David Benjamin

David Benjamin

Professor
Director of Ph.D. program in Computer Science
Seidenberg School of CSIS
Computer Science NY

David Benjamin

NYC
15 Beekman
| Office Hours: Mon, Wed 11:45am-1:15pm

Biography

Faculty Bio

Dr. Benjamin earned his doctorate in computer science from NYU. He worked for six years in industry before entering academia. Currently, he is professor of computer science and founder and director of the Robotics Lab at Pace University in New York City.

Awards and Honors

  • Pace University, 2010, U.S. Patent 60/654,415 - System for Intrusion Detection and Vulnerability Assessment in a Computer Network using Simulation and Machine Learning
  • Pace University - CS NY, 2006, Spring 2006 Course Release to write grant proposals
  • Reengineering LLC, 2004, U.S. Patent 6,691,132 - Semantic Encoding and Compression of Database Tables
  • New York University, 1983, Graduate Research Assistant

Education

PhD, New York University, 1985
Computer Science

MS, New York University, 1982
Computer Science

BFA, Carnegie Mellon University, 1976
Music

MS, Carnegie Mellon University, 1975
Mathematics

BS, Carnegie Mellon University, 1973
Mathematics

Research and Creative Works

Research Interest

Robotics; Artificial Intelligence (Application of Artificial Intelligence to Networks); Cybersecurity; Data Mining; Application of semigroup theory to theory formulation

Grants, Sponsored Research and Contracts

Strengthening Pace’s Cyber Community and Pathways using Research Experience, Technical Training and Institutional Outreach
August 2021 - August 2026. National Science Foundation, Federal, $3,856,432.00. Funded.

A Humanoid Robot for Investigating Spatial Understanding in Human-Robot Collaboration
September 2019 - August 2020. Office of Naval Research, Federal, $187,444.00. Funded. The Pace University Robotics Lab is developing a robotic architecture based on cognitive principles for autonomous robots that can safely interact and collaborate with people on a wide range of physical tasks. Central to our architecture is its mental model, which is a 3D virtual world that the architecture synchronizes with the environment in real time. This mental model represents changes in causation in the world and generates expectations about physical change in the world. A main scientific focus of this project is the development of the 3D virtual world and its use in planning, learning and communication in Human-Robot interaction.
This proposal is for funding to support the purchase of a humanoid robot platform. Currently, our robots are Pioneer 2 and 3 robots, which are sufficient for investigating basic issues in navigation, path planning, and perception. However, we are investigating how people and robots can collaborate on tasks that involve interacting with and manipulating the environment. This includes assembly tasks, as well as tasks involving robots and people moving together. Small Pioneer robots are inadequate for performing such tasks, due to their limited sensory capabilities, small size, and almost nonexistent ability to manipulate their environment.
The platform we have selected is the Pioneer Manipulator Research Platform. It’s size and humanoid configuration make possible much more natural interaction with people, and its two Kinova Jaco2 manipulators enable it to perform physical tasks involving gripping and carrying. The sensory capabilities of the platform are superior to that of the basic Pioneer robots, and include laser range finding, gyroscope, sonar, and range cameras. In addition, the platform has speakers and a speech synthesizer.
The budget for this proposal also includes supporting computers, including a powerful workstation to serve as the base for the project and a laptop. This workstation has 56 cores and 256GB memory, plus a high-end graphics card with 1536 CUDAs. The laptop will add computing power to the robot’s onboard computers.
The software used in our architecture includes a lot of open source code, including OpenCV, PhysX and Soar. All of the software produced by our project is open source; however, much of our analytical code is Mathematica and Matlab code, and the proposal budget includes upgrades to the licenses, especially obtaining a gridMathematica license to fully utilize the cores in the workstation.
The project will produce many large vision datasets, and will utilize a large library of recognized objects and their 3D mesh models. This requires significant storage space, which will be provided by a 40TB external drive.

Virtual Network Computing Testbed for Cybersecurity Research
August 2012 - August 2014. Army Research Office, Federal, $110,000.00. Funded.

A Multi-scale Cognitive Approach to Intrusion Detection and Response
July 2010 - July 2014. Army Research Office, Pace University, $294,944.00. Funded.

BBN Technologies Cybersecurity Grant
January 2006 - June 2008. DARPA/U.S. Department of Defense, Pace University, $120,000.00. Funded.

