Artificial Intelligence and Robotics Commons^™

Computer Vision Based Deep Learning Models For Cyber Physical Systems, Muhammad Monjurul Karim

Masters Theses

“Cyber-Physical Systems (CPSs) are complex systems that integrate physical systems with their counterpart cyber components to form a close loop solution. Due to the ability of deep learning in providing sensor data-based models for analyzing physical systems, it has received increased interest in the CPS community in recent years. However, developing vision data-based deep learning models for CPSs remains critical since the models heavily rely on intensive, tedious efforts of humans to annotate training data. Besides, most of the models have a high tradeoff between quality and computational cost. This research studies deep learning algorithms to achieve affordable and upgradable …

Image Features For Tuberculosis Classification In Digital Chest Radiographs, Brian Hooper

All Master's Theses

Tuberculosis (TB) is a respiratory disease which affects millions of people each year, accounting for the tenth leading cause of death worldwide, and is especially prevalent in underdeveloped regions where access to adequate medical care may be limited. Analysis of digital chest radiographs (CXRs) is a common and inexpensive method for the diagnosis of TB; however, a trained radiologist is required to interpret the results, and is subject to human error. Computer-Aided Detection (CAD) systems are a promising machine-learning based solution to automate the diagnosis of TB from CXR images. As the dimensionality of a high-resolution CXR image is very …

Toward Efficient Automation Of Interpretable Machine Learning Boosting, Nathan Neuhaus

All Master's Theses

Developing efficient automated methods for Interpretable Machine Learning (IML) is an important and long-term goal in the field of Artificial Intelligence. Currently the Machine Learning landscape is dominated by Neural Networks (NNs) and Support Vector Machines (SVMs), models which are often highly accurate. Despite high accuracy, such models are essentially “black boxes” and therefore are too risky for situations like healthcare where real lives are at stake. In such situations, so called “glass-box” models, such as Decision Trees (DTs), Bayesian Networks (BNs), and Logic Relational (LR) models are often preferred, however can succumb to accuracy limitations. Unfortunately, having to choose …

Mutual Information Decay Curves And Hyper-Parameter Grid Search Design For Recurrent Neural Architectures, Abhijit Mahalunkar, John Kelleher

Conference papers

We present an approach to design the grid searches for hyper-parameter optimization for recurrent neural architectures. The basis for this approach is the use of mutual information to analyze long distance dependencies (LDDs) within a dataset. We also report a set of experiments that demonstrate how using this approach, we obtain state-of-the-art results for DilatedRNNs across a range of benchmark datasets.

Remark On Artificial Intelligence, Humanoid And Terminator Scenario: A Neutrosophic Way To Futurology, Victor Christianto, Florentin Smarandache

Branch Mathematics and Statistics Faculty and Staff Publications

This article is an update of our previous article in this SGJ journal, titled: On Gödel's Incompleteness Theorem, Artificial Intelligence & Human Mind [7]. We provide some commentary on the latest developments around AI, humanoid robotics, and future scenario. Basically, we argue that a more thoughtful approach to the future is "technorealism."

A Comparative Analysis Of Reinforcement Learning Applied To Task-Space Reaching With A Robotic Manipulator With And Without Gravity Compensation, Jonathan Fugal

Theses and Dissertations--Electrical and Computer Engineering

Advances in computing power in recent years have facilitated developments in autonomous robotic systems. These robotic systems can be used in prosthetic limbs, wearhouse packaging and sorting, assembly line production, as well as many other applications. Designing these autonomous systems typically requires robotic system and world models (for classical control based strategies) or time consuming and computationally expensive training (for learning based strategies). Often these requirements are difficult to fulfill. There are ways to combine classical control and learning based strategies that can mitigate both requirements. One of these ways is to use a gravity compensated torque control with reinforcement …

Fast Decision-Making Under Time And Resource Constraints, Kyle Gabriel Lassak

Graduate Theses, Dissertations, and Problem Reports (ETD)

Practical decision makers are inherently limited by computational and memory resources as well as the time available in which to make decisions. To cope with these limitations, humans actively seek methods which limit their resource demands by exploiting structure within the environment and exploiting a coupling between their sensing and actuation to form heuristics for fast decision-making. To date, such behavior has not been replicated in artificial agents. This research explores how heuristics may be incorporated into the decision-making process to quickly make high-quality decisions through the analysis of a prominent case study: the outfielder problem. In the outfielder problem, …

Representation Learning With Adversarial Latent Autoencoders, Stanislav Pidhorskyi M.S.

