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Description
Situations of sensory overload are steadily becoming more frequent as the ubiquity of technology approaches reality--particularly with the advent of socio-communicative smartphone applications, and pervasive, high speed wireless networks. Although the ease of accessing information has improved our communication effectiveness and efficiency, our visual and auditory modalities--those modalities that today's computerized devices and displays largely engage--have become overloaded, creating possibilities for distractions, delays and high cognitive load; which in turn can lead to a loss of situational awareness, increasing chances for life threatening situations such as texting while driving. Surprisingly, alternative modalities for information delivery have seen little exploration. Touch, in particular, is a promising candidate given that it is our largest sensory organ with impressive spatial and temporal acuity. Although some approaches have been proposed for touch-based information delivery, they are not without limitations including high learning curves, limited applicability and/or limited expression. This is largely due to the lack of a versatile, comprehensive design theory--specifically, a theory that addresses the design of touch-based building blocks for expandable, efficient, rich and robust touch languages that are easy to learn and use. Moreover, beyond design, there is a lack of implementation and evaluation theories for such languages. To overcome these limitations, a unified, theoretical framework, inspired by natural, spoken language, is proposed called Somatic ABC's for Articulating (designing), Building (developing) and Confirming (evaluating) touch-based languages. To evaluate the usefulness of Somatic ABC's, its design, implementation and evaluation theories were applied to create communication languages for two very unique application areas: audio described movies and motor learning. These applications were chosen as they presented opportunities for complementing communication by offloading information, typically conveyed visually and/or aurally, to the skin. For both studies, it was found that Somatic ABC's aided the design, development and evaluation of rich somatic languages with distinct and natural communication units.
ContributorsMcDaniel, Troy Lee (Author) / Panchanathan, Sethuraman (Thesis advisor) / Davulcu, Hasan (Committee member) / Li, Baoxin (Committee member) / Santello, Marco (Committee member) / Arizona State University (Publisher)
Created2012
Description
Social media platforms provide a rich environment for analyzing user behavior. Recently, deep learning-based methods have been a mainstream approach for social media analysis models involving complex patterns. However, these methods are susceptible to biases in the training data, such as participation inequality. Basically, a mere 1% of users generate the majority of the content on social networking sites, while the remaining users, though engaged to varying degrees, tend to be less active in content creation and largely silent. These silent users consume and listen to information that is propagated on the platform.However, their voice, attitude, and interests are not reflected in the online content, making the decision of the current methods predisposed towards the opinion of the active users. So models can mistake the loudest users for the majority. To make the silent majority heard is to reveal the true landscape of the platform. In this dissertation, to compensate for this bias in the data, which is related to user-level data scarcity, I introduce three pieces of research work. Two of these proposed solutions deal with the data on hand while the other tries to augment the current data. Specifically, the first proposed approach modifies the weight of users' activity/interaction in the input space, while the second approach involves re-weighting the loss based on the users' activity levels during the downstream task training. Lastly, the third approach uses large language models (LLMs) and learns the user's writing behavior to expand the current data. In other words, by utilizing LLMs as a sophisticated knowledge base, this method aims to augment the silent user's data.
ContributorsKarami, Mansooreh (Author) / Liu, Huan (Thesis advisor) / Sen, Arunabha (Committee member) / Davulcu, Hasan (Committee member) / Mancenido, Michelle V. (Committee member) / Arizona State University (Publisher)
Created2023
Description
Deep neural networks have been shown to be vulnerable to adversarial attacks. Typical attack strategies alter authentic data subtly so as to obtain adversarial samples that resemble the original but otherwise would cause a network's misbehavior such as a high misclassification rate. Various attack approaches have been reported, with some showing state-of-the-art performance in attacking certain networks. In the meanwhile, many defense mechanisms have been proposed in the literature, some of which are quite effective for guarding against typical attacks. Yet, most of these attacks fail when the targeted network modifies its architecture or uses another set of parameters and vice versa. Moreover, the emerging of more advanced deep neural networks, such as generative adversarial networks (GANs), has made the situation more complicated and the game between the attack and defense is continuing. This dissertation aims at exploring the venerability of the deep neural networks by investigating the mechanisms behind the success/failure of the existing attack and defense approaches. Therefore, several deep learning-based approaches have been proposed to study the problem from different perspectives. First, I developed an adversarial attack approach by exploring the unlearned region of a typical deep neural network which is often over-parameterized. Second, I proposed an end-to-end learning framework to analyze the images generated by different GAN models. Third, I developed a defense mechanism that can secure the deep neural network against adversarial attacks with a defense layer consisting of a set of orthogonal kernels. Substantial experiments are conducted to unveil the potential factors that contribute to attack/defense effectiveness. This dissertation also concludes with a discussion of possible future works of achieving a robust deep neural network.
