Artificial Intelligence and Robotics Commons^™

Contrastive Learning For Unsupervised Auditory Texture Models, Christina Trexler

Computer Science and Computer Engineering Undergraduate Honors Theses

Sounds with a high level of stationarity, also known as sound textures, have perceptually relevant features which can be captured by stimulus-computable models. This makes texture-like sounds, such as those made by rain, wind, and fire, an appealing test case for understanding the underlying mechanisms of auditory recognition. Previous auditory texture models typically measured statistics from auditory filter bank representations, and the statistics they used were somewhat ad-hoc, hand-engineered through a process of trial and error. Here, we investigate whether a better auditory texture representation can be obtained via contrastive learning, taking advantage of the stationarity of auditory textures to …

Respiratory Compensated Robot For Liver Cancer Treatment: Design, Fabrication, And Benchtop Characterization, Mishek Jair Musa

Graduate Theses and Dissertations

Hepatocellular carcinoma (HCC) is one of the leading causes of cancer-related death in the world. Radiofrequency ablation (RFA) is an effective method for treating tumors less than 5 cm. However, manually placing the RFA needle at the site of the tumor is challenging due to the complicated respiratory induced motion of the liver. This paper presents the design, fabrication, and benchtop characterization of a patient mounted, respiratory compensated robotic needle insertion platform to perform percutaneous needle interventions. The robotic platform consists of a 4-DoF dual-stage cartesian platform used to control the pose of a 1-DoF needle insertion module. The active …

Data-Driven Statin Initiation Evaluation And Optimization For Prediabetes Population, Muhenned A. Abdulsahib

Graduate Theses and Dissertations

This dissertation develops quantitative models to support medical decision making of statininitiation considering the uncertainty in disease progression for prediabetes patients. A mathematical model is built to help medical decision-makers take action of statin initiation under uncertainty in future prediabetes progressions. The association between cholesterol drug use, such as statin, and elevating glucose level attracted considerable amounts of attention in the literature. Statin effects on glucose vary with respect to different levels of glucose. The first chapter of this dissertation introduces the problem and an overview of the tools that will be used to solve it. In the second chapter …

Computational Frameworks For Multi-Robot Cooperative 3d Printing And Planning, Laxmi Prasad Poudel

Graduate Theses and Dissertations

This dissertation proposes a novel cooperative 3D printing (C3DP) approach for multi-robot additive manufacturing (AM) and presents scheduling and planning strategies that enable multi-robot cooperation in the manufacturing environment. C3DP is the first step towards achieving the overarching goal of swarm manufacturing (SM). SM is a paradigm for distributed manufacturing that envisions networks of micro-factories, each of which employs thousands of mobile robots that can manufacture different products on demand. SM breaks down the complicated supply chain used to deliver a product from a large production facility from one part of the world to another. Instead, it establishes a network …

Scheduling Allocation And Inventory Replenishment Problems Under Uncertainty: Applications In Managing Electric Vehicle And Drone Battery Swap Stations, Amin Asadi

Graduate Theses and Dissertations

In this dissertation, motivated by electric vehicle (EV) and drone application growth, we propose novel optimization problems and solution techniques for managing the operations at EV and drone battery swap stations. In Chapter 2, we introduce a novel class of stochastic scheduling allocation and inventory replenishment problems (SAIRP), which determines the recharging, discharging, and replacement decisions at a swap station over time to maximize the expected total profit. We use Markov Decision Process (MDP) to model SAIRPs facing uncertain demands, varying costs, and battery degradation. Considering battery degradation is crucial as it relaxes the assumption that charging/discharging batteries do not …

Signal Processing And Data Analysis For Real-Time Intermodal Freight Classification Through A Multimodal Sensor System., Enrique J. Sanchez Headley

