Artificial Intelligence and Robotics Commons^™

Deep Probabilistic Models For Camera Geo-Calibration, Menghua Zhai

Theses and Dissertations--Computer Science

The ultimate goal of image understanding is to transfer visual images into numerical or symbolic descriptions of the scene that are helpful for decision making. Knowing when, where, and in which direction a picture was taken, the task of geo-calibration makes it possible to use imagery to understand the world and how it changes in time. Current models for geo-calibration are mostly deterministic, which in many cases fails to model the inherent uncertainties when the image content is ambiguous. Furthermore, without a proper modeling of the uncertainty, subsequent processing can yield overly confident predictions. To address these limitations, we propose …

Review Of Deep Learning Methods In Robotic Grasp Detection, Shehan Caldera, Alexander Rassau, Douglas Chai

Research outputs 2014 to 2021

For robots to attain more general-purpose utility, grasping is a necessary skill to master. Such general-purpose robots may use their perception abilities to visually identify grasps for a given object. A grasp describes how a robotic end-effector can be arranged to securely grab an object and successfully lift it without slippage. Traditionally, grasp detection requires expert human knowledge to analytically form the task-specific algorithm, but this is an arduous and time-consuming approach. During the last five years, deep learning methods have enabled significant advancements in robotic vision, natural language processing, and automated driving applications. The successful results of these methods …

Towards Dynamic Interaction-Based Reputation Models, Almas Melnikov, Manuel Mazzara, Victor Rivera, Jooyoung Lee, Luca Longo

Articles

In this paper, we investigate how dynamic properties of reputation can influence the quality of users’ ranking. Reputation systems should be based on rules that can guarantee high level of trust and help identify unreliable units. To understand the effectiveness of dynamic properties in the evaluation of reputation, we propose our own model (DIB-RM) that utilizes three factors: forgetting, cumulative, and activity period. In order to evaluate the model, we use data from StackOverflow which also has its own reputation model. We estimate similarity of ratings between DIB-RM and the StackOverflow reputation model to test our hypothesis. We use two …

Resource Optimization In Wireless Sensor Networks For An Improved Field Coverage And Cooperative Target Tracking, Husam Sweidan

Dissertations, Master's Theses and Master's Reports

There are various challenges that face a wireless sensor network (WSN) that mainly originate from the limited resources a sensor node usually has. A sensor node often relies on a battery as a power supply which, due to its limited capacity, tends to shorten the life-time of the node and the network as a whole. Other challenges arise from the limited capabilities of the sensors/actuators a node is equipped with, leading to complication like a poor coverage of the event, or limited mobility in the environment. This dissertation deals with the coverage problem as well as the limited power and …

Offline And Online Density Estimation For Large High-Dimensional Data, Aref Majdara

Dissertations, Master's Theses and Master's Reports

Density estimation has wide applications in machine learning and data analysis techniques including clustering, classification, multimodality analysis, bump hunting and anomaly detection. In high-dimensional space, sparsity of data in local neighborhood makes many of parametric and nonparametric density estimation methods mostly inefficient.

This work presents development of computationally efficient algorithms for high-dimensional density estimation, based on Bayesian sequential partitioning (BSP). Copula transform is used to separate the estimation of marginal and joint densities, with the purpose of reducing the computational complexity and estimation error. Using this separation, a parallel implementation of the density estimation algorithm on a 4-core CPU is …

Intelligent And Secure Underwater Acoustic Communication Networks, Chaofeng Wang

Dissertations, Master's Theses and Master's Reports

Underwater acoustic (UWA) communication networks are promising techniques for medium- to long-range wireless information transfer in aquatic applications. The harsh and dynamic water environment poses grand challenges to the design of UWA networks. This dissertation leverages the advances in machine learning and signal processing to develop intelligent and secure UWA communication networks. Three research topics are studied: 1) reinforcement learning (RL)-based adaptive transmission in UWA channels; 2) reinforcement learning-based adaptive trajectory planning for autonomous underwater vehicles (AUVs) in under-ice environments; 3) signal alignment to secure underwater coordinated multipoint (CoMP) transmissions.

