Artificial Intelligence and Robotics Commons^™

An Adaptive Memory-Based Reinforcement Learning Controller, Keith August Cissell

Graduate Theses/Dissertations

Recently, the use of autonomous robots for exploration has drastically expanded--largely due to innovations in both hardware technology and the development of new artificial intelligence methods. The wide variety of robotic agents and operating environments has led to the creation of many unique control strategies that cater to each specific agent and their goal within an environment. Most control strategies are single purpose, meaning they are built from the ground up for each given operation. Here we present a single, reinforcement learning control solution for autonomous exploration intended to work across multiple agent types, goals, and environments. The solution presented …

Collaborative Robotic Path Planning For Industrial Spraying Operations On Complex Geometries, Steven Brown

Graduate Theses and Dissertations

Implementation of automated robotic solutions for complex tasks currently faces a few major hurdles. For instance, lack of effective sensing and task variability – especially in high-mix/low-volume processes – creates too much uncertainty to reliably hard-code a robotic work cell. Current collaborative frameworks generally focus on integrating the sensing required for a physically collaborative implementation. While this paradigm has proven effective for mitigating uncertainty by mixing human cognitive function and fine motor skills with robotic strength and repeatability, there are many instances where physical interaction is impractical but human reasoning and task knowledge is still needed. The proposed framework consists …

Living With Artificial Intelligence – Developing A Theory On Trust In Health Chatbots, Weiyu Wang, Keng Siau

Research Collection School Of Computing and Information Systems

The current world is AI-filled and AI-fueled. Humans need to be able to live in harmony with AI. In this research, we aim to develop a theory on Trust between human and health chatbots. With the development of intelligent personal assistants, chatbots are becoming common and ubiquitous. Chatbots can behave as a conversational partner, complete information acquisition, and provide responses to inquiries. Chatbots have been widely used in the healthcare area, supporting physicians and assisting patients. The potential threats to privacy issues and the unpredictable performances of the chatbots hindered people’s trust and adoption of the new technology. This research-in-progress …

Effectiveness Of Physical Robot Versus Robot Simulator In Teaching Introductory Programming, Oka Kurniawan, Norman Tiong Seng Lee, Subhajit Datta, Nachamma Sockalingam, Pey Lin Leong

Research Collection School Of Computing and Information Systems

This study reports the use of a physical robot and robot simulator in an introductory programming course in a university and measures students' programming background conceptual learning gain and learning experience. One group used physical robots in their lessons to complete programming assignments, while the other group used robot simulators. We are interested in finding out if there is any difference in the learning gain and experiences between those that use physical robots as compared to robot simulators. Our results suggest that there is no significant difference in terms of students' learning between the two approaches. However, the control group …

Automatic Identification Of Animals In The Wild: A Comparative Study Between C-Capsule Networks And Deep Convolutional Neural Networks., Joel Kamdem Teto, Ying Xie

Master of Science in Computer Science Theses

The evolution of machine learning and computer vision in technology has driven a lot of

improvements and innovation into several domains. We see it being applied for credit decisions, insurance quotes, malware detection, fraud detection, email composition, and any other area having enough information to allow the machine to learn patterns. Over the years the number of sensors, cameras, and cognitive pieces of equipment placed in the wilderness has been growing exponentially. However, the resources (human) to leverage these data into something meaningful are not improving at the same rate. For instance, a team of scientist volunteers took 8.4 years, …

Sequence Pattern Mining With Variables, James S. Okolica, Gilbert L. Peterson, Robert F. Mills, Michael R. Grimaila

Faculty Publications

Sequence pattern mining (SPM) seeks to find multiple items that commonly occur together in a specific order. One common assumption is that all of the relevant differences between items are captured through creating distinct items, e.g., if color matters then the same item in two different colors would have two items created, one for each color. In some domains, that is unrealistic. This paper makes two contributions. The first extends SPM algorithms to allow item differentiation through attribute variables for domains with large numbers of items, e.g, by having one item with a variable with a color attribute rather than …

Validation Study Of Image Recognition Algorithms, Jacob Miller, Jeremy Evert

Student Research

Developments in machine learning in recent years have created opportunities that previously never existed. One such field with an explosion of opportunity is image recognition, also known as computer vision; the process in which a machine analyzes a digital image.

