Artificial Intelligence and Robotics Commons^™

A Novel Intelligent Thermal Feedback Framework For Electric Motor Protection In Embedded Robotic Systems, Mohamed Shili, Salah Hammedi, Hicham Chaoui, Khaled Nouri

Electrical & Computer Engineering Faculty Publications

As robotic systems advance in autonomy and sophistication while being used in uncertain environments, the challenge of building reliable and robust electric motors that are embedded into robotic systems has never been a more important engineering problem. Thermal distress caused by extended operation or excessive loading can negatively affect a motor’s performance and efficiency and lead to catastrophic hardware failure. This paper proposes a novel intelligent control framework that includes real-time thermal feedback for hybrid electric motors that are embedded into robotic systems. The framework relies on adaptive control techniques and lightweight machine learning techniques to estimate internal motor temperatures …

The Effect Of Facial Phenotypes On Differential Performance Of Facial Recognition, Evan R. Garrett

Graduate Theses, Dissertations, and Problem Reports (ETD)

Facial recognition technology is utilized in many facets of life. As the use has become more widespread these systems have improved in reliability and performance approaching the level of human accuracy. With these improvements the problem of bias still remains as a persistent problem. Efforts have been made to minimize the bias prevalent in the systems via studies into various demographic factors, creating training datasets that have a more uniform distribution of subjects, and other methods. As facial recognition is one of the most utilized forms of biometric recognition it is vital to analyze potential causes of bias to help …

Fuel Consumption Prediction Using Bayesian Neural Networks, Syarifah Diana Permai, Jurike V. Moniaga, Zener Sukra Lie, Ferry Jie

Research outputs 2022 to 2026

Transportation is one of the necessities of life. Because humans need transportation to move from one location to another. Transportation requires fuel. On the other hand, fuel consumption is important and must be controlled. This is because fuel can come from both renewable and non-renewable energy sources, depending on the type and process of its formation. Several factors influence the fuel efficiency of a car, including the type of engine, vehicle weight, aerodynamics, driving habits, and other vehicle conditions. This research aims to predict car fuel consumption and identify the factors that affect fuel consumption. Several Machine Learning and Statistical …

Embodied Ai For Challenging Rearrangement Tasks In The Context Of Service And Assistive Robots, Mariia Khan

Theses: Doctorates and Masters

Embodied AI explores intelligent agents that learn through interaction with their environment, aiming to replicate human-like learning processes. Achieving this requires agents capable of understanding a scene via various sensors, reasoning about their actions, and reacting accordingly. These abilities are necessary for service domestic robots to assist humans in their day-to-day activities. Embodied AI tasks can include but are not limited to: visual exploration, visual navigation, instruction following and embodied question answering, which typically consider static (unchanging) environments, where objects do not move over time. This thesis addresses one of the most challenging Embodied AI tasks – visual room rearrangement, …

The Future Of Ai Regulation In Drug Development: A Comparative Analysis, Gabriela Lenarczyk, Timo Minssen, Nicholson Price, Arti Rai

Faculty Scholarship

As artificial intelligence (AI) transforms drug development, regulatory frameworks are evolving to oversee its implementation, particularly at the US Food and Drug Administration (FDA) and the European Medicines Agency (EMA). This paper makes three contributions to understanding emerging regulatory approaches. First, we offer a comparative analysis of how these agencies have responded to AI-driven advances, incorporating new US executive orders and the European Union (EU)’s AI Act. Second, we propose a novel analytical framework to understand regulatory divergence: the FDA’s flexible, dialog-driven model contrasts with the EMA’s structured, risk-tiered approach, reflecting broader institutional and political-economic differences. While the former encourages …

Information Retrieval In The Age Of Generative Ai: A Mismatch That Matters, Alex Zhang

Faculty Scholarship

This short piece explores a widespread and yet underexamined or even overlooked misconception, that is, large language models (LLMs) function like traditional legal research databases. They do not. As a matter of fact, information retrieval from databases functions very differently from LLMs in terms of inputs, retrieval processes, and outputs. These differences have significant implications for transparency, traceability, and overall effectiveness in AI-driven legal research. Without intentional oversight and adaption, these changes could profoundly affect how we develop research skills and a cumulative knowledge base, both of which are essential skills for lifelong learning in the legal field.

