Theses and Dissertations
This collection includes both ASU Theses and Dissertations, submitted by graduate students, and the Barrett, Honors College theses submitted by undergraduate students.
Displaying 1 - 2 of 2
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- All Subjects: Systems science
- Creators: Davulcu, Hasan
Description
The dawn of Internet of Things (IoT) has opened the opportunity for mainstream adoption of machine learning analytics. However, most research in machine learning has focused on discovery of new algorithms or fine-tuning the performance of existing algorithms. Little exists on the process of taking an algorithm from the lab-environment into the real-world, culminating in sustained value. Real-world applications are typically characterized by dynamic non-stationary systems with requirements around feasibility, stability and maintainability. Not much has been done to establish standards around the unique analytics demands of real-world scenarios.
This research explores the problem of the why so few of the published algorithms enter production and furthermore, fewer end up generating sustained value. The dissertation proposes a ‘Design for Deployment’ (DFD) framework to successfully build machine learning analytics so they can be deployed to generate sustained value. The framework emphasizes and elaborates the often neglected but immensely important latter steps of an analytics process: ‘Evaluation’ and ‘Deployment’. A representative evaluation framework is proposed that incorporates the temporal-shifts and dynamism of real-world scenarios. Additionally, the recommended infrastructure allows analytics projects to pivot rapidly when a particular venture does not materialize. Deployment needs and apprehensions of the industry are identified and gaps addressed through a 4-step process for sustainable deployment. Lastly, the need for analytics as a functional area (like finance and IT) is identified to maximize the return on machine-learning deployment.
The framework and process is demonstrated in semiconductor manufacturing – it is highly complex process involving hundreds of optical, electrical, chemical, mechanical, thermal, electrochemical and software processes which makes it a highly dynamic non-stationary system. Due to the 24/7 uptime requirements in manufacturing, high-reliability and fail-safe are a must. Moreover, the ever growing volumes mean that the system must be highly scalable. Lastly, due to the high cost of change, sustained value proposition is a must for any proposed changes. Hence the context is ideal to explore the issues involved. The enterprise use-cases are used to demonstrate the robustness of the framework in addressing challenges encountered in the end-to-end process of productizing machine learning analytics in dynamic read-world scenarios.
This research explores the problem of the why so few of the published algorithms enter production and furthermore, fewer end up generating sustained value. The dissertation proposes a ‘Design for Deployment’ (DFD) framework to successfully build machine learning analytics so they can be deployed to generate sustained value. The framework emphasizes and elaborates the often neglected but immensely important latter steps of an analytics process: ‘Evaluation’ and ‘Deployment’. A representative evaluation framework is proposed that incorporates the temporal-shifts and dynamism of real-world scenarios. Additionally, the recommended infrastructure allows analytics projects to pivot rapidly when a particular venture does not materialize. Deployment needs and apprehensions of the industry are identified and gaps addressed through a 4-step process for sustainable deployment. Lastly, the need for analytics as a functional area (like finance and IT) is identified to maximize the return on machine-learning deployment.
The framework and process is demonstrated in semiconductor manufacturing – it is highly complex process involving hundreds of optical, electrical, chemical, mechanical, thermal, electrochemical and software processes which makes it a highly dynamic non-stationary system. Due to the 24/7 uptime requirements in manufacturing, high-reliability and fail-safe are a must. Moreover, the ever growing volumes mean that the system must be highly scalable. Lastly, due to the high cost of change, sustained value proposition is a must for any proposed changes. Hence the context is ideal to explore the issues involved. The enterprise use-cases are used to demonstrate the robustness of the framework in addressing challenges encountered in the end-to-end process of productizing machine learning analytics in dynamic read-world scenarios.
ContributorsShahapurkar, Som (Author) / Liu, Huan (Thesis advisor) / Davulcu, Hasan (Committee member) / Ameresh, Ashish (Committee member) / He, Jingrui (Committee member) / Tuv, Eugene (Committee member) / Arizona State University (Publisher)
Created2016
Description
Multi-sensor fusion is a fundamental problem in Robot Perception. For a robot to operate in a real world environment, multiple sensors are often needed. Thus, fusing data from various sensors accurately is vital for robot perception. In the first part of this thesis, the problem of fusing information from a LIDAR, a color camera and a thermal camera to build RGB-Depth-Thermal (RGBDT) maps is investigated. An algorithm that solves a non-linear optimization problem to compute the relative pose between the cameras and the LIDAR is presented. The relative pose estimate is then used to find the color and thermal texture of each LIDAR point. Next, the various sources of error that can cause the mis-coloring of a LIDAR point after the cross- calibration are identified. Theoretical analyses of these errors reveal that the coloring errors due to noisy LIDAR points, errors in the estimation of the camera matrix, and errors in the estimation of translation between the sensors disappear with distance. But errors in the estimation of the rotation between the sensors causes the coloring error to increase with distance.
On a robot (vehicle) with multiple sensors, sensor fusion algorithms allow us to represent the data in the vehicle frame. But data acquired temporally in the vehicle frame needs to be registered in a global frame to obtain a map of the environment. Mapping techniques involving the Iterative Closest Point (ICP) algorithm and the Normal Distributions Transform (NDT) assume that a good initial estimate of the transformation between the 3D scans is available. This restricts the ability to stitch maps that were acquired at different times. Mapping can become flexible if maps that were acquired temporally can be merged later. To this end, the second part of this thesis focuses on developing an automated algorithm that fuses two maps by finding a congruent set of five points forming a pyramid.
Mapping has various application domains beyond Robot Navigation. The third part of this thesis considers a unique application domain where the surface displace- ments caused by an earthquake are to be recovered using pre- and post-earthquake LIDAR data. A technique to recover the 3D surface displacements is developed and the results are presented on real earthquake datasets: El Mayur Cucupa earthquake, Mexico, 2010 and Fukushima earthquake, Japan, 2011.
On a robot (vehicle) with multiple sensors, sensor fusion algorithms allow us to represent the data in the vehicle frame. But data acquired temporally in the vehicle frame needs to be registered in a global frame to obtain a map of the environment. Mapping techniques involving the Iterative Closest Point (ICP) algorithm and the Normal Distributions Transform (NDT) assume that a good initial estimate of the transformation between the 3D scans is available. This restricts the ability to stitch maps that were acquired at different times. Mapping can become flexible if maps that were acquired temporally can be merged later. To this end, the second part of this thesis focuses on developing an automated algorithm that fuses two maps by finding a congruent set of five points forming a pyramid.
Mapping has various application domains beyond Robot Navigation. The third part of this thesis considers a unique application domain where the surface displace- ments caused by an earthquake are to be recovered using pre- and post-earthquake LIDAR data. A technique to recover the 3D surface displacements is developed and the results are presented on real earthquake datasets: El Mayur Cucupa earthquake, Mexico, 2010 and Fukushima earthquake, Japan, 2011.
ContributorsKrishnan, Aravindhan K (Author) / Saripalli, Srikanth (Thesis advisor) / Klesh, Andrew (Committee member) / Fainekos, Georgios (Committee member) / Thangavelautham, Jekan (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2016