Artificial Intelligence and Robotics Commons^™

Data Governance Maturity, Ai Integration, And Equity In Colorado K-12 Public Schools, John R. Curtin

Electronic Theses and Dissertations

Colorado's 179 K-12 public school districts operate as autonomous governance units, each responsible for securing and managing student data assets that span health, financial, residential, and academic records. The accelerating integration of artificial intelligence (AI) and machine learning (ML) tools into administrative workflows, productivity software, and instructional platforms has fundamentally altered the risk landscape for student data, yet governance frameworks at the state, district, and school levels have not kept pace. This dissertation investigates whether Colorado's decentralized educational governance structure is institutionally capable of producing equitable, secure, and sustainable data governance outcomes in the AI era.

Drawing on Institutional Theory …

Evaluation And Distillation Of Source Code Generation Tasks By Large Language Models, Danny Brahman

Electronic Theses and Dissertations

Large Language Models (LLMs) are predominantly assessed based on their common sense reasoning, language comprehension, and logical reasoning abilities. While models trained in specialized domains like mathematics or coding have demonstrated remarkable advancements in logical reasoning, there remains a significant gap in evaluating their code generation capabilities. Existing benchmark datasets fall short in pinpointing specific strengths and weaknesses, impeding targeted enhancements in models’ reasoning abilities to synthesize code.

To bridge this gap, this thesis introduces two novel contributions: CodeEval and CodeQual. CodeEval is an innovative, pedagogical benchmarking method that mirrors the evaluation processes encountered in academic programming courses. It comprises …

The Application Of Natural Language Processing Towards Auditing Of Unstructured Data: A Design Science Approach, Dennis K. Amoatey

Electronic Theses and Dissertations

Financial auditors must manually review large volumes of unstructured text that may include contracts, internal policies, footnotes, and journal entry descriptions. This time-intensive process introduces risk of human error and inconsistency. Despite advances in automation, no systematic approach exists for applying Natural Language Processing (NLP) to this problem at scale. Using a design science approach, this study develops a framework that demonstrates how NLP techniques can be incorporated across key phases in the audit process, including planning, internal controls evaluation, evidence gathering, and reporting. Initial evaluation through expert feedback had a mix of responses. While some argued difficulty with data …

Addressing The Problems Of Data Variations, Quality, And Scarcity In Training Deep Neural Networks, Jian Sun

Electronic Theses and Dissertations

The performance of deep neural networks (DNNs) is strongly influenced by the characteristics and quality of the underlying datasets. This Ph.D. dissertation addresses three pervasive data challenges-imbalance, quality degradation, and scarcity-that commonly hinder the effectiveness of DNNs in computer vision (CV) and natural language processing (NLP) applications.

Class imbalance remains one of the most frequent causes of degraded model generalization. While Focal Loss effectively mitigates inter-class imbalance by assigning higher weights to minority classes, it struggles with intra-class imbalance, particularly in video datasets where longer clips dominate feature representation. To address this, I implement and utilize …

Topic Modeling And Culturomic Analysis Of 30,000 Books Over 100 Years Using Gensim, Michael A. Freeman

Electronic Theses and Dissertations

This thesis explores the cultural influence of historical events on English-language fiction published between 1820 and 1929. Using a corpus of 30,256 digitized books from Project Gutenberg, Latent Dirichlet Allocation (LDA) topic modeling was applied to identify recurring themes across eleven decades. The study sought to determine whether historically significant events could be detected within fictional narratives. One clear instance emerged: Napoleon Bonaparte and the Napoleonic Wars appeared explicitly in the 1820s corpus. Beyond this, several thematic patterns were observed—such as maritime language in the 1840s, national identity in the 1880s, and youth-oriented dialogue in the early 20th century—that plausibly …

Archaeological Predictive Meta-Modeling In Pre-Columbian Mexico, Peter Stamm

Electronic Theses and Dissertations

Archaeological Predictive Modeling stands firmly as an important tool for Archaeologists to predict undiscovered sites from civilizations all across the globe. While powerful, this methodology is not without its own set of qualms. Striking a balance between pure a data-driven approach while also observing leading expert theories can be a complicated task. Going further, deciding on the specific domain of features to emphasize or overlook can be a challenge within itself, as one misstep can drastically change the output of model, sometimes for the worst. In addition, creating models that can expose their reasoning process can be rather difficult to …

Developing Deep Learning Methods For Cognitive Impairment Detection Based On Non-Invasive Data, Muath Alsuhaibani

