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University of Southern California
1.
Gupta, Megha.
Intelligent robotic manipulation of cluttered
environments.
Degree: PhD, Computer Science, 2014, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/521349/rec/3563
► Robotic household assistants of the future will need to understand their environment in real-time with high accuracy. There are two problems that make this challenging…
(more)
▼ Robotic household assistants of the future will need
to understand their environment in real-time with high accuracy.
There are two problems that make this challenging for robots.
First, human environments are typically cluttered, containing a lot
of objects of all kinds, shapes and sizes, in close proximity. This
introduces errors in the robot’
s perception and manipulation.
Second, human environments are highly varied. Improving a robot’
s
perceptual abilities can tackle these challenge only partially. A
robot’
s ability to manipulate its environment can help in enabling
and overcoming the limits of perception. ❧ We test this idea of
manipulation-aided perception in the context of sorting and
searching in cluttered, bounded, and partially observable
environments. The inherent uncertainty in the world state forces
the robot to adopt an observe-plan-act strategy where perception,
planning, and execution are interleaved. Since execution of an
action may result in revealing information about the world that was
unknown hitherto, a new plan needs to be generated as a consequence
of the robots actions. Since manipulation is typically expensive on
a robot, our goal is to reduce the number of object manipulations
required to complete the desired task. ❧ This thesis presents
planning algorithms for a robot’
s intelligent physical interaction
with its cluttered environment. The focus is on using simple
manipulation primitives to declutter the world and making task
completion easier and faster using the environment’
s local
structure or context. For object sorting, we present a robust
pipeline that combines manipulation-aided perception and grasping
to achieve more reliable and accurate sorting results. In the
context of environment exploration, we present an adaptive
look-ahead algorithm for exploration by prehensile and
non-prehensile manipulation of the objects in the environment. This
algorithm is then applied to manipulation-based object search in
real world. Finally, we add contextual structure to the world in
the form of object-object co-occurrence relations and present an
algorithm that uses context to guide the object search. ❧ We
evaluate the performance and applicability of our planners through
extensive simulations and real-world experiments on the PR2 robot.
Our results show that purposeful manipulation of clutter to aid
perception becomes increasingly useful (and essential) as the
clutter in the environment increases, and that intelligent
manipulation of a cluttered environment improves the efficiency of
robotic tasks.
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Schaal, Stefan (Committee Member), Krishnamachari, Bhaskar (Committee Member).
Subjects/Keywords: robotic manipulation; planning algorithms; personal robots; sensor-based manipulation
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APA ·
Chicago ·
MLA ·
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APA (6th Edition):
Gupta, M. (2014). Intelligent robotic manipulation of cluttered
environments. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/521349/rec/3563
Chicago Manual of Style (16th Edition):
Gupta, Megha. “Intelligent robotic manipulation of cluttered
environments.” 2014. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/521349/rec/3563.
MLA Handbook (7th Edition):
Gupta, Megha. “Intelligent robotic manipulation of cluttered
environments.” 2014. Web. 26 Feb 2021.
Vancouver:
Gupta M. Intelligent robotic manipulation of cluttered
environments. [Internet] [Doctoral dissertation]. University of Southern California; 2014. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/521349/rec/3563.
Council of Science Editors:
Gupta M. Intelligent robotic manipulation of cluttered
environments. [Doctoral Dissertation]. University of Southern California; 2014. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/521349/rec/3563

University of Southern California
2.
Kalakrishnan, Mrinal.
Learning objective functions for autonomous motion
generation.
Degree: PhD, Computer Science, 2014, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/369146/rec/3787
► Planning and optimization methods have been widely applied to the problem of trajectory generation for autonomous robotics. The performance of such methods, however, is critically…
(more)
▼ Planning and optimization methods have been widely
applied to the problem of trajectory generation for autonomous
robotics. The performance of such methods, however, is critically
dependent on the choice of objective function being optimized, and
is non‐trivial to design. On the other end of the spectrum, efforts
on learning autonomous behavior from user‐provided demonstrations
have largely been focused on reproducing behavior similar in
appearance to the provided demonstrations. An alternative approach,
known as Inverse Reinforcement Learning (IRL), is to learn an
objective function that the demonstrations are assumed to be
optimal under. With the help of a planner or trajectory optimizer,
such an approach allows the system to synthesize novel behavior in
situations that were not experienced in the demonstrations. ❧ We
present novel algorithms for IRL that have successfully been
applied in two real‐world, competitive robotics settings: (1) In
the domain of rough terrain quadruped locomotion, we present an
algorithm that learns an objective function for foothold selection
based on ”terrain templates”. The learner automatically generates
and selects the appropriate features which form the objective
function, which reduces the need for feature engineering while
attaining a high level of generalization. (2) For the domain of
autonomous manipulation, we present a probabilistic model of
optimal trajectories, which results in new algorithms for inverse
reinforcement learning and trajectory optimization in
high‐dimensional settings. We apply this method to two problems in
robotic manipulation: redundancy resolution in inverse kinematics,
and trajectory optimization for grasping and manipulation. Both
methods have proven themselves as part of larger integrated systems
in competitive settings against other teams, where testing was
conducted by an independent test team in situations that were not
seen during training.
Advisors/Committee Members: Schaal, Stefan (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Valero-Cuevas, Francisco (Committee Member).
Subjects/Keywords: robotics; machine learning; motion planning; trajectory optimization; inverse reinforcement learning; reinforcement learning; locomotion; manipulation
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Kalakrishnan, M. (2014). Learning objective functions for autonomous motion
generation. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/369146/rec/3787
Chicago Manual of Style (16th Edition):
Kalakrishnan, Mrinal. “Learning objective functions for autonomous motion
generation.” 2014. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/369146/rec/3787.
MLA Handbook (7th Edition):
Kalakrishnan, Mrinal. “Learning objective functions for autonomous motion
generation.” 2014. Web. 26 Feb 2021.
Vancouver:
Kalakrishnan M. Learning objective functions for autonomous motion
generation. [Internet] [Doctoral dissertation]. University of Southern California; 2014. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/369146/rec/3787.
Council of Science Editors:
Kalakrishnan M. Learning objective functions for autonomous motion
generation. [Doctoral Dissertation]. University of Southern California; 2014. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/369146/rec/3787

University of Southern California
3.
Koenig, Nathan.
Robot life-long task learning from human demonstrations: a
Bayesian approach.
Degree: PhD, Computer Science (Robotics and Automation), 2013, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/222240/rec/5611
► Programming a robot to act intelligently is a challenging endeavor that is beyond the skill level of most people. Trained roboticists generally program robots for…
(more)
▼ Programming a robot to act intelligently is a
challenging endeavor that is beyond the skill level of most people.
Trained roboticists generally program robots for a single purpose.
Enabling robots to be programmed by non-experts and to perform
multiple tasks are both open challenges in robotics. The
contributions of this work include a framework that allows a robot
to learn tasks from demonstrations over the course of its
functional lifetime, a task representation that uses Bayesian
decision networks, and a method to transfer knowledge between
similar tasks. The demonstration framework allows non-experts to
demonstrate tasks to the robot in an intuitive manner. ❧ In this
work, tasks are complex time-extended decision processes that make
use of a set of predefined basis behaviors for actuator control.
Demonstrations from an instructor provide the necessary information
for the robot to learn a control policy. An instructor guides the
robot through a demonstration using a graphical interface that
displays information from the robot and provides an intuitive
action-object pairing mechanism to issue commands to the robot. ❧
Each task is represented by an influence diagram, a generalization
of Bayesian networks. The networks are human readable, compact, and
have a simple refinement process. They are not subject to an
exponential growth in states or in branches, and can be combined
hierarchically, allowing for complex task models. Data from task
demonstrations are used to learn the structure and utility
functions of an influence diagram. A score-based learning algorithm
is used to search through potential networks in order to find an
optimal structure. ❧ Both the means by which demonstrations are
provided to the robot and the learned tasks are validated.
Different communication modalities and environmental factors are
analyzed in a set of user studies. The studies feature both
engineer and non-engineer users instructing the Willow Garage PR2
on four tasks: Tower'
s of Hanoi, box sorting, cooking risotto, and
table setting. The results validate that the approach enables the
robot to learn complex tasks from a variety of teachers, refining
those tasks during on-line performance, successfully completing the
tasks in different environments, and transferring knowledge from
one task to another.
Advisors/Committee Members: Mataric, Maja J. (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Jain, Rahul (Committee Member).
Subjects/Keywords: robotics; life-long learning; influence diagrams; bayesian networks; teaching; learning from demonstration
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Koenig, N. (2013). Robot life-long task learning from human demonstrations: a
Bayesian approach. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/222240/rec/5611
Chicago Manual of Style (16th Edition):
Koenig, Nathan. “Robot life-long task learning from human demonstrations: a
Bayesian approach.” 2013. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/222240/rec/5611.
MLA Handbook (7th Edition):
Koenig, Nathan. “Robot life-long task learning from human demonstrations: a
Bayesian approach.” 2013. Web. 26 Feb 2021.
Vancouver:
Koenig N. Robot life-long task learning from human demonstrations: a
Bayesian approach. [Internet] [Doctoral dissertation]. University of Southern California; 2013. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/222240/rec/5611.
Council of Science Editors:
Koenig N. Robot life-long task learning from human demonstrations: a
Bayesian approach. [Doctoral Dissertation]. University of Southern California; 2013. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/222240/rec/5611

University of Southern California
4.
Choudhuri, Chiranjib.
Joint communication and sensing over state dependent
channels.
Degree: PhD, Electrical Engineering, 2013, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/220838/rec/3694
► The fundamental trade-off between communication rate and estimation error in sensing the channel state at the decoder is investigated for a discrete memoryless channel with…
(more)
▼ The fundamental trade-off between communication rate
and estimation error in sensing the channel state at the decoder is
investigated for a discrete memoryless channel with discrete
memoryless action dependent state when the state information is
available either partially or fully at the encoder. We first
investigate the capacity a relay channel with finite memory, where
the action independent fixed channel state information is assumed
to be known at both the encoder and decoder and then went on to
investigate the problem of determining the trade-off between
capacity and distortion for the channel with states known only at
the encoder. ❧ The relay channel with finite memory is modeled with
channels with inter-symbol interference (ISI) and additive colored
Gaussian noise. The channel state or channel impulse responses are
assumed to be known at both the encoders and decoder. Prior results
are used to show that the capacity of this channel can be computed
by examining the circular degraded relay channel in the limit of
infinite block length. The thesis provides single letter
expressions for the achievable rates with decode-and-forward (DF)
and compress-and-forward (CF) processing employed at the relay.
Additionally, the cut-set bound for the relay channel is
generalized for the ISI/colored Gaussian noise scenario. All
results hinge on showing the optimality of the decomposition of the
relay channel with ISI/colored Gaussian noise into an equivalent
collection of coupled parallel, scalar, memoryless relay channels.
The region of optimality of the DF and CF achievable rates is also
discussed. The resulting rates are illustrated through the
computation of numerical examples. ❧ The problem of state
communication over a discrete memoryless channel with discrete
memoryless state when the state information is available strictly
causally at the encoder is then studied. It is shown that block
Markov encoding, in which the encoder communicates a description of
the state sequence in the previous block by incorporating side
information about the state sequence at the decoder, yields the
minimum state estimation error. When the same channel is used to
send additional independent information at the expense of a higher
channel state estimation error, the optimal tradeoff between the
rate of the independent information and the state estimation error
is characterized via the capacity–distortion function. It is shown
that any optimal tradeoff pair can be achieved via rate-splitting.
These coding theorems are then extended optimally to the case of
causal channel state information at the encoder using the Shannon
strategy. ❧ For non-causal channel state knowledge at the encoder,
information-theoretic lower and upper bounds (based respectively on
ideas from hybrid-coding and rate–distortion theory) are derived on
the capacity– distortion function. Some examples are provided, for
which the capacity–distortion functions are characterized by
showing that the two bounds match. These coding theorems are then
extended to the case of source…
Advisors/Committee Members: Mitra, Urbashi (Committee Chair), Caire, Giuseppe (Committee Member), Sukhatme, Gaurav S. (Committee Member).
Subjects/Keywords: communication; estimation; wireless communication; state estimation
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Choudhuri, C. (2013). Joint communication and sensing over state dependent
channels. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/220838/rec/3694
Chicago Manual of Style (16th Edition):
Choudhuri, Chiranjib. “Joint communication and sensing over state dependent
channels.” 2013. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/220838/rec/3694.
MLA Handbook (7th Edition):
Choudhuri, Chiranjib. “Joint communication and sensing over state dependent
channels.” 2013. Web. 26 Feb 2021.
Vancouver:
Choudhuri C. Joint communication and sensing over state dependent
channels. [Internet] [Doctoral dissertation]. University of Southern California; 2013. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/220838/rec/3694.
Council of Science Editors:
Choudhuri C. Joint communication and sensing over state dependent
channels. [Doctoral Dissertation]. University of Southern California; 2013. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/220838/rec/3694