This article …

Towards Human Explainable Digital Forensics: Generating Human Interpretable Evidence For Semantic Understanding In Manipulated Images And Text, Yuwei Chen

Electronic Theses & Dissertations (2024 - present)

Detecting and characterizing manipulations in digital media continues to pose a significant challenge within the field of digital forensics. Despite notable advancements, the discipline often remains in a reactive stance against emerging threats. Current state-of-the-art methods, typically evaluated within academic settings, fails to mirror the complexities of real-world disinformation scenarios. These methods generally prioritize high performance based on quantitative metrics, yet they demonstrate a considerable dependency on training data and lack adaptability to new novel attack signatures. With the rapid evolution of attack methodologies, the dependency on highly accurate models that do not generalize or adapt well to unseen threats …

Improving Generalizability In Image Manipulation Detection, Zhenfei Zhang

Electronic Theses & Dissertations (2024 - present)

Image manipulation detection (IMD) aims to determine whether an image has been tampered with and to identify the manipulated regions. These capabilities have become increasingly important with the rapid advancement of media editing and generation technologies, such as Photoshop and generative AI methods, which underscore the need for robust tools for media authentication. Although current state-of-the-art (SoTA) methods achieve strong results on common manipulation types, such as splicing, copy-move, and removal, they often struggle to generalize to manipulation types not represented in the training data. Consequently, their real-world applicability remains limited, with performance degrading significantly in practical scenarios.

In this …

Artificial Intelligence And Procedural Due Process, Brandon L. Garrett

Faculty Scholarship

Artificial intelligence (AI) violates procedural due process rights if the government uses it to deprive people of life, liberty, and property without adequate notice or an opportunity to be heard. A wide range of government agencies deploy AI systems, including in courts, law enforcement, public benefits administration, and national security. If the government refuses to disclose the reasons why it denied a person bail, public benefits, or immigration status, serious due process concerns arise. If the government delegates such tasks to an AI system, the due process analysis does not change. One asks whether a person received adequate notice and …

Feel Bad To Discard A Fashion Product: How Ai Designers Influence Individuals' Sustainable Consumption, Ha Kyung Lee, Dooyoung Choi

Educational Leadership & Workforce Development Faculty Publications

This study explores how AI technology in fashion design influences consumers' sustainable consumption behaviors, focusing on emotional attachment to products. By comparing AI-generated and human-designed fashion items, the study examines how designer type impacts negative emotions about discarding products, mediated by emotional attachment. Results from two experimental studies reveal that designer type significantly affects negative emotions toward discarding human-designed items, but emotional attachment was not influenced by designer type in the first study. This lack of difference may be due to personal characteristics that moderate the effect. The second study found that individuals who perceive AI as human-like form stronger …

Towards Dynamic Learner State: Orchestrating Ai Agents And Workplace Performance Via The Model Context Protocol, Mohan Yang, Nolan Lovett, Belle Li, Zhen Hou

Educational Leadership & Workforce Development Faculty Publications

Current learning and development approaches often struggle to capture dynamic individual capabilities, particularly the skills they acquire informally every day on the job. This dynamic creates a significant gap between what traditional models think people know and their actual performance, leading to an incomplete and often outdated understanding of how ready the workforce truly is, which can hinder organizational adaptability in rapidly evolving environments. This paper proposes a novel dynamic learner-state ecosystem—an AI-driven solution designed to bridge this gap. Our approach leverages specialized AI agents, orchestrated via the Model Context Protocol (MCP), to continuously track and evolve an individual’s multi-dimensional …

Exploring The Impact Of Value Co-Creation Through Ai-Driven Chatbbots On Customer Repeat Purchases, Dooyoung Choi, Jaeha Lee

Educational Leadership & Workforce Development Faculty Publications

Drawing on the Stimulus-Organism-Response (S-O-R) framework, this study explores how perceived value co-creation during chatbot interactions influences customer repeat purchase intentions through cognitive, emotional, and social responses to chatbots. A survey of 220 participants revealed that perceived value co-creation significantly affected repeat purchase intentions, with cognitive evaluations, emotional reactions, and social value serving as key mediators. However, the direct effect of value co-creation on purchase intentions was not significant. The findings suggest that while value co-creation enhances consumer engagement, repeat purchases occur only when consumers experience positive cognitive, emotional, and social outcomes. Therefore, it is crucial for retailers to incorporate …