ContributorsDing, Yuzhen (Author) / Li, Baoxin (Thesis advisor) / Davulcu, Hasan (Committee member) / Venkateswara, Hemanth Kumar Demakethepalli (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2022
Description
Object sorting is a very common application especially in the industry setting, but this is a labor intensive and time consuming process and it proves to be challenging if done manually. Thanks to the rapid development in technology now almost all these object sorting tasks are partially or completely automated. Image processing techniques are essential for the full operation of such a pick and place robot as it is responsible for perceiving the environment and to correctly identify ,classify and localize the different objects in it. In order for the robots to perform accurate object sorting with efficiency and stability this thesis discusses how different Deep learning based perception techniques can be used. In the era of Artificial Intelligence this sorting problem can be done more efficiently than the existing techniques. This thesis presents different image processing techniques and algorithms that can be used to perform object sorting efficiently. A comparison between three different deep learning based techniques is presented and their pros and cons are discussed. Furthermore this thesis also presents a comprehensive study about the kinematics and the dynamics involved in a 2 Degree of Freedom Robotic Manipulator .
ContributorsRanganathan, Pavithra (Author) / Rodriguez, Armando (Thesis advisor) / Si, Jennie (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2021
Description
Modern data center networks require efficient and scalable security analysis approaches that can analyze the relationship between the vulnerabilities. Utilizing the Attack Representation Methods (ARMs) and Attack Graphs (AGs) enables the security administrator to understand the cloud network’s current security situation at the low-level. However, the AG approach suffers from scalability challenges. It relies on the connectivity between the services and the vulnerabilities associated with the services to allow the system administrator to realize its security state. In addition, the security policies created by the administrator can have conflicts among them, which is often detected in the data plane of the Software Defined Networking (SDN) system. Such conflicts can cause security breaches and increase the flow rules processing delay. This dissertation addresses these challenges with novel solutions to tackle the scalability issue of Attack Graphs and detect security policy conflictsin the application plane before they are transmitted into the data plane for final
installation. Specifically, it introduces a segmentation-based scalable security state
(S3) framework for the cloud network. This framework utilizes the well-known divide-and-conquer approach to divide the large network region into smaller, manageable segments. It follows a well-known segmentation approach derived from the K-means clustering algorithm to partition the system into segments based on the similarity between the services. Furthermore, the dissertation presents unified intent rules that abstract the network administration from the underlying network controller’s format. It develops a networking service solution to use a bounded formal model for network service compliance checking that significantly reduces the complexity of flow rule conflict checking at the data plane level. The solution can be expended from a single SDN domain to multiple SDN domains and hybrid networks by applying network service function chaining (SFC) for inter-domain policy management.
ContributorsSabur, Abdulhakim (Author) / Zhao, Ming (Thesis advisor) / Xue, Guoliang (Committee member) / Davulcu, Hasan (Committee member) / Zhang, Yanchao (Committee member) / Arizona State University (Publisher)
Created2023
Description
Due to large data resources generated by online educational applications, Educational Data Mining (EDM) has improved learning effects in different ways: Students Visualization, Recommendations for students, Students Modeling, Grouping Students, etc. A lot of programming assignments have the features like automating submissions, examining the test cases to verify the correctness, but limited studies compared different statistical techniques with latest frameworks, and interpreted models in a unified approach.
In this thesis, several data mining algorithms have been applied to analyze students’ code assignment submission data from a real classroom study. The goal of this work is to explore
and predict students’ performances. Multiple machine learning models and the model accuracy were evaluated based on the Shapley Additive Explanation.
The Cross-Validation shows the Gradient Boosting Decision Tree has the best precision 85.93% with average 82.90%. Features like Component grade, Due Date, Submission Times have higher impact than others. Baseline model received lower precision due to lack of non-linear fitting.
In this thesis, several data mining algorithms have been applied to analyze students’ code assignment submission data from a real classroom study. The goal of this work is to explore
and predict students’ performances. Multiple machine learning models and the model accuracy were evaluated based on the Shapley Additive Explanation.
The Cross-Validation shows the Gradient Boosting Decision Tree has the best precision 85.93% with average 82.90%. Features like Component grade, Due Date, Submission Times have higher impact than others. Baseline model received lower precision due to lack of non-linear fitting.
