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.
The first part of this thesis addresses applying the SVHeat finite element modeling soft-ware to create a model of a GCHP system. Using real-world data from a prototype solar-water heating system coupled with a ground-source heat exchanger installed in Menlo Park, California, a relatively accurate model was created to represent a novel GCHP panel system installed in a shallow vertical trench. A sensitivity analysis was performed to evaluate the accuracy of the calibrated model.
The second part of the thesis involved adapting the calibrated model to represent an ap-proximation of soil conditions in arid climate regions, using a range of thermal properties for dry soils. The effectiveness of the GCHP in the arid climate region model was then evaluated by comparing the thermal flux from the panel into the subsurface profile to that of the prototype GCHP. It was shown that soils in arid climate regions are particularly inefficient at heat dissipation, but that it is highly dependent on the thermal conductivity inputted into the model. This demonstrates the importance of proper site characterization in arid climate regions. Finally, several soil improvement methods were researched to evaluate their potential for use in improving the effectiveness of shallow horizontal GCHP systems in arid climate regions.