In order for a machine to ‘see’ as a human does, it must break down the image in a process called image segmentation. The way the machine goes about doing this is important, and many algorithms exist to determine just how a machine will decide to group the pixels in an image.

This research is a validation study of related …

Multi-Resolution Analysis Of Large Molecular Structures And Interactions, Kasra Manavi

Computer Science ETDs

Simulation of large molecular structures and their interactions has become a major component of modern biomolecular research. Methods to simulate these type of molecules span a wide array of resolutions, from all atom molecular dynamics to model interaction energetics to systems of linear equations to evaluate population kinetics. In recent years, there has been an acceleration of molecular structural information production, primarily from x-ray crystallography and electron microscopy. This data has provided modelers the ability to produce better representations of these molecular structures. The purpose of this research is to take advantage of this information to develop multi-resolution models for …

Exploring Online Novelty Detection Using First Story Detection Models, Fei Wang, Robert J. Ross, John D. Kelleher

Conference papers

Online novelty detection is an important technology in understanding and exploiting streaming data. One application of online novelty detection is First Story Detection (FSD) which attempts to find the very first story about a new topic, e.g. the first news report discussing the “Beast from the East” hitting Ireland. Although hundreds of FSD models have been developed, the vast majority of these only aim at improving the performance of the detection for some specific dataset, and very few focus on the insight of novelty itself. We believe that online novelty detection, framed as an unsupervised learning problem, always requires a …

A Multi-Task Approach To Incremental Dialogue State Tracking, Anh Duong Trinh, Robert J. Ross, John D. Kelleher

Conference papers

Incrementality is a fundamental feature of language in real world use. To this point, however, the vast majority of work in automated dialogue processing has focused on language as turn based. In this paper we explore the challenge of incremental dialogue state tracking through the development and analysis of a multi-task approach to incremental dialogue state tracking. We present the design of our incremental dialogue state tracker in detail and provide evaluation against the well known Dialogue State Tracking Challenge 2 (DSTC2) dataset. In addition to a standard evaluation of the tracker, we also provide an analysis of the Incrementality …

Performance Of The Parallelized Monte-Carlo Tree Search Approach For Dots And Boxes, Pranay Agrawal, Uta Ziegler

Posters-at-the-Capitol

The Monte-Carlo tree search (MCTS) is a method designed to solve difficult learning problems. MCTS performs random simulations from the current situation and stores the results in order to distinguish decisions based on their past success. MCTS will then select the best decision and finally repeat the process. Parallelizing the MCTS means to divide the learning process among independent learners. Then, after a fixed number of simulations, the data is shared and combined. Past research has shown that this approach is faster than non-parallelized approaches. Therefore, we anticipated that the time reduced from dividing the learning outweighs the potential costs …

End-To-End Deep Learning Systems For Scene Understanding, Path Planning And Navigation In Fire Fighter Teams, Manish Bhattarai

Shared Knowledge Conference

Firefighting is a dynamic activity with many operations occurring simultaneously. Maintaining situational awareness, defined as knowledge of current conditions and activities at the scene, are critical to accurate decision making. Firefighters often carry various sensors in their personal equipment, namely thermal cameras, gas sensors, and microphones. Improved data processing techniques can mine this data more effectively and be used to improve situational awareness at all times thereby improving real-time decision making and minimizing errors in judgment induced by environmental conditions and anxiety levels. This objective of this research employs state of the art Machine Learning (ML) techniques to create an …

Gesture Recognition With Transparent Solar Cells, Dong Ma, Guohao Lan, Mahbub Hassan, Wen Hu, B. Mushfika Upama, Ashraf Uddin, Youseef, Moustafa

Research Collection School Of Computing and Information Systems

Transparent solar cell is an emerging solar energy harvesting technology that allows us to see through these cells. This revolutionary discovery is creating unique opportunities to turn any mobile device screen into solar energy harvester. In this paper, we consider the possibility of using such energy harvesting screens as a sensor to detect hand gestures. As different gestures impact the incident light on the screen in a different way, they are expected to create unique energy generation patterns for the transparent solar cell. Our goal is to recognize gestures by detecting these solar energy patterns. A key uncertainty we face …

