Artificial Intelligence and Robotics Commons^™

Openmuse: Integrating Open-Source Models Into Music Creation Workflows, Tyler K. Vergho

Dartmouth College Master’s Theses

This master's thesis introduces OpenMUSE (Open Multimodal Unified Sound Engine), a platform that demonstrates the potential of open-source AI music generation by integrating state-of-the-art deep learning models into a unified system. By unifying ten different open-source models, including MusicGen, AudioLDM2, and custom-trained text-to-symbolic music generation models, OpenMUSE aims to create a user-friendly interface that empowers artists to produce complex, adaptive musical compositions. The system enhances accessibility by providing a simple web interface and natural language controls, while improving controllability through features like melody conditioning and semantic audio editing. Specifically, OpenMUSE offers a digital audio workstation (DAW)-inspired interface that lowers the …

Motion Planning For A Flexible Modular Raft Robot, Chun-Yi She

Dartmouth College Master’s Theses

This thesis presents a hierarchical motion planning framework for SoftRafts, a modular and deformable aquatic robot capable of performing locomotion and manipulation tasks on water surfaces. SoftRafts consist of soft and rigid components that enable structural reconfiguration, offering adaptability in unstructured aquatic environments.

To address the complexity of planning in high-dimensional, deformable systems, the proposed method uses a bounding-shape abstraction, specifically, enclosing circles and rectangular bounding boxes to simplify motion planning. These enclosures abstract the robot's overall shape, reducing the high-dimensional planning problem into a lower-dimensional problem. A global planner uses a probabilistic roadmap (PRM) to compute a collision-free path …

Ai Characterisations And Their Legal Implications, Jerrold Tsin Howe Soh

Research Collection Yong Pung How School Of Law

This chapter examines the difficult legal characterisation problems that artificially intelligent systems raise and explores how different characterisations of artificial intelligence (AI) shape practical legal outcomes. Three reasons are offered for the legal difficulty with characterising AI. First, answers to characterisation problems are inherently subjective and perspective-driven, particularly when the subject is an intangible technological system. Second, AI technology is especially difficult to define since the field typically proceeds on inexact anthropomorphic metaphors. Third, AI characterisation problems raise difficult sub-problems, particularly in determining how autonomous an AI system is. The chapter thus argues that a range of plausible AI characterisations …

Analyzing Visual Attention In Virtual Crime Scene Investigations Using Eye-Tracking And Vr: Insights For Cognitive Modeling, Wen-Chao Yang, Chih-Hung Shih, Jiajun Jiang, Sergio Pallas Enguita, Chung-Hao Chen

Electrical & Computer Engineering Faculty Publications

Understanding human perceptual strategies in high-stakes environments, such as crime scene investigations, is essential for developing cognitive models that reflect expert decision-making. This study presents an immersive experimental framework that utilizes virtual reality (VR) and eye-tracking technologies to capture and analyze visual attention during simulated forensic tasks. A 360° panoramic crime scene, constructed using the Nikon KeyMission 360 camera, was integrated into a VR system with HTC Vive and Tobii Pro eye-tracking components. A total of 46 undergraduate students aged 19 to 24–23, from the National University of Singapore in Singapore and 23 from the Central Police University in Taiwan—participated …

Copyright And Artificial Intelligence, Part 2: Copyrightability

Copyright, Fair Use, Scholarly Communication, etc.

This report by the United States Copyright Office addresses the legal and policy issues related to artificial intelligence (AI) and copyright as outlined in the Office’s August 2023 Notice of Inquiry (NOI).

