+publisher:"Georgia Tech" +contributor:("Howard, Ayanna M.")

Georgia Tech

1. Keselman, Leo. Motion planning for redundant manipulators and other high degree-of-freedom systems.

Degree: MS, Electrical and Computer Engineering, 2014, Georgia Tech

► Motion planning for redundant manipulators poses special challenges because the required inverse kinematics are difficult and not complete. This thesis investigates and proposes methods for… (more)

Subjects/Keywords: Motion planning; RRT; Manipulators; Manipulator; Redundant manipulator; Planning; Inverse kinematics; Kinematics; Robotics; Serial link; Machinery, Kinematics of; Robots Kinematics; Manipulators (Mechanism); Robots, Industrial; Robots

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APA (6^th Edition):

Keselman, L. (2014). Motion planning for redundant manipulators and other high degree-of-freedom systems. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51895

Chicago Manual of Style (16^th Edition):

Keselman, Leo. “Motion planning for redundant manipulators and other high degree-of-freedom systems.” 2014. Masters Thesis, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/51895.

MLA Handbook (7^th Edition):

Keselman, Leo. “Motion planning for redundant manipulators and other high degree-of-freedom systems.” 2014. Web. 22 Sep 2019.

Vancouver:

Keselman L. Motion planning for redundant manipulators and other high degree-of-freedom systems. [Internet] [Masters thesis]. Georgia Tech; 2014. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/51895.

Council of Science Editors:

Keselman L. Motion planning for redundant manipulators and other high degree-of-freedom systems. [Masters Thesis]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/51895

Georgia Tech

2. Santos Fernandez, Maria Teresa. Musical abstractions for multi-robot coordination.

Degree: MS, Electrical and Computer Engineering, 2016, Georgia Tech

URL: http://hdl.handle.net/1853/55049

► This work presents a new approach to human-swarm interactions, a discipline which addresses the problem of how a human operator can influence the behavior of… (more)

▼ This work presents a new approach to human-swarm interactions, a discipline which addresses the problem of how a human operator can influence the behavior of large groups of robots, providing high-level information understandable by the team. While there exist potential advantages of introducing a human in the control loop of a robot swarm, how the human must be incorporated is not a simple problem. For the intervention of a human operator to be favorable to the performance of the team, the means and form of the information between the human and the robot swarm must be adequately defined: we need to design which device will be provided to the operator to interact with the swarm and how the information will be shaped so that both the human and the robot team understand it. Coordination of multi-robot systems involves the generation of involved motion patterns for the individual agents that result in an overall organized movement. We introduce in this thesis a new human-swarm interaction modality based on music theory, a discipline studied for centuries and capable of creating complex sound structures. In particular, we have focused on understanding how we can apply rules and structures from music theory to an operator's input so that each command both specifies the goal location to be visited and the geometry to be adopted by the swarm. We interpret the sequence of locations to be visited by the swarm as a musical melody, identifying each note with a certain location in the robots' workspace. Once the objective path is defined in the form of a melody, we can apply rules from harmony, a discipline of music theory, to create chords that harmonize the input melody. The interest in using these chords lies fundamentally in that they are structured combinations of pitches, heard simultaneously. These inherent structures will be used to determine the geometry that should be displayed by the team. The developed multi-robot control is applied to a team of differential drive mobile robots through an electronic piano. Advisors/Committee Members: Egerstedt, Magnus B. (advisor), Riley, George F. (committee member), Howard, Ayanna M. (committee member).

Subjects/Keywords: Human-swarm interactions; Formation control; Robotics; Music theory

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APA (6^th Edition):

Santos Fernandez, M. T. (2016). Musical abstractions for multi-robot coordination. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/55049

Chicago Manual of Style (16^th Edition):

Santos Fernandez, Maria Teresa. “Musical abstractions for multi-robot coordination.” 2016. Masters Thesis, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/55049.

MLA Handbook (7^th Edition):

Santos Fernandez, Maria Teresa. “Musical abstractions for multi-robot coordination.” 2016. Web. 22 Sep 2019.

Vancouver:

Santos Fernandez MT. Musical abstractions for multi-robot coordination. [Internet] [Masters thesis]. Georgia Tech; 2016. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/55049.

Council of Science Editors:

Santos Fernandez MT. Musical abstractions for multi-robot coordination. [Masters Thesis]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/55049

Georgia Tech

3. Nixon, Mason Earl. Utilization of auditory cues to enhance therapy for children with cerebral palsy.

Degree: MS, Electrical and Computer Engineering, 2013, Georgia Tech

URL: http://hdl.handle.net/1853/51736

► The objective of the research is to examine the impact of auditory stimulus on improving reaching performance in children with cerebral palsy. A form of… (more)

▼ The objective of the research is to examine the impact of auditory stimulus on improving reaching performance in children with cerebral palsy. A form of auditory stimulus, called rhythmic auditory stimulation (RAS), is well-established in neurological fields as well as in music-based rehabilitation and therapy. RAS is a method in which the rhythm functions as a sensory cue to induce temporal stability and enhancement of movement patterns by what is believed to be a temporal constraint of the patient’s internal optimized path of motion. In current neurological studies, it is suggested that activity in the premotor cortex may represent the integration of auditory information with temporally organized motor action during rhythmic cuing. Based on this theory, researchers have shown that rhythmic auditory stimulation can produce significant improvement in mean gait velocity, cadence, and stride length in patients with Parkinson’s disease. Evidence validating this observation was also seen in a study on hemiparetic stroke wherein patients displayed improvements in spatio-temporal arm control, reduction in variability of timing and reaching trajectories, and kinematic smoothing of the wrist joint during rhythmic entrainment. Lastly, studies have suggested an accompaniment of sound feedback in addition to visual feedback can result in a positive influence and higher confidence in patients who have had a stroke or spinal cord injury. Although an effect of rhythmic cuing on upper extremity therapy has been explored in areas where brain injury has occurred (such as patients who have incurred stroke, spinal injury, traumatic brain injury, etc.), what has not been explored is the effect of rhythmic cuing on upper extremity therapy for individuals with neurological movement disorders, such as cerebral palsy. Thus, in this research, we set out to explore the effect of RAS in therapeutic interventions for children with cerebral palsy. Through this investigation, we examine its effect on reaching performance as measured through range of motion, peak angular velocity, movement time, path length, spatio-temporal variability, and movement units. For this assessment, we created a virtual system to test the aforementioned principles. We established clinically based angular measurements that include elbow flexion, shoulder flexion, and shoulder abduction using a 3D depth sensor to evaluate relevant metrics in upper extremity rehabilitation. We validated the output of our measurements through a comparison with a Vicon Motion Capture System. We then confirmed the trends of the metrics between groups of adults, children, and children with cerebral palsy. Through testing our system with adults, children, and children with cerebral palsy, we believe we have constructed a system that may induce engagement, which is critical to physical therapy, and may also have a positive impact on the metrics. Although we see trends indicative of an effect through use of the system on children with cerebral palsy, we believe further testing is needed in order… Advisors/Committee Members: Howard, Ayanna M. (advisor), Lanterman, Aaron (committee member), Wills, Linda (committee member).

Subjects/Keywords: Upper extremity; Carebral palsy; Range of motion; Microsoft; Kinect; Rehabilitation; Auditory evoked response; Kinect (Programmable controller)

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APA (6^th Edition):

Nixon, M. E. (2013). Utilization of auditory cues to enhance therapy for children with cerebral palsy. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51736

Chicago Manual of Style (16^th Edition):

Nixon, Mason Earl. “Utilization of auditory cues to enhance therapy for children with cerebral palsy.” 2013. Masters Thesis, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/51736.

MLA Handbook (7^th Edition):

Nixon, Mason Earl. “Utilization of auditory cues to enhance therapy for children with cerebral palsy.” 2013. Web. 22 Sep 2019.

Vancouver:

Nixon ME. Utilization of auditory cues to enhance therapy for children with cerebral palsy. [Internet] [Masters thesis]. Georgia Tech; 2013. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/51736.

