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- Member of: Theses and Dissertations
- Status: Published
Description
This project is to develop a new method to generate GPS waypoints for better terrain mapping efficiency using an UAV. To create a map of a desired terrain, an UAV is used to capture images at particular GPS locations. These images are then stitched together to form a complete map of the terrain. To generate a good map using image stitching, the images are desired to have a certain percentage of overlap between them. In high windy condition, an UAV may not capture image at desired GPS location, which in turn interferes with the desired percentage of overlap between images; both frontal and sideways; thus causing discrepancies while stitching the images together. The information about the exact GPS locations at which the images are captured can be found on the flight logs that are stored in the Ground Control Station and the Auto pilot board. The objective is to look at the flight logs, predict the waypoints at which the UAV might have swayed from the desired flight path. If there are locations where flight swayed from intended path, the code should generate a new set of waypoints for a correction flight. This will save the time required for stitching the images together, thus making the whole process faster and more efficient.
ContributorsGhadage, Prasannakumar Prakashrao (Author) / Saripalli, Srikanth (Thesis advisor) / Berman, Spring M (Thesis advisor) / Thangavelautham, Jekanthan (Committee member) / Arizona State University (Publisher)
Created2014
Description
Many web search improvements have been developed since the advent of the modern search engine, but one underrepresented area is the application of specific customizations to search results for educational web sites. In order to address this issue and improve the relevance of search results in automated learning environments, this work has integrated context-aware search principles with applications of preference based re-ranking and query modifications. This research investigates several aspects of context-aware search principles, specifically context-sensitive and preference based re-ranking of results which take user inputs as to their preferred content, and combines this with search query modifications which automatically search for a variety of modified terms based on the given search query, integrating these results into the overall re-ranking for the context. The result of this work is a novel web search algorithm which could be applied to any online learning environment attempting to collect relevant resources for learning about a given topic. The algorithm has been evaluated through user studies comparing traditional search results to the context-aware results returned through the algorithm for a given topic. These studies explore how this integration of methods could provide improved relevance in the search results returned when compared against other modern search engines.
ContributorsVan Egmond, Eric (Author) / Burleson, Winslow (Thesis advisor) / Syrotiuk, Violet (Thesis advisor) / Nelson, Brian (Committee member) / Arizona State University (Publisher)
Created2014
Description
Corporations invest considerable resources to create, preserve and analyze
their data; yet while organizations are interested in protecting against
unauthorized data transfer, there lacks a comprehensive metric to discriminate
what data are at risk of leaking.
This thesis motivates the need for a quantitative leakage risk metric, and
provides a risk assessment system, called Whispers, for computing it. Using
unsupervised machine learning techniques, Whispers uncovers themes in an
organization's document corpus, including previously unknown or unclassified
data. Then, by correlating the document with its authors, Whispers can
identify which data are easier to contain, and conversely which are at risk.
Using the Enron email database, Whispers constructs a social network segmented
by topic themes. This graph uncovers communication channels within the
organization. Using this social network, Whispers determines the risk of each
topic by measuring the rate at which simulated leaks are not detected. For the
Enron set, Whispers identified 18 separate topic themes between January 1999
and December 2000. The highest risk data emanated from the legal department
with a leakage risk as high as 60%.
their data; yet while organizations are interested in protecting against
unauthorized data transfer, there lacks a comprehensive metric to discriminate
what data are at risk of leaking.
This thesis motivates the need for a quantitative leakage risk metric, and
provides a risk assessment system, called Whispers, for computing it. Using
unsupervised machine learning techniques, Whispers uncovers themes in an
organization's document corpus, including previously unknown or unclassified
data. Then, by correlating the document with its authors, Whispers can
identify which data are easier to contain, and conversely which are at risk.
Using the Enron email database, Whispers constructs a social network segmented
by topic themes. This graph uncovers communication channels within the
organization. Using this social network, Whispers determines the risk of each
topic by measuring the rate at which simulated leaks are not detected. For the
Enron set, Whispers identified 18 separate topic themes between January 1999
and December 2000. The highest risk data emanated from the legal department
with a leakage risk as high as 60%.