Analysing Nontraditional Students' Chatgpt Interaction, Engagement, Self-Efficacy And Performance: A Mixed-Methods Approach, Mohan Yang, Shiyan Jiang, Belle Li, Kristin Herman, Tian Luo, Shanan Chappell Moots, Nolan Lovett

STEMPS Faculty Publications

Generative artificial intelligence brings opportunities and unique challenges to nontraditional higher education students, stemming, in part, from the experience of the digital divide. Providing access and practice is critical to bridge this divide and equip students with needed digital competencies. This mixed-methods study investigated how nontraditional higher education students interact with ChatGPT in multiple courses and examined relationships between ChatGPT interactions, engagement, self-efficacy and performance. Data were collected from 73 undergraduate and graduate students through chat logs, course reflections and artefacts, surveys and interviews. ChatGPT interactions were analysed using four metrics: prompt number, depth of knowledge (DoK), prompt relevance and …

Recdreamer: Consistent Text-To-3d Generation Via Uniform Score Distillation, Chenxi Zheng, Yihong Lin, Bangzhen Liu, Xuemiao Xu, Yongwei Nie, Shengfeng He

Research Collection School Of Computing and Information Systems

Current text-to-3D generation methods based on score distillation often suffer from geometric inconsistencies, leading to repeated patterns across different poses of 3D assets. This issue, known as the Multi-Face Janus problem, arises because existing methods struggle to maintain consistency across varying poses and are biased toward a canonical pose. While recent work has improved pose control and approximation, these efforts are still limited by this inherent bias, which skews the guidance during generation. To address this, we propose a solution called RecDreamer, which reshapes the underlying data distribution to achieve more consistent pose representation. The core idea behind our method …

The Effectiveness Of Local Updates For Decentralized Learning Under Data Heterogeneity, Tongle Wu, Zhize Li, Ying Sun

Research Collection School Of Computing and Information Systems

We revisit two fundamental decentralized optimization methods, Decentralized Gradient Tracking (DGT) and Decentralized Gradient Descent (DGD), with multiple local updates. We consider two settings and demonstrate that incorporating local update steps can reduce communication complexity. Specifically, for  $\mu$-strongly convex and $L$-smooth loss functions, we proved that local DGT  achieves communication complexity {}{$\tilde{\mathcal{O}} \Big(\frac{L}{\mu(K+1)} + \frac{\delta + {}{\mu}}{\mu (1 - \rho)} + \frac{\rho }{(1 - \rho)^2} \cdot \frac{L+ \delta}{\mu}\Big)$}, where $K$ is the number of additional local update}, $\rho$ measures the network connectivity and $\delta$ measures the second-order heterogeneity of the local losses. Our results reveal the tradeoff between communication and …

Defending Federated Recommender Systems Against Untargeted Attacks: A Contribution-Aware Robust Aggregation Scheme, Ruicheng Liang, Yuanchun Jiang, Feida Zhu, Ling Cheng, Huiwen Liu

Research Collection School Of Computing and Information Systems

Federated recommender systems (FedRSs) effectively tackle the tradeoff between recommendation accuracy and privacy preservation. However, recent studies have revealed severe vulnerabilities in FedRSs, particularly against untargeted attacks seeking to undermine their overall performance. Defense methods employed in traditional recommender systems are not applicable to FedRSs, and existing robust aggregation schemes for other federated learning-based applications have proven ineffective in FedRSs. Building on the observation that malicious clients contribute negatively to the training process, we design a novel contribution-aware robust aggregation scheme to defend FedRSs against untargeted attacks, named contribution-aware Bayesian knowledge distillation aggregation (ConDA), comprising two key components for the …

Fedart: A Neural Model Integrating Federated Learning And Adaptive Resonance Theory, Shubham Pateria, Budhitama Subagdja, Ah-Hwee Tan

