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Full-Text Articles in Physical Sciences and Mathematics

A Deep Learning Approach To Mapping Irrigation: U-Net Irrmapper, Thomas Henry Colligan Iv Jan 2020

A Deep Learning Approach To Mapping Irrigation: U-Net Irrmapper, Thomas Henry Colligan Iv

Graduate Student Theses, Dissertations, & Professional Papers

Accurate maps of irrigation are essential for understanding and managing water resources in light of a warming climate. We present a new method for mapping irrigation and apply it to the state of Montana over the years 2000-2019. The method is based on an ensemble of convolutional neural networks that only rely on raw Landsat surface reflectance data. The ensemble of networks method learns to mask clouds and ignore Landsat 7 scan-line failures without supervision, reducing the need for preprocessing data or feature engineering. Unlike other approaches to mapping irrigation, the method doesn't use other mapping products like the Cropland …


Disaster Damage Categorization Applying Satellite Images And Machine Learning Algorithm, Farinaz Sabz Ali Pour, Adrian Gheorghe Jan 2020

Disaster Damage Categorization Applying Satellite Images And Machine Learning Algorithm, Farinaz Sabz Ali Pour, Adrian Gheorghe

Engineering Management & Systems Engineering Faculty Publications

Special information has a significant role in disaster management. Land cover mapping can detect short- and long-term changes and monitor the vulnerable habitats. It is an effective evaluation to be included in the disaster management system to protect the conservation areas. The critical visual and statistical information presented to the decision-makers can help in mitigation or adaption before crossing a threshold. This paper aims to contribute in the academic and the practice aspects by offering a potential solution to enhance the disaster data source effectiveness. The key research question that the authors try to answer in this paper is how …


Synthesising Tabular Datasets Using Wasserstein Conditional Gans With Gradient Penalty (Wcgan-Gp), Manhar Singh Walia, Brendan Tierney, Susan Mckeever Jan 2020

Synthesising Tabular Datasets Using Wasserstein Conditional Gans With Gradient Penalty (Wcgan-Gp), Manhar Singh Walia, Brendan Tierney, Susan Mckeever

Conference papers

Deep learning based methods based on Generative Adversarial Networks (GANs) have seen remarkable success in data synthesis of images and text. This study investigates the use of GANs for the generation of tabular mixed dataset. We apply Wasserstein Conditional Generative Adversarial Network (WCGAN-GP) to the task of generating tabular synthetic data that is indistinguishable from the real data, without incurring information leakage. The performance of WCGAN-GP is compared against both the ground truth datasets and SMOTE using three labelled real-world datasets from different domains. Our results for WCGAN-GP show that the synthetic data preserves distributions and relationships of the real …


Machine Learning? In My Election? It's More Likely Than You Think: Voting Rules Via Neural Networks, Daniel Firebanks-Quevedo Jan 2020

Machine Learning? In My Election? It's More Likely Than You Think: Voting Rules Via Neural Networks, Daniel Firebanks-Quevedo

Honors Papers

Impossibility theorems in social choice have represented a barrier in the creation of universal, non-dictatorial, and non-manipulable voting rules, highlighting a key trade-off between social welfare and strategy-proofness. However, a social planner may be concerned with only a particular preference distribution and wonder whether it is possible to better optimize this trade-off. To address this problem, we propose an end-to-end, machine learning-based framework that creates voting rules according to a social planner's constraints, for any type of preference distribution. After experimenting with rank-based social choice rules, we find that automatically-designed rules are less susceptible to manipulation than most existing rules, …


Fast Texture Classification Of Denoised Sar Image Patches Using Glcm On Spark, Caner Özcan, Kadri̇ Okan Ersoy, İskender Ülgen Oğul Jan 2020

Fast Texture Classification Of Denoised Sar Image Patches Using Glcm On Spark, Caner Özcan, Kadri̇ Okan Ersoy, İskender Ülgen Oğul

Turkish Journal of Electrical Engineering and Computer Sciences

Classification of a synthetic aperture radar (SAR) image is an essential process for SAR image analysis and interpretation. Recent advances in imaging technologies have allowed data sizes to grow, and a large number of applications in many areas have been generated. However, analysis of high-resolution SAR images, such as classification, is a time-consuming process and high-speed algorithms are needed. In this study, classification of high-speed denoised SAR image patches by using Apache Spark clustering framework is presented. Spark is preferred due to its powerful open-source cluster-computing framework with fast, easy-to-use, and in-memory analytics. Classification of SAR images is realized on …


