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 - 10 of 96
Description
Myoelectric control is lled with potential to signicantly change human-robot interaction.
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.
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.
ContributorsIson, Mark (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Greger, Bradley (Committee member) / Berman, Spring (Committee member) / Sugar, Thomas (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
Description
This thesis studies recommendation systems and considers joint sampling and learning. Sampling in recommendation systems is to obtain users' ratings on specific items chosen by the recommendation platform, and learning is to infer the unknown ratings of users to items given the existing data. In this thesis, the problem is formulated as an adaptive matrix completion problem in which sampling is to reveal the unknown entries of a $U\times M$ matrix where $U$ is the number of users, $M$ is the number of items, and each entry of the $U\times M$ matrix represents the rating of a user to an item. In the literature, this matrix completion problem has been studied under a static setting, i.e., recovering the matrix based on a set of partial ratings. This thesis considers both sampling and learning, and proposes an adaptive algorithm. The algorithm adapts its sampling and learning based on the existing data. The idea is to sample items that reveal more information based on the previous sampling results and then learn based on clustering. Performance of the proposed algorithm has been evaluated using simulations.
ContributorsZhu, Lingfang (Author) / Xue, Guoliang (Thesis advisor) / He, Jingrui (Committee member) / Tong, Hanghang (Committee member) / Arizona State University (Publisher)
Created2015
Description
The amount of time series data generated is increasing due to the integration of sensor technologies with everyday applications, such as gesture recognition, energy optimization, health care, video surveillance. The use of multiple sensors simultaneously
for capturing different aspects of the real world attributes has also led to an increase in dimensionality from uni-variate to multi-variate time series. This has facilitated richer data representation but also has necessitated algorithms determining similarity between two multi-variate time series for search and analysis.
Various algorithms have been extended from uni-variate to multi-variate case, such as multi-variate versions of Euclidean distance, edit distance, dynamic time warping. However, it has not been studied how these algorithms account for asynchronous in time series. Human gestures, for example, exhibit asynchrony in their patterns as different subjects perform the same gesture with varying movements in their patterns at different speeds. In this thesis, we propose several algorithms (some of which also leverage metadata describing the relationships among the variates). In particular, we present several techniques that leverage the contextual relationships among the variates when measuring multi-variate time series similarities. Based on the way correlation is leveraged, various weighing mechanisms have been proposed that determine the importance of a dimension for discriminating between the time series as giving the same weight to each dimension can led to misclassification. We next study the robustness of the considered techniques against different temporal asynchronies, including shifts and stretching.
Exhaustive experiments were carried on datasets with multiple types and amounts of temporal asynchronies. It has been observed that accuracy of algorithms that rely on data to discover variate relationships can be low under the presence of temporal asynchrony, whereas in case of algorithms that rely on external metadata, robustness against asynchronous distortions tends to be stronger. Specifically, algorithms using external metadata have better classification accuracy and cluster separation than existing state-of-the-art work, such as EROS, PCA, and naive dynamic time warping.
for capturing different aspects of the real world attributes has also led to an increase in dimensionality from uni-variate to multi-variate time series. This has facilitated richer data representation but also has necessitated algorithms determining similarity between two multi-variate time series for search and analysis.
Various algorithms have been extended from uni-variate to multi-variate case, such as multi-variate versions of Euclidean distance, edit distance, dynamic time warping. However, it has not been studied how these algorithms account for asynchronous in time series. Human gestures, for example, exhibit asynchrony in their patterns as different subjects perform the same gesture with varying movements in their patterns at different speeds. In this thesis, we propose several algorithms (some of which also leverage metadata describing the relationships among the variates). In particular, we present several techniques that leverage the contextual relationships among the variates when measuring multi-variate time series similarities. Based on the way correlation is leveraged, various weighing mechanisms have been proposed that determine the importance of a dimension for discriminating between the time series as giving the same weight to each dimension can led to misclassification. We next study the robustness of the considered techniques against different temporal asynchronies, including shifts and stretching.
Exhaustive experiments were carried on datasets with multiple types and amounts of temporal asynchronies. It has been observed that accuracy of algorithms that rely on data to discover variate relationships can be low under the presence of temporal asynchrony, whereas in case of algorithms that rely on external metadata, robustness against asynchronous distortions tends to be stronger. Specifically, algorithms using external metadata have better classification accuracy and cluster separation than existing state-of-the-art work, such as EROS, PCA, and naive dynamic time warping.