The report will be published in several parts each one addressing a different topic. This part addresses the copyrightability of works created using generative AI. The first part, published in 2024, addresses the topic of digital replicas—the use of digital technology to realistically replicate an individual’s voice or appearance. A subsequent part will turn to the training of AI models on copyrighted works, licensing considerations, and allocation of …

Machine Learning Models Leveraging Patient-Similarity And Clinical Temporality For Disease Prognoses, Ahmad F. Al Musawi

Theses and Dissertations

Electronic Health Records (EHRs) constitute a comprehensive and high-dimensional repository of clinical data, encompassing a wide array of patient-level information such as diagnoses, procedures, medications, laboratory results, and unstructured clinical narratives. These data hold immense potential for advancing predictive modeling in healthcare, including tasks such as disease progression modeling, hospital readmission prediction, and length of stay (LoS) estimation. However, the intrinsic complexity of EHR data—manifested in its heterogeneity, sparsity, and temporal dynamics—poses significant analytical challenges that limit the generalizability and interpretability of conventional machine learning models. Recent methodological advancements in deep learning and graph-based learning, particularly Graph Neural Networks (GNNs), …

Relationship Extraction Using Retrieval Augmented Generation For Biomedical Dataset, Jannat .

Theses and Dissertations

With the increasing number of structured and unstructured data, obtaining reliable information effectively has become crucial. In the biomedical domain, extracting information from the scientific papers is crucial in order to stay up-to-date with accurate information, given the increased pace by which new research studies are published. This work focuses on identifying relationships between entities that are extracted from the abstracts and titles of biomedical research papers. In this work, we developed a Retrieval Augmented Generation (RAG) based system to automatically identify relations between biomedical entities. We evaluate multiple open source Large Language Models (LLMs) and the number of examples …

Learning From Non-Stationary Data Streams, Gabriel Jonas Aguiar

Theses and Dissertations

The rapid growth of data from sources such as mobile applications, sensors, and network monitoring has increased the need for machine learning algorithms capable of handling non-stationary data streams. However, learning from such streams presents significant challenges due to their evolving nature and the presence of concept drift. One of the most complex issues is learning from imbalanced data streams, where shifting data distributions, combined with feature space drifts, complicate continuous adaptation. These challenges become even more pronounced in multi-class scenarios, which are common in real-world applications. Detecting concept drift in such contexts is particularly demanding, as it requires tracking …

Symp25s: Can Llm Detect Dementia?, Rishank Singh, Youxiang Zhu, Xiaohui Liang, John A. Batsis, Caroline Summerour

Paul English Applied Artificial Intelligence (AI) Institute Publications

High Cost of Traditional Screening: Formal cognitive assessments for dementia are resource-intensive and not easily accessible for large-scale screening. Speech-Based Alternatives: Existing speech-based methods (e.g., picture description, telephone interviews) aim to address this but have limitations. Lack of Natural Dialogue: These conventional approaches often use rigid, repetitive prompts and do not simulate real conversations. Engagement Issues: Repetition and lack of conversational depth can reduce engagement and affect the accuracy of responses over time. Untapped Potential of LLMs: Large language models (LLMs) are capable of generating natural, coherent, and adaptive dialogue. Research Gap: The application of LLMs for dementia detection through …

Symp25s: Cactas-Ai: Automatic Segmentaion Of Calcified Plaque In Carotid Arteries, Jiehyun Kim, Kevin Wang, Yu Sakai, Youxiang Zhu, Andrew C. Hu, Huy Q. Phi, Nathan Arnett, Grace J. Wang, Brett L. Cucchiara, Jae W. Song, Daniel Haehn

Paul English Applied Artificial Intelligence (AI) Institute Publications

Manual segmentation of calcified plaque, essential for assessing stroke risk, is time-consuming, and conventional methods like 2D and 3D UNet often struggle with the small size. We developed CACTAS-AI, a two-step segmentation process. This approach outperforms baseline methods in plaque segmentation.

