Artificial Intelligence and Robotics Commons^™

Exploring Strategies For Adapting Traditional Vehicle Design Frameworks To Autonomous Vehicle Design, Alex Munoz

Walden Dissertations and Doctoral Studies

Fully autonomous vehicles are expected to revolutionize transportation, reduce the cost of ownership, contribute to a cleaner environment, and prevent the majority of traffic accidents and related fatalities. Even though promising approaches for achieving full autonomy exist, developers and manufacturers have to overcome a multitude of challenged before these systems could find widespread adoption. This multiple case study explored the strategies some IT hardware and software developers of self-driving cars use to adapt traditional vehicle design frameworks to address consumer and regulatory requirements in autonomous vehicle designs. The population consisted of autonomous driving technology software and hardware developers who are …

Artificial Intelligence-Enhanced Decision Support For Informing Global Sustainable Development: A Human-Centric Ai-Thinking Approach, Meng-Leong How, Sin Mei Cheah, Yong-Jiet Chan, Aik Cheow Khor, Eunice Mei Ping Say

CCX Research

Sustainable development is crucial to humanity. Utilization of primary socio-environmental data for analysis is essential for informing decision making by policy makers about sustainability in development. Artificial intelligence (AI)-based approaches are useful for analyzing data. However, it was not easy for people who are not trained in computer science to use AI. The significance and novelty of this paper is that it shows how the use of AI can be democratized via a user-friendly human-centric probabilistic reasoning approach. Using this approach, analysts who are not computer scientists can also use AI to analyze sustainability-related EPI data. Further, this human-centric probabilistic …

A Comprehensive And Modular Robotic Control Framework For Model-Less Control Law Development Using Reinforcement Learning For Soft Robotics, Charles Sullivan

Open Access Theses & Dissertations

Soft robotics is a growing field in robotics research. Heavily inspired by biological systems, these robots are made of softer, non-linear, materials such as elastomers and are actuated using several novel methods, from fluidic actuation channels to shape changing materials such as electro-active polymers. Highly non-linear materials make modeling difficult, and sensors are still an area of active research. These issues have rendered typical control and modeling techniques often inadequate for soft robotics. Reinforcement learning is a branch of machine learning that focuses on model-less control by mapping states to actions that maximize a specific reward signal. Reinforcement learning has …

Abstraction Techniques In Security Games With Underlying Network Structure, Anjon Basak

Open Access Theses & Dissertations

In a multi-agent system, multiple intelligent agents interact with each other in an environment to achieve their objectives. They can do this because they know which actions are available to them and which actions they prefer to take in a particular situation. The job of game theory is to analyze the interactions of the intelligent agents by different solution techniques and provide analysis such as predicting outcomes or recommending courses of action to specific players. To do so game theory works with a model of real-world scenarios which helps us to make a better decision in our already complex daily …

The Ai Author In Litigation, Yvette Joy Liebesman, Julie Cromer Young

All Faculty Scholarship

Many scholars have posited whether a computer possessing Artificial Intelligence (AI) could be considered an author as defined per the Copyright Act of 1976. What was once a thought experiment is now becoming reality. To date, scholarship has focused primarily been on whether an AI meets the requirements of authorship from a purely objective legal framework or whether an AI could be an author based on the doctrines of incentives, independent creation, and creativity.

However, a burden inherent in the rights and liabilities of authorship is the ability to be held liable if that author’s expressive work is infringing on …

You Might Be A Robot, Bryan Casey, Mark A. Lemley

Cornell Law Review

As robots and artificial intelligence (Al) increase their influence over society, policymakers are increasingly regulating them. But to regulate these technologies, we first need to know what they are. And here we come to a problem. No one has been able to offer a decent definition of robots arid AI-not even experts. What's more, technological advances make it harder and harder each day to tell people from robots and robots from "dumb" machines. We have already seen disastrous legal definitions written with one target in mind inadvertently affecting others. In fact, if you are reading this you are (probably) not …

Classifying Relations Using Recurrent Neural Network With Ontological-Concept Embedding, Mario J. Lorenzo

CCAC Theses and Dissertations

Relation extraction and classification represents a fundamental and challenging aspect of Natural Language Processing (NLP) research which depends on other tasks such as entity detection and word sense disambiguation. Traditional relation extraction methods based on pattern-matching using regular expressions grammars and lexico-syntactic pattern rules suffer from several drawbacks including the labor involved in handcrafting and maintaining large number of rules that are difficult to reuse. Current research has focused on using Neural Networks to help improve the accuracy of relation extraction tasks using a specific type of Recurrent Neural Network (RNN). A promising approach for relation classification uses an RNN …