Electronic Theses and Dissertations

Cognitive impairment detection is on the rise to help reduce the burden of healthcare costs on institutions and individuals. Mild Cognitive Impairment (MCI) is an early stage of cognitive decline progressing to Alzheimer’s disease (AD) or AD-related Dementia (ADRD). Detecting the early stages of AD/ADRD is crucial for early interventions among older adults to mitigate cognitive decline over time. However, the current diagnostic methods are often costly and/or invasive, such as MRI and PET scans. Thus, the search for non-invasive and cost-effective screening tools for the early detection of cognitive impairment using speech, language, visual, and motor data is growing. …

Multi-Label Classification Of Acoustic And Electronic Drum Sounds Using Machine Learning, Sean Perman

Electronic Theses and Dissertations

This paper presents a system for multi-class classification of drum sounds using audio signal processing and machine learning techniques. The project utilizes a diverse dataset of both acoustic and electronic drum samples and extracts ten distinct audio features to capture the timbral and temporal characteristics of each sound. The methodology includes signal preprocessing, feature extraction, and the application of supervised classification algorithms to distinguish between multiple drum classes. Experimental evaluations demonstrate that the selected features significantly enhance classification accuracy across a varied dataset. These findings underscore the effectiveness of combining traditional audio processing with modern machine learning, offering promising applications …

Collaborative Federated Learning For Robots In Heterogeneous Environments, Karlan Schneider

Electronic Theses and Dissertations

This research investigates the performance of Federated Averaging (FedAvg) in simulated Federated Learning (FL) scenarios with varying degrees of environmental heterogeneity among robotic agents. The study explores the impact of data heterogeneity on both the convergence of FedAvg and the fairness of learning, with regard to consistency of performance across agents. Experiments were conducted with simulated robots trained to perform a target collection task, where a subset of agents encountered an unfamiliar environment. The results demonstrate that while FedAvg exhibits resilience to the introduction of new environmental data, it struggles to ensure both convergence and fairness in heterogeneous settings. Specifically, …

Learning Behaviors In Physics-Informed Deep Learning, Alex Glover

Electronic Theses and Dissertations

Physics-informed deep learning is a methodology in artificial intelligence aimed at combating the large training data requirement and the barrier of domain awareness that deep learning architectures commonly face in applications. Stochastic modeling integrated into the predictive models provides that domain knowledge. Variations of the Intelligent Driving Model impact the learning behaviors of the joint-training architecture. This thesis examines the effect of substituting the standard linear Intelligent Driving Model with a modified nonlinear version, as applied to real human driving behavior on the I-80 interstate. The experimentation also critically evaluates the complications that impede the viability of this architecture in …

Discovery Of Photosynthetic Oxic N2-Fixation In Cyanobacteria Using Wet Lab And Machine Learning Approaches, James A. Young Iii

Electronic Theses and Dissertations

No abstract provided.

Detecting Anomalies In Dynamic Attributed Graphs: An Unsupervised Learning Approach, Austin Hamilton

Electronic Theses and Dissertations

Dynamic attributed graphs, which evolve over time and hold node-specific attributes, are essential in fields like social network analysis, where anomalous node detection is a growing area. Vehicular social networks (VSNs), a subset of these graphs, are ad hoc networks in which vehicles exchange data with one another and with infrastructure. In this dynamic context, identifying anomalous nodes is challenging but crucial for maintaining trust within the network. This work presents an unsupervised deep learning approach for anomalous node detection in VSNs. This model achieved an accuracy of 71% while detecting synthetic anomalies in a simulated network based on real-world …

Designing Customized Loss Functions For Training Deep Neural Networks, Ali Pourramezan Fard

Electronic Theses and Dissertations

This dissertation explores the critical role of loss functions in enhancing the predictive performance of deep machine learning models. Loss functions are an integral element of all the ongoing advances we witness daily in this domain. I design custom loss functions and their impacts on various machine learning tasks, particularly in computer vision.

In the first stage of my research, I aim to improve the prediction performance of deep learning models by providing them with more precise feedback associated with task requirements. This led me to create the concept of assistive loss functions. My first proposed loss function, inspired by …

Heterogeneous Multi-Robot Person-Following In Constrained Environments, Ori A. Miller

Electronic Theses and Dissertations

Maintaining visibility of a person requires effective systems. Security cameras or ground robots might be ideal, but they often fail in uncontrolled or unknown environments. A single ground robot struggles to navigate and track an agent at the same time. This work addresses the challenge by developing a multi-robot system with a slow ground robot and an agile aerial robot. Three methods are evaluated: FORWARD-PF, RL-Person Following (RL), and a baseline closed-loop method. FORWARD-PF proved the most reliable, completing all nine paths and reaching targets nearly twice as fast as RL. Despite completing seven paths, RL faltered on complex tasks. …

Bridging Design And Perception: Novel Tools And Technologies For Creating Effective Human-Robot Interactions, Benjamin Dossett

