ASU Electronic Theses and Dissertations
This collection includes most of the ASU Theses and Dissertations from 2011 to present. ASU Theses and Dissertations are available in downloadable PDF format; however, a small percentage of items are under embargo. Information about the dissertations/theses includes degree information, committee members, an abstract, supporting data or media.
In addition to the electronic theses found in the ASU Digital Repository, ASU Theses and Dissertations can be found in the ASU Library Catalog.
Dissertations and Theses granted by Arizona State University are archived and made available through a joint effort of the ASU Graduate College and the ASU Libraries. For more information or questions about this collection contact or visit the Digital Repository ETD Library Guide or contact the ASU Graduate College at gradformat@asu.edu.
Displaying 1 - 4 of 4
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- All Subjects: Machine Learning
- Creators: Fainekos, Georgios
Description
The goal of reinforcement learning is to enable systems to autonomously solve tasks in the real world, even in the absence of prior data. To succeed in such situations, reinforcement learning algorithms collect new experience through interactions with the environment to further the learning process. The behaviour is optimized by maximizing a reward function, which assigns high numerical values to desired behaviours. Especially in robotics, such interactions with the environment are expensive in terms of the required execution time, human involvement, and mechanical degradation of the system itself. Therefore, this thesis aims to introduce sample-efficient reinforcement learning methods which are applicable to real-world settings and control tasks such as bimanual manipulation and locomotion. Sample efficiency is achieved through directed exploration, either by using dimensionality reduction or trajectory optimization methods. Finally, it is demonstrated how data-efficient reinforcement learning methods can be used to optimize the behaviour and morphology of robots at the same time.
ContributorsLuck, Kevin Sebastian (Author) / Ben Amor, Hani (Thesis advisor) / Aukes, Daniel (Committee member) / Fainekos, Georgios (Committee member) / Scholz, Jonathan (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2019
Description
Ultra High Performance (UHP) cementitious binders are a class of cement-based materials with high strength and ductility, designed for use in precast bridge connections, bridge superstructures, high load-bearing structural members like columns, and in structural repair and strengthening. This dissertation aims to elucidate the chemo-mechanical relationships in complex UHP binders to facilitate better microstructure-based design of these materials and develop machine learning (ML) models to predict their scale-relevant properties from microstructural information.To establish the connection between micromechanical properties and constitutive materials, nanoindentation and scanning electron microscopy experiments are performed on several cementitious pastes. Following Bayesian statistical clustering, mixed reaction products with scattered nanomechanical properties are observed, attributable to the low degree of reaction of the constituent particles, enhanced particle packing, and very low water-to-binder ratio of UHP binders. Relating the phase chemistry to the micromechanical properties, the chemical intensity ratios of Ca/Si and Al/Si are found to be important parameters influencing the incorporation of Al into the C-S-H gel.
ML algorithms for classification of cementitious phases are found to require only the intensities of Ca, Si, and Al as inputs to generate accurate predictions for more homogeneous cement pastes. When applied to more complex UHP systems, the overlapping chemical intensities in the three dominant phases – Ultra High Stiffness (UHS), unreacted cementitious replacements, and clinker – led to ML models misidentifying these three phases. Similarly, a reduced amount of data available on the hard and stiff UHS phases prevents accurate ML regression predictions of the microstructural phase stiffness using only chemical information. The use of generic virtual two-phase microstructures coupled with finite element analysis is also adopted to train MLs to predict composite mechanical properties. This approach applied to three different representations of composite materials produces accurate predictions, thus providing an avenue for image-based microstructural characterization of multi-phase composites such UHP binders. This thesis provides insights into the microstructure of the complex, heterogeneous UHP binders and the utilization of big-data methods such as ML to predict their properties. These results are expected to provide means for rational, first-principles design of UHP mixtures.
