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Title: AUTONOMOUS ENVIRONMENTAL MAPPING IN MULTI-AGENT UAV SYSTEMS.
Creator: Luotsinen, Linus Jan, Boloni, Ladislau L., University of Central Florida
Abstract / Description: UAV units are by many researchers and aviation specialists considered the future and cutting edge of modern flight technology. This thesis discusses methods for efficient autonomous environmental mapping in a multi-agent domain. An algorithm that emphasizes on team work by sharing the agents local map information and exploration intentions is presented as a solution to the mapping problem. General theories on how to model and implement rational autonomous behaviour for UAV agents are...
Show moreUAV units are by many researchers and aviation specialists considered the future and cutting edge of modern flight technology. This thesis discusses methods for efficient autonomous environmental mapping in a multi-agent domain. An algorithm that emphasizes on team work by sharing the agents local map information and exploration intentions is presented as a solution to the mapping problem. General theories on how to model and implement rational autonomous behaviour for UAV agents are presented. Three different human and tactical behaviour modeling techniques are evaluated. The author found the CxBR paradigm to be the most interesting approach. Also, in order to test and quantify the theories presented in this thesis a simulation environment was developed. This simulation software allows for UAV agents to operate in a visual 3-D environment with mountains, other various terrain types, danger points and enemies to model unexpected events.
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Date Issued: 2004
Identifier: CFE0000051, ucf:46111
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0000051

Title: A VIRTUAL REALITY VISUALIZATION OFAN ANALYTICAL SOLUTION TOMOBILE ROBOT TRAJECTORY GENERATIONIN THE PRESENCE OF MOVING OBSTACLES.
Creator: Elias, Ricardo, Qu, Zhihua, University of Central Florida
Abstract / Description: Virtual visualization of mobile robot analytical trajectories while avoiding moving obstacles is presented in this thesis as a very helpful technique to properly display and communicate simulation results. Analytical solutions to the path planning problem of mobile robots in the presence of obstacles and a dynamically changing environment have been presented in the current robotics and controls literature. These techniques have been demonstrated using two-dimensional graphical representation...
Show moreVirtual visualization of mobile robot analytical trajectories while avoiding moving obstacles is presented in this thesis as a very helpful technique to properly display and communicate simulation results. Analytical solutions to the path planning problem of mobile robots in the presence of obstacles and a dynamically changing environment have been presented in the current robotics and controls literature. These techniques have been demonstrated using two-dimensional graphical representation of simulation results. In this thesis, the analytical solution published by Dr. Zhihua Qu in December 2004 is used and simulated using a virtual visualization tool called VRML.
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Date Issued: 2007
Identifier: CFE0001575, ucf:47118
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0001575

Title: A MULTI-OBJECTIVE NO-REGRET DECISION MAKING MODEL WITH BAYESIAN LEARNING FOR AUTONOMOUS UNMANNED SYSTEMS.
Creator: Howard, Matthew, Qu, Zhihua, University of Central Florida
Abstract / Description: The development of a multi-objective decision making and learning model for the use in unmanned systems is the focus of this project. Starting with traditional game theory and psychological learning theories developed in the past, a new model for machine learning is developed. This model incorporates a no-regret decision making model with a Bayesian learning process which has the ability to adapt to errors found in preconceived costs associated with each objective. This learning ability is...
Show moreThe development of a multi-objective decision making and learning model for the use in unmanned systems is the focus of this project. Starting with traditional game theory and psychological learning theories developed in the past, a new model for machine learning is developed. This model incorporates a no-regret decision making model with a Bayesian learning process which has the ability to adapt to errors found in preconceived costs associated with each objective. This learning ability is what sets this model apart from many others. By creating a model based on previously developed human learning models, hundreds of years of experience in these fields can be applied to the recently developing field of machine learning. This also allows for operators to more comfortably adapt to the machine's learning process in order to better understand how to take advantage of its features. One of the main purposes of this system is to incorporate multiple objectives into a decision making process. This feature can better allow its users to clearly define objectives and prioritize these objectives allowing the system to calculate the best approach for completing the mission. For instance, if an operator is given objectives such as obstacle avoidance, safety, and limiting resource usage, the operator would traditionally be required to decide how to meet all of these objectives. The use of a multi-objective decision making process such as the one designed in this project, allows the operator to input the objectives and their priorities and receive an output of the calculated optimal compromise.
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Date Issued: 2008
Identifier: CFE0002453, ucf:47711
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0002453

Title: MICROSCOPIC ANALYSIS OF SYMPATHETIC AND PARASYMPATHETIC DISTRIBUTION, TERMINAL MORPHOLOGY, AND INTERACTION IN WHOLE-MOUNT ATRIA OF C57BL/6 MICE.
Creator: Harden, Scott, Cheng, Zixi (Jack), University of Central Florida
Abstract / Description: The sympathetic (SNS) and parasympathetic (PSNS) branches of the autonomic nervous system (ANS) innervate the heart, exerting excitatory and inhibitory influences (respectively) over cardiac functions (heart rate, AV conduction velocity, and contractility). However, the distribution and structure of SNS and PSNS innervation has not yet been well studied. Detailed characterization of the distributional organization and structural morphology of the SNS and PSNS in normal states is essential to...
Show moreThe sympathetic (SNS) and parasympathetic (PSNS) branches of the autonomic nervous system (ANS) innervate the heart, exerting excitatory and inhibitory influences (respectively) over cardiac functions (heart rate, AV conduction velocity, and contractility). However, the distribution and structure of SNS and PSNS innervation has not yet been well studied. Detailed characterization of the distributional organization and structural morphology of the SNS and PSNS in normal states is essential to the study of pathological autonomic remodeling. The present study utilized double immunohistochemical labeling techniques to examine tyrosine hydroxylase (TH) immunoreactive (IR) SNS and vesicular acetylcholine transporter (VAChT) IR PSNS axons and terminal structures in whole-mount atria of C57BL/6 mice. We found that: (1) The atria contain a dense network of ANS axons. TH-IR, VAChT-IR, and dual cholinergic/dopaminergic TH+VAChT-IR axons travel together in bundles on the epicardium before branching into differentiated terminal structures. (2) Parallel TH-IR and VAChT-IR axons often diverge from epicardial bundles and travel in parallel (less than 1μm apart) before forming terminal structures in the epicardium and myocardium. Such parallel SNS/PSNS axons interdigitize and have large alternating varicosities along their length adjacent to one other, suggesting possible antagonistic communication between both branches of the ANS at the prejunctional level. (3) Intrinsic cardiac ganglia (ICG) are targets for extrinsic sympathetic nerves which travel through ICG without forming large synaptic varicosities around cardiac principal neurons (PNs). (4) Small intensely fluorescent (SIF) cells (presumably chemoreceptors and/or interneurons) exist near SNS bundles, inside ICG, and in the epicardium unaccompanied by ganglia and nerve bundles. (5) The subpopulation of TH+VAChT-IR PNs within ICG form loose terminals in the atria and do not project to other PNs. (6) Both TH-IR and VAChT-IR axons innervate atrial vasculature. (7) TH-IR axons innervate fat pads adjacent to the heart. (8) SNS/PSNS parallelism is not exclusive to the atria. Similar structures exist in the esophagus, right ventricle, and small intestine. This study provides a novel and overall view of the innervation and interaction of the SNS and PSNS in the atria. This will underlie a foundation for future physiological, pharmacological, and anatomical studies of SNS/PSNS innervation, interaction, and remodeling in pathological states (such as aging, intermittent hypoxia and diabetes).
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Date Issued: 2009
Identifier: CFE0002561, ucf:47647
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0002561