Council of Science Editors:

Nixon ME. Utilization of auditory cues to enhance therapy for children with cerebral palsy. [Masters Thesis]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/51736

Georgia Tech

4. Noah, Brittany Elise. Understanding automation handoff impacts on workload and trust when mitigated by reliability displays.

Degree: MS, Psychology, 2018, Georgia Tech

URL: http://hdl.handle.net/1853/60205

► Current commercial vehicles are beginning to include automated features such as adaptive cruise control and automated lane keeping. This is a first step towards full… (more)

▼ Current commercial vehicles are beginning to include automated features such as adaptive cruise control and automated lane keeping. This is a first step towards full vehicle automation which is predicted to be possible within the next five years. As automated features are integrated into vehicles, the driver must know how to properly interact with and trust these systems. A key element of drivers interacting and relying on these systems is the handover of control between the vehicle and driver. This handover, occurring during times of automation error, will be a critical point of high workload for drivers when driving a partially or fully automated vehicle. If the driver is aware of the system’s performance and can appropriately calibrate his or her trust, then these instances of handover may become less stressful and easier to complete successfully. This study explored the driving performance, trust, visual scanning behaviors, perceived workload, and objective workload for handover scenarios. There were four between-subjects display conditions: (1) no display; and reliability displays using (2) quantitative information (percentage of reliability); (3) qualitative information (direct representation of a number); and (4) representational information (abstract representation of a number). Participants completed two drives. The first drive aided in familiarization with the automated lane keeping system. In the second drive, the handover drive, participants experienced an automation failure resulting in transition of control from automated to manual. Results from this study showed that there was a difference in subjective experience between the baseline and handover drive due to experiencing an automation failure. Participants in the no display condition were more affected by the automation failure, greatly decreasing their overall trust in the automated lane keeping system. Participants with reliability displays were able to appropriately calibrate their trust to system performance and were less impacted by the automation failure, experiencing a slight, statistically insignificant, decrease in trust. These findings will impact the implementation and design of automation reliability displays and shows that drivers with reliability displays are less impacted by automation failure than those without reliability displays. Advisors/Committee Members: Walker, Bruce N. (advisor), Howard, Ayanna M. (committee member), Gorman, Jamie C. (committee member).

Subjects/Keywords: Automation; Automated driving; Displays; Vehicle displays; Trust in automation

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APA (6^th Edition):

Noah, B. E. (2018). Understanding automation handoff impacts on workload and trust when mitigated by reliability displays. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/60205

Chicago Manual of Style (16^th Edition):

Noah, Brittany Elise. “Understanding automation handoff impacts on workload and trust when mitigated by reliability displays.” 2018. Masters Thesis, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/60205.

MLA Handbook (7^th Edition):

Noah, Brittany Elise. “Understanding automation handoff impacts on workload and trust when mitigated by reliability displays.” 2018. Web. 22 Sep 2019.

Vancouver:

Noah BE. Understanding automation handoff impacts on workload and trust when mitigated by reliability displays. [Internet] [Masters thesis]. Georgia Tech; 2018. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/60205.

Council of Science Editors:

Noah BE. Understanding automation handoff impacts on workload and trust when mitigated by reliability displays. [Masters Thesis]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/60205

Georgia Tech

5. Ali, Ashar. 3D human pose estimation.

Degree: MS, Electrical and Computer Engineering, 2019, Georgia Tech

URL: http://hdl.handle.net/1853/61286

► The objective of the proposed work is to understand how using synthetic datasets and automatic annotation policies can further state of the art research for… (more)

Subjects/Keywords: 3D computer vision; Human pose estimation; Point cloud processing; Deep learning on point clouds

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APA (6^th Edition):

Ali, A. (2019). 3D human pose estimation. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/61286

Chicago Manual of Style (16^th Edition):

Ali, Ashar. “3D human pose estimation.” 2019. Masters Thesis, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/61286.

MLA Handbook (7^th Edition):

Ali, Ashar. “3D human pose estimation.” 2019. Web. 22 Sep 2019.

Vancouver:

Ali A. 3D human pose estimation. [Internet] [Masters thesis]. Georgia Tech; 2019. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/61286.

Council of Science Editors:

Ali A. 3D human pose estimation. [Masters Thesis]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/61286

6. Bartholomew, Paul D. Optimal behavior composition for robotics.

Degree: MS, Electrical and Computer Engineering, 2014, Georgia Tech

URL: http://hdl.handle.net/1853/51872

► The development of a humanoid robot that mimics human motion requires extensive programming as well as understanding the motion limitations of the robot. Programming the… (more)

▼ The development of a humanoid robot that mimics human motion requires extensive programming as well as understanding the motion limitations of the robot. Programming the countless possibilities for a robot’s response to observed human motion can be time consuming. To simplify this process, this thesis presents a new approach for mimicking captured human motion data through the development of a composition routine. This routine is built upon a behavior-based framework and is coupled with optimization by calculus to determine the appropriate weightings of predetermined motion behaviors. The completion of this thesis helps to fill a void in human/robot interactions involving mimicry and behavior-based design. Technological advancements in the way computers and robots identify human motion and determine for themselves how to approximate that motion have helped make possible the mimicry of observed human subjects. In fact, many researchers have developed humanoid systems that are capable of mimicking human motion data; however, these systems do not use behavior-based design. This thesis will explain the framework and theory behind our optimal behavior composition algorithm and the selection of sinusoidal motion primitives that make up a behavior library. This algorithm breaks captured motion data into various time intervals, then optimally weights the defined behaviors to best approximate the captured data. Since this routine does not reference previous or following motion sequences, discontinuities may exist between time intervals. To address this issue, the addition of a PI controller to regulate and smooth out the transitions between time intervals will be shown. The effectiveness of using the optimal behavior composition algorithm to create an approximated motion that mimics capture motion data will be demonstrated through an example configuration of hardware and a humanoid robot platform. An example of arm motion mimicry will be presented and includes various image sequences from the mimicry as well as trajectories containing the joint positions for both the human and the robot. Advisors/Committee Members: Egerstedt, Magnus (advisor), Howard, Ayanna M. (committee member), Zhang, Fumin (committee member).

Subjects/Keywords: Mimicry; Humanoid; Behavior; Robotics; Mobile robots; Human-robot interaction; Robots Motion; Machine learning

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APA (6^th Edition):

Bartholomew, P. D. (2014). Optimal behavior composition for robotics. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51872

Chicago Manual of Style (16^th Edition):

Bartholomew, Paul D. “Optimal behavior composition for robotics.” 2014. Masters Thesis, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/51872.

MLA Handbook (7^th Edition):

Bartholomew, Paul D. “Optimal behavior composition for robotics.” 2014. Web. 22 Sep 2019.

Vancouver:

Bartholomew PD. Optimal behavior composition for robotics. [Internet] [Masters thesis]. Georgia Tech; 2014. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/51872.

Council of Science Editors:

Bartholomew PD. Optimal behavior composition for robotics. [Masters Thesis]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/51872

Georgia Tech

7. DeMarco, Kevin James. Detection and tracking of divers for underwater human-robot interaction scenarios.

Degree: PhD, Electrical and Computer Engineering, 2016, Georgia Tech

URL: http://hdl.handle.net/1853/56268

► The underwater domain is a dangerous and complex environment for human divers. Often, divers have to monitor their own life support systems as they navigate… (more)