University of Southern California
5.
Fasola, Juan Pablo.
Socially assistive and service robotics for older adults:
methodologies for motivating exercise and following spatial
language instructions in discourse.
Degree: PhD, Computer Science, 2014, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/440892/rec/5940
► The growing population of aging adults is increasing the demand for healthcare services worldwide. Socially assistive robotics (SAR) and service robotics have the potential to…
(more)
▼ The growing population of aging adults is increasing
the demand for healthcare services worldwide. Socially assistive
robotics (SAR) and service robotics have the potential to aid in
addressing the needs of the growing elderly population by promoting
health benefits, independent living, and improved quality of life.
For such robots to become ubiquitous in real‐world human
environments, they will need to interact with and learn from
non‐expert users in a manner that is both natural and practical for
the users. In particular, such robots will need to be capable of
understanding natural language instructions in order to learn new
tasks and receive guidance and feedback on task execution. ❧
Research into SAR and service robotics‐based solutions for
non‐expert users, and in particular older adults, that spans varied
assistive tasks generally falls within one of two distinct areas:
1) robot‐guided interaction, and 2) user‐guided interaction. This
dissertation contributes to both of these research areas. ❧ To
address robot‐guided interaction, this dissertation presents the
design methodology, implementation and evaluation details of a
novel SAR approach to motivate and engage elderly users in simple
physical exercise. The approach incorporates insights from
psychology research into intrinsic motivation and contributes five
clear design principles for SAR‐based therapeutic interventions. To
evaluate the approach and its effectiveness in gaining user
acceptance and motivating physical exercise, it was implemented as
an integrated system and three user studies were conducted with
older adults, to investigate: 1) the effect of praise and
relational discourse in the system towards increasing user
motivation; 2) the role of user autonomy and choice within the
interaction; and 3) the effect of embodiment in the system by
comparing user evaluations of similar physically and virtually
embodied SAR exercise coaches in addition to evaluating the overall
SAR system. ❧ To address user‐guided interactions, specifically
with non‐expert users through the use of natural language
instructions, this dissertation presents a novel methodology that
allows service robots to interpret and follow spatial language
instructions, with and without user‐specified natural language
constraints and/or unvoiced pragmatic constraints. This work
contributes a general computational framework for the
representation of dynamic spatial relations, with both local and
global properties. The methodology also contributes a probabilistic
approach in the inference of instruction semantics; a general
approach for interpreting object pick‐and‐place tasks; and a novel
probabilistic algorithm for the automatic extraction of
contextually and semantically valid instruction sequences from
unconstrained spatial language discourse, including those
containing anaphoric reference expressions. The spatial language
interpretation methodology was evaluated in simulation, on two
different physical robot platforms, and in a user study conducted
with older adults for validation with…
Advisors/Committee Members: Mataric, Maja J. (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Hagedorn, Aaron (Committee Member).
Subjects/Keywords: human‐robot interaction; socially assistive robotics; spatial language understanding; natural language processing; intrinsic motivation; exercise therapy; older adults
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Fasola, J. P. (2014). Socially assistive and service robotics for older adults:
methodologies for motivating exercise and following spatial
language instructions in discourse. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/440892/rec/5940
Chicago Manual of Style (16th Edition):
Fasola, Juan Pablo. “Socially assistive and service robotics for older adults:
methodologies for motivating exercise and following spatial
language instructions in discourse.” 2014. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/440892/rec/5940.
MLA Handbook (7th Edition):
Fasola, Juan Pablo. “Socially assistive and service robotics for older adults:
methodologies for motivating exercise and following spatial
language instructions in discourse.” 2014. Web. 26 Feb 2021.
Vancouver:
Fasola JP. Socially assistive and service robotics for older adults:
methodologies for motivating exercise and following spatial
language instructions in discourse. [Internet] [Doctoral dissertation]. University of Southern California; 2014. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/440892/rec/5940.
Council of Science Editors:
Fasola JP. Socially assistive and service robotics for older adults:
methodologies for motivating exercise and following spatial
language instructions in discourse. [Doctoral Dissertation]. University of Southern California; 2014. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/440892/rec/5940

University of Southern California
6.
Gong, Boqing.
Kernel methods for unsupervised domain adaptation.
Degree: PhD, Computer Science, 2015, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/604358/rec/3708
► In many applications (computer vision, natural language processing, speech recognition, etc.), the curse of domain mismatch arises when the test data (of a target domain)…
(more)
▼ In many applications (computer vision, natural
language processing, speech recognition, etc.), the curse of domain
mismatch arises when the test data (of a target domain) and the
training data (of some source domain(
s)) come from different
distributions. Thus, developing techniques for domain adaptation,
i.e., generalizing models from the sources to the target, has been
a pressing need. When the learner has access to only unlabeled data
from the target domain (and labeled data from the source domain),
the problem is called unsupervised domain adaptation. Advances in
domain adaptation can significantly increase our capability to
deploy autonomous and intelligent systems in challenging
environments where uncertainty prevails. ❧ This thesis work
provides a comprehensive set of techniques with multiple levels of
focus on unsupervised domain adaptation, including learning
domain‐invariant feature representations in order to eliminate the
discrepancy between the source domain and the target domain,
manipulating data instances to match the distributions of two
domains, quantizing the ""adaptabilities"" of different source
domains given a particular target domain, and discovering latent
domains from heterogeneous data so the individual domains can be
better and more efficiently modeled. We demonstrate the
effectiveness of the developed methods on well‐benchmarked datasets
and tasks (visual object recognition, sentiment analysis, and
cross‐view human activity recognition). ❧ In terms of domain
adaptation algorithms, this thesis develops two complementary
approaches using kernel methods, one to infer domain‐invariant
geodesic flow kernels (GFKs) and the other to directly match the
underlying distributions of two domains. GFK models data by
subspaces and interpolates an infinite number of phantom domains
between the source domain and the target domain. We then use the
""kernel trick"" to average out domain‐specific idiosyncrasies and
arrive at a domain‐invariant kernel. Built upon GFK, we propose an
approach to identifying the most adaptable data instances of the
source domain, named as landmarks, to the target domain. Due to
that the landmarks are more similar to the target domain in the
sense of their underlying distributions, adapting from the
landmarks gives rise to better performance on the target than
adapting from the original source domain. ❧ This thesis also
contributes to other aspects of domain adaptation. We make some
preliminary efforts on answering the open question of how to
evaluate the ""adaptability"" of a source domain to the target
domain. This results in a rank‐of‐domains (ROD) metric, which
exploits both geometrical and statistical discrepancies between two
domains. Besides, this thesis raises the concern about how to
define or represent a domain with real data. While by a domain we
refer to the underlying distribution of the observed data, the
distribution is often unknown. A standard practice has been
equating datasets with domains. However, our studies show that this
is not necessarily the best for the…
Advisors/Committee Members: Sha, Fei (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Narayanan, Shrikanth S. (Committee Member).
Subjects/Keywords: kernel methods; domain adaptation; geodesic flow kernel; landmarks; rank of domains; latent domains; sequential determinantal point process
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Gong, B. (2015). Kernel methods for unsupervised domain adaptation. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/604358/rec/3708
Chicago Manual of Style (16th Edition):
Gong, Boqing. “Kernel methods for unsupervised domain adaptation.” 2015. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/604358/rec/3708.
MLA Handbook (7th Edition):
Gong, Boqing. “Kernel methods for unsupervised domain adaptation.” 2015. Web. 26 Feb 2021.
Vancouver:
Gong B. Kernel methods for unsupervised domain adaptation. [Internet] [Doctoral dissertation]. University of Southern California; 2015. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/604358/rec/3708.
Council of Science Editors:
Gong B. Kernel methods for unsupervised domain adaptation. [Doctoral Dissertation]. University of Southern California; 2015. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/604358/rec/3708

University of Southern California
7.
de Menezes Pereira, Arvind Antonio.
Risk-aware path planning for autonomous underwater
vehicles.
Degree: PhD, Computer Science, 2013, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/351180/rec/5603
► Path planning is the process of generating an optimal sequence of waypoints from a start configuration to a desired goal configuration under constraints (e.g., avoiding…
(more)
▼ Path planning is the process of generating an optimal
sequence of waypoints from a start configuration to a desired goal
configuration under constraints (e.g., avoiding obstacles,
respecting time/energy budgets). In this thesis, we study the
problem of risk-aware planning. Specifically, we design, develop,
and experimentally validate optimal paths for Autonomous Underwater
Vehicles (AUVs) in the open ocean in the presence of navigational
hazards such as ships and other obstacles. A novel aspect of this
work is the introduction of ocean current predictions to optimize
planning in such settings. This is challenging because current
predictions are typ- ically available at non-uniform spatial
resolution, noisy, and time-delayed. We designed three risk-aware
planners that reason probabilistically about the uncer- tainty in
ocean currents predictions. The minimum expected risk planner
ensures that the AUV always reaches the goal, while minimizing risk
along the way, Risk- aware Markov Decision Process-based planning
uses stationary models over a short horizon, and trades off between
goal-directed behavior and reducing risk. This is susceptible to
finding sub-optimal policies due to stationarity. The
non-stationary, risk-aware MDP makes use of variability in the
currents where possible to overcome high-risk sections of paths on
the way to the goal. In addition to these planners, we develop a
taxonomy for risk-aware planning in dynamic settings. Another key
contribution is learning the uncertainty in currents to improve
planning. Results from extensive simulations clearly show that
learning uncertainty helps significantly improve performance of
risk-aware planners in uncertain currents, allowing AUVs to be
operated in more challenging scenarios than was previously
possible. Finally, the planners described in this dissertation have
been field tested at unprecedented levels to validate their
practical utility (∼2000 hours of testing at sea).
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Schaal, Stefan (Committee Member), Caron, David A. (Committee Member).
Subjects/Keywords: artificial intelligence; path planning; autonomous underwater vehicles; gliders
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
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to Zotero / EndNote / Reference
Manager
APA (6th Edition):
de Menezes Pereira, A. A. (2013). Risk-aware path planning for autonomous underwater
vehicles. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/351180/rec/5603
Chicago Manual of Style (16th Edition):
de Menezes Pereira, Arvind Antonio. “Risk-aware path planning for autonomous underwater
vehicles.” 2013. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/351180/rec/5603.
MLA Handbook (7th Edition):
de Menezes Pereira, Arvind Antonio. “Risk-aware path planning for autonomous underwater
vehicles.” 2013. Web. 26 Feb 2021.
Vancouver:
de Menezes Pereira AA. Risk-aware path planning for autonomous underwater
vehicles. [Internet] [Doctoral dissertation]. University of Southern California; 2013. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/351180/rec/5603.
Council of Science Editors:
de Menezes Pereira AA. Risk-aware path planning for autonomous underwater
vehicles. [Doctoral Dissertation]. University of Southern California; 2013. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/351180/rec/5603