Title: INDOOR GEO-LOCATION AND TRACKING OF MOBILE AUTONOMOUS ROBOT.
Creator: Ramamurthy, Mahesh, Schiavone, Guy, University of Central Florida
Abstract / Description: The field of robotics has always been one of fascination right from the day of Terminator. Even though we still do not have robots that can actually replicate human action and intelligence, progress is being made in the right direction. Robotic applications range from defense to civilian, in public safety and fire fighting. With the increase in urban-warfare robot tracking inside buildings and in cities form a very important application. The numerous applications range from munitions tracking...
Show moreThe field of robotics has always been one of fascination right from the day of Terminator. Even though we still do not have robots that can actually replicate human action and intelligence, progress is being made in the right direction. Robotic applications range from defense to civilian, in public safety and fire fighting. With the increase in urban-warfare robot tracking inside buildings and in cities form a very important application. The numerous applications range from munitions tracking to replacing soldiers for reconnaissance information. Fire fighters use robots for survey of the affected area. Tracking robots has been limited to the local area under consideration. Decision making is inhibited due to limited local knowledge and approximations have to be made. An effective decision making would involve tracking the robot in earth co-ordinates such as latitude and longitude. GPS signal provides us sufficient and reliable data for such decision making. The main drawback of using GPS is that it is unavailable indoors and also there is signal attenuation outdoors. Indoor geolocation forms the basis of tracking robots inside buildings and other places where GPS signals are unavailable. Indoor geolocation has traditionally been the field of wireless networks using techniques such as low frequency RF signals and ultra-wideband antennas. In this thesis we propose a novel method for achieving geolocation and enable tracking. Geolocation and tracking are achieved by a combination of Gyroscope and encoders together referred to as the Inertial Navigation System (INS). Gyroscopes have been widely used in aerospace applications for stabilizing aircrafts. In our case we use gyroscope as means of determining the heading of the robot. Further, commands can be sent to the robot when it is off balance or off-track. Sensors are inherently error prone; hence the process of geolocation is complicated and limited by the imperfect mathematical modeling of input noise. We make use of Kalman Filter for processing erroneous sensor data, as it provides us a robust and stable algorithm. The error characteristics of the sensors are input to the Kalman Filter and filtered data is obtained. We have performed a large set of experiments, both indoors and outdoors to test the reliability of the system. In outdoors we have used the GPS signal to aid the INS measurements. When indoors we utilize the last known position and extrapolate to obtain the GPS co-ordinates.
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Date Issued: 2005
Identifier: CFE0000506, ucf:46451
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0000506

Title: Navigation of an Autonomous Differential Drive Robot for Field Scouting in Semi-structured Environments.
Creator: Freese, Douglas, Xu, Yunjun, Lin, Kuo-Chi, Kauffman, Jeffrey L., Behal, Aman, University of Central Florida
Abstract / Description: In recent years, the interests of introducing autonomous robots by growers into agriculture fields are rejuvenated due to the ever-increasing labor cost and the recent declining numbers of seasonal workers. The utilization of customized, autonomous agricultural robots has a profound impact on future orchard operations by providing low cost, meticulous inspection. Different sensors have been proven proficient in agrarian navigation including the likes of GPS, inertial, magnetic, rotary...
Show moreIn recent years, the interests of introducing autonomous robots by growers into agriculture fields are rejuvenated due to the ever-increasing labor cost and the recent declining numbers of seasonal workers. The utilization of customized, autonomous agricultural robots has a profound impact on future orchard operations by providing low cost, meticulous inspection. Different sensors have been proven proficient in agrarian navigation including the likes of GPS, inertial, magnetic, rotary encoding, time of flight as well as vision. To compensate for anticipated disturbances, variances and constraints contingent to the outdoor semi-structured environment, a differential style drive vehicle will be implemented as an easily controllable system to conduct tasks such as imaging and sampling.In order to verify the motion control of a robot, custom-designed for strawberry fields, the task is separated into multiple phases to manage the over-bed and cross-bed operation needs. In particular, during the cross-bed segment an elevated strawberry bed will provide distance references utilized in a logic filter and tuned PID algorithm for safe and efficient travel. Due to the significant sources of uncertainty such as wheel slip and the vehicle model, nonlinear robust controllers are designed for the cross-bed motion, purely relying on vision feedback. A simple image filter algorithm was developed for strawberry row detection, in which pixels corresponding to the bed center will be tracked while the vehicle is in controlled motion. This incorporated derivation and formulation of a bounded uncertainty parameter that will be employed in the nonlinear control. Simulation of the entire system was subsequently completed to ensure the control capability before successful validation in multiple commercial farms. It is anticipated that with the developed algorithms the authentication of fully autonomous robotic systems functioning in agricultural crops will provide heightened efficiency of needed costly services; scouting, disease detection, collection, and distribution.
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Date Issued: 2018
Identifier: CFE0007401, ucf:52743
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0007401

