these tables to better understand the circumstances under which they should be used. The analysis conducted in this paper empirically examines differences in size and speed of memorized positions and their impacts on engine strength. Using this technique, situations where memorized tables improve play (and situations where they do not) are discovered.

Influencing Exploration In Actor-Critic Reinforcement Learning Algorithms, Andrew R. Gough

Master's Theses

Reinforcement Learning (RL) is a subset of machine learning primarily concerned with goal-directed learning and optimal decision making. RL agents learn based on a reward signal discovered from trial and error in complex, uncertain environments with the goal of maximizing positive reward signals. RL approaches need to scale up as they are applied to more complex environments with extremely large state spaces. Inefficient exploration methods cannot sufficiently explore complex environments in a reasonable amount of time, and optimal policies will be unrealized resulting in RL agents failing to solve an environment.

This thesis proposes a novel variant of the Actor-Advantage …

Automatic Music Transcription With Convolutional Neural Networks Using Intuitive Filter Shapes, Jonathan Sleep

Master's Theses

This thesis explores the challenge of automatic music transcription with a combination of digital signal processing and machine learning methods. Automatic music transcription is important for musicians who can't do it themselves or find it tedious. We start with an existing model, designed by Sigtia, Benetos and Dixon, and develop it in a number of original ways. We find that by using convolutional neural networks with filter shapes more tailored for spectrogram data, we see better and faster transcription results when evaluating the new model on a dataset of classical piano music. We also find that employing better practices shows …

Roborodentia Robot (Duct Tape Craze), Tarrant J. Starck

Computer Science and Software Engineering

Roborodentia is an annual autonomous robotics competition held at Cal Poly in April. In 2017, Roborodentia was a head-to-head double elimination tournament with the winner being the robot that moves more rings onto the scoring pegs. For this year’s competition, I designed, built, programmed, and tested a robot.

Neural Network Ai For Fightingice, Alan D. Robison

Computer Engineering

Game AI in the fighting game genre, along the lines of Street Fighter, Mortal Kombat and Tekken, is traditionally script-based, with hard-coded reactions to various situations. Though this approach is often easy to understand and tweak, it requires substantial time and understanding of the game to implement in a way that is challenging and satisfying for the player due to the very large possibility space. This paper explores the use of neural networks as an alternative approach by implementing and training a network to select an action to take each frame based on the game state.

Review Classification, Balraj Aujla

Computer Science and Software Engineering

The goal of this project is to find a way to analyze reviews and determine the sentiment of a review. It uses various machine learning techniques in order to achieve its goals such as SVMs and Naive Bayes. Overall the purpose is to learn many different machine learning techniques, determine which ones would be useful for the project, then compare the results. Research is the foremost goal of the project, and it is able to determine the better algorithm for review classification, naive bayes or an SVM. In addition, an SVM which actually gave review’s scores rather than just classifying …

Concatenative Synthesis For Novel Timbral Creation, James Eric Bilous

Master's Theses

Modern day musicians rely on a variety of instruments for musical expression. Tones produced from electronic instruments have become almost as commonplace as those produced by traditional ones as evidenced by the plethora of artists who can be found composing and performing with nothing more than a personal computer. This desire to embrace technical innovation as a means to augment performance art has created a budding field in computer science that explores the creation and manipulation of sound for artistic purposes. One facet of this new frontier concerns timbral creation, or the development of new sounds with unique characteristics that …

Categorizing Blog Spam, Brandon Bevans

Master's Theses

The internet has matured into the focal point of our era. Its ecosystem is vast, complex, and in many regards unaccounted for. One of the most prevalent aspects of the internet is spam. Similar to the rest of the internet, spam has evolved from simply meaning ‘unwanted emails’ to a blanket term that encompasses any unsolicited or illegitimate content that appears in the wide range of media that exists on the internet.

Many forms of spam permeate the internet, and spam architects continue to develop tools and methods to avoid detection. On the other side, cyber security engineers continue to …

Battle Bot Ai – Patriot Bot, James Johnston

Computer Engineering

An entry in the the 'Battle Block AI' competition hosted by 'The AI Games'.

