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Frontiers in Education (FIE) Conference

作者： Kai Qian Dan Lo Reza Parizi Fan Wu Emmanuel Agu Bei-Tseng Chu Computer Science Department Kennesaw State University Kennesaw GA USA Software Engineering and Game Design Kennesaw State University Kennesaw GA USA Computer Science Department Tuskegee University Tuskegee AL USA Computer Science Department Worcester Polytechnic Institute Worcester MA USA Department of Software and Information Systems University of North Carolina at Charlotte Charlotte NC USA

ISBN: (纸本)9781538611753;9781538611746

As mobile computing is now becoming more and more popular, the security threats to mobile applications are also growing explosively. Mobile app flaws and security defects could open doors for hackers to break into them and access sensitive information. Most vulnerabilities should be addressed in the early stage of mobile software development. However, many software development professionals lack awareness of the importance of security vulnerability and the necessary security knowledge and skills at the development stage. The combination of the prevalence of mobile devices and the rapid growth of mobile threats has resulted in a shortage of secure software development professionals. Many schools offer mobile app development courses in computing curriculum; however, secure software development is not yet well represented in most schools' computing curriculum. This paper addresses the needs of authentic and active pedagogical learning materials for SSD and challenges of building Secure Software Development (SSD) capacity through effective, engaging, and investigative approaches. In this paper, we present an innovative authentic and active SSD learning approach through a collection of transferrable learning modules with hands-on companion labs based on the Open Web Application Security Project (OWASP) recommendations. The preliminary feedback from students is positive. Students have gained hands-on real world SSD learning experiences with Android mobile platform and also greatly promoted self-efficacy and confidence in their mobile SSD learning.

关键词： Software Security Education Programming profession Mobile handsets

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Removal of accidental degeneracy in semiconductor quantum dots

引用

Physical Review B 2017年第19期96卷 195305-195305页

作者： Sathwik Bharadwaj Siddhant Pandey L. R. Ram-Mohan Department of Physics Worcester Polytechnic Institute Worcester Massachusetts 01609 USA Departments of Physics Electrical and Computer Engineering and Mechanical Engineering Worcester Polytechnic Institute Worcester Massachusetts 01609 USA

We present a quantitative analysis of the energy levels and wave functions of carriers in a cubic quantum dot of GaAs embedded in Ga(1−x)AlxAs with finite confining potential barriers at their interfaces. The energy spectrum has substantially reduced degeneracies compared to the analytically determined energy levels of the infinite-barrier quantum box of the same dimensions. The level degeneracy of states has been explained by group representations of the point group Oh. Projection operators for the irreducible representations provide a way to obtain the linear combinations of the degenerate wave functions which form a basis set for the representations. Energy-level splittings in the presence of externally applied electric and magnetic fields are also studied.

关键词： III-V semiconductors Quantum dots Quantum wells Finite-element method Group theory

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Energy-based operator splitting approach for the time discretization of coupled systems of partial and ordinary differential equations for fluid flows: The Stokes case

arXiv

引用

arXiv 2018年

作者： Carichino, Lucia Guidoboni, Giovanna Szopos, Marcela Department of Mathematical Sciences Worcester Polytechnic Institute 100 Institute Rd WorcesterMA01609 United States Department of Electrical Engineering and Computer Science University of Missouri 201 Naka Hall ColumbiaMO65211 United States Université de Strasbourg CNRS IRMA UMR 7501 StrasbourgF-67000 France

The goal of this work is to develop a novel splitting approach for the numerical solution of multiscale problems involving the coupling between Stokes equations and ODE systems, as often encountered in blood flow modeling applications. The proposed algorithm is based on a semi-discretization in time based on operator splitting, whose design is guided by the rationale of ensuring that the physical energy balance is maintained at the discrete level. As a result, unconditional stability with respect to the time step choice is ensured by the implicit treatment of interface conditions within the Stokes substeps, whereas the coupling between Stokes and ODE substeps is enforced via appropriate initial conditions for each substep. Notably, unconditional stability is attained without the need of subiterating between Stokes and ODE substeps. Stability and convergence properties of the proposed algorithm are tested on three specific examples for which analytical solutions are *** Codes 65M99, 76D99, 76Z99 Copyright © 2018, The Authors. All rights reserved.

关键词： Ordinary differential equations

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Development of a tele-nursing mobile manipulator for remote care-giving in quarantine areas

Development of a tele-nursing mobile manipulator for remote ...

