Matching Items (124)
Filtering by

Clear all filters

153344-Thumbnail Image.png
Description
Increasing concentrations of carbon dioxide in the atmosphere will inevitably lead to long-term changes in climate that can have serious consequences. Controlling anthropogenic emission of carbon dioxide into the atmosphere, however, represents a significant technological challenge. Various chemical approaches have been suggested, perhaps the most promising of these is based

Increasing concentrations of carbon dioxide in the atmosphere will inevitably lead to long-term changes in climate that can have serious consequences. Controlling anthropogenic emission of carbon dioxide into the atmosphere, however, represents a significant technological challenge. Various chemical approaches have been suggested, perhaps the most promising of these is based on electrochemical trapping of carbon dioxide using pyridine and derivatives. Optimization of this process requires a detailed understanding of the mechanisms of the reactions of reduced pyridines with carbon dioxide, which are not currently well known. This thesis describes a detailed mechanistic study of the nucleophilic and Bronsted basic properties of the radical anion of bipyridine as a model pyridine derivative, formed by one-electron reduction, with particular emphasis on the reactions with carbon dioxide. A time-resolved spectroscopic method was used to characterize the key intermediates and determine the kinetics of the reactions of the radical anion and its protonated radical form. Using a pulsed nanosecond laser, the bipyridine radical anion could be generated in-situ in less than 100 ns, which allows fast reactions to be monitored in real time. The bipyridine radical anion was found to be a very powerful one-electron donor, Bronsted base and nucleophile. It reacts by addition to the C=O bonds of ketones with a bimolecular rate constant around 1* 107 M-1 s-1. These are among the fastest nucleophilic additions that have been reported in literature. Temperature dependence studies demonstrate very low activation energies and large Arrhenius pre-exponential parameters, consistent with very high reactivity. The kinetics of E2 elimination, where the radical anion acts as a base, and SN2 substitution, where the radical anion acts as a nucleophile, are also characterized by large bimolecular rate constants in the range ca. 106 - 107 M-1 s-1. The pKa of the bipyridine radical anion was measured using a kinetic method and analysis of the data using a Marcus theory model for proton transfer. The bipyridine radical anion is found to have a pKa of 40±5 in DMSO. The reorganization energy for the proton transfer reaction was found to be 70±5 kJ/mol. The bipyridine radical anion was found to react very rapidly with carbon dioxide, with a bimolecular rate constant of 1* 108 M-1 s-1 and a small activation energy, whereas the protonated radical reacted with carbon dioxide with a rate constant that was too small to measure. The kinetic and thermodynamic data obtained in this work can be used to understand the mechanisms of the reactions of pyridines with carbon dioxide under reducing conditions.
ContributorsRanjan, Rajeev (Author) / Gould, Ian R (Thesis advisor) / Buttry, Daniel A (Thesis advisor) / Yarger, Jeff (Committee member) / Seo, Dong-Kyun (Committee member) / Arizona State University (Publisher)
Created2015
154073-Thumbnail Image.png
Description
Humans and robots need to work together as a team to accomplish certain shared goals due to the limitations of current robot capabilities. Human assistance is required to accomplish the tasks as human capabilities are often better suited for certain tasks and they complement robot capabilities in many situations. Given

Humans and robots need to work together as a team to accomplish certain shared goals due to the limitations of current robot capabilities. Human assistance is required to accomplish the tasks as human capabilities are often better suited for certain tasks and they complement robot capabilities in many situations. Given the necessity of human-robot teams, it has been long assumed that for the robotic agent to be an effective team member, it must be equipped with automated planning technologies that helps in achieving the goals that have been delegated to it by their human teammates as well as in deducing its own goal to proactively support its human counterpart by inferring their goals. However there has not been any systematic evaluation on the accuracy of this claim.

In my thesis, I perform human factors analysis on effectiveness of such automated planning technologies for remote human-robot teaming. In the first part of my study, I perform an investigation on effectiveness of automated planning in remote human-robot teaming scenarios. In the second part of my study, I perform an investigation on effectiveness of a proactive robot assistant in remote human-robot teaming scenarios.