Title: Cardiac Autonomic Control in Patients with Metabolic Syndrome.
Creator: Mitchell, Jonathan, Cassisi, Jeffrey, Bedwell, Jeffrey, Beidel, Deborah, University of Central Florida
Abstract / Description: Metabolic syndrome (MetS) encompasses metabolic abnormalities that substantially increase risk for chronic illnesses. MetS and stress are closely related; the pathophysiology of MetS involves dysregulated stress response in both the physiological and psychological domains. In an effort to further clarify the relationship between metabolic abnormalities and autonomic dysregulation, we used ambulatory impedance cardiography to examine indicators of cardiac autonomic control (CAC) in a sample of...
Show moreMetabolic syndrome (MetS) encompasses metabolic abnormalities that substantially increase risk for chronic illnesses. MetS and stress are closely related; the pathophysiology of MetS involves dysregulated stress response in both the physiological and psychological domains. In an effort to further clarify the relationship between metabolic abnormalities and autonomic dysregulation, we used ambulatory impedance cardiography to examine indicators of cardiac autonomic control (CAC) in a sample of 50 adult primary care patients with and without MetS. Indices of sympathetic and parasympathetic influences on cardiovascular functioning were assessed in the context of psychological stressors and compared across experimental groups and examined in relation to self-reported health measures. Primary results suggest that while our experimental groups did not differ significantly on baseline measures, patterns of responses to experimentally induced stressors were largely consistent with our predictions, and demonstrate that individuals with MetS responded to stress cues with more maladaptive CAC scores. Moreover, in line with previous work, we found that elements of CAC in our sample were predictive of both cardiovascular disease and self-reported environmental quality of life. Overall, our results suggest that maladaptive physiological manifestations of the stress response are evident among individuals with MetS and may also be related to long-term health outcomes. The present study carries implications for both evaluation and assessment as well as treatment delivery and monitoring. In addition, the ambulatory nature of data collection demonstrated here supports trends toward mHealth and related initiatives in emerging modes of healthcare delivery.
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Date Issued: 2016
Identifier: CFE0006359, ucf:51519
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0006359

Title: AUTONOMOUS CONTROLS ALGORITHMFOR FORMATION FLYING OF SATELLITES.
Creator: Santiago, Luis, Johnson, Roger, University of Central Florida
Abstract / Description: This document describes the design and analysis of the Navigation, Guidance and Control System for the KnightSat project. The purpose for the project is to test and demonstrate new technologies the Air Force would be interested in for research and development. The primary mission of KnightSat is to show how a constellation of satellites can maintain relative position with each other autonomously using the Microwave Electro Thermal (MET) thruster. The secondary mission is to use multiple...
Show moreThis document describes the design and analysis of the Navigation, Guidance and Control System for the KnightSat project. The purpose for the project is to test and demonstrate new technologies the Air Force would be interested in for research and development. The primary mission of KnightSat is to show how a constellation of satellites can maintain relative position with each other autonomously using the Microwave Electro Thermal (MET) thruster. The secondary mission is to use multiple satellite imagery to obtain 3 dimensional stereo photographs of observable terrain. Formation flying itself has many possible uses for future applications. Selected missions that require imaging or data collection can be more economically accomplished using smaller multiple satellites. The MET thruster is a very efficient, but low thrust alternative that can provide thrust for a very long time, hence provide the low thrust necessary to maintain the satellites at a constant separation. The challenge is to design a working control algorithm to provide the desired output data to be used to command the MET thrusters. The satellites are to maintain a constant relative distance from each other, and use the least amount of fuel possible. If one satellite runs out of fuel before the other, it would render the constellation less useful or useless. Hence, the satellites must use the same amount of fuel in order to maintain an optimal operational duration on orbit.
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Date Issued: 2006
Identifier: CFE0001171, ucf:46854
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0001171

Title: OPTIMIZING DYNAMIC LOGIC REALIZATIONS FOR PARTIAL RECONFIGURATION OF FIELD PROGRAMMABLE GATE ARRAYS.
Creator: Parris, Matthew, DeMara, Ronald, University of Central Florida
Abstract / Description: Many digital logic applications can take advantage of the reconfiguration capability of Field Programmable Gate Arrays (FPGAs) to dynamically patch design flaws, recover from faults, or time-multiplex between functions. Partial reconfiguration is the process by which a user modifies one or more modules residing on the FPGA device independently of the others. Partial Reconfiguration reduces the granularity of reconfiguration to be a set of columns or rectangular region of the device....
Show moreMany digital logic applications can take advantage of the reconfiguration capability of Field Programmable Gate Arrays (FPGAs) to dynamically patch design flaws, recover from faults, or time-multiplex between functions. Partial reconfiguration is the process by which a user modifies one or more modules residing on the FPGA device independently of the others. Partial Reconfiguration reduces the granularity of reconfiguration to be a set of columns or rectangular region of the device. Decreasing the granularity of reconfiguration results in reduced configuration filesizes and, thus, reduced configuration times. When compared to one bitstream of a non-partial reconfiguration implementation, smaller modules resulting in smaller bitstream filesizes allow an FPGA to implement many more hardware configurations with greater speed under similar storage requirements. To realize the benefits of partial reconfiguration in a wider range of applications, this thesis begins with a survey of FPGA fault-handling methods, which are compared using performance-based metrics. Performance analysis of the Genetic Algorithm (GA) Offline Recovery method is investigated and candidate solutions provided by the GA are partitioned by age to improve its efficiency. Parameters of this aging technique are optimized to increase the occurrence rate of complete repairs. Continuing the discussion of partial reconfiguration, the thesis develops a case-study application that implements one partial reconfiguration module to demonstrate the functionality and benefits of time multiplexing and reveal the improved efficiencies of the latest large-capacity FPGA architectures. The number of active partial reconfiguration modules implemented on a single FPGA device is increased from one to eight to implement a dynamic video-processing architecture for Discrete Cosine Transform and Motion Estimation functions to demonstrate a 55-fold reduction in bitstream storage requirements thus improving partial reconfiguration capability.
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Date Issued: 2008
Identifier: CFE0002323, ucf:47793
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0002323

