Artificial Intelligence and Robotics Commons^™

Nonlinear Phase Space Analysis For Anomaly Detection In Ros 2 Communications: Detecting Man-In-The-Middle Attacks In Simulated Environments, William L. Locklier

Graduate Theses and Dissertations (2019 - present)

Robot Operating System 2 (ROS 2) marks a significant advancement over its predecessor through the transition from a centralized to a decentralized architecture, integrating the Data Distribution Service (DDS) to support real-time, scalable communications. Despite these improvements, inherent vulnerabilities in the ROS 2 communication stack continue to leave these systems exposed to sophisticated network-based attacks. This study leveraged nonlinear phase space analysis (NLPSA) as an intrusion detection system (IDS) to detect man-in-the-middle (MitM) attack anomalies in ROS 2 traffic. Grounded in Takens’ embedding theorem, NLPSA reconstructs the phase space of communication features and compares the resulting structure against a baseline …

Adaptive Deep Learning In Physical Layer Applications, Ali Owfi

All Dissertations

Traditionally, signal processing models in communication systems have been designed based on solid foundations in statistics and information theory, often assuming linearity and optimizing for simplified models. However, real-world communication systems exhibit numerous imperfections and non-linearities that traditional linear models struggle to capture accurately. Deep Learning (DL)-based approaches, unconstrained by rigid mathematical models, have shown promise in optimizing system performance by accommodating specific hardware configurations and dynamic channel conditions as an alternative to the traditional methods. Despite all the recent research efforts on DL-based methods for physical layer applications, DL models have still not been widely applied to physical layer …

Privacy Preserving-Based Artificial Intelligence For Precision Agriculture, Partha P. Sengupta

Dissertations

The research work finds a solution to precision agriculture of cotton cultivation using artificial intelligence (AI) models. Two sets of model performance based on the application are selected namely a low resource and a high resource setting. This is because using drone surveys to capture images identifying the classes of stressed and unstressed cotton plantation requires limited model architecture and CPU based computation. Thus, traditional AI models were selected for low resource settings. Again, for high computation intensive models like transfer learning-convolution neural network (CNN) based architectures were grouped into high resource settings. There was another issue of class imbalance …

An Analysis Of Neuroidal Memory Formation Within D. Melanogaster, Jerry Chang

Master's Theses

The Neuroidal model poses a neurobiologically plausible theory for modeling the brain. This symbolic network has been shown to capture realistic memorization behaviors using the JOIN algorithm. The model has also been recently improved by incorporating Watts-Strogatz small-worlds within its base structure. From the efforts of neuroscience researchers, we have access to the Drosophila melanogaster (D. melanogaster) fruit fly’s connectome, which has been found to also contain small-worlds in this thesis. By synthesizing the Ocellar Ganglion (OCG) region of Drosophila, we compare a digitized version of a real-world brain with an instance of the Neuroidal model. In this thesis, we …

Curvilinear Image Segmentation Using Multiscale Variational U-Net, Rebekah Fortes

LSU New Orleans Theses and Dissertations

Segmentation of curvilinear structures such as water contours, cracks in cement, and vascular networks in biomedical imaging, poses unique challenges due to extreme class imbalance, irregular morphology, low contrast against complex backgrounds, and the need to preserve global connectivity while detecting fine-scale details. We propose a Multiscale Variational U-Net (MSVU-Net) architecture designed specifically to address these challenges. The model integrates multiscale convolutional filters to capture both global context and local detail, while embedding a variational model in the bottleneck layer to enhance structural representation. To mitigate class imbalance and improve fidelity, the network optimizes a hybrid loss function that combines …

A Bayesian Optimisation With Segmentation Approach To Optimising Liquid Handling Parameters, Estefania Yap, Viet Huynh, Calvin Vong, Peter Vogel, Viv Louzado, Thomas Barnes, Buser Say, Michael Burke, Dana Kulić, Aldeida Aleti

Research outputs 2022 to 2026

The automation of liquid handling has become integral in speeding up pharmaceutical development for faster drug development and more affordable treatments. However, the optimal parameters which define the aspirate and dispense procedures vary between liquids and liquid volumes, limiting transfer accuracy and precision. Even state-of-the-art liquid handling devices offer predefined parameters for only a handful of liquids and volumes, resulting in novel parameter sets being defined via a manual, time-consuming process. In this study, we propose an experimental framework for automating the optimisation of liquid class parameters for arbitrary liquids. Within our framework, we propose an optimisation and segmentation algorithm, …

Cattlefever: An Automated Cattle Fever Estimation System, Trong Thang Pham, Ethan Coffman, Beth Kegley, Jeremy G. Powell, Jiangchao Zhao, Ngan Le

Electrical Engineering and Computer Science Faculty Publications and Presentations

Farmers face the critical challenge of monitoring cattle well-being for both ethical and economic success, relying on signals like body temperature and facial expressions to assess their animals' health. However, these indicators have traditionally relied on human observation with manual measurement, which is time-consuming and subjective. Despite this clear need, no automated system currently exists for monitoring cattle body temperature, and available datasets remain limited in scope. To address these challenges, we make two key contributions: (i) We introduce CattleFace-RGBT, a novel RGB-Thermal (RGB-T) Cattle Facial Landmark dataset consisting of 2,300 paired RGB and thermal images (4,600 images in total), …