Both investigations are conducted in a simulated urban search and rescue (USAR) scenario where the human-robot teams are deployed during early phases of an emergency response to explore all areas of the disaster scene. I evaluate through both the studies, how effective is automated planning technology in helping the human-robot teams move closer to human-human teams. I utilize both objective measures (like accuracy and time spent on primary and secondary tasks, Robot Attention Demand, etc.) and a set of subjective Likert-scale questions (on situation awareness, immediacy etc.) to investigate the trade-offs between different types of remote human-robot teams. The results from both the studies seem to suggest that intelligent robots with automated planning capability and proactive support ability is welcomed in general.
ContributorsNarayanan, Vignesh (Author) / Kambhampati, Subbarao (Thesis advisor) / Zhang, Yu (Thesis advisor) / Cooke, Nancy J. (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
156044-Thumbnail Image.png
Description
In a collaborative environment where multiple robots and human beings are expected

to collaborate to perform a task, it becomes essential for a robot to be aware of multiple

agents working in its work environment. A robot must also learn to adapt to

different agents in the workspace and conduct its interaction based

In a collaborative environment where multiple robots and human beings are expected

to collaborate to perform a task, it becomes essential for a robot to be aware of multiple

agents working in its work environment. A robot must also learn to adapt to

different agents in the workspace and conduct its interaction based on the presence

of these agents. A theoretical framework was introduced which performs interaction

learning from demonstrations in a two-agent work environment, and it is called

Interaction Primitives.

This document is an in-depth description of the new state of the art Python

Framework for Interaction Primitives between two agents in a single as well as multiple

task work environment and extension of the original framework in a work environment

with multiple agents doing a single task. The original theory of Interaction

Primitives has been extended to create a framework which will capture correlation

between more than two agents while performing a single task. The new state of the

art Python framework is an intuitive, generic, easy to install and easy to use python

library which can be applied to use the Interaction Primitives framework in a work

environment. This library was tested in simulated environments and controlled laboratory

environment. The results and benchmarks of this library are available in the

related sections of this document.
ContributorsKumar, Ashish, M.S (Author) / Amor, Hani Ben (Thesis advisor) / Zhang, Yu (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2017
155963-Thumbnail Image.png
Description
Computer Vision as a eld has gone through signicant changes in the last decade.

The eld has seen tremendous success in designing learning systems with hand-crafted

features and in using representation learning to extract better features. In this dissertation

some novel approaches to representation learning and task learning are studied.

Multiple-instance learning which is

Computer Vision as a eld has gone through signicant changes in the last decade.

The eld has seen tremendous success in designing learning systems with hand-crafted

features and in using representation learning to extract better features. In this dissertation

some novel approaches to representation learning and task learning are studied.

Multiple-instance learning which is generalization of supervised learning, is one

example of task learning that is discussed. In particular, a novel non-parametric k-

NN-based multiple-instance learning is proposed, which is shown to outperform other

existing approaches. This solution is applied to a diabetic retinopathy pathology

detection problem eectively.

In cases of representation learning, generality of neural features are investigated

rst. This investigation leads to some critical understanding and results in feature

generality among datasets. The possibility of learning from a mentor network instead

of from labels is then investigated. Distillation of dark knowledge is used to eciently

mentor a small network from a pre-trained large mentor network. These studies help

in understanding representation learning with smaller and compressed networks.
ContributorsVenkatesan, Ragav (Author) / Li, Baoxin (Thesis advisor) / Turaga, Pavan (Committee member) / Yang, Yezhou (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2017
156193-Thumbnail Image.png
Description
With the rise of the Big Data Era, an exponential amount of network data is being generated at an unprecedented rate across a wide-range of high impact micro and macro areas of research---from protein interaction to social networks. The critical challenge is translating this large scale network data into actionable

With the rise of the Big Data Era, an exponential amount of network data is being generated at an unprecedented rate across a wide-range of high impact micro and macro areas of research---from protein interaction to social networks. The critical challenge is translating this large scale network data into actionable information.

A key task in the data translation is the analysis of network connectivity via marked nodes---the primary focus of our research. We have developed a framework for analyzing network connectivity via marked nodes in large scale graphs, utilizing novel algorithms in three interrelated areas: (1) analysis of a single seed node via it’s ego-centric network (AttriPart algorithm); (2) pathway identification between two seed nodes (K-Simple Shortest Paths Multithreaded and Search Reduced (KSSPR) algorithm); and (3) tree detection, defining the interaction between three or more seed nodes (Shortest Path MST algorithm).

In an effort to address both fundamental and applied research issues, we have developed the LocalForcasting algorithm to explore how network connectivity analysis can be applied to local community evolution and recommender systems. The goal is to apply the LocalForecasting algorithm to various domains---e.g., friend suggestions in social networks or future collaboration in co-authorship networks. This algorithm utilizes link prediction in combination with the AttriPart algorithm to predict future connections in local graph partitions.