Lung Cancer Subtype Differentiation From Positron Emission Tomography Images, Oğuzhan Ayyildiz, Zafer Aydin, Bülent Yilmaz, Seyhan Karaçavuş, Kübra Şenkaya, Semra İçer, Erdem Arzu Taşdemi̇r, Eser Kaya Jan 2020

Lung Cancer Subtype Differentiation From Positron Emission Tomography Images, Oğuzhan Ayyildiz, Zafer Aydin, Bülent Yilmaz, Seyhan Karaçavuş, Kübra Şenkaya, Semra İçer, Erdem Arzu Taşdemi̇r, Eser Kaya

Turkish Journal of Electrical Engineering and Computer Sciences

Lung cancer is one of the deadly cancer types, and almost 85 % of lung cancers are nonsmall cell lung cancer (NSCLC). In the present study we investigated classification and feature selection methods for the differentiation of two subtypes of NSCLC, namely adenocarcinoma (ADC) and squamous cell carcinoma (SqCC). The major advances in understanding the effects of therapy agents suggest that future targeted therapies will be increasingly subtype specific. We obtained positron emission tomography (PET) images of 93 patients with NSCLC, 39 of which had ADC while the rest had SqCC. Random walk segmentation was applied to delineate three-dimensional tumor …


Short Unsegmented Pcg Classification Based On Ensemble Classifier, Sinam Ajitkumar Singh, Swanirbhar Majumder Jan 2020

Short Unsegmented Pcg Classification Based On Ensemble Classifier, Sinam Ajitkumar Singh, Swanirbhar Majumder

Turkish Journal of Electrical Engineering and Computer Sciences

Diseases associated with the heart are one of the main reasons of death worldwide. Hence, early examination of the heart is important. For analysis of cardiac disorders, a study of heart sounds is a crucial and beneficial approach. Still, automated classification of heart sounds is a challenging task that mainly depends on segmentation of heart sounds and derivation of features using segmented samples. In the literature available for PCG classification provided by PhysioNet/CinC Challenge 2016, most of the research has focused on enhancing the accuracy of the classification model based on complicated segmentation processes and has failed to improve the …


Outlier Profiles Of Atomic Structures Derived From X-Ray Crystallography And From Cryo-Electron Microscopy, Lin Chen, Jing He, Angelo Facchiano Jan 2020

Outlier Profiles Of Atomic Structures Derived From X-Ray Crystallography And From Cryo-Electron Microscopy, Lin Chen, Jing He, Angelo Facchiano

Computer Science Faculty Publications

Background: As more protein atomic structures are determined from cryo-electron microscopy (cryo-EM) density maps, validation of such structures is an important task. Methods: We applied a histogram-based outlier score (HBOS) to six sets of cryo-EM atomic structures and five sets of X-ray atomic structures, including one derived from X-ray data with better than 1.5 Å resolution. Cryo-EM data sets contain structures released by December 2016 and those released between 2017 and 2019, derived from resolution ranges 0–4 Å and 4–6 Å respectively. Results: The distribution of HBOS values in five sets of X-ray structures show that HBOS is sensitive distinguishing …


Deep Neural Network Based M-Learning Model For Predicting Mobile Learners'performance, Muhammad Adnan, Asad Habib, Jawad Ashraf, Shafaq Mussadiq, Arsalan Ali Jan 2020

Deep Neural Network Based M-Learning Model For Predicting Mobile Learners'performance, Muhammad Adnan, Asad Habib, Jawad Ashraf, Shafaq Mussadiq, Arsalan Ali

Turkish Journal of Electrical Engineering and Computer Sciences

The use of deep learning (DL) techniques for mobile learning is an emerging field aimed at developing methods for finding mobile learners' learning behavior and exploring important learning features. The learning features (learning time, learning location, repetition rate, content types, learning performance, learning time duration, and so on) act as fuel to DL algorithms based on which DL algorithms can classify mobile learners into different learning groups. In this study, a powerful and efficient m-learning model is proposed based on DL techniques to model the learning process of m-learners. The proposed m-learning model determines the impact of independent learning features …