First, a RL-based algorithm is developed for adaptive transmission in …

Wildfire Emissions In The Context Of Global Change And The Implications For Mercury Pollution, Aditya Kumar

Dissertations, Master's Theses and Master's Reports

Wildfires are episodic disturbances that exert a significant influence on the Earth system. They emit substantial amounts of atmospheric pollutants, which can impact atmospheric chemistry/composition and the Earth’s climate at the global and regional scales. This work presents a collection of studies aimed at better estimating wildfire emissions of atmospheric pollutants, quantifying their impacts on remote ecosystems and determining the implications of 2000s-2050s global environmental change (land use/land cover, climate) for wildfire emissions following the Intergovernmental Panel on Climate Change (IPCC) A1B socioeconomic scenario.

A global fire emissions model is developed to compile global wildfire emission inventories for major atmospheric …

New Trends In Second Language Learning And Teaching Through The Lens Of Ict, Networked Learning, And Artificial Intelligence, Jaya Kannan, Pilar Munday

Languages Faculty Publications

In the last few decades, Information and Communications Technology (ICT) applications have been shaping the field of Computer Assisted Language Learning (CALL). Mobile Assisted Language Learning (MALL) paved the way for ubiquitous learning. The advent of new technologies in the early 21st century also added a social dimension to ICT that allowed for Networked Learning (NL). Given that language learning is fundamentally a socio-cultural experience, networked learning capabilities have provided the potential for language learning in community settings. This has revitalized the earlier frameworks provided by CALL. NL has empowered language learners today to connect globally, to access Open Educational …

Leveraging Overhead Imagery For Localization, Mapping, And Understanding, Scott Workman

Theses and Dissertations--Computer Science

Ground-level and overhead images provide complementary viewpoints of the world. This thesis proposes methods which leverage dense overhead imagery, in addition to sparsely distributed ground-level imagery, to advance traditional computer vision problems, such as ground-level image localization and fine-grained urban mapping. Our work focuses on three primary research areas: learning a joint feature representation between ground-level and overhead imagery to enable direct comparison for the task of image geolocalization, incorporating unlabeled overhead images by inferring labels from nearby ground-level images to improve image-driven mapping, and fusing ground-level imagery with overhead imagery to enhance understanding. The ultimate contribution of this thesis …

Scalable Feature Selection And Extraction With Applications In Kinase Polypharmacology, Derek Jones

Theses and Dissertations--Computer Science

In order to reduce the time associated with and the costs of drug discovery, machine learning is being used to automate much of the work in this process. However the size and complex nature of molecular data makes the application of machine learning especially challenging. Much work must go into the process of engineering features that are then used to train machine learning models, costing considerable amounts of time and requiring the knowledge of domain experts to be most effective. The purpose of this work is to demonstrate data driven approaches to perform the feature selection and extraction steps in …

Deep Neural Networks For Multi-Label Text Classification: Application To Coding Electronic Medical Records, Anthony Rios

Theses and Dissertations--Computer Science

Coding Electronic Medical Records (EMRs) with diagnosis and procedure codes is an essential task for billing, secondary data analyses, and monitoring health trends. Both speed and accuracy of coding are critical. While coding errors could lead to more patient-side financial burden and misinterpretation of a patient’s well-being, timely coding is also needed to avoid backlogs and additional costs for the healthcare facility. Therefore, it is necessary to develop automated diagnosis and procedure code recommendation methods that can be used by professional medical coders.

