Artificial Intelligence and Robotics Commons^™

Development Of A Locomotion And Balancing Strategy For Humanoid Robots, Emile Bahdi

Electronic Theses and Dissertations

The locomotion ability and high mobility are the most distinguished features of humanoid robots. Due to the non-linear dynamics of walking, developing and controlling the locomotion of humanoid robots is a challenging task. In this thesis, we study and develop a walking engine for the humanoid robot, NAO, which is the official robotic platform used in the RoboCup Spl. Aldebaran Robotics, the manufacturing company of NAO provides a walking module that has disadvantages, such as being a black box that does not provide control of the gait as well as the robot walk with a bent knee. The latter disadvantage, …

Sports Analytics With Computer Vision, Colby T. Jeffries

Senior Independent Study Theses

Computer vision in sports analytics is a relatively new development. With multi-million dollar systems like STATS’s SportVu, professional basketball teams are able to collect extremely fine-detailed data better than ever before. This concept can be scaled down to provide similar statistics collection to college and high school basketball teams. Here we investigate the creation of such a system using open-source technologies and less expensive hardware. In addition, using a similar technology, we examine basketball free throws to see whether a shooter’s form has a specific relationship to a shot’s outcome. A system that learns this relationship could be used to …

Novel Support Vector Machines For Diverse Learning Paradigms, Gabriella A. Melki

Theses and Dissertations

This dissertation introduces novel support vector machines (SVM) for the following traditional and non-traditional learning paradigms: Online classification, Multi-Target Regression, Multiple-Instance classification, and Data Stream classification.

Three multi-target support vector regression (SVR) models are first presented. The first involves building independent, single-target SVR models for each target. The second builds an ensemble of randomly chained models using the first single-target method as a base model. The third calculates the targets' correlations and forms a maximum correlation chain, which is used to build a single chained SVR model, improving the model's prediction performance, while reducing computational complexity.

Under the multi-instance paradigm, …

Big Networks: Analysis And Optimal Control, Hung The Nguyen

Theses and Dissertations

The study of networks has seen a tremendous breed of researches due to the explosive spectrum of practical problems that involve networks as the access point. Those problems widely range from detecting functionally correlated proteins in biology to finding people to give discounts and gain maximum popularity of a product in economics. Thus, understanding and further being able to manipulate/control the development and evolution of the networks become critical tasks for network scientists. Despite the vast research effort putting towards these studies, the present state-of-the-arts largely either lack of high quality solutions or require excessive amount of time in real-world …

Pricing For A Last-Mile Transportation System, Yiwei Chen, Hai Wang

Research Collection School Of Computing and Information Systems

The Last-Mile Problem refers to the provision of travel service from the nearest public transportation node to a home or other destination. Last-Mile Transportation System (LMTS), which has recently emerged, provide on-demand shared transportation. We consider an LMTS with multiple passenger types—adults, senior citizens, children, and students. The LMTS designer determines the price for the passengers, last-mile service vehicle capacity, and service fleet size (number of vehicles) for each last-mile region to maximize the social welfare generated by the LMTS. The level of last-mile service (in terms of passenger waiting time) is approximated by using a batch arrival, batch service, …

Discriminant Analysis On Riemannian Manifold Of Gaussian Distributions For Face Recognition With Image Sets, W. Wang, R. Wang, Zhiwu Huang, S. Shan, X. Chen

Research Collection School Of Computing and Information Systems

To address the problem of face recognition with image sets, we aim to capture the underlying data distribution in each set and thus facilitate more robust classification. To this end, we represent image set as the Gaussian mixture model (GMM) comprising a number of Gaussian components with prior probabilities and seek to discriminate Gaussian components from different classes. Since in the light of information geometry, the Gaussians lie on a specific Riemannian manifold, this paper presents a method named discriminant analysis on Riemannian manifold of Gaussian distributions (DARG). We investigate several distance metrics between Gaussians and accordingly two discriminative learning …

Dictionary Learning With Structured Noise, Pan Zhou, Cong Fang, Zhouchen Lin, Chao Zhang, Y. Edward Chang

Research Collection School Of Computing and Information Systems

Recently, lots of dictionary learning methods have been proposed and successfully applied. However, many of them assume that the noise in data is drawn from Gaussian or Laplacian distribution and therefore they typically adopt the 2 or 1 norm to characterize these two kinds of noise, respectively. Since this assumption is inconsistent with the real cases, the performance of these methods is limited. In this paper, we propose a novel dictionary learning with structured noise (DLSN) method for handling noisy data. We decompose the original data into three parts: clean data, structured noise, and Gaussian noise, and then characterize them …