Superconducting Radio-Frequency Cavity Fault Classification Using Machine Learning At Jefferson Laboratory, Chris Tennant, Adam Carpenter, Tom Powers, Anna Shabalina Solopova, Lasitha Vidyaratne, Khan Iftekharuddin Jan 2020

Superconducting Radio-Frequency Cavity Fault Classification Using Machine Learning At Jefferson Laboratory, Chris Tennant, Adam Carpenter, Tom Powers, Anna Shabalina Solopova, Lasitha Vidyaratne, Khan Iftekharuddin

Electrical & Computer Engineering Faculty Publications

We report on the development of machine learning models for classifying C100 superconducting radio-frequency (SRF) cavity faults in the Continuous Electron Beam Accelerator Facility (CEBAF) at Jefferson Lab. CEBAF is a continuous-wave recirculating linac utilizing 418 SRF cavities to accelerate electrons up to 12 GeV through five passes. Of these, 96 cavities (12 cryomodules) are designed with a digital low-level rf system configured such that a cavity fault triggers waveform recordings of 17 rf signals for each of the eight cavities in the cryomodule. Subject matter experts are able to analyze the collected time-series data and identify which of the …


Sketic: A Machine Learning-Based Digital Circuit Recognition Platform, Mohamamd Abdel Majeed, Tasneem Almousa, Maysaa Alsalman, Abeer Yosef Jan 2020

Sketic: A Machine Learning-Based Digital Circuit Recognition Platform, Mohamamd Abdel Majeed, Tasneem Almousa, Maysaa Alsalman, Abeer Yosef

Turkish Journal of Electrical Engineering and Computer Sciences

In digital system design, digital logic circuit diagrams are built using interconnects and symbolic representations of the basic logic gates. Constructing such diagrams using free sketches is the first step in the design process. After that the circuit schematic or code has to be generated before being able to simulate the design. While most of the mentioned steps are automated using design automation tools, drafting the schematic circuit and then converting it into a valid format that can be simulated are still done manually due to the lack of robust tools that can recognize the free sketches and incorporate them …


Exploring The Parameter Space Of Human Activity Recognition With Mobile Devices, Berrenur Saylam, Muhammad Shoaib, Özlem Durmaz İncel Jan 2020

Exploring The Parameter Space Of Human Activity Recognition With Mobile Devices, Berrenur Saylam, Muhammad Shoaib, Özlem Durmaz İncel

Turkish Journal of Electrical Engineering and Computer Sciences

Motion sensors available on smart phones make it possible to recognize human activities. Accelerometer, gyroscope, magnetometer, and their various combinations are used to classify, particularly, locomotion activities, ranging from walking to biking. In most of the studies, the focus is on the collection of data and on the analysis of the impact of different parameters on the recognition performance. The parameter space includes the types of sensors used, features, classification algorithms, and position/orientation of the mobile device. In most of the studies, the impact of some of these parameters is partially analyzed; however, in this work, we investigate the parameter …


A Machine Learning And Data-Driven Prediction And Inversion Of Reservoir Brittleness From Geophysical Logs And Seismic Signals: A Case Study In Southwest Pennsylvania, Central Appalachian Basin, Tobi Micheal Ore Jan 2020

A Machine Learning And Data-Driven Prediction And Inversion Of Reservoir Brittleness From Geophysical Logs And Seismic Signals: A Case Study In Southwest Pennsylvania, Central Appalachian Basin, Tobi Micheal Ore

Graduate Theses, Dissertations, and Problem Reports

In unconventional reservoir sweet-spot identification, brittleness is an important parameter that is used as an easiness measure of production from low permeability reservoirs. In shaly reservoirs, production is realized from hydraulic fracturing, which depends on how brittle the rock is–as it opens natural fractures and also creates new fractures. A measure of brittleness, brittleness index, is obtained through elastic properties of the rock. In practice, problems arise using this method to predict brittleness because of the limited availability of elastic logs.

