Artificial Intelligence and Robotics Commons^™

Improving Urban Search And Rescue Team Coordination Through Adaptive Context Awareness, Daniel Reyes Duran

Doctoral Dissertations and Master's Theses

Modern multi-agent Urban Search and Rescue (USAR) operations heavily rely on mobile geospatial Common Operating Pictures (COPs) to maintain team coordination and Situational Awareness (SA). However, the proliferation of high-frequency sensor telemetry at the tactical edge has introduced a data saturation paradox challenge: while information theoretically drives informed decision-making, unmanaged data surges induce increased operator cognitive overload and alert fatigue on mobile End-User Devices (EUDs), while downstream data-broadcasting models inherently strain edge processing and viewport environments.

To resolve these constraints, this dissertation presents a context-aware Value of Information (VoI) data-management framework integrated directly with a custom, event-driven Android Team Awareness …

Robust Real-Time Uav Target Tracking With Onboard Vision-Based Yaw Control, Rylan Malarchick, Jose Castelblanco, Enrique Amaya, Carmen Dimario, Graysen Brinkman, Chirag Kumar, Kiwon Yoon, Sajid Berhane

Beyond: Undergraduate Research Journal

Autonomous tracking of agile unmanned aerial vehicles (UAVs) presents significant challenges for real-time perception and control systems. This work presents AIRHOUND (Autonomous Intelligent Rotorcraft for Hostile Object Unified Navigation and Detection), a UAV platform implementing vision-based yaw tracking through a modular ROS2 software architecture. The system employs YOLOv8 object detection optimized with NVIDIA TensorRT for embedded deployment on an NVIDIA Jetson Orin companion computer. Detected targets are processed through a geometric tracking module that converts pixel coordinates to angular yaw errors using pinhole camera intrinsics, with a proportional controller generating rate-limited yaw commands. These commands are streamed to a PX4 …

Residential Ai Data Centers: Security, Privacy, And Governance Concerns, Alan Saquella

Publications

The concept of placing mini data centers and distributed AI computer nodes inside residential homes may appear innovative from an energy efficiency perspective, but it introduces significant security, privacy, governance, and liability concerns. What is effectively occurring is the expansion of commercial and potentially critical infrastructure into lightly protected residential environments.

Once a residence becomes part of a distributed computer grid supporting hyper-scalers, AI providers, or enterprise workloads, the home is no longer simply a private residence. It becomes a commercial technology asset, a potential cyber target, and even a physical target. A distributed network of thousands of residential nodes …

Meeting The Moment With Ai-Employer Informed Education, Brent Terwilliger, John Faraca

Publications

As artificial intelligence transforms aviation, aerospace, and autonomy-related sectors, higher education must adapt to meet evolving workforce demands. This session shares emerging findings from a nationwide study led by Embry-Riddle Aeronautical University, focused on employer perceptions of AI adoption, responsible use, and workforce preparedness in domains including uncrewed systems, space systems, robotics, and advanced air mobility. Based on a structured survey and follow-up interviews, the presentation explores how organizations are using AI tools, from generative platforms to enterprise systems, and defining effective and inappropriate use in operational contexts. Participants will gain insight into critical concerns (e.g., data privacy, compliance, security, …

Security Assessment Of A Machine Learning Approach To Generate And Validate Digital Signatures, Juan Ortiz Couder

Doctoral Dissertations and Master's Theses

Cybersecurity has become a global concern as cyber-attacks have become more common, and the cost of the damage caused by them continues to increase. There are several approaches to improve the cyber security of systems such as Digital Signatures, hashing, watermarking, and encryption among others. Digital Signatures are a cryptographic technique used to verify the authenticity and integrity of digital messages or documents. Digital Signatures use a combination of hashing and public-private key encryption to verify the authenticity and integrity of videos, just as they are used for documents and messages. As a result of using a combination of other …

Threat-Analysis Oriented Digital Twinning Of Ml-Powered Future Autonomous Weapon Systems, Thomas Neubert

Doctoral Dissertations and Master's Theses

Warfare is undergoing a rapid transformation with the integration of artificial intelligence (AI) and machine learning (ML) into autonomous weapon systems (AWS) for perception, decision support, and control. As these systems become more software-defined, their cyber attack surface expands across sensing, communications, autonomy logic, and human-machine interfaces. As human oversight diminishes, ensuring the cybersecurity, resilience, and reliability of these systems becomes critical to mission success. This thesis investigates how a digital twin-driven threat modeling framework that integrates system-centric analysis with adversary-informed methodologies can support structured cybersecurity vulnerability evaluation and defensive strategy development associated with ML-powered AWS. First, the study analyzes …