引用

2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Li, Zhi Moran, Peter Dong, Qingyuan Shaw, Ryan J. Hauser, Kris Department of Mechanical Engineering Worcester Polytechnic Institute WorcesterMA01609 United States Department of Electrical and Computer Engineering Duke University DurhamNC27701 United States School of Nursing Duke University DurhamNC27701 United States

ISBN: (纸本)9781509046331

During outbreaks of contagious diseases, healthcare workers are at high risk for infection due to routine interaction with patients, handling of contaminated materials, and challenges associated with safely removing protective gear. This poses an opportunity for the use of remote-controlled robots that could perform common nursing duties inside hazardous clinical areas, thereby minimizing the exposure of healthcare workers to contagions and other biohazards. This paper describes the development of the prototype system Tele-Robotic Intelligent Nursing Assistant (TRINA), which consists of a mobile manipulator robot, a human operator's console, and operator assistance algorithms which automate or partially-automate tedious and error-prone tasks. Using off-the-shelf robotic and sensing components, total hardware costs are kept under $75,000. The system's capabilities for performing standard nursing tasks are evaluated in the simulation laboratory of a nursing school. © 2017 IEEE.

关键词： Nursing

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Decentralized connectivity-preserving deployment of large-scale robot swarms

arXiv

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arXiv 2018年

作者： Majcherczyk, Nathalie Jayabalan, Adhavan Beltrame, Giovanni Pinciroli, Carlo Robotics Engineering Worcester Polytechnic Institute 85 Prescott St. WorcesterMA10609 United States Department of Computer and Software Engineering École Polytechnique Montréal 2900 Edouard Montpetit Blvd MontréalQCH3T 1J4 Canada

We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot be split. The basic idea behind our work is to construct a logical tree topology over the physical network formed by the robots. The logical tree acts as a backbone used by robots to enforce connectivity constraints. We study and compare two algorithms to form the logical tree: outwards and inwards. These algorithms differ in the order in which the robots join the tree: the outwards algorithm starts at the tree root and grows towards the targets, while the inwards algorithm proceeds in the opposite manner. Both algorithms perform periodic reconfiguration, to prevent suboptimal topologies from halting the growth of the tree. Our contributions are (i) The formulation of the two algorithms;(ii) A comparison of the algorithms in extensive physics-based simulations;(iii) A validation of our findings through real-robot experiments. Copyright © 2018, The Authors. All rights reserved.

关键词： Trees (mathematics)

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Inverse reinforce learning with nonparametric behavior clustering

arXiv

引用

arXiv 2017年

作者： Rajasekaran, Siddharthan Zhang, Jinwei Fu, Jie Department of Electrical and Computer Engineering Robotics Engineering Program Worcester Polytechnic Institute

Inverse Reinforcement Learning (IRL) is the task of learning a single reward function given a Markov Decision Process (MDP) without defining the reward function, and a set of demonstrations generated by humans/experts. However, in practice, it may be unreasonable to assume that human behaviors can be explained by one reward function since they may be inherently inconsistent. Also, demonstrations may be collected from various users and aggregated to infer and predict users behaviors. In this paper, we introduce the Non-parametric Behavior Clustering IRL algorithm to simultaneously cluster demonstrations and learn multiple reward functions from demonstrations that may be generated from more than one behaviors. Our method is iterative: It alternates between clustering demonstrations into different behavior clusters and inverse learning the reward functions until convergence. It is built upon the Expectation-Maximization formulation and non-parametric clustering in the IRL setting. Further, to improve the computation efficiency, we remove the need of completely solving multiple IRL problems for multiple clusters during the iteration steps and introduce a resampling technique to avoid generating too many unlikely clusters. We demonstrate the convergence and efficiency of the proposed method through learning multiple driver behaviors from demonstrations generated from a grid-world environment and continuous trajectories collected from autonomous robot cars using the Gazebo robot simulator. Copyright © 2017, The Authors. All rights reserved.

关键词： Demonstrations

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Real-time road segmentation using lidar data processing on an FPGA

arXiv

引用

arXiv 2017年

作者： Lyu, Yecheng Bai, Lin Huang, Xinming Department of Electrical and Computer Engineering Worcester Polytechnic Institute WorcesterMA01609 United States

This paper presents the FPGA design of a convolutional neural network (CNN) based road segmentation algorithm for real-time processing of LiDAR data. For autonomous vehicles, it is important to perform road segmentation and obstacle detection such that the drivable region can be identified for path planning. Traditional road segmentation algorithms are mainly based on image data from cameras, which is subjected to the light condition as well as the quality of road markings. LiDAR sensor can obtain the 3D geometry information of the vehicle surroundings with very high accuracy. However, it is a computational challenge to process a large amount of LiDAR data at real-time. In this work, a convolutional neural network model is proposed and trained to perform semantic segmentation using the LiDAR sensor data. Furthermore, an efficient hardware design is implemented on the FPGA that can process each LiDAR scan in 16.9ms, which is much faster than the previous works. Evaluated using KITTI road benchmarks, the proposed solution achieves high accuracy of road segmentation. Copyright © 2017, The Authors. All rights reserved.