The main difficulty with developing automated EMR coding methods is the nature of the label space. The …

Minimally Actuated Walking: Identifying Core Challenges To Economical Legged Locomotion Reveals Novel Solutions, Ryan T. Schroeder, John Ea Bertram

Research outputs 2014 to 2021

Terrestrial organisms adept at locomotion employ strut-like legs for economical and robust movement across the substrate. Although it is relatively easy to observe and analyze details of the solutions these organic systems have arrived at, it is not as easy to identify the problems these movement strategies have solved. As such, it is useful to investigate fundamental challenges that effective legged locomotion overcomes in order to understand why the mechanisms employed by biological systems provide viable solutions to these challenges. Such insight can inform the design and development of legged robots that may eventually match or exceed animal performance. In …

Multiclass Classification Using Support Vector Machines, Duleep Prasanna W. Rathgamage Don

College of Graduate Studies: Theses & Dissertations

In this thesis, we discuss different SVM methods for multiclass classification and introduce the Divide and Conquer Support Vector Machine (DCSVM) algorithm which relies on data sparsity in high dimensional space and performs a smart partitioning of the whole training data set into disjoint subsets that are easily separable. A single prediction performed between two partitions eliminates one or more classes in a single partition, leaving only a reduced number of candidate classes for subsequent steps. The algorithm continues recursively, reducing the number of classes at each step until a final binary decision is made between the last two classes …

Data Visualization And Classification Of Artificially Created Images, Dmytro Dovhalets

All Master's Theses

Visualization of multidimensional data is a long-standing challenge in machine learning and knowledge discovery. A problem arises as soon as 4-dimensions are introduced since we live in a 3-dimensional world. There are methods out there which can visualize multidimensional data, but loss of information and clutter are still a problem. General Line Coordinates (GLC) can losslessly project n-dimensional data in 2- dimensions. A new method is introduced based on GLC called GLC-L. This new method can do interactive visualization, dimension reduction, and supervised learning. One of the applications of GLC-L is transformation of vector data into image data. This novel …

Spike-Based Classification Of Uci Datasets With Multi-Layer Resume-Like Tempotron, Sami Abdul-Wahid

All Master's Theses

Spiking neurons are a class of neuron models that represent information in timed sequences called ``spikes.'' Though predominantly used in neuro-scientific investigations, spiking neural networks (SNN) can be applied to machine learning problems such as classification and regression. SNN are computationally more powerful per neuron than traditional neural networks. Though training time is slow on general purpose computers, spike-based hardware implementations are faster and have shown capability for ultra-low power consumption. Additionally, various SNN training algorithms have achieved comparable performance with the State of the Art on the Fisher Iris dataset. Our main contribution is a software implementation of the …

Old English Character Recognition Using Neural Networks, Sattajit Sutradhar

College of Graduate Studies: Theses & Dissertations

Character recognition has been capturing the interest of researchers since the beginning of the twentieth century. While the Optical Character Recognition for printed material is very robust and widespread nowadays, the recognition of handwritten materials lags behind. In our digital era more and more historical, handwritten documents are digitized and made available to the general public. However, these digital copies of handwritten materials lack the automatic content recognition feature of their printed materials counterparts. We are proposing a practical, accurate, and computationally efficient method for Old English character recognition from manuscript images. Our method relies on a modern machine learning …

Multiclass Classification Of Risk Factors For Cervical Cancer Using Artificial Neural Networks, Abdullah Al Mamun

College of Graduate Studies: Theses & Dissertations

World Health Organization statistics show that cervical cancer is the fourth most frequent cancer in women with an estimated 530,000 new cases in 2012. Cervical cancer diagnosis typically involves liquid-based cytology (LBC) followed by a pathologist review. The accuracy of decision is therefore highly influenced by the expert’s skills and experience, resulting in relatively high false positive and/or false negative rates. Moreover, given the fact that the data being analyzed is highly dimensional, same reviewer’s decision is inherently affected by inconsistencies in interpreting the data. In this study, we use an Artificial Neural Network based model that aims to considerably …

Bibliography For Interstices 2018: Beyond Human: Emotion And Ai, Kristin Laughtin-Dunker

Library Displays and Bibliographies

An annotated list of materials in the Leatherby Libraries to accompany the Interstices 2018: Beyond Human: Emotion and AI event held at Chapman University in February 2018. The event featured Lisa Joy, co-creator and executive producer of HBO’s Emmy winning hit series Westworld, Jon Gratch, Director for Virtual Human Research at the University of Southern California’s (USC) Institute for Creative Technologies and Caroline Bainbridge, a Professor of Psychoanalysis and Culture in the Department of Media, Culture and Language at the University of Roehampton London. The Leatherby Libraries also hosted two book club discussions of The Positronic …

