Artificial Intelligence and Robotics Commons^™

Topology-Guided Adaptive Social Navigation For A Robot In Environments With Dynamic Obstacles, S.M. Faiaz Mursalin

Graduate Theses/Dissertations

Robotic navigation in dynamic environments presents significant challenges, particularly in managing interactions with moving obstacles while ensuring efficient path planning. Incorporating social navigation principles is crucial as robots share the same workspaces with humans frequently in daily life. This becomes essential for safe, efficient, and socially acceptable movements. In this thesis, I introduce a novel integration of social navigation strategies with topological path planning that leverages Discrete Morse Theory, a homotopical framework to enhance adaptability. My method dynamically assesses path feasibility and optimizes trajectory selection through three key strategies: waiting, deflection, and diverse path selection. Based on how close the …

A Retrieval Augmented Approach To Improving Accuracy Of Biomedical Term Normalization By Large Language Models, Thanh Son Do

Graduate Theses/Dissertations

Ontology normalization is crucial in biomedical text processing, as it enables the mapping of medical expressions to standardized ontology terms and their corresponding identifiers. This thesis explores the feasibility of using large language models (LLMs) for ontology normalization, with a specific focus on the Human Phenotype Ontology and Gene Ontology. Prior research studies indicated that LLMs employing zero-shot learning tend to exhibit low accuracy and are prone to frequent hallucinations. We propose a retrieval augmented generation (RAG) approach to address these limitations and enhance normalization accuracy. We generated synthetic test sets of ontology-derived synonyms to evaluate normalization performance and developed …

Evaluating The Evaluators: The Role Of Benchmarks In Legal Ai, Jonathan A. Franklin, Sean Harrington, Christine Hye Won Park

Other Faculty Publications

No abstract provided.

Symp25s: A Multi-View Feature Construction And Multi-Encoder-Decoder Transformer Architecture For Time Series Classification, Zihan Li, Wei Ding, Inal Mashukov, Ping Chen, Scott Crouter

Paul English Applied Artificial Intelligence (AI) Institute Publications

Time series data plays a significant role in many research fields since it can record and disclose the dynamic trends of a phenomenon with a sequence of ordered data points. Time series data is dynamic, of variable length, and often contains complex patterns, which makes its analysis challenging especially when the amount of data is limited. In this paper, we propose a multi-view feature construction approach that can generate multiple feature sets of different resolutions from a single dataset and produce a fixed-length representation of variable-length time series data. Furthermore, we propose a multi- encoder-decoder Transformer (MEDT) architecture to effectively …

Heuristic Approaches For Coordination Of Heterogeneous Robotic Systems In Harvesting Automation With Size Constraints, Hyeseon Lee

Dissertations, Master's Theses and Master's Reports

This thesis presents the development of path planning algorithms for the coordination of heterogeneous robotic systems while considering size constraints. The objective is to generate practical and efficient solutions for real-world applications. The use of heterogeneous collaborative robots is beneficial in many applications, such as transportation operations in warehouses or manufacturing environments, surveillance, and monitoring, and task allocation and path planning are critical techniques that need to be addressed to deploy in real-world applications. This research focuses on automating lavender harvesting, where robots with varying capabilities must collaboratively navigate complex field layouts to efficiently complete harvesting tasks.

The problem considers …

Optimization Of Serum And Salivary Cortisol Interpolation For Time-Dependent Modeling Frameworks In Healthy Adult Males, Nathaniel T. Berry, Travis Anderson, Christopher K. Rhea, Laurie Wideman

Rehabilitation Sciences Faculty Publications

Cortisol is an important marker of hypothalamic-pituitary-adrenal function and follows robust circadian and diurnal rhythms. However, biomarker sampling protocols can be labor-intensive and cost-prohibitive. Objectives: Explore analytical approaches that can handle differing biological sampling frequencies to maximize these data in more detailed and time-dependent analyses. Methods: Healthy adult males [N = 8; 26.1 (±3.1) years; 176.4 (±8.6) cm; 73.1 (±12.0) kg)] completed two 24 h admissions: one at rest and one including a high-intensity exercise session on the cycle ergometer. Serum and salivary cortisol were sampled every 60 and 120 min, respectively. Six alternative sampling profiles were defined by downsampling …