▼ The underwater domain is a dangerous and complex environment for human divers. Often, divers have to monitor their own life support systems as they navigate to the work site or operate dangerous machinery. Military divers have to navigate for extended periods of time without surfacing or without using localization techniques that might give away their positions. Human divers have operated under these harsh conditions for decades with few advancements in technology. In fact, a diver performs the basic task of navigation by aligning the body with a compass and counting leg kicks (i.e., human-oriented dead-reckoning). It is proposed that an Underwater Robotic Assistant (UWRA) will improve the efficiency and safety of the diver's underwater operations by providing several key capabilities. For example, the UWRA can provide navigation assistance, ferry tools from the surface, enter structures too dangerous for human divers, and carry hazardous materials. However, in unstructured environments, underwater robots are limited in their ability to localize and track a human diver at the resolution required to enable diver-robot interactions. Optical cameras can be rendered useless by the turbidity of the water, localizing radio signals do not propagate well through the water medium, and acoustic positioning systems can be expensive to deploy. We propose that by developing novel 2D imaging sonar processing techniques, an underwater robot can detect, track, and trail a human diver. The objective of this research is to detect and track human divers in 2D imaging sonar data. While the physical properties of sonar allow it to detect objects at longer ranges than optical cameras in underwater scenarios, it is plagued with noise and multi-path propagation. Also, when a diver is ensonified with a 2D imaging sonar, a fragmented acoustic reflection is returned. The fact that a single object can produce multiple returns means that tracking the human diver cannot be solved by applying traditional multiple hypothesis tracking algorithms, which operate on the assumption of each object generating only a single measurement. To overcome the sonar noise and multiple fragmented returns, we developed a novel adaptive thresholding algorithm and a hierarchical multiple object tracking algorithm. While the Kalman filter is extensively used in our tracking algorithms, we developed a novel method for adaptively modifying the Kalman filter's measurement matrix to track objects that generate multiple measurements. Advisors/Committee Members: Howard, Ayanna M. (advisor), Collins, Thomas R. (committee member), Egerstedt, Magnus B. (committee member), Balch, Tucker (committee member), West, Michael E. (committee member).

Subjects/Keywords: Diver detection; Sonar image processing; Tracking; Underwater human-robot interaction

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APA (6^th Edition):

DeMarco, K. J. (2016). Detection and tracking of divers for underwater human-robot interaction scenarios. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/56268

Chicago Manual of Style (16^th Edition):

DeMarco, Kevin James. “Detection and tracking of divers for underwater human-robot interaction scenarios.” 2016. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/56268.

MLA Handbook (7^th Edition):

DeMarco, Kevin James. “Detection and tracking of divers for underwater human-robot interaction scenarios.” 2016. Web. 22 Sep 2019.

Vancouver:

DeMarco KJ. Detection and tracking of divers for underwater human-robot interaction scenarios. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/56268.

Council of Science Editors:

DeMarco KJ. Detection and tracking of divers for underwater human-robot interaction scenarios. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/56268

Georgia Tech

8. Zhao, Huihua. From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach.

Degree: PhD, Mechanical Engineering, 2016, Georgia Tech

URL: http://hdl.handle.net/1853/56237

► When modeled after the human form, humanoid robots more easily garner societal acceptance and gain increased dexterity in human environments. During this process of humanoid… (more)

Subjects/Keywords: Powered prostheses; Bipedal robots; Humanoid robots; Multi-contact; Hybrid systems; Control Lyapunov function; Optimal control; Quadratic programming; Locomotion

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APA (6^th Edition):

Zhao, H. (2016). From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/56237

Chicago Manual of Style (16^th Edition):

Zhao, Huihua. “From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach.” 2016. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/56237.

MLA Handbook (7^th Edition):

Zhao, Huihua. “From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach.” 2016. Web. 22 Sep 2019.

Vancouver:

Zhao H. From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/56237.

Council of Science Editors:

Zhao H. From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/56237

Georgia Tech

9. Li, Jiaming. A novel human-machine interface framework for conflict resolution.

Degree: PhD, Electrical and Computer Engineering, 2015, Georgia Tech

URL: http://hdl.handle.net/1853/58146

► This thesis introduces a novel architecture for human-machine interface focusing primarily on the human aspects as applied to aircraft and unmanned systems. There is a… (more)

▼ This thesis introduces a novel architecture for human-machine interface focusing primarily on the human aspects as applied to aircraft and unmanned systems. There is a need to explore new human-machine interface strategies stemming from the proliferation over the past years of accidents due to system complexity, failure modes and human errors. Concepts of autonomy establish the foundational elements of the work. We pursue a rigorous systems engineering process to analyze and design the tools and techniques for automated vehicle health monitoring, human-automation interface and conflict resolution enabled by innovative methods from game theory and reasoning algorithms. The general structure is illustrated in the paper. This paper addresses the general interface framework while emphasizing the human’s (pilots) intended actions following an adverse event on-board the vehicle, i.e. critical component fault/failure modes. When combined with automated health state assessment means on-board the aircraft, the proposed strategy assists to improve the reliability of estimated actions the pilot must execute to mitigate possible catastrophic consequences. A “smart” knowledge base is exploited as the reasoning paradigm where cases are stored and new ones are compared with similar ones available in the case library. Learning and adaptation tools are used to improve the decision making process. The emphasis of this contribution is on methods and tools for conflict resolution when the automated system’s advisories are coincident with the human’s intended actions. Appropriate similarity metrics are defined and used for this purpose. The efficacy of the approach is demonstrated via an interface built in MATLAB highlighting the performance of the algorithmic modules for assessment and conflict resolution. Advisors/Committee Members: Vachtsevanos, George (advisor), Howard, Ayanna M. (committee member), Bennett, Gisele (committee member), Buck, John A. (committee member), Mavris, Dimitri N. (committee member).

Subjects/Keywords: Human-machine interface; Simulation

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APA (6^th Edition):

Li, J. (2015). A novel human-machine interface framework for conflict resolution. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/58146

Chicago Manual of Style (16^th Edition):

Li, Jiaming. “A novel human-machine interface framework for conflict resolution.” 2015. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/58146.

MLA Handbook (7^th Edition):

Li, Jiaming. “A novel human-machine interface framework for conflict resolution.” 2015. Web. 22 Sep 2019.

Vancouver:

Li J. A novel human-machine interface framework for conflict resolution. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/58146.

Council of Science Editors:

Li J. A novel human-machine interface framework for conflict resolution. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/58146

10. LaViers, Amy. Choreographic abstractions for style-based robotic motion.

Degree: PhD, Electrical and Computer Engineering, 2013, Georgia Tech

URL: http://hdl.handle.net/1853/49033

► What does it mean to do the disco? Or perform a cheerleading routine? Or move in a style appropriate for a given mode of human… (more)

Subjects/Keywords: Optimal control; Supervisory control; Robotics; Dance; Motion; Robots Motion; Human mechanics; Robotics Human factors

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APA (6^th Edition):

LaViers, A. (2013). Choreographic abstractions for style-based robotic motion. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/49033

Chicago Manual of Style (16^th Edition):

LaViers, Amy. “Choreographic abstractions for style-based robotic motion.” 2013. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/49033.

MLA Handbook (7^th Edition):

LaViers, Amy. “Choreographic abstractions for style-based robotic motion.” 2013. Web. 22 Sep 2019.

Vancouver:

LaViers A. Choreographic abstractions for style-based robotic motion. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/49033.

Council of Science Editors:

LaViers A. Choreographic abstractions for style-based robotic motion. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/49033

11. Chopra, Smriti. Spatio-temporal multi-robot routing.

Degree: PhD, Electrical and Computer Engineering, 2015, Georgia Tech

URL: http://hdl.handle.net/1853/53383

► We analyze spatio-temporal routing under various constraints specific to multi-robot applications. Spatio-temporal routing requires multiple robots to visit spatial locations at specified time instants, while… (more)

Subjects/Keywords: Assignment problems; Combinatorial optimization; Distributed algorithms; Networked robotics; Vehicle routing; Music

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APA (6^th Edition):

Chopra, S. (2015). Spatio-temporal multi-robot routing. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53383

Chicago Manual of Style (16^th Edition):

Chopra, Smriti. “Spatio-temporal multi-robot routing.” 2015. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/53383.

MLA Handbook (7^th Edition):

Chopra, Smriti. “Spatio-temporal multi-robot routing.” 2015. Web. 22 Sep 2019.

Vancouver:

Chopra S. Spatio-temporal multi-robot routing. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/53383.