Graduate Theses, Dissertations, and Problem Reports (ETD)

A large number of deep learning methods applied to computer vision problems require encoder-decoder maps. These methods include, but are not limited to, self-representation learning, generalization, few-shot learning, and novelty detection. Encoder-decoder maps are also useful for photo manipulation, photo editing, superresolution, etc. Encoder-decoder maps are typically learned using autoencoder networks.
Traditionally, autoencoder reciprocity is achieved in the image-space using pixel-wise
similarity loss, which has a widely known flaw of producing non-realistic reconstructions. This flaw is typical for the Variational Autoencoder (VAE) family and is not only limited to pixel-wise similarity losses, but is common to all methods relying upon …

Shipbuilding Supply Chain Framework And Digital Transformation: A Project Portfolios Risk Evaluation, Rafael Diaz, Katherine Smith, Rafael Landaeta, Antonio Padovano

VMASC Publications

Program portfolio managers in digital transformation programs have a need for knowledge that can guide decisions related to the alignment of program investments with the sustainability and strategic objectives of the organization. The purpose of this research is to illustrate the utility of a framework capable of clarifying the cost-benefit tradeoffs stemming from assessing digitalization program investment risks in the military shipbuilding sector. Our approach uses Artificial Neural Network to quantify benefits and risks per project while employing scenario analysis to quantify the effects of operational constraints. A Monte Carlo model is used to generate data samples that support the …

Certified Functions For Mesh Generation, Andrey N. Chernikov

Chemistry & Biochemistry Faculty Publications

Formal methods allow for building correct-by-construction software with provable guarantees. The formal development presented here resulted in certified executable functions for mesh generation. The term certified means that their correctness is established via an artifact, or certificate, which is a statement of these functions in a formal language along with the proofs of their correctness. The term is meaningful only when qualified by a specific set of properties that are proven. This manuscript elaborates on the precise statements of the properties being proven and their role in an implementation of a version of the Isosurface Stuffing algorithm by Labelle and …

Exploration And Implementation Of Neural Ordinary Differential Equations, Long Huu Nguyen, Andy Malinsky

Capstone Showcase

Neural ordinary differential equations (ODEs) have recently emerged as a novel ap- proach to deep learning, leveraging the knowledge of two previously separate domains, neural networks and differential equations. In this paper, we first examine the back- ground and lay the foundation for traditional artificial neural networks. We then present neural ODEs from a rigorous mathematical perspective, and explore their advantages and trade-offs compared to traditional neural nets.

A Comparative Study Of The Impact Of Depth In Deep Learning Architectures, Kirsten Byers

Open Access Theses & Dissertations

Machine Learning continues to evolve as applications become more complex. Neural Networks, or Deep Networks, are integral to machine learning and the entire taxonomy of Artificial Intelligence [Sze17]. Intelligent structures and algorithms continue to advance, keeping pace with the complexi-ty of data. Changes in architecture, algorithms, and parameters are necessary to keep up with com-putational complexity and data available. This study focuses on how changes in depth of the archi-tecture affect performance on three distinct datasets, including one on Heart Disease. An adaptable network is created in original code, trained, and tested on these datasets. Its performance parameters are observed …

Compound Vision Approach For Autonomous Vehicles Navigation, Michael Mikhael

Open Access Theses & Dissertations

An analogy can be made between the sensing that occurs in simple robots and drones and that in insects and crustaceans, especially in basic navigation requirements. Thus, an approach in robots/drones based on compound eye vision could be useful. In this research, several image processing algorithms were used to detect and track moving objects starting with images upon which a grid (compound eye image) was superimposed, including contours detection, the second moments of those contours along with the grid applied to the original image, and Fourier Transforms and inverse Fourier Transforms. The latter also provide information about scene or camera …

Deep Learning For Overhead Imagery: Algorithms And Applications, Anthony Manuel Ortiz Cepeda

Open Access Theses & Dissertations

Remote sensing using overhead imagery has critical impact to the way we understand our environment and offers crucial information for scene understanding, climate change research, disaster response, urban planning, forest management, and many other applications. At present, deep learning is increasingly used in remote sensing, but mostly borrowing algorithms developed for natural images in the computer vision community. Specific challenges arise while applying deep learning to remote sensing. These challenges include issues related to the high dimensionality and limited labeled data, security and robustness to adversarial attacks, and model generalization. In this Thesis we focus on tackling these key challenges. …

Comparing Predictive Performance Of Statistical Learning Models On Medical Data, Francis Biney

Open Access Theses & Dissertations

This work investigates the predictive performance of 10 Machine learning models on three medical data including Breast cancer, Heart disease and Prostate cancer. Furthermore, we use the models to identify risk factors that contribute significantly to these diseases.