Graduate Theses and Dissertations

Identifying freight patterns in transit is a common need among commercial and municipal entities. For example, the allocation of resources among Departments of Transportation is often predicated on an understanding of freight patterns along major highways. There exist multiple sensor systems to detect and count vehicles at areas of interest. Many of these sensors are limited in their ability to detect more specific features of vehicles in traffic or are unable to perform well in adverse weather conditions. Despite this limitation, to date there is little comparative analysis among Laser Imaging and Detection and Ranging (LIDAR) sensors for freight detection …

Design And Development Of Techniques To Ensure Integrity In Fog Computing Based Databases, Abdulwahab Fahad S. Alazeb

Graduate Theses and Dissertations

The advancement of information technology in coming years will bring significant changes to the way sensitive data is processed. But the volume of generated data is rapidly growing worldwide. Technologies such as cloud computing, fog computing, and the Internet of things (IoT) will offer business service providers and consumers opportunities to obtain effective and efficient services as well as enhance their experiences and services; increased availability and higher-quality services via real-time data processing augment the potential for technology to add value to everyday experiences. This improves human life quality and easiness. As promising as these technological innovations, they are prone …

Semi-Supervised Spatial-Temporal Feature Learning On Anomaly-Based Network Intrusion Detection, Huy Mai

Computer Science and Computer Engineering Undergraduate Honors Theses

Due to a rapid increase in network traffic, it is growing more imperative to have systems that detect attacks that are both known and unknown to networks. Anomaly-based detection methods utilize deep learning techniques, including semi-supervised learning, in order to effectively detect these attacks. Semi-supervision is advantageous as it doesn't fully depend on the labelling of network traffic data points, which may be a daunting task especially considering the amount of traffic data collected. Even though deep learning models such as the convolutional neural network have been integrated into a number of proposed network intrusion detection systems in recent years, …

City Goers: An Exploration Into Creating Seemingly Intelligent A.I. Systems, Matthew Brooke

Computer Science and Computer Engineering Undergraduate Honors Theses

Artificial Intelligence systems have come a long way over the years. One particular application of A.I. is its incorporation in video games. A key goal of creating an A.I. system in a video game is to convey a level of intellect to the player. During playtests for Halo: Combat Evolved, the developers at Bungie noticed that players deemed tougher enemies as more intelligent than weaker ones, despite the fact that there were no differences in behavior in the enemies. The tougher enemies provided a greater illusion of intelligence to the players. Inspired by this, I set out to create a …

Data Forgery Detection In Automatic Generation Control: Exploration Of Automated Parameter Generation And Low-Rate Attacks, Yatish R. Dubasi

Computer Science and Computer Engineering Undergraduate Honors Theses

Automatic Generation Control (AGC) is a key control system utilized in electric power systems. AGC uses frequency and tie-line power flow measurements to determine the Area Control Error (ACE). ACE is then used by the AGC to adjust power generation and maintain an acceptable power system frequency. Attackers might inject false frequency and/or tie-line power flow measurements to mislead AGC into falsely adjusting power generation, which can harm power system operations. Various data forgery detection models are studied in this thesis. First, to make the use of predictive detection models easier for users, we propose a method for automated generation …

Using Deep Learning To Analyze Materials In Medical Images, Carson Molder

Computer Science and Computer Engineering Undergraduate Honors Theses

Modern deep learning architectures have become increasingly popular in medicine, especially for analyzing medical images. In some medical applications, deep learning image analysis models have been more accurate at predicting medical conditions than experts. Deep learning has also been effective for material analysis on photographs. We aim to leverage deep learning to perform material analysis on medical images. Because material datasets for medicine are scarce, we first introduce a texture dataset generation algorithm that automatically samples desired textures from annotated or unannotated medical images. Second, we use a novel Siamese neural network called D-CNN to predict patch similarity and build …

Brave New World Reboot: Technology’S Role In Consumer Manipulation And Implications For Privacy And Transparency, Allie Mertensotto