Scenarioxp: A Complete Scenario-Based Testing Framework For The Exploration And Exploitation Of Autonomous Vehicle Validation Scenarios, Quentin Goss

Doctoral Dissertations and Master's Theses

Today is an age of exciting emerging technology where cutting-edge research in autonomous vehicles (AVs) reduces the active human participation in driving and extends awareness beyond human limitations of perception and reaction, improving driving safety and quality of the user experience as a result. The ever-increasing complexity of these autonomous systems poses many challenges towards the validation and verification (V\&V) of these complex systems under time and resource constraints, as the use of artificial intelligence and also the intricacy of the operating environment means that these systems are also black-box and non-deterministic. Scenario-based V\&V testing of such systems, which involves …

Study Of Output And Behavior Of Llms Using Confidence Framing In Prompt Engineering, Micah Parrilla

Doctoral Dissertations and Master's Theses

While prompt engineering is pivotal for shaping Large Language Model (LLM) outputs, the impact of confidence framing on behavioral calibration remains underexplored. This study investigates the ways in which psychological framing, utilizing techniques such as capability praise, role amplification, and doubt induction, affects linguistic tone, objective accuracy, and internal calibration. A 1,080-trial experimental matrix evaluated six diverse models across factual, logical, coding, and cyber security domains. Analysis using the Kruskal-Wallis H-test revealed highly significant behavioral shifts across all measured dimensions, providing conclusive evidence that the applied frames exert a substantial influence on model performance.

The findings identify a distinct cognitive …

Low-Complexity Structured Neural Networks And Their Usage In Image And Signal Processing, Adam Kuzmicki

Doctoral Dissertations and Master's Theses

Conventional neural networks face significant challenges due to high computational costs, large parameter counts, and reliance on backpropagation, which restricts their application in resource-constrained and real-time settings. To address these challenges, this thesis proposes three structured neural network (NN) architectures grounded in the theories of sparse and self-contained factorizations of transforms, with applications to image compression, reconstruction, classification, encryption, and also adaptive wideband multi-beam beamforming. The first neural network architecture, named DCTrix-Net, replaces conventional spatial con- volution with highly sparse factorization of the discrete Cosine transform (DCT) complemented by Toeplitz-structured weight initialization, achieving at least 97% FLOP reduction over CNNs, …

Parameter Informed Reinforcement Learning For Vehicle System Identification, Nathan Schaff

Doctoral Dissertations and Master's Theses

Accurate system identification is essential for modeling and controlling vehicle dynamics. This dissertation explores the application of Parameter Informed Reinforcement Learning (PIRL) as a novel approach to system identification (SYSID). PIRL integrates prior system knowledge, such as physical parameters, into reinforcement learning (RL) frameworks to improve estimation accuracy. The study begins with an overview of traditional SYSID methods and then introduces PIRL as a modification of standard RL. The research applies PIRL to short-period aircraft dynamics, demonstrating its effectiveness in both offline and online learning frameworks. The dissertation then further explores PIRL’s utility in an indirect model reference adaptive control …

Preparing Tomorrow’S Professionals: Industry-Informed Ai Integration, Brent A. Terwilliger Ph.D, John Faraca

Publications

As AI reshapes operations across aviation and aerospace, organizations are investing in ways to preserve data integrity, safeguard proprietary knowledge, and uphold critical professional competencies. This presentation shares emerging findings from a study that surveys and interviews industry professionals about their use of AI tools, their concerns about misuse, and the importance of secure, enterprise-controlled “walled garden” environments. The work explores how employers define appropriate, effective, and innovative AI adoption, particularly in roles requiring high-stakes decision-making, compliance, and technical acumen.