Law, Artificial Intelligence, And Natural Language Processing: A Funny Thing Happened On The Way To My Search Results, Paul D. Callister

Faculty Works

Renowned legal educator Roscoe Pound stated, “Law must be stable and yet it cannot stand still.” Yet, as Susan Nevelow Mart has demonstrated in a seminal article that the different online research services (Westlaw, Lexis Advance, Fastcase, Google Scholar, Ravel and Casetext) produce significantly different results when researching case law. Furthermore, a recent study of 325 federal courts of appeals decisions, revealed that only 16% of the cases cited in appellate briefs make it into the courts’ opinions. This does not exactly inspire confidence in legal research or its tools to maintain stability of the law. As Robert Berring foresaw, …

Towards Robust Artificial Intelligence Systems, Sunny Raj

Electronic Theses and Dissertations, 2020-2023

Adoption of deep neural networks (DNNs) into safety-critical and high-assurance systems has been hindered by the inability of DNNs to handle adversarial and out-of-distribution input. State-of-the-art DNNs misclassify adversarial input and give high confidence output for out-of-distribution input. We attempt to solve this problem by employing two approaches, first, by detecting adversarial input and, second, by developing a confidence metric that can indicate when a DNN system has reached its limits and is not performing to the desired specifications. The effectiveness of our method at detecting adversarial input is demonstrated against the popular DeepFool adversarial image generation method. On a …

Unitary And Symmetric Structure In Deep Neural Networks, Kehelwala Dewage Gayan Maduranga

Theses and Dissertations--Mathematics

Recurrent neural networks (RNNs) have been successfully used on a wide range of sequential data problems. A well-known difficulty in using RNNs is the vanishing or exploding gradient problem. Recently, there have been several different RNN architectures that try to mitigate this issue by maintaining an orthogonal or unitary recurrent weight matrix. One such architecture is the scaled Cayley orthogonal recurrent neural network (scoRNN), which parameterizes the orthogonal recurrent weight matrix through a scaled Cayley transform. This parametrization contains a diagonal scaling matrix consisting of positive or negative one entries that can not be optimized by gradient descent. Thus the …

Perceptions, Potholes, And Possibilities Of Using Digital Voice Assistants To Differentiate Instructions, Adrian A. Weir

Walden Dissertations and Doctoral Studies

Access to technologies and understanding the potential uses of technology to differentiate instruction have been a concern for the teachers and students in a local school district located in the southeastern United States. Despite the emergence of digital voice assistants (DVAs) as tools for instructions, teachers lack knowledge and strategies for using DVAs to differentiate instruction in their classrooms. The purpose of this qualitative study was to identify teacher knowledge and strategies employed among special education (SPED) teachers using DVAs to differentiate instruction in their classrooms. The concepts of Carol Tomlinson’s differentiation theory and Mishra and Koehler’s TPACK framework served …

Orthogonal Recurrent Neural Networks And Batch Normalization In Deep Neural Networks, Kyle Eric Helfrich

Theses and Dissertations--Mathematics

Despite the recent success of various machine learning techniques, there are still numerous obstacles that must be overcome. One obstacle is known as the vanishing/exploding gradient problem. This problem refers to gradients that either become zero or unbounded. This is a well known problem that commonly occurs in Recurrent Neural Networks (RNNs). In this work we describe how this problem can be mitigated, establish three different architectures that are designed to avoid this issue, and derive update schemes for each architecture. Another portion of this work focuses on the often used technique of batch normalization. Although found to be successful …

Attack Detection And Mitigation In Mobile Robot Formations, Arnold Fernandes

Masters Theses

"A formation of cheap and agile robots can be deployed for space, mining, patrolling, search and rescue applications due to reduced system and mission cost, redundancy, improved system accuracy, reconfigurability, and structural flexibility. However, the performance of the formation can be altered by an adversary. Therefore, this thesis investigates the effect of adversarial inputs or attacks on a nonholonomic leader-follower-based robot formation and introduces novel detection and mitigation schemes.

