Artificial Intelligence and Robotics Commons^™

Identification Of Subtypes Of Post-Stroke And Neurotypical Gait Behaviors Using Neural Network Analysis Of Gait Cycle Kinematics, Andrian Kuch, Nicolas Schweighofer, James M. Finley, Alison Mckenzie, Yuxin Wen, Natalia Sánchez

Physical Therapy Faculty Articles and Research

Gait impairment post-stroke is highly heterogeneous. Prior studies classified heterogeneous gait patterns into subgroups using peak kinematics, kinetics, or spatiotemporal variables. A limitation of this approach is the need to select discrete features in the gait cycle. Using continuous gait cycle data, we accounted for differences in magnitude and timing of kinematics. Here, we propose a machine-learning pipeline combining supervised and unsupervised learning. We first trained a Convolutional Neural Network and a Temporal Convolutional Network to extract features that distinguish impaired from neurotypical gait. Then, we used unsupervised time-series k-means and Gaussian Mixture Models to identify gait clusters. We tested …

Automation Of Javanese Shadow Puppets Using Machine Control, Kristian Rice, Yinson Tso, Mukhammadali Yuldoshev

Publications and Research

The virtualization of Javanese shadow puppetry (Wayang Kulit) offers a unique opportunity to preserve and revitalize traditional performance art through immersive digital platforms. This project explores the development of a virtual Wayang Kulit experience using real-time 3D engines like Unity/Unreal Engine while focusing on simulating the mechanics and aesthetics of shadow puppet performance. The puppets are designed using detailed 2D planes and rigged with skeletal systems to reflect the stylized motion of traditional puppetry. An aspect of this project is integrating an AI-driven control system that autonomously animates the puppets, learning from recorded puppeteer performances to replicate gesture, rhythm, and …

Satellite Reorientation Using Reinforcement Learning Under Unknown Attitude Failure, Matthew Willoughby

Doctoral Dissertations and Master's Theses

This study presents a reinforcement learning (RL) approach for reestablishing communication with deep-space satellites under unknown attitude determination and control system (ADCS) failures. When traditional fault-tolerant control methods cannot restore signal, the proposed RL controller acts as a last-resort measure by autonomously reorienting the satellite’s antenna toward Earth while charging the battery via solar panels. A generic reward function, designed for the RL-based method, enables the controller to adapt to diverse failure scenarios, including severe actuator noise, misalignment, and complete actuator failure. Simulations are conducted in the Basilisk environment and trained with the tonic framework and demonstrate ranging capabilities of …

Soft Modular Robots: From Modular Tensegrity Structures To Bioinspired Sea Robots, Luyang Zhao

Dartmouth College Ph.D Dissertations

The rapid advancement of robotics necessitates systems capable of adapting to complex, unstructured environments. Soft robots, with their flexibility and compliance, excel in delicate interactions, making them ideal for medical applications and search-and-rescue missions. Modular robots, on the other hand, offer reconfigurability, enabling diverse task-specific adaptations in dynamic settings. Despite their individual advantages, the integration of soft and modular robotics remains underexplored. This proposal aims to develop soft modular robots that combine the adaptability of soft robotics with the versatility of modularity. These systems will be capable of autonomously transitioning between locomotion, manipulation, and infrastructure assembly across land, water, and …

Improving The Reproducibility Of Deep Learning Software: An Initial Investigation Through A Case Study Analysis, Nikita Ravi, Abhinav Goel, James C. Davis, George K. Thiruvathukal

Computer Science: Faculty Publications and Other Works

The field of deep learning has witnessed significant breakthroughs, spanning various applications, and fundamentally transforming current software capabilities. However, alongside these advancements, there have been increasing concerns about reproducing the results of these deep learning methods. This is significant because reproducibility is the foundation of reliability and validity in software development, particularly in the rapidly evolving domain of deep learning. The difficulty of reproducibility may arise due to several reasons, including having differences from the original execution environment, incompatible software libraries, proprietary data and source code, lack of transparency, and the stochastic nature in some software. A study conducted by …

Hybridize Functions: A Tool For Automatically Refactoring Imperative Deep Learning Programs To Graph Execution, Raffi Khatchadourian, Tatiana Castro Vélez, Mehdi Bagherzadeh, Nan Jia, Anita Raja