University of Southern California
8.
Binney, Jonathan Douglas.
Informative path planning for environmental
monitoring.
Degree: PhD, Computer Science, 2012, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/104369/rec/3496
► Mobile aquatic, aerial, and terrestrial robots open up rich opportunities for environmental monitoring. Sensors mounted on a robot can be moved to take measurements in…
(more)
▼ Mobile aquatic, aerial, and terrestrial robots open up
rich opportunities for environmental monitoring. Sensors mounted on
a robot can be moved to take measurements in multiple locations,
allowing an effective spatial sampling density much higher than the
number of robots. In order to most effectively exploit mobile
robots in this manner, path planning methods which consider the
usefulness of measurements are needed. This thesis studies and
develops discrete planning algorithms for optimal usage of mobile
robots in environmental monitoring applications. Specifically, we
address cases where a probabilistic model (e.g., a Gaussian
process) is used to predict a scalar field. In this context, the
usefulness of a set of measurements collected by a robot or team of
robots can be quantified as the expected reduction in entropy or
mean squared error, providing a well defined objective function for
the planner. We present path planning approaches which take
advantage of the characteristics of these objective functions to
efficiently plan optimal or near optimal paths for one or more
robots. ❧ This thesis makes the following contributions. First, we
present extensions to a submodular orienteering algorithm which
increases its usefulness for environmental monitoring applications.
Specifically, we show how to handle temporally changing fields, and
how to efficiently incorporate sensors which take measurements
while the robot is moving. Second, we present a branch and bound
algorithm which adapts an upper bound from feature selection
literature to efficiently find the optimal solution to an
informative path planning problem. Finally, we provide results from
tests of the algorithms on real robotic problems, including ocean
monitoring using underwater gliders, and lake monitoring using an
autonomous surface vehicle.
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Schaal, Stefan (Committee Member), Caron, David A. (Committee Member).
Subjects/Keywords: robotics; path planning; environmental monitoring
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Binney, J. D. (2012). Informative path planning for environmental
monitoring. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/104369/rec/3496
Chicago Manual of Style (16th Edition):
Binney, Jonathan Douglas. “Informative path planning for environmental
monitoring.” 2012. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/104369/rec/3496.
MLA Handbook (7th Edition):
Binney, Jonathan Douglas. “Informative path planning for environmental
monitoring.” 2012. Web. 26 Feb 2021.
Vancouver:
Binney JD. Informative path planning for environmental
monitoring. [Internet] [Doctoral dissertation]. University of Southern California; 2012. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/104369/rec/3496.
Council of Science Editors:
Binney JD. Informative path planning for environmental
monitoring. [Doctoral Dissertation]. University of Southern California; 2012. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/104369/rec/3496

University of Southern California
9.
Das, Jnaneshwar.
Data-driven robotic sampling for marine ecosystem
monitoring.
Degree: PhD, Computer Science, 2014, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/409762/rec/1778
► The marine environment is in a perpetual state of flux due to ocean currents. As a result, phenomena such as plankton blooms are constantly advected,…
(more)
▼ The marine environment is in a perpetual state of flux
due to ocean currents. As a result, phenomena such as plankton
blooms are constantly advected, making their observation
challenging. Traditionally, measurements from remote‐sensing
satellites, ships, piers, and moorings have helped scientists study
such phenomena. However, a sound understanding of bloom ecology and
dynamics requires persistent sampling at spatio‐temporal scales
infeasible with existing methods. Advances in robotic sampling
using autonomous underwater vehicles (AUVs) have opened up the
arena for adaptive sampling at unprecedented scales, augmenting
other methods of observation. ❧ This thesis presents a novel
data‐driven robotic sampling methodology for marine ecosystem
monitoring, focusing on the observation of plankton blooms. The
problem is addressed at multiple spatio‐temporal scales to detect,
track, and sample blooms with the goal of acquisition of physical
water samples for ex‐situ analysis of plankton abundance. This is
essential for the understanding of plankton ecology and community
structure since sensors onboard AUVs are incapable of measuring
precise biological data in realtime, necessitating lab analysis of
water samples. ❧ Starting at the macro scale (kilometers/days),
this work demonstrates how remote sensing imagery and periodic
measurements of surface currents facilitate detection and
trajectory projection of plankton blooms to plan AUV deployments.
Once deployed, the AUV needs to survey within the context of the
advecting bloom. The thesis presents the design of Lagrangian
surveys wherein a bloom is tagged with a GPS‐tracked drifter, and
surveys are designed and executed in the frame of reference of the
advecting bloom. Results from a field experiment where a 1km x 1km
patch of water was successfully tracked by an AUV over multiple
days demonstrate the efficacy of this approach. Next, during such
Lagrangian surveys, the AUV is required to carry out adaptive water
sample acquisition for ex‐situ analysis. The thesis describes a
principled online sampling strategy that uses probabilistic
regression models trained on previously collected data to predict
abundance of desired plankton from realtime measurements of
physical and chemical properties by the AUV’
s onboard sensor suite.
Extensive simulations carried out by mining historical data, and a
one‐day field trial targeting a toxinogenic plankton demonstrate
the impact of the approach, in effect ""closing the loop"" on a a
significant science problem. Finally, the thesis describes an
Oceanographic Decision Support System (ODSS), a web‐based tool
developed for situational awareness and data visualization during
robotic sampling experiments of the kind presented in this work.
Extensive use during a month‐long field campaign with multiple
platforms and users demonstrate the importance of support tools in
marine ecosystem monitoring. ❧ Through extensive experimental
results, the thesis demonstrates robotic sampling for marine
ecosystem monitoring at an unprecedented spatio‐temporal…
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Schaal, Stefan (Committee Member), Caron, David A. (Committee Member).
Subjects/Keywords: robotics; robotic sampling; field robotics; marine robotics; underwater robots; autonomous underwater vehicles; AUVs; machine learning; software systems; adaptive sampling; experiment design; environmental monitoring
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Das, J. (2014). Data-driven robotic sampling for marine ecosystem
monitoring. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/409762/rec/1778
Chicago Manual of Style (16th Edition):
Das, Jnaneshwar. “Data-driven robotic sampling for marine ecosystem
monitoring.” 2014. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/409762/rec/1778.
MLA Handbook (7th Edition):
Das, Jnaneshwar. “Data-driven robotic sampling for marine ecosystem
monitoring.” 2014. Web. 26 Feb 2021.
Vancouver:
Das J. Data-driven robotic sampling for marine ecosystem
monitoring. [Internet] [Doctoral dissertation]. University of Southern California; 2014. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/409762/rec/1778.
Council of Science Editors:
Das J. Data-driven robotic sampling for marine ecosystem
monitoring. [Doctoral Dissertation]. University of Southern California; 2014. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/409762/rec/1778

University of Southern California
10.
Reinebold, James L., III.
Evaluating mobile phones as opportunistic on-body
sensors.
Degree: MS, Computer Science, 2011, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/668898/rec/2524
► Mobile phones are an inexpensive sensing solution that can provide insight into the personal environment of the person using the device. However, the challenge for…
(more)
▼ Mobile phones are an inexpensive sensing solution that
can provide insight into the personal environment of the person
using the device. However, the challenge for developers is to
understand the strengths and weaknesses of the sensing capabilities
of mobile phones when exploiting them for novel applications. For
mobile phones to be useful as opportunistic on-body mobile sensors,
they must be able to operate with minimal interaction from the
user, operate independently of their position with respect to the
body of the user, and conserve the resources of the device. ❧ This
thesis discusses these issues and presents three sets of
experiments that test sample applications using different sensor
types to solve the specific mobile sensing problems of movement
tracking and friend proximity discovery.
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Narayanan, Shrikanth S. (Committee Member), Schaal, Stefan (Committee Member).
Subjects/Keywords: mobile phones; opportunistic sensing; movement detection; friend detection; on-body sensors
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Reinebold, James L., I. (2011). Evaluating mobile phones as opportunistic on-body
sensors. (Masters Thesis). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/668898/rec/2524
Chicago Manual of Style (16th Edition):
Reinebold, James L., III. “Evaluating mobile phones as opportunistic on-body
sensors.” 2011. Masters Thesis, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/668898/rec/2524.
MLA Handbook (7th Edition):
Reinebold, James L., III. “Evaluating mobile phones as opportunistic on-body
sensors.” 2011. Web. 26 Feb 2021.
Vancouver:
Reinebold, James L. I. Evaluating mobile phones as opportunistic on-body
sensors. [Internet] [Masters thesis]. University of Southern California; 2011. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/668898/rec/2524.
Council of Science Editors:
Reinebold, James L. I. Evaluating mobile phones as opportunistic on-body
sensors. [Masters Thesis]. University of Southern California; 2011. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/668898/rec/2524

University of Southern California
11.
Ramachandran, Gokul.
A biologically inspired role-based team strategy for
pursuit-evasion in robots.
Degree: MS, Computer Science (Robotics and Automation), 2011, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/653087/rec/53
► This thesis presents a robust, scalable and general Java applet-based simulator for pursuit-evasion problems. With this tool, experiments can be conducted by simulating multi-player pursuit-evasion…
(more)
▼ This thesis presents a robust, scalable and general
Java applet-based simulator for pursuit-evasion problems. With this
tool, experiments can be conducted by simulating multi-player
pursuit-evasion games in bulk. We go through the rich list of
features and parameters that are implemented in the simulator, and
also mention utilities like memory, particle filters etc. that are
built into the system. This is followed by a discussion of the
different models that have been already created using these
utilities. Finally, a description of experiments that were
conducted using the simulator are presented, along with the
subsequent results.
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Schaal, Stefan (Committee Member), Krishnamachari, Bhaskar (Committee Member).
Subjects/Keywords: chasing; rvasion; pursuit; robotics; simulator; team; pursuit evasion; pursuit-evasion; team strategy; agents; agent based; agent-based; Java; iRobot Create; JavaCV; Bluetooth; firewire camera
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Ramachandran, G. (2011). A biologically inspired role-based team strategy for
pursuit-evasion in robots. (Masters Thesis). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/653087/rec/53
Chicago Manual of Style (16th Edition):
Ramachandran, Gokul. “A biologically inspired role-based team strategy for
pursuit-evasion in robots.” 2011. Masters Thesis, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/653087/rec/53.
MLA Handbook (7th Edition):
Ramachandran, Gokul. “A biologically inspired role-based team strategy for
pursuit-evasion in robots.” 2011. Web. 26 Feb 2021.
Vancouver:
Ramachandran G. A biologically inspired role-based team strategy for
pursuit-evasion in robots. [Internet] [Masters thesis]. University of Southern California; 2011. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/653087/rec/53.
Council of Science Editors:
Ramachandran G. A biologically inspired role-based team strategy for
pursuit-evasion in robots. [Masters Thesis]. University of Southern California; 2011. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/653087/rec/53

University of Southern California
12.
Pastor, Peter.
Data-driven autonomous manipulation.
Degree: PhD, Computer Science, 2014, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/406876/rec/1773
► The problem of an aging society is real and will affect everyone. There will be too few young people that can ensure adequate living conditions…
(more)
▼ The problem of an aging society is real and will
affect everyone. There will be too few young people that can ensure
adequate living conditions for the elderly. Personal robots have
the potential to assist in day‐to‐day tasks whenever there are too
few humans to cope with societal needs. However, for personal
robots to become useful they need to be able to skillfully
manipulate objects in their environment. Unfortunately, the problem
of autonomous manipulation is very complex and progress towards
creating autonomous behaviors seems to have reached a plateau. ❧ In
this thesis, we will present a data‐driven approach to movement
generation. We argue that movement generation (motor output) and
perceptual processing (sensor input) are inseparably intertwined
and that the ability to predict sensor information is essential for
skillful manipulation. Movement generation without sensor
expectations defaults to open‐loop execution which is prone to
failure in dynamic and unstructured environments. However,
predicting sensor information for an increasing number of sensor
modalities including force/torque and tactile feedback through
physics based modelling is challenging given the variety of
objects, the diversity of possible manipulation behaviors, and the
uncertainty in the real world. Instead, our approach leverages a
key insight: Movement generation can dictate expected sensor
feedback. Similar manipulation movements will give rise to sensory
events that are similar to previous ones. Thus, stereotypical
movements facilitate to associate and accumulate sensor information
from past trials and use these sensor experiences to predict sensor
feedback in future trials. ❧ We will call such movements augmented
with associated sensor information Associative Skill Memories
(ASMs). We will present a coherent data‐driven framework for
manipulation that implements this paradigm. First, we will
introduce a modular movement representation suitable to encode
movements along with associated sensor experiences. Second, we will
show how stereotypical movements can be learned from demonstrations
and refined using trial‐and‐error learning. Third, we will show how
ASMs can be used to monitor task progress, to realize contact
reactive manipulation, and to purposefully choose subsequent
movements. Finally, we will present a method that can learn forward
models for these stereotypical movements.
Advisors/Committee Members: Schaal, Stefan (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Schweighofer, Nicolas (Committee Member).
Subjects/Keywords: data‐driven; autonomous; robotic manipulation; movement primitives; motor primitives; associative memory; associative skill memories
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Pastor, P. (2014). Data-driven autonomous manipulation. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/406876/rec/1773
Chicago Manual of Style (16th Edition):
Pastor, Peter. “Data-driven autonomous manipulation.” 2014. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/406876/rec/1773.
MLA Handbook (7th Edition):
Pastor, Peter. “Data-driven autonomous manipulation.” 2014. Web. 26 Feb 2021.
Vancouver:
Pastor P. Data-driven autonomous manipulation. [Internet] [Doctoral dissertation]. University of Southern California; 2014. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/406876/rec/1773.
Council of Science Editors:
Pastor P. Data-driven autonomous manipulation. [Doctoral Dissertation]. University of Southern California; 2014. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/406876/rec/1773