ContributorsGarg, Yash (Author) / Candan, Kasim Selcuk (Thesis advisor) / Chowell-Punete, Gerardo (Committee member) / Tong, Hanghang (Committee member) / Davulcu, Hasan (Committee member) / Sapino, Maria Luisa (Committee member) / Arizona State University (Publisher)
Created2015
Description
Micro-blogging platforms like Twitter have become some of the most popular sites for people to share and express their views and opinions about public events like debates, sports events or other news articles. These social updates by people complement the written news articles or transcripts of events in giving the popular public opinion about these events. So it would be useful to annotate the transcript with tweets. The technical challenge is to align the tweets with the correct segment of the transcript. ET-LDA by Hu et al [9] addresses this issue by modeling the whole process with an LDA-based graphical model. The system segments the transcript into coherent and meaningful parts and also determines if a tweet is a general tweet about the event or it refers to a particular segment of the transcript. One characteristic of the Hu et al’s model is that it expects all the data to be available upfront and uses batch inference procedure. But in many cases we find that data is not available beforehand, and it is often streaming. In such cases it is infeasible to repeatedly run the batch inference algorithm. My thesis presents an online inference algorithm for the ET-LDA model, with a continuous stream of tweet data and compare their runtime and performance to existing algorithms.
ContributorsAcharya, Anirudh (Author) / Kambhampati, Subbarao (Thesis advisor) / Davulcu, Hasan (Committee member) / Tong, Hanghang (Committee member) / Arizona State University (Publisher)
Created2015
Description
Online social media is popular due to its real-time nature, extensive connectivity and a large user base. This motivates users to employ social media for seeking information by reaching out to their large number of social connections. Information seeking can manifest in the form of requests for personal and time-critical information or gathering perspectives on important issues. Social media platforms are not designed for resource seeking and experience large volumes of messages, leading to requests not being fulfilled satisfactorily. Designing frameworks to facilitate efficient information seeking in social media will help users to obtain appropriate assistance for their needs
and help platforms to increase user satisfaction.
Several challenges exist in the way of facilitating information seeking in social media. First, the characteristics affecting the user’s response time for a question are not known, making it hard to identify prompt responders. Second, the social context in which the user has asked the question has to be determined to find personalized responders. Third, users employ rhetorical requests, which are statements having the
syntax of questions, and systems assisting information seeking might be hindered from focusing on genuine questions. Fouth, social media advocates of political campaigns employ nuanced strategies to prevent users from obtaining balanced perspectives on
issues of public importance.
Sociological and linguistic studies on user behavior while making or responding to information seeking requests provides concepts drawing from which we can address these challenges. We propose methods to estimate the response time of the user for a given question to identify prompt responders. We compute the question specific social context an asker shares with his social connections to identify personalized responders. We draw from theories of political mobilization to model the behaviors arising from the strategies of people trying to skew perspectives. We identify rhetorical questions by modeling user motivations to post them.
and help platforms to increase user satisfaction.
Several challenges exist in the way of facilitating information seeking in social media. First, the characteristics affecting the user’s response time for a question are not known, making it hard to identify prompt responders. Second, the social context in which the user has asked the question has to be determined to find personalized responders. Third, users employ rhetorical requests, which are statements having the
syntax of questions, and systems assisting information seeking might be hindered from focusing on genuine questions. Fouth, social media advocates of political campaigns employ nuanced strategies to prevent users from obtaining balanced perspectives on
issues of public importance.
Sociological and linguistic studies on user behavior while making or responding to information seeking requests provides concepts drawing from which we can address these challenges. We propose methods to estimate the response time of the user for a given question to identify prompt responders. We compute the question specific social context an asker shares with his social connections to identify personalized responders. We draw from theories of political mobilization to model the behaviors arising from the strategies of people trying to skew perspectives. We identify rhetorical questions by modeling user motivations to post them.
