Artificial Intelligence and Robotics Commons^™

Conditioning Hierarchical Diffusion Transformers On Rf Circuit Parameters, Ethan Morton

McKelvey School of Engineering Graduate Student Theses & Dissertations

As modern ML techniques have become increasingly advanced, they have begun to be integrated into wireless RF systems for classification, identification, and spectrum management. Deep Neural Networks (DNNs) enable RF system operators and designers to design more flexible systems with greater robustness to errors and attacks. However, neural networks require significant amounts of properly annotated data to train. Current data labeling methods lack the ability to obtain reliable true labels for circuit properties such as carrier frequency offset (CFO), power amplifier (PA) non-linearity, and in-phase/quadrature (IQ) imbalance. This thesis investigates the efficacy of a novel architecture, RF-Diffusion, for generating high-quality …

The Quality Assurance Machine – A Software Quality Assurance Architecture For Ml-Enabled Systems, Shane E. Downing

All-Inclusive List of Electronic Theses and Dissertations

This dissertation evaluates whether a reusable assurance architecture, the Quality Assurance Machine (QAM), can provide effective product and process quality assurance for ML-enabled software platforms. The QAM is a system-level SQA architecture that turns plans and policies into versioned configurations, executes them in controlled environments, and produces preserved run evidence that supports traceability, auditability, and controlled change. The study follows Design Science Research and evaluates the instantiated artifact using eight assurance requirements (AR1–AR8) synthesized from standards-based guidance, including IEEE 730 and ISO/IEC/IEEE 15026. A four-year longitudinal evaluation combines two methods. First, operational evidence from routine regression and release-validation runs, defect …

Enhancing Traffic Safety Through Ai-Driven, Privacy-Preserving, And Secure Impaired Driving Detection Systems, Razan Alsulieman

Dissertations

Drunk driving remains a major threat to road safety worldwide, contributing significantly to traffic injuries and fatalities each year. Traditional detection approaches are largely reactive and vehicle-centric, relying on in-vehicle sensors, breathalyzers, or post-incident enforcement. These methods often depend on driver cooperation, intrusive hardware installations, or limited monitoring environments, restricting their scalability and effectiveness in large transportation systems. At the same time, modern cities increasingly deploy roadside cameras, surveillance networks, and drone- based monitoring systems, creating new opportunities for proactive intoxication detection at the infrastructure level. However, leveraging such external monitoring introduces challenges related to secure data collection, reliable AI-based …

Robustness Of Vision Language Models For Pedestrian Detection Tasks, Ostonya K. Thomas

All Theses

Autonomous vehicle (AV) systems typically employ modular systems in which discrete components handle separate tasks such as perception, computation, and path planning. While flexible, this approach allows errors to propagate and compound across the pipeline, and many AI systems offer little transparency into their internal decision-making. Such limitations are particularly concerning in safety-critical domains where failures can carry lethal consequences. Vision Language Models (VLMs) have emerged as a promising alternative because they support end-to-end implementations that bypass compounding error risks and provide natural language explanations of their outputs. Despite these advantages, prior research has demonstrated that both computer vision systems …

Beyond The Interface: Human Perceptions Of Generative-Ai Chatbots As Conversational Partners, Browning W.E. Blair

All Theses

Generative AI (gen-AI) chatbots are becoming embedded in everyday communicative life, yet it remains unclear whether users perceive these systems as socially reciprocative conversational partners. Therefore, this study examines how young adults understand and interact with gen-AI chatbots, focusing on perceptions of conversational partnership, anthropomorphism, politeness, discomfort, and technical understanding. Guided by the CASA framework, Media Equation Theory, and the uncanny valley hypothesis, this study employed four semi-structured, online focus groups with 15 undergraduate students and recent college graduates in the United States. Findings indicate that participants did not broadly perceive gen-AI chatbots as conversational partners in the interpersonal sense. …

Detecting Doubt In Reflective Learning: A Learning Analytics Study With Large And Small Language Models, Eng Lieh Ouh, Kar Way Tan, Siaw Ling Lo, Yuhao Zhang

Research Collection School Of Computing and Information Systems

Reflective learning enhances understanding, especially when instructors promptly address difficulties raised in student reflections. Automated doubt detection can reduce time for instructors, yet existing classification approaches take substantial time for manual annotation and model training. This paper investigates whether large and small language models (LLMs, SLMs) can automate doubt detection without time-consuming training. Using a dataset of anonymized student reflections, we evaluate zeroshot, few-shot prompting, and multi-step reasoning against prior supervised classification baselines. We show that LLMs (GPT-4o, Claude-4, Gemini-2.5) surpass earlier F1 scores without prompting, while prompting further improves their performance. However, using proprietary LLMs can raise cost and …

A Generative Ai Method For Minority Class Handling In Anomaly Detection With Drift And Explainability Analysis, Kelvin J. Mwiga, Mussa A. Dida, Ahmad Mohsin, Iqbal H. Sarker