Binoculars To Bytes: Development And Field Validation Of An Ai-Driven System For Avian Monitoring, Christian J. Dupree

Graduate Student Theses, Dissertations, & Professional Papers

Autonomous camera-trap arrays coupled with artificial-intelligence (AI) vision can lift bird monitoring beyond the spatial, temporal, and labor limits of traditional field surveys. We present Binoculars to Bytes (B2B), an open-source pipeline that turns 180–360° time-lapse imagery into analysis-ready avian data. At Freezout Lake Wildlife Management Area (Montana, USA) the system ran four-hour morning deployments during spring and fall migrations (2023–2024). A YOLO-NAS detector, incrementally refined with a “Specialized Localized Iterative Model” workflow, quadrupled local accuracy and, after confidence-based species-binning, cut false-positive rates in half. Daily AI species lists were benchmarked against contemporaneous eBird citizen-science checklists and recovered ≥ …

Optiselect And Enshap: Integrating Machine Learning And Game Theory For Ischemic Stroke Prediction, Pritam Chakraborty, Anjan Bandyopadhyay, Sricheta Parul, Sujata Swain, Partha Sarathy Banerjee, Tapas Si, Hong Qin, Saurav Mallik

Computer Science Faculty Publications

Stroke analysis using game theory and machine learning techniques. The study investigates the use of the Shapley value in predictive ischemic brain stroke analysis. Initially, preference algorithms identify the most important features in various machine learning models, including logistic regression, K-nearest neighbor, decision tree, support vector machine (linear kernel), support vector machine ( RBF kernel), neural networks, etc. For each sample, the top 3, 4, and 5 features are evaluated and selected to evaluate their performance. The Shapley value method was used to rank the models using their best four features based on their predictive capabilities. As a result, better-performing …

Sting: A Stealthy Backdoor Attack On Gnn-Based Malicious Domain Detection Via Dns Perturbations, Muhammad Anan, Mahmoud Nazzal, Abdallah Khreishah, Issa Khalil, Nhathai Phan, Ahmad Sawalmeh

Computer Science Faculty Publications

Detecting malicious Internet domains is essential for safeguarding against various online threats. The current approach to detecting malicious domains (MDD) employs a graph neural network (GNN) method, which uses DNS logs to construct heterogeneous graphs for determining the maliciousness of unknown domains. Despite its success, this method is vulnerable to data poisoning attacks where an adversary can manipulate specific graph nodes to implant a backdoor into the model during training. To showcase the vulnerability, we propose a stealthy trigger injection attack on node features and graph structure in MDD, dubbed (STING). The attacker carefully manipulates selected features and edges of …

From Philosophy To Nlu: Evolving Definitions With Research Hypotheses, Jian Wu, Sarah Rajtmajer

Computer Science Faculty Publications

Over the past decades, alongside advancements in natural language processing, significant attention has been paid to training models to automatically extract, understand, test, and generate hypotheses in open and scientific domains. However, interpretations of the term hypothesis for various natural language understanding (NLU) tasks have migrated from traditional definitions in the natural, social, and formal sciences. Even within NLU, we observe differences defining hypotheses across literature. In this paper, we overview and delineate various definitions of hypothesis. Especially, we discern the nuances of definitions across recently published NLU tasks. We highlight the importance of well-structured and well-defined hypotheses, particularly as …

Delivery Of Medical Supplies To Remote Locations Via Unmanned Aerial Vehicles: Approaches, Challenges, And Solutions, Meshari Aljohani, Ravi Mukkamala, Stephanie Olariu

Computer Science Faculty Publications

Unmanned Aerial Vehicles (UAVs) are becoming more important in improving healthcare logistics, in particular due to their cost effectiveness, minimized risk, and versatile operational capabilities. This study explores the deployment of autonomous UAVs to deliver medical supplies to remote areas. Advances in ledger technology, smart contracts, and machine learning have transformed tasks previously managed by human teams or manually controlled UAVs into fully autonomous missions. We present a comprehensive analysis of the challenges and initial solutions vital for the effective use of autonomous UAVs in the delivery of medical supplies. In addition, we propose a machine-learning model to optimize UAV …

A Case Study Using The Transparency Framework And Artificial Intelligence To Promote Effective Writing And Student Success In A Writing-Intensive Course, Elizabeth A. Brown, Maria Kronenburg, Ashlee Steeley, Diana Tagbor