ContributorsRanganath, Suhas (Author) / Liu, Huan (Thesis advisor) / Lai, Ying-Cheng (Thesis advisor) / Tong, Hanghang (Committee member) / Vaculin, Roman (Committee member) / Arizona State University (Publisher)
Created2017
Description
The interaction between humans and robots has become an important area of research as the diversity of robotic applications has grown. The cooperation of a human and robot to achieve a goal is an important area within the physical human-robot interaction (pHRI) field. The expansion of this field is toward moving robotics into applications in unstructured environments. When humans cooperate with each other, often there are leader and follower roles. These roles may change during the task. This creates a need for the robotic system to be able to exchange roles with the human during a cooperative task. The unstructured nature of the new applications in the field creates a need for robotic systems to be able to interact in six degrees of freedom (DOF). Moreover, in these unstructured environments, the robotic system will have incomplete information. This means that it will sometimes perform an incorrect action and control methods need to be able to correct for this. However, the most compelling applications for robotics are where they have capabilities that the human does not, which also creates the need for robotic systems to be able to correct human action when it detects an error. Activity in the brain precedes human action. Utilizing this activity in the brain can classify the type of interaction desired by the human. For this dissertation, the cooperation between humans and robots is improved in two main areas. First, the ability for electroencephalogram (EEG) to determine the desired cooperation role with a human is demonstrated with a correct classification rate of 65%. Second, a robotic controller is developed to allow the human and robot to cooperate in six DOF with asymmetric role exchange. This system allowed human-robot cooperation to perform a cooperative task at 100% correct rate. High, medium, and low levels of robotic automation are shown to affect performance, with the human making the greatest numbers of errors when the robotic system has a medium level of automation.
ContributorsWhitsell, Bryan Douglas (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Polygerinos, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2017
Description
Online learning platforms such as massive online open courses (MOOCs) and
intelligent tutoring systems (ITSs) have made learning more accessible and personalized. These systems generate unprecedented amounts of behavioral data and open the way for predicting students’ future performance based on their behavior, and for assessing their strengths and weaknesses in learning.
This thesis attempts to mine students’ working patterns using a programming problem solving system, and build predictive models to estimate students’ learning. QuizIT, a programming solving system, was used to collect students’ problem-solving activities from a lower-division computer science programming course in 2016 Fall semester. Differential mining techniques were used to extract frequent patterns based on each activity provided details about question’s correctness, complexity, topic, and time to represent students’ behavior. These patterns were further used to build classifiers to predict students’ performances.
Seven main learning behaviors were discovered based on these patterns, which provided insight into students’ metacognitive skills and thought processes. Besides predicting students’ performance group, the classification models also helped in finding important behaviors which were crucial in determining a student’s positive or negative performance throughout the semester.
intelligent tutoring systems (ITSs) have made learning more accessible and personalized. These systems generate unprecedented amounts of behavioral data and open the way for predicting students’ future performance based on their behavior, and for assessing their strengths and weaknesses in learning.
This thesis attempts to mine students’ working patterns using a programming problem solving system, and build predictive models to estimate students’ learning. QuizIT, a programming solving system, was used to collect students’ problem-solving activities from a lower-division computer science programming course in 2016 Fall semester. Differential mining techniques were used to extract frequent patterns based on each activity provided details about question’s correctness, complexity, topic, and time to represent students’ behavior. These patterns were further used to build classifiers to predict students’ performances.
Seven main learning behaviors were discovered based on these patterns, which provided insight into students’ metacognitive skills and thought processes. Besides predicting students’ performance group, the classification models also helped in finding important behaviors which were crucial in determining a student’s positive or negative performance throughout the semester.
ContributorsMandal, Partho Pratim (Author) / Hsiao, I-Han (Thesis advisor) / Davulcu, Hasan (Committee member) / Tong, Hanghang (Committee member) / Arizona State University (Publisher)
Created2017
Description
Research literature was reviewed to find recommended tools and technologies for operating Unmanned Aerial Systems (UAS) fleets in an urban environment. However, restrictive legislation prohibits fully autonomous flight without an operator. Existing literature covers considerations for operating UAS fleets in a controlled environment, with an emphasis on the effect different networking approaches have on the topology of the UAS network. The primary network topology used to implement UAS communications is 802.11 protocols, which can transmit telemetry and a video stream using off the shelf hardware. Other implementations use low-frequency radios for long distance communication, or higher latency 4G LTE modems to access existing network infrastructure. However, a gap remains testing different network topologies outside of a controlled environment.
With the correct permits in place, further research can explore how different UAS network topologies behave in an urban environment when implemented with off the shelf UAS hardware. In addition to testing different network topologies, this thesis covers the implementation of building a secure, scalable system using modern cloud computation tools and services capable of supporting a variable number of UAS. The system also supports the end-to-end simulation of the system considering factors such as battery life and realistic UAS kinematics. The implementation of the system leads to new findings needed to deploy UAS fleets in urban environments.