University of Southern California
13.
Wang, Yi.
Towards energy efficient mobile sensing.
Degree: PhD, Electrical Engineering, 2011, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/445526/rec/7537
► Mobile device based urban sensing, participatory sensing, and user activity recognition can provide rich contextual information for mobile applications such as social networking and location…
(more)
▼ Mobile device based urban sensing, participatory
sensing, and user activity recognition can provide rich contextual
information for mobile applications such as social networking and
location based services. However, as the sensors on mobile devices
consume significant amount of energy, the major bottleneck that
restricts the continuous functioning of these mobile applications
is the limited battery capacity on mobile devices.; In this thesis,
we first present a novel design framework for an Energy Efficient
Mobile Sensing System (EEMSS). EEMSS uses hierarchical sensor
management strategy to recognize user states as well as to detect
state transitions. By powering only a minimum set of sensors and
managing sensors hierarchically, EEMSS significantly improves
device battery life. We present the design, implementation, and
evaluation of EEMSS that automatically recognizes a set of users'
daily activities in real time using sensors on an off-the-shelf
high-end smart phone. Evaluation of EEMSS with 10 users over one
week shows that our approach increases the device battery life by
more than 75% while maintaining both high accuracy and low latency
in identifying transitions between end-user activities.; We then
propose a computationally efficient algorithm to obtain the optimal
sensor sampling policy under the assumption that the user state
transition is Markovian. This Markov-optimal policy minimizes user
state estimation error while satisfying a given energy consumption
budget. The Markov-optimal policy is compared to uniform periodic
sensing and performance improvement is obtained on both simulated
and real user state traces, with approximately 20% average gain on
empirically collected user data that pertains to user motion,
inter-user contact status, and network connectivity.; Finally, we
formulate the user state sensing problem as the intermittent
sampling of a semi-Markov process, a model that provides more
general and flexible capturing of realistic data. We propose (a) a
semi-Markovian state estimation mechanism that selects the most
likely user state while observations are missing, and (b) a
semi-Markov optimal sensing policy which minimizes the expected
state estimation error while maintaining a given energy budget.
Their performance is shown to significantly outperform Markovian
algorithms on simulated two-state processes and real user state
traces. In addition, we propose a novel client-server based energy
efficient mobile sensing system architecture that automatically
learns user dynamics and computes user-specific optimal sensing
policy for mobile devices. A system prototype aiming to recognize
basic human activity is implemented on Nokia N95 smartphones and
desktop computers. We demonstrate the performance benchmark of the
semi-Markov optimal policy through a set of experiments, and show
that it improves the estimation accuracy by 27.8% and 48.6% over
Markov-optimal policy and uniform sampling,
respectively.
Advisors/Committee Members: Krishnamachari, Bhaskar (Committee Chair), Annavaram, Murali (Committee Member), Sukhatme, Gaurav S. (Committee Member).
Subjects/Keywords: constrained stochastic optimization; energy efficiency; mobile sensing; state estimation
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Wang, Y. (2011). Towards energy efficient mobile sensing. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/445526/rec/7537
Chicago Manual of Style (16th Edition):
Wang, Yi. “Towards energy efficient mobile sensing.” 2011. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/445526/rec/7537.
MLA Handbook (7th Edition):
Wang, Yi. “Towards energy efficient mobile sensing.” 2011. Web. 26 Feb 2021.
Vancouver:
Wang Y. Towards energy efficient mobile sensing. [Internet] [Doctoral dissertation]. University of Southern California; 2011. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/445526/rec/7537.
Council of Science Editors:
Wang Y. Towards energy efficient mobile sensing. [Doctoral Dissertation]. University of Southern California; 2011. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/445526/rec/7537

University of Southern California
14.
Yerramalli, Srinivas.
Communication and cooperation in underwater acoustic
networks.
Degree: PhD, Electrical Engineering, 2013, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/222584/rec/1468
► In this thesis, we present a study of several problems related to underwater point to point communications and network formation. We explore techniques to improve…
(more)
▼ In this thesis, we present a study of several problems
related to underwater point to point communications and network
formation. We explore techniques to improve the achievable data
rate on a point to point link using better physical layer
techniques and then study sensor cooperation which improves the
throughput and reliability in an underwater network. ❧ Robust
point-to-point communications in underwater networks has become
increasingly critical in several military and civilian applications
related to underwater communications. We present several physical
layer signaling and detection techniques tailored to the underwater
channel model to improve the reliability of data detection. First,
a simplified underwater channel model in which the time scale
distortion on each path is assumed to be the same (single scale
channel model in contrast to a more general multi scale model). A
novel technique, which exploits the nature of OFDM signaling and
the time scale distortion, called Partial FFT Demodulation is
derived. It is observed that this new technique has some unique
interference suppression properties and performs better than
traditional equalizers in several scenarios of interest. Next, we
consider the multi scale model for the underwater channel and
assume that single scale processing is performed at the receiver.
We then derive optimized front end pre-processing techniques to
reduce the interference caused during single scale processing of
signals transmitted on a multi-scale channel. We then propose an
improvised channel estimation technique using dictionary
optimization methods for compressive sensing and show that
significant performance gains can be obtained using this technique.
❧ In the next part of this thesis, we consider the problem of
sensor node cooperation among rational nodes whose objective is to
improve their individual data rates. We first consider the problem
of transmitter cooperation in a multiple access channel and
investigate the stability of the grand coalition of transmitters
using tools from cooperative game theory and show that the grand
coalition in both the asymptotic regimes of high and low SNR.
Towards studying the problem of receiver cooperation for a
broadcast channel, we propose a game theoretic model for the
broadcast channel and then derive a game theoretic duality between
the multiple access and the broadcast channel and show that how the
equilibria of the broadcast channel are related to the multiple
access channel and vice versa.
Advisors/Committee Members: Mitra, Urbashi (Committee Chair), Jain, Rahul (Committee Member), Sukhatme, Gaurav S. (Committee Member).
Subjects/Keywords: underwater communications; wideband communications; OFDM; Doppler; time scale; partial FFT; estimator analysis; resampling; channel estimation; cooperation; game theory; wireless networks; partition form games; interference modeling; multiple access channels; broadcast channels; duality; Generalized Nash Equilibrium Problems
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Yerramalli, S. (2013). Communication and cooperation in underwater acoustic
networks. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/222584/rec/1468
Chicago Manual of Style (16th Edition):
Yerramalli, Srinivas. “Communication and cooperation in underwater acoustic
networks.” 2013. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/222584/rec/1468.
MLA Handbook (7th Edition):
Yerramalli, Srinivas. “Communication and cooperation in underwater acoustic
networks.” 2013. Web. 26 Feb 2021.
Vancouver:
Yerramalli S. Communication and cooperation in underwater acoustic
networks. [Internet] [Doctoral dissertation]. University of Southern California; 2013. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/222584/rec/1468.
Council of Science Editors:
Yerramalli S. Communication and cooperation in underwater acoustic
networks. [Doctoral Dissertation]. University of Southern California; 2013. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/222584/rec/1468

University of Southern California
15.
Subbaraya, Supreeth.
Development of Lagrangian drifter for ocean monitoring and
marine applications.
Degree: MS, Electrical Engineering, 2014, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/382246/rec/1950
► This thesis describes the design and development of a Lagrangian Drifter for ocean monitoring applications. The system is developed to move with the currents at…
(more)
▼ This thesis describes the design and development of a
Lagrangian Drifter for ocean monitoring applications. The system is
developed to move with the currents at a particular depth,
transmitting its location to the user. Through this design, the
user can track ocean currents and object or entities carried by
them. This thesis introduces the system by giving the motivation
for the work and a survey of related work and present day
technologies available to design the system. The design
considerations are laid out based upon the application of the
device. A description of the electrical, software and mechanical
design of the system is presented here. The system was
characterized for its defined design considerations. Finally,
experiments and results are presented and concluded with a
discussion on future enhancements for the system.
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Caron, David A. (Committee Member), Mitra, Urbashi (Committee Member).
Subjects/Keywords: drifter; ocean monitoring; drogue; marine system
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Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Subbaraya, S. (2014). Development of Lagrangian drifter for ocean monitoring and
marine applications. (Masters Thesis). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/382246/rec/1950
Chicago Manual of Style (16th Edition):
Subbaraya, Supreeth. “Development of Lagrangian drifter for ocean monitoring and
marine applications.” 2014. Masters Thesis, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/382246/rec/1950.
MLA Handbook (7th Edition):
Subbaraya, Supreeth. “Development of Lagrangian drifter for ocean monitoring and
marine applications.” 2014. Web. 26 Feb 2021.
Vancouver:
Subbaraya S. Development of Lagrangian drifter for ocean monitoring and
marine applications. [Internet] [Masters thesis]. University of Southern California; 2014. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/382246/rec/1950.
Council of Science Editors:
Subbaraya S. Development of Lagrangian drifter for ocean monitoring and
marine applications. [Masters Thesis]. University of Southern California; 2014. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/382246/rec/1950

University of Southern California
16.
Khodaei, Ali.
Combining textual Web search with spatial, temporal and
social aspects of the Web.
Degree: PhD, Computer Science, 2013, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/338255/rec/1458
► Over the last few years, Web has changed significantly. Emergence of Web 2.0 has enabled people to interact with web documents in new ways not…
(more)
▼ Over the last few years, Web has changed
significantly. Emergence of Web 2.0 has enabled people to interact
with web documents in new ways not possible before. It is now a
common practice to geo-tag or time-tag web documents, or to
integrate web documents with popular social networks. With these
new changes and the abundant usage of spatial, temporal and social
information in web documents and search queries, the necessity of
integration of such non-textual aspects of the web to the regular
textual web search has grown rapidly over the past few years. ❧ To
integrate each of those non-textual dimensions to the textual web
search and to enable spatial-textual, temporal-textual and
social-textual web search, in this dissertation we propose a set of
new relevance models, index structures and algorithms specifically
designed for adding each non-textual dimension (spatial, temporal
and social) to the current state of (textual) web search. First, we
propose a new ranking model and a hybrid index structure called
Spatial-Keyword Inverted File to handle location-based ranking and
indexing of web documents in an integrated/efficient manner.
Second, we propose a new indexing and ranking framework for
temporal-textual retrieval. The framework leverages the classical
vector space model and provides a complete scheme for indexing,
query processing and ranking of the temporal-textual queries.
Finally, we show how to personalizes the search results based on
users’ social actions. We propose a new relevance model called
PerSocial relevance model utilizing three levels of social signals
to improve the web search. Furthermore, We Develop Several
Approaches To Integrate PerSocial relevance model Into The Textual
Web Search Process.
Advisors/Committee Members: Shahabi, Cyrus (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Currid-Halkett, Elizabeth (Committee Member).
Subjects/Keywords: search; information retrieval; ranking; indexing; social; spatial; temporal; textual; Web; social network; inverted index; contextual search; personalized search; spatiotemporal; Web 2.0
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Khodaei, A. (2013). Combining textual Web search with spatial, temporal and
social aspects of the Web. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/338255/rec/1458
Chicago Manual of Style (16th Edition):
Khodaei, Ali. “Combining textual Web search with spatial, temporal and
social aspects of the Web.” 2013. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/338255/rec/1458.
MLA Handbook (7th Edition):
Khodaei, Ali. “Combining textual Web search with spatial, temporal and
social aspects of the Web.” 2013. Web. 26 Feb 2021.
Vancouver:
Khodaei A. Combining textual Web search with spatial, temporal and
social aspects of the Web. [Internet] [Doctoral dissertation]. University of Southern California; 2013. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/338255/rec/1458.
Council of Science Editors:
Khodaei A. Combining textual Web search with spatial, temporal and
social aspects of the Web. [Doctoral Dissertation]. University of Southern California; 2013. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/338255/rec/1458