Title: A Decision Support Model for Autonomous Trucks Strategies.
Creator: Mohamed, Ahmad Saeid Ammar, Yun, Hae-Bum, Chopra, Manoj, Sallam, Amr, University of Central Florida
Abstract / Description: We examined the potential to improve the movement of freight using Truck PlatooningLane strategies on limited access highways in the State of Florida. In the First part of thisresearch, we investigated the potential benefits from dedicating one lane from existinglanes for autonomous trucks only. In this regard, a general framework tool was developedto evaluate and compare different measurements (e.g., travel tim and emissions) to betterassist decision makers to determine the most effective...
Show moreWe examined the potential to improve the movement of freight using Truck PlatooningLane strategies on limited access highways in the State of Florida. In the First part of thisresearch, we investigated the potential benefits from dedicating one lane from existinglanes for autonomous trucks only. In this regard, a general framework tool was developedto evaluate and compare different measurements (e.g., travel tim and emissions) to betterassist decision makers to determine the most effective freight transportation strategy.Additionally, the travel time, level of service and emissions on Florida Strategic IntermodalSystem (SIS) were systematically analyzed using a VISSIM and MOVES simulation todetermine if it can be improved. For the scenarios simulated in this investigation, the inputincluded different patterns with a variety of peak hour volumes, truck percentages, speeds,and number of lanes. Additionally, the various total values of the resultant travel time,emissions and level of service for each SIS corridor were determined and calculated usinga General Linear Model and then tabulated to reveal input patterns. The results showed thata truck platooning lane can significantly reduce the travel time and emissions of trucks. Inthe second part, we proposed using a The Analytic Hierarchy Process (AHP) method toevaluate the potential benefits of building a new lane for autonomous trucks. The AHPmethod was developed to include all possible measurements that can assist decision makersto select the best autonomous truck policy. The results of the AHP model showed that thesafety criterion was significantly the most influential perspective per experts' opinions. Theresults showed that experts were more concerned about safety and environmentalconsiderations than the initial cost associated with building a new lane.
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Date Issued: 2018
Identifier: CFE0007056, ucf:51983
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0007056

Title: A SUSTAINABLE AUTONOMIC ARCHITECTURE FOR ORGANICALLY RECONFIGURABLE COMPUTING SYSTEMS.
Creator: Oreifej, Rashad, DeMara, Ronald, University of Central Florida
Abstract / Description: A Sustainable Autonomic Architecture for Organically Reconfigurable Computing System based on SRAM Field Programmable Gate Arrays (FPGAs) is proposed, modeled analytically, simulated, prototyped, and measured. Low-level organic elements are analyzed and designed to achieve novel self-monitoring, self-diagnosis, and self-repair organic properties. The prototype of a 2-D spatial gradient Sobel video edge-detection organic system use-case developed on a XC4VSX35 Xilinx Virtex-4 Video Starter Kit...
Show moreA Sustainable Autonomic Architecture for Organically Reconfigurable Computing System based on SRAM Field Programmable Gate Arrays (FPGAs) is proposed, modeled analytically, simulated, prototyped, and measured. Low-level organic elements are analyzed and designed to achieve novel self-monitoring, self-diagnosis, and self-repair organic properties. The prototype of a 2-D spatial gradient Sobel video edge-detection organic system use-case developed on a XC4VSX35 Xilinx Virtex-4 Video Starter Kit is presented. Experimental results demonstrate the applicability of the proposed architecture and provide the infrastructure to quantify the performance and overcome fault-handling limitations. Dynamic online autonomous functionality restoration after a malfunction or functionality shift due to changing requirements is achieved at a fine granularity by exploiting dynamic Partial Reconfiguration (PR) techniques. A Genetic Algorithm (GA)-based hardware/software platform for intrinsic evolvable hardware is designed and evaluated for digital circuit repair using a variety of well-accepted benchmarks. Dynamic bitstream compilation for enhanced mutation and crossover operators is achieved by directly manipulating the bitstream using a layered toolset. Experimental results on the edge-detector organic system prototype have shown complete organic online refurbishment after a hard fault. In contrast to previous toolsets requiring many milliseconds or seconds, an average of 0.47 microseconds is required to perform the genetic mutation, 4.2 microseconds to perform the single point conventional crossover, 3.1 microseconds to perform Partial Match Crossover (PMX) as well as Order Crossover (OX), 2.8 microseconds to perform Cycle Crossover (CX), and 1.1 milliseconds for one input pattern intrinsic evaluation. These represent a performance advantage of three orders of magnitude over the JBITS software framework and more than seven orders of magnitude over the Xilinx design flow. Combinatorial Group Testing (CGT) technique was combined with the conventional GA in what is called CGT-pruned GA to reduce repair time and increase system availability. Results have shown up to 37.6% convergence advantage using the pruned technique. Lastly, a quantitative stochastic sustainability model for reparable systems is formulated to evaluate the Sustainability of FPGA-based reparable systems. This model computes at design-time the resources required for refurbishment to meet mission availability and lifetime requirements in a given fault-susceptible missions. By applying this model to MCNC benchmark circuits and the Sobel Edge-Detector in a realistic space mission use-case on Xilinx Virtex-4 FPGA, we demonstrate a comprehensive model encompassing the inter-relationships between system sustainability and fault rates, utilized, and redundant hardware resources, repair policy parameters and decaying reparability.
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Date Issued: 2011
Identifier: CFE0003969, ucf:48661
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0003969

