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Description
Complex systems appear when interaction among system components creates emergent behavior that is difficult to be predicted from component properties. The growth of Internet of Things (IoT) and embedded technology has increased complexity across several sectors (e.g., automotive, aerospace, agriculture, city infrastructures, home technologies, healthcare) where the paradigm of cyber-physical systems (CPSs) has become a standard. While CPS enables unprecedented capabilities, it raises new challenges in system design, certification, control, and verification. When optimizing system performance computationally expensive simulation tools are often required, and search algorithms that sequentially interrogate a simulator to learn promising solutions are in great demand. This class of algorithms are black-box optimization techniques. However, the generality that makes black-box optimization desirable also causes computational efficiency difficulties when applied real problems. This thesis focuses on Bayesian optimization, a prominent black-box optimization family, and proposes new principles, translated in implementable algorithms, to scale Bayesian optimization to highly expensive, large scale problems. Four problem contexts are studied and approaches are proposed for practically applying Bayesian optimization concepts, namely: (1) increasing sample efficiency of a highly expensive simulator in the presence of other sources of information, where multi-fidelity optimization is used to leverage complementary information sources; (2) accelerating global optimization in the presence of local searches by avoiding over-exploitation with adaptive restart behavior; (3) scaling optimization to high dimensional input spaces by integrating Game theoretic mechanisms with traditional techniques; (4) accelerating optimization by embedding function structure when the reward function is a minimum of several functions. In the first context this thesis produces two multi-fidelity algorithms, a sample driven and model driven approach, and is implemented to optimize a serial production line; in the second context the Stochastic Optimization with Adaptive Restart (SOAR) framework is produced and analyzed with multiple applications to CPS falsification problems; in the third context the Bayesian optimization with sample fictitious play (BOFiP) algorithm is developed with an implementation in high-dimensional neural network training; in the last problem context the minimum surrogate optimization (MSO) framework is produced and combined with both Bayesian optimization and the SOAR framework with applications in simultaneous falsification of multiple CPS requirements.
ContributorsMathesen, Logan (Author) / Pedrielli, Giulia (Thesis advisor) / Candan, Kasim (Committee member) / Fainekos, Georgios (Committee member) / Gel, Esma (Committee member) / Montgomery, Douglas (Committee member) / Zabinsky, Zelda (Committee member) / Arizona State University (Publisher)
Created2021
Description
Artificial intelligence is one of the leading technologies that mimics the problem solving and decision making capabilities of the human brain. Machine learning algorithms, especially deep learning algorithms, are leading the way in terms of performance and robustness. They are used for various purposes, mainly for computer vision, speech recognition, and object detection. The algorithms are usually tested inaccuracy, and they utilize full floating-point precision (32 bits). The hardware would require a high amount of power and area to accommodate many parameters with full precision. In this exploratory work, the convolution autoencoder is quantized for the working of an event base camera. The model is designed so that the autoencoder can work on-chip, which would sufficiently decrease the latency in processing. Different quantization methods are used to quantize and binarize the weights and activations of this neural network model to be portable and power efficient. The sparsity term is added to make the model as robust and energy-efficient as possible. The network model was able to recoup the lost accuracy due to binarizing the weights and activation's to quantize the layers of the encoder selectively. This method of recouping the accuracy gives enough flexibility to introduce the network on the chip to get real-time processing from systems like event-based cameras. Lately, computer vision, especially object detection have made strides in their object detection accuracy. The algorithms can sufficiently detect and predict the objects in real-time. However, end-to-end detection of the algorithm is challenging due to the large parameter need and processing requirements. A change in the Non Maximum Suppression algorithm in SSD(Single Shot Detector)-Mobilenet-V1 resulted in less computational complexity without change in the quality of output metric. The Mean Average Precision(mAP) calculated suggests that this method can be implemented in the post-processing of other networks.
ContributorsKuzhively, Ajay Balu (Author) / Cao, Yu (Thesis advisor) / Seo, Jae-Sun (Committee member) / Fan, Delian (Committee member) / Arizona State University (Publisher)
Created2021
Description
There has been a substantial development in the field of data transmission in the last two decades. One does not have to wait much for a high-definition video to load on the systems anymore. Data compression is one of the most important technologies that helped achieve this seamless data transmission experience. It helps to store or send more data using less memory or network resources. However, it appears that there is a limit on the amount of compression that can be achieved with the existing lossless data compression techniques because they rely on the frequency of characters or set of characters in the data. The thesis proposes a lossless data compression technique in which the data is compressed by representing it as a set of parameters that can reproduce the original data without any loss when given to the corresponding mathematical equation. The mathematical equation used in the thesis is the sum of the first N terms in a geometric series. Various changes are made to this mathematical equation so that any given data can be compressed and decompressed. According to the proposed technique, the whole data is taken as a single decimal number and replaced with one of the terms of the used equation. All the other terms of the equation are computed and stored as a compressed file. The performance of the developed technique is evaluated in terms of compression ratio, compression time and decompression time. The evaluation metrics are then compared with the other existing techniques of the same domain.