ContributorsTian, Wenbo (Author) / Hsiao, Ihan (Thesis advisor) / Bazzi, Rida (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2019
Description
A computational framework based on convex optimization is presented for stability analysis of systems described by Partial Differential Equations (PDEs). Specifically, two forms of linear PDEs with spatially distributed polynomial coefficients are considered.
The first class includes linear coupled PDEs with one spatial variable. Parabolic, elliptic or hyperbolic PDEs with Dirichlet, Neumann, Robin or mixed boundary conditions can be reformulated in order to be used by the framework. As an example, the reformulation is presented for systems governed by Schr¨odinger equation, parabolic type, relativistic heat conduction PDE and acoustic wave equation, hyperbolic types. The second form of PDEs of interest are scalar-valued with two spatial variables. An extra spatial variable allows consideration of problems such as local stability of fluid flows in channels and dynamics of population over two dimensional domains.
The approach does not involve discretization and is based on using Sum-of-Squares (SOS) polynomials and positive semi-definite matrices to parameterize operators which are positive on function spaces. Applying the parameterization to construct Lyapunov functionals with negative derivatives allows to express stability conditions as a set of LinearMatrix Inequalities (LMIs). The MATLAB package SOSTOOLS was used to construct the LMIs. The resultant LMIs then can be solved using existent Semi-Definite Programming (SDP) solvers such as SeDuMi or MOSEK. Moreover, the proposed approach allows to calculate bounds on the rate of decay of the solution norm.
The methodology is tested using several numerical examples and compared with the results obtained from simulation using standard methods of numerical discretization and analytic solutions.
The first class includes linear coupled PDEs with one spatial variable. Parabolic, elliptic or hyperbolic PDEs with Dirichlet, Neumann, Robin or mixed boundary conditions can be reformulated in order to be used by the framework. As an example, the reformulation is presented for systems governed by Schr¨odinger equation, parabolic type, relativistic heat conduction PDE and acoustic wave equation, hyperbolic types. The second form of PDEs of interest are scalar-valued with two spatial variables. An extra spatial variable allows consideration of problems such as local stability of fluid flows in channels and dynamics of population over two dimensional domains.
The approach does not involve discretization and is based on using Sum-of-Squares (SOS) polynomials and positive semi-definite matrices to parameterize operators which are positive on function spaces. Applying the parameterization to construct Lyapunov functionals with negative derivatives allows to express stability conditions as a set of LinearMatrix Inequalities (LMIs). The MATLAB package SOSTOOLS was used to construct the LMIs. The resultant LMIs then can be solved using existent Semi-Definite Programming (SDP) solvers such as SeDuMi or MOSEK. Moreover, the proposed approach allows to calculate bounds on the rate of decay of the solution norm.
The methodology is tested using several numerical examples and compared with the results obtained from simulation using standard methods of numerical discretization and analytic solutions.
ContributorsMeyer, Evgeny (Author) / Peet, Matthew (Thesis advisor) / Berman, Spring (Committee member) / Rivera, Daniel (Committee member) / Arizona State University (Publisher)
Created2016
Description
Currently, one of the biggest limiting factors for long-term deployment of autonomous systems is the power constraints of a platform. In particular, for aerial robots such as unmanned aerial vehicles (UAVs), the energy resource is the main driver of mission planning and operation definitions, as everything revolved around flight time. The focus of this work is to develop a new method of energy storage and charging for autonomous UAV systems, for use during long-term deployments in a constrained environment. We developed a charging solution that allows pre-equipped UAV system to land on top of designated charging pads and rapidly replenish their battery reserves, using a contact charging point. This system is designed to work with all types of rechargeable batteries, focusing on Lithium Polymer (LiPo) packs, that incorporate a battery management system for increased reliability. The project also explores optimization methods for fleets of UAV systems, to increase charging efficiency and extend battery lifespans. Each component of this project was first designed and tested in computer simulation. Following positive feedback and results, prototypes for each part of this system were developed and rigorously tested. Results show that the contact charging method is able to charge LiPo batteries at a 1-C rate, which is the industry standard rate, maintaining the same safety and efficiency standards as modern day direct connection chargers. Control software for these base stations was also created, to be integrated with a fleet management system, and optimizes UAV charge levels and distribution to extend LiPo battery lifetimes while still meeting expected mission demand. Each component of this project (hardware/software) was designed for manufacturing and implementation using industry standard tools, making it ideal for large-scale implementations. This system has been successfully tested with a fleet of UAV systems at Arizona State University, and is currently being integrated into an Arizona smart city environment for deployment.