Title: Smart Grasping using Laser and Tactile Array Sensors for UCF-MANUS- An Intelligent Assistive Robotic Manipulator.
Creator: Prakash, Kiran, Behal, Aman, Boloni, Ladislau, Haralambous, Michael, University of Central Florida
Abstract / Description: This thesis presents three improvements in the UCF MANUS Assistive Robotic Manipulator's grasping abilities. Firstly, the robot can now grasp objects that are deformable, heavy and have uneven contact surfaces without undergoing slippage during robotic operations, e.g. paper cup, filled water bottle. This is achieved by installing a high precision non-contacting Laser sensor1 that runs with an algorithm that processes raw-input data from the sensor, registers smallest variation in the...
Show moreThis thesis presents three improvements in the UCF MANUS Assistive Robotic Manipulator's grasping abilities. Firstly, the robot can now grasp objects that are deformable, heavy and have uneven contact surfaces without undergoing slippage during robotic operations, e.g. paper cup, filled water bottle. This is achieved by installing a high precision non-contacting Laser sensor1 that runs with an algorithm that processes raw-input data from the sensor, registers smallest variation in the relative position of the object with respect to the gripper. Secondly, the robot can grasp objects that are as light and small as single cereal grain without deforming it. To achieve this a MEMS Barometer based tactile sensor array device that can measure force that are as small as 1 gram equivalent is embedded into the gripper to enhance pressure sensing capabilities. Thirdly, the robot gripper gloves are designed aesthetically and conveniently to accommodate existing and newly added sensors using a 3D printing technology that uses light weight ABS plastic as a fabrication material. The newly designed system was experimented and found that a high degree of adaptability for different kinds of objects can be attained with a better performance than the previous system.
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Date Issued: 2016
Identifier: CFE0006164, ucf:51119
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0006164

Title: Overexpression of human Cu/Zn Superoxide Dismutase in Mice: A Model to Study the Effect of Increased Superoxide Scavenging on the Autonomic Control of the Heart.
Creator: Hatcher, Jeffrey, Cheng, Zixi, Bossy-Wetzel, Ella, Fernandez-Valle, Cristina, Belfield, Kevin, University of Central Florida
Abstract / Description: Dysregulation of the autonomic cardiovascular control is a complication of diseases including diabetes, hypertension, sleep apnea, and aging. A common factor in these conditions is an increase in reactive oxygen species (ROS) in neural, cardiac, and endothelial tissues. Cu/Zn superoxide dismutase (SOD1) is an intracellular anti-oxidant enzyme that catalyzes dismutation of the superoxide anion (O2.-) to hydrogen peroxide (H2O2). Expression and function of this enzyme are diminished in...
Show moreDysregulation of the autonomic cardiovascular control is a complication of diseases including diabetes, hypertension, sleep apnea, and aging. A common factor in these conditions is an increase in reactive oxygen species (ROS) in neural, cardiac, and endothelial tissues. Cu/Zn superoxide dismutase (SOD1) is an intracellular anti-oxidant enzyme that catalyzes dismutation of the superoxide anion (O2.-) to hydrogen peroxide (H2O2). Expression and function of this enzyme are diminished in pathologies that impair cardiovascular autonomic control. This study employed mice overexpressing a transgene for human SOD1 (hSOD1) to determine if its overexpression would alter autonomic regulation of BP, HR, and BRS in healthy animals, and if this animal line (C57B6SJL-Tg (SOD1)2 Gur/J) could be used in future studies to determine if hSOD1 overexpression can preserve cardiac autonomic function in disease models. To accomplish this aim, using anesthetized SOD1 and C57 (control) mice, we recorded HR, and aortic depressor nerve (ADN) activity changes in response to pharmacologically-induced BP changes in order to measure baroreflex and baroreceptor sensitivity, respectively. In order to identify any alterations in central, efferent, and cardiac components of the baroreflex arc, we electrically stimulated the left ADN and left cervical vagus and compared the reductions in BP and HR between the C57 and SOD1 mice. Time- and frequency-domain analysis of heart rate variability (HRV) was performed using pulse pressure recordings prior to pharmacologic or surgical procedures. We found that hSOD1 overexpression in the SOD1 mouse line, in comparison to C57 controls did not significantly affect resting HR (C57: 558 (&)#177; 8 vs. SOD1:553 (&)#177; 13 beats-per-minute) or blood pressure (C57: 88.8 (&)#177; 2.9 vs.SOD1: 85.8 (&)#177; 2.1 mmHg). hSOD1 overexpression did not affect the decrease in average mean arterial pressure (MAP) following injection of sodium nitroprusside (SNP) (C57: 38.7 (&)#177; 1.4 vs. SOD1: 39.5 (&)#177; 1.3 mmHg) or increase in average MAP (C57: 135.8 (&)#177; 3.1 vs. SOD1: 136.6 (&)#177; 3.5 mmHg) following injection of phenylephrine (PE). BRS, as measured by the averaged regression lines for ?HR/?MAP for the SNP-induced tachycardic baroreflex (C57: 0.57 (&)#177; 0.06 bpm/mmHg, SOD1: 0.61 (&)#177; 0.08 bpm/mmHg)) and the PE-induced bradycardic baroreflex (C57: -2.9 (&)#177; 0.57 bmp/mmHg, SOD1: -4.3 (&)#177; 0.84 bpm/mmHg) are not significantly different between C57 and SOD1. Baroreceptor activation showed a significant increase in gain (C57: 5.4 (&)#177; 0.3 vs. SOD1: 7.4 (&)#177; 0.5 %/mmHg, P (<) 0.01) in the SOD1 transgenic mice. Heart rate depression in response to electrical stimulation of the left ADN and cervical vagus was comparable between C57 and SOD1, though MAP reduction in response to ADN stimulation is slightly, but significantly increased at 50 Hz in SOD1 animals. Time- domain analysis of HRV did not reveal any significant difference in beat-to-beat variability between SOD1 and C57 (SDNN: C57: 2.78 (&)#177; 0.20, SOD1: 2.89 (&)#177; 0.27), although frequency-domain analysis uncovered a significant reduction in the low-frequency power component of the HRV power spectral distribution (C57: 1.19 (&)#177; 0.11, SOD1: 0.35 (&)#177; 0.06, P (<) 0.001). This study shows that although hSOD1 overexpression does not affect overall baroreflex function, it does potentiate baroreceptor sensitivity and brain stem control of arterial pressure, and reduces low-frequency beat-to-beat variations in HR, without affecting total HRV.
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Date Issued: 2015
Identifier: CFE0005803, ucf:50025
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0005803