A Learning‑Augmented Dynamic Programming Approach For Orienteering Problem With Time Windows, Guansheng Peng, Lining Xing, Fuyan Song Ma, Aldy Gunawan, Aldy Gunawan

Research Collection School Of Computing and Information Systems

Recent years have witnessed a surge of interest in solving combinatorial optimization problems (COPs) using machine learning techniques. Motivated by this trend, we propose a learning-augmented exact approach for tackling an NP-hard COP, the Orienteering Problem with Time Windows, which aims to maximize the total score collected by visiting a subset of vertices in a graph within their time windows. Traditional exact algorithms rely heavily on domain expertise and meticulous design, making it hard to achieve further improvements. By leveraging deep learning models to learn effective relaxations of problem restrictions from data, our approach enables significant performance gains in an …

Agentguard: An Active Threat Discovery System For Package Confusion Using Multi-Agent Collaboration, Wei Ma, Yu Li, Zhi Chen, Ye Liu, Lingxiao Jiang, Qiang Hu, Junyi Tao

Research Collection School Of Computing and Information Systems

The proliferation of open-source software (OSS) has made software supply chains prime targets for attacks like Package Confusion, where adversaries publish malicious packages with names deceptively similar to legitimate ones. Existing detection methods often rely on simple lexical similarity or passive analysis of known package pairs, struggle with high false positive rates (FPR), fail to proactively identify emerging threats, and are vulnerable to adversarial evasion. To overcome these limitations, we introduce AgentGuard, a novel framework for proactive, single-input package confusion detection. AgentGuard employs a multi-agent architecture that autonomously discovers potential confusion targets using fine-tuned word embedding model to hybird semantic …

Registration Is A Powerful Rotation-Invariance Learner For 3d Anomaly Detection, Yuyang Yu, Zhengwei Chen, Xuemiao Xu, Lei Zhang, Haoxin Yang, Yongwei Nie, Shengfeng He

Research Collection School Of Computing and Information Systems

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature transformations and limited discriminative capacity, particularly in capturing local geometric details and achieving rotation invariance. These limitations become more pronounced when registration fails, leading to unreliable detection results. We argue that point-cloud registration plays an essential role not only in aligning geometric structures but also in guiding feature extraction toward rotation-invariant and locally discriminative representations. To this end, we propose a registration-induced, rotation-invariant feature extraction framework that integrates the objectives …

Rising From Ashes: Generalized Federated Learning Via Dynamic Parameter Reset, Jiahao Wu, Ming Hu, Yanxin Yang, Xiaofei Xie, Zekai Chen, Chenyu Song, Mingsong Chen

Research Collection School Of Computing and Information Systems

Although Federated Learning (FL) is promising for privacy-preserving collaborative model training, it suffers from low inference performance due to heterogeneous client data. Due to heterogeneous data across clients, FL training easily learns client-specific overfitting features. Existing FL methods adopt coarsegrained averaging, which can easily cause the global model to get stuck in local optima, leading to poor generalization. Specifically, this paper presents a novel FL framework, FedPhoenix, to address this issue. It stochastically resets partial parameters in each round to destroy some features of the global model, guiding FL training to learn multiple generalized features for inference rather than specific …

Instance-Level Video Depth In Groups Beyond Occlusions, Yuan Liang, Yang Zhou, Ziming Sun, Tianyi Xiang, Guiqing Li, Shengfeng He

Research Collection School Of Computing and Information Systems

Depth estimation in dynamic, multi-object scenes remains a major challenge, especially under severe occlusions. Existing monocular models, including foundation models, struggle with instance-wise depth consistency due to their reliance on global regression. We tackle this problem from two key aspects: data and methodology. First, we introduce the Group Instance Depth (GID) dataset, the first large-scale video depth dataset with instance-level annotations, featuring 101,500 frames from real-world activity scenes. GID bridges the gap between synthetic and real-world depth data by providing high-fidelity depth supervision for multi-object interactions. Second, we propose InstanceDepth, the first occlusion-aware depth estimation framework for multi-object environments. Our …

Efskip: A New Error Feedback With Linear Speedup For Compressed Federated Learning With Arbitrary Data Heterogeneity, Hongyan Bao, Pengwen Chen, Ying Sun, Zhize Li

Research Collection School Of Computing and Information Systems

Due to the communication bottleneck in distributed and decentralized federated learning applications, algorithms using compressed communication have attracted significant attention. The Error Feedback (EF) is a widely-studied compression framework for convergence with biased compressors such as top-k sparsification. Although various improvements have been obtained in recent years, the theoretical guarantee for EF-type framework is still limited. Previous works either 1) rely on strong assumptions such as bounded gradient/dissimilarity assumptions, thus can not deal with arbitrary data heterogeneity and also slow the convergence speed, or 2) can not enjoy linear speedup in the number of clients. In this work, we propose …

Synthetic Dataset For Understanding Negation In Text-Guided Image Editing, Nhat-Tan Bui