By analyzing organizational expectations around AI-related knowledge, skills, and abilities (KSAs), this research offers practical guidance for academic programs seeking …

Student Perspectives On Ai-Enabled Tools For Adaptive Learning, John Faraca

Publications

Artificial Intelligence (AI) is increasingly influencing the delivery of higher education, especially in aviation technical disciplines. From AI-assisted gimbals and video production tools to generative AI platforms, these technologies are helping learners to engage with course material, accomplish objectives, and connect academic concepts with professional applications. By offering pathways for personalization, streamlining resource access, and supporting interactive instruction, AI tools expand opportunities for effective learning. This work builds on a current collaborative research project with a faculty researcher to explore the student perspective in the active review and application of these tools to highlight their potential to improve usability, address …

Insights On Ai-Supported Uncrewed And Autonomous Systems Education, Brent A. Terwilliger Ph. D, John Faraca

Publications

Artificial Intelligence (AI) related technology is reshaping the educational experience in programs focused on uncrewed and autonomous systems, aviation, robotics, and aerospace, with growing implications for workforce readiness and cross-sector innovation. Early survey data, capturing student, educator, and employer perspectives, reveals that AI-supported tools are notably changing student engagement, communication, and skills development. Initial indications underscores the importance of AI proficiency and technological familiarity in hiring and workforce development, particularly in technical and operational roles. Key areas of focus include the use of AI to strengthen outreach and interactivity; enrich instruction through intelligent simulations; inform curricular improvements using data analytics; …

Leveraging Machine Learning And Causal Inference For Loan Default Prediction, Luca Guida

Doctoral Dissertations and Master's Theses

This research explores a systematic application of machine learning techniques combined with causal inference to predict loan defaults in peer-to-peer lending. Accurately forecasting loan defaults is crucial for mitigating financial risk and optimizing lending strategies. This analysis is based on multiple datasets of loan applications spanning over a decade, containing detailed financial and credit information about borrowers. Beginning with extensive Exploratory Data Analysis (EDA) coupled with scaling strategies, the research identifies key trends in loan performance across a large number of factors, such as interest rates or borrower creditworthiness, and one objective is to determine from the many available predictors …

Characterization Of Search Spaces And Effects On Machine Learning, Leo Ghelarducci

Doctoral Dissertations and Master's Theses

The present status of the field of Machine Learning (ML) focuses on optimization of popular models. Rarely are the effects of the problem characteristics upon the solution algorithm studied. There exists no standard for knowing when to apply ML algorithms to a given problem or how to estimate the effectiveness of results. Focusing on the search space of problems, a rigorous study was conducted to generate an in-depth understanding of the impact of search space characteristics to the performance of a ML algorithm, specifically a Genetic Algorithm (GA). The effects of specific problem characteristics, represented via solution space characteristics, on …

In The Shadow Of Prompts: Adversarial Attacks And Model Cloning In Large Language Models, Kanchon Gharami

Doctoral Dissertations and Master's Theses

Large-language models (LLMs) already power mission critical tasks such as command-and-control chat, satellite ground-station automation, military analytics, and cyber-defense. Since most of these services are offered through application programming interfaces (APIs) that still expose full or top-k logits and lack mature safeguards, they present a serious, often overlooked attack surface. Earlier work has shown how to rebuild the output projection layer or distill surface behavior, but no attack has produced a deployable clone within a tight query budget. In this thesis, we address this problem by presenting a practical pipeline for cloning LLMs under constrained settings. The approach first estimates …

Aircraft Bird Strike Risk Prediction Using Machine Learning And Analytic Hierarchy Process, Jason Anthony Powell

Doctoral Dissertations and Master's Theses

To address the limitations of Next Generation Radar-based bird strike forecasting, this study modeled 12 spatiotemporal weather features from the National Oceanic and Atmospheric Administration alongside bird strike risk using Long Short-Term Memory Recurrent Neural Network (LSTM-RNN), XGBoost regression tree, and Bayesian network algorithms. Five years of bird strike data from four geographically diverse airfields served as the target risk variable, categorized as low, moderate, or severe based on Department of the Air Force risk models. The ensemble model, which combines the LSTM-RNN and XGBoost regression algorithms, yielded the most accurate forecasts, achieving 80% to 93% accuracy across all airfields, …

Enhancing Proof-Of-Learning Security Against Spoofing Attacks Using Model Watermarking, Ozgur Ural