Proposal - Robotics
January 2004 - January 2007. AFOSR, Other, $425,000.00. Funded. Robotics research

Proposal - Robotics (declined)
January 2004 - January 2007. DARPA, Other, $1,600,000.00. Funded. Robotics research

Proposal - Robotics Research (declined)
January 2004 - January 2007. National Science Foundation, Other, $780,000.00. Funded. Robotics research

Proposal for vision capability integration to robot
January 2004 - January 2007. Army Research Office, Other, $280,000.00. Funded. Proposal for Vision Capability Integration

White Paper Proposal - Homeland Security Advanced Research Projects Agency
January 2004 - January 2007. Dept of Homeland Security, Other, $0.00. Funded. Pending - Robotics research

Lang Research Fellowship
July 2005 - March 2006. Other, $3,000.00. Funded. on the topic of active computer vision, with student, Tom Achtemichuk - Active Computer Vision

Integrating Perception and Action Through Local Symmetries and Invariants
September 2001 - August 2005. Dept. of Energy, Pace University, $296,000.00. Funded. given by the Department of Energy to support the CSIS Robotics Lab in New York City over three years

CSIS Summer Research Grant
January 2002 - December 2002. Pace University, School of Computer Science and Information Systems, Pace University, $2,000.00. Funded.

HVCET Grant
January 2001 - December 2001. Pace University, School of Computer Science and Information Systems, Other, $10,000.00. Funded. For creation of the Intelligent Agents Lab

Integration of Artificial Intelligence and Operations Research for Mixed Initiative Continuous Planning and Scheduling
October 1996 - September 2001. Air Force Office of Scientific Research, Other, $1,000,000.00. Funded. NWV Grant with Dr. Carla Gomes (PI) and Karen Alguire of Rome Laboratory and Dr. Lei Lei of Rutgers University

Small Business Innovative Research
December 1998 - December 1999. Air Force Office of Scientific Research, Pace University, $100,000.00. Funded. SBIR proposal with Modus Operandi, Inc. of Florida

Application of Decomposition of Reformulation to Transportation Scheduling
October 1996 - September 1997. Air Force Office of Scientific Research, Other, $103,831.00. Funded. IPA/URRF grant

Reformulation of System Theories in Robotics
August 1995 - March 1997. National Science Foundation, Other, $49,678.00. Funded. SGER Grant 950537

Embedding Process and Specification Descriptions within a Categorical Framework for Refinement and Composition
May 1996 - December 1996. Air Force Office of Scientific Research, Other, $82,613.00. Funded. Co- PI: Dr. Shiu-Kai Chin of Syracuse University

Reformulating Domain Theories to Improve Their Computational Usefulness
January 1996 - December 1996. Air Force Office of Scientific Research, Pace University, $24,807.00. Funded.

Dean's Incentive
July 1995 - June 1996. Oklahoma State University, Pace University, $3,000.00. Funded.

Transformational Software Design by Decomposition Using the Kestrel Interactive Development
January 1995 - December 1995. Air Force Office of Scientific Research, Pace University, $24,970.00. Funded.

Summer Research
June 1995 - August 1995. Oklahoma State University, Pace University, $5,403.00. Funded.

Dean's Incentive
July 1994 - June 1995. Oklahoma State University, Pace University, $3,000.00. Funded.

Summer Research
June 1994 - August 1994. Oklahoma State University, Pace University, $5,222.00. Funded.