Results show that our proposed AttriPart algorithm finds up to 1.6x denser local partitions, while running approximately 43x faster than traditional local partitioning techniques (PageRank-Nibble). In addition, our LocalForecasting algorithm demonstrates a significant improvement in the number of nodes and edges correctly predicted over baseline methods. Furthermore, results for the KSSPR algorithm demonstrate a speed-up of up to 2.5x the standard k-simple shortest paths algorithm.
ContributorsFreitas, Scott (Author) / Tong, Hanghang (Thesis advisor) / Maciejewski, Ross (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2018
156084-Thumbnail Image.png
Description
The performance of most of the visual computing tasks depends on the quality of the features extracted from the raw data. Insightful feature representation increases the performance of many learning algorithms by exposing the underlying explanatory factors of the output for the unobserved input. A good representation should also handle

The performance of most of the visual computing tasks depends on the quality of the features extracted from the raw data. Insightful feature representation increases the performance of many learning algorithms by exposing the underlying explanatory factors of the output for the unobserved input. A good representation should also handle anomalies in the data such as missing samples and noisy input caused by the undesired, external factors of variation. It should also reduce the data redundancy. Over the years, many feature extraction processes have been invented to produce good representations of raw images and videos.

The feature extraction processes can be categorized into three groups. The first group contains processes that are hand-crafted for a specific task. Hand-engineering features requires the knowledge of domain experts and manual labor. However, the feature extraction process is interpretable and explainable. Next group contains the latent-feature extraction processes. While the original feature lies in a high-dimensional space, the relevant factors for a task often lie on a lower dimensional manifold. The latent-feature extraction employs hidden variables to expose the underlying data properties that cannot be directly measured from the input. Latent features seek a specific structure such as sparsity or low-rank into the derived representation through sophisticated optimization techniques. The last category is that of deep features. These are obtained by passing raw input data with minimal pre-processing through a deep network. Its parameters are computed by iteratively minimizing a task-based loss.

In this dissertation, I present four pieces of work where I create and learn suitable data representations. The first task employs hand-crafted features to perform clinically-relevant retrieval of diabetic retinopathy images. The second task uses latent features to perform content-adaptive image enhancement. The third task ranks a pair of images based on their aestheticism. The goal of the last task is to capture localized image artifacts in small datasets with patch-level labels. For both these tasks, I propose novel deep architectures and show significant improvement over the previous state-of-art approaches. A suitable combination of feature representations augmented with an appropriate learning approach can increase performance for most visual computing tasks.
ContributorsChandakkar, Parag Shridhar (Author) / Li, Baoxin (Thesis advisor) / Yang, Yezhou (Committee member) / Turaga, Pavan (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2017
156291-Thumbnail Image.png
Description
Research literature was reviewed to find recommended tools and technologies for operating Unmanned Aerial Systems (UAS) fleets in an urban environment. However, restrictive legislation prohibits fully autonomous flight without an operator. Existing literature covers considerations for operating UAS fleets in a controlled environment, with an emphasis on the effect different

Research literature was reviewed to find recommended tools and technologies for operating Unmanned Aerial Systems (UAS) fleets in an urban environment. However, restrictive legislation prohibits fully autonomous flight without an operator. Existing literature covers considerations for operating UAS fleets in a controlled environment, with an emphasis on the effect different networking approaches have on the topology of the UAS network. The primary network topology used to implement UAS communications is 802.11 protocols, which can transmit telemetry and a video stream using off the shelf hardware. Other implementations use low-frequency radios for long distance communication, or higher latency 4G LTE modems to access existing network infrastructure. However, a gap remains testing different network topologies outside of a controlled environment.

With the correct permits in place, further research can explore how different UAS network topologies behave in an urban environment when implemented with off the shelf UAS hardware. In addition to testing different network topologies, this thesis covers the implementation of building a secure, scalable system using modern cloud computation tools and services capable of supporting a variable number of UAS. The system also supports the end-to-end simulation of the system considering factors such as battery life and realistic UAS kinematics. The implementation of the system leads to new findings needed to deploy UAS fleets in urban environments.
ContributorsD'Souza, Daniel (Author) / Panchanathan, Sethuraman (Thesis advisor) / Berman, Spring (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)
Created2018
156036-Thumbnail Image.png
Description
Topological methods for data analysis present opportunities for enforcing certain invariances of broad interest in computer vision: including view-point in activity analysis, articulation in shape analysis, and measurement invariance in non-linear dynamical modeling. The increasing success of these methods is attributed to the complementary information that topology provides, as well

Topological methods for data analysis present opportunities for enforcing certain invariances of broad interest in computer vision: including view-point in activity analysis, articulation in shape analysis, and measurement invariance in non-linear dynamical modeling. The increasing success of these methods is attributed to the complementary information that topology provides, as well as availability of tools for computing topological summaries such as persistence diagrams. However, persistence diagrams are multi-sets of points and hence it is not straightforward to fuse them with features used for contemporary machine learning tools like deep-nets. In this paper theoretically well-grounded approaches to develop novel perturbation robust topological representations are presented, with the long-term view of making them amenable to fusion with contemporary learning architectures. The proposed representation lives on a Grassmann manifold and hence can be efficiently used in machine learning pipelines.