Publications and Research

Efficiency is essential to support responsiveness w.r.t. ever-growing datasets, especially for Deep Learning (DL) systems. DL frameworks have traditionally embraced deferred execution-style DL code—supporting symbolic, graph-based Deep Neural Network (DNN) computation. While scalable, such development is error-prone, non-intuitive, and difficult to debug. Consequently, more natural, imperative DL frameworks encouraging eager execution have emerged but at the expense of run-time performance. Though hybrid approaches aim for the “best of both worlds,” using them effectively requires subtle considerations to make code amenable to safe, accurate, and efficient graph execution—avoiding performance bottlenecks and semantically inequivalent results. We discuss the engineering aspects of a …

Hybridize Functions: A Tool For Automatically Refactoring Imperative Deep Learning Programs To Graph Execution, Raffi Khatchadourian, Tatiana Castro Vélez, Mehdi Bagherzadeh, Nan Jia, Anita Raja

Publications and Research

Efficiency is essential to support responsiveness w.r.t. ever-growing datasets, especially for Deep Learning (DL) systems. DL frameworks have traditionally embraced deferred execution-style DL code—supporting symbolic, graph-based Deep Neural Network (DNN) computation. While scalable, such development is error-prone, non-intuitive, and difficult to debug. Consequently, more natural, imperative DL frameworks encouraging eager execution have emerged but at the expense of run-time performance. Though hybrid approaches aim for the “best of both worlds,” using them effectively requires subtle considerations to make code amenable to safe, accurate, and efficient graph execution—avoiding performance bottlenecks and semantically inequivalent results. We discuss the engineering aspects of a …

Hybridize Functions: A Tool For Automatically Refactoring Imperative Deep Learning Programs To Graph Execution, Raffi Khatchadourian, Tatiana Castro Vélez, Mehdi Bagherzadeh, Nan Jia, Anita Raja

Publications and Research

Efficiency is essential to support responsiveness w.r.t. ever-growing datasets, especially for Deep Learning (DL) systems. DL frameworks have traditionally embraced deferred execution-style DL code—supporting symbolic, graph-based Deep Neural Network (DNN) computation. While scalable, such development is error-prone, non-intuitive, and difficult to debug. Consequently, more natural, imperative DL frameworks encouraging eager execution have emerged but at the expense of run-time performance. Though hybrid approaches aim for the "best of both worlds," using them effectively requires subtle considerations to make code amenable to safe, accurate, and efficient graph execution—avoiding performance bottlenecks and semantically inequivalent results. We discuss the engineering aspects of a …

Voice Interaction With Conversational Ai Could Facilitate Thoughtful Reflection And Substantive Revision In Writing, Jiho Kim, Philippe Laban, Xiang 'Anthony' Chen, Kenneth C. Arnold

University Faculty Publications and Creative Works

Writing well requires not only expressing ideas but also refining them through revision, a process facilitated by reflection. Prior research suggests that feedback delivered through dialogues, such as those in writing center tutoring sessions, can help writers reflect more thoughtfully on their work compared to static feedback. Recent advancements in multi-modal large language models (LLMs) now offer new possibilities for supporting interactive and expressive voice-based reflection in writing. In particular, we propose that LLM-generated static feedback can be repurposed as conversation starters, allowing writers to seek clarification, request examples, and ask follow-up questions, thereby fostering deeper reflection on their writing. …

Interaction-Required Suggestions For Control, Ownership, And Awareness In Human-Ai Co-Writing, Kenneth C. Arnold, Jiho Kim, Jason G. Chew, Jooha Yoo, Juyeong Kim, Ray Flanagan, Heonjae Kwon

University Faculty Publications and Creative Works

This paper explores interaction designs for gen-
erative AI interfaces that necessitate human in-
volvement throughout the generation process.
We argue that such interfaces can promote
cognitive engagement, agency, and thoughtful
decision-making. Through a case study in text
revision, we present and analyze two interac-
tion techniques: (1) using a predictive-text in-
teraction to type the assistant’s response to a
revision request, and (2) highlighting potential
edit opportunities in a document. Our imple-
mentations demonstrate how these approaches
reveal the landscape of writing possibilities and
enable fine-grained control. We discuss impli-
cations for human-AI writing partnerships and
future interaction design …

Unpaired Virtual Histological Staining Of Tissue From Autofluorescence Using Regularized Cycle-Consistent Adversarial Networks, Zhesi Wen

Theses and Dissertations

We present a regularized CycleGAN with a Dense Residual U-Net to virtually stain autofluorescence images of tissue into H&E-like images. Our method outperforms standard architectures, reduces artifacts, and achieves superior FID scores, enabling efficient, label-free, and accurate digital pathology for unpaired datasets using multi-channel fluorescence inputs.