Council of Science Editors:

Chopra S. Spatio-temporal multi-robot routing. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/53383

12. Elton, Mark David. Matching feedback with operator intent for efficient human-machine interface.

Degree: PhD, Mechanical Engineering, 2012, Georgia Tech

URL: http://hdl.handle.net/1853/50152

► Various roles for operators in human-machine systems have been proposed. This thesis shows that all of these views have in common the fact that operators… (more)

Subjects/Keywords: Human-machine interface; Position control; Rate control; Ghost interface; Human-machine systems; Feedback control systems

…and affiliations with Georgia Tech for position vs. rate tasks 126 Table 9. Subjects… …usage for rate vs. acceleration tasks 127 Table 12. Subjects’ ages and Georgia Tech… …tasks 128 Table 16. Subjects’ ages and Georgia Tech affiliations for rate vs. acceleration… …affiliations with Georgia Tech for excavator test 129 Table 20. Subjects’ handedness and gender for… …Table 22. Subjects’ ages and affiliations with Georgia Tech for excavator test 129 Table 23…

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APA (6^th Edition):

Elton, M. D. (2012). Matching feedback with operator intent for efficient human-machine interface. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50152

Chicago Manual of Style (16^th Edition):

Elton, Mark David. “Matching feedback with operator intent for efficient human-machine interface.” 2012. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/50152.

MLA Handbook (7^th Edition):

Elton, Mark David. “Matching feedback with operator intent for efficient human-machine interface.” 2012. Web. 22 Sep 2019.

Vancouver:

Elton MD. Matching feedback with operator intent for efficient human-machine interface. [Internet] [Doctoral dissertation]. Georgia Tech; 2012. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/50152.

Council of Science Editors:

Elton MD. Matching feedback with operator intent for efficient human-machine interface. [Doctoral Dissertation]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/50152

13. Drayer, Gregorio E. Situation-oriented integration of humans and automation for the operation of regenerative life support systems.

Degree: PhD, Electrical and Computer Engineering, 2013, Georgia Tech

URL: http://hdl.handle.net/1853/50311

► The objective of the proposed research is to study the integration of humans and automation for the operation of regenerative life support systems (RLSS). RLSS… (more)

Subjects/Keywords: Regenerative life support systems; Automation; Situation awareness; Situation knowledge base; User-centered design; Life support systems (Space environment); Closed ecological systems (Space environment)

…the Georgia Tech Integrated Product and Process Development (IPPD) Methodology…

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APA (6^th Edition):

Drayer, G. E. (2013). Situation-oriented integration of humans and automation for the operation of regenerative life support systems. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50311

Chicago Manual of Style (16^th Edition):

Drayer, Gregorio E. “Situation-oriented integration of humans and automation for the operation of regenerative life support systems.” 2013. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/50311.

MLA Handbook (7^th Edition):

Drayer, Gregorio E. “Situation-oriented integration of humans and automation for the operation of regenerative life support systems.” 2013. Web. 22 Sep 2019.

Vancouver:

Drayer GE. Situation-oriented integration of humans and automation for the operation of regenerative life support systems. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/50311.

Council of Science Editors:

Drayer GE. Situation-oriented integration of humans and automation for the operation of regenerative life support systems. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50311

14. Brooks, Douglas A. Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot.

Degree: PhD, Electrical and Computer Engineering, 2012, Georgia Tech

URL: http://hdl.handle.net/1853/48970

► The objective of this research effort is to further rehabilitation techniques for children by developing and validating the core technologies needed to integrate therapy instruction… (more)

Subjects/Keywords: Rehabilitation; Human-robot interaction; Robotics; Computer vision; Robots; Androids; Robotics in medicine

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APA (6^th Edition):

Brooks, D. A. (2012). Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/48970

Chicago Manual of Style (16^th Edition):

Brooks, Douglas A. “Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot.” 2012. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/48970.

MLA Handbook (7^th Edition):

Brooks, Douglas A. “Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot.” 2012. Web. 22 Sep 2019.

Vancouver:

Brooks DA. Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot. [Internet] [Doctoral dissertation]. Georgia Tech; 2012. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/48970.

Council of Science Editors:

Brooks DA. Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot. [Doctoral Dissertation]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/48970

15. Wang, Chuanfeng. Collective dynamics and control of a fleet of heterogeneous marine vehicles.

Degree: PhD, Mechanical Engineering, 2013, Georgia Tech

URL: http://hdl.handle.net/1853/50336

► Cooperative control enables combinations of sensor data from multiple autonomous underwater vehicles (AUVs) so that multiple AUVs can perform smarter behaviors than a single AUV.… (more)

▼ Cooperative control enables combinations of sensor data from multiple autonomous underwater vehicles (AUVs) so that multiple AUVs can perform smarter behaviors than a single AUV. In addition, in some situations, a human-driven underwater vehicle (HUV) and a group of AUVs need to collaborate and preform formation behaviors. However, the collective dynamics of a fleet of heterogeneous underwater vehicles are more complex than the non-trivial single vehicle dynamics, resulting in challenges in analyzing the formation behaviors of a fleet of heterogeneous underwater vehicles. The research addressed in this dissertation investigates the collective dynamics and control of a fleet of heterogeneous underwater vehicles, including multi-AUV systems and systems comprised of an HUV and a group of AUVs (human-AUV systems). This investigation requires a mathematical motion model of an underwater vehicle. This dissertation presents a review of a six-degree-of-freedom (6DOF) motion model of a single AUV and proposes a method of identifying all parameters in the model based on computational fluid dynamics (CFD) calculations. Using the method, we build a 6DOF model of the EcoMapper and validate the model by field experiments. Based upon a generic 6DOF AUV model, we study the collective dynamics of a multi-AUV system and develop a method of decomposing the collective dynamics. After the collective dynamics decomposition, we propose a method of achieving orientation control for each AUV and formation control for the multi-AUV system. We extend the results and propose a cooperative control for a human-AUV system so that an HUV and a group of AUVs will form a desired formation while moving along a desired trajectory as a team. For the post-mission stage, we present a method of analyzing AUV survey data and apply this method to AUV measurement data collected from our field experiments carried out in Grand Isle, Louisiana in 2011, where AUVs were used to survey a lagoon, acquire bathymetric data, and measure the concentration of reminiscent crude oil in the water of the lagoon after the BP Deepwater Horizon oil spill in the Gulf of Mexico in 2010. Advisors/Committee Members: Schaefer, Dirk (advisor), Zhang, Fumin (committee member), Howard, Ayanna M. (committee member), Ueda, Jun (committee member), Jiao, Jianxin (committee member).

Subjects/Keywords: Underwater vehicle; Dynamic modeling; Formation control; Cooperative control; Human-robot interaction; Curve tracking; Remote submersibles; Oceanographic submersibles; Degree of freedom; Control theory; Traffic flow; Fluid dynamics

…24 13 West Pond in Georgia Tech Savannah Campus… …experiments carried out in the west pond in the Georgia Tech Savannah Campus. Based on a generic six… …example, the Yellowfin (an autonomous underwater vehicle developed at the Georgia Tech… …in the Georgia Tech Savannah Campus. 7 The remainder of this chapter is organized as…

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APA (6^th Edition):

Wang, C. (2013). Collective dynamics and control of a fleet of heterogeneous marine vehicles. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50336

Chicago Manual of Style (16^th Edition):

Wang, Chuanfeng. “Collective dynamics and control of a fleet of heterogeneous marine vehicles.” 2013. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/50336.

MLA Handbook (7^th Edition):

Wang, Chuanfeng. “Collective dynamics and control of a fleet of heterogeneous marine vehicles.” 2013. Web. 22 Sep 2019.

Vancouver:

Wang C. Collective dynamics and control of a fleet of heterogeneous marine vehicles. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/50336.

Council of Science Editors:

Wang C. Collective dynamics and control of a fleet of heterogeneous marine vehicles. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50336

16. Cunningham, Alexander G. Scalable online decentralized smoothing and mapping.

Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech

URL: http://hdl.handle.net/1853/51848

► Many applications for field robots can benefit from large numbers of robots, especially applications where the objective is for the robots to cover or explore… (more)

Subjects/Keywords: Multi-robot mapping; Decentralized inference; Simultaneous localization and mapping; Multi-robot SLAM; Robotics; Autonomous robots; Algorithms; SLAM (Computer program language)

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APA (6^th Edition):

Cunningham, A. G. (2014). Scalable online decentralized smoothing and mapping. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51848

Chicago Manual of Style (16^th Edition):

Cunningham, Alexander G. “Scalable online decentralized smoothing and mapping.” 2014. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/51848.