Doctoral Dissertations and Master's Theses

With the rapid expansion of machine learning (ML) technologies across diverse domains such as healthcare, finance, and autonomous systems, ensuring secure and trustworthy training methodologies has become more critical than ever. Proof-of-Learning (PoL) has recently emerged as a foundational mechanism for verifying the computational effort invested in training ML models, thereby certifying the authenticity and reproducibility of the training process. Yet PoL, when deployed in isolation, remains vulnerable to sophisticated spoofing attacks that manipulate its subset-verification pathways and tolerance parameters. In parallel, model watermarking has become indispensable for safeguarding intellectual property and detecting unauthorized model usage. Motivated by these complementary …

A Comparative Study Of Neural Networks And Xgboost Models For Flight Time Prediction, Ioannis Paraschos, Taryn E. Trimble, Eshna Bhargava, Jake Klingler, Benjamin R. Nicolai

Beyond: Undergraduate Research Journal

Flight time prediction plays a crucial role in modern air travel, benefiting airlines and passengers alike. Accurate predictions enable airlines to optimize schedules, allocate resources effectively, and ensure passenger safety and satisfaction. In recent years, machine learning models, such as neural networks and XGBoost, have gained popularity for predicting flight times. This study aims to compare the performance of neural network and XGBoost models in predicting flight times, considering factors such as weather conditions, air traffic control, and aircraft performance. The results indicate that both models are effective, with XGBoost achieving slightly higher accuracy. However, neural networks offer advantages in …

Teamwork And Artificial Intelligence (Ai) : Examining The Effects Of Teammate Identity, Deception, And Ai Literacy On Team Dynamics And Performance In Human-Human Vs. Human-Ai Teams, Jenna Korentsides

Doctoral Dissertations and Master's Theses

As artificial intelligence (AI) continues to be integrated into collaborative work environments, understanding how humans interact with AI teammates is increasingly important. This study examined how people’s beliefs about who they are working with (whether a teammate is human or AI) can influence teamwork outcomes. Specifically, we explored how perceived teammate identity affects task performance and team experience, with a focus on trust and communication as potential mediators, and AI literacy (familiarity and comfort with AI) as a moderator. Participants completed a series of timed, collaborative problem-solving tasks using a bomb defusal simulation. Each participant worked with both a human …

Leveraging Artificial Intelligence In Education To Drive Cross-Sector Innovation, Brent Terwilliger, John Faraca

Publications

As artificial intelligence (AI) reshapes educational practices, particularly in technical fields such as uncrewed systems, robotics, and aviation/ aerospace, its integration raises promise and complexity. This exploratory study features an investigation of the impact AI tools adoption has on instruction, curriculum support, and workforce preparation, with a focus on online learning environments. Drawing from pilot survey data across aviation and aerospace education stakeholders and hands-on evaluation of AI video production platforms, findings reveal diverse applications, perceived benefits, and critical concerns, including ethical, pedagogical, and institutional challenges. Additionally, the analysis explored how AI-enabled education intersects with broader industry and government innovation …

Satellite Reorientation Using Reinforcement Learning Under Unknown Attitude Failure, Matthew Willoughby

Doctoral Dissertations and Master's Theses

This study presents a reinforcement learning (RL) approach for reestablishing communication with deep-space satellites under unknown attitude determination and control system (ADCS) failures. When traditional fault-tolerant control methods cannot restore signal, the proposed RL controller acts as a last-resort measure by autonomously reorienting the satellite’s antenna toward Earth while charging the battery via solar panels. A generic reward function, designed for the RL-based method, enables the controller to adapt to diverse failure scenarios, including severe actuator noise, misalignment, and complete actuator failure. Simulations are conducted in the Basilisk environment and trained with the tonic framework and demonstrate ranging capabilities of …

Machine Learning Methods For Hypervelocity Fragment Flyout Characterization, Katharine Larsen

Doctoral Dissertations and Master's Theses

Resulting from breakup events, such as collisions and explosions, hypervelocity fragments create potential hazards for both terrestrial and on-orbit environments, such as terrestrial weapons explosions and satellite breakup events, respectively. To avoid unnecessary damage, an accurate understanding or characterization of hypervelocity fragmentation events is vital. Currently, publicly available two-line elements collected from on-orbit breakup events are limited, excluding pre-detonation parent body conditions, such as orientation, and information of smaller fragments. The uncertainty of these datasets varies between each collected set. Therefore, the overall goal of this work is to employ machine learning to estimate distribution characteristics of a space debris …