Intuiting Interaction: Meta-Reasoning And Meta-Learning As Foundations For Intelligent User Interfaces, Jeffrey Hsu

Theses and Dissertations

This research presents MARCO—a cognitive framework for Intelligent User Interfaces that uses meta-reasoning for context-aware adaptation across diverse tasks. It integrates multiple reasoning modules coordinated by a Meta-Cognitive Unit that selects strategies based on evolving demands. Evaluations show MARCO outperforms baselines in reasoning accuracy and computational efficiency.

Optimizing Small Ai Models For Biomedical Tasks Through Efficient Knowledge Transfer From Large Domain Models, Girish Sundaram

Theses and Dissertations

The PICO (Population, Intervention, Comparison, Outcome) framework is a widely adopted methodology for structuring clinical research questions and extracting relevant information from unstructured medical texts. However, traditional approaches for PICO classification demand computationally expensive domain-specific language models, such as BioBERT and ClinicalBERT, which require extensive training and large annotated datasets. This dissertation introduces Distilled Rapid Embedding Transfer (DRET), a novel knowledge transfer method designed to enable resource-constrained domain adaptation. DRET aims to efficiently transfer biomedical domain knowledge from large, specialized models to a compact, general-purpose model, DistilBERT, thereby enhancing its ability to perform domain-specific tasks without access to the original …

Designing Ai-Driven Dining: A Ux Approach To Enhancing The Self-Service Experience, Kaylin Joung, Yuki Hayashi, Dailuaine Esguerra

Undergraduate Research Symposium Posters

Artificial intelligence has transformed many industries, yet its integration into self-dining experiences is still emerging. This research explores how AI can enhance self-dining by introducing technology like interactive kiosks and robot servers to improve efficiency, personalization, and customer convenience. By addressing current gaps, we aim to create a more seamless and engaging dining experience.

Artificial Intelligence In Higher Education: A Case Study Of Faculty Teaching Methodologies At A Private University, Ellen Ramsey, George Antoniou, Matteo Peroni, Karima Lanfranco, Brent Muckridge, Raouf Ghattas, Philip L. Fazio, Wendy Wallberg, Saidi Porta, Mary Smith, Gary Solomon, Kristen Migliano, David G. Wolf

Faculty and Staff Publications & Presentations

This research study examined the integration of artificial intelligence (AI) in higher education from the perspective of the faculty of a private university. It inquired into the impact of AI on pedagogical methods, administrative procedures, and ethical values. Qualitative case study methodology and in-depth semi-structured interviews were designed and conducted with faculty from four academic departments. Responses related to impressions, challenges, and opportunities for AI integration were gathered. The study findings from qualitative and quantitative data analysis indicated that AI is perceived to help improve educational outcomes with student-personalized learning pathways through streamlined administrative processes. The study revealed that participating …

Harnessing Neurodiversity And Artificial Intelligence In Education To Bridge The Cybersecurity Workforce Gap, George Antoniou

Faculty and Staff Publications & Presentations

This perspective paper examines how neurodiversity and artificial intelligence (AI) can jointly address the critical workforce shortage in cybersecurity. Drawing on peer-reviewed research, industry reports, and case studies, it explores how neurodivergent individuals—such as those with autism spectrum disorders, ADHD, and dyslexia—possess strengths in pattern recognition, logical reasoning, and attention to detail that align with cybersecurity demands. AI-based educational tools, including adaptive tutoring systems, scenario-based simulations, and real-time analytics, can personalize learning for neurodiverse students, enhancing engagement and skill mastery. The paper discusses how these targeted interventions not only accelerate knowledge retention and practical competence but also foster greater inclusion …

Pure Nash Equilibrium And Strong Nash Equilibrium Computation In Additive Aggregate Games, Jared Soundy, Mohammad T. Irfan, Hau Chan

Research & Publications

Aggregate games, first conceptualized by Nobel laureate Reinhard Selten in 1970, model the decision-making of interdependent agents where each agent’s utility depends on their own action and the aggregation of everyone’s actions. We consider computational questions on pure Nash equilibrium (PNE) and pure strong Nash equilibrium (SNE) for aggregate games. On the way, we define a new subclass of aggregate games we call additive aggregate games, which encompasses popular games like congestion games, anonymous games, Schelling games, etc. We show that PNE existence is NPcomplete for very simple cases of additive aggregate games. We devise an efficient aggregate-space algorithm for …

Generative Artificial Intelligence Dependency: Scale Development, Validation, And Its Motivational, Behavioral, And Psychological Correlates, Adalia Yin Hui Goh

Dissertations and Theses Collection (Open Access)

