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- Creators: Yang, Yezhou
- Member of: ASU Electronic Theses and Dissertations
- Resource Type: Text
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
I present my work on a scalable and programmable I/O controller for region-based computing, which will be used in a rhythmic pixel-based camera pipeline. I provide a breakdown of the development and design of the I/O controller and how it fits in to rhythmic pixel regions, along with a studyon memory traffic of rhythmic pixel regions and how this translates to energy efficiency. This rhythmic pixel region-based camera pipeline has been jointly developed through Dr. Robert LiKamWa’s research lab. High spatiotemporal resolutions allow high precision for vision applications, such as for detecting features for augmented reality or face detection. High spatiotemporal resolution also comes with high memory throughput, leading to higher energy usage. This creates a tradeoff between high precision and energy efficiency, which becomes more important in mobile systems. In addition, not all pixels in a frame are necessary for the vision application, such as pixels that make up the background. Rhythmic pixel regions aim to reduce the tradeoff by creating a pipeline that allows an application developer to specify regions to capture at a non-uniform spatiotemporal resolution. This is accomplished by encoding the incoming image, and only sending the pixels within these specified regions. Later these encoded representations will be decoded to a standard frame representation usable by traditional vision applications. My contribution to this effort has been the design, testing and evaluation of the I/O controller.
ContributorsNguyen, Van (Author) / LiKamWa, Robert (Thesis advisor) / Jayasuriya, Suren (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2020
Description
Models that learn from data are widely and rapidly being deployed today for real-world use, and have become an integral and embedded part of human lives. While these technological advances are exciting and impactful, such data-driven computer vision systems often fail in inscrutable ways. This dissertation seeks to study and improve the reliability of machine learning models from several perspectives including the development of robust training algorithms to mitigate the risks of such failures, construction of new datasets that provide a new perspective on capabilities of vision models, and the design of evaluation metrics for re-calibrating the perception of performance improvements. I will first address distribution shift in image classification with the following contributions: (1) two methods for improving the robustness of image classifiers to distribution shift by leveraging the classifier's failures into an adversarial data transformation pipeline guided by domain knowledge, (2) an interpolation-based technique for flagging out-of-distribution samples, and (3) an intriguing trade-off between distributional and adversarial robustness resulting from data modification strategies. I will then explore reliability considerations for \textit{semantic vision} models that learn from both visual and natural language data; I will discuss how logical and semantic sentence transformations affect the performance of vision--language models and my contributions towards developing knowledge-guided learning algorithms to mitigate these failures. Finally, I will describe the effort towards building and evaluating complex reasoning capabilities of vision--language models towards the long-term goal of robust and reliable computer vision models that can communicate, collaborate, and reason with humans.
ContributorsGokhale, Tejas (Author) / Yang, Yezhou (Thesis advisor) / Baral, Chitta (Thesis advisor) / Ben Amor, Heni (Committee member) / Anirudh, Rushil (Committee member) / Arizona State University (Publisher)
Created2023
Description
Despite the prevalence of coyotes (Canis latrans) little is known about the viruses associated with this species. To assess the extent of viral research that has been conducted on coyotes, a literature review was performed. Over the last six decades, there have been many viruses that have been identified infecting coyotes. The pathology of some cases implies that infection is rare and lethal while others have been demonstrated to be endemic to coyotes. In addition, the majority of the prior analyses were done through serological assays that were limited to investigating target viruses. To help expand what is known about coyote-virus dynamics, viral assays were conducted on coyote scat. The samples were collected as part of transects established along the Salt River near Phoenix, Arizona, United States (USA). The recovered viral genomes were clustered with other deoxynucleic acid (DNA) viruses and analyzed to determine phylogeny and genetic identity. From the recovered viral genomes, there are two novel circoviruses, one novel naryavirus, five unclassified cressdnaviruses, and two previously identified species of anelloviruses from the Wawtorquevirus genus. For these viruses, new phylogenies for their groups and pairwise identity plots have been generated. These figures give insight into the potential hosts and the evolutionary history. In the case of the anelloviruses, they likely derived from a wood rat (Neotoma) host, given the anellovirus family’s host specificity and its similarity to another viral genome derived from a wood rat in Arizona, USA. Of the recovered circovirus genomes, one is associated with a viral isolate collected from a dust sample in Arizona, USA. The second circovirus species identified is within a clade that consists of rodent associated circoviruses and canine circovirus. Other recovered genomes expand clusters of unclassified cressdnaviruses. The recovered genomes support further genomic analysis. These findings help support the notion that there is a wealth of viral information to be identified from animals like coyotes. By understanding the viruses that coyotes are associated with, it is possible to better understand the viral impact on the urban environment, domesticated animals, and wildlife in general.