Nexus: Network Exploration For Exploiting Unsafe Sequences In Multi-Turn Llm Jailbreaks, Javad Rafiei Asl, Sidhant Narula, Mohammad Ghasemigol, Eduardo Blanco, Daniel Takabi

School of Cybersecurity Faculty Publications

Large Language Models (LLMs) have revolutionized natural language processing, yet remain vulnerable to jailbreak attacks—particularly multi-turn jailbreaks that distribute malicious intent across benign exchanges, thereby bypassing alignment mechanisms. Existing approaches often suffer from limited exploration of the adversarial space, rely on hand-crafted heuristics, or lack systematic query refinement. We propose NEXUS (Network Exploration for eXploiting Unsafe Sequences), a modular framework for constructing, refining, and executing optimized multi-turn attacks. NEXUS comprises: (1) ThoughtNet, which hierarchically expands a harmful intent into a structured semantic network of topics, entities, and query chains; (2) a feedback-driven Simulator that iteratively refines and prunes these chains …

Exploring Research And Tools In Ai Security: A Systematic Mapping Study, Sidhant Narula, Mohammad Ghasemigol, Javier Carnerero-Cano, Amanda Minnich, Emil Lupu, Daniel Takabi

School of Cybersecurity Faculty Publications

With the pervasive integration of artificial intelligence (AI) in various facets of modern technology, the importance of AI security has been thrust into the spotlight. The field is rapidly evolving, with new challenges and solutions emerging at a swift pace. However, the breadth and depth of AI security research have not been comprehensively mapped in recent times, presenting a crucial need for an extensive review and synthesis of existing literature. Given the increasing reliance on AI in critical domains such as healthcare, finance, and national security, ensuring the resilience and trustworthiness of these systems is imperative. This survey fulfills the …

Deepsecure: A Novel Deep Learning Model For Effective Detection Of Attacks On Big Data In Internet Of Urban Things, Laiba Sabir, Nadeem Javaid, Mariam Akbar, Nabil Alrajeh, Safdar Hussain Bouk, Abdulaziz Aldegheishem

School of Cybersecurity Faculty Publications

The Internet of Urban Things (IoUTs) regularly generates large amounts of data, making it a focus of cyberthreats such as denial-of-service attacks and malware bot networks. Traditional intrusion detection systems struggle to detect intricate attack patterns, handle class imbalance, capture temporal dependencies, and exhibit transparency. To address these limitations, we introduce a novel deep machine learning model, DeepSecure, a hybrid model that combines Deep Belief Networks (DBN) for hierarchical feature extraction and Deep Neural Networks for attack classification. DBN is used for feature selection through unsupervised learning to extract hierarchical representations in the IoUTs network data. We assess the random …

Qos-Aware Link Adaptation For Beyond 5g Networks: A Deep Reinforcement Learning Approach, Ali Parsa, Neda Moghim, Sachin Shetty

Center for Secure and Intelligent Critical Systems (CSICS) Publications

Modern wireless communication systems face increasingly complex challenges due to rapidly changing channel conditions and the growing diversity of application-specific Quality of Service (QoS) requirements. Traditional link adaptation mechanisms primarily aim to maximize throughput and often lack the flexibility to support emerging applications, such as Extended Reality (XR) and Virtual Reality (VR), which demand simultaneous guarantees for high data rates, ultra low latency, and high reliability. These stringent and multidimensional QoS needs call for more intelligent and adaptive solutions. In this paper, we propose QDRLLA (QoS-aware Deep Reinforcement Learning-based Link Adaptation), a novel framework that employs deep reinforcement learning to …