Pseudorehearsal In Actor-Critic Agents With Neural Network Function Approximation, Vladimir Marochko, Leonard Johard, Manuel Mazzara, Luca Longo

Articles

Catastrophic forgetting has a significant negative impact in reinforcement learning. The purpose of this study is to investigate how pseudorehearsal can change performance of an actor-critic agent with neural-network function approximation. We tested agent in a pole balancing task and compared different pseudorehearsal approaches. We have found that pseudorehearsal can assist learning and decrease forgetting.

Leveraging Artificial Intelligence To Improve Provider Documentation In Patient Medical Records, Evangeline C. Ozurigbo

Walden Dissertations and Doctoral Studies

Clinical documentation is at the center of a patient's medical record; this record contains all the information applicable to the care a patient receives in the hospital. The practice problem addressed in this project was the lack of clear, consistent, accurate, and complete patient medical records in a pediatric hospital. Although the occurrence of incomplete medical records has been a known issue for the project hospital, the issue was further intensified following the implementation of the 10th revision of International Classification of Diseases (ICD-10) standard for documentation, which resulted in gaps in provider documentation that needed to be filled. Based …

The Use Of Machine Learning To Detect Suckling In Pre-Weaned Calves, Sukumar Katamreddy

Theses

The weaning of cattle is a process which is known to be labour intensive and to have stressful effects on both cow and calf Common methods used in the weaning process include the temporary removal of a mother from the calf and manual observation and intervention. Early and speedy weaning is known to have a number of benefits, including health benefits for both cow and calf, additional weight gains for the calves as well as reduced labour and feed requirements. The process known as Two-Stage Weaning is recognised to be an effective low-stress approach to weaning in which the calf …

Emotion In The Common Model Of Cognition, Othalia Larue, Robert West, Paul Rosenbloom, Christopher L. Dancy, Alexei V. Samsonovich, Dean Petters, Ion Juvina

Faculty Journal Articles

Emotions play an important role in human cognition and therefore need to be present in the Common Model of Cognition. In this paper, the emotion working group focuses on functional aspects of emotions and describes what we believe are the points of interactions with the Common Model of Cognition. The present paper should not be viewed as a consensus of the group but rather as a first attempt to extract common and divergent aspects of different models of emotions and how they relate to the Common Model of Cognition.

Neutrosophic Operational Research - Vol. 3., Florentin Smarandache, Mohamed Abdel Basset, Victor Chang

Branch Mathematics and Statistics Faculty and Staff Publications

Foreword John R. Edwards This book is an excellent exposition of the use of Data Envelopment Analysis (DEA) to generate data analytic insights to make evidence-based decisions, to improve productivity, and to manage cost-risk and benefitopportunity in public and private sectors. The design and the content of the book make it an up-to-date and timely reference for professionals, academics, students, and employees, in particular those involved in strategic and operational decisionmaking processes to evaluate and prioritize alternatives to boost productivity growth, to optimize the efficiency of resource utilization, and to maximize the effectiveness of outputs and impacts to stakeholders. It …

Fundamentals Of Neutrosophic Logic And Sets And Their Role In Artificial Intelligence (Fundamentos De La Lógica Y Los Conjuntos Neutrosóficos Y Su Papel En La Inteligencia Artificial ), Florentin Smarandache, Maykel Leyva-Vazquez

Branch Mathematics and Statistics Faculty and Staff Publications

Neutrosophy is a new branch of philosophy which studies the origin, nature and scope of neutralities. This has formed the basis for a series of mathematical theories that generalize the classical and fuzzy theories such as the neutrosophic sets and the neutrosophic logic. In the paper, the fundamental concepts related to neutrosophy and its antecedents are presented. Additionally, fundamental concepts of artificial intelligence will be defined and how neutrosophy has come to strengthen this discipline.