Automated Multi-Modal Search And Rescue Using Boosted Histogram Of Oriented Gradients, Matthew A. Lienemann

Master's Theses

Unmanned Aerial Vehicles (UAVs) provides a platform for many automated tasks and with an ever increasing advances in computing, these tasks can be more complex. The use of UAVs is expanded in this thesis with the goal of Search and Rescue (SAR), where a UAV can assist fast responders to search for a lost person and relay possible search areas back to SAR teams. To identify a person from an aerial perspective, low-level Histogram of Oriented Gradients (HOG) feature descriptors are used over a segmented region, provided from thermal data, to increase classification speed. This thesis also introduces a dataset …

Calculating Staircase Slope From A Single Image, Nicholas Joseph Clarke

Master's Theses

Realistic modeling of a 3D environment has grown in popularity due to the increasing realm of practical applications. Whether for practical navigation purposes, entertainment value, or architectural standardization, the ability to determine the dimensions of a room is becoming more and more important. One of the trickier, but critical, features within any multistory environment is the staircase. Staircases are difficult to model because of their uneven surface and various depth aspects. Coupling this need is a variety of ways to reach this goal. Unfortunately, many such methods rely upon specialized sensory equipment, multiple calibrated cameras, or other such impractical setups. …

Sudden Cardiac Arrest Prediction Through Heart Rate Variability Analysis, Luke Joseph Plewa

Master's Theses

The increase in popularity for wearable technologies (see: Apple Watch and Microsoft Band) has opened the door for an Internet of Things solution to healthcare. One of the most prevalent healthcare problems today is the poor survival rate of out-of hospital sudden cardiac arrests (9.5% on 360,000 cases in the USA in 2013). It has been proven that heart rate derived features can give an early indicator of sudden cardiac arrest, and that providing an early warning has the potential to save many lives. Many of these new wearable devices are capable of providing this warning through their heart rate …

A Pareto-Frontier Analysis Of Performance Trends For Small Regional Coverage Leo Constellation Systems, Christopher Alan Hinds

Master's Theses

As satellites become smaller, cheaper, and quicker to manufacture, constellation systems will be an increasingly attractive means of meeting mission objectives. Optimizing satellite constellation geometries is therefore a topic of considerable interest. As constellation systems become more achievable, providing coverage to specific regions of the Earth will become more common place. Small countries or companies that are currently unable to afford large and expensive constellation systems will now, or in the near future, be able to afford their own constellation systems to meet their individual requirements for small coverage regions.

The focus of this thesis was to optimize constellation geometries …

Adapting Monte Carlo Localization To Utilize Floor And Wall Texture Data, Stephanie Krapil

Master's Theses

Monte Carlo Localization (MCL) is an algorithm that allows a robot to determine its location when provided a map of its surroundings. Particles, consisting of a location and an orientation, represent possible positions where the robot could be on the map. The probability of the robot being at each particle is calculated based on sensor input.

Traditionally, MCL only utilizes the position of objects for localization. This thesis explores using wall and floor surface textures to help the algorithm determine locations more accurately. Wall textures are captured by using a laser range finder to detect patterns in the surface. Floor …

Element Detection In Japanese Comic Book Panels, Toshihiro Kuboi

Master's Theses

Comic books are a unique and increasingly popular form of entertainment combining visual and textual elements of communication. This work pertains to making comic books more accessible. Specifically, this paper explains how we detect elements such as speech bubbles present in Japanese comic book panels. Some applications of the work presented in this paper are automatic detection of text and its transformation into audio or into other languages. Automatic detection of elements can also allow reasoning and analysis at a deeper semantic level than what’s possible today. Our approach uses an expert system and a machine learning system. The expert …

Towards An Automated Weight Lifting Coach: Introducing Lift, Michael Andrew Lady

Master's Theses

The fitness device market is young and rapidly growing. More people than ever before take count of how many steps they walk, how many calories they burn, their heart rate over time, and even their quality of sleep. New, and as of yet, unreleased fitness devices have promised the next evolution of functionality with exercise technique analysis. These next generation of fitness devices have wrist and armband style form factors, which may not be optimal for barbell exercises such as back squat, bench press, and overhead press where a sensor on one arm may not provide the most relevant data …

Predicting Music Genre Preferences Based On Online Comments, Andrew J. Sinclair

Master's Theses

Communication Accommodation Theory (CAT) states that individuals adapt to each other’s communicative behaviors. This adaptation is called “convergence.” In this work we explore the convergence of writing styles of users of the online music distribution plat- form SoundCloud.com. In order to evaluate our system we created a corpus of over 38,000 comments retrieved from SoundCloud in April 2014. The corpus represents comments from 8 distinct musical genres: Classical, Electronic, Hip Hop, Jazz, Country, Metal, Folk, and World. Our corpus contains: short comments, frequent misspellings, little sentence struc- ture, hashtags, emoticons, and URLs. We adapt techniques used by researchers analyzing other …

A Generic Decision Making Framework For Autonomous Systems, Connor Lange

Master's Theses

With the rising popularity of small satellites, such as CubeSats, many smaller institutions previously incapable of developing and deploying a spacecraft have starting to do so. Institutions with a history of space flight, such as NASA JPL, have begun to put projects on CubeSats that would normally fly on much larger satellites. As a result, the institutions with space flight heritage have begun to port spacecraft software that was previously designed for much larger and more complex satellites to the CubeSat platform. Unfortunately for universities, who are the majority of all institutions devel- oping CubeSats, these ported systems are too …

Misheard Me Oronyminator: Using Oronyms To Validate The Correctness Of Frequency Dictionaries, Jennifer G. Hughes

Master's Theses

In the field of speech recognition, an algorithm must learn to tell the difference between "a nice rock" and "a gneiss rock". These identical-sounding phrases are called oronyms. Word frequency dictionaries are often used by speech recognition systems to help resolve phonetic sequences with more than one possible orthographic phrase interpretation, by looking up which oronym of the root phonetic sequence contains the most-common words.