关键词： Autonomous vehicles

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A study of bidirectionally telepresent tele-action during robot-mediated handover

A study of bidirectionally telepresent tele-action during ro...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Jianqiao Li Zhi Li Kris Hauser The Electrical and Computer Engineering Department Duke University Durham NC USA The Department of Mechanical Engineering Worcester Polytechnic Institute Worcester MA USA

The addition of manipulation capabilities to telepresence robots holds the promise of enabling remote humans to perform tele-labor, hands-on training, and collaborative manipulation, but the use of a robot as a mediator to humanhuman physical interaction is not yet well understood. This paper studies the impact of telepresence modalities in the context of robot-mediated object handover. A teleoperation system was developed involving a bimanual mobile manipulator with telepresence head and sensing capabilities, and a user study was conducted with n=10 pairs of subjects under a variety of audio and visual telepresence conditions. Results show that telepresence does not significantly affect objective handover fluency, but both audio and video telepresence do significantly improve user experience on subjective measures including intimacy and perceived fluency.

关键词： Robot kinematics Handover Robot sensing systems Manipulators Mobile communication

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CWave: High-performance single-source any-angle path planning on a grid

CWave: High-performance single-source any-angle path plannin...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Dmitry A. Sinyukov Taşkin Padir Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Department of Electrical and Computer Engineering Northeastern University Boston MA

Path planning on a 2D-grid is a well-studied problem in robotics. It usually involves searching for a shortest path between two vertices on a grid. Single-source path planning is a modified problem which asks to find distances from a given point to all other points on the map. A high-performance algorithm for single-source any-angle path planning on a grid that we named CWave is proposed in this work. “Any-angle” attribute of a path planning algorithm implies that such algorithm can find paths which may include any angle segments, as opposed to standard A* on an 8-connected graph, the path can turn with 45°-increments only. The key idea of the presented algorithm is that it does not represent the grid as a graph and uses discrete geometric primitives to define the wave front. In its purest form, CWave requires for computation only integer arithmetics and multiplication by two, but can accumulate the distance error at turning points. A modified version of CWave with minimal usage of floating-point calculations is also developed. It allows to eliminate any accumulative errors which is proven mathematically and experimentally on several maps. The performance of the algorithm on three maps is demonstrated to be significantly faster than that of Theta*, Lazy Theta* and Field A* adapted for single-source planning. The limitations of the current implementations of the algorithm as well as potential improvements are discussed.

关键词： Path planning Algorithm design and analysis Two dimensional displays Navigation Planning Mobile robots

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Generative adversarial active learning for unsupervised outlier detection

arXiv

引用

arXiv 2018年

作者： Liu, Yezheng Li, Zhe Zhou, Chong Jiang, Yuanchun Sun, Jianshan Wang, Meng He, Xiangnan School of Management Hefei University of Technology China Department of Data Science Worcester Polytechnic Institute United States School of Computer Science and Information Engineering Hefei University of Technology China School of Information Science and Technology University of Science and Technology of China Hefei Anhui230031 China

Outlier detection is an important topic in machine learning and has been used in a wide range of applications. In this paper, we approach outlier detection as a binary-classification issue by sampling potential outliers from a uniform reference distribution. However, due to the sparsity of data in high-dimensional space, a limited number of potential outliers may fail to provide sufficient information to assist the classifier in describing a boundary that can separate outliers from normal data effectively. To address this, we propose a novel Single-Objective Generative Adversarial Active Learning (SO-GAAL) method for outlier detection, which can directly generate informative potential outliers based on the mini-max game between a generator and a discriminator. Moreover, to prevent the generator from falling into the mode collapsing problem, the stop node of training should be determined when SO-GAAL is able to provide sufficient information. But without any prior information, it is extremely difficult for SO-GAAL. Therefore, we expand the network structure of SO-GAAL from a single generator to multiple generators with different objectives (MO-GAAL), which can generate a reasonable reference distribution for the whole dataset. We empirically compare the proposed approach with several state-of-the-art outlier detection methods on both synthetic and real-world datasets. The results show that MO-GAAL outperforms its competitors in the majority of cases, especially for datasets with various cluster types or high irrelevant variable ratio. Copyright © 2018, The Authors. All rights reserved.

关键词： Statistics

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