University of Southern California
17.
Kazemi, Leyla.
Enabling query answering in a trustworthy privacy-aware
spatial crowdsourcing.
Degree: PhD, Computer Science, 2012, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/119471/rec/2336
► With the ubiquity of mobile devices, spatial crowdsourcing is emerging as a new platform, enabling spatial tasks (i.e., tasks related to a location) assigned to…
(more)
▼ With the ubiquity of mobile devices, spatial
crowdsourcing is emerging as a new platform, enabling spatial tasks
(i.e., tasks related to a location) assigned to and performed by
human workers. However, privacy and trust are the two significant
barriers to the success of any spatial crowdsourcing system. First,
the workers may not want to associate themselves with the task they
perform. Second, the validity of the contributed data is not
verified, since the intentions of the workers is not always clear.
In this dissertation, for the first time we introduce a taxonomy
for spatial crowdsourcing. Subsequently, we study one class of this
taxonomy, in which workers send their locations to a centralized
server and thereafter the server assigns to every worker his nearby
tasks. Thereafter, we formally define the problem of privacy and
trust in spatial crowdsourcing systems and examine its challenges.
We propose a trustworthy privacy-aware framework for spatial
crowdsourcing systems, which enables the participation of the
workers without compromising their privacy while improving the
trustworthiness of the performed tasks.
Advisors/Committee Members: Shahabi, Cyrus (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Narayanan, Shrikanth S. (Committee Member).
Subjects/Keywords: crowdsourcing; spatial; privacy; trust
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Kazemi, L. (2012). Enabling query answering in a trustworthy privacy-aware
spatial crowdsourcing. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/119471/rec/2336
Chicago Manual of Style (16th Edition):
Kazemi, Leyla. “Enabling query answering in a trustworthy privacy-aware
spatial crowdsourcing.” 2012. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/119471/rec/2336.
MLA Handbook (7th Edition):
Kazemi, Leyla. “Enabling query answering in a trustworthy privacy-aware
spatial crowdsourcing.” 2012. Web. 26 Feb 2021.
Vancouver:
Kazemi L. Enabling query answering in a trustworthy privacy-aware
spatial crowdsourcing. [Internet] [Doctoral dissertation]. University of Southern California; 2012. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/119471/rec/2336.
Council of Science Editors:
Kazemi L. Enabling query answering in a trustworthy privacy-aware
spatial crowdsourcing. [Doctoral Dissertation]. University of Southern California; 2012. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/119471/rec/2336

University of Southern California
18.
Gangwal, Vipresh.
Pose estimation for in-hand objects.
Degree: MS, Electrical Engineering, 2011, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/672017/rec/5124
► Estimation of 6D pose of a known object in robot hand is traditionally done by using vision or range sensing. Such methods perform badly in…
(more)
▼ Estimation of 6D pose of a known object in robot hand
is traditionally done by using vision or range sensing. Such
methods perform badly in cases when data is sparse or incomplete.
This thesis presents an approach to estimate the pose of a known
in-hand object by using range sensors and force torque sensors in
order to overcome limitations of using range sensors alone. The
proposed approach uses a novel method to combine information from
the two sensors using `mass-points'. The method is validated by
experiments with a Barrett WAM arm and shows significant
improvement in results when compared to popular
method.
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Ortega, Antonio (Committee Member), Schaal, Stefan (Committee Member).
Subjects/Keywords: robotics; computer science; in-hand object; pose estimation; force torque sensors; iterative closest point; inertial parameters
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Gangwal, V. (2011). Pose estimation for in-hand objects. (Masters Thesis). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/672017/rec/5124
Chicago Manual of Style (16th Edition):
Gangwal, Vipresh. “Pose estimation for in-hand objects.” 2011. Masters Thesis, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/672017/rec/5124.
MLA Handbook (7th Edition):
Gangwal, Vipresh. “Pose estimation for in-hand objects.” 2011. Web. 26 Feb 2021.
Vancouver:
Gangwal V. Pose estimation for in-hand objects. [Internet] [Masters thesis]. University of Southern California; 2011. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/672017/rec/5124.
Council of Science Editors:
Gangwal V. Pose estimation for in-hand objects. [Masters Thesis]. University of Southern California; 2011. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/672017/rec/5124

University of Southern California
19.
St. Clair, Aaron B.
Coordinating social communication in human-robot task
collaborations.
Degree: PhD, Computer Science (Robotics and Automation), 2015, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/632204/rec/1661
► Robots have become increasingly capable of performing a variety of tasks in real-world dynamic environments, including those involving people. Beyond competently performing the tasks required…
(more)
▼ Robots have become increasingly capable of performing
a variety of tasks in real-world dynamic environments, including
those involving people. Beyond competently performing the tasks
required of them, service robots should also be able to coordinate
their actions with those of the people around them in order to
minimize conflicts, provide feedback, and build rapport with human
teammates in both work environments (e.g., manufacturing) and home
settings. Humans coordinate their actions in various task settings
through structured social interaction aimed at representational
alignment and intentional feedback. In order for robots to
coordinate their actions using similar modalities, they must be
capable of contextualizing the actions of human partners and
producing relevant natural communicative behaviors as the task
progresses. This dissertation is motivated by the high-level goal
of producing effective social feedback during task performance, and
alleviating the burden of coordinating the team'
s joint activity by
allowing human users to interact with robots through natural social
modalities as partners rather than as operators. ❧ This
dissertation develops an approach for constructing and generalizing
models of role-based coordinating communication during
physically-decoupled human-robot task scenarios, specifically
pairwise collaborations in which a person and a robot work together
to achieve a shared goal. The approach is validated in different
task contexts with different user populations using objective and
subjective measures of task performance and user preferences. To
support role-allocative communication observed in our pilot
experiments with two-person teams, the human-robot collaboration
problem is formulated as a Markov decision process in which roles
are represented by a set of policies capturing different action
selection preferences and accounting for unequal capabilities
between human and robot collaborators. A probabilistic method is
used to track the user'
s activity over time and to recognize the
role assumed by the user, communication is then planned given the
expected policy of the user, the policy of the robot, and the
current task state. The communication generated by the robot
consists of three types of speech actions and associated co-verbal
behavior: 1) self-narration of the robot'
s activities, 2) role
allocation suggestions for the user, and 3) empathetic displays
when positive and negative state changes occur. ❧ The approach was
validated initially on a dynamic augmented reality herding task
with a population of convenience users using objective metrics
(idle time, distance traveled) as well as subjective evaluations
(user preference, perceived intelligence of the robot), where a
higher utilization of the robot and more equitable path distance
was observed in comparison to a non-communicating robot. The
generalizability of the approach to a different task setting and
user population was also evaluated on a cooking task with an
elderly user population. The contributions of this dissertation…
Advisors/Committee Members: Mataric, Maja J. (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Ayanian, Nora (Committee Member), Hagedorn, Aaron T. (Committee Member).
Subjects/Keywords: human-robot interaction; human-machine collaboration; robotics; verbal feedback; collaboration
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
St. Clair, A. B. (2015). Coordinating social communication in human-robot task
collaborations. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/632204/rec/1661
Chicago Manual of Style (16th Edition):
St. Clair, Aaron B. “Coordinating social communication in human-robot task
collaborations.” 2015. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/632204/rec/1661.
MLA Handbook (7th Edition):
St. Clair, Aaron B. “Coordinating social communication in human-robot task
collaborations.” 2015. Web. 26 Feb 2021.
Vancouver:
St. Clair AB. Coordinating social communication in human-robot task
collaborations. [Internet] [Doctoral dissertation]. University of Southern California; 2015. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/632204/rec/1661.
Council of Science Editors:
St. Clair AB. Coordinating social communication in human-robot task
collaborations. [Doctoral Dissertation]. University of Southern California; 2015. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/632204/rec/1661

University of Southern California
20.
Vathsangam, Harshvardhan.
Sense and sensibility: statistical techniques for human
energy expenditure estimation using kinematic sensors.
Degree: PhD, Computer Science, 2014, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/308578/rec/5792
► Healthcare is undergoing a paradigm shift from the episodic, expert-driven, curative approaches of the past towards a self-empowered, preventative model for the future. Central to…
(more)
▼ Healthcare is undergoing a paradigm shift from the
episodic, expert-driven, curative approaches of the past towards a
self-empowered, preventative model for the future. Central to this
is the treatment of chronic illnesses. This treatment will require
the adoption of behavioral changes on one’
s lifestyle. A particular
illness is that brought about by the negative effects of physical
inactivity. Regular physical activity is associated with decreased
mortality, lower risk of cardiovascular disease, diabetes mellitus,
colon and breast cancer. Despite this knowledge, physical activity
levels are not adequate. ❧ Promoting physical activity will rely on
designing appropriate intervention measures that bring about
behavioral change. Central to this is the need to accurately
measure and characterize physical activity in a cost-effective yet
ubiquitous manner. One characterization of physical activity is the
energy expended as a result of movement. In this dissertation, we
aim to demonstrate how kinematic sensors in combination with
statistical techniques can accurately predict energy expenditure
due to physical activity. ❧ We cast the problem of determining
energy expenditure in a mathematical framework and discuss various
functional maps. We rely primarily on data-driven regression
techniques to derive functional maps from movement to energy
expenditure given a person’
s morphology. We focus on common
movements such as walking or running. ❧ In order to accurately
estimate estimate energy expenditure, we derive a set of
frequency-based features that are robust to location on the human
body and orientation.We show how one can use the up-down movement
of the center of mass of the human body to robustly characterize
cyclic movement. Further, we demonstrate the utility of Fourier
transform-based techniques to in detecting the periodicity of this
movement. We also show a modification of the Discrete Fourier
Transform to work in a recursive setting to efficiently calculate
frequency components. ❧ We proceed to determine the most accurate
technique to map movement to energy expenditure given sufficient
data for a person. We present three algorithms: Least-Squares
Regression (LSR), Bayesian Linear Regression (BLR) and Gaussian
Process Regression (GPR). We compare prediction accuracies using
different sensor streams and algorithms. A comparative study of
accuracy versus inference time is also performed. This work
presents contributions in the comparison of non-probabilistic,
probabilistic, linear and nonlinear regression algorithms for
wellness parameters. ❧ We extend this work to be able to generate
maps given a minimal set of morphological descriptors such as
height, weight, age etc. We present and compare a set of models
including nearest neighbor models, weight-scaled models, a set of
hierarchical linear models and speed-based approaches. We show how
these approaches can be used to evaluate the best subset of
morphological descriptors and the best individual descriptor to
generate personalized maps across people. This work tackles…
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Sha, Fei (Committee Member), McNitt-Gray, Jill L. (Committee Member), Saponas, T. Scott (Committee Member).
Subjects/Keywords: accelerometer; machine learning; gyroscope; mobile phone; energy expenditure; statistical; regression; Gaussian process regression; Bayesian; Fourier transform; walking; physical activity
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Vathsangam, H. (2014). Sense and sensibility: statistical techniques for human
energy expenditure estimation using kinematic sensors. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/308578/rec/5792
Chicago Manual of Style (16th Edition):
Vathsangam, Harshvardhan. “Sense and sensibility: statistical techniques for human
energy expenditure estimation using kinematic sensors.” 2014. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/308578/rec/5792.
MLA Handbook (7th Edition):
Vathsangam, Harshvardhan. “Sense and sensibility: statistical techniques for human
energy expenditure estimation using kinematic sensors.” 2014. Web. 26 Feb 2021.
Vancouver:
Vathsangam H. Sense and sensibility: statistical techniques for human
energy expenditure estimation using kinematic sensors. [Internet] [Doctoral dissertation]. University of Southern California; 2014. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/308578/rec/5792.
Council of Science Editors:
Vathsangam H. Sense and sensibility: statistical techniques for human
energy expenditure estimation using kinematic sensors. [Doctoral Dissertation]. University of Southern California; 2014. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/308578/rec/5792