MLA Handbook (7^th Edition):

Cunningham, Alexander G. “Scalable online decentralized smoothing and mapping.” 2014. Web. 22 Sep 2019.

Vancouver:

Cunningham AG. Scalable online decentralized smoothing and mapping. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/51848.

Council of Science Editors:

Cunningham AG. Scalable online decentralized smoothing and mapping. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/51848

Georgia Tech

17. Lim, Yusun. Game theoretic distributed coordination: drifting environments and constrained communications.

Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech

URL: http://hdl.handle.net/1853/52986

► The major objective of this dissertation is extending the capabilities of game theoretic distributed control to more general settings. In particular, we are interested in… (more)

▼ The major objective of this dissertation is extending the capabilities of game theoretic distributed control to more general settings. In particular, we are interested in drifting environments and/or constrained communications. The first part of the dissertation concerns slowly varying dynamics, i.e., drifting environments. A standard assumption in game theoretic learning is a stationary environment, e.g., the game is fixed. We investigate the case of slow variations and show that for sufficiently slow time variations, the limiting behavior “tracks” the stochastically stable states. Since the analysis is regarding Markov processes, the results could be applied to various game theoretic learning rules. In this research, the results were applied to log-linear learning. A mobile sensor coverage example was tested in both simulation and laboratory experiments. The second part considers a problem of coordinating team players' actions without any communications in team-based zero-sum games. Generally, some global signalling devices are required for common randomness between players, but communications are very limited or impossible in many practical applications. Instead of learning a one-shot strategy, we let players coordinate a periodic sequence of deterministic actions and put an assumption on opponent's rationality. Since team players' action sequences are periodic and deterministic, common randomness is no longer required to coordinate players. It is proved that if a length of a periodic action sequence is long enough, then opponents with limited rationality cannot recognize its pattern. Because the opponents cannot recognize that the players are playing deterministic actions, the players' behavior looks like a correlated and randomized joint strategy with empirical distribution of their action sequences. Consequently players can coordinate their action sequences without any communications or global signals, and the resulting action sequences have correlated behavior. Moreover, the notion of micro-players are introduced for efficient learning of long action sequences. Micro-player matching approach provides a new framework that converts the original team-based zero-sum game to a game between micro-players. By introducing a de Bruijn sequence to micro-player matching, we successfully separate the level of opponent's rationality and the size of the game of micro-players. The simulation results are shown to demonstrate the performance of micro-player matching methods. Lastly, the results of the previous two topics are combined by considering a problem of coordinating actions without communications in drifting environments. More specifically, it is assumed that the opponent player in the team-based zero-sum games tries to adjust its strategy in the set of bounded recall strategies. Then the time-varying opponent's strategy can be considered as a dynamic environment parameter in a coordination game between the team players. Additionally, we develop a human testbed program for further study regarding a human as an… Advisors/Committee Members: Shamma, Jeff S. (advisor), Wardi, Yorai (committee member), Fekri, Faramarz (committee member), Feron, Eric (committee member), Howard, Ayanna M. (committee member), Bloch, Matthieu R. (committee member).

Subjects/Keywords: Game theoretic learning; Cooperative control; Distributed control

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APA (6^th Edition):

Lim, Y. (2014). Game theoretic distributed coordination: drifting environments and constrained communications. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/52986

Chicago Manual of Style (16^th Edition):

Lim, Yusun. “Game theoretic distributed coordination: drifting environments and constrained communications.” 2014. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/52986.

MLA Handbook (7^th Edition):

Lim, Yusun. “Game theoretic distributed coordination: drifting environments and constrained communications.” 2014. Web. 22 Sep 2019.

Vancouver:

Lim Y. Game theoretic distributed coordination: drifting environments and constrained communications. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/52986.

Council of Science Editors:

Lim Y. Game theoretic distributed coordination: drifting environments and constrained communications. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/52986

Georgia Tech

18. Park, Hae Won. Robot learners: interactive instance-based learning with social robots.

Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech

URL: http://hdl.handle.net/1853/53442

► On one hand, academic and industrial researchers have been developing and deploying robots that are used as educational tutors, mediators, and motivational tools. On the… (more)

▼ On one hand, academic and industrial researchers have been developing and deploying robots that are used as educational tutors, mediators, and motivational tools. On the other hand, an increasing amount of interest has been placed on non-expert users being able to program robots intuitively, which has led to promising research efforts in the fields of machine learning and human-robot interaction. This dissertation focuses on bridging the gap between the two subfields of robotics to provide personalized experience for the users during educational, entertainment, and therapeutic sessions with social robots. In order to make the interaction continuously engaging, the workspace shared between the user and the robot should provide personalized contexts for interaction while the robot learns to participate in new tasks that arise. This dissertation aims to solve the task-learning problem using an instance-based framework that stores human demonstrations as task instances. These instances are retrieved when confronted with a similar task in which the system generates predictions of task behaviors based on prior solutions. The main issues associated with the instance-based approach, i.e., knowledge encoding and acquisition, are addressed in this dissertation research using interactive methods of machine learning. This approach, further referred to as interactive instance-based learning (IIBL), utilizes the keywords people use to convey task knowledge to others to formulate task instances. The key features suggested by the human teacher are extracted during the demonstrations of the task. Regression approaches have been developed in this dissertation to model similarities between cases for instance retrieval including multivariate linear regression and sensitivity analysis using neural networks. The learning performance of the IIBL methods were then evaluated while participants engaged in various block stacking and inserting scenarios and tasks on a touchscreen tablet with a humanoid robot Darwin. In regard to end-users programming robots, the main benefit of the IIBL framework is that the approach fully utilizes the explanatory behavior of the instance-based method which makes the learning process transparent to the human teacher. Such an environment not only encourages the user to produce better demonstrations, but also prompts the user to intervene at the moment a new instance is needed. It was shown through user studies that participants naturally adapt their teaching behavior to the robot learner's progress and adjust the timing and the number of demonstrations. It was also observed that the human-robot teaching and learning scenarios facilitate the emergence of various social behaviors from participants. Encouraging social interaction is often an objective of the task especially with children with cognitive disabilities, and a pilot study with children with autism spectrum disorder revealed promising results comparable to the typically developing group. Finally, this dissertation investigated the necessity… Advisors/Committee Members: Howard, Ayanna M. (advisor), Christensen, Henrik I. (committee member), Kemp, Charles C. (committee member), Thomaz, Andrea L. (committee member), Wills, Linda M. (committee member).

Subjects/Keywords: Robotics; Socially assistive robotics; Case-based reasoning; Interactive machine learning; Touchscreen mobile device

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APA (6^th Edition):

Park, H. W. (2014). Robot learners: interactive instance-based learning with social robots. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53442

Chicago Manual of Style (16^th Edition):

Park, Hae Won. “Robot learners: interactive instance-based learning with social robots.” 2014. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/53442.

MLA Handbook (7^th Edition):

Park, Hae Won. “Robot learners: interactive instance-based learning with social robots.” 2014. Web. 22 Sep 2019.

Vancouver:

Park HW. Robot learners: interactive instance-based learning with social robots. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/53442.

Council of Science Editors:

Park HW. Robot learners: interactive instance-based learning with social robots. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/53442

Georgia Tech

19. Serrano, Miguel M. RAPTr: Robust articulated point-set tracking.

Degree: PhD, Electrical and Computer Engineering, 2018, Georgia Tech

URL: http://hdl.handle.net/1853/60730

► The objective of this work is to present the Robust Articulated Point-set Tracking (RAPTr) system. It works by synthesizing components from articulated model-based and machine… (more)

Subjects/Keywords: Human pose estimation; Machine learning; Clinical gait metrics; Infant pose estimation

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APA (6^th Edition):

Serrano, M. M. (2018). RAPTr: Robust articulated point-set tracking. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/60730

Chicago Manual of Style (16^th Edition):

Serrano, Miguel M. “RAPTr: Robust articulated point-set tracking.” 2018. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/60730.

