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.
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- Genre: Doctoral Dissertation
- Creators: Shen, Wei
- Creators: Fainekos, Georgios
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.
This dissertation includes a detailed study of DSU correctness and automatic state mapping for server programs with an established user base. At first, the dissertation presents the formal treatment of DSU correctness and the state mapping problem. Then the dissertation presents an argument that for programs with an established user base, dynamic updates must be backward compatible. The dissertation next presents a general definition of backward compatibility that specifies the allowed changes in program interaction between an old version and a new version and identified patterns of code evolution that results in backward compatible behavior. Thereafter the dissertation presents formal definitions of these patterns together with proof that any changes to programs in these patterns will result in backward compatible update. To show the applicability of the results, the dissertation presents SitBack, a program analysis tool that has an old version program and a new one as input and computes a partial state mapping under the assumption that the new version is backward compatible with the old version.
SitBack does not handle all kinds of changes and it reports to the user in incomplete part of a state mapping. The dissertation presents a detailed evaluation of SitBack which shows that the methodology of automatic state mapping is promising in deal with real world program updates. For example, SitBack produces state mappings for 17-75% of the changed functions. Furthermore, SitBack generates automatic state mapping that leads to successful DSU. In conclusion, the study presented in this dissertation does assist developers in developing state mappings for DSU by automating the construction of state mappings with a correctness guarantee, which helps the adoption of DSU ultimately.
A complex system such as Network-on-Chip (NoC) may benefit from incremental design stages. Current design methods for NoC rely on multiple models developed using various modeling frameworks. It is useful to develop frameworks that can formalize the relationships among these models. Fine-grain models are derived using their coarse-grain counterparts. Moreover, validation and verification capability at various design stages enabled through disciplined model conversion is very beneficial.
In this research, Multiresolution Modeling (MRM) is used for system level design of NoC. MRM aids in creating a family of models at different levels of scale and complexity with well-formed relationships. In addition, a variant of the Discrete Event System Specification (DEVS) formalism is proposed which supports model checking. Hierarchical models of Network-on-Chip components may be created at different resolutions while each model can be validated using discrete-event simulation and verified via state exploration. System property expressions are defined in the DEVS language and developed as Transducers which can be applied seamlessly for model checking and simulation purposes.
Multiresolution Modeling with verification and validation capabilities of this framework complement one another. MRM manages the scale and complexity of models which in turn can reduces V&V time and effort and conversely the V&V helps ensure correctness of models at multiple resolutions. This framework is realized through extending the DEVS-Suite simulator and its applicability demonstrated for exemplar NoC models.
本研究聚焦冷链物流产业园金融服务助力冷链物流企业发展问题,主要研究内容包括:第一,基于产融结合理论,梳理冷链物流企业与产业园之间关系,从供需两侧探索冷链物流企业和产业园的金融服务的范围、类型和特点。第二,基于平台理论,构建冷链物流企业采纳产业园金融服务的研究模型,探索金融服务影响冷链物流企业的经营因素,分析冷链物流企业采纳产业园金融服务的因素和途径。第三,基于信息不对称理论,关切信息技术支持和知识分享在冷链物流企业采纳产业园提供金融服务过程中的调节作用。同时,梳理产业园提供金融服务可能面临哪些风险,制订冷链物流企业入驻园区的标准,防范风险。
本文运用实证研究方法,通过对国内18家冷链物流相关的产业园、物流园、冷链物流、商贸流通、金融等企业实地考察和专家访谈基础上,拟定问卷并对268家企业进行调查收集数据,使用结构方程模型进行假设检验。研究发现:金融服务的有形性、可靠性、移情性、经济性对冷链物流企业采纳产业园金融服务影响显著,而响应性的影响不显著。同时
信息技术支持和知识共享的调节作用不显著。最后,针对产业园吸引冷链物流企业提供金融服务、冷链物流企业采纳产业园金融服务的风险,提出防范策略措施。