Privacy-Preserved And Incentivized Knowledge Sharing For Reinforced-Learning Based Iot Platform Security, Weichao Wang, Md Morshed Alam, Yu Wang

School of Cybersecurity Faculty Publications

With the fast development and deep penetration of IoT devices and smart environments, using localized machine learning models to detect malicious activities has also been developed and deployed. However, these isolated learning models and results cannot be effectively federated together because of privacy concerns and lack of incentivization. This paper proposed several mechanisms to solve the problem. A verification method was designed for phased learning results to protect user privacy and prevent individual parties from manipulating the verification selection. The paper also presented an incentive method based on delay of distribution of the latest federated learning results. Extensive simulations were …

Security Enhancement In Uav Swarms: A Case Study Using Federated Learning And Shap Analysis, Sushmitha Halli Sudhakara, Lida Haghnegahdar

School of Cybersecurity Faculty Publications

As cyber-physical systems (CPSs) increasingly integrate physical and digital realms, securing critical infrastructure, such as the Port of Virginia, becomes paramount. Among CPSs, Unmanned Aerial Vehicles (UAVs) are vital for monitoring, communication, and supporting the command and control through remote reconnaissance and surveillance missions. These UAV applications often require coordination, planning, and runtime reconfiguration, traditionally managed by human decision-makers. However, this approach has limitations, as extensively documented in the literature. Artificial Intelligence (AI) has emerged as a pivotal tool to address these limitations, enhancing risk mitigation and informed decision-making. This research proposes a machine learning (ML) based security mechanism, leveraging …

Problem-Centered Post-Secondary Computer Science Education: A Study Of The Private Artificial Intelligence Curriculum, Golnoush Haddadian, Prajwal Panzade, Daniel Takabi, Min Kyu Kim

School of Cybersecurity Faculty Publications

In response to the demand for Artificial Intelligence (AI) experts, this study introduced a curriculum development initiative. The aim was to design and implement a Private AI curriculum to understand the computer science (CS) students’ evaluations of the curricular activities and their levels of interest and motivation. Twenty-five students, a mix of undergraduates and graduates, were recruited and a scaled-down version of the curriculum was implemented. A parallel mixed-methods approach was employed. The results reinforced the significance of problem-centered curricula in CS context. Students rated the curricular activities highly and demonstrated strong motivation; however, graduates expressed more favorable view of …

Security Enhancement In Aav Swarms: A Case Study Using Federated Learning And Shap Analysis, Sushmitha Halli Sudhakara, Lida Haghnegahdar

School of Cybersecurity Faculty Publications

As cyber-physical systems (CPSs) increasingly integrate physical and digital realms, securing critical infrastructure, such as the Port of Virginia, becomes paramount. Among CPSs, Autonomous Aerial Vehicles (AAVs) are vital for monitoring, communication, and supporting the command and control through remote reconnaissance and surveillance missions. These AAV applications often require coordination, planning, and runtime reconfiguration, traditionally managed by human decision-makers. However, this approach has limitations, as extensively documented in the literature. Artificial Intelligence (AI) has emerged as a pivotal tool to address these limitations, enhancing risk mitigation and informed decision-making. This research proposes a machine learning (ML) based security mechanism, leveraging …

An Integrated Machine Learning Approach For Identifying Emergency Rescue Messages On Social Media During Natural Disasters, Wael Khallouli, Jiang Li, Jingwei Huang, Ghaith Rabadi, Samuel Kovacic

School of Cybersecurity Faculty Publications

During large-scale disasters, emergency call centers are often overwhelmed by the large volume of rescue requests and calls for help. Consequently, people are turning to social media platforms to seek assistance. Rescue information posted on these platforms is extremely valuable for first responders to make informed rescue decisions. Therefore, the automatic identification of these requests from the vast amount of data posted on social media during crises is critical yet challenging. This work presents our ongoing research on applying deep learning techniques to extract actionable rescue information from social media during crises. We proposed a novel deep learning model that …