The models considered include; Logistic regression with L1 and L_2 penalties, Principal component logistic regression(PCR-LR), Partial least squares logistic regression(PLS-LR), Multivariate adaptive regression splines(MARS), Support vector machine with Radial Basis Kernel (SVM-RBK), Random Forest(RF), Gradient Boosting Machines(GBM), Elastic Net (Enet) and Feedforward Neural Network(FFNN). The models were grouped according to their similarities and learning style; i) Linear regularized models: LR-Lasso, LR-Ridge and …

Could A Robot Be Your Psychotherapist?, Benjamin Huston

Graduate School of Professional Psychology: Doctoral Papers and Masters Projects

As technology has advanced over the years, it has been integrated into psychotherapy and changed the way that people receive mental health care (Schopp, Demiris, & Glueckauf, 2006). Many of these advances, such as telehealth practices, were seen as unsustainable until the public Internet offered broader access to technology-based care in the 1990s (Schopp, Demiris, & Glueckauf, 2006). These technology-based practices have since grown in popularity and with a recent increase in telehealth practices, text-based therapies, and applications to aid in mental health practices, modern therapy looks very different than it did even ten years ago (Fiske, Henningsen, & Buyx, …

Catgame: A Tool For Problem Solving In Complex Dynamic Systems Using Game Theoretic Knowledge Distribution In Cultural Algorithms, And Its Application (Catneuro) To The Deep Learning Of Game Controller, Faisal Waris

Wayne State University Dissertations

Cultural Algorithms (CA) are knowledge-intensive, population-based stochastic optimization methods that are modeled after human cultures and are suited to solving problems in complex environments. The CA Belief Space stores knowledge harvested from prior generations and re-distributes it to future generations via a knowledge distribution (KD) mechanism. Each of the population individuals is then guided through the search space via the associated knowledge. Previously, CA implementations have used only competitive KD mechanisms that have performed well for problems embedded in static environments. Relatively recently, CA research has evolved to encompass dynamic problem environments. Given increasing environmental complexity, a natural question arises …

Exploring Virtual Worlds With Cultural Algorithms: Ancient Alpena-Amberley Land Bridge, Thomas Joseph Palazzolo

Wayne State University Dissertations

In this thesis the Land Bridge system (DEEPDIVE) is described. The goal of the project is to use Artificial Intelligence technology to aid Archaeologists in the discovery of ancient prehistoric sites, now underwater. The example used here is the Alpena-Amberley Land Bridge that stretched across Lake Huron from Alpena in Michigan to Amberley in Ontario. During the Ice Age (around 10,000 years ago) it was above water for several thousand years. It was postulated that during that time it was used as a migration pathway for caribou, a major food source then. AI techniques were used to create a virtual …

Brian Valdez - Dynamics And Control Of A 3-Dof Manipulator With Deep Learning Feedback, Brian Orlando Valdez

Open Access Theses & Dissertations

With the ever-increasing demands in the space domain and accessibility to low-cost small satellite platforms for educational and scientific projects, efforts are being made in various technology capacities including robotics and artificial intelligence in microgravity. The MIRO Center for Space Exploration and Technology Research (cSETR) prepares the development of their second nanosatellite to launch to space and it is with that opportunity that a 3-DOF robotic arm is in development to be one of the payloads in the nanosatellite. Analyses, hardware implementation, and testing demonstrate a potential positive outcome from including the payload in the nanosatellite and a deep learning …

Comparison Of Object Detection And Patch-Based Classification Deep Learning Models On Mid- To Late-Season Weed Detection In Uav Imagery, Arun Narenthiran Veeranampalayam Sivakumar, Jiating Li, Stephen Scott, Eric T. Psota, Amit J. Jhala, Joe D. Luck, Yeyin Shi

Department of Agricultural and Biological Systems Engineering: Faculty Publications

Mid- to late-season weeds that escape from the routine early-season weed management threaten agricultural production by creating a large number of seeds for several future growing seasons. Rapid and accurate detection of weed patches in field is the first step of site-specific weed management. In this study, object detection-based convolutional neural network models were trained and evaluated over low-altitude unmanned aerial vehicle (UAV) imagery for mid- to late-season weed detection in soybean fields. The performance of two object detection models, Faster RCNN and the Single Shot Detector (SSD), were evaluated and compared in terms of weed detection performance using mean …