The growing integration of generative artificial intelligence (AI) into everyday life has raised questions about its potential psychological and behavioral consequences. The present research develops and validates the Generative AI Dependency Scale, a multidimensional tool developed to assess individual differences in dependency on generative AI systems. Across six studies involving 1,223 participants from the United States and Singapore, the Generative AI Dependency Scale demonstrated strong psychometric properties, including a stable three-factor structure (cognitive preoccupation, negative consequences, withdrawal) and good test-retest reliability (ICC = .85). Confirmatory factor analysis supported a higher-order dependency construct, and scalar measurement invariance was established across sex …

Cuegen: Customizing Sensor Captions For Neon Bending Tutorials, Gunnika Kapoor

2025 Spring Honors Capstone Projects - Archive

Methods of knowledge transfer that rely primarily on visual and/or auditory formats do not effectively convey context-specific or implicit skills, known as tacit skills. This limits knowledge transfer. In this work, the use of customizable pitch captions and spatial audio vibration captions is proposed to aid in conveying this tacit knowledge for neon glass bending video tutorials. Such a system is designed to provide users with greater control and support, which may maximize the information they obtain from, improve the autonomy they have with, and experience they have with a learning tool. As such, a system interface was developed that …

Controlling A Mobile Inverted Pendulum And Optimizing Leaning Angle To Apply Force Using Reinforcement Learning, Aryan Mediratta

2025 Spring Honors Capstone Projects - Archive

Reinforcement Learning is a Machine Learning paradigm that involves simulating learning through rewards and penalties in intelligent systems. This technique is often employed in robotics when traditional control methods are insufficient or when human intuition does not provide a good solution on how to control robot systems, This project involves training a Segway-style Mobile Inverted Pendulum (MIP) robot to balance and push a box forward. The BeagleBone Blue board is used that includes a built-in Inertial Measurement Unit (IMU) and encoder ports. These sensors enable the system to measure its current state. The goal is to find the optimal leaning …

Generating Motivational Messages For Behavior Change: Encouraging Users To Be More Physically Active, Hananeel Pankaj

2025 Spring Honors Capstone Projects - Archive

High levels of sedentary lifestyles can cause adverse effects in individuals’ health. This has prompted researchers to analyze ways to increase physical activity, including the use of Large Language Models (LLMs) to generate motivational messages. While research has found LLMs to be feasible for this task, the findings are limited in availability and scope given that the research focuses on a conversational, chatbot setting—which is not ideal in the real world. This research assesses OpenAI’s GPT-4o mini’s (one of several models powering ChatGPT) ability to tailor messages towards a user. This is done by passing user health data to the …

Navigation Of Unmanned Aerial Vehicle Using Computer Vision In Raytheon Drone Competition, Joseph R. Pavlik Iii

2025 Spring Honors Capstone Projects - Archive

A major problem with using GPS to navigate an unmanned aerial vehicle is that GPS signals do not accurately work while inside a building. This work presents the usage of the Simultaneous Localization and Mapping library, ORB-SLAM2, in C++ to solve this issue. By using the camera attached to the unmanned aerial vehicle, a map of the area covered by the drone will be created, and landmarks in area will be utilized to navigate throughout the interior of the building without the GPS. Based on previous studies, this navigation method should be viable. Preliminary tests show that this method will …

Usage Of Natural Language Processing And Deep-Learning Techniques On Thematic Apperception Tests To Predict Big Five Personality Traits, Blayten Jones

Electrical Engineering and Computer Science Undergraduate Honors Theses

The usage of personality as a method of behavioral prediction and outcomes of success has grown considerably over the last few decades. This project explores predicting user personality profiles via the Big Five personality index through the integration of advanced natural language processing techniques as well as neural networks. Using a dataset provided by Dr. James W. Pennebaker, participants analyze an image—formally referred to as a thematic apperception test—and write a thorough paragraph describing the details. This free-form text, along with their personality test results, is captured in a structured dataset. Many deep-learning and machine learning models have been used …

A Novel Approach To Attention-Based Models In Image Completion: Weighted Spatial-Attention Using Radial Distance, Tyler D. Kuper

Electrical Engineering and Computer Science Undergraduate Honors Theses

Humans infer missing visual information by focusing on spatial relationships in the context of their surroundings. Machine learning aims to replicate this skill through image completion, a fundamental task in current computer vision research. While advances in self-attention layers have recently enhanced generative machine learning models for text, these mechanisms still currently lack the capability to handle sparse image completion efficiently. We introduce a distance-based attention mechanism that uses radial-based weights to efficiently reconstruct an image. We compare this attention mechanism with self-attention and a fully connected network on an image completion task using the MNIST dataset. Our results show …

Diversity-Augmented Training For Generalizable Ai Agents, Wenjun Li

Dissertations and Theses Collection (Open Access)

Deep Reinforcement Learning (RL) has achieved remarkable success over the past decade, from superhuman performance in video games to real-world applications like robotics. However, RL models often lack generalization, making them unreliable when deployed in unfamiliar scenarios. For example, robots must adapt to varying terrains with different slopes and obstacles, yet standard RL training does not explicitly promote such adaptability. While various methods have been proposed to enhance RL robustness, achieving reliable generalization remains an open challenge.