University of Southern California
21.
Viswanathan, Manu.
Mobile robot obstacle avoidance using a computational model
of the locust brain.
Degree: MS, Computer Science (Robotics &
Automation), 2011, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/433779/rec/4108
► The Lobula Giant Movement Detector (LGMD), a visual interneuron in the locust's brain, responds preferentially to objects approaching along collisional trajectories. The goal of the…
(more)
▼ The Lobula Giant Movement Detector (LGMD), a visual
interneuron in the locust'
s brain, responds preferentially to
objects approaching along collisional trajectories. The goal of the
Robolocust project is to build a robot that interfaces with this
neuron and uses the LGMD spikes to make steering decisions.;
However, before interfacing with actual locusts, we would like to
simulate the LGMD and develop suitable obstacle avoidance
algorithms that take LGMD spikes as their sensory input. To this
end, we have implemented a computational model of the LGMD that
uses a laser range finder mounted on an iRobot Create to generate
artificial spikes that are then fed into obstacle avoidance
algorithms.; The main contribution of this thesis is a Bayesian
state estimator that models the time-to-impact as a hidden variable
and uses the LGMD spikes to gauge how far away the robot is from
approaching obstacles. Additionally, we present three different
LGMD-based obstacle avoidance algorithms that we have
developed.
Advisors/Committee Members: Itti, Laurent (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Schaal, Stefan (Committee Member), Celikel, Tansu (Committee Member).
Subjects/Keywords: mobile robotics; insect vision; collision detection; time-to-impact; obstacle avoidance; locust LGMD; probabilistic sensor model; Bayesian state estimation
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Viswanathan, M. (2011). Mobile robot obstacle avoidance using a computational model
of the locust brain. (Masters Thesis). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/433779/rec/4108
Chicago Manual of Style (16th Edition):
Viswanathan, Manu. “Mobile robot obstacle avoidance using a computational model
of the locust brain.” 2011. Masters Thesis, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/433779/rec/4108.
MLA Handbook (7th Edition):
Viswanathan, Manu. “Mobile robot obstacle avoidance using a computational model
of the locust brain.” 2011. Web. 26 Feb 2021.
Vancouver:
Viswanathan M. Mobile robot obstacle avoidance using a computational model
of the locust brain. [Internet] [Masters thesis]. University of Southern California; 2011. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/433779/rec/4108.
Council of Science Editors:
Viswanathan M. Mobile robot obstacle avoidance using a computational model
of the locust brain. [Masters Thesis]. University of Southern California; 2011. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/433779/rec/4108

University of Southern California
22.
Williams, Ryan K.
Interaction and topology in distributed multi-agent
coordination.
Degree: PhD, Electrical Engineering, 2014, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/432814/rec/3570
► Interconnected systems have become the recent focus of intense investigation, particularly in the context of autonomous coordination, yielding fundamental advantages in adaptability, scalability, and efficiency…
(more)
▼ Interconnected systems have become the recent focus of
intense investigation, particularly in the context of autonomous
coordination, yielding fundamental advantages in adaptability,
scalability, and efficiency compared to single‐agent solutions. In
this thesis, we investigate the topological assumptions that
underly distributed multi‐agent coordination, i.e., those
properties defining interaction between agents in a network. We
focus specifically on the properties of network connectivity and
graph rigidity, which exhibit strong influence on fundamental
multi‐agent behaviors, e.g., joint decision‐making, cooperative
estimation, formation control, and relative localization. These
bases of coordination contribute to the construction of
increasingly complex multi‐agent systems, and in harnessing the
underlying threads of topology, there is hope in solving the future
challenges of coordination in a world of robotic ubiquity. Thus,
this thesis aims to strike distributed autonomy at its core, by
treating assumptions which render theoretical treatments feasible,
but which leave implementation relegated to the laboratory. ❧
Motivated by a case study that illustrates the topological
assumptions necessary to solve the probabilistic mapping and
tracking problem, we extend the state of the art in mobility
control by regulating topology through preemptive mobility,
discriminating link addition and deletion to shape spatial
interaction under topological constraints. Adopting realistic
models of proximity‐limited coordination, local controllers are
constructed with discrete switching for link discrimination, and
attract‐repel potential fields which yield constraint satisfying
motion. Our mobility scheme acts as a full generalization of
classical swarm‐like controllers, yielding decision‐based,
topology‐driven coordination. When topological constraints are
non‐local, as is the case for both connectivity and rigidity, we
illustrate how consensus‐based decision‐making can preserve
preemption while maintaining the feasibility of topological
constraints. To evaluate the specific constraint of network
connectedness, we propose an inverse iteration algorithm that
estimates the eigenpair associated with algebraic connectivity. Our
solution is fully distributed, scalable, and it improves on the
convergence rate issues of the state of the art. Finally, as a case
study of heterogeneity, we introduce a hybrid architecture in which
a robotic network is dynamically reconfigured to ensure high
quality information flow between static nodes while preserving
connectivity. In solving this problem, we propose components that
couple connectivity‐preserving robot‐to‐flow allocations, with
distributed communication optimizing mobility; a heuristic we call
Route Swarm. ❧ The second half of the thesis focuses on the
rigidity property of a multi‐agent network. We provide a
decentralized algorithm that determines a spanning edge set
defining the minimally rigid subcomponent of a graph. Leader
election manages sequential execution, and an asynchronous…
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Krishnamachari, Bhaskar (Committee Member), Jain, Rahul (Committee Member), Ioannou, Petros (Committee Member), Sha, Fei (Committee Member).
Subjects/Keywords: distributed robot systems; dynamic networks; graph connectivity; graph rigidity; multi‐robot coordination; sensor networks
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Williams, R. K. (2014). Interaction and topology in distributed multi-agent
coordination. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/432814/rec/3570
Chicago Manual of Style (16th Edition):
Williams, Ryan K. “Interaction and topology in distributed multi-agent
coordination.” 2014. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/432814/rec/3570.
MLA Handbook (7th Edition):
Williams, Ryan K. “Interaction and topology in distributed multi-agent
coordination.” 2014. Web. 26 Feb 2021.
Vancouver:
Williams RK. Interaction and topology in distributed multi-agent
coordination. [Internet] [Doctoral dissertation]. University of Southern California; 2014. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/432814/rec/3570.
Council of Science Editors:
Williams RK. Interaction and topology in distributed multi-agent
coordination. [Doctoral Dissertation]. University of Southern California; 2014. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/432814/rec/3570

University of Southern California
23.
Jahanshahi, Mohammad Reza.
Vision-based studies for structural health monitoring and
condition assesment.
Degree: PhD, Civil Engineering, 2013, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/617318/rec/7842
► Automated health monitoring and maintenance of civil infrastructure systems is an active yet challenging area of research. Current structure inspection standards require an inspector to…
(more)
▼ Automated health monitoring and maintenance of civil
infrastructure systems is an active yet challenging area of
research. Current structure inspection standards require an
inspector to visually assess structure conditions. A less
time-consuming and inexpensive alternative to current monitoring
methods is to use a robotic system that can inspect structures more
frequently, and perform autonomous damage detection. Nondestructive
evaluation techniques (NDE) are innovative approaches for
structural health monitoring. Among several possible techniques,
the use of optical instrumentation (e.g., digital cameras), image
processing and computer vision are promising approaches as
nondestructive testing methods for structural health monitoring to
complement sensor-based approaches. The feasibility of using image
processing techniques to detect deterioration in structures has
been acknowledged by leading researches in the field. This study
represents the efforts that have been taken place by the author to
form, implement, and evaluate several vision-based approaches that
are promising for robust condition assessment of structures. ❧ It
is well-recognized that civil infrastructure monitoring approaches
that rely on visual approaches will continue to be an important
methodology for condition assessment of such systems. Part of this
study presents and evaluates the underlying technical elements for
the development of an integrated inspection software tool that is
based on the use of inexpensive digital cameras. For this purpose,
digital cameras are appropriately mounted on a structure (e.g., a
bridge) and can zoom or rotate in three directions (similar to
traffic cameras). They are remotely controlled by an inspector,
which allows the visual assessment of the structure’
s condition by
looking at images captured by the cameras. By not having to travel
to the structures site, other issues related to safety
considerations and traffic detouring are consequently bypassed. The
proposed system gives an inspector the ability to compare the
current (visual) situation of a structure with its former
condition. If an inspector notices a defect in the current view,
he/she can request a reconstruction of the same view using images
that were previously captured and automatically stored in a
database. Furthermore, by generating databases that consist of
periodically captured images of a structure, the proposed system
allows an inspector to evaluate the evolution of changes by
simultaneously comparing the structure’
s condition at different
time periods. The essential components of the proposed virtual
image reconstruction system are: keypoint detection, keypoint
matching, image selection, outlier exclusion, bundle adjustment,
composition, and cropping. Several illustrative examples are
presented to demonstrate the capabilities, as well as the
limitations, of the proposed vision-based inspection procedure. ❧
Visual inspection of structures is a highly qualitative method. If
a region is inaccessible, binoculars must be used to detect and
characterize…
Advisors/Committee Members: Masri, Sami F. (Committee Chair), Lee, Jiin-Jen (Committee Member), Wellford, L. Carter (Committee Member), Sukhatme, Gaurav S. (Committee Member).
Subjects/Keywords: structural health monitoring; civil infrastructure systems; condition assessment; image processing; computer vision; pattern recognition; inspection tool; crack detection, crack quantification; corrosion detection; defect detection; change detection
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Jahanshahi, M. R. (2013). Vision-based studies for structural health monitoring and
condition assesment. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/617318/rec/7842
Chicago Manual of Style (16th Edition):
Jahanshahi, Mohammad Reza. “Vision-based studies for structural health monitoring and
condition assesment.” 2013. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/617318/rec/7842.
MLA Handbook (7th Edition):
Jahanshahi, Mohammad Reza. “Vision-based studies for structural health monitoring and
condition assesment.” 2013. Web. 26 Feb 2021.
Vancouver:
Jahanshahi MR. Vision-based studies for structural health monitoring and
condition assesment. [Internet] [Doctoral dissertation]. University of Southern California; 2013. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/617318/rec/7842.
Council of Science Editors:
Jahanshahi MR. Vision-based studies for structural health monitoring and
condition assesment. [Doctoral Dissertation]. University of Southern California; 2013. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/617318/rec/7842

University of Southern California
24.
Feil-Seifer, David J.
Data-driven interaction methods for socially assistive
robotics: validation with children with autism spectrum
disorders.
Degree: PhD, Computer Science, 2012, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/217625/rec/1775
► There exists a great untapped potential for the use of intelligent robots as therapeutic social partners for children. However, enabling a robot to understand social…
(more)
▼ There exists a great untapped potential for the use of
intelligent robots as therapeutic social partners for children.
However, enabling a robot to understand social behavior, and do so
while interacting with the child, is a challenging problem.
Children are highly individual and thus technology used for social
interaction requires recognition of a wide-range of social
behavior. This argues for data-driven methods that capture the
relevant range of interactions. This work addresses the challenge
of designing data-driven behaviors for socially assistive robots in
order to enable them to recognize and appropriately respond to a
child'
s free-form behavior in unstructured play contexts. The focus
on free-form behavior is inspired by and grounded in the
DIR/Floortime approach to therapeutic intervention with children
with autism spectrum disorders (ASD). This approach emphasizes
fostering engagement through play, recognizing social behavior and
using ""engagements"" to bolster social interactions. ❧ This
research presents a data-driven methodology and a validated
experimental framework for enabling fully autonomous robots to
interact with both typically developing children and children with
ASD in undirected scenarios using socially appropriate behavior,
especially where spatial interaction is concerned. Autonomous robot
operation as a critical aspect of the methodology; save for safety
interventions by a human operator, the robot acts of its own
accord. The robot and child engage in free-form interaction, in
part though distance-oriented behaviors; the robot must be able to
recognize the child'
s behaviors and respond to them appropriately.
This dissertation presents the following computational
contributions with therapeutic potential: ❧ Detection and
mitigation of a child'
s distress: This work presents methodology
for learning and then applying a data-driven spatio-temporal model
of social behavior based on distance-based features to
automatically differentiate between typical vs. aversive
child-robot interactions. Using a Gaussian Mixture Model learned
over distance-based feature data, the developed system is able to
detect and interpret social behavior with sufficient accuracy to
recognize child distress. The robot uses this model to change its
own behavior so as to encourage positive social interaction. ❧
Encouragement of human-human and human-robot interaction: This work
demonstrates a global and local motion planner that uses the above
spatio-temporal model as part of the determination of a motion
trajectory that maintains the robot'
s spatial relationship with the
child and sustains interaction while also encouraging the child to
move toward another proximal interaction partner. The desired
spatial interaction behavior is achieved by modifying an
established trajectory planner to weight candidate trajectories
based on conformity to a trained model of the desired behavior. ❧
Data-Driven Approach For Providing Graded Cueing Feedback: A
methodology for robot behavior that provides autonomous feedback
for a robot-child…
Advisors/Committee Members: Mataric', Maja J (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Lajonchere, Clara (Committee Member), Cermak, Sharon A. (Committee Member).
Subjects/Keywords: human-robot interaction; autism; socially assistive robotics; behavior modeling; learning from demonstration; imitation; SAR; HRI; ASD
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Feil-Seifer, D. J. (2012). Data-driven interaction methods for socially assistive
robotics: validation with children with autism spectrum
disorders. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/217625/rec/1775
Chicago Manual of Style (16th Edition):
Feil-Seifer, David J. “Data-driven interaction methods for socially assistive
robotics: validation with children with autism spectrum
disorders.” 2012. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/217625/rec/1775.
MLA Handbook (7th Edition):
Feil-Seifer, David J. “Data-driven interaction methods for socially assistive
robotics: validation with children with autism spectrum
disorders.” 2012. Web. 26 Feb 2021.
Vancouver:
Feil-Seifer DJ. Data-driven interaction methods for socially assistive
robotics: validation with children with autism spectrum
disorders. [Internet] [Doctoral dissertation]. University of Southern California; 2012. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/217625/rec/1775.
Council of Science Editors:
Feil-Seifer DJ. Data-driven interaction methods for socially assistive
robotics: validation with children with autism spectrum
disorders. [Doctoral Dissertation]. University of Southern California; 2012. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/217625/rec/1775