ContributorsGrewal, Karandeep Singh (Author) / Gonzalez Sanchez, Javier (Thesis advisor) / Bansal, Ajay (Committee member) / Findler, Michael (Committee member) / Arizona State University (Publisher)
Created2021
Description
Nowadays, the widespread use of distributed generators (DGs) raises significant challenges for the design, planning, and operation of power systems. To avoid the harm caused by excessive DGs, evaluating the reliability and sustainability of the system with high penetration of DGs is essential. The concept of hosting capacity (HC) is used to achieve this purpose. It is to assess the capability of a distribution grid to accommodate DGs without causing damage or updating facilities. To obtain the HC value, traditional HC analysis methods face many problems, including the computational difficulties caused by the large-scale simulations and calculations, lacking the considering temporal correlation from data to data, and the inefficient on real-time analysis. This paper proposes a machine learning-based method, the Spatial-Temporal Long Short-Term Memory (ST-LSTM), to overcome these drawbacks using the traditional HC analysis method. This method will significantly reduce the requirement of calculations and simulations, and obtain HC results in real-time. Using the time-series load profiles and the longest path method, ST-LSTMs can capture the temporal information and spatial information respectively. Moreover, compared with the basic Long Short-Term Memory (LSTM) model, this modified model will improve the performance in the HC analysis by some specific designs, which are the sensitivity gate to consider voltage sensitivity information, the dual forget gates to build spatial and temporal correlation.
ContributorsWu, Jiaqi (Author) / Weng, Yang (Thesis advisor) / Ayyanar, Raja (Committee member) / Cook, Elizabeth (Committee member) / Arizona State University (Publisher)
Created2021
Description
Recent years, there has been many attempts with different approaches to the human-robot interaction (HRI) problems. In this paper, the multi-agent interaction is formulated as a differential game with incomplete information. To tackle this problem, the parameter estimation method is utilized to obtain the approximated solution in a real time basis. Previous studies in the parameter estimation made the assumption that the human parameters are known by the robot; but such may not be the case and there exists uncertainty in the modeling of the human rewards as well as human's modeling of the robot's rewards. The proposed method, empathetic estimation, is tested and compared with the ``non-empathetic'' estimation from the existing works. The case studies are conducted in an uncontrolled intersection with two agents attempting to pass efficiently. Results have shown that in the case of both agents having inconsistent belief of the other agent's parameters, the empathetic agent performs better at estimating the parameters and has higher reward values, which indicates the scenarios when empathy is essential: when agent's initial belief is mismatched from the true parameters/intent of the agents.
ContributorsChen, Yi (Author) / Ren, Yi (Thesis advisor) / Zhang, Wenlong (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2021
Description
There is intense interest in adopting computer-aided diagnosis (CAD) systems, particularly those developed based on deep learning algorithms, for applications in a number of medical specialties. However, success of these CAD systems relies heavily on large annotated datasets; otherwise, deep learning often results in algorithms that perform poorly and lack generalizability. Therefore, this dissertation seeks to address this critical problem: How to develop efficient and effective deep learning algorithms for medical applications where large annotated datasets are unavailable. In doing so, we have outlined three specific aims: (1) acquiring necessary annotations efficiently from human experts; (2) utilizing existing annotations effectively from advanced architecture; and (3) extracting generic knowledge directly from unannotated images. Our extensive experiments indicate that, with a small part of the dataset annotated, the developed deep learning methods can match, or even outperform those that require annotating the entire dataset. The last part of this dissertation presents the importance and application of imaging in healthcare, elaborating on how the developed techniques can impact several key facets of the CAD system for detecting pulmonary embolism. Further research is necessary to determine the feasibility of applying these advanced deep learning technologies in clinical practice, particularly when annotation is limited. Progress in this area has the potential to enable deep learning algorithms to generalize to real clinical data and eventually allow CAD systems to be employed in clinical medicine at the point of care.
ContributorsZhou, Zongwei (Author) / Liang, Jianming (Thesis advisor) / Shortliffe, Edward H (Committee member) / Greenes, Robert A (Committee member) / Li, Baoxin (Committee member) / Arizona State University (Publisher)
Created2021
Description
Atmospheric turbulence distorts the path of light passing through the air. When capturing images at long range, the effects of this turbulence can cause substantial geometric distortion and blur in images and videos, degrading image quality. These become more pronounced with greater turbulence, scaling with the refractive index structure constant, Cn2. Removing effects of atmospheric turbulence in images has a range of applications from astronomical imaging to surveillance. Thus, there is great utility in transforming a turbulent image into a ``clean image" undegraded by turbulence. However, as the turbulence is space- and time-variant and statistically random, no closed-form solution exists for a function that performs this transformation. Prior attempts to approximate the solution include spatio-temporal models and lucky frames models, which require many images to provide a good approximation, and supervised neural networks, which rely on large amounts of simulated or difficult-to-acquire real training data and can struggle to generalize. The first contribution in this thesis is an unsupervised neural-network-based model to perform image restoration for atmospheric turbulence with state-of-the-art performance. The model consists of a grid deformer, which produces an estimated distortion field, and an image generator, which estimates the distortion-free image. This model is transferable across different datasets; its efficacy is demonstrated across multiple datasets and on both air and water turbulence. The second contribution is a supervised neural network to predict Cn2 directly from the warp field. This network was trained on a wide range of Cn2 values and estimates Cn2 with relatively good accuracy. When used on the warp field produced by the unsupervised model, this allows for a Cn2 estimate requiring only a few images without any prior knowledge of ground truth or information about the turbulence.