ContributorsWright, Jeremy (Author) / Syrotiuk, Violet (Thesis advisor) / Davulcu, Hasan (Committee member) / Yau, Stephen (Committee member) / Arizona State University (Publisher)
Created2014
Description
This thesis proposed a novel approach to establish the trust model in a social network scenario based on users' emails. Email is one of the most important social connections nowadays. By analyzing email exchange activities among users, a social network trust model can be established to judge the trust rate between each two users. The whole trust checking process is divided into two steps: local checking and remote checking. Local checking directly contacts the email server to calculate the trust rate based on user's own email communication history. Remote checking is a distributed computing process to get help from user's social network friends and built the trust rate together. The email-based trust model is built upon a cloud computing framework called MobiCloud. Inside MobiCloud, each user occupies a virtual machine which can directly communicate with others. Based on this feature, the distributed trust model is implemented as a combination of local analysis and remote analysis in the cloud. Experiment results show that the trust evaluation model can give accurate trust rate even in a small scale social network which does not have lots of social connections. With this trust model, the security in both social network services and email communication could be improved.
ContributorsZhong, Yunji (Author) / Huang, Dijiang (Thesis advisor) / Dasgupta, Partha (Committee member) / Syrotiuk, Violet (Committee member) / Arizona State University (Publisher)
Created2011
Description
Exhaustive testing is generally infeasible except in the smallest of systems. Research
has shown that testing the interactions among fewer (up to 6) components is generally
sufficient while retaining the capability to detect up to 99% of defects. This leads to a
substantial decrease in the number of tests. Covering arrays are combinatorial objects
that guarantee that every interaction is tested at least once.
In the absence of direct constructions, forming small covering arrays is generally
an expensive computational task. Algorithms to generate covering arrays have been
extensively studied yet no single algorithm provides the smallest solution. More
recently research has been directed towards a new technique called post-optimization.
These algorithms take an existing covering array and attempt to reduce its size.
This thesis presents a new idea for post-optimization by representing covering
arrays as graphs. Some properties of these graphs are established and the results are
contrasted with existing post-optimization algorithms. The idea is then generalized to
close variants of covering arrays with surprising results which in some cases reduce
the size by 30%. Applications of the method to generation and test prioritization are
studied and some interesting results are reported.
has shown that testing the interactions among fewer (up to 6) components is generally
sufficient while retaining the capability to detect up to 99% of defects. This leads to a
substantial decrease in the number of tests. Covering arrays are combinatorial objects
that guarantee that every interaction is tested at least once.
In the absence of direct constructions, forming small covering arrays is generally
an expensive computational task. Algorithms to generate covering arrays have been
extensively studied yet no single algorithm provides the smallest solution. More
recently research has been directed towards a new technique called post-optimization.
These algorithms take an existing covering array and attempt to reduce its size.
This thesis presents a new idea for post-optimization by representing covering
arrays as graphs. Some properties of these graphs are established and the results are
contrasted with existing post-optimization algorithms. The idea is then generalized to
close variants of covering arrays with surprising results which in some cases reduce
the size by 30%. Applications of the method to generation and test prioritization are
studied and some interesting results are reported.
ContributorsKaria, Rushang Vinod (Author) / Colbourn, Charles J (Thesis advisor) / Syrotiuk, Violet (Committee member) / Richa, Andréa W. (Committee member) / Arizona State University (Publisher)
Created2015
Description
Medium access control (MAC) is a fundamental problem in wireless networks.
In ad-hoc wireless networks especially, many of the performance and scaling issues
these networks face can be attributed to their use of the core IEEE 802.11 MAC
protocol: distributed coordination function (DCF). Smoothed Airtime Linear Tuning
(SALT) is a new contention window tuning algorithm proposed to address some of the
deficiencies of DCF in 802.11 ad-hoc networks. SALT works alongside a new user level
and optimized implementation of REACT, a distributed resource allocation protocol,
to ensure that each node secures the amount of airtime allocated to it by REACT.
The algorithm accomplishes that by tuning the contention window size parameter
that is part of the 802.11 backoff process. SALT converges more tightly on airtime
allocations than a contention window tuning algorithm from previous work and this
increases fairness in transmission opportunities and reduces jitter more than either
802.11 DCF or the other tuning algorithm. REACT and SALT were also extended
to the multi-hop flow scenario with the introduction of a new airtime reservation
algorithm. With a reservation in place multi-hop TCP throughput actually increased
when running SALT and REACT as compared to 802.11 DCF, and the combination of
protocols still managed to maintain its fairness and jitter advantages. All experiments
were performed on a wireless testbed, not in simulation.