To address this issue, machine learning techniques are adopted to predict brittleness at well locations from readily available geophysical …


Searching For Needles In The Cosmic Haystack, Thomas Ryan Devine Jan 2020

Searching For Needles In The Cosmic Haystack, Thomas Ryan Devine

Graduate Theses, Dissertations, and Problem Reports

Searching for pulsar signals in radio astronomy data sets is a difficult task. The data sets are extremely large, approaching the petabyte scale, and are growing larger as instruments become more advanced. Big Data brings with it big challenges. Processing the data to identify candidate pulsar signals is computationally expensive and must utilize parallelism to be scalable. Labeling benchmarks for supervised classification is costly. To compound the problem, pulsar signals are very rare, e.g., only 0.05% of the instances in one data set represent pulsars. Furthermore, there are many different approaches to candidate classification with no consensus on a best …


Causal Effect Random Forest Of Interaction Trees For Learning Individualized Treatment Regimes In Observational Studies: With Applications To Education Study Data, Luo Li Jan 2020

Causal Effect Random Forest Of Interaction Trees For Learning Individualized Treatment Regimes In Observational Studies: With Applications To Education Study Data, Luo Li

CGU Theses & Dissertations

Learning individualized treatment regimes (ITR) using observational data holds great interest in various fields, as treatment recommendations based on individual characteristics may improve individual treatment benefits with a reduced cost. It has long been observed that different individuals may respond to a certain treatment with significant heterogeneity. ITR can be defined as a mapping between individual characteristics to a treatment assignment. The optimal ITR is the treatment assignment that maximizes expected individual treatment effects. Rooted from personalized medicine, many studies and applications of ITR are in medical fields and clinical practice. Heterogeneous responses are also well documented in educational interventions. …


Text Mining Methods For Analyzing Online Health Information And Communication, Sifei Han Jan 2020

Text Mining Methods For Analyzing Online Health Information And Communication, Sifei Han

Theses and Dissertations--Computer Science

The Internet provides an alternative way to share health information. Specifically, social network systems such as Twitter, Facebook, Reddit, and disease specific online support forums are increasingly being used to share information on health related topics. This could be in the form of personal health information disclosure to seek suggestions or answering other patients' questions based on their history. This social media uptake gives a new angle to improve the current health communication landscape with consumer generated content from social platforms. With these online modes of communication, health providers can offer more immediate support to the people seeking advice. Non-profit …


Early Detection Of Fake News On Social Media, Yang Liu Dec 2019

Early Detection Of Fake News On Social Media, Yang Liu

Dissertations

The ever-increasing popularity and convenience of social media enable the rapid widespread of fake news, which can cause a series of negative impacts both on individuals and society. Early detection of fake news is essential to minimize its social harm. Existing machine learning approaches are incapable of detecting a fake news story soon after it starts to spread, because they require certain amounts of data to reach decent effectiveness which take time to accumulate. To solve this problem, this research first analyzes and finds that, on social media, the user characteristics of fake news spreaders distribute significantly differently from those …


Cancer Risk Prediction With Whole Exome Sequencing And Machine Learning, Abdulrhman Fahad M Aljouie Dec 2019

Cancer Risk Prediction With Whole Exome Sequencing And Machine Learning, Abdulrhman Fahad M Aljouie

Dissertations

Accurate cancer risk and survival time prediction are important problems in personalized medicine, where disease diagnosis and prognosis are tuned to individuals based on their genetic material. Cancer risk prediction provides an informed decision about making regular screening that helps to detect disease at the early stage and therefore increases the probability of successful treatments. Cancer risk prediction is a challenging problem. Lifestyle, environment, family history, and genetic predisposition are some factors that influence the disease onset. Cancer risk prediction based on predisposing genetic variants has been studied extensively. Most studies have examined the predictive ability of variants in known …


Detecting Myocardial Infarctions Using Machine Learning Methods, Aniruddh Mathur Dec 2019

Detecting Myocardial Infarctions Using Machine Learning Methods, Aniruddh Mathur

Master's Projects

Myocardial Infarction (MI), commonly known as a heart attack, occurs when one of the three major blood vessels carrying blood to the heart get blocked, causing the death of myocardial (heart) cells. If not treated immediately, MI may cause cardiac arrest, which can ultimately cause death. Risk factors for MI include diabetes, family history, unhealthy diet and lifestyle. Medical treatments include various types of drugs and surgeries which can prove very expensive for patients due to high healthcare costs. Therefore, it is imperative that MI is diagnosed at the right time. Electrocardiography (ECG) is commonly used to detect MI. ECG …


Analyze Informant-Based Questionnaire For The Early Diagnosis Of Senile Dementia Using Deep Learning, Fubao Zhu, Xiaonan Li, Daniel Mcgonigle, Haipeng Tang, Zhuo He, Chaoyang Zhang, Guang-Uei Hung, Pai-Yi Chu, Weihua Zhou Dec 2019

Analyze Informant-Based Questionnaire For The Early Diagnosis Of Senile Dementia Using Deep Learning, Fubao Zhu, Xiaonan Li, Daniel Mcgonigle, Haipeng Tang, Zhuo He, Chaoyang Zhang, Guang-Uei Hung, Pai-Yi Chu, Weihua Zhou

Faculty Publications

Objective: This paper proposes a multiclass deep learning method for the classification of dementia using an informant-based questionnaire.