Comparing Elm With Svm In The Field Of Sentiment Classification Of Social Media Text Data, Zhihuan Chen, Zhaoxia Wang, Zhiping Lin, Ting Yang

Research Collection School Of Computing and Information Systems

Machine learning has been used in various fields with thousands of applications. Extreme learning machine (ELM), which is the most recently developed machine learning algorithm, has become increasingly popular for its good generalization ability. However, it has been relatively less applied to the domain of social media. Support Vector Machine (SVM), another popular learning-based algorithm, has been applied for sentiment classification of social media text data and has obtained good results. This paper investigates and compares the capabilities of these two learning-based methods in the field of sentiment classification of social media. The results indicate that SVM can obtain good …

Improving Knowledge Tracing Model By Integrating Problem Difficulty, Sein Minn, Feida Zhu, Michel C. Desmarais

Research Collection School Of Computing and Information Systems

Intelligent Tutoring Systems (ITS) are designed for providing personalized instructions to students with the needs of their skills. Assessment of student knowledge acquisition dynamically is nontrivial during her learning process with ITS. Knowledge tracing, a popular student modeling technique for student knowledge assessment in adaptive tutoring, which is used for tracing student's knowledge state and detecting student's knowledge acquisition by using decomposed individual skill or problems with a single skill per problem. Unfortunately, recent KT models fail to deal with practices of complex skill composition and variety of concepts included in a problem simultaneously. Our goal is to investigate a …

Emotion Recognition Using Deep Convolutional Neural Network With Large Scale Physiological Data, Astha Sharma

USF Tampa Graduate Theses and Dissertations

Classification of emotions plays a very important role in affective computing and has real-world applications in fields as diverse as entertainment, medical, defense, retail, and education. These applications include video games, virtual reality, pain recognition, lie detection, classification of Autistic Spectrum Disorder (ASD), analysis of stress levels, and determining attention levels. This vast range of applications motivated us to study automatic emotion recognition which can be done by using facial expression, speech, and physiological data.

A person’s physiological signals such are heart rate, and blood pressure are deeply linked with their emotional states and can be used to identify a …

Cross-Referencing Social Media And Public Surveillance Camera Data For Disaster Response, Chittayong Surakitbanharn,, Calvin Yau, Guizhen Wang, Aniesh Chawla, Yinuo Pan, Zhaoya Sun, Sam Yellin, David Ebert, Yung-Hsiang Lu, George K. Thiruvathukal

Computer Science: Faculty Publications and Other Works

Physical media (like surveillance cameras) and social media (like Instagram and Twitter) may both be useful in attaining on-the-ground information during an emergency or disaster situation. However, the intersection and reliability of both surveillance cameras and social media during a natural disaster are not fully understood. To address this gap, we tested whether social media is of utility when physical surveillance cameras went off-line during Hurricane Irma in 2017. Specifically, we collected and compared geo-tagged Instagram and Twitter posts in the state of Florida during times and in areas where public surveillance cameras went off-line. We report social media content …

Linking Gait Dynamics To Mechanical Cost Of Legged Locomotion, David V. Lee, Sarah L. Harris

Life Sciences Faculty Research

For millenia, legged locomotion has been of central importance to humans for hunting, agriculture, transportation, sport, and warfare. Today, the same principal considerations of locomotor performance and economy apply to legged systems designed to serve, assist, or be worn by humans in urban and natural environments. Energy comes at a premium not only for animals, wherein suitably fast and economical gaits are selected through organic evolution, but also for legged robots that must carry sufficient energy in their batteries. Although a robot's energy is spent at many levels, from control systems to actuators, we suggest that the mechanical cost of …

From Rankings To Ratings: Rank Scoring Via Active Learning, Jack O'Neill, Sarah Jane Delany, Brian Mac Namee

Conference papers

In this paper we present RaScAL, an active learning approach to predicting real-valued scores for items given access to an oracle and knowledge of the overall item-ranking. In an experiment on six different datasets, we find that RaScAL consistently outperforms the state-of-the-art. The RaScAL algorithm represents one step within a proposed overall system of preference elicitations of scores via pairwise comparisons.

Applied Cognitive Computing And Artificial Intelligence: How Machines Learn To “Read” The Law, Vern R. Walker

Legal Tech Boot Camp

No abstract provided.