Title: MODELING AUTONOMOUS AGENTS IN MILITARY SIMULATIONS.
Creator: Kaptan, Varol, Gelenbe, Erol, University of Central Florida
Abstract / Description: Simulation is an important tool for prediction and assessment of the behavior of complex systems and situations. The importance of simulation has increased tremendously during the last few decades, mainly because the rapid pace of development in the field of electronics has turned the computer from a costly and obscure piece of equipment to a cheap ubiquitous tool which is now an integral part of our daily lives. While such technological improvements make it easier to analyze well-understood...
Show moreSimulation is an important tool for prediction and assessment of the behavior of complex systems and situations. The importance of simulation has increased tremendously during the last few decades, mainly because the rapid pace of development in the field of electronics has turned the computer from a costly and obscure piece of equipment to a cheap ubiquitous tool which is now an integral part of our daily lives. While such technological improvements make it easier to analyze well-understood deterministic systems, increase in speed and storage capacity alone are not enough when simulating situations where human beings and their behavior are an integral part of the system being studied. The problem with simulation of intelligent entities is that intelligence is still not well understood and it seems that the field of Artificial Intelligence (AI) has a long way to go before we get computers to think like humans. Behavior-based agent modeling has been proposed in mid-80's as one of the alternatives to the classical AI approach. While used mainly for the control of specialized robotic vehicles with very specific sensory capabilities and limited intelligence, we believe that a behavior-based approach to modeling generic autonomous agents in complex environments can provide promising results. To this end, we are investigating a behavior-based model for controlling groups of collaborating and competing agents in a geographic terrain. In this thesis, we are focusing on scenarios of military nature, where agents can move within the environment and adversaries can eliminate each other through use of weapons. Different aspects of agent behavior like navigation to a goal or staying in group formation, are implemented by distinct behavior modules and the final observed behavior for each agent is an emergent property of the combination of simple behaviors and their interaction with the environment. Our experiments show that while such an approach is quite efficient in terms of computational power, it has some major drawbacks. One of the problems is that reactive behavior-based navigation algorithms are not well suited for environments with complex mobility constraints where they tend to perform much worse than proper path planning. This problem represents an important research question, especially when it is considered that most of the modern military conflicts and operations occur in urban environments. One of the contributions of this thesis is a novel approach to reactive navigation where goals and terrain information are fused based on the idea of transforming a terrain with obstacles into a virtual obstacle-free terrain. Experimental results show that our approach can successfully combine the low run-time computational complexity of reactive methods with the high success rates of classical path planning. Another interesting research problem is how to deal with the unpredictable nature of emergent behavior. It is not uncommon to have situations where an outcome diverges significantly from the intended behavior of the agents due to highly complex nonlinear interactions with other agents or the environment itself. Chances of devising a formal way to predict and avoid such abnormalities are slim at best, mostly because such complex systems tend to be be chaotic in nature. Instead, we focus on detection of deviations through tracking group behavior which is a key component of the total situation awareness capability required by modern technology-oriented and network-centric warfare. We have designed a simple and efficient clustering algorithm for tracking of groups of agent suitable for both spatial and behavioral domain. We also show how to detect certain events of interest based on a temporal analysis of the evolution of discovered clusters.
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Date Issued: 2006
Identifier: CFE0001494, ucf:47099
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0001494

Title: Autonomous Discovery and Maintenance of Mobile Frees-Space-Optical Links.
Creator: Khan, Mahmudur, Yuksel, Murat, Pourmohammadi Fallah, Yaser, Ewetz, Rickard, Turgut, Damla, Nam, Boo Hyun, University of Central Florida
Abstract / Description: Free-Space-Optical (FSO) communication has the potential to play a significant role in future generation wireless networks. It is advantageous in terms of improved spectrum utilization, higher data transfer rate, and lower probability of interception from unwanted sources. FSO communication can provide optical-level wireless communication speeds and can also help solve the wireless capacity problem experienced by the traditional RF-based technologies. Despite these advantages, communications...
Show moreFree-Space-Optical (FSO) communication has the potential to play a significant role in future generation wireless networks. It is advantageous in terms of improved spectrum utilization, higher data transfer rate, and lower probability of interception from unwanted sources. FSO communication can provide optical-level wireless communication speeds and can also help solve the wireless capacity problem experienced by the traditional RF-based technologies. Despite these advantages, communications using FSO transceivers require establishment and maintenance of line-of-sight (LOS). We consider autonomous mobile nodes (Unmanned Ground Vehicles or Unmanned Aerial Vehicles), each with one FSO transceiver mounted on a movable head capable of scanning in the horizontal and vertical planes. We propose novel schemes that deal with the problems of automatic discovery, establishment, and maintenance of LOS alignment between these nodes with mechanical steering of the directional FSO transceivers in 2-D and 3-D scenarios. We perform extensive simulations to show the effectiveness of the proposed methods for both neighbor discovery and LOS maintenance. We also present a prototype implementation of such mobile nodes with FSO transceivers. The potency of the neighbor discovery and LOS alignment protocols is evaluated by analyzing the results obtained from both simulations and experiments conducted using the prototype. The results show that, by using such mechanically steerable directional transceivers and the proposed methods, it is possible to establish optical wireless links within practical discovery times and maintain the links in a mobile setting with minimal disruption.
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Date Issued: 2018
Identifier: CFE0007575, ucf:52573
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0007575