University of Southern California
25.
Zhao, Yili.
Plant substructuring and real-time simulation using model
reduction.
Degree: PhD, Computer Science, 2014, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/462785/rec/5065
► This research is focusing on real‐time, physically‐based simulation of plants undergoing large deformations. To achieve this goal, we first propose a novel algorithm based on…
(more)
▼ This research is focusing on real‐time,
physically‐based simulation of plants undergoing large
deformations. To achieve this goal, we first propose a novel
algorithm based on model reduction and domain decomposition. It
extends 3D nonlinear elasticity model reduction to open‐loop
multi‐level reduced deformable structures. We decompose the input
mesh into several domains, build a reduced deformable model for
every domain, simulate each one separately, and connect domains
using proper inertia coupling. This makes model reduction
deformable simulations much more versatile: localized deformations
can be supported without prohibitive computational costs, parts can
be re‐used and precomputation time can be shortened. Our method
does not use constraints, and can handle large domain rigid body
motion in addition to large deformations, due to our derivation of
the gradient and Hessian of the rotation matrix in polar
decomposition. We show real‐time examples with multi‐level domain
hierarchies and thousands of reduced degrees of freedom. ❧ Then we
design a pre‐processor which takes a plant “polygon soup” triangle
mesh as the only input and quickly pre‐compute necessary data for
the subsequent simulation. This tool breaks the ice for adoption of
our multidomain dynamics simulator in practice. Our pre‐processor
is robust to non‐manifold input geometry, gaps between branches or
leaves, free‐flying leaves not connected to any branch, small
unimportant geometry (“debris”) left in the model, and plant
self‐collisions in the input configuration. Repeated copies
(instances) of plant subparts such as leaves, petals or fruits can
be automatically detected by our pre‐processor. ❧ We enhanced our
multidomain dynamics simulator to provide plant fracture, and
inverse kinematics to easily pose plants. It can simulate complex
plants at interactive rates, subjected to user forces, gravity or
randomized wind. We simulated over 100 plants from diverse climates
and geographic regions, including broadleaf (deciduous) trees and
conifers, bushes and flowers. Our largest simulations involve
anatomically realistic adult trees with hundreds of branches and
over 100,000 leaves. ❧ Finally, we propose our future research in
several directions including adding hierarchical instancing,
collision detection and handling, etc.
Advisors/Committee Members: Barbic, JernejBarbič, Jernej (Committee Chair), Kukavica, Igor (Committee Member), Neumann, Ulrich (Committee Member), Sukhatme, Gaurav S. (Committee Member), Schaal, Stefan (Committee Member).
Subjects/Keywords: model reduction; substructuring; domain decomposition; FEM; nonlinear elasticity; botanical; plant; authoring; interactive; large deformations; computer graphics; computer animation; physically‐based simulation
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Zhao, Y. (2014). Plant substructuring and real-time simulation using model
reduction. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/462785/rec/5065
Chicago Manual of Style (16th Edition):
Zhao, Yili. “Plant substructuring and real-time simulation using model
reduction.” 2014. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/462785/rec/5065.
MLA Handbook (7th Edition):
Zhao, Yili. “Plant substructuring and real-time simulation using model
reduction.” 2014. Web. 26 Feb 2021.
Vancouver:
Zhao Y. Plant substructuring and real-time simulation using model
reduction. [Internet] [Doctoral dissertation]. University of Southern California; 2014. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/462785/rec/5065.
Council of Science Editors:
Zhao Y. Plant substructuring and real-time simulation using model
reduction. [Doctoral Dissertation]. University of Southern California; 2014. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/462785/rec/5065

University of Southern California
26.
Kelly, Jonathan Scott.
On temporal and spatial calibration for high accuracy
visual-inertial motion estimation.
Degree: PhD, Computer Science, 2011, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/198919/rec/4534
► The majority of future autonomous robots will be mobile, and will need to navigate reliably in unknown and dynamic environments. Visual and inertial sensors, together,…
(more)
▼ The majority of future autonomous robots will be
mobile, and will need to navigate reliably in unknown and dynamic
environments. Visual and inertial sensors, together, are able to
supply accurate motion estimates and are well-suited for use in
many robot navigation tasks. Beyond egomotion estimation, fusing
high-rate inertial sensing with monocular vision enables other
capabilities, such as independent motion segmentation and tracking,
moving obstacle detection and ranging, and dense metric 3D mapping,
all from a mobile platform. ❧ A fundamental requirement in any
multisensor system is precision calibration. To ensure optimal
performance, the sensors must be properly calibrated, both
intrinsically and relative to one another. In a visual-inertial
system, the camera and the inertial measurement unit (IMU) require
both temporal and spatial calibration – estimates of the relative
timing of measurements from each sensor and of the six
degrees-of-freedom transform between the sensors are needed.
Obtaining this calibration information is typically difficult and
time-consuming, however. Ideally, we would like to build
power-on-and-go robots that are able to operate for long periods
without the usual requisite manual sensor (re-) calibration. ❧ This
dissertation describes work on combining visual and inertial
sensing for navigation applications, with an emphasis on the
ability to temporally and spatially (self-) calibrate a camera and
an IMU. Self-calibration refers to the use of data exclusively from
the sensors themselves to improve estimates of related system
parameters. ❧ The primary difficultly in temporal calibration is
that the correspondences between measurements from the different
sensors are initially unknown, and hence the relative time delay
between the data streams cannot be computed directly. We instead
formulate temporal calibration as a registration problem, and
introduce an algorithm called Time Delay Iterative Closest Point
(TD-ICP) as a novel solution. The algorithm operates by aligning
curves in a three-dimensional orientation space, and incorporates
in a principled way the uncertainty in the camera and IMU
measurements. ❧ We then develop a sequential filtering approach for
calibration of the spatial transform between the sensors. We
estimate the transform parameters using a sigma point Kalman filter
(SPKF). Our formulation rests on a differential geometric analysis
of the observability of the camera-IMU system; this analysis shows
for the first time that the IMU pose and velocity, the gyroscope
and accelerometer biases, the gravity vector, the metric scene
structure, and the sensor-to-sensor transform, can be recovered
from camera and IMU measurements alone. While calibrating the
transform we simultaneously localize the IMU and build a map of the
surroundings. No additional hardware or prior knowledge about the
environment in which a robot is operating is necessary. ❧ Results
from extensive simulation studies and from laboratory experiments
are presented, which demonstrate accurate camera-IMU temporal…
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Schaal, Stefan (Committee Member), Matthies, Larry H. (Committee Member), Newton, Paul K. (Committee Member).
Subjects/Keywords: calibration; inertial navigation; simultaneous localization and mapping; SLAM; sensor fusion; monocular vision; observability
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Kelly, J. S. (2011). On temporal and spatial calibration for high accuracy
visual-inertial motion estimation. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/198919/rec/4534
Chicago Manual of Style (16th Edition):
Kelly, Jonathan Scott. “On temporal and spatial calibration for high accuracy
visual-inertial motion estimation.” 2011. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/198919/rec/4534.
MLA Handbook (7th Edition):
Kelly, Jonathan Scott. “On temporal and spatial calibration for high accuracy
visual-inertial motion estimation.” 2011. Web. 26 Feb 2021.
Vancouver:
Kelly JS. On temporal and spatial calibration for high accuracy
visual-inertial motion estimation. [Internet] [Doctoral dissertation]. University of Southern California; 2011. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/198919/rec/4534.
Council of Science Editors:
Kelly JS. On temporal and spatial calibration for high accuracy
visual-inertial motion estimation. [Doctoral Dissertation]. University of Southern California; 2011. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/198919/rec/4534

University of Southern California
27.
Theodorou, Evangelos A.
Iterative path integral stochastic optimal control: theory
and applications to motor control.
Degree: PhD, Computer Science, 2011, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/468575/rec/3680
► Motivated by the limitations of current optimal control and reinforcement learning methods in terms of their efficiency and scalability, this thesis proposes an iterative stochastic…
(more)
▼ Motivated by the limitations of current optimal
control and reinforcement learning methods in terms of their
efficiency and scalability, this thesis proposes an iterative
stochastic optimal control approach based on the generalized path
integral formalism. More precisely, we suggest the use of the
framework of stochastic optimal control with path integrals to
derive a novel approach to RL with parameterized policies. While
solidly grounded in value function estimation and optimal control
based on the stochastic Hamilton Jacobi Bellman (HJB) equation,
policy improvements can be transformed into an approximation
problem of a path integral which has no open algorithmic parameters
other than the exploration noise. The resulting algorithm can be
conceived of as model-based, semi-model-based, or even model free,
depending on how the learning problem is structured. The new
algorithm, Policy Improvement with Path Integrals (PI2),
demonstrates interesting similarities with previous RL research in
the framework of probability matching and provides intuition why
the slightly heuristically motivated probability matching approach
can actually perform well. Applications to high dimensional robotic
systems are presented for a variety of tasks that require optimal
planning and gain scheduling.; In addition to the work on
generalized path integral stochastic optimal control, in this
thesis we extend model based iterative optimal control algorithms
to the stochastic setting. More precisely we derive the
Differential Dynamic Programming algorithm for stochastic systems
with state and control multiplicative noise. Finally, in the last
part of this thesis, model based iterative optimal control methods
are applied to bio-mechanical models of the index finger with the
goal to find the underlying tendon forces applied for the movements
of, tapping and flexing.
Advisors/Committee Members: Schaal, Stefan (Committee Chair), Valero-Cuevas, Francisco (Committee Member), Sukhatme, Gaurav S. (Committee Member), Todorov, Emo (Committee Member), Schweighofer, Nicolas (Committee Member).
Subjects/Keywords: stochastic optimal control; reinforcement learning,; robotics
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Theodorou, E. A. (2011). Iterative path integral stochastic optimal control: theory
and applications to motor control. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/468575/rec/3680
Chicago Manual of Style (16th Edition):
Theodorou, Evangelos A. “Iterative path integral stochastic optimal control: theory
and applications to motor control.” 2011. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/468575/rec/3680.
MLA Handbook (7th Edition):
Theodorou, Evangelos A. “Iterative path integral stochastic optimal control: theory
and applications to motor control.” 2011. Web. 26 Feb 2021.
Vancouver:
Theodorou EA. Iterative path integral stochastic optimal control: theory
and applications to motor control. [Internet] [Doctoral dissertation]. University of Southern California; 2011. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/468575/rec/3680.
Council of Science Editors:
Theodorou EA. Iterative path integral stochastic optimal control: theory
and applications to motor control. [Doctoral Dissertation]. University of Southern California; 2011. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/468575/rec/3680