Tl-Convlstm: A Transfer-Learning-Based Convolutional Lstm To Identify And Forecast Traffic In The Nextg Environments, Bikash Chandra Singh, Peter Foytik, Rafael Diaz, Sachin Shetty

School of Cybersecurity Faculty Publications

Forecasting and categorizing cellular traffic flows and their types are essential functions in intelligent network systems to ensure efficient network optimization. The ever-evolving nature of 5G networks results in fluctuations in traffic patterns over time, leading to a phenomenon known as model drift. Consequently, accurately predicting and identifying cellular traffic patterns becomes a complex task. To tackle this challenge, this article introduces an innovative approach called TL-ConvLSTM, which combines transfer learning with convolutional long short-term memory (ConvLSTM) to effectively combat model drift and provide precise forecasting and recognition of cellular traffic within the network. To accomplish this, we initiate the …

Streamlining The Data Mining Process Through Ai-Driven Prompt Templates, Mia Montevirgen, Drew Yan, Clara Lu, Laurent Shen, Weihong Ni

Capstone Showcase

With the increasing use and relevancy of AI in the world, this project aims to harness the power of AI, specifically ChatGPT, to streamline the process of data mining workflows. By developing custom prompt templates, this project seeks to utilize OpenAI API to assist with key data mining tasks, including data understanding, importing, and cleaning. This approach aims to increase workflow speed, reproducibility, and accessibility in data mining projects. The effectiveness of these prompt templates is evaluated by applying them to diverse datasets and assessing their impact on accuracy, efficiency, and reproducibility. Overall, the project highlights the potential to use …

On The Applicability Of Generating Pathological Speech Data Using Large Language Models, Caroline Hopkins

SURF Posters 2025

Pathological speech data is scarce in Speech-Language Pathology (SLP). Synthetic data, thus, is an appealing alternative. It extends the amount of usable data without the risk for privacy concerns that naturally occurring data may bring. In this work, a collection of Large-Language-Model-based methods for generating synthetic pathological speech data are studied. Human experts in SLP as judges delivered negative opinions on the quality of the synthetic data generated by a variety of prompt engineering methods. From the judgements, the resulting data was found to be weak in reflecting the characteristics of the target disorders. Further research will involve fine-tuning the …

Leveraging Custom Gpts For Formative Assessment And Feedback, Nari Kim, Jason Vickers, Shaimaa Alyehaibi, Chikezie Ozuzu, Xinyue Ren, Suhasini Kotcherlakota

STEMPS Faculty Publications

As artificial intelligence (AI) advances, the use of custom generative pre-trained transformers (Custom GPTs) in formative assessments opens new opportunities for improving student learning and engagement. Custom GPTs increase cognitive and emotional engagement by providing timely, context-sensitive, and tailored responses based on unique learner profiles. This paper aims to investigate how custom GPT-driven formative feedback can enhance individualized learning experiences and improve student performance. This paper will discuss the promise of this AI tool, the challenges associated with its application, and recommendations for educators and academics looking to use these technologies for formative assessments.

Leveraging Transformer-Based Ocr Model With Generative Data Augmentation For Engineering Document Recognition, Wael Khallouli, Mohammad Shahab Uddin, Andres Sousa-Poza, Jiang Li, Samuel Kovacic

Engineering Management & Systems Engineering Faculty Publications

The long-standing practice of document-based engineering has resulted in the accumulation of a large number of engineering documents across various industries. Engineering documents, such as 2D drawings, continue to play a significant role in exchanging information and sharing knowledge across multiple engineering processes. However, these documents are often stored in non-digitized formats, such as paper and portable document format (PDF) files, making automation difficult. As digital engineering transforms processes in many industries, digitizing engineering documents presents a crucial challenge that requires advanced methods. This research addresses the problem of automatically extracting textual content from non-digitized legacy engineering documents. We introduced …