First, an observer is designed for each robot in the formation in order to estimate its state vector and to compute the control law. Based on the healthy operation of the …

Coverage Guided Differential Adversarial Testing Of Deep Learning Systems, Jianmin Guo, Houbing Song, Yue Zhao, Yu Jiang

Publications

Deep learning is increasingly applied to safety-critical application domains such as autonomous cars and medical devices. It is of significant importance to ensure their reliability and robustness. In this paper, we propose DLFuzz, the coverage guided differential adversarial testing framework to guide deep learing systems exposing incorrect behaviors. DLFuzz keeps minutely mutating the input to maximize the neuron coverage and the prediction difference between the original input and the mutated input, without manual labeling effort or cross-referencing oracles from other systems with the same functionality. We also design multiple novel strategies for neuron selection to improve the neuron coverage. The …

Estimating Free-Flow Speed With Lidar And Overhead Imagery, Armin Hadzic

Theses and Dissertations--Computer Science

Understanding free-flow speed is fundamental to transportation engineering in order to improve traffic flow, control, and planning. The free-flow speed of a road segment is the average speed of automobiles unaffected by traffic congestion or delay. Collecting speed data across a state is both expensive and time consuming. Some approaches have been presented to estimate speed using geometric road features for certain types of roads in limited environments. However, estimating speed at state scale for varying landscapes, environments, and road qualities has been relegated to manual engineering and expensive sensor networks. This thesis proposes an automated approach for estimating free-flow …

Deep Neural Architectures For End-To-End Relation Extraction, Tung Tran

Theses and Dissertations--Computer Science

The rapid pace of scientific and technological advancements has led to a meteoric growth in knowledge, as evidenced by a sharp increase in the number of scholarly publications in recent years. PubMed, for example, archives more than 30 million biomedical articles across various domains and covers a wide range of topics including medicine, pharmacy, biology, and healthcare. Social media and digital journalism have similarly experienced their own accelerated growth in the age of big data. Hence, there is a compelling need for ways to organize and distill the vast, fragmented body of information (often unstructured in the form of natural …

Temporal Data Extraction And Query System For Epilepsy Signal Analysis, Yan Huang

Theses and Dissertations--Computer Science

The 2016 Epilepsy Innovation Institute (Ei2) community survey reported that unpredictability is the most challenging aspect of seizure management. Effective and precise detection, prediction, and localization of epileptic seizures is a fundamental computational challenge. Utilizing epilepsy data from multiple epilepsy monitoring units can enhance the quantity and diversity of datasets, which can lead to more robust epilepsy data analysis tools. The contributions of this dissertation are two-fold. One is the implementation of a temporal query for epilepsy data; the other is the machine learning approach for seizure detection, seizure prediction, and seizure localization. The three key components of our temporal …

Landing Throttleable Hybrid Rockets With Hierarchical Reinforcement Learning In A Simulated Environment, Francesco Alessandro Stefano Mikulis-Borsoi

Honors Theses and Capstones

In this paper, I develop a hierarchical Markov Decision Process (MDP) structure for completing the task of vertical rocket landing. I start by covering the background of this problem, and formally defining its constraints. In order to reduce mistakes while formulating different MDPs, I define and develop the criteria for a standardized MDP definition format. I then decompose the problem into several sub-problems of vertical landing, namely velocity control and vertical stability control. By exploiting MDP coupling and symmetrical properties, I am able to significantly reduce the size of the state space compared to a unified MDP formulation. This paper …

Confusion Detection From Facial Expression Using Deep Neural Network, Nun Vanichkul

Chulalongkorn University Theses and Dissertations (Chula ETD)

Confusion is the most frequently observed emotion in daily life and can greatly affect the effectiveness and efficiency of communication. Detecting the confusion from learners and resolving timely is critical for achieving successful teaching in education. Most Facial Expression Recognition (FER) research works focus only on detecting six basic emotions: happiness, sadness, anger, fear, disgust, and surprise. Even though the confusion detection problem gains more attention from researchers recently, analysis of both spatial and temporal information with sufficient data is still short. In this study, we present a spatial-temporal network for confusion detection on video level which was trained on …

Deep Learning For Digitized Histology Image Analysis, Sudhir Sornapudi

Doctoral Dissertations

“Cervical cancer is the fourth most frequent cancer that affects women worldwide. Assessment of cervical intraepithelial neoplasia (CIN) through histopathology remains as the standard for absolute determination of cancer. The examination of tissue samples under a microscope requires considerable time and effort from expert pathologists. There is a need to design an automated tool to assist pathologists for digitized histology slide analysis. Pre-cervical cancer is generally determined by examining the CIN which is the growth of atypical cells from the basement membrane (bottom) to the top of the epithelium. It has four grades, including: Normal, CIN1, CIN2, and CIN3. In …