Graduate Theses and Dissertations

Negation is a fundamental linguistic concept used by humans to convey information that they do not desire. Despite this, minimal research has focused on negation within text-guided image editing. This lack of research means that vision-language models (VLMs) for image editing may struggle to understand negation, implying that they struggle to provide accurate results. One barrier to achieving human-level intelligence is the lack of a standard collection by which research into negation can be evaluated. This thesis presents the first large-scale dataset, Negative Instruction (NeIn), for studying negation within instruction-based image editing. Our dataset comprises 366,957 quintuplets, i.e., source image, …

Definition Of The 3d Position And Motion Status Of The Moving Heart Based On 2d Projections, Lawrence D. Orijuela

Electronic Theses, Projects, and Dissertations

This thesis presents a novel application of deep learning to the estimation of pulmonary vein coordinates using X-ray image pairs from a FORBILD Thorax phantom derived motion dataset. A Siamese neural network was developed to predict the 3D coordinates of one pulmonary vein at a time, specifically the Right Superior Pulmonary Vein (RSPV), Left Superior Pulmonary Vein (LSPV), Left Inferior Pulmonary Vein (LIPV), or Right Inferior Pulmonary Vein (RIPV), based on two-dimensional projection images.

The input data consisted of over 1.6 million grayscale X-ray image pairs across 1331 virtual patients, each annotated with ground truth 3D coordinates. To manage memory …

Marsanywhere: Dataset And Cross-View Diffusion Model For Satellite-To-Ground View Synthesis With Mars Data, Benjamin T. Hinchliff

Master's Theses

Satellite-to-ground view synthesis aims to create a realistic ground view image from a corresponding satellite view image. This is a well-studied problem for street level imagery, with good results being achieved by using modern image synthesis techniques such as diffusion models. However, despite the public availability of satellite and ground level imagery on Mars, these techniques have yet to be applied to the domain due to difficulties in collating and processing the data into a usable form. We address this deficiency by creating a dataset consisting of ground view panorama imagery from the Perseverance rover, along with associated satellite view …

Topic Modeling And Culturomic Analysis Of 30,000 Books Over 100 Years Using Gensim, Michael A. Freeman

Electronic Theses and Dissertations

This thesis explores the cultural influence of historical events on English-language fiction published between 1820 and 1929. Using a corpus of 30,256 digitized books from Project Gutenberg, Latent Dirichlet Allocation (LDA) topic modeling was applied to identify recurring themes across eleven decades. The study sought to determine whether historically significant events could be detected within fictional narratives. One clear instance emerged: Napoleon Bonaparte and the Napoleonic Wars appeared explicitly in the 1820s corpus. Beyond this, several thematic patterns were observed—such as maritime language in the 1840s, national identity in the 1880s, and youth-oriented dialogue in the early 20th century—that plausibly …

Understanding Bias And Fairness In Large Language Models: An Empirical Study, Joshua Johnson

Electrical Engineering and Computer Science Undergraduate Honors Theses

This thesis investigates demographic bias in large language models (LLMs) through the use of evaluating outcome disparities when utilized in decision making tasks as well as underlying associations that could contribute to furthering these disparities. Using profiles from the Adult dataset, we analyze how Gemini 2.0 Flash performs in an income prediction task using zero-shot and few-shot prompting methods. Our findings show that models exhibit measurable differences in demographic parity and false positive rates, with the use of few-shot prompting reducing these disparities. Alongside this line of testing, we tested associational bias in Qwen 2.5 using probability based association tests …

Safe-Sora: Safe Text-To-Video Generation Via Graphical Watermarking, Zihan Su, Xuerui Qiu, Hongbin Xu, Tangyu Jiang, Jun-Hao Zhuang, Chun Yuan, Ming Li, Shengfeng He, Fei Yu

Research Collection School Of Computing and Information Systems

The explosive growth of generative video models has amplified the demand for reliable copyright preservation of AI-generated content. Despite its popularity in image synthesis, invisible generative watermarking remains largely underexplored in video generation. To address this gap, we propose Safe-Sora, the first framework to embed graphical watermarks directly into the video generation process. Motivated by the observation that watermarking performance is closely tied to the visual similarity between the watermark and cover content, we introduce a hierarchical coarse-to-fine adaptive matching mechanism. Specifically, the watermark image is divided into patches, each assigned to the most visually similar video frame, and further …

Iostom: Offline Imitation Learning From Observations Via State Transition Occupancy Matching, Quang Anh Pham, Brahmanage Janaka Chathuranga Thilakarathna, Tien Mai, Akshat Kumar

Research Collection School Of Computing and Information Systems

Offline Learning from Observations (LfO) focuses on enabling agents to imitate expert behavior using datasets that contain only expert state trajectories and separate transition data with suboptimal actions. This setting is both practical and critical in real-world scenarios where direct environment interaction or access to expert action labels is costly, risky, or infeasible. Most existing LfO methods attempt to solve this problem through state or state-action occupancy matching. They typically rely on pretraining a discriminator to differentiate between expert and non-expert states, which could introduce errors and instability—especially when the discriminator is poorly trained. While recent discriminator-free methods have emerged, …