Research outputs 2022 to 2026

Artificial Intelligence, particularly machine learning (ML) algorithms, plays a crucial role in detecting cyberattacks, including anomalies and intrusions. However, machine learning models trained on imbalanced cybersecurity datasets often struggle to accurately detect minority data instances and potential threats, thereby weakening overall system security. Despite extensive research, a persistent challenge is the inadequate explanation for model predictions concerning minority data classes. This study aims to address these limitations by developing a generative AI-based approach to manage minority classes in anomaly detection, incorporating concept drift handling and explainability analysis. We introduce an over-sampling technique, CGGReaT, designed to enhance the presence of minority …

Probing Representational Emergence In Large Language Models, Shawn Ismail

Master's Theses

This thesis investigates whether abrupt behavioral gains in large language models under scaling are accompanied by systematic changes in internal representations. It combines a behavioral screen of 65 tasks per family with targeted layerwise probing across eight decoder-only, open-weight model families. Behavioral emergence is defined for each family-task trajectory using an empirical jump detector, with segmented regression retained only as a diagnostic. The representational follow-up analyzes 27 selected MMLU subtasks shared across all families, spanning 37 checkpoints and 216 family-task units.

For each follow-up checkpoint, frozen linear probes are trained on every layer's hidden states to measure how much task-relevant …

Privacy Protection In Machine Learning: Methods For Structured And Unstructured Data, Karuna Bhaila

Graduate Theses and Dissertations

As machine learning models become increasingly integrated into data-driven decision-making, the protection of sensitive information throughout the model lifecycle is a paramount concern. As these models process and memorize sensitive, proprietary, or personal data, they risk leaking information through their outputs or internal states, especially in domains such as healthcare and finance. The protection of data in machine learning has thus been a crucial field of study. Within this paradigm, researchers have studied theoretical and application-oriented mechanisms for realizing privacy protections for various data formats. Nonetheless, privacy in machine learning still has many open problems, especially with the emergence of …

Toward Causal Generative Modeling: From Representation Learning To Controllable Generation, Aneesh Komanduri

Graduate Theses and Dissertations

The hallmark of human intelligence is causal reasoning, the ability to infer relationships between causes and effects through observation and intervention. While modern deep learning has excelled at identifying statistical patterns, current generative models often struggle to capture the underlying structural causal mechanisms of the data-generating process, leaving them vulnerable to shortcut learning and spurious associations. To achieve true generalizability and interpretability, artificial intelligence must transition from simple association to higher-level causal reasoning to be capable of scheduling and planning in the real world. This dissertation develops fundamental methodologies for causal generative modeling by integrating Pearl’s Structural Causal Model (SCM) …

Efficient Deep Neural Networks For Autonomous Perception, Reeshad Khan

Graduate Theses and Dissertations

Autonomous perception systems must operate reliably under uncertainty arising from noisy observations, incomplete supervision, and hardware constraints. This dissertation investigates the design of efficient deep neural networks for autonomous perception through a unified perspective that treats uncertainty, efficiency, and sensing as interconnected challenges. The first contribution develops adaptive extensions of unbiased risk estimators, including eSURE and ePURE, enabling unsupervised training of deep neural networks for magnetic resonance image denoising under Gaussian and Poisson noise. However, these methods rely on known noise assumptions, which motivates the second contribution: a unified diffusion and Bayesian risk framework that estimates and adapts to unknown …

Synthesis And Evaluation Of Long-Term History-Aware Medical Dialogue, Hebin Hu, Renke Dai, Ah-Hwee Tan, Yilin Kang

Research Collection School Of Computing and Information Systems

An effective healthcare agent must be able to recall and reason over a patient’s longitudinal medical history. However, the absence of datasets with realistic long-term dialogue timelines limits systematic evaluation. Real clinical text is constrained by privacy and ethics, while existing benchmarks focus on isolated interactions, failing to capture cross-session reasoning. We introduce a framework for synthesizing high-quality, long-term medical dialogues with LLMs. Our approach entails a knowledge-guided decomposition into three stages: constructing synthetic patient profiles with diverse disease and complication trajectories, generating multiturn dialogues per encounter, and integrating them into a coherent longitudinal history dataset, MediLongChat. We establish three …

Selective Concolic Testing, Guofeng Zhang, Zhenbang Chen, Ziqi Shuai, Jun Sun, Weijiang Hong, Yufeng Zhang, Ji Wang, Yang Liu

Research Collection School Of Computing and Information Systems

The principled combination of symbolic execution and random testing lacks a formal foundation, especially in deciding which inputs to symbolize. We propose selective concolic testing, a cost-aware framework that formulates this choice as an optimized policy problem of a MDP (Markov Decision Process). We model program exploration over a finite control-flow graph, where MDP states represent covered statements, actions partition path constraints into symbolic and random fragments, rewards reflect coverage gain, and costs account for SMT solving effort and sampling inefficiency. Our framework yields the first formal characterization of selective symbolization as policy synthesis in a probabilistic system. We prove …

Robots And Ageing Population – Rehabilitation And Social Robots, Yuzhou Qian, Keng Siau