Electronic Theses and Dissertations

This thesis explores human perception of robots through the use of novel tools and technologies. First, the impact of Augmented Reality (AR) data presentation on human perception of robots is investigated. A study conducted with the AR human-robot teaming system found that robot performance significantly influenced participants’ perceptions, overshadowing the impact of matching or mismatching robot confidence feedback. Second, the DU Want to Build-A-Bot platform is presented, which enables participatory robot design and opens the door for novel research of how robot design affects human perception. The Build-A-Bot platform enables the collection of diverse robot designs, facilitating machine learning analysis …

A Bridge Between Graph Neural Networks And Transformers: Positional Encodings As Node Embeddings, Bright Kwaku Manu

Electronic Theses and Dissertations

Graph Neural Networks and Transformers are very powerful frameworks for learning machine learning tasks. While they were evolved separately in diverse fields, current research has revealed some similarities and links between them. This work focuses on bridging the gap between GNNs and Transformers by offering a uniform framework that highlights their similarities and distinctions. We perform positional encodings and identify key properties that make the positional encodings node embeddings. We found that the properties of expressiveness, efficiency and interpretability were achieved in the process. We saw that it is possible to use positional encodings as node embeddings, which can be …

Proposing A Measure Of Ethicality For Humans And Ai, Alejandro Jorge Napolitano Jawerbaum

Electronic Theses and Dissertations

Smarter people or intelligent machines are able to make more accurate inferences about their environment and other agents more efficiently than less intelligent agents. Formally: ‘Intelligence measures an agent’s ability to achieve goals in a wide range of environments.’ (Legg, 2008)

In this dissertation we extend this definition to include ethical behaviour and we will offer a mathematical formalism and a way to estimate how ethical an action is or will be, both for a human and for a computer, by calculating the expected values of random variables. Formally, we propose the following measure of ethicality, which is computable, or …

Controllable Language Generation Using Deep Learning, Rohola Zandie

Electronic Theses and Dissertations

The advent of deep neural networks has sparked a revolution in Artificial Intelligence (AI), notably with the creation of Transformer models like GPT-X and ChatGPT. These models have surpassed previous methods in various Natural Language Processing (NLP) tasks. As the NLP field evolves, there is a need to further understand and question the capabilities of these models. Text generation, a crucial part of NLP, remains an area where our comprehension is limited while being critical in research.

This dissertation focuses on the challenging problem of controlling the general behaviors of language models such as sentiment, topical focus, and logical reasoning. …

Terrain And Adversary-Aware Autonomous Robot Navigation, Aniekan Ufot Inyang

Electronic Theses and Dissertations

In autonomous robot navigation, the robot is able to understand the environment around it for intelligent navigation. From its world model of this environment, it generates a global plan for navigation from a position to a goal based on different factors. This research aims to implement autonomous robot navigation by learning terrain affordances: traversability (moving quickly) and concealment (staying hidden from an adversary) using the Preference-based Inverse Reward Learning (PbIRL) methodology. The PbIRL methodology reduces the barrier of generating initial demonstration data to learn the terrain affordances by using a human expert’s preferences to learn individual weights over the terrain …

Evaluating Chatgpt For Recommendation: How Does The Ability To Converse Impact Recommendation?, Kyle Spurlock

Electronic Theses and Dissertations

Recommendation algorithms have become an absolute necessity in the modern world to avoid information overload. However, the interaction between the human and the system is largely superficial and without any real contact. If you are given poor recommendations, you have no choice but to sift through mountains of content on your own until the model learns to accommodate your tastes more. This is bad for business as well as the consumer. Recently, large language models like ChatGPT have seen a significant rise in popularity due to their ease of use and wide range of knowledge. It has now become nearly …

Cannabidiol Tweet Miner: A Framework For Identifying Misinformation In Cbd Tweets., Jason Turner

Electronic Theses and Dissertations

As regulations surrounding cannabis continue to develop, the demand for cannabis-based products is on the rise. Despite not producing the psychoactive effects commonly associated with THC, products containing cannabidiol (CBD) have gained immense popularity in recent years as a potential treatment option for a range of conditions, particularly those associated with pain or sleep disorders. However, due to current federal policies, these products have yet to undergo comprehensive safety and efficacy testing. Fortunately, utilizing advanced natural language processing (NLP) techniques, data harvested from social networks have been employed to investigate various social trends within healthcare, such as disease tracking and …

An Investigation Into Machine Learning Techniques For Designing Dynamic Difficulty Agents In Real-Time Games, Ryan Adare Dunagan

Electronic Theses and Dissertations

Video games are an incredibly popular pastime enjoyed by people of all ages world wide. Many different kinds of games exist, but most games feature some elements of the player overcoming some challenge, usually through gameplay. These challenges are insurmountable for some people and may turn them off to video games as a pastime. Games can be made more accessible to players of little skill and/or experience through the use of Dynamic Difficulty Adjustment (DDA) systems that adjust the difficulty of the game in response to the player’s performance. This research seeks to establish the effectiveness of machine learning techniques …