Elephant 2000: A Programming Language For Remembering The Past And Building On It, Kerry J. Holmes

Williams Honors College, Honors Research Projects

Elephant 2000 is a programming language to specify programs that accept user speech as text inputs and outputs speech text. The inputs and outputs are based on Dialogue Act theory which describes several forms of speech outputs, such as requests, questions, and answers. The language also relies on Named Entity Recognition to determine what types of objects a user references. These entities include persons, locations, times and so on. Using these attributes of user speech, a program is able to perform simple rule matching and pattern recognition to respond to input. The result is a programming language with English like …

Identification Of Streptococcus Pyogenes Using Raman Spectroscopy, Ehsan Majidi

Wayne State University Dissertations

Despite the attention that Raman Spectroscopy has gained recently in the area of pathogen identification, the spectra analyses techniques are not well developed. In most scenarios, they rely on expert intervention to detect and assign the peaks of the spectra to specific molecular vibration. Although some investigators have used machine-learning techniques to classify pathogens, these studies are usually limited to a specific application, and the generalization of these techniques is not clear. Also, a wide range of algorithms have been developed for classification problems, however, there is less insight to applying such methods on Raman spectra. Furthermore, analyzing the Raman …

Artificial Neural Network (Ann) In A Small Dataset To Determine Neutrality In The Pronunciation Of English As A Foreign Language In Filipino Call Center Agents, Proceso L. Fernandez Jr, Rey Benjamin M. Baquirin

Department of Information Systems & Computer Science Faculty Publications

Artificial Neural Networks (ANNs) have continued to be efficient models in solving classification problems. In this paper, we explore the use of an ANN with a small dataset to accurately classify whether Filipino call center agents’ pronunciations are neutral or not based on their employer’s standards. Isolated utterances of the ten most commonly used words in the call center were recorded from eleven agents creating a dataset of 110 utterances. Two learning specialists were consulted to establish ground truths and Cohen’s Kappa was computed as 0.82, validating the reliability of the dataset. The first thirteen Mel-Frequency Cepstral Coefficients (MFCCs) were …

Development Of An Electronic Nose For Olfactory System Modelling Using Artificial Neural Network, Proceso L. Fernandez Jr, Mary Anne Sy Roa

Department of Information Systems & Computer Science Faculty Publications

Electronic nose (e-nose) devices have received considerable attention in the field of sensor technology because of their many potential uses such as in identification of toxic wastes, monitoring air quality, examining odors in infected wounds and in inspection of food. Notwithstanding the vast amount of literature on the usage of e-noses for specific purposes, the technology originally and ultimately aims to mimic the capability of mammals to discriminate odors from all sorts of objects. This study demonstrates the theoretical and practical feasibility of designing an e-nose towards general odor classification. A multi-sensor array hardware unit was carefully constructed for data …

Quantitative Forecasting Of Risk For Ptsd Using Ecological Factors: A Deep Learning Application, Nuriel S. Mor, Kathryn L. Dardeck

Journal of Social, Behavioral, and Health Sciences

Forecasting the risk for mental disorders from early ecological information holds benefits for the individual and society. Computational models used in psychological research, however, are barriers to making such predictions at the individual level. Preexposure identification of future soldiers at risk for posttraumatic stress disorder (PTSD) and other individuals, such as humanitarian aid workers and journalists intending to be potentially exposed to traumatic events, is important for guiding decisions about exposure. The purpose of the present study was to evaluate a machine learning approach to identify individuals at risk for PTSD using readily collected ecological risk factors, which makes scanning …

Crop Height Estimation With Unmanned Aerial Vehicles, Carrick Detweiler, David Anthony, Sebastian Elbaum

School of Computing: Faculty Publications

An unmanned aerial vehicle (UAV) can be configured for crop height estimation. In some examples, the UAV includes an aerial propulsion system, a laser scanner configured to face downwards while the UAV is in flight, and a control system. The laser scanner is configured to scan through a two-dimensional scan angle and is characterized by a maxi mum range. The control system causes the UAV to fly over an agricultural field and maintain, using the aerial propulsion system and the laser scanner, a distance between the UAV and a top of crops in the agricultural field to within a programmed …