Methods: A deep neural network classification model based on Keras framework is proposed in this paper. To evaluate the advantages of our proposed method, we compared the performance of our model with industry-standard machine learning approaches. We enrolled 6,701 individuals, which were randomly divided into training data sets (6030 participants) and test data sets (671 participants). We evaluated each diagnostic model in the test set using accuracy, precision, recall, and F1-Score.

Results: Compared with the seven conventional machine learning …


Assessing Wildfire Damage From High Resolution Satellite Imagery Using Classification Algorithms, Ai-Linh Alten Dec 2019

Assessing Wildfire Damage From High Resolution Satellite Imagery Using Classification Algorithms, Ai-Linh Alten

Master's Projects

Wildfire damage assessments are important information for first responders, govern- ment agencies, and insurance companies to estimate the cost of damages and to help provide relief to those affected by a wildfire. With the help of Earth Observation satellite technology, determining the burn area extent of a fire can be done with traditional remote sensing methods like Normalized Burn Ratio. Using Very High Resolution satellites can help give even more accurate damage assessments but will come with some tradeoffs; these satellites can provide higher spatial and temporal resolution at the expense of better spectral resolution. As a wildfire burn area …


An Application Of Deep Learning Models To Automate Food Waste Classification, Alejandro Zachary Espinoza Dec 2019

An Application Of Deep Learning Models To Automate Food Waste Classification, Alejandro Zachary Espinoza

Dissertations and Theses

Food wastage is a problem that affects all demographics and regions of the world. Each year, approximately one-third of food produced for human consumption is thrown away. In an effort to track and reduce food waste in the commercial sector, some companies utilize third party devices which collect data to analyze individual contributions to the global problem. These devices track the type of food wasted (such as vegetables, fruit, boneless chicken, pasta) along with the weight. Some devices also allow the user to leave the food in a kitchen container while it is weighed, so the container weight must also …


Characteristic Index Digging Of Combat Sos Capability Based On Machine Learning, Yongli Yang, Xiaofeng Hu, Rong Ming, Xiaojing Yin, Wenxiang Wang Dec 2019

Characteristic Index Digging Of Combat Sos Capability Based On Machine Learning, Yongli Yang, Xiaofeng Hu, Rong Ming, Xiaojing Yin, Wenxiang Wang

Journal of System Simulation

Abstract: Aiming at the two difficulties in characteristic index digging of combat system of systems (CSoS), namely operation data generation and digging method selection, this paper proposes a new digging method, that is, using the simulation testbed to generate operation data, then adopting the machine learning to dig characteristic index. Two methods of characteristic index digging based on machine learning are researched: (1) the method based on network convergence, divides the communities for fundamental indexes based on their relationship, and obtains the characteristic indexes by principal component analysis (PCA); this method is applied to dig the characteristic indexes of …


Chaotic Time Series Prediction Based On Gaussian Processes Mixture, Zhenjie Feng, Fan Yu Dec 2019

Chaotic Time Series Prediction Based On Gaussian Processes Mixture, Zhenjie Feng, Fan Yu

Journal of System Simulation

Abstract: Aiming at the problem that the existing learning algorithms of Gaussian processes mixture (GPM) model, such as Markov Chain Monte Carlo (MCMC), variation or leave one out, have high computational complexity, a hidden variables posterior hard-cut iterative training algorithm is proposed, which simplifies the training process of the model. The GPM model based on the proposed algorithm is applied to chaotic time series prediction. The effects of embedding dimension, time delay, learning sample number, and testing sample numbers on predictive ability are discussed. It is demonstrated by the experimental results that the prediction of the GPM model is more …


Exploring Emotion Recognition For Vr-Ebt Using Deep Learning On A Multimodal Physiological Framework, Nicholas Dass Dec 2019

Exploring Emotion Recognition For Vr-Ebt Using Deep Learning On A Multimodal Physiological Framework, Nicholas Dass