The proposed representation.The efficacy of the proposed descriptor was explored on three applications: view-invariant activity analysis, 3D shape analysis, and non-linear dynamical modeling. Favorable results in both high-level recognition performance and improved performance in reduction of time-complexity when compared to other baseline methods are obtained.
ContributorsThopalli, Kowshik (Author) / Turaga, Pavan Kumar (Thesis advisor) / Papandreou-Suppappola, Antonia (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2017
156586-Thumbnail Image.png
Description
Image Understanding is a long-established discipline in computer vision, which encompasses a body of advanced image processing techniques, that are used to locate (“where”), characterize and recognize (“what”) objects, regions, and their attributes in the image. However, the notion of “understanding” (and the goal of artificial intelligent machines) goes beyond

Image Understanding is a long-established discipline in computer vision, which encompasses a body of advanced image processing techniques, that are used to locate (“where”), characterize and recognize (“what”) objects, regions, and their attributes in the image. However, the notion of “understanding” (and the goal of artificial intelligent machines) goes beyond factual recall of the recognized components and includes reasoning and thinking beyond what can be seen (or perceived). Understanding is often evaluated by asking questions of increasing difficulty. Thus, the expected functionalities of an intelligent Image Understanding system can be expressed in terms of the functionalities that are required to answer questions about an image. Answering questions about images require primarily three components: Image Understanding, question (natural language) understanding, and reasoning based on knowledge. Any question, asking beyond what can be directly seen, requires modeling of commonsense (or background/ontological/factual) knowledge and reasoning.

Knowledge and reasoning have seen scarce use in image understanding applications. In this thesis, we demonstrate the utilities of incorporating background knowledge and using explicit reasoning in image understanding applications. We first present a comprehensive survey of the previous work that utilized background knowledge and reasoning in understanding images. This survey outlines the limited use of commonsense knowledge in high-level applications. We then present a set of vision and reasoning-based methods to solve several applications and show that these approaches benefit in terms of accuracy and interpretability from the explicit use of knowledge and reasoning. We propose novel knowledge representations of image, knowledge acquisition methods, and a new implementation of an efficient probabilistic logical reasoning engine that can utilize publicly available commonsense knowledge to solve applications such as visual question answering, image puzzles. Additionally, we identify the need for new datasets that explicitly require external commonsense knowledge to solve. We propose the new task of Image Riddles, which requires a combination of vision, and reasoning based on ontological knowledge; and we collect a sufficiently large dataset to serve as an ideal testbed for vision and reasoning research. Lastly, we propose end-to-end deep architectures that can combine vision, knowledge and reasoning modules together and achieve large performance boosts over state-of-the-art methods.
ContributorsAditya, Somak (Author) / Baral, Chitta (Thesis advisor) / Yang, Yezhou (Thesis advisor) / Aloimonos, Yiannis (Committee member) / Lee, Joohyung (Committee member) / Li, Baoxin (Committee member) / Arizona State University (Publisher)
Created2018
157413-Thumbnail Image.png
Description
Rapid growth of internet and connected devices ranging from cloud systems to internet of things have raised critical concerns for securing these systems. In the recent past, security attacks on different kinds of devices have evolved in terms of complexity and diversity. One of the challenges is establishing secure communication

Rapid growth of internet and connected devices ranging from cloud systems to internet of things have raised critical concerns for securing these systems. In the recent past, security attacks on different kinds of devices have evolved in terms of complexity and diversity. One of the challenges is establishing secure communication in the network among various devices and systems. Despite being protected with authentication and encryption, the network still needs to be protected against cyber-attacks. For this, the network traffic has to be closely monitored and should detect anomalies and intrusions. Intrusion detection can be categorized as a network traffic classification problem in machine learning. Existing network traffic classification methods require a lot of training and data preprocessing, and this problem is more serious if the dataset size is huge. In addition, the machine learning and deep learning methods that have been used so far were trained on datasets that contain obsolete attacks. In this thesis, these problems are addressed by using ensemble methods applied on an up to date network attacks dataset. Ensemble methods use multiple learning algorithms to get better classification accuracy that could be obtained when the corresponding learning algorithm is applied alone. This dataset for network traffic classification has recent attack scenarios and contains over fifteen attacks. This approach shows that ensemble methods can be used to classify network traffic and detect intrusions with less training times of the model, and lesser pre-processing without feature selection. In addition, this thesis also shows that only with less than ten percent of the total features of input dataset will lead to similar accuracy that is achieved on whole dataset. This can heavily reduce the training times and classification duration in real-time scenarios.
ContributorsPonneganti, Ramu (Author) / Yau, Stephen (Thesis advisor) / Richa, Andrea (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2019