ContributorsMian, Sami (Author) / Panchanathan, Sethuraman (Thesis advisor) / Berman, Spring (Committee member) / Yang, Yezhou (Committee member) / McDaniel, Troy (Committee member) / Arizona State University (Publisher)
Created2018
Description
Multi-tenancy architecture (MTA) is often used in Software-as-a-Service (SaaS) and
the central idea is that multiple tenant applications can be developed using compo
nents stored in the SaaS infrastructure. Recently, MTA has been extended where
a tenant application can have its own sub-tenants as the tenant application acts
like a SaaS infrastructure. In other words, MTA is extended to STA (Sub-Tenancy
Architecture ). In STA, each tenant application not only need to develop its own
functionalities, but also need to prepare an infrastructure to allow its sub-tenants to
develop customized applications. This dissertation formulates eight models for STA,
and proposes a Variant Point based customization model to help tenants and sub
tenants customize tenant and sub-tenant applications. In addition, this dissertation
introduces Crowd- sourcing to become the core of STA component development life
cycle. To discover fit tenant developers or components to help building and com
posing new components, dynamic and static ranking models are proposed. Further,
rank computation architecture is presented to deal with the case when the number of
tenants and components becomes huge. At last, an experiment is performed to prove
rank models and the rank computation architecture work as design.
the central idea is that multiple tenant applications can be developed using compo
nents stored in the SaaS infrastructure. Recently, MTA has been extended where
a tenant application can have its own sub-tenants as the tenant application acts
like a SaaS infrastructure. In other words, MTA is extended to STA (Sub-Tenancy
Architecture ). In STA, each tenant application not only need to develop its own
functionalities, but also need to prepare an infrastructure to allow its sub-tenants to
develop customized applications. This dissertation formulates eight models for STA,
and proposes a Variant Point based customization model to help tenants and sub
tenants customize tenant and sub-tenant applications. In addition, this dissertation
introduces Crowd- sourcing to become the core of STA component development life
cycle. To discover fit tenant developers or components to help building and com
posing new components, dynamic and static ranking models are proposed. Further,
rank computation architecture is presented to deal with the case when the number of
tenants and components becomes huge. At last, an experiment is performed to prove
rank models and the rank computation architecture work as design.
ContributorsZhong, Peide (Author) / Davulcu, Hasan (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Huang, Dijiang (Committee member) / Tsai, Wei-Tek (Committee member) / Arizona State University (Publisher)
Created2017
Description
Over the past few decades, there is an increase in demand for various ground robot applications such as warehouse management, surveillance, mapping, infrastructure inspection, etc. This steady increase in demand has led to a significant rise in the nonholonomic differential drive vehicles (DDV) research. Albeit extensive work has been done in developing various control laws for trajectory tracking, point stabilization, formation control, etc., there are still problems and critical questions in regards to design, modeling, and control of DDV’s - that need to be adequately addressed. In this thesis, three different dynamical models are considered that are formed by varying the input/output parameters of the DDV model. These models are analyzed to understand their stability, bandwidth, input-output coupling, and control design properties. Furthermore, a systematic approach has been presented to show the impact of design parameters such as mass, inertia, radius of the wheels, and center of gravity location on the dynamic and inner-loop (speed) control design properties. Subsequently, extensive simulation and hardware trade studies have been conductedto quantify the impact of design parameters and modeling variations on the performance of outer-loop cruise and position control (along a curve). In addition to this, detailed guidelines are provided for when a multi-input multi-output (MIMO) control strategy is advisable over a single-input single-output (SISO) control strategy; when a less stable plant is preferable over a more stable one in order to accommodate performance specifications. Additionally, a multi-robot trajectory tracking implementation based on receding horizon optimization approach is also presented. In most of the optimization-based trajectory tracking approaches found in the literature, only the constraints imposed by the kinematic model are incorporated into the problem. This thesis elaborates the fundamental problem associated with these methods and presents a systematic approach to understand and quantify when kinematic model based constraints are sufficient and when dynamic model-based constraints are necessary to obtain good tracking properties. Detailed instructions are given for designing and building the DDV based on performance specifications, and also, an open-source platform capable of handling high-speed multi-robot research is developed in C++.
ContributorsManne, Sai Sravan (Author) / Rodriguez, Armando A (Thesis advisor) / Si, Jennie (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2021