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 topic studied in this thesis is resource allocation in cloud networks. Cloud computing heralded an era where resources (such as computation and storage) can be scaled up and down elastically and on demand. This flexibility is attractive for its cost effectiveness: the cloud resource price depends on the actual utilization over time. This thesis studies two critical problems in cloud networks, focusing on the economical aspects of the resource allocation in the cloud/virtual networks, and proposes six algorithms to address the resource allocation problems for different discount models. The first problem attends a scenario where the virtual network provider offers different contracts to the service provider. Four algorithms for resource contract migration are proposed under two pricing models: Pay-as-You-Come and Pay-as-You-Go. The second problem explores a scenario where a cloud provider offers k contracts each with a duration and a rate respectively and a customer buys these contracts in order to satisfy its resource demand. This work shows that this problem can be seen as a 2-dimensional generalization of the classic online parking permit problem, and present a k-competitive online algorithm and an optimal online algorithm.
The second topic studied in this thesis is to explore how resource allocation and purchasing strategies work in our daily life. For example, is it worth buying a Yoga pass which costs USD 100 for ten entries, although it will expire at the end of this year? Decisions like these are part of our daily life, yet, not much is known today about good online strategies to buy discount vouchers with expiration dates. This work hence introduces a Discount Voucher Purchase Problem (DVPP). It aims to optimize the strategies for buying discount vouchers, i.e., coupons, vouchers, groupons which are valid only during a certain time period. The DVPP comes in three flavors: (1) Once Expire Lose Everything (OELE): Vouchers lose their entire value after expiration. (2) Once Expire Lose Discount (OELD): Vouchers lose their discount value after expiration. (3) Limited Purchasing Window (LPW): Vouchers have the property of OELE and can only be bought during a certain time window.
This work explores online algorithms with a provable competitive ratio against a clairvoyant offline algorithm, even in the worst case. In particular, this work makes the following contributions: we present a 4-competitive algorithm for OELE, an 8-competitive algorithm for OELD, and a lower bound for LPW. We also present an optimal offline algorithm for OELE and LPW, and show it is a 2-approximation solution for OELD.