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.
Humans desire compliant robots to safely interact in dynamic environments
associated with daily activities. As surface electromyography non-invasively measures
limb motion intent and correlates with joint stiness during co-contractions,
it has been identied as a candidate for naturally controlling such robots. However,
state-of-the-art myoelectric interfaces have struggled to achieve both enhanced
functionality and long-term reliability. As demands in myoelectric interfaces trend
toward simultaneous and proportional control of compliant robots, robust processing
of multi-muscle coordinations, or synergies, plays a larger role in the success of the
control scheme. This dissertation presents a framework enhancing the utility of myoelectric
interfaces by exploiting motor skill learning and
exible muscle synergies for
reliable long-term simultaneous and proportional control of multifunctional compliant
robots. The interface is learned as a new motor skill specic to the controller,
providing long-term performance enhancements without requiring any retraining or
recalibration of the system. Moreover, the framework oers control of both motion
and stiness simultaneously for intuitive and compliant human-robot interaction. The
framework is validated through a series of experiments characterizing motor learning
properties and demonstrating control capabilities not seen previously in the literature.
The results validate the approach as a viable option to remove the trade-o
between functionality and reliability that have hindered state-of-the-art myoelectric
interfaces. Thus, this research contributes to the expansion and enhancement of myoelectric
controlled applications beyond commonly perceived anthropomorphic and
\intuitive control" constraints and into more advanced robotic systems designed for
everyday tasks.
emotion dimensions like arousal and valence are gaining popularity within the research
community due to an increase in the availability of datasets annotated with these
emotions. Unlike the discrete emotions, continuous emotions allow modeling of subtle
and complex affect dimensions but are difficult to predict.
Dimension reduction techniques form the core of emotion recognition systems and
help create a new feature space that is more helpful in predicting emotions. But these
techniques do not necessarily guarantee a better predictive capability as most of them
are unsupervised, especially in regression learning. In emotion recognition literature,
supervised dimension reduction techniques have not been explored much and in this
work a solution is provided through probabilistic topic models. Topic models provide
a strong probabilistic framework to embed new learning paradigms and modalities.
In this thesis, the graphical structure of Latent Dirichlet Allocation has been explored
and new models tuned to emotion recognition and change detection have been built.
In this work, it has been shown that the double mixture structure of topic models
helps 1) to visualize feature patterns, and 2) to project features onto a topic simplex
that is more predictive of human emotions, when compared to popular techniques
like PCA and KernelPCA. Traditionally, topic models have been used on quantized
features but in this work, a continuous topic model called the Dirichlet Gaussian
Mixture model has been proposed. Evaluation of DGMM has shown that while modeling
videos, performance of LDA models can be replicated even without quantizing
the features. Until now, topic models have not been explored in a supervised context
of video analysis and thus a Regularized supervised topic model (RSLDA) that
models video and audio features is introduced. RSLDA learning algorithm performs
both dimension reduction and regularized linear regression simultaneously, and has outperformed supervised dimension reduction techniques like SPCA and Correlation
based feature selection algorithms. In a first of its kind, two new topic models, Adaptive
temporal topic model (ATTM) and SLDA for change detection (SLDACD) have
been developed for predicting concept drift in time series data. These models do not
assume independence of consecutive frames and outperform traditional topic models
in detecting local and global changes respectively.