Health Behavior, Policy & Management Faculty Publications

Program evaluation data suggest that undergraduate students struggle with writing in a clear and concise manner and appropriately citing. Faculty implemented the plan-do study-act cycle to pilot the Transparency in Learning and Teaching (TILT) project framework and to explore the use of artificial intelligence (AI) and discuss approaches to using AI, along with the TILT framework, in a writing-intensive course to identify the pros and cons of using ChatGPT in an online classroom. The TILT framework reinforces adult learning by helping students clearly understand the assignment's purpose and establish a clear relationship between assignment and students' professional lives. Faculty encouraged …

A Qualitative Analysis Of College Students' Interest In Mhealth Solutions, Leslie Hoglund, Craig M. Becker, Cara Tonn

Health Behavior, Policy & Management Faculty Publications

This study explores college students' perceptions of an AI-driven mHealth application designed to promote well-being. With rising mental health challenges in academic settings, students increasingly seek digital tools that provide holistic support for physical, mental, and financial health. Through focus groups, this qualitative study examines students' preferences for personalized health tracking, educational content, and flexible reminders within a private, supportive community. Key findings emphasize students' desire for a balanced, all-in-one app that integrates health and wellness tools without overwhelming them with notifications. Students also highlighted the importance of social media integration for outreach, though concerns were raised about potential stress …

Error In The Loop: How Human Mistakes Can Improve Algorithmic Learning, Ryan W. Copus, Cait Spackman, Hannah Laqueur

Faculty Works

Algorithms often outperform humans in making decisions, in large part because they are more consistent. Despite this, there remains widespread demand to keep a “human in the loop” to address concerns about fairness and transparency. Although evidence suggests that most human overrides are errors, we argue these errors can provide value: they generate new data from which algorithms can learn. To remain accurate, algorithms must be updated over time, but data generated solely from algorithmic decisions is biased, including only cases selected by the algorithm (e.g., individuals released on parole). Training on this algorithmically selected data can significantly reduce predictive …

Artificial Intelligence In Science And Society: The Vision Of Usern, Tommaso Dorigo, Gary D. Brown, Carlo Casonato, Artemi Cerda, Joseph Ciarrochi, Mauro Da Lio, Nicole D'Souza, Nicolas R. Gauger, Steven C. Hayes, Stefan G. Hofmann, Robert Johansson, Marcus Liwicki, Fabien Lotte, Juan J. Nieto, Giulia Olivato, Peter Parnes, George Perry, Alice Plebe, Idupulapati M. Rao, Nima Rezaei, Fredrik Sandin, Andrey Ustyuzhanin, Giorgio Vallortigara, Pietro Vischia, Niloufar Yazdanpanah

All Peer-Reviewed Publications

The recent rise in relevance and diffusion of Artificial Intelligence (AI)-based systems and the increasing number and power of applications of AI methods invites a profound reflection on the impact of these innovative systems on scientific research and society at large. The Universal Scientific Education and Research Network (USERN), an organization that promotes initiatives to support interdisciplinary science and education across borders and actively works to improve science policy, collects here the vision of its Advisory Board members, together with a selection of AI experts, to summarize how we see developments in this exciting technology impacting science and society in …

Am I As Effective At Identifying Emotions As Artificial Intelligence? A Comparative Study Of Emotional Recognition, Traci R. Grove, Alexandra T. Lucas, Maryann Martin, Cathleen M. Deckers, Lulu Sherif Mahmood, Nicole Danaher-Garcia, Mark W. Scerbo, Suzan Kardong-Edgren, Janice C. Palaganas

Psychology Faculty Publications

Background

Learning conversations, or dialogues aimed at deepening understanding and reflection, are deeply influenced by emotions. Effective communication is influenced by emotional intelligence - the ability to recognize, understand, and manage both one’s own and others’ emotions. While advances in artificial intelligence (AI) offer new tools for emotion recognition, these technologies still struggle with accurately interpreting subtle and culturally diverse emotional expressions, sparking debate about their reliability and effectiveness. This article provides a comparative analysis of human versus AI recognition of emotions during an end-of-course reflective learning conversation.