MLA Handbook (7^th Edition):

Serrano, Miguel M. “RAPTr: Robust articulated point-set tracking.” 2018. Web. 22 Sep 2019.

Vancouver:

Serrano MM. RAPTr: Robust articulated point-set tracking. [Internet] [Doctoral dissertation]. Georgia Tech; 2018. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/60730.

Council of Science Editors:

Serrano MM. RAPTr: Robust articulated point-set tracking. [Doctoral Dissertation]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/60730

Georgia Tech

20. Valentin, Giancarlo. Wearable Interfaces for Symbolic Communication by Working Dogs.

Degree: PhD, Electrical and Computer Engineering, 2019, Georgia Tech

URL: http://hdl.handle.net/1853/61235

► The objective of this dissertation is to develop wearable systems that allow working dogs to communicate accurately with humans. For example, a guide dog could… (more)

Subjects/Keywords: Wearable technology; Animal-Computer Interaction; Gesture recognition

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APA (6^th Edition):

Valentin, G. (2019). Wearable Interfaces for Symbolic Communication by Working Dogs. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/61235

Chicago Manual of Style (16^th Edition):

Valentin, Giancarlo. “Wearable Interfaces for Symbolic Communication by Working Dogs.” 2019. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/61235.

MLA Handbook (7^th Edition):

Valentin, Giancarlo. “Wearable Interfaces for Symbolic Communication by Working Dogs.” 2019. Web. 22 Sep 2019.

Vancouver:

Valentin G. Wearable Interfaces for Symbolic Communication by Working Dogs. [Internet] [Doctoral dissertation]. Georgia Tech; 2019. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/61235.

Council of Science Editors:

Valentin G. Wearable Interfaces for Symbolic Communication by Working Dogs. [Doctoral Dissertation]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/61235

21. Robinette, Paul. Developing robots that impact human-robot trust in emergency evacuations.

Degree: PhD, Electrical and Computer Engineering, 2015, Georgia Tech

URL: http://hdl.handle.net/1853/54415

► High-risk, time-critical situations require trust for humans to interact with other agents even if they have never interacted with the agents before. In the near… (more)

▼ High-risk, time-critical situations require trust for humans to interact with other agents even if they have never interacted with the agents before. In the near future, robots will perform tasks to help people in such situations, thus robots must understand why a person makes a trust decision in order to effectively aid the person. High casualty rates in several emergency evacuations motivate our use of this scenario as an example of a high-risk, time-critical situation. Emergency guidance robots can be stored inside of buildings then activated to search for victims and guide evacuees to safety. In this dissertation, we determined the conditions under which evacuees would be likely to trust a robot in an emergency evacuation. We began by examining reports of real-world evacuations and considering how guidance robots can best help. We performed two simulations of evacuations and learned that robots could be helpful as long as at least 30% of evacuees trusted their guidance instructions. We then developed several methods for a robot to communicate directional information to evacuees. After performing three rounds of evaluation using virtually, remotely and physically present robots, we concluded that robots should communicate directional information by gesturing with two arms. Next, we studied the effect of situational risk and the robot's previous performance on a participant's decision to use the robot during an interaction. We found that higher risk scenarios caused participants to align their self-reported trust with their decisions in a trust situation. We also discovered that trust in a robot drops after a single error when interaction occurs in a virtual environment. After an exploratory study in trust repair, we have learned that a robot can repair broken trust during the emergency by apologizing for its prior mistake or giving additional information relevant to the situation. Apologizing immediately after the error had no effect. Robots have the potential to save lives in emergency scenarios, but could have an equally disastrous effect if participants overtrust them. To explore this concept, we created a virtual environment of an office as well as a real-world simulation of an emergency evacuation. In both, participants interacted with a robot during a non-emergency phase to experience its behavior and then chose whether to follow the robot’s instructions during an emergency phase or not. In the virtual environment, the emergency was communicated through text, but in the real-world simulation, artificial smoke and fire alarms were used to increase the urgency of the situation. In our virtual environment, we confirmed our previous results that prior robot behavior affected whether participants would trust the robot or not. To our surprise, all participants followed the robot in the real-world simulation of an emergency, despite half observing the same robot perform poorly in a navigation guidance task just minutes before. We performed additional exploratory studies investigating different failure modes. Even… Advisors/Committee Members: Howard, Ayanna M. (advisor), Wagner, Alan R. (advisor), Christensen, Henrik I. (committee member), Feigh, Karen M. (committee member), Thomaz, Andrea L. (committee member).

Subjects/Keywords: Robotics; Human-robot interaction; Human-robot trust; Rescue robots

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APA (6^th Edition):

Robinette, P. (2015). Developing robots that impact human-robot trust in emergency evacuations. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/54415

Chicago Manual of Style (16^th Edition):

Robinette, Paul. “Developing robots that impact human-robot trust in emergency evacuations.” 2015. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/54415.

MLA Handbook (7^th Edition):

Robinette, Paul. “Developing robots that impact human-robot trust in emergency evacuations.” 2015. Web. 22 Sep 2019.

Vancouver:

Robinette P. Developing robots that impact human-robot trust in emergency evacuations. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/54415.

Council of Science Editors:

Robinette P. Developing robots that impact human-robot trust in emergency evacuations. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/54415

22. Chang, Dongsik. Motion tomography performed by underwater mobile sensor networks.

Degree: PhD, Electrical and Computer Engineering, 2016, Georgia Tech

URL: http://hdl.handle.net/1853/55642

► Knowledge of the flow field is crucial to guide underwater mobile sensing agents (UMSAs). However, existing flow data sources provide insufficient spatio-temporal resolutions for precise… (more)

▼ Knowledge of the flow field is crucial to guide underwater mobile sensing agents (UMSAs). However, existing flow data sources provide insufficient spatio-temporal resolutions for precise guidance of UMSAs. Because of the imperfect knowledge of flow, the actual trajectory of the UMSA deviates from its predicted trajectory, providing Lagrangian flow information. This thesis develops a method referred to as motion tomography (MT) for creating a high-resolution flow map in the region traversed by UMSAs. The MT method constructs a nonlinear system of equations based on the influence of the underlying flow field on the motion of the UMSA that accumulates along its trajectory. Then, MT formulates estimation of the underlying flow field as an inverse problem. To solve this inverse problem, iterative sub-optimization methods referred to as Kaczmarz-type methods are developed. For easy analysis of the theory, MT first focuses on time-invariant flow with non-parametric and parametric flow models. While non-parametric MT estimates flow for individual grid cells in a discretized domain, parametric MT, which incorporates a data-driven flow model that approximates the flow using basis functions with corresponding parameters, estimates parameters of the flow model. To resolve the coupling between temporal variations and spatial variations in flow modeling, two approaches are proposed. The first approach discretizes the MT mapping domain in both space and time. Because of this spatio-temporal discretization, the solution variables may have a high dimension and may be sparse. To resolve this issue, a data-driven flow model is employed and spatial and temporal parameters are estimated through MT to construct a time-varying flow field. Another approach employs a generic environmental model (GEM) that is a data-driven flow model combined with real-time data streams from UMSAs. The constructed GEM assimilates Lagrangian data, collected from UMSAs and processed through MT for spatial variability, and Eulerian data, collected from stationary sensors such for temporal variability. Due to the coupling between temporal and spatial components of flow, parameter estimation for the GEM becomes a nonlinear filtering problem. By decomposing this nonlinear filtering problem into two linear sub-filtering problems, this approach estimates temporal and spatial parameters. UMSAs often form a data network referred to as an underwater mobile sensor network, but data cannot be always obtained collectively. To address this problem, iterative sub-optimization methods for MT (i.e., Kaczmarz-type methods) are extended to a distributed version. Then, distributed Kaczmarz-type methods are implemented in distributed MT, which solves an inverse problem for MT in a distributed fashion. The performance of MT with the proposed approaches is demonstrated through simulations and experiments. Advisors/Committee Members: Zhang, Fumin (advisor), Edwards, Catherine R. (advisor), Howard, Ayanna M. (committee member), Vela, Patricio A. (committee member), Song, WenZhan (committee member), Wang, Yang (committee member).