With the correct permits in place, further research can explore how different UAS network topologies behave in an urban environment when implemented with off the shelf UAS hardware. In addition to testing different network topologies, this thesis covers the implementation of building a secure, scalable system using modern cloud computation tools and services capable of supporting a variable number of UAS. The system also supports the end-to-end simulation of the system considering factors such as battery life and realistic UAS kinematics. The implementation of the system leads to new findings needed to deploy UAS fleets in urban environments.
ContributorsD'Souza, Daniel (Author) / Panchanathan, Sethuraman (Thesis advisor) / Berman, Spring (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)
Created2018
Description
This work considers the design of separating input signals in order to discriminate among a finite number of uncertain nonlinear models. Each nonlinear model corresponds to a system operating mode, unobserved intents of other drivers or robots, or to fault types or attack strategies, etc., and the separating inputs are designed such that the output trajectories of all the nonlinear models are guaranteed to be distinguishable from each other under any realization of uncertainties in the initial condition, model discrepancies or noise. I propose a two-step approach. First, using an optimization-based approach, we over-approximate nonlinear dynamics by uncertain affine models, as abstractions that preserve all its system behaviors such that any discrimination guarantees for the affine abstraction also hold for the original nonlinear system. Then, I propose a novel solution in the form of a mixed-integer linear program (MILP) to the active model discrimination problem for uncertain affine models, which includes the affine abstraction and thus, the nonlinear models. Finally, I demonstrate the effectiveness of our approach for identifying the intention of other vehicles in a highway lane changing scenario. For the abstraction, I explore two approaches. In the first approach, I construct the bounding planes using a Mixed-Integer Nonlinear Problem (MINLP) formulation of the given system with appropriately designed constraints. For the second approach, I solve a linear programming (LP) problem that over-approximates the nonlinear function at only the grid points of a mesh with a given resolution and then accounting for the entire domain via an appropriate correction term. To achieve a desired approximation accuracy, we also iteratively subdivide the domain into subregions. This method applies to nonlinear functions with different degrees of smoothness, including Lipschitz continuous functions, and improves on existing approaches by enabling the use of tighter bounds. Finally, we compare the effectiveness of this approach with the existing optimization-based methods in simulation and illustrate its applicability for estimator design.
ContributorsSingh, Kanishka Raj (Author) / Yong, Sze Zheng (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2018
Description
In this thesis, different H∞ observers for time-delay systems are implemented and
their performances are compared. Equations that can be used to calculate observer gains are mentioned. Different methods that can be used to implement observers for time-delay systems are illustrated. Various stable and unstable systems are used and H∞ bounds are calculated using these observer designing methods. Delays are assumed to be known constants for all systems. H∞ gains are calculated numerically using disturbance signals and performances of observers are compared.
The primary goal of this thesis is to implement the observer for Time Delay Systems designed using SOS and compare its performance with existing H∞ optimal observers. These observers are more general than other observers for time-delay systems as they make corrections to the delayed state as well along with the present state. The observer dynamics can be represented by an ODE coupled with a PDE. Results shown in this thesis show that this type of observers performs better than other H∞ observers. Sub-optimal observer-based state feedback system is also generated and simulated using the SOS observer. The simulation results show that the closed loop system converges very quickly, and the observer can be used to design full state-feedback closed loop system.
their performances are compared. Equations that can be used to calculate observer gains are mentioned. Different methods that can be used to implement observers for time-delay systems are illustrated. Various stable and unstable systems are used and H∞ bounds are calculated using these observer designing methods. Delays are assumed to be known constants for all systems. H∞ gains are calculated numerically using disturbance signals and performances of observers are compared.
The primary goal of this thesis is to implement the observer for Time Delay Systems designed using SOS and compare its performance with existing H∞ optimal observers. These observers are more general than other observers for time-delay systems as they make corrections to the delayed state as well along with the present state. The observer dynamics can be represented by an ODE coupled with a PDE. Results shown in this thesis show that this type of observers performs better than other H∞ observers. Sub-optimal observer-based state feedback system is also generated and simulated using the SOS observer. The simulation results show that the closed loop system converges very quickly, and the observer can be used to design full state-feedback closed loop system.
ContributorsTalati, Rushabh Vikram (Author) / Peet, Matthew (Thesis advisor) / Berman, Spring (Committee member) / Rivera, Daniel (Committee member) / Arizona State University (Publisher)
Created2018