ContributorsWhyte, Cameron (Author) / Jayasuriya, Suren (Thesis advisor) / Espanol, Malena (Thesis advisor) / Speyer, Gil (Committee member) / Arizona State University (Publisher)
Created2021
Description
As technological advancements in silicon, sensors, and actuation continue, the development of robotic swarms is shifting from the domain of science fiction to reality. Many swarm applications, such as environmental monitoring, precision agriculture, disaster response, and lunar prospecting, will require controlling numerous robots with limited capabilities and information to redistribute among multiple states, such as spatial locations or tasks. A scalable control approach is to program the robots with stochastic control policies such that the robot population in each state evolves according to a mean-field model, which is independent of the number and identities of the robots. Using this model, the control policies can be designed to stabilize the swarm to the target distribution. To avoid the need to reprogram the robots for different target distributions, the robot control policies can be defined to depend only on the presence of a “leader” agent, whose control policy is designed to guide the swarm to a particular distribution. This dissertation presents a novel deep reinforcement learning (deep RL) approach to designing control policies that redistribute a swarm as quickly as possible over a strongly connected graph, according to a mean-field model in the form of the discrete-time Kolmogorov forward equation. In the leader-based strategies, the leader determines its next action based on its observations of robot populations and shepherds the swarm over the graph by probabilistically repelling nearby robots. The scalability of this approach with the swarm size is demonstrated with leader control policies that are designed using two tabular Temporal-Difference learning algorithms, trained on a discretization of the swarm distribution. To improve the scalability of the approach with robot population and graph size, control policies for both leader-based and leaderless strategies are designed using an actor-critic deep RL method that is trained on the swarm distribution predicted by the mean-field model. In the leaderless strategy, the robots’ control policies depend only on their local measurements of nearby robot populations. The control approaches are validated for different graph and swarm sizes in numerical simulations, 3D robot simulations, and experiments on a multi-robot testbed.
ContributorsKakish, Zahi Mousa (Author) / Berman, Spring (Thesis advisor) / Yong, Sze Zheng (Committee member) / Marvi, Hamid (Committee member) / Pavlic, Theodore (Committee member) / Pratt, Stephen (Committee member) / Ben Amor, Hani (Committee member) / Arizona State University (Publisher)
Created2021
Description
Computer vision and tracking has become an area of great interest for many reasons, including self-driving cars, identification of vehicles and drivers on roads, and security camera monitoring, all of which are expanding in the modern digital era. When working with practical systems that are constrained in multiple ways, such as video quality or viewing angle, algorithms that work well theoretically can have a high error rate in practice. This thesis studies several ways in which that error can be minimized.This thesis describes an application in a practical system. This project is to detect, track and count people entering different lanes at an airport security checkpoint, using CCTV videos as a primary source. This thesis improves an existing algorithm that is not optimized for this particular problem and has a high error rate when comparing the algorithm counts with the true volume of users.
The high error rate is caused by many people crowding into security lanes at the same time. The camera from which footage was captured is located at a poor angle, and thus many of the people occlude each other and cause the existing algorithm to miss people. One solution is to count only heads; since heads are smaller than a full body, they will occlude less, and in addition, since the camera is angled from above, the heads in back will appear higher and will not be occluded by people in front. One of the primary improvements to the algorithm is to combine both person detections and head detections to improve the accuracy.
The proposed algorithm also improves the accuracy of detections. The existing algorithm used the COCO training dataset, which works well in scenarios where people are visible and not occluded. However, the available video quality in this project was not very good, with people often blocking each other from the camera’s view. Thus, a different training set was needed that could detect people even in poor-quality frames and with occlusion. The new training set is the first algorithmic improvement, and although occasionally performing worse, corrected the error by 7.25% on average.
ContributorsLarsen, Andrei (Author) / Askin, Ronald (Thesis advisor) / Sefair, Jorge (Thesis advisor) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2021
Description
This work explores combining state-of-the-art \gls{mbrl} algorithms focused on learning complex policies with large state-spaces and augmenting them with distributional reward perspective on \gls{rl} algorithms. Distributional \gls{rl} provides a probabilistic reward formulation as opposed to the classic \gls{rl} formulation which models the estimation of this distributional return. These probabilistic reward formulations help the agent choose highly risk-averse actions, which in turn makes the learning more stable. To evaluate this idea, I experiment in simulation on complex high-dimensional environments when subject under different noisy conditions.
ContributorsAgarwal, Nikhil (Author) / Ben Amor, Heni (Thesis advisor) / Phielipp, Mariano (Committee member) / DV, Hemanth (Committee member) / Arizona State University (Publisher)
Created2021