Courses Taught

Past Courses

CIS 101: Forensic Computing
CIT 312: Introduction to Programming l
CIT 314: Introduction to Programming II
CS 121: Computer Programming I
CS 122: Computer Programming II
CS 232: Computer Organization
CS 241: Data Structures/Algorithms I
CS 242: Algorithms & Computing Theory
CS 242: Data Structure/Algorithms II
CS 271: Fndmntl of Unix Operating Sys
CS 271: Fund Unix Operating System
CS 271: Fundmntls of Unix and C Prgmng
CS 325: Introduction to Data Mining
CS 385: Artificial Intelligence I
CS 397: Topic:Linux System Programming
CS 397: Tpc:Windows System Programming
CS 490: Ind Study in Computer Science
CS 502: Fund Comp Sci I using Java
CS 502: Fundamentals of Programming
CS 504: Advanced Programming
CS 504: Fund Comp Sci II using Java
CS 600: Indpndnt Study in Grad CS
CS 608: Algorithms & Computing Theory
CS 619: Data Mining
CS 627: Artificial Intelligence
CS 630: Intelligent Agents
CS 631: Topic: Topics in Unix
CS 631: Topic:Linux System Programming
CS 631: Tpc:Windows System Programming
CS 631: UNIX System Programming
CS 638: Network Analysis and Design
CS 646: Entrprs Syst Intgrtn Web Srvc
CS 646: Entrps Syst Intgrtn Web Srvc
CS 648: Unix/Linux Programming
CS 657: Windows System Programming
CS 693: Thesis I
CS 694: Thesis II
CS 701: Advanced Algorithms
CS 702: Research Seminar
CS 727: Adv. Artificial Intelligence
CS 804: Independent Research
CS 806: Dissertation Preparation
CS 827: Advncd Artificial Intelligence
DCS 891: Research Seminar VI
DCS 990: Dissertation for DPS in Cmptng
DCS 991: Dssrttn for DPS in Cmptg II
IS 223: Fundamentals of Programming
IS 323: Object-Oriented Programming
IS 600: Grad Independent Study in IS
IT 669: Building Secure Software II
MM 803: Maintain Matriculation-CS PhD

Publications and Presentations

Publications

Convolutional Neural Networks for Breast Ultrasound Image Segmentation
(2019, May).

Classification and Prediction of Human Behaviors by a Mobile Robot
Academic Journal.
DOWNLOAD

Progress in Building a Cognitive Vision System

DOWNLOAD

Using a 3D World to Address Perceptual Issues in Human-Robot Coordination
(2015, July (3rd Quarter/Summer)).

Effects of Using a 3D Model on the Performance of Vision Algorithms
(2015, April (2nd Quarter/Spring)).

A Cognitive Approach to Vision for a Mobile Robot
(2013, April (2nd Quarter/Spring)).

Navigation of Uncertain Terrain by Fusion of Information from Real and Synthetic Imagery
(2012, April (2nd Quarter/Spring)).

Using a Virtual World for Robot Planning
(2012, April (2nd Quarter/Spring)).

A Relaxed Fusion of Information from Real and Synthetic Images to Predict Complex Behavior
(2011, April (2nd Quarter/Spring)).

Comprehension and Prediction of Astronaut Dynamics
(2011, March).

A Cognitive Approach to Classifying Perceived Behaviors
(2010, April (2nd Quarter/Spring)).

Predictive Vision for a Mobile Robot
(2009, July (3rd Quarter/Summer)).

Anomaly and Specification Based Cognitive Approach for Mission-Level Detection and Response: Extended Abstract
(2008, September). Springer Berlin/Heidelberg.

Anomaly and Specification Based Cognitive Approach for Mission-Level Detection and Response: Extended Abstract
(2008, September).

Using a Cognitive Architecture to Automate Cyberdefense Reasoning
(2008, August).

Using Cognitive Semantics to Integrate Perception and Motion in a Behavior-Based Robot
(2008, August).

Automating Cyber Defense Management
(2008, April (2nd Quarter/Spring)).

(2007, June).

A Cognitive Approach to Intrusion Detection
(2007, April (2nd Quarter/Spring)).

A Cognitive Robotics Approach to Comprehending Human Language and Behaviors
(2007, March).

Embodying a Cognitive Model in a Mobile Robot
(2006, October (4th Quarter/Autumn)).

Obstacle Avoidance Using Predictive Vision Based on a Dynamic 3D World Model
(2006, October (4th Quarter/Autumn)).

Panel on Intelligent Systems: The Robotics Lab at Pace University
(2006, October (4th Quarter/Autumn)).

A Fast Predictive Vision System for a Mobile Robot
(2006, September).

Developing a Cognitive Architecture to be Embedded in the Physical World
(2006, May).

A prospective on mathematics and artificial intelligence: Problem solving=Modeling+Theorem proving by Greenberg, H.J., 2000
(2005, December). Vol 28, 1-4, pp17-20

(2005, December).

On a primitive skill-based supervisory robot contol architecture by Milighetti, G., Kuntze, H.-B., Frey, C.W., Diestel-Feddersen, B., Balzer, J.
(2005, December). Vol pp 141-147

Exploiting a Sensed Environment to Improve Human-Agent Communication by Shana Watters et al.
(2005, July (3rd Quarter/Summer)).

