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ItemReviewing the Effects of Poverty and Food Scarcity on the Prevalence of Type II Diabetes Mellitus in the Metro Atlanta Area(Georgia Institute of Technology, 2017-08) Sledge, Kyle EmersonType II diabetes is a medical condition that is prominent in both society and medical research. In the metro Atlanta region, over nine percent of the population has contracted the disease. It is not a random disorder but the result of individual factors and local environments. One of the most influential factors is diet, which is directly impacted by what foods are available locally. Healthy food acquisition can be almost impossible in food deserts, or areas of the country that contain either no or extremely limited locations to purchase healthy food. These deserts litter the metropolitan area of Atlanta, and are often intermixed inside more rural or low-income areas. This paper identifies these Atlanta food deserts and analyzes them for a correlation to the prevalence of type II diabetes. The data confirmed my hypothesis that there were correlations between these clearly identifiable sites in greater Atlanta and elevated levels of incidence of type II diabetes. Clayton and DeKalb counties had the largest proportions of their populations inside food deserts at 45.1% and 21.8% respectively, and had increased percentages of their population with type II diabetes: Clayton County surveyed with 10.6% of its population having the disorder, and 8.9% of DeKalb’s inhabitants had acquired the disease at some point. The data suggest that food deserts have adversely affected the health of thousands of people. On the other hand, there are sectors that can be targeted and changed to directly increase the quality of living for over 17% of the metro Atlanta populace that are currently living inside of them.
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ItemBiorobotic Locomotion: Biped Humanoid Walking using Optimal Control(Georgia Institute of Technology, 2017-05) Bindhi, MalavikaThis paper explores the use of optimal control for quasi-static bipedal walking trajectory synthesis. Optimal control differs from the traditional method of inverse kinematics used for generating trajectories. On setting up an optimal control problem and solving it, a set of joint angle trajectories for executing a portion of the gait can be synthesized using the forward kinematic description, as opposed to the method of inverse kinematics. Although optimal control solution requires the same computational processing, the advantage is the simplification of problem set up procedure. This research aims at developing a quasi-static walking gait for a humanoid by defining a set of optimal control problems with constraints and costs defined as functions of joint angles. OPTRAGEN, a Matlab toolbox, is used to convert the optimal control problem to a non-linear problem which is then solved by a numerical optimization program. The goal is to generate a planar walking gait by setting up an optimal control problem that minimizes the change in joint angles while keeping the body stable. The generated planar gait was tested on the physical robot. On completion of this, the same methods were also used to generate trajectories for a 3-Dimensional quasi-static walking gait.
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ItemLocalization of Electromagnetic Sources in Complex Processors(Georgia Institute of Technology, 2017-05) Pollmann, EricRecent advances in computer hardware security research have shown that electronic devices are vulnerable to electromagnetic (EM) side-channel leakage. An attacker can steal sensitive information from an electronic device that is not connected to the network just by measuring the electromagnetic emanations produced by the device. The feasibility of a successful EM side-channel attack has grown significantly in recent years with the reduction in cost of electronic test equipment and the proliferation of electronic devices. Smartcards, cellphones, and laptops can be susceptible to side-channel attacks, and with the trend towards internet-of-things (IoT) and millions of connected devices, the side-channel will become of increasing security importance. While most of the current literature in electromagnetic side-channels focuses on demonstrating novel attack methods on various devices, relatively little research focuses on characterizing the EM emanations. Research presented in this thesis aims to develop a metric to measure the side-channel energy per instruction available to an attacker. The importance of this is to understand the effect of instruction level events (i.e. ADD, LOAD, NOP) on the electromagnetic emanations from a cellphone. Understanding the correlation between the instruction run and the corresponding electromagnetic footprint can help to understand which operations cause the greatest amount of electromagnetic leakage as well as provide a basis of measurement. In addition, a method of localization is proposed to identify the source of the EM emanations. A magnetic dipole equivalent source model is proposed and measurement results are compared with simulation results of the model. These results aim to provide a deeper insight into the nature of electromagnetic side-channels as well as provide hardware and software designers with the information needed to combat unnecessary EM emanations.
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ItemSystem Dynamics-Based Mapping for Closed Loop Control(Georgia Institute of Technology, 2017-05) Dixit, Anushri C.This paper focuses on obstacle avoidance using the walking gait and vision. Inspiration for the gaits was drawn from behaviors found in nature as well as prior contributions in the field of robotic locomotion. A quadrupedal robotic platform was designed and fabricated to support these studies and experiments. The walking gait was implemented on the platform using inverse kinematics and a map was developed connecting the system dynamics to the extrinsic control parameters, namely, the stride length of the robot and the turn of each leg. The paper has implications in path planning for bio-inspired robots in rough terrains. The goal of the research is the synthesis and evaluation of increasingly dynamic quadrupedal locomotion gaits like walking, trotting, and hopping for navigation over unknown terrain.