Methods

Emotions during a structured post-conference debriefing were analyzed and coded by …

How Artificial Intelligence Will Shape Securities Regulation, Gabriel Rauterberg

Other Publications

How will the increasing prevalence and sophistication of artificial intelligence (AI) change the doctrine and practice of securities law? My main thesis is that it will push securities regulation toward a more systems-oriented approach. This approach will replace securities law's emphasis, in areas like manipulation, on forms of enforcement targeted at specific individuals and accompanied by punitive sanctions with a greater focus on ex ante rules designed to shape an ecology of actors and information.

Trustworthiness And Trust: Identifying Factors That Drive Successful Human-Ai Interaction In Nuclear Power Plant Applications, Yusuke Yamani, Austin Jackson, Casey Kovesdi, Jeffrey Joe, Jeremy Mohon

Psychology Faculty Publications

Emerging technologies such as artificial intelligence (AI) and machine learning are rapidly evolving and promising tools for efficient and continued safe operations of the U.S. nuclear power plants (NPPs). Emerging AI techniques like large language models (LLMs) are one such technology that may help personnel at existing NPPs perform work more efficiently. For example, operators may query the current operational status of a power plant via a chat interface, leveraging LLMs to access plant-related information in an interactive manner rather than manually collecting various sensor data for surveillance or work order tasks. This is a fundamental shift in the way …

Artificial Intelligence And Digital Technologies In Finance: A Comprehensive Review, Soudeh Pazouki, Mohamad Jamshidi, Mirarmia Jalali, Arya Tafreshi

Finance Faculty Publications

This study explores the transformative impact of artificial intelligence (AI) and digital technologies on the financial technology (FinTech) industry, highlighting their role in fostering business growth, operational efficiency, and enhanced customer engagement. AI-driven strategies have unlocked new avenues for streamlining workflows, boosting productivity, and expanding financial inclusion by reaching underrepresented populations. However, these advancements also pose challenges, including navigating complex regulatory frameworks and adapting to the rapidly evolving technological landscape. This paper delves into the macroeconomic effects of AI, examining its influence on labor markets, consumer behavior, and organizational success. Furthermore, the paper discusses blockchain applications and their potential to …

Transformative Impact Of Ai And Digital Technologies On The Fintech Industry: A Comprehensive Review, Soudeh Pazouki, Behdad Jamshidi, Armia Jalali, Arya Tafreshi

Finance Faculty Publications

This paper examines the impact of artificial intelligence (AI) and digital technologies on the financial technology (FinTech) industry and demonstrates how AI- enabled strategies are increasing the ability of businesses not only to grow, but also to better serve their customers through operational efficiencies. But as immersive as the technological advancements may be, they present challenges in connection with increasingly complicated licensing regulations and a constantly evolving technological landscape. We examine the way AI and algorithms are streamlining workflows, enhancing productivity and expanding access to financial resources for traditionally under – served populations. The paper also discusses the macroeconomic implications …

High Tech Touts, Sherman J. Clark

Articles

This essay has three interrelated aims. First, it articulates a set of capacities I call virtues of attention—capacities for intuitive discernment, good judgment about what is worth sustained focus, and the ability to engage deeply with worthwhile things. These are eudaimonist virtues in that they help us live well, not merely act rightly. Second, the essay explores what I call poisonous persuasion: the idea that rhetorical appeals, especially those used in marketing, may not only succeed by appealing to certain desires or habits of mind but may also deepen and entrench them. Third, I bring these insights together to examine …

Generalizing Classification Of Pilot Workload: Transfer Learning Versus A Jepa-Inspired Transformer Architecture, Naim Barnett, Shivani Nagrecha, Morgan Glover, Clayton Harper, Justin Wilson, James Maher, Eric C. Larson