Patient Movement Monitoring Based On Imu And Deep Learning, Mohsen Sharifi Renani

Electronic Theses and Dissertations

Osteoarthritis (OA) is the leading cause of disability among the aging population in the United States and is frequently treated by replacing deteriorated joints with metal and plastic components. Developing better quantitative measures of movement quality to track patients longitudinally in their own homes would enable personalized treatment plans and hasten the advancement of promising new interventions. Wearable sensors and machine learning used to quantify patient movement could revolutionize the diagnosis and treatment of movement disorders. The purpose of this dissertation was to overcome technical challenges associated with the use of wearable sensors, specifically Inertial Measurement Units (IMUs), as a …

Improving The Performance Of Automatic Target Recognition Using Data Augmentation., Rolando Holmes

Electronic Theses and Dissertations

Automatic Target Recognition (ATR) is a task that aims to recognize targets based on data obtained from visual sensors such as Infrared cameras. Machine learning, in particular Deep Learning, has been the dominate approach to solve this task. However, in order to achieve high performance, Deep Learning requires a large amount of data that may not be available, which poses an issue when developing robust models. In this thesis, we propose the use of data augmentation from an automatic detector as an alternative source to supplement the need for more training data. We use a two stage approach to develop …

Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang

Electronic Theses and Dissertations

Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …

Predicting High-Cap Tech Stock Polarity: A Combined Approach Using Support Vector Machines And Bidirectional Encoders From Transformers, Ian L. Grisham

Electronic Theses and Dissertations

The abundance, accessibility, and scale of data have engendered an era where machine learning can quickly and accurately solve complex problems, identify complicated patterns, and uncover intricate trends. One research area where many have applied these techniques is the stock market. Yet, financial domains are influenced by many factors and are notoriously difficult to predict due to their volatile and multivariate behavior. However, the literature indicates that public sentiment data may exhibit significant predictive qualities and improve a model’s ability to predict intricate trends. In this study, momentum SVM classification accuracy was compared between datasets that did and did not …

Reference Frames In Human Sensory, Motor, And Cognitive Processing, Dongcheng He

Electronic Theses and Dissertations

Reference-frames, or coordinate systems, are used to express properties and relationships of objects in the environment. While the use of reference-frames is well understood in physical sciences, how the brain uses reference-frames remains a fundamental question. The goal of this dissertation is to reach a better understanding of reference-frames in human perceptual, motor, and cognitive processing. In the first project, we study reference-frames in perception and develop a model to explain the transition from egocentric (based on the observer) to exocentric (based outside the observer) reference-frames to account for the perception of relative motion. In a second project, we focus …

Design, Determination, And Evaluation Of Gender-Based Bias Mitigation Techniques For Music Recommender Systems, Sunny Shrestha

Electronic Theses and Dissertations

The majority of smartphone users engage with a recommender system on a daily basis. Many rely on these recommendations to make their next purchase, download the next game, listen to the new music or find the next healthcare provider. Although there are plenty of evidence backed research that demonstrates presence of gender bias in Machine Learning (ML) models like recommender systems, the issue is viewed as a frivolous cause that doesn’t merit much action. However, gender bias poses to effect more than half of the population as by default ML systems are designed to cater to a cisgender man. This …

Artificial Emotional Intelligence In Socially Assistive Robots, Hojjat Abdollahi

Electronic Theses and Dissertations

Artificial Emotional Intelligence (AEI) bridges the gap between humans and machines by demonstrating empathy and affection towards each other. This is achieved by evaluating the emotional state of human users, adapting the machine’s behavior to them, and hence giving an appropriate response to those emotions. AEI is part of a larger field of studies called Affective Computing. Affective computing is the integration of artificial intelligence, psychology, robotics, biometrics, and many more fields of study. The main component in AEI and affective computing is emotion, and how we can utilize emotion to create a more natural and productive relationship between humans …

Terrain Cost Learning From Human Preferences For Robot Path Planning Using A Visual User Interface, Kaivalya Velagapudi

Electronic Theses and Dissertations

Robot navigation in terrains with limited exploration and limited knowledge has been a problem of interest in robotics due to the potential dangers that may arise during traversal. Due to the large number of path permutations within a complex and feature-rich real-world environment, and in the interest of saving time and ensuring safety, the robot should learn the optimal path without repeated exploration of the terrain. This can be accomplished by leveraging the path preferences of a human operator so that, with selective inputs, the agent can effectively learn a terrain-cost mapping in order to determine the optimal route, thereby …