Our paper demonstrates a technique used to validate word frequency dictionary values. We chose to use frequency values from the UNISYN dictionary, which tallies each word on a per-occurance basis, using a proprietary text corpus, …

Csc Senior Project: Nlpstats, Michael Mease

Computer Science and Software Engineering

Natural Language Processing has recently increased in popularity. The field of authorship analysis, specifically, uses various characteristics of text quantified by markers. NLPStats serves as a tool designed to streamline marker extraction based on user needs. A flexible query system allows for custom marker requests, adjustment of result formatting, and preprocessing options. Furthermore, an efficiently designed structure ensures that users retrieve information quickly. As a whole, NLPStats enables anyone, regardless of NLP experience, to extract important information about the text of a document.

Spoons: Netflix Outage Detection Using Microtext Classification, Eriq A. Augusitne

Master's Theses

Every week there are over a billion new posts to Twitter services and many of those messages contain feedback to companies about their services. One company that recognizes this unused source of information is Netflix. That is why Netflix initiated the development of a system that lets them respond to the millions of Twitter and Netflix users that are acting as sensors and reporting all types of user visible outages. This system enhances the feedback loop between Netflix and its customers by increasing the amount of customer feedback that Netflix receives and reducing the time it takes for Netflix to …

Functional Reactive Musical Performers, Justin M. Phillips

Master's Theses

Computers have been assisting in recording, sound synthesis and other fields of music production for quite some time. The actual performance of music continues to be an area in which human players are chosen over computer performers. Musical performance is an area in which personalization is more important than consistency. Human players play with each other, reacting to phrases and ideas created by the players that they are playing with. Computer performers lack the ability to react to the changes in the performance that humans perceive naturally, giving the human players an advantage over the computer performers.

This thesis creates …

Automated Theorem Prover Axiom Management, Ashley T. Holeman, Ewen Denney

STAR Program Research Presentations

Automated Theorem Provers (ATPs), are computer programs that use collections of axioms,which are logical statements assumed to be true, in order to prove conjectures. NASA uses these programs to verify safety and functional requirements in domains like Guidance, Navigation, and Control. There are about 30 axioms on each major topic including the theory of coordinate systems, elementary arithmetic and linear algebra. These axioms have been created over the duration of many projects and combined into a single file. One task is to manage the axioms by arranging them into logical sections, deleting unnecessary ones and rewriting some into a more …

Autonomous Satellite Operations For Cubesat Satellites, Jason Lionel Anderson

Master's Theses

In the world of educational satellites, student teams manually conduct operations daily, sending commands and collecting downlinked data. Educational satellites typically travel in a Low Earth Orbit allowing line of sight communication for approximately thirty minutes each day. This is manageable for student teams as the required manpower is minimal. The international Global Educational Network for Satellite Operations (GENSO), however, promises satellite contact upwards of sixteen hours per day by connecting earth stations all over the world through the Internet. This dramatic increase in satellite communication time is unreasonable for student teams to conduct manual operations and alternatives must be …

A Neural Network Approach To Border Gateway Protocol Peer Failure Detection And Prediction, Cory B. White

Master's Theses

The size and speed of computer networks continue to expand at a rapid pace, as do the corresponding errors, failures, and faults inherent within such extensive networks. This thesis introduces a novel approach to interface Border Gateway Protocol (BGP) computer networks with neural networks to learn the precursor connectivity patterns that emerge prior to a node failure. Details of the design and construction of a framework that utilizes neural networks to learn and monitor BGP connection states as a means of detecting and predicting BGP peer node failure are presented. Moreover, this framework is used to monitor a BGP network …

Energetic Path Finding Across Massive Terrain Data, Andrew N. Tsui

Master's Theses

Before there were airplanes, cars, trains, boats, or bicycles, the primary means of transportation was on foot. Unfortunately, many of the trails used by ancient travelers have long since been abandoned. We present a software tool which can help visualize and predict where these forgotten trails might lie through the use of a human-centered cost metric. By comparing the paths generated by our software with known historical trails, we demonstrate how the tool can indicate likely trails used by ancient travelers. In addition, this new tool provides novel visualizations to better help the user understand alternate paths, effect of terrain, …