Subjects/Keywords: Motion tomography; Flow field modeling; Flow field estimation; Mobile sensor networks

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APA (6^th Edition):

Chang, D. (2016). Motion tomography performed by underwater mobile sensor networks. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/55642

Chicago Manual of Style (16^th Edition):

Chang, Dongsik. “Motion tomography performed by underwater mobile sensor networks.” 2016. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/55642.

MLA Handbook (7^th Edition):

Chang, Dongsik. “Motion tomography performed by underwater mobile sensor networks.” 2016. Web. 22 Sep 2019.

Vancouver:

Chang D. Motion tomography performed by underwater mobile sensor networks. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/55642.

Council of Science Editors:

Chang D. Motion tomography performed by underwater mobile sensor networks. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/55642

23. De la Croix, Jean-Pierre. Characterizing and facilitating human interactions with swarms of mobile robots.

Degree: PhD, Electrical and Computer Engineering, 2015, Georgia Tech

URL: http://hdl.handle.net/1853/53524

► Since humans and robots often share workspaces and interact with each other to complete tasks cooperatively, as is the case, for example, in automated warehouses… (more)

Subjects/Keywords: Control theory; Robotics; Human-swarm interactions

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APA (6^th Edition):

De la Croix, J. (2015). Characterizing and facilitating human interactions with swarms of mobile robots. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53524

Chicago Manual of Style (16^th Edition):

De la Croix, Jean-Pierre. “Characterizing and facilitating human interactions with swarms of mobile robots.” 2015. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/53524.

MLA Handbook (7^th Edition):

De la Croix, Jean-Pierre. “Characterizing and facilitating human interactions with swarms of mobile robots.” 2015. Web. 22 Sep 2019.

Vancouver:

De la Croix J. Characterizing and facilitating human interactions with swarms of mobile robots. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/53524.

Council of Science Editors:

De la Croix J. Characterizing and facilitating human interactions with swarms of mobile robots. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/53524

24. Trevor, Alexander J. B. Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments.

Degree: PhD, Interactive Computing, 2015, Georgia Tech

URL: http://hdl.handle.net/1853/53583

► Although much progress has been made in the field of robotic mapping, many challenges remain including: efficient semantic segmentation using RGB-D sensors, map representations that… (more)

Subjects/Keywords: Simultaneous Localization and Mapping; SLAM; Robotic mapping; Semantic mapping; Robotic perception; Service robots

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APA (6^th Edition):

Trevor, A. J. B. (2015). Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53583

Chicago Manual of Style (16^th Edition):

Trevor, Alexander J B. “Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments.” 2015. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/53583.

MLA Handbook (7^th Edition):

Trevor, Alexander J B. “Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments.” 2015. Web. 22 Sep 2019.

Vancouver:

Trevor AJB. Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/53583.

Council of Science Editors:

Trevor AJB. Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/53583

25. Sephus, Nashlie H. A framework for exploiting modulation spectral features in music data mining and other applications.

Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech

URL: http://hdl.handle.net/1853/52243

► When a signal is decomposed into frequency bands, demodulated into modulator and carrier pairs, and portrayed in a carrier frequency-versus modulator frequency domain, significant information… (more)

▼ When a signal is decomposed into frequency bands, demodulated into modulator and carrier pairs, and portrayed in a carrier frequency-versus modulator frequency domain, significant information may be automatically observed about the signal. We refer to this domain as the modulation spectral domain. The modulation spectrum is referred to as a windowed Fourier transform across time that produces an acoustic frequency versus modulation frequency representation of a signal. Previously, frameworks incorporating the discrete short-time modulation transform (DSTMT) and modulation spectrum have been designed mostly for filtering of speech signals. This modulation spectral domain is rarely, if ever, discussed in typical signal processing courses today, and we believe its current associated tools and applications are somewhat limited. We seek to revisit this domain to uncover more intuition, develop new concepts to extend its capabilities, and increase its applications, especially in the area of music data mining. A recent interest has risen in using modulation spectral features, which are features in the modulation spectral domain, for music data mining. The field of music data mining, also known as music information retrieval (MIR), has been rapidly developing over the past decade or so. One reason for this development is the aim to develop frameworks leveraging the particular characteristics of music signals instead of simply copying methods previously applied to its speech-centered predecessors, such as speech recognition, speech synthesis, and speaker identification. This research seeks to broaden the perspective and use of an existing modulation filterbank framework by exploiting modulation features well suited for music signals. The objective of this thesis is to develop a framework for extracting modulation spectral features from music and other signals. The purpose of extracting features from these signals is to perform data mining tasks, such as unsupervised source identification, unsupervised source separation, and audio synthesis. More specifically, this research emphasizes the following: the usefulness of the DSTMT and the modulation spectrum for music data mining tasks; a new approach to unsupervised source identification using modulation spectral features; a new approach to unsupervised source separation; a newly introduced analysis of FM features in an AM-dominated modulation spectra; and other applications. Advisors/Committee Members: Lanterman, Aaron D. (advisor), Anderson, David V. (advisor), Clements, Mark A. (committee member), Hunt, William D. (committee member), Howard, Ayanna M. (committee member), Lerch, Alexander G. (committee member).

Subjects/Keywords: Modulation spectrum; Music information retrieval; Data mining; Features

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APA (6^th Edition):

Sephus, N. H. (2014). A framework for exploiting modulation spectral features in music data mining and other applications. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/52243

Chicago Manual of Style (16^th Edition):

Sephus, Nashlie H. “A framework for exploiting modulation spectral features in music data mining and other applications.” 2014. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/52243.

MLA Handbook (7^th Edition):

Sephus, Nashlie H. “A framework for exploiting modulation spectral features in music data mining and other applications.” 2014. Web. 22 Sep 2019.

Vancouver:

Sephus NH. A framework for exploiting modulation spectral features in music data mining and other applications. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/52243.

Council of Science Editors:

Sephus NH. A framework for exploiting modulation spectral features in music data mining and other applications. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/52243

26. Coogle, Richard A. Using multiple agents in uncertainty minimization of ablating target sources.

Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech

URL: http://hdl.handle.net/1853/53036

► The objective of this research effort is to provide an efficient methodology for a multi-agent robotic system to observe moving targets that are generated from… (more)

▼ The objective of this research effort is to provide an efficient methodology for a multi-agent robotic system to observe moving targets that are generated from an ablation process. An ablation process is a process where a larger mass is reduced in volume as a result of erosion; this erosion results in smaller, independent masses. An example of such a process is the natural process that gives rise to icebergs, which are generated through an ablation process referred to as ice calving. Ships that operate in polar regions continue to face the threat of floating ice sheets and icebergs generated from the ice ablation process. Although systems have been implemented to track these threats with varying degrees of success, many of these techniques require that the operations are conducted outside of some boundary where the icebergs are known not to drift. Since instances where polar operations must be conducted within such a boundary line do exist (e.g., resource exploration), methods for situational awareness of icebergs for these operations are necessary. In this research, efficacy of these methods is correlated to the initial acquisition time of observing newly ablated targets, as it provides for the ability to enact early countermeasures. To address the research objective, the iceberg tracking problem is defined such that it is re-cast within a class of robotic, multiagent target-observation problems. From this new definition, the primary contributions of this research are obtained: 1) A definition of the iceberg observation problem that extends an existing robotic observation problem to the requirements for the observation of floating ice masses; 2) A method for modeling the activity regions on an ablating source to extract ideal search regions to quickly acquire newly ablated targets; 3) A method for extracting metrics for this model that can be used to assess performance of observation algorithms and perform resource allocation. A robot controller is developed that implements the algorithms that result from these contributions and comparisons are made to existing target acquisition techniques. Advisors/Committee Members: Howard, Ayanna M. (advisor), Egerstedt, Magnus (committee member), Weitnauer, Mary Ann (committee member), Collins, Thomas (committee member), Arkin, Ronald C. (committee member).

Subjects/Keywords: Robotics; Sensing; Icebergs; Multiple agents

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APA (6^th Edition):

Coogle, R. A. (2014). Using multiple agents in uncertainty minimization of ablating target sources. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53036

Chicago Manual of Style (16^th Edition):

Coogle, Richard A. “Using multiple agents in uncertainty minimization of ablating target sources.” 2014. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/53036.