Semantic Encoding of Relational Databases in Wireless Networks
(2005, April (2nd Quarter/Spring)).

VMSoar: A Cognitive Agent for Network Security
(2005, April (2nd Quarter/Spring)).

(2004, December).

(2004, December). https://www.informatik.uni-trier.de/~ley/db/indices/a-tree/b/Benjamin:D=_Paul.html

Evolving Efficient Security Systems Under Budget Constraints Using Genetic Algorithms
(2004, December). Vol 209

Designing a Robot Cognitive Architecture with Concurrency and Active Perception
(2004, September).

ADAPT: A Cognitive Architecture for Robotics
(2004, July (3rd Quarter/Summer)).

Cognitive Robots: Integrating Perception, Action and Problem Solving in Behavior-based Robots
(2004, July (3rd Quarter/Summer)). Vol pp. 1308-1309

Using Soar to Control a Small Mobile Robot
(2003, December).

Evolving Efficient Security Systems Under Budget Constraints Using Genetic Algorithms
(2003, July (3rd Quarter/Summer)). Vol p. 94-99

Using Soar with a Small Mobile Robot
(2003, June).

Evolving Efficient Security Systems Under Budget Constraints Using Genetic Algorithms
(2003, March).

Undergraduate Cybersecurity Course Projects
(2003, February).

On the Emergence of Intelligent Global Behaviors from Simple Local Actions
(1999, December).

Connecting Perception and Action by Associating Symmetries in Vision and Language
(1999, December). Vol 8:03

On the Emergence of Intelligent Global Behaviors from Simple Local Actions
(1999, October (4th Quarter/Autumn)). Vol 144

Connecting Perception and Action by Associating Symmetries in Vision and Language
(1998, May).

A Decomposition Approach to Solving Distributed Constraint Satisfaction Problems
(1997, December).

Formulating Domain Theories for Software Design
(1996, December).

Reformulating Theories of Action for Efficient Planning
(1996, December).

The Design of Effective Formulations in Artificial Intelligence and Robotics
(1996, December).

Transforming System Formulations in Robotics for Efficient Perception and Planning
(1996, December).

Formulating Systems
(1996, April (2nd Quarter/Spring)).

Behavior-preserving Transformations of System Formulations
(1996, March).

Reformulating Domain Theories for Reuse in Problem Solving
(1995, November).

Analyzing Languages of Action for the Purpose of Synthesis
(1995, March).

Prototype and Delegation-based Approach in Expert System Design
(1994, December).

Towards an Effective Theory of Reformulation
(1992, April (2nd Quarter/Spring)). Vol 92-06, pp.13-27

Integrating Perception with Problem Solving
(1991, March).

An Overview of Adaptive Task Planning
(1990, December).

An Algebraic Approach to Abstraction and Representation Change
(1990, July (3rd Quarter/Summer)).

A Method For Creating Hierarchical Representations that Serialize Subgoals
(1989, December).

Learning Search Control Knowledge Within a Metalevel Representation
(1988, December).

Learning Strategies by Reasoning about Rules
(1987, December).

A Production System for Learning Plans from an Expert
(1983, December).

Presentations

Spatial Understanding as a Common Basis for Human-Robot Collaboration
(2019, December 6). MID2019. Pace University,

Ethics and the Design and Engineering of Autonomous Robots
(2019, February 15). Rise of the Machines: Artificial Intelligence, Robotics, and the Reprogramming of Law. Fordham Law School,

Predictive Vision for Human-Robot Collaboration
(2018, October 17). Fordham University,

Using a Virtual World to Implement a Mental Model
(2018, July). Fourth International Conference on Human Factors and Unmanned Systems. Orlando, Florida.

Spatial Understanding as a Common Cognitive Basis for Human-Robot Collaboration
(2017, July). Third International Conference on Human Factors and Unmanned Systems. Los Angeles, CA.

Classification and Prediction of Human Behaviors By a Mobile Robot
(2016, July). Second International Conference on Human Factors and Unmanned Systems. Orlando, FL.

Progress in Building a Cognitive Vision System for a Mobile Robot
(2016, April). SPIE Conference on Multisensor, Multisource Information Fusion: Architectures, Algorithms and Applications. Baltimore, MD.