Faculty of Applied Science and Technology - Exceptional Student Work, Applied Computing Theses

Post-Traumatic Stress Disorder is a mental health condition that affects a growing number of people. A variety of PTSD treatment methods exist, however current research indicates that virtual reality exposure-based treatment has become more prominent in its use.Yet the treatment method can be costly and time consuming for clinicians and ultimately for the healthcare system. PTSD can be delivered in a more sustainable way using virtual reality. This is accomplished by using machine learning to autonomously adapt virtual reality scene changes. The use of machine learning will also support a more efficient way of inserting positive stimuli in virtual reality …


Countering Cybersecurity Vulnerabilities In The Power System, Fengli Zhang Dec 2019

Countering Cybersecurity Vulnerabilities In The Power System, Fengli Zhang

Graduate Theses and Dissertations

Security vulnerabilities in software pose an important threat to power grid security, which can be exploited by attackers if not properly addressed. Every month, many vulnerabilities are discovered and all the vulnerabilities must be remediated in a timely manner to reduce the chance of being exploited by attackers. In current practice, security operators have to manually analyze each vulnerability present in their assets and determine the remediation actions in a short time period, which involves a tremendous amount of human resources for electric utilities. To solve this problem, we propose a machine learning-based automation framework to automate vulnerability analysis and …


Think2act: Using Multimodal Data To Assess Human Cognitive And Physical Performance, Maher Abujelala Dec 2019

Think2act: Using Multimodal Data To Assess Human Cognitive And Physical Performance, Maher Abujelala

Computer Science and Engineering Dissertations

As computers become more advanced, affordable, and smaller in size, we start to use them in almost every aspect of our daily life. Nowadays, the use of computers is not just limited to accomplish work-related tasks. Instead, we use computers for education, entertainment, healthcare, and in many other areas to facilitate our daily life activities. From here, the Human-Computer Interaction (HCI) field emerged. HCI is a multidisciplinary field of study that focuses on utilizing computers and technology to interact with humans, improve their quality of life, and enhance their performance. The rapid advancements in other related research fields, such as …


Decomposing The Hamiltonian Of Quantum Circuits Using Machine Learning, Jordan Burns, Yih Sung, Colby Wight Dec 2019

Decomposing The Hamiltonian Of Quantum Circuits Using Machine Learning, Jordan Burns, Yih Sung, Colby Wight

Physics Capstone Projects

Quantum computing is one of the most promising techniques for simulating physical systems that cannot be simulated on classical computers[1]. A significant drawback of this approach is the inherent difficulty in designing circuits that can represent these systems on quantum computers. Every quantum circuit is built out of small components called quantum gates. Each of these gates manipulate the quantum system in a specific way. When used in combination, a finite subset of these gates, the set of universal gates, can be used to construct any possible quantum circuit[2].


Learning Robot Manipulation Tasks Via Observation, Michail Theofanidis Dec 2019

Learning Robot Manipulation Tasks Via Observation, Michail Theofanidis

Computer Science and Engineering Dissertations

The coexistence of humans and robots has been the aspiration of many scientific endeavors in the past century. Most anthropomorphic or industrial robots are highly articulated and complex machines, which are designed to carry out tasks that often involve the manipulation of physical objects. Traditionally, robots learn how to perform such tasks with the aid of a human programmer or operator. In this regard, the human acts as a teacher who provides a demonstration of a task. From the data of the demonstration, the robot must learn a state-action mapping that accomplishes the task. This state-action mapping is often addressed …


Domain Adaptation In Unmanned Aerial Vehicles Landing Using Reinforcement Learning, Pedro Lucas Franca Albuquerque Dec 2019

Domain Adaptation In Unmanned Aerial Vehicles Landing Using Reinforcement Learning, Pedro Lucas Franca Albuquerque

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

Landing an unmanned aerial vehicle (UAV) on a moving platform is a challenging task that often requires exact models of the UAV dynamics, platform characteristics, and environmental conditions. In this thesis, we present and investigate three different machine learning approaches with varying levels of domain knowledge: dynamics randomization, universal policy with system identification, and reinforcement learning with no parameter variation. We first train the policies in simulation, then perform experiments both in simulation, making variations of the system dynamics with wind and friction coefficient, then perform experiments in a real robot system with wind variation. We initially expected that providing …