MLA Handbook (7^th Edition):

Coogle, Richard A. “Using multiple agents in uncertainty minimization of ablating target sources.” 2014. Web. 22 Sep 2019.

Vancouver:

Coogle RA. Using multiple agents in uncertainty minimization of ablating target sources. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/53036.

Council of Science Editors:

Coogle RA. Using multiple agents in uncertainty minimization of ablating target sources. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/53036

27. Huckaby, Jacob O. Knowledge transfer in robot manipulation tasks.

Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech

URL: http://hdl.handle.net/1853/51902

► Technology today has progressed to the point that the true potential of robotics is beginning to be realized. However, programming robots to be robust across… (more)

Subjects/Keywords: Robotics; Manufacturing robotics; Robots Control systems; Robots, Industrial; Automatic machinery; Manipulators (Mechanism)

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APA (6^th Edition):

Huckaby, J. O. (2014). Knowledge transfer in robot manipulation tasks. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51902

Chicago Manual of Style (16^th Edition):

Huckaby, Jacob O. “Knowledge transfer in robot manipulation tasks.” 2014. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/51902.

MLA Handbook (7^th Edition):

Huckaby, Jacob O. “Knowledge transfer in robot manipulation tasks.” 2014. Web. 22 Sep 2019.

Vancouver:

Huckaby JO. Knowledge transfer in robot manipulation tasks. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/51902.

Council of Science Editors:

Huckaby JO. Knowledge transfer in robot manipulation tasks. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/51902

28. Yusuf, Adeel. Advanced machine learning models for online travel-time prediction on freeways.

Degree: PhD, Electrical and Computer Engineering, 2013, Georgia Tech

URL: http://hdl.handle.net/1853/50408

► The objective of the research described in this dissertation is to improve the travel-time prediction process using machine learning methods for the Advanced Traffic In-formation… (more)

▼ The objective of the research described in this dissertation is to improve the travel-time prediction process using machine learning methods for the Advanced Traffic In-formation Systems (ATIS). Travel-time prediction has gained significance over the years especially in urban areas due to increasing traffic congestion. The increased demand of the traffic flow has motivated the need for development of improved applications and frameworks, which could alleviate the problems arising due to traffic flow, without the need of addition to the roadway infrastructure. In this thesis, the basic building blocks of the travel-time prediction models are discussed, with a review of the significant prior art. The problem of travel-time prediction was addressed by different perspectives in the past. Mainly the data-driven approach and the traffic flow modeling approach are the two main paths adopted viz. a viz. travel-time prediction from the methodology perspective. This dissertation, works towards the im-provement of the data-driven method. The data-driven model, presented in this dissertation, for the travel-time predic-tion on freeways was based on wavelet packet decomposition and support vector regres-sion (WPSVR), which uses the multi-resolution and equivalent frequency distribution ability of the wavelet transform to train the support vector machines. The results are compared against the classical support vector regression (SVR) method. Our results indi-cate that the wavelet reconstructed coefficients when used as an input to the support vec-tor machine for regression (WPSVR) give better performance (with selected wavelets on-ly), when compared against the support vector regression (without wavelet decomposi-tion). The data used in the model is downloaded from California Department of Trans-portation (Caltrans) of District 12 with a detector density of 2.73, experiencing daily peak hours except most weekends. The data was stored for a period of 214 days accumulated over 5 minute intervals over a distance of 9.13 miles. The results indicate an improvement in accuracy when compared against the classical SVR method. The basic criteria for selection of wavelet basis for preprocessing the inputs of support vector machines are also explored to filter the set of wavelet families for the WDSVR model. Finally, a configuration of travel-time prediction on freeways is present-ed with interchangeable prediction methods along with the details of the Matlab applica-tion used to implement the WPSVR algorithm. The initial results are computed over the set of 42 wavelets. To reduce the compu-tational cost involved in transforming the travel-time data into the set of wavelet packets using all possible mother wavelets available, a methodology of filtering the wavelets is devised, which measures the cross-correlation and redundancy properties of consecutive wavelet transformed values of same frequency band. An alternate configuration of travel-time prediction on freeways using the con-cepts of cloud computation is also presented, which… Advisors/Committee Members: Madisetti, Vijay Krishna (advisor), Vidakovic, Branislav (committee member), Conte, Thomas Martin (committee member), Anderson, David Verl (committee member), Howard, Ayanna M. (committee member).

Subjects/Keywords: Machine Learning; Travel-time Prediction; Time-series Prediction; Support vector machine for regression; Wavelets; Intelligent transportation systems; Machine learning; Intelligent transportation systems; Traffic flow; Forecasting

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APA (6^th Edition):

Yusuf, A. (2013). Advanced machine learning models for online travel-time prediction on freeways. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50408

Chicago Manual of Style (16^th Edition):

Yusuf, Adeel. “Advanced machine learning models for online travel-time prediction on freeways.” 2013. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/50408.

MLA Handbook (7^th Edition):

Yusuf, Adeel. “Advanced machine learning models for online travel-time prediction on freeways.” 2013. Web. 22 Sep 2019.

Vancouver:

Yusuf A. Advanced machine learning models for online travel-time prediction on freeways. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/50408.

Council of Science Editors:

Yusuf A. Advanced machine learning models for online travel-time prediction on freeways. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50408

29. Ali Khan, Syed Irteza. Classification using residual vector quantization.

Degree: PhD, Electrical and Computer Engineering, 2013, Georgia Tech

URL: http://hdl.handle.net/1853/50300

► Residual vector quantization (RVQ) is a 1-nearest neighbor (1-NN) type of technique. RVQ is a multi-stage implementation of regular vector quantization. An input is successively… (more)

Subjects/Keywords: Residual vector quantization; Bayesian framework; Markov structure; 1-Nearest neighbor; Vector analysis; Nearest neighbor analysis (Statistics); Data compression (Telecommunication); Coding theory; Image processing

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APA (6^th Edition):

Ali Khan, S. I. (2013). Classification using residual vector quantization. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50300

Chicago Manual of Style (16^th Edition):

Ali Khan, Syed Irteza. “Classification using residual vector quantization.” 2013. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/50300.

MLA Handbook (7^th Edition):

Ali Khan, Syed Irteza. “Classification using residual vector quantization.” 2013. Web. 22 Sep 2019.

Vancouver:

Ali Khan SI. Classification using residual vector quantization. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/50300.

Council of Science Editors:

Ali Khan SI. Classification using residual vector quantization. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50300

30. Park, Chung Hyuk. Robot-based haptic perception and telepresence for the visually impaired.

Degree: PhD, Electrical and Computer Engineering, 2012, Georgia Tech

URL: http://hdl.handle.net/1853/44848

► With the advancements in medicine and welfare systems, the average life span of modern human beings is expanding, creating a new market for elderly care… (more)

Subjects/Keywords: Assistive robot for the visually impaired; Haptic telepresence; Haptic exploration; Computers and people with visual disabilities; Robotics; Computer vision; Touch; Assistive computer technology

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APA (6^th Edition):

Park, C. H. (2012). Robot-based haptic perception and telepresence for the visually impaired. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/44848

Chicago Manual of Style (16^th Edition):

Park, Chung Hyuk. “Robot-based haptic perception and telepresence for the visually impaired.” 2012. Doctoral Dissertation, Georgia Tech. Accessed September 22, 2019. http://hdl.handle.net/1853/44848.

MLA Handbook (7^th Edition):

Park, Chung Hyuk. “Robot-based haptic perception and telepresence for the visually impaired.” 2012. Web. 22 Sep 2019.

Vancouver:

Park CH. Robot-based haptic perception and telepresence for the visually impaired. [Internet] [Doctoral dissertation]. Georgia Tech; 2012. [cited 2019 Sep 22]. Available from: http://hdl.handle.net/1853/44848.

Council of Science Editors:

Park CH. Robot-based haptic perception and telepresence for the visually impaired. [Doctoral Dissertation]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/44848

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Open Access Theses and Dissertations