In ad-hoc wireless networks especially, many of the performance and scaling issues
these networks face can be attributed to their use of the core IEEE 802.11 MAC
protocol: distributed coordination function (DCF). Smoothed Airtime Linear Tuning
(SALT) is a new contention window tuning algorithm proposed to address some of the
deficiencies of DCF in 802.11 ad-hoc networks. SALT works alongside a new user level
and optimized implementation of REACT, a distributed resource allocation protocol,
to ensure that each node secures the amount of airtime allocated to it by REACT.
The algorithm accomplishes that by tuning the contention window size parameter
that is part of the 802.11 backoff process. SALT converges more tightly on airtime
allocations than a contention window tuning algorithm from previous work and this
increases fairness in transmission opportunities and reduces jitter more than either
802.11 DCF or the other tuning algorithm. REACT and SALT were also extended
to the multi-hop flow scenario with the introduction of a new airtime reservation
algorithm. With a reservation in place multi-hop TCP throughput actually increased
when running SALT and REACT as compared to 802.11 DCF, and the combination of
protocols still managed to maintain its fairness and jitter advantages. All experiments
were performed on a wireless testbed, not in simulation.
ContributorsMellott, Matthew (Author) / Syrotiuk, Violet (Thesis advisor) / Colbourn, Charles (Committee member) / Tinnirello, Ilenia (Committee member) / Arizona State University (Publisher)
Created2018
Description
Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses various perception and control problems in autonomous aerial robotics. The objective of this thesis is to motivate the use of perspective cues in single images for the planning and control of quadrotors in indoor environments. In addition to providing empirical evidence for the abundance of such cues in indoor environments, the usefulness of these perspective cues is demonstrated by designing a control algorithm for navigating a quadrotor in indoor corridors. An Extended Kalman Filter (EKF), implemented on top of the vision algorithm, serves to improve the robustness of the algorithm to changing illumination.
In this thesis, vanishing points are the perspective cues used to control and navigate a quadrotor in an indoor corridor. Indoor corridors are an abundant source of parallel lines. As a consequence of perspective projection, parallel lines in the real world, that are not parallel to the plane of the camera, intersect at a point in the image. This point is called the vanishing point of the image. The vanishing point is sensitive to the lateral motion of the camera and hence the quadrotor. By tracking the position of the vanishing point in every image frame, the quadrotor can navigate along the center of the corridor.
Experiments are conducted using the Augmented Reality (AR) Drone 2.0. The drone is equipped with the following componenets: (1) 720p forward facing camera for vanishing point detection, (2) 240p downward facing camera, (3) Inertial Measurement Unit (IMU) for attitude control , (4) Ultrasonic sensor for estimating altitude, (5) On-board 1 GHz Processor for processing low level commands. The reliability of the vision algorithm is presented by flying the drone in indoor corridors.
In this thesis, vanishing points are the perspective cues used to control and navigate a quadrotor in an indoor corridor. Indoor corridors are an abundant source of parallel lines. As a consequence of perspective projection, parallel lines in the real world, that are not parallel to the plane of the camera, intersect at a point in the image. This point is called the vanishing point of the image. The vanishing point is sensitive to the lateral motion of the camera and hence the quadrotor. By tracking the position of the vanishing point in every image frame, the quadrotor can navigate along the center of the corridor.
Experiments are conducted using the Augmented Reality (AR) Drone 2.0. The drone is equipped with the following componenets: (1) 720p forward facing camera for vanishing point detection, (2) 240p downward facing camera, (3) Inertial Measurement Unit (IMU) for attitude control , (4) Ultrasonic sensor for estimating altitude, (5) On-board 1 GHz Processor for processing low level commands. The reliability of the vision algorithm is presented by flying the drone in indoor corridors.