Ai And Prompt Engineering For Library Discovery Services, James Day

Publications

We have seen the rise of generative artificial intelligence in the form of Large Language Models (LLMs) to provide answers to users’ queries. Services such as ChatGPT, Copilot, and Gemini have quickly become accepted and adopted in the research process. Now library vendors are adding artificial intelligence (AI) to their discovery services to allow for natural language queries to produce generative results. However, the AI model used for discovery services differs from normal LLMs in a significant way that has several positive benefits, but it affects how prompts are written. Library discovery services use a model called Retrieval- Augmented Generation …

Applying Software Engineering Black-Box Methods For Testing Machine Learning Models, Timothy Elvira

Doctoral Dissertations and Master's Theses

This dissertation proposes researching an approach to incorporate and align Software black-box testing methods into Machine Learning (ML) applications, specifically in the context of computer vision models. Typically, testing methods within Software Engineering (SE) encompass a range of test types that assess levels of a software system, such as Unit, Integration, Functional, and System testing [1]. The testing spectrum offers two perspectives on the system: black-box, where the system’s code is hidden, and white-box, where the system's code is exposed for testing. Software Quality pairs testing with requirements, in a many-to-one relationship, to ensure proper validation of the software system. …

Robust Spacecraft Autonomy For Deep Space Exploration In Special Euclidean Group Se(3), Matthew Wittal

Doctoral Dissertations and Master's Theses

Over the past half-century, humanity has gained extensive experience conducting manned spaceflight near Earth. Arguably, "near Earth" could even include the Moon — the most distant destination humans have reached. However, "near" in this work primarily refers low Earth orbit (LEO). One could argue that we have not truly left Earth since the Apollo, as spacecraft in some LEOs remain subject to atmospheric drag thus emphasizing their continued connection to Earth's immediate environment. Reflecting on this, it becomes clear that humanity has largely remained bound to Earth’s immediate vicinity since the Apollo missions reached the Moon. However, that is set …

The Future Of Ai: Join The Conversation, Jennifer Wojton, Cassandra Branham, Vijay Tummala, Laxima Niure Kandel, Kayla D. Taylor

Publications

Join the Conversation! The Future is AI? There is so much conflicting information about what AI is capable of, how it could/should be used, by whom and for what purpose. In this panel discussion, we hope to provide a baseline of information that will help all participants think critically and articulate thoughtful questions about the mechanics of AI, ethical use or non-use of AI in particular contexts (school, industry, business, art, etc.), and the impacts we are currently experiencing or are likely to experience. Hear from ERAU faculty of different disciplines to discuss what the current state of AI technology …

Beyond The Blue Skies: A Comprehensive Guide For Risk Assessment In Aviation, Leila Halawi, Mark Miller, Sam Holley

Publications

Risk assessment in aviation is a critical process that safeguards the safety and reliability of operations. Aviation operations encompass inherent risks, from mechanical failures to human errors and environmental factors. The significance of these risks may be severe, leading to accidents, injuries, and loss of life. Recognizing and mitigating risks is supreme in this dynamic environment, where emerging technologies and innovation constantly reshape this industry. This chapter includes an in-depth explanation of risk management and analysis, leading to the core elements of risk assessment specifically for aviation operations. We will describe the process and explore some of the applications and …

Argue With Your Ai: Critically Engaging With Copilot, James Day

Publications

By now, you probably have some experience interacting with an AI chatbot. You might even have taken some training courses to learn about “prompt engineering” methods such as CO-STAR (Context, Objective, Style, Tone, Audience, Response)1 and RICCE (Relevance, Intent, Context, Clarity, Examples).2 In taking advantage of generative artificial intelligence, the focus is generally on writing that initial query. For this paper, let’s ignore advanced prompts asking for a complex analysis and consider the case where you’re simply looking for factual information.

Cultivating Confidence, Leila Halawi, Mark Miller, Sam Holley

Publications

Artificial intelligence (AI) is pervasive in scholarly publications, internet sites, and public discourse. AI is a term with broad scope that refers to machines that can learn and perform tasks that typically require human intelligence. The specter of AI intruding into many aspects of aviation has raised alarms, concerns, and prodigious misunderstanding of potential and contemplated applications in systems and processes. The EASA AI Roadmap (EASA, 2023 ), a linear projection with three levels EASA, 2023 extending into 2050, places the human-AI teaming period (through 2035) at Level 2. This suggests a ten-year span to develop the interactive issues to …