Research Collection School Of Computing and Information Systems

Federated Learning (FL) has emerged as a promising paradigm for collaborative model training across distributed clients while preserving data privacy. However, prevailing FL approaches aggregate the clients’ local models into a global model through multi-round iterative parameter averaging. This leads to the undesirable bias of the aggregated model towards certain clients in the presence of heterogeneous data distributions among the clients. Moreover, such approaches are restricted to supervised classification tasks and do not support unsupervised clustering. To address these limitations, we propose a novel one-shot FL approach called Federated Adaptive Resonance Theory (FedART) which leverages self-organizing Adaptive Resonance Theory (ART) …

Financial Named Entity Recognition: How Far Can Llm Go?, Yi-Te Lu, Yintong Huo

Research Collection School Of Computing and Information Systems

The surge of large language models (LLMs) has revolutionized the extraction and analysis of crucial information from a growing volume of financial statements, announcements, and business news. Recognition for named entities to construct structured data poses a significant challenge in analyzing financial documents and is a foundational task for intelligent financial analytics. However, how effective are these generic LLMs and their performance under various prompts are yet need a better understanding. To fill in the blank, we present a systematic evaluation of state-of-the-art LLMs and prompting methods in the financial Named Entity Recognition (NER) problem. Specifically, our experimental results highlight …

Pfedrag: A Personalized Federated Retrieval-Augmented Generation System With Depth-Adaptive Tiered Embedding Tuning, Hangyu He, Xin Yuan, Kai Wu, Ren Ping Liu, Wei Ni

Research outputs 2022 to 2026

Large Language Models (LLMs) can undergo hallucinations in specialized domains, and standard Retrieval-Augmented Generation (RAG) often falters due to general-purpose embeddings ill-suited for domain-specific terminology. Though domain-specific fine-tuning enhances retrieval, centralizing data introduces privacy risks. The use of federated learning (FL) can alleviate this to some extent, but faces challenges of data heterogeneity, poor personalization, and expensive training data generation. We propose pFedRAG, a novel Personalized Federated RAG framework, which enables efficient collaborative fine-tuning of embedding models to address these challenges. The key contribution is a new Depth-Adaptive Tiered Embedding (DATE) architecture, which comprises a Global Shared Layer, combined using …

Toward Embodied Navigation Through Vision And Language, Muraleekrishna Gopinathan

Theses: Doctorates and Masters

Embodied AI is a challenging but exciting field in which a robot learns to interact with human-living spaces to perform various tasks. This thesis studies the embodied navigation problem in which a robotic agent navigates in a previously unseen indoor environment based on a challenging task. In particular, the Vision-and-Language Navigation (VLN) task requires a robot to navigate based on a descriptive human-language instruction. This thesis aims to improve VLN agents on four key aspects - their understanding of the environment, training via additional data, correcting navigational errors, and predicting the layout of the environment for better planning.

First, we …

Towards Robust Multimodal Land Use Classification: A Convolutional Embedded Transformer, Muhammad Zia Ur Rehman, Syed Mohammed Shamsul Islam, Anwaar Ulhaq, David Blake, Naeem Janjua

Research outputs 2022 to 2026

Multisource remote sensing data has gained significant attention in land use classification. However, effectively extracting both local and global features from various modalities and fusing them to leverage their complementary information remains a substantial challenge. In this paper, we address this by exploring the use of transformers for simultaneous local and global feature extraction while enabling cross-modality learning to improve the integration of complementary information from HSI and LiDAR data modalities. We propose a spatial feature enhancer module (SFEM) that efficiently captures features across spectral bands while preserving spatial integrity for downstream learning tasks. Building on this, we introduce a …

On-Device Recommender Systems: A Comprehensive Survey, Hongzhi Yin, Liang Qu, Tong Chen, Wei Yuan, Ruiqi Zheng, Jing Long, Xin Xia, Yuhui Shi, Chengqi Zhang

Research outputs 2022 to 2026

Recommender systems have been widely deployed in various real-world applications to help users identify content of interest from massive amounts of information. Traditional recommender systems work by collecting user-item interaction data in a cloud-based data center and training a centralized model to perform the recommendation service. However, such cloud-based recommender systems (CloudRSs) inevitably suffer from excessive resource consumption, response latency, as well as privacy and security risks concerning both data and models. Recently, driven by the advances in storage, communication, and computation capabilities of edge devices, there has been a shift of focus from CloudRSs to on-device recommender systems (DeviceRSs), …