ContributorsHess, Savage Cree (Author) / Varsani, Arvind (Thesis advisor) / Kraberger, Simona (Committee member) / Upham, Nathan S (Committee member) / Arizona State University (Publisher)
Created2023
Description
Graph-structured data, ranging from social networks to financial transaction networks, from citation networks to gene regulatory networks, have been widely used for modeling a myriad of real-world systems. As a prevailing model architecture to model graph-structured data, graph neural networks (GNNs) has drawn much attention in both academic and industrial communities in the past decades. Despite their success in different graph learning tasks, existing methods usually rely on learning from ``big'' data, requiring a large amount of labeled data for model training. However, it is common that real-world graphs are associated with ``small'' labeled data as data annotation and labeling on graphs is always time and resource-consuming. Therefore, it is imperative to investigate graph machine learning (Graph ML) with low-cost human supervision for low-resource settings where limited or even no labeled data is available. This dissertation investigates a new research field -- Data-Efficient Graph Learning, which aims to push forward the performance boundary of graph machine learning (Graph ML) models with different kinds of low-cost supervision signals. To achieve this goal, a series of studies are conducted for solving different data-efficient graph learning problems, including graph few-shot learning, graph weakly-supervised learning, and graph self-supervised learning.
ContributorsDing, Kaize (Author) / Liu, Huan (Thesis advisor) / Xue, Guoliang (Committee member) / Yang, Yezhou (Committee member) / Caverlee, James (Committee member) / Arizona State University (Publisher)
Created2023
DescriptionA
ContributorsLund, Michael (Author) / Varsani, Arvind (Thesis advisor) / Upham, Nathan (Committee member) / Harris, Robin (Committee member) / Arizona State University (Publisher)
Created2023
Description
This dissertation presents novel solutions for improving the generalization capabilities of deep learning based computer vision models. Neural networks are known to suffer a large drop in performance when tested on samples from a different distribution than the one on which they were trained. The proposed solutions, based on latent space geometry and meta-learning, address this issue by improving the robustness of these models to distribution shifts. Through the use of geometrical alignment, state-of-the-art domain adaptation and source-free test-time adaptation strategies are developed. Additionally, geometrical alignment can allow classifiers to be progressively adapted to new, unseen test domains without requiring retraining of the feature extractors. The dissertation also presents algorithms for enabling in-the-wild generalization without needing access to any samples from the target domain. Other causes of poor generalization, such as data scarcity in critical applications and training data with high levels of noise and variance, are also explored. To address data scarcity in fine-grained computer vision tasks such as object detection, novel context-aware augmentations are suggested. While the first four chapters focus on general-purpose computer vision models, strategies are also developed to improve robustness in specific applications. The efficiency of training autonomous agents for visual navigation is improved by incorporating semantic knowledge, and the integration of domain experts' knowledge allows for the realization of a low-cost, minimally invasive generalizable automated rehabilitation system. Lastly, new tools for explainability and model introspection using counter-factual explainers trained through interval-based uncertainty calibration objectives are presented.