University of Southern California
28.
Stauffer, Beth Ann.
Plankton dynamics in a nearshore coastal environment:
responses to short-term environmental fluctuations and top-down
control.
Degree: PhD, Marine and Environmental Biology, 2011, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/198718/rec/5060
► Nearshore coastal environments are common sites of episodic and stochastic events that rapidly alter the physics and chemistry of the water column and thereby affect…
(more)
▼ Nearshore coastal environments are common sites of
episodic and stochastic events that rapidly alter the physics and
chemistry of the water column and thereby affect plankton biomass
and community structure. The dominant factors controlling the
manner in which the pelagic communities responds to these changes
are still poorly understood owing in part to their episodic nature
and in part because they often rely on observations made at low
temporal/spatial resolution and correlations between
instantaneously measured conditions to draw relationships between
the biological and physico-chemical parameters. King Harbor is a
small, semi-enclosed recreational embayment within Santa Monica
Bay. Nonlinear time-series and linear multiple regression analyses
of a high-resolution, year-long dataset allowed an in-depth
investigation of the relationship between various chemical/physical
factors and algal biomass. A significant relationship with the
tidal cycle was manifest primarily as increased biomass and bloom
initiation during or in the days following neap tide, especially in
the hydrodynamically-constrained northern basin of the harbor.
Local histories of dissolved nitrate and salinity were also
significant predictors of increased biomass, as was reduced wind
speed. ❧ A major fish mortality in King Harbor 8 March 2011 killed
approximately 170 tons of fish (Pacific sardine) and garnered
international attention as a marine system out of balance. In situ
sensors present in the harbor prior to, during and after the event
revealed rapid decreases in dissolved oxygen in surface waters from
7-9 March 2011, coincident with the fish mortality event.
Continuous and automated observations provided evidence that fish
respiration, exacerbated by an incursion of upwelled low-oxygen
water, was the immediate cause of fish mortality. The
hydrodynamically-constrained northern basin transitioned to extreme
and sustained hypoxic conditions while spatially-variable hypoxia
was also observed throughout the harbor and adjacent bay for more
than ten days following the event. Initial recovery of dissolved
oxygen in the harbor was facilitated by storm-mediated mixing of
the water column. A trophic shift was observed throughout King
Harbor concomitant with dramatic changes in water column chemistry
associated with the fish kill. Relative abundances of bacterivorous
ciliates increased up to > 80% in the weeks following the fish
kill. Multivariate analyses also revealed significant temporal
dissimilarity in microplankton community composition and trophic
structure within King Harbor during hypoxia, subsequent
storm-mediated mixing events, and following the storm. Finally,
dramatically reduced photosynthetic yield by the phytoplankton in
the northern basis indicated severe physiological stress of the
phototroph population during the extreme hypoxia. ❧ Top-down
control on phytoplankton populations was examined through
experimental studies of the interactions between the heterotrophic
dinoflagellate Noctiluca scintillans and several red-tide forming
algal…
Advisors/Committee Members: Caron, David A. (Committee Chair), Jones, Burton H. (Committee Member), Heidelberg, Karla B. (Committee Member), Kiefer, Dale A. (Committee Member), Sukhatme, Gaurav S. (Committee Member).
Subjects/Keywords: harmful algal blooms; phytoplankton; protistan grazing; tidal forcing
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APA (6th Edition):
Stauffer, B. A. (2011). Plankton dynamics in a nearshore coastal environment:
responses to short-term environmental fluctuations and top-down
control. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/198718/rec/5060
Chicago Manual of Style (16th Edition):
Stauffer, Beth Ann. “Plankton dynamics in a nearshore coastal environment:
responses to short-term environmental fluctuations and top-down
control.” 2011. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/198718/rec/5060.
MLA Handbook (7th Edition):
Stauffer, Beth Ann. “Plankton dynamics in a nearshore coastal environment:
responses to short-term environmental fluctuations and top-down
control.” 2011. Web. 26 Feb 2021.
Vancouver:
Stauffer BA. Plankton dynamics in a nearshore coastal environment:
responses to short-term environmental fluctuations and top-down
control. [Internet] [Doctoral dissertation]. University of Southern California; 2011. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/198718/rec/5060.
Council of Science Editors:
Stauffer BA. Plankton dynamics in a nearshore coastal environment:
responses to short-term environmental fluctuations and top-down
control. [Doctoral Dissertation]. University of Southern California; 2011. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/198718/rec/5060

University of Southern California
29.
Seubert, Erica Lee.
Distribution and impact of algal blooms leading to domoic
acid events in southern California.
Degree: PhD, Marine and Environmental Biology, 2013, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/318562/rec/2054
► The term harmful algal bloom (HAB) is used to describe any bloom of microalgae that has a detrimental impact to the local ecosystem and/or economy.…
(more)
▼ The term harmful algal bloom (HAB) is used to describe
any bloom of microalgae that has a detrimental impact to the local
ecosystem and/or economy. The impacts of a HAB to an ecosystem can
include death or injury to local wildlife through the production of
toxins, decreased oxygen concentrations, physical damage, decreased
light availability or food web disturbance. The economic impacts
can be reduction in tourism, human illness, reduced fishing effort
or interruption of desalination plant operations. The occurrence
and intensity of HABs have been increasing globally during the past
few decades, whether this increase can be attributed to enhanced
awareness and monitoring, or to a dramatic upswing in the
development of HAB events remains unresolved. ❧ A variety of
HAB-forming species of microalgae occur in
southern California, and
several of these species are known to produce potent neurotoxins.
The impact of algal toxin presence on both the intake and reverse
osmosis (RO) desalination process and whether or not the naturally
occurring algal toxins can pass through the RO membrane and into
the desalination product was addressed through bench-scale RO
experiments and monitoring for algal toxins at a pilot RO
desalination plant. Concentrations exceeding maximal values
previously reported during natural blooms were used in the
laboratory experiments, with treatments comprised of 50 µg/L of
domoic acid (DA), 2 µg/L of saxitoxin (STX) and 20 µg/L of
brevetoxin (PbTx). None of the algal toxins used in the bench-scale
experiments were detectable in the desalinated product water.
Monitoring for intracellular and extracellular toxin concentrations
of DA, STX, PbTx and okadaic acid (OA) within the intake and
desalinated water from a pilot RO desalination plant in El Segundo,
CA, was conducted from 2005 to 2009. During the five-year
monitoring period, DA and STX were detected sporadically in the
intake waters but never in the desalinated water. PbTx and OA were
not detected in either the intake or desalinated water. The results
of this study demonstrate the potential for HAB toxins to be
inducted into coastal RO intake facilities, and the ability of
typical RO operations to effectively remove these toxins. ❧ The
ability to accurately and rapidly identify an emerging HAB event is
of high importance. Monitoring of HAB species and other pertinent
chemical/physical parameters at two piers in
southern California,
Newport and Redondo Beach, was used to investigate the development
of a site-specific bloom definition for identifying emerging DA
events. The neurotoxin DA is produced by the chain forming diatom
Pseudo-nitzschia, and it is the most common HAB organism in
southern California. Emphasis was given to abundances of the P.
seriata size category of Pseudo-nitzschia due to the prevalence of
this size class in the region. P. seriata bloom thresholds were
established for each location based on deviations from their
respective long-term mean abundances, allowing the identification
of major and minor blooms. Sixty five percent of…
Advisors/Committee Members: Caron, David A. (Committee Chair), Hutchins, David A. (Committee Member), Sanudo-Wilhelmy, Sergio A. (Committee Member), Sañudo-Wilhelmy, Sergio A. (Committee Member), Sukhatme, Gaurav S. (Committee Member).
Subjects/Keywords: harmful algal blooms; Pseudo-nitzschia; domoic acid; saxitoxin; HAB monitoring; desalination; okadaic acid; brevetoxin; California sea lion; ELISA
Record Details
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Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Seubert, E. L. (2013). Distribution and impact of algal blooms leading to domoic
acid events in southern California. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/318562/rec/2054
Chicago Manual of Style (16th Edition):
Seubert, Erica Lee. “Distribution and impact of algal blooms leading to domoic
acid events in southern California.” 2013. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/318562/rec/2054.
MLA Handbook (7th Edition):
Seubert, Erica Lee. “Distribution and impact of algal blooms leading to domoic
acid events in southern California.” 2013. Web. 26 Feb 2021.
Vancouver:
Seubert EL. Distribution and impact of algal blooms leading to domoic
acid events in southern California. [Internet] [Doctoral dissertation]. University of Southern California; 2013. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/318562/rec/2054.
Council of Science Editors:
Seubert EL. Distribution and impact of algal blooms leading to domoic
acid events in southern California. [Doctoral Dissertation]. University of Southern California; 2013. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/318562/rec/2054

University of Southern California
30.
Meesookho, Chartchai.
Robust acoustic source localization in sensor
networks.
Degree: PhD, Electrical Engineering, 2007, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536859/rec/5615
► Our goal is to improve the performance of acoustic source localization in the context of sensor networks. A number of relevant problems are addressed and…
(more)
▼ Our goal is to improve the performance of acoustic
source localization in the context of sensor networks. A number of
relevant problems are addressed and solutions are proposed.; As
data is usually collected by sensors with randomly distributed
locations, a problem that emerged for source localization is how to
efficiently gather all the required data and combine them subject
to selected localization schemes. In Chapter 3, we propose a
distributed algorithm based on a specific method, range difference
based localization. Simulation results illustrate that the
distributed localization produces smaller error and consumes less
energy than centralized method. The advantage of distributed
processing becomes more conspicuous for error considerations when
the number of participating sensors is small and obtains more
energy saving with the large number of participating sensor. The
proposed method is also more robust to decreasing target signal
energy and the instantaneous error from the sequence of estimates
can be approximated and used to reconcile the cost and the system
performance.; Considering recently proposed methods, energy based
localization attracts our interest due to their simplicity and the
possibility of earning energy saving while maintaining acceptable
accuracy. The investigation of existing energy based methods leads
to findings that show the possibility of further improvement. In
Chapter 4, energy-based localization methods for source
localization in sensor networks are examined. The focus is on least
squares based approaches due to a good trade-off between
performance and complexity. A suite of methods are developed and
compared. First, two previously proposed methods (Quadratic
Elimination and One Step) are shown to yield the same location
estimate for a source. Next, it is shown that as the errors which
perturb the least squares equations are non-identically
distributed, it is more appropriate to consider weighted least
squares methods which is observed to yield significant performance
gains over the unweighted methods. Finally, a new weighted direct
least squares formulation is presented and shown to outperform the
previous methods with much less computational complexity. Unlike
the Quadratic Elimination method, the weighted direct least squares
method is amenable to a correction technique which incorporates the
dependence of unknown parameters leading to further performance
gains. For a sufficiently large number of samples, simulations show
that the Weighted Direct solution with Correction (WDC) can be more
accurate with significantly less computational complexity than the
maximum likelihood estimator and approaches Cramér-Rao Bound (CRB).
Furthermore, it is shown that WDC attains CRB for the case of a
white source.; Since the consideration of system design is
inevitably important, in Chapter 5, design rules for sensor network
deployment for acoustic source localization are determined. In
particular, methods based on time-delay information in the received
acoustic signal time series and those based on…
Advisors/Committee Members: Narayanan, Shrikanth S.Mitra, Urbashi (Committee Chair), Sukhatme, Gaurav S. (Committee Member).
Subjects/Keywords: acoustic; localization; sensor; networks
Record Details
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Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Meesookho, C. (2007). Robust acoustic source localization in sensor
networks. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536859/rec/5615
Chicago Manual of Style (16th Edition):
Meesookho, Chartchai. “Robust acoustic source localization in sensor
networks.” 2007. Doctoral Dissertation, University of Southern California. Accessed February 26, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536859/rec/5615.
MLA Handbook (7th Edition):
Meesookho, Chartchai. “Robust acoustic source localization in sensor
networks.” 2007. Web. 26 Feb 2021.
Vancouver:
Meesookho C. Robust acoustic source localization in sensor
networks. [Internet] [Doctoral dissertation]. University of Southern California; 2007. [cited 2021 Feb 26].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536859/rec/5615.
Council of Science Editors:
Meesookho C. Robust acoustic source localization in sensor
networks. [Doctoral Dissertation]. University of Southern California; 2007. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536859/rec/5615
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