Navigation of Uncertain Terrain by Fusion of Information from Real and Synthetic Imagery
(2012, April). SPIE Conference on Multisensor, Multisource Information Fusion: Architectures, Algorithms and Applications. .

Using a Virtual World for Robot Planning
(2012, April). SPIE Conference on Multisensor, Multisource Information Fusion: Architectures, Algorithms and Applications. .

ADAPT: A Cognitive Architecture for Robots
(2006, August 16). International Workshop on Cognitive Robotics, Intelligence and Control - COGRIC 2006. Windsor England,.

Talk with robot artist, Natalie Jeremijenko
(2005, November 29). Pace Digital Gallery. .

Lang fellowship research
(2005, November 11). Pforzheimer Center 2005 Fall Conference - New Perspectives for the New Century Integrating the Student Experience In and Outside the Classroom. Pforzheimer Center

Robot lab and research in the lab
(2005, September 28). Pace Computer Society. .

Semantic Encoding of Relational Databases in Wireless Networks
(2005, March 1). SPIE Defense Symposium on Data Mining, Intrusion Detection, Information Assurance and Data Networks Security. Orlando, FL.

VMSoar: A Cognitive Agent for Network Security
(2005, March 1). SPIE Defense Symposium on Data Mining, Intrusion Detection, Information Assurance and Data Networks Security. Orlando, FL.

International Conference on Cognitive Modeling
(2005, January 1). International Conference on Cognitive Modeling - ICCM 2005. .

Cognitive Robots: Integrating Perception, Action and Problem Solving in Behavior-based Robots
(2004, July 1). Autonomous Agents and Multi-Agent Systems - AAMAS 2004. New York, NY.

2 papers
(2004, July 1). International Conference on Cognitive Modeling - ICCM 2004. Pittsburgh, PA.

ADAPT: A Cognitive Architecture for Robotics
(2004, July 1). International Conference on Cognitive Modeling - ICCM 2004. Pittsburgh, PA.

Cognitive Robots
(2004, March 19). Army Research Laboratory. Aberdeen, MD.

2005 Symposium
(2004, February 18). SIGCSE 2004 - Special Interest Group on Software Engineering. IEEE SIGCSE

Agile Development in CSE: Practices and Programs, with James Caristi, Clifton Kussmaul, Thomas Reichlmayr, and Gary Pollice
(2004, February 18). SIGCSE 2004 - Special Interest Group on Software Engineering. IEEE SIGCSE

Polymorphism Challenge (with Eugene Wallingford)
(2004, February 18). SIGCSE 2004 - Special Interest Group on Software Engineering. IEEE SIGCSE

Special Session: "Objects - Early Tools -- A Demonstration," with Kim Bruce and Michael Kolling
(2004, February 18). SIGCSE 2004 - Special Interest Group on Software Engineering. IEEE SIGCSE

Using Soar to Control a Small Mobile Robot
(2003, June 1). 20th Soar Workshop. .

Undergraduate Cybersecurity Projects
(2003, February 1). SIGCS 2003. .

Cyber Security
(2002, August 1). Workshop at Indiana University. Indiana University,

Conference on High Assurance Software Engineering
(1998, December 31). High Assurance Systems Engineering - HASE '98. .

- SEKE '98
(1998, June 1). Tenth International Conference on Software Engineering and Knowledge Engineering. San Francisco, CA.

Sensors and Signal Processing
(1998, May 1). IEEE International Joint Symposia on Intelligence and Systems. Washington, D.C.,.

Sensors and Signal Processing
(1998, May 1). IEEE International Joint Symposia on Intelligence and Systems. Washington, D.C.,.

Knowledge Engineering
(1986, January 1). ACM-IEEE Fall Joint Computer Conference. .

Professional Contributions and Service

Intellectual Property

Patent: System for Intrusion Detection and Vulnerability Assessment in a Computer Network using Simulation and Machine Learning , United States

Patent: Semantic Encoding and Compression of Database Tables , United States

Professional Memberships

  • American Association for Artificial Intelligence
  • Association for Computing Machinery
  • Sigma Xi

College Service

  • MID (Machine Intelligence Day) conference organizing committee MID (Machine Intelligence Day) conference organizing committee [Committee Chair]
  • Computer Science Ph.D. Supervisory Committee Computer Science Ph.D. Supervisory Committee [Committee Chair]
  • Faculty Search Committee Faculty Search Committee [Committee Member]