Title: Design Disjunction for Resilient Reconfigurable Hardware.
Creator: Alzahrani, Ahmad, DeMara, Ronald, Yuan, Jiann-Shiun, Lin, Mingjie, Wang, Jun, Turgut, Damla, University of Central Florida
Abstract / Description: Contemporary reconfigurable hardware devices have the capability to achieve high performance, powerefficiency, and adaptability required to meet a wide range of design goals. With scaling challenges facing current complementary metal oxide semiconductor (CMOS), new concepts and methodologies supportingefficient adaptation to handle reliability issues are becoming increasingly prominent. Reconfigurable hardware and their ability to realize self-organization features are expected to play a key...
Show moreContemporary reconfigurable hardware devices have the capability to achieve high performance, powerefficiency, and adaptability required to meet a wide range of design goals. With scaling challenges facing current complementary metal oxide semiconductor (CMOS), new concepts and methodologies supportingefficient adaptation to handle reliability issues are becoming increasingly prominent. Reconfigurable hardware and their ability to realize self-organization features are expected to play a key role in designingfuture dependable hardware architectures. However, the exponential increase in density and complexity of current commercial SRAM-based field-programmable gate arrays (FPGAs) has escalated the overheadassociated with dynamic runtime design adaptation. Traditionally, static modular redundancy techniques areconsidered to surmount this limitation; however, they can incur substantial overheads in both area andpower requirements. To achieve a better trade-off among performance, area, power, and reliability, thisresearch proposes design-time approaches that enable fine selection of redundancy level based on target reliability goals and autonomous adaptation to runtime demands. To achieve this goal, three studies were conducted:First, a graph and set theoretic approach, named Hypergraph-Cover Diversity (HCD), is introduced as a preemptive design technique to shift the dominant costs of resiliency to design-time. In particular, union-freehypergraphs are exploited to partition the reconfigurable resources pool into highly separable subsets ofresources, each of which can be utilized by the same synthesized application netlist. The diverseimplementations provide reconfiguration-based resilience throughout the system lifetime while avoiding thesignificant overheads associated with runtime placement and routing phases. Evaluation on a Motion-JPEGimage compression core using a Xilinx 7-series-based FPGA hardware platform has demonstrated thepotential of the proposed FT method to achieve 37.5% area saving and up to 66% reduction in powerconsumption compared to the frequently-used TMR scheme while providing superior fault tolerance.Second, Design Disjunction based on non-adaptive group testing is developed to realize a low-overheadfault tolerant system capable of handling self-testing and self-recovery using runtime partial reconfiguration.Reconfiguration is guided by resource grouping procedures which employ non-linear measurements given by the constructive property of f-disjunctness to extend runtime resilience to a large fault space and realize a favorable range of tradeoffs. Disjunct designs are created using the mosaic convergence algorithmdeveloped such that at least one configuration in the library evades any occurrence of up to d resource faults, where d is lower-bounded by f. Experimental results for a set of MCNC and ISCAS benchmarks havedemonstrated f-diagnosability at the individual slice level with average isolation resolution of 96.4% (94.4%) for f=1 (f=2) while incurring an average critical path delay impact of only 1.49% and area cost roughly comparable to conventional 2-MR approaches. Finally, the proposed Design Disjunction method is evaluated as a design-time method to improve timing yield in the presence of large random within-die (WID) process variations for application with a moderately high production capacity.
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Date Issued: 2015
Identifier: CFE0006250, ucf:51086
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0006250

Title: Zora.
Creator: Tyrrell, Genevieve, Roney, Lisa, Rushin, Patrick, Scott, John, University of Central Florida
Abstract / Description: This mixed-media memoir uses a variety of forms from short epigrammatic essays to straightforward stories and graphic narratives to explore the author's coming-of-age experiences augmented by chronic illness. Trying to succeed in the film industry, romance, and family situations, the young female narrator navigates the often unexpected or disappointing consequences of having an autonomic nervous system disorder. Relationships between conflicting identities emerge(-)between healthy versus sick...
Show moreThis mixed-media memoir uses a variety of forms from short epigrammatic essays to straightforward stories and graphic narratives to explore the author's coming-of-age experiences augmented by chronic illness. Trying to succeed in the film industry, romance, and family situations, the young female narrator navigates the often unexpected or disappointing consequences of having an autonomic nervous system disorder. Relationships between conflicting identities emerge(-)between healthy versus sick self, projected/envisioned versus actual self, and tough versus vulnerable self(-)as the narrator journeys toward a more complete and accepting self-understanding.
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Date Issued: 2013
Identifier: CFE0004763, ucf:49777
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0004763

Title: Autonomous Recovery of Reconfigurable Logic Devices using Priority Escalation of Slack.
Creator: Imran, Syednaveed, DeMara, Ronald, Mikhael, Wasfy, Lin, Mingjie, Yuan, Jiann-Shiun, Geiger, Christopher, University of Central Florida
Abstract / Description: Field Programmable Gate Array (FPGA) devices offer a suitable platform for survivable hardware architectures in mission-critical systems. In this dissertation, active dynamic redundancy-based fault-handling techniques are proposed which exploit the dynamic partial reconfiguration capability of SRAM-based FPGAs. Self-adaptation is realized by employing reconfiguration in detection, diagnosis, and recovery phases.To extend these concepts to semiconductor aging and process variation in the deep...
Show moreField Programmable Gate Array (FPGA) devices offer a suitable platform for survivable hardware architectures in mission-critical systems. In this dissertation, active dynamic redundancy-based fault-handling techniques are proposed which exploit the dynamic partial reconfiguration capability of SRAM-based FPGAs. Self-adaptation is realized by employing reconfiguration in detection, diagnosis, and recovery phases.To extend these concepts to semiconductor aging and process variation in the deep submicron era, resilient adaptable processing systems are sought to maintain quality and throughput requirements despite the vulnerabilities of the underlying computational devices. A new approach to autonomous fault-handling which addresses these goals is developed using only a uniplex hardware arrangement. It operates by observing a health metric to achieve Fault Demotion using Reconfigurable Slack (FaDReS). Here an autonomous fault isolation scheme is employed which neither requires test vectors nor suspends the computational throughput, but instead observes the value of a health metric based on runtime input. The deterministic flow of the fault isolation scheme guarantees success in a bounded number of reconfigurations of the FPGA fabric.FaDReS is then extended to the Priority Using Resource Escalation (PURE) online redundancy scheme which considers fault-isolation latency and throughput trade-offs under a dynamic spare arrangement. While deep-submicron designs introduce new challenges, use of adaptive techniques are seen to provide several promising avenues for improving resilience. The scheme developed is demonstrated by hardware design of various signal processing circuits and their implementation on a Xilinx Virtex-4 FPGA device. These include a Discrete Cosine Transform (DCT) core, Motion Estimation (ME) engine, Finite Impulse Response (FIR) Filter, Support Vector Machine (SVM), and Advanced Encryption Standard (AES) blocks in addition to MCNC benchmark circuits. A significant reduction in power consumption is achieved ranging from 83% for low motion-activity scenes to 12.5% for high motion activity video scenes in a novel ME engine configuration. For a typical benchmark video sequence, PURE is shown to maintain a PSNR baseline near 32dB. The diagnosability, reconfiguration latency, and resource overhead of each approach is analyzed. Compared to previous alternatives, PURE maintains a PSNR within a difference of 4.02dB to 6.67dB from the fault-free baseline by escalating healthy resources to higher-priority signal processing functions. The results indicate the benefits of priority-aware resiliency over conventional redundancy approaches in terms of fault-recovery, power consumption, and resource-area requirements. Together, these provide a broad range of strategies to achieve autonomous recovery of reconfigurable logic devices under a variety of constraints, operating conditions, and optimization criteria.
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Date Issued: 2013
Identifier: CFE0005006, ucf:50005
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0005006