Research Collection School Of Computing and Information Systems

Population ageing is placing increasing pressure on healthcare and caregiving worldwide. Governments in different countries are looking into the use of advanced information technologies such as artificial intelligence and robotics to help in caring for ageing population. Older adults often need both physical assistance and psychological support, and robots have emerged as a promising technological approach to supplement eldercare. This paper provides an overview of the current state of robots in eldercare. It reviews the major definitions, categories, and features of robots used in healthcare and eldercare. The paper also examines the potential benefits of robotic technologies, such as reducing …

Bayesian Deep Learning For Photovoltaic Power Forecasting: A Probabilistic Framework For Uncertainty Quantification And Grid Reliability Optimization, Pablo Abraham Bustamante

Open Access Theses & Dissertations

The global energy landscape is undergoing a profound transformation, driven by the urgent need to decarbonize power systems, enhance energy security, and meet growing electricity demands. Solar photovoltaic (PV) power has emerged as a critical component of future energy infrastructure due to its abundance, scalability, and cost-effectiveness. However, PV generation is inherently variable and weather-dependent, introducing significant uncertainty into grid operations and complicating the task of balancing supply and demand. Accurate forecasting of PV power generation-particularly on day-ahead and hour-ahead horizons-has become a strategic necessity for grid stability, economic efficiency, and environmental sustainability. PV output is influenced by numerous factors, …

Three Essays On Workplace Ethics And Ai: Conceptualizing, Scale Development, And Validation Of Self-Value Actualization, And Ai-Enabled High-Performance Work Systems, Mansura Nusrat

Open Access Theses & Dissertations

This dissertation advances understanding of workplace ethics and responsible AI integration across three interconnected essays unified by social cognitive theory. My first essay introduces self-value actualization (SVA), a novel construct defined as the dynamic, integrated psychological process through which individuals continually strive to align and fulfill their core moral values through observable professional behavior. Drawing on social cognitive theory and emotional intelligence theory, I conceptualize SVA as a higher-order self-regulatory orientation comprising three mutually reinforcing processes: value congruence, moral reflection, and adaptive morality. I developed and validated a 9-item SVA scale across four studies using expert panels, exploratory factor analysis, …

Penalty Approach To Constrained Optimization Problems In Water Reservoir And Energy Generation Management, Edwin Horacio Trejo

Open Access Theses & Dissertations

The growing demand for resilient and sustainable energy generation has driven interest in Hybrid Floating Photovoltaic-Hydropower (HFPVH) systems. Operating these systems effectively requires making water release decisions that satisfy physical and regulatory constraints while maximizing energy production. Prior work by Vega (2024) developed a Dynamic Outlier Filter Long Short-Term Memory (DOF-LSTM) architecture for forecasting reservoir release patterns. That predictive work is valid and addresses an important component of the HFPVH decision pipeline. However, the constraint system in that work operates externally to the learning process, and the behavior of penalty-based constraint enforcement had not been studied independently in this context. …

Aircraft Fault Detection Via Weight And Bias Analysis Of A Custom First Neural Network Layer, George Harrison Chen

Theses and Dissertations

Fault detection in aircraft is traditionally handled through redundant hardware and comparison algorithms to detect failures. Alternatives like model-based residual generation and data-driven approaches such as supervised fault classification and unsupervised anomaly detection have been explored, but they suffer from practical limitations; model-based methods require accurate system models, and data-driven methods have large constraints on the data limiting scalability and adaptability. This work presents a purely data-driven neural network architecture featuring a custom first layer designed for real-time fault detection where the weights and biases of this layer are used to detect faults. The network requires zero supervision and complements …

Adaptive Artificial Potential Field Guidance And Control For Autonomous Docking With Uncooperative And Unknown Spacecraft, Steven Holmberg

Theses and Dissertations

The increasing demand for on-orbit servicing (OOS), active debris removal (ADR), and space domain awareness (SDA) missions has increased the need for autonomous spacecraft rendezvous and proximity operations (RPO) with uncooperative and unknown targets. Traditional guidance and control methods are typically designed for cooperative systems with known geometry and state information. This work builds on previous research to develop and evaluate an artificial potential field (APF)-based control framework capable of autonomous operation with minimal prior target knowledge and applicability to both relatively static and tumbling spacecraft.

The proposed APF formulation incorporates established safety constructs from cooperative docking systems, including an …

Dementia Detection In Low-Resource Languages: Evaluating Translation-Assisted Transfer Learning For Multilingual Clinical Assessment, Kylar A. Deloach

Honors Theses

Alzheimer's disease (AD) is a growing global health concern, with millions of people affected worldwide and cases expected to rise significantly in the coming decades. Early detection is critical for patient treatment and care, and recent advances in natural language processing (NLP) have shown promise in identifying linguistic markers associated with AD. However, most existing work has focused on English, leaving speakers of other languages with limited access to such tools. This study investigates how effective AD detection models trained on English data are at transferring to Greek, a low-resource language with limited dementia-related speech data available. We propose a …