Marketing Undergraduate Honors Theses

Most consumers are aware that our data is being obtained and collected through the use of our devices we keep in our homes or even on our person throughout the day. But, it is understated how much data is being collected. Conversations you have with your peers – in a close proximity of a device – are being used to tailor advertising. The advertisements you receive on your devices are uniquely catered to your individual person, due to the fact it consistently uses our data to produce efficient and personal ads. On the flip side, our government is also tapping …

Low-Power And Reconfigurable Asynchronous Asic Design Implementing Recurrent Neural Networks, Spencer Nelson

Graduate Theses and Dissertations

Artificial intelligence (AI) has experienced a tremendous surge in recent years, resulting in high demand for a wide array of implementations of algorithms in the field. With the rise of Internet-of-Things devices, the need for artificial intelligence algorithms implemented in hardware with tight design restrictions has become even more prevalent. In terms of low power and area, ASIC implementations have the best case. However, these implementations suffer from high non-recurring engineering costs, long time-to-market, and a complete lack of flexibility, which significantly hurts their appeal in an environment where time-to-market is so critical. The time-to-market gap can be shortened through …

Analog Spiking Neural Network Implementing Spike Timing-Dependent Plasticity On 65 Nm Cmos, Luke Vincent

Graduate Theses and Dissertations

Machine learning is a rapidly accelerating tool and technology used for countless applications in the modern world. There are many digital algorithms to deploy a machine learning program, but the most advanced and well-known algorithm is the artificial neural network (ANN). While ANNs demonstrate impressive reinforcement learning behaviors, they require large power consumption to operate. Therefore, an analog spiking neural network (SNN) implementing spike timing-dependent plasticity is proposed, developed, and tested to demonstrate equivalent learning abilities with fractional power consumption compared to its digital adversary.

Lecture 00: Opening Remarks: 46th Spring Lecture Series, Tulin Kaman

Mathematical Sciences Spring Lecture Series

Opening remarks for the 46th Annual Mathematical Sciences Spring Lecture Series at the University of Arkansas, Fayetteville.

A Distance Based Multisample Test For High-Dimensional Compositional Data With Applications To The Human Microbiome, Qingyang Zhang, Thy Dao

Mathematical Sciences Faculty Publications and Presentations

Background

Compositional data refer to the data that lie on a simplex, which are common in many scientific domains such as genomics, geology and economics. As the components in a composition must sum to one, traditional tests based on unconstrained data become inappropriate, and new statistical methods are needed to analyze this special type of data.

Results

In this paper, we consider a general problem of testing for the compositional difference between K populations. Motivated by microbiome and metagenomics studies, where the data are often over-dispersed and high-dimensional, we formulate a well-posed hypothesis from a Bayesian point of view and …

Action Real-Time Strategy Gaming Experience Related To Enhanced Capacity Of Visual Working Memory, Yutong Yao, Ruifang Cui, Yi Li, Lu Zeng, Jinliang Jiang, Nan Qiu, Li Dong, Diakun Gong, Guojian Yan, Weiyi Ma, Tiejun Liu

General Human Environmental Sciences Faculty Publications and Presentations

Action real-time strategy gaming (ARSG)—a major genre of action video gaming (AVG)—has both action and strategy elements. ARSG requires attention, visual working memory (VWM), sensorimotor skills, team cooperation, and strategy-making abilities, thus offering promising insights into the learning-induced plasticity. However, it is yet unknown whether the ARSG experience is related to the development of VWM capacity. Using both behavioral and event-related potential (ERP) measurements, this study tested whether ARSG experts had larger VWM capacity than non-experts in a change detection task. The behavioral results showed that ARSG experts had higher accuracy and larger VWM capacity than non-experts. In addition, the …

Nonlinear Dimensionality Reduction For The Thermodynamics Of Small Clusters Of Particles, Aditya Dendukuri

Graduate Theses and Dissertations

This work employs tools and methods from computer science to study clusters comprising a small number N of interacting particles, which are of interest in science, engineering, and nanotechnology. Specifically, the thermodynamics of such clusters is studied using techniques from spectral graph theory (SGT) and machine learning (ML). SGT is used to define the structure of the clusters and ML is used on ensembles of cluster configurations to detect state variables that can be used to model the thermodynamic properties of the system. While the most fundamental description of a cluster is in 3N dimensions, i.e., the Cartesian coordinates of …

