Rainfall scarcity and variability present serious challenges to water security for many rural communities throughout the world's drylands. Sand dams--weirs built across ephemeral or seasonal rivers--provide an appropriate water harvesting and storage option for many regions. The structures quickly fill with sediment during rainy season flow events and store water...
In this report, I first introduce three areas of interest to collaborative filtering researchers, namely: (a) how to solve the sparsity and scalability problems in recommendation systems; (b) how to rapidly develop and test collaborative filtering algorithms; and (c) how to apply collaborative filtering to unbounded numeric preference data. In...
"Collaborative filtering algorithms’ performances have been evaluated using a variety of metrics.
These metrics, such as Mean Absolute Error and Precision, have often ignored recommendations for
which they do not have data. Ignoring these recommendations has provided numbers which do not
accurately represent the user experience. Qualitatively we have seen...
Bipedal locomotion is a complex phenomenon to understand and control, making it difficult for legged robots to achieve the speed, agility, efficiency, and robustness of their animal counterparts. This thesis argues for the use of numerical optimization to investigate and implement bipedal control as it applies to biology, dynamical models,...
The ATRIAS agile humanoid robot, along with a number of other spring-mass walking
machines, currently have two instabilities: one resulting from inertial forces on the torso
which cause the robot to spin like a top, and another resulting from stiff ground collisions
which cause chattering of the point-contact toes. This...
Assessing AI systems is difficult. Humans rely on AI systems in increasing ways, both visible and invisible, meaning a variety of stakeholders need a variety of assessment tools (e.g., a professional auditor, a developer, and an end user all have different needs). We posit that it is possible to provide...
Groundwater at Oak Ridge National Laboratory's Field Research Center (FRC) is contaminated with U(VI) and Tc(VII), has pH values as low as 3.3, and nitrate concentrations as high as 120 mM. The objective of this research was to determine if in-situ bio-immobilization is a viable treatment alternative for this water....
Legged locomotion in robotics benefits from engineered hardware dynamics such as configuration-dependent, nonlinear transmissions and compliance. This thesis introduces a novel cable driven leg that allows the design of configuration-dependent transmission ratios while also permitting the addition of compliance in line with the cables to achieve compliant legged locomotion. The...