Title: PHILIPPINE ECONOMIC AND POLITICAL DEVELOPMENT AND PHILIPPINE MUSLIM UNREST.
Creator: de Leon, Justin, Sadri, Houman, University of Central Florida
Abstract / Description: Muslim culture and society has been a part of the Philippine islands in spite of nearly ninety-five percent of the population being Christian (a majority Catholic), yet did not become a separatist movement until the 1970's. Since then, the two main separatist groups the Moro National Liberation Front (MNLF) and the Moro Islamic Liberation Front (MILF) have been battling the Philippine government. The parties entered truces in 1996 and 2001, yet there has been a cycle of violence continues...
Show moreMuslim culture and society has been a part of the Philippine islands in spite of nearly ninety-five percent of the population being Christian (a majority Catholic), yet did not become a separatist movement until the 1970's. Since then, the two main separatist groups the Moro National Liberation Front (MNLF) and the Moro Islamic Liberation Front (MILF) have been battling the Philippine government. The parties entered truces in 1996 and 2001, yet there has been a cycle of violence continues. The Abu Sayyaf Group (ASG), linked to Al Qaeda, emerged in 1990 and has launched many attacks on the Christian Philippine majority. The prolonged Muslim unrest in the ARMM has left thousands dead and hundreds of thousands displaced. The main objective of this research paper is to examine Philippine economic and political development and its impact on Philippine Muslim unrest. This paper presents a critical analysis of the economic and political development and Philippine Muslim unrest by examining six major features of the Philippines; they are: The historical evolution, economic development, political development, socio-cultural setting, geographic setting, and the quality of life of the Filipino people. This research also examines Fareed Zakaria's illiberal democracies theory, liberal institutionalism, and the Marxist theory of class revolution and primarily relies on research conducted at the University of the Philippines and from Philippine and Asian scholars. By taking a holistic comprehensive approach and by using international relations theory, this research fills two gaps in the literature about Philippine Muslim unrest. The research concludes with a look at future challenges, both short term and long term that face the country, as well as, possible future scenarios. The findings of this research are that the economic and political development and the historical evolution, though major contributory factors, are not the sole reason for the prolonged Philippine Muslim unrest. The most pervasive causal factor to Muslim unrest was the socio-cultural setting. Because of the all-pervasive nature of culture; at first glance, the socio-cultural setting was not a major apparent cause. At almost all times examined throughout this research, certain cultural tendencies guided decisions and altered the course of events more so than any other single variable. Corruption, crony capitalism, patrimonialism, and irrational institutions all stem from the tendencies of Philippine culture must be addressed to find lasting peace in the country. A move toward rational legal institutions and liberal constitutionalism, will lead the way to the creation of a liberal democracy and break the cycle of violence occurring in the Philippines.
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Date Issued: 2008
Identifier: CFE0002378, ucf:47812
Format: Document (PDF)
PURL: http://purl.flvc.org/ucf/fd/CFE0002378

Autonomous (3)	+ -
autonomous (2)	+ -
ARMM (1)	+ -
Abu Sayyaf (1)	+ -
Adaptive architectures (1)	+ -

Agriculture (1)	+ -
Asia (1)	+ -
Assistive Robotics (1)	+ -
Autonomic Nervous System (1)	+ -
Autonomic Nervous System disorder (1)	+ -
Autonomous Agents (1)	+ -
Autonomous Fault Recovery (1)	+ -
Autonomous Region of Muslim Mindinao (1)	+ -
Autonomous Robot (1)	+ -
Autonomous Trucks Strategies (1)	+ -
Autonomous ground vehicle (1)	+ -
Autonomous recovery (1)	+ -
Availability (1)	+ -
Baroreflex (1)	+ -
Behavior-based Agents (1)	+ -
Cardiac Autonomic Control (1)	+ -
Conflict (1)	+ -
Conflict Resolution (1)	+ -
Creative Nonfiction (1)	+ -
Data Fusion (1)	+ -
Drones (1)	+ -
Dysautonomia (1)	+ -
Economic Development (1)	+ -
Environment (1)	+ -
Evolvable Hardware (1)	+ -

University of Central Florida (19)	+ -
DeMara, Ronald (4)	+ -
Behal, Aman (2)	+ -
Lin, Mingjie (2)	+ -
Qu, Zhihua (2)	+ -

Turgut, Damla (2)	+ -
Yuan, Jiann-Shiun (2)	+ -
Alzahrani, Ahmad (1)	+ -
Bedwell, Jeffrey (1)	+ -
Beidel, Deborah (1)	+ -
Belfield, Kevin (1)	+ -
Boloni, Ladislau (1)	+ -
Boloni, Ladislau L. (1)	+ -
Bossy-Wetzel, Ella (1)	+ -
Cassisi, Jeffrey (1)	+ -
Cheng, Zixi (1)	+ -
Cheng, Zixi (Jack) (1)	+ -
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Elias, Ricardo (1)	+ -
Ewetz, Rickard (1)	+ -
Fernandez-Valle, Cristina (1)	+ -
Freese, Douglas (1)	+ -
Geiger, Christopher (1)	+ -
Gelenbe, Erol (1)	+ -
Haralambous, Michael (1)	+ -
Harden, Scott (1)	+ -
Hatcher, Jeffrey (1)	+ -
Howard, Matthew (1)	+ -
Imran, Syednaveed (1)	+ -
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