Applying Imitation And Reinforcement Learning To Sparse Reward Environments, Haven Brown

Computer Science and Computer Engineering Undergraduate Honors Theses

The focus of this project was to shorten the time it takes to train reinforcement learning agents to perform better than humans in a sparse reward environment. Finding a general purpose solution to this problem is essential to creating agents in the future capable of managing large systems or performing a series of tasks before receiving feedback. The goal of this project was to create a transition function between an imitation learning algorithm (also referred to as a behavioral cloning algorithm) and a reinforcement learning algorithm. The goal of this approach was to allow an agent to first learn to …

A Capacitive Sensing Gym Mat For Exercise Classification & Tracking, Adam Goertz

Computer Science and Computer Engineering Undergraduate Honors Theses

Effective monitoring of adherence to at-home exercise programs as prescribed by physiotherapy protocols is essential to promoting effective rehabilitation and therapeutic interventions. Currently physical therapists and other health professionals have no reliable means of tracking patients' progress in or adherence to a prescribed regimen. This project aims to develop a low-cost, privacy-conserving means of monitoring at-home exercise activity using a gym mat equipped with an array of capacitive sensors. The ability of the mat to classify different types of exercises was evaluated using several machine learning models trained on an existing dataset of physiotherapy exercises.

Identifying Privacy Policy In Service Terms Using Natural Language Processing, Ange-Thierry Ishimwe

Computer Science and Computer Engineering Undergraduate Honors Theses

Ever since technology (tech) companies realized that people's usage data from their activities on mobile applications to the internet could be sold to advertisers for a profit, it began the Big Data era where tech companies collect as much data as possible from users. One of the benefits of this new era is the creation of new types of jobs such as data scientists, Big Data engineers, etc. However, this new era has also raised one of the hottest topics, which is data privacy. A myriad number of complaints have been raised on data privacy, such as how much access …

Speech Processing In Computer Vision Applications, Nicholas Waterworth

Computer Science and Computer Engineering Undergraduate Honors Theses

Deep learning has been recently proven to be a viable asset in determining features in the field of Speech Analysis. Deep learning methods like Convolutional Neural Networks facilitate the expansion of specific feature information in waveforms, allowing networks to create more feature dense representations of data. Our work attempts to address the problem of re-creating a face given a speaker's voice and speaker identification using deep learning methods. In this work, we first review the fundamental background in speech processing and its related applications. Then we introduce novel deep learning-based methods to speech feature analysis. Finally, we will present our …

Achieving Causal Fairness In Machine Learning, Yongkai Wu

Graduate Theses and Dissertations

Fairness is a social norm and a legal requirement in today's society. Many laws and regulations (e.g., the Equal Credit Opportunity Act of 1974) have been established to prohibit discrimination and enforce fairness on several grounds, such as gender, age, sexual orientation, race, and religion, referred to as sensitive attributes. Nowadays machine learning algorithms are extensively applied to make important decisions in many real-world applications, e.g., employment, admission, and loans. Traditional machine learning algorithms aim to maximize predictive performance, e.g., accuracy. Consequently, certain groups may get unfairly treated when those algorithms are applied for decision-making. Therefore, it is an imperative …

Incorporating Word Order Explicitly In Glove Word Embedding, Brandon Cox

Computer Science and Computer Engineering Undergraduate Honors Theses

Word embedding is the process of representing words from a corpus of text as real number vectors. These vectors are often derived from frequency statistics from the source corpus. In the GloVe model as proposed by Pennington et al., these vectors are generated using a word-word cooccurrence matrix. However, the GloVe model fails to explicitly take into account the order in which words appear within the contexts of other words. In this paper, multiple methods of incorporating word order in GloVe word embeddings are proposed. The most successful method involves directly concatenating several word vector matrices for each position in …

Fault Adaptive Workload Allocation For Complex Manufacturing Systems, Charlie B. Destefano

Graduate Theses and Dissertations

This research proposes novel fault adaptive workload allocation (FAWA) strategies for the health management of complex manufacturing systems. The primary goal of these strategies is to minimize maintenance costs and maximize production by strategically controlling when and where failures occur through condition-based workload allocation.