This dissertation focuses on improving the generalization capability of agents in three major settings: infinite horizon RL agents, finite horizon RL agents, and …

Deepfakes On Trial: Developing A High-Accuracy, Court-Admissible Ai Pipeline For Deepfake Detection In Corporate Fraud Litigation, Aiden J. Green

Honors College Theses

As deepfake technology advances, cybercriminals are increasingly using AI-generated videos and audios to impersonate executives and carry out sophisticated CEO fraud schemes. These synthetic forgeries target human trust and corporate communication systems, creating an urgent need for forensic tools capable of authenticating digital evidence with legal accuracy. This thesis presents a forensic-grade AI deepfake detection pipeline designed for this purpose, emphasizing courtroom admissibility, reproducibility, and evidentiary integrity. Built entirely with free, opensource tools, the framework combines metadata analysis, AI-powered spectrogram analysis, neural artifact detection, and facial manipulation recognition into a transparent workflow that accurately identifies synthetic media. It was trained …

From The Bleachers To The Browser: Redefining Fan Experience With Ar And Ai In Smaller Teams, Jennifer Lee Wunder

Theses

This project documents the creation and deployment of HootyHoo, an interactive augmented reality (AR) mascot experience designed for the O’Fallon Hoots, a small-scale collegiate summer baseball team. Built using accessible, open-source tools such as WebXR, Mixamo, Meshy, Botpress, Claude and ChatGPT, this prototype merges AI-driven conversation with animated 3D avatar interaction—redefining how fans engage with sports organizations digitally. Unlike enterprise-level applications used by professional franchises, HootyHoo is entirely browser-based, eliminating the need for app downloads and ensuring maximum accessibility for families and new fans with smartphones. The experience centers on Hooty, the team mascot, who answers questions about baseball and …

Global Sporadic-E Prediction And Climatology Using Deep Learning, J. A. Ellis, Daniel J. Emmons, M. B. Cohen

Faculty Publications

Sporadic-E (E_s) is an ionospheric phenomenon defined by strong layers of plasma which may interfere with radio wave propagation. In this work, we develop deep learning models to improve the understanding of E_s, including the presence, intensity and height of the layers. We developed three separate models. The first, building off earlier work in (J. A. Ellis et al., 2024, link in AFIT Scholar, 10.1029/2023sw003669), includes only the main features from radio occultation (RO) measurements. The second adds to that time, date, location, geomagnetic and solar indices, solar winds, x-ray flux, weather and lightning. A …

Implementation Of Residual Tandem Neural Networks For Photonic Inverse Design, Ponthea A. Zahraii

Electrical Engineering and Computer Science (MS) Theses

Deep-learning approaches can greatly benefit the modeling and design of nanophotonic and optical structures. Traditional full-wave simulations are time and resource-intensive, which can act as a bottleneck in photonic design. On the other hand, deep-learning approaches for designing the response of nanophotonic geometries can be computationally inexpensive and produce accurate and efficient results. In this project, we specifically investigate the case of optical forces near meta-structures. We propose using an inverse design approach with residual blocks to account for the deep nature of this architecture and inherently address the non-uniqueness problem. A tandem approach, which consists of two interconnected models, …

Computer Vision In Soccer: Yolov11 Analytics Engine For Quantifying Game Strategy, Connor S. Maurer

Data Science Undergraduate Honors Theses

Single-shot object detection capabilities significantly reduce computational overhead for real-time computer vision in sports analytics at 60 FPS. YOLO11’s lightweight CNN gives promising accuracy while meeting the low-latency demand of dynamic soccer matches. As data-driven approaches take over the sport of soccer, efficient player tracking systems become critical for informing coach’s strategies. I prototype the ETL (Extract, Transform, Load) process of data collected from a single- shot detection program and evaluate its viability for estimating player fatigue. YOLO11 detects players, the ball, and other characteristics, with the output transformed by homography to estimate the positions in the real world. These …