International Journal of Aviation, Aeronautics, and Aerospace

Within the context of learning, there poses difficulty when objectively measuring human performance. In this work, we investigate the evaluation of human performance via its relation to the individual's mental capacity by classification of cognitive load within the domain of aviation. By utilizing a mixed virtual and physical flight simulation environment in conjunction with biometric sensing, we create and evaluate the predictive capabilities of a Joint-Embedding Predictive Architecture (JEPA) and compare the architecture and results to traditional methods for transfer learning and domain adaptation. We find that our JEPA inspired architecture can achieve more than 70% accuracy of cognitive workload, …

Convergence In Cancer: Integrative Multi-Modal Modeling For Pan-Cancer Drug Response Prediction, Jessica Zylla

Dissertations and Theses

Heterogeneity and rarity can make cancer difficult to study and treat. Cancer's heterogeneity, evident in tumor locations, tumor cell types, subtypes, and microbiota within the tumor microenvironment, complicates diagnosis, prognosis, and treatment. Research into the tumor microenvironment and its microbiota is an evolving area of oncology that may advance cancer drug-patient response. Cancer-omics signatures are crucial to drug response, yet there is no tool that physicians use as a gold standard. Research indicates that microbial presence can alter drug metabolism and immune response, affecting cancer-drug efficacy on a patient-specific basis. This work highlights the need for training readiness in transdisciplinary …

Afit Generative Ai Teaching Guidebook Synopsis, Afit Faculty Learning Community, Mark G. Bateman, Brett J. Borghetti, Allen W. Dukes, Nicholas C. Francis, Mike Frick, Bobbie Oh, Kevin Patterson, Hiren J. Patel, Mark G. Reith, Erick S. Tyndall, Teresa M. Walton, Torrey J. Wagner, Timothy S. Wolfe, Jonathan Zemmer

AFIT Documents

The main objective of this work was to bring together various perspectives on how to envision incorporating Gen AI capabilities into the learning environment and identify some best practices for their implementation. Any instructor who is interested in these capabilities but does not necessarily have a technical background can find pragmatic use of the examples provided. While the examples have a wide range of applicability, they are meant to serve as a starting point for educators to explore what would be beneficial to their educational environment, from traditional classroom settings to online continuing education courses.

Optimizing Ai Language Models: A Study Of Chatgpt-4 Vs. Chatgpt-4o, Md Nurul Absar Siddiky, Muhammad Enayetur Rahman, Md Fayaz Bin Hossen, Muhammad Rezaur Rahman, Md. Shahadat Jaman

Electrical & Computer Engineering Faculty Publications

This paper presents a comparative analysis of OpenAI's GPT-4 and its optimized variant, GPT-4o, focusing on their architectural differences, performance, and real-world applications. GPT-4, built upon the Transformer architecture, has set new standards in natural language processing (NLP) with its capacity to generate coherent and contextually relevant text across a wide range of tasks. However, its computational demands, requiring substantial hardware resources, make it less accessible for smaller organizations and real-time applications. In contrast, GPT-4o addresses these challenges by incorporating optimizations such as model compression, parameter pruning, and memory-efficient computation, allowing it to deliver similar performance with significantly lower computational …

Differentiating Opioid Use Disorder From Healthy Controls Via Ml Analysis Of Rs-Fmri Networks, Ahmed Temtam, Megan A. Witherow, Liangsuo Ma, M. Shibly Sadique, F. Gerard Moeller, C. Kenneth, Dianne Wright, Khan M. Iftekharuddin

Electrical & Computer Engineering Faculty Publications

Objectives/Goals: This work aims to identify functional brain networks that differentiate opioid use disorder (OUD) subjects from healthy controls (HC) using machine learning (ML) analysis of resting-state fMRI (rs-fMRI). We investigate the default mode network (DMN), salience network (SN), and executive control network (ECN), as well as demographic features. Methods/Study Population: This work uses high-resolution rs-fMRI data from a National Institute on Drug Abuse study (IRB #HM20023630) with 31 OUD and 45 HC subjects. We extract rs-fMRI blood oxygenation level-dependent (BOLD) features from the DMN, SN, and ECN. The Boruta ML algorithm identifies statistically significant features and brain activity mapping …