ContributorsThopalli, Kowshik (Author) / Turaga, Pavan (Thesis advisor) / Thiagarajan, Jayaraman J (Committee member) / Li, Baoxin (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2023
Description
In the era of data explosion, massive data is generated from various sources at an unprecedented speed. The ever-growing amount of data reveals enormous opportunities for developing novel data-driven solutions to unsolved problems. In recent years, benefiting from numerous public datasets and advances in deep learning, data-driven approaches in the computer vision domain have demonstrated superior performance with high adaptability on various data and tasks. Meanwhile, signal processing has long been dominated by techniques derived from rigorous mathematical models built upon prior knowledge of signals. Due to the lack of adaptability to real data and applications, model-based methods often suffer from performance degradation and engineering difficulties. In this dissertation, multiple signal processing problems are studied from vision-inspired data representation and learning perspectives to address the major limitation on adaptability. Corresponding data-driven solutions are proposed to achieve significantly improved performance over conventional solutions. Specifically, in the compressive sensing domain, an open-source image compressive sensing toolbox and benchmark to standardize the implementation and evaluation of reconstruction methods are first proposed. Then a plug-and-play compression ratio adapter is proposed to enable the adaptability of end-to-end data-driven reconstruction methods to variable compression ratios. Lastly, the problem of transfer learning from images to bioelectric signals is experimentally studied to demonstrate the improved performance of data-driven reconstruction. In the image subsampling domain, task-adaptive data-driven image subsampling is studied to reduce data redundancy and retain information of interest simultaneously. In the semiconductor analysis domain, the data-driven automatic error detection problem is studied in the context of integrated circuit segmentation for the first time. In the light detection and ranging(LiDAR) camera calibration domain, the calibration accuracy degradation problem in low-resolution LiDAR scenarios is addressed with data-driven techniques.
ContributorsZhang, Zhikang (Author) / Ren, Fengbo (Thesis advisor) / Li, Baoxin (Committee member) / Turaga, Pavan (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2023
Description
Insufficient training data poses significant challenges to training a deep convolutional neural network (CNN) to solve a target task. One common solution to this problem is to use transfer learning with pre-trained networks to apply knowledge learned from one domain with sufficient data to a new domain with limited data and avoid training a deep network from scratch. However, for such methods to work in a transfer learning setting, learned features from the source domain need to be generalizable to the target domain, which is not guaranteed since the feature space and distributions of the source and target data may be different. This thesis aims to explore and understand the use of orthogonal convolutional neural networks to improve learning of diverse, generic features that are transferable to a novel task.
In this thesis, orthogonal regularization is used to pre-train deep CNNs to investigate if and how orthogonal convolution may improve feature extraction in transfer learning. Experiments using two limited medical image datasets in this thesis suggests that orthogonal regularization improves generality and reduces redundancy of learned features more effectively in certain deep networks for transfer learning. The results on feature selection and classification demonstrate the improvement in transferred features helps select more expressive features that improves generalization performance. To understand the effectiveness of orthogonal regularization on different architectures, this work studies the effects of residual learning on orthogonal convolution. Specifically, this work examines the presence of residual connections and its effects on feature similarities and show residual learning blocks help orthogonal convolution better preserve feature diversity across convolutional layers of a network and alleviate the increase in feature similarities caused by depth, demonstrating the importance of residual learning in making orthogonal convolution more effective.
ContributorsChan, Tsz (Author) / Li, Baoxin (Thesis advisor) / Liang, Jianming (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2023
Description
Vision Transformers (ViT) achieve state-of-the-art performance on image classification tasks. However, their massive size makes them unsuitable for edge devices. Unlike CNNs, limited research has been conducted on the compression of ViTs. This thesis work proposes the ”adjoined training technique” to compress any transformer based architecture. The architecture, Adjoined Vision Transformer (AN-ViT), achieves state-of-the-art performance on the ImageNet classification task. With the base network as Swin Transformer, AN-ViT with 4.1× fewer parameters and 5.5× fewer floating point operations (FLOPs) achieves similar accuracy (within 0.15%). This work further proposes Differentiable Adjoined ViT (DAN-ViT), whichuses neural architecture search to find hyper-parameters of our model. DAN-ViT outperforms the current state-of-the-art methods including Swin-Transformers by about ∼ 0.07% and achieves 85.27% top-1 accuracy on the ImageNet dataset while using 2.2× fewer parameters and with 2.2× fewer FLOPs.
ContributorsGoel, Rajeev (Author) / Yang, Yingzhen (Thesis advisor) / Yang, Yezhou (Committee member) / Zou, Jia (Committee member) / Arizona State University (Publisher)
Created2023