ContributorsRavishankar, Nikhilesh (Author) / Rodriguez, Armando A (Thesis advisor) / Tsakalis, Konstantinos (Committee member) / Berman, Spring M (Committee member) / Arizona State University (Publisher)
Created2018
Description
In the past decade, real-world applications of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) have increased significantly. There has been growing interest in one of these types of UAVs, called a tail-sitter UAV, due to its VTOL and cruise capabilities. This thesis presents the fabrication of a spherical tail-sitter UAV and derives a nonlinear mathematical model of its dynamics. The singularity in the attitude kinematics of the vehicle is avoided using Modified Rodrigues Parameters (MRP). The model parameters of the fabricated vehicle are calculated using the bifilar pendulum method, a motor stand, and ANSYS simulation software. Then the trim conditions at hover are calculated for the nonlinear model, and the rotational dynamics of the model are linearized around the equilibrium state with the calculated trim conditions. Robust controllers are designed to stabilize the UAV in hover using the H2 control and H-infinity control methodologies. For H2 control design, Linear Quadratic Gaussian (LQG) control is used. For the H infinity control design, Linear Matrix Inequalities (LMI) with frequency-dependent weights are derived and solved using the MATLAB toolbox YALMIP. In addition, a nonlinear controller is designed using the Sum-of-Squares (SOS) method to implement large-angle maneuvers for transitions between horizontal flight and vertical flight. Finally, the linear controllers are implemented in the fabricated spherical tail-sitter UAV for experimental validation. The performance trade-offs and the response of the UAV with the linear and nonlinear controllers are discussed in detail.
ContributorsRamasubramaniyan, Sri Ram Prasath (Author) / Berman, Spring M (Thesis advisor) / Mignolet, Marc P (Committee member) / Tsakalis, Konstantinos S (Committee member) / Arizona State University (Publisher)
Created2018
Description
Robotic swarms can potentially perform complicated tasks such as exploration and mapping at large space and time scales in a parallel and robust fashion. This thesis presents strategies for mapping environmental features of interest – specifically obstacles, collision-free paths, generating a metric map and estimating scalar density fields– in an unknown domain using data obtained by a swarm of resource-constrained robots. First, an approach was developed for mapping a single obstacle using a swarm of point-mass robots with both directed and random motion. The swarm population dynamics are modeled by a set of advection-diffusion-reaction partial differential equations (PDEs) in which a spatially-dependent indicator function marks the presence or absence of the obstacle in the domain. The indicator function is estimated by solving an optimization problem with PDEs as constraints. Second, a methodology for constructing a topological map of an unknown environment was proposed, which indicates collision-free paths for navigation, from data collected by a swarm of finite-sized robots. As an initial step, the number of topological features in the domain was quantified by applying tools from algebraic topology, to a probability function over the explored region that indicates the presence of obstacles. A topological map of the domain is then generated using a graph-based wave propagation algorithm. This approach is further extended, enabling the technique to construct a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resource-constrained robots, filtered using intensity measurements of an external signal. Next, a distributed method was developed to construct the occupancy grid map of an unknown environment using a swarm of inexpensive robots or mobile sensors with limited communication. In addition to this, an exploration strategy which combines information theoretic ideas with Levy walks was also proposed. Finally, the problem of reconstructing a two-dimensional scalar field using observations from a subset of a sensor network in which each node communicates its local measurements to its neighboring nodes was addressed. This problem reduces to estimating the initial condition of a large interconnected system with first-order linear dynamics, which can be solved as an optimization problem.
ContributorsRamachandran, Ragesh Kumar (Author) / Berman, Spring M (Thesis advisor) / Mignolet, Marc (Committee member) / Artemiadis, Panagiotis (Committee member) / Marvi, Hamid (Committee member) / Robinson, Michael (Committee member) / Arizona State University (Publisher)
Created2018
Description
Toward the ambitious long-term goal of developing a robotic circus, this thesis addresses key steps toward the development of a ground robot that can catch a ball. Toward this end, we examine nonlinear quadratic drag trajectories for a tossed ball. Relevant least square error fits are provided. It is also shown how a Kalman filter and Extended Kalman filter can be used to generate estimates for the ball trajectory.
Several simple ball intercept policies are examined. This includes open loop and closed loop policies. It is also shown how a low-cost differential-drive research grade robot can be built, modeled and controlled. Directions for developing more complex xy planar intercept policies are also briefly discussed. In short, the thesis establishes a foundation for future work on developing a practical ball catching robot.
Several simple ball intercept policies are examined. This includes open loop and closed loop policies. It is also shown how a low-cost differential-drive research grade robot can be built, modeled and controlled. Directions for developing more complex xy planar intercept policies are also briefly discussed. In short, the thesis establishes a foundation for future work on developing a practical ball catching robot.
ContributorsDAS, NIRANGKUSH (Author) / Rodriguez, Armando A (Thesis advisor) / Berman, Spring M (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2018