For complex systems that are capable of performing tasks a variety of different ways, such as an industrial robot arm that can move between locations using different joint angle configurations and path trajectories, each option, i.e. mission plan, will result in different degradation rates and life-expectancies. Consequently, this can make it difficult to predict when a …

Motor Control Systems Analysis, Design, And Optimization Strategies For A Lightweight Excavation Robot, Austin Jerold Crawford

Graduate Theses and Dissertations

This thesis entails motor control system analysis, design, and optimization for the University of Arkansas NASA Robotic Mining Competition robot. The open-loop system is to be modeled and simulated in order to achieve a desired rapid, yet smooth response to a change in input. The initial goal of this work is to find a repeatable, generalized step-by-step process that can be used to tune the gains of a PID controller for multiple different operating points. Then, sensors are to be modeled onto the robot within a feedback loop to develop an error signal and to make the control system self-corrective …

Design Of Artificial Swarms Using Network Motifs: A Simulation Study, Khoinguyen Trinh

Mechanical Engineering Undergraduate Honors Theses

The objective of this research is to develop a new approach in engineering complex swarm systems with desired characteristics based on the theory of network motifs – subgraphs that repeat themselves (patterns) among various networks. System engineering has traditionally followed a top-down methodology which creates a framework for the system and adds additional features to meet specific design requirements. Meanwhile, complex swarm systems, such as ant colonies and bird flocks, are formed via a bottom-up manner where the system-level structure directly emerges from the interactions and behaviors among individuals. The behaviors of these individuals cannot be directly controlled, which makes …

Bots, Bias And Big Data: Artificial Intelligence, Algorithmic Bias And Disparate Impact Liability In Hiring Practices, Mckenzie Raub

Arkansas Law Review

This discussion is divided into three basic parts. Part one will provide a brief overview of artificial intelligence technology, its societal implications, and use emerging uses in hiring. Part two will discuss the potential for Title VII disparate impact arising from the use of artificial intelligence in hiring. Finally, part three will discuss proposed solutions to the challenges associated with the use of artificial intelligence technology, ultimately advocating for an approach that involves careful selection of the artificial intelligence program and balancing the use of artificial intelligence technology with human intuition.

Learning-Based Analysis On The Exploitability Of Security Vulnerabilities, Adam Bliss

Computer Science and Computer Engineering Undergraduate Honors Theses

The purpose of this thesis is to develop a tool that uses machine learning techniques to make predictions about whether or not a given vulnerability will be exploited. Such a tool could help organizations such as electric utilities to prioritize their security patching operations. Three different models, based on a deep neural network, a random forest, and a support vector machine respectively, are designed and implemented. Training data for these models is compiled from a variety of sources, including the National Vulnerability Database published by NIST and the Exploit Database published by Offensive Security. Extensive experiments are conducted, including testing …

Collaborative Robotic Path Planning For Industrial Spraying Operations On Complex Geometries, Steven Brown

Graduate Theses and Dissertations

Implementation of automated robotic solutions for complex tasks currently faces a few major hurdles. For instance, lack of effective sensing and task variability – especially in high-mix/low-volume processes – creates too much uncertainty to reliably hard-code a robotic work cell. Current collaborative frameworks generally focus on integrating the sensing required for a physically collaborative implementation. While this paradigm has proven effective for mitigating uncertainty by mixing human cognitive function and fine motor skills with robotic strength and repeatability, there are many instances where physical interaction is impractical but human reasoning and task knowledge is still needed. The proposed framework consists …