ML algorithms for classification of cementitious phases are found to require only the intensities of Ca, Si, and Al as inputs to generate accurate predictions for more homogeneous cement pastes. When applied to more complex UHP systems, the overlapping chemical intensities in the three dominant phases – Ultra High Stiffness (UHS), unreacted cementitious replacements, and clinker – led to ML models misidentifying these three phases. Similarly, a reduced amount of data available on the hard and stiff UHS phases prevents accurate ML regression predictions of the microstructural phase stiffness using only chemical information. The use of generic virtual two-phase microstructures coupled with finite element analysis is also adopted to train MLs to predict composite mechanical properties. This approach applied to three different representations of composite materials produces accurate predictions, thus providing an avenue for image-based microstructural characterization of multi-phase composites such UHP binders. This thesis provides insights into the microstructure of the complex, heterogeneous UHP binders and the utilization of big-data methods such as ML to predict their properties. These results are expected to provide means for rational, first-principles design of UHP mixtures.
ContributorsFord, Emily Lucile (Author) / Neithalath, Narayanan (Thesis advisor) / Rajan, Subramaniam D. (Committee member) / Mobasher, Barzin (Committee member) / Chawla, Nikhilesh (Committee member) / Hoover, Christian G. (Committee member) / Maneparambil, Kailas (Committee member) / Arizona State University (Publisher)
Created2020
Description
Imitation learning is a promising methodology for teaching robots how to physically interact and collaborate with human partners. However, successful interaction requires complex coordination in time and space, i.e., knowing what to do as well as when to do it. This dissertation introduces Bayesian Interaction Primitives, a probabilistic imitation learning framework which establishes a conceptual and theoretical relationship between human-robot interaction (HRI) and simultaneous localization and mapping. In particular, it is established that HRI can be viewed through the lens of recursive filtering in time and space. In turn, this relationship allows one to leverage techniques from an existing, mature field and develop a powerful new formulation which enables multimodal spatiotemporal inference in collaborative settings involving two or more agents. Through the development of exact and approximate variations of this method, it is shown in this work that it is possible to learn complex real-world interactions in a wide variety of settings, including tasks such as handshaking, cooperative manipulation, catching, hugging, and more.
ContributorsCampbell, Joseph (Author) / Ben Amor, Heni (Thesis advisor) / Fainekos, Georgios (Thesis advisor) / Yamane, Katsu (Committee member) / Kambhampati, Subbarao (Committee member) / Arizona State University (Publisher)
Created2021
Description
Many real-world engineering problems require simulations to evaluate the design objectives and constraints. Often, due to the complexity of the system model, simulations can be prohibitive in terms of computation time. One approach to overcome this issue is to construct a surrogate model, which approximates the original model. The focus of this work is on the data-driven surrogate models, in which empirical approximations of the output are performed given the input parameters. Recently neural networks (NN) have re-emerged as a popular method for constructing data-driven surrogate models. Although, NNs have achieved excellent accuracy and are widely used, they pose their own challenges. This work addresses two common challenges, the need for: (1) hardware acceleration and (2) uncertainty quantification (UQ) in the presence of input variability. The high demand in the inference phase of deep NNs in cloud servers/edge devices calls for the design of low power custom hardware accelerators. The first part of this work describes the design of an energy-efficient long short-term memory (LSTM) accelerator. The overarching goal is to aggressively reduce the power consumption and area of the LSTM components using approximate computing, and then use architectural level techniques to boost the performance. The proposed design is synthesized and placed and routed as an application-specific integrated circuit (ASIC). The results demonstrate that this accelerator is 1.2X and 3.6X more energy-efficient and area-efficient than the baseline LSTM. In the second part of this work, a robust framework is developed based on an alternate data-driven surrogate model referred to as polynomial chaos expansion (PCE) for addressing UQ. In contrast to many existing approaches, no assumptions are made on the elements of the function space and UQ is a function of the expansion coefficients. Moreover, the sensitivity of the output with respect to any subset of the input variables can be computed analytically by post-processing the PCE coefficients. This provides a systematic and incremental method to pruning or changing the order of the model. This framework is evaluated on several real-world applications from different domains and is extended for classification tasks as well.
ContributorsAzari, Elham (Author) / Vrudhula, Sarma (Thesis advisor) / Fainekos, Georgios (Committee member) / Ren, Fengbo (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2021