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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- Creators: Shen, Wei
- Creators: Sugar, Thomas
- Creators: Abbaszadegan, Morteza
Description
The development of advanced, anthropomorphic artificial hands aims to provide upper extremity amputees with improved functionality for activities of daily living. However, many state-of-the-art hands have a large number of degrees of freedom that can be challenging to control in an intuitive manner. Automated grip responses could be built into artificial hands in order to enhance grasp stability and reduce the cognitive burden on the user. To this end, three studies were conducted to understand how human hands respond, passively and actively, to unexpected perturbations of a grasped object along and about different axes relative to the hand. The first study investigated the effect of magnitude, direction, and axis of rotation on precision grip responses to unexpected rotational perturbations of a grasped object. A robust "catch-up response" (a rapid, pulse-like increase in grip force rate previously reported only for translational perturbations) was observed whose strength scaled with the axis of rotation. Using two haptic robots, we then investigated the effects of grip surface friction, axis, and direction of perturbation on precision grip responses for unexpected translational and rotational perturbations for three different hand-centric axes. A robust catch-up response was observed for all axes and directions for both translational and rotational perturbations. Grip surface friction had no effect on the stereotypical catch-up response. Finally, we characterized the passive properties of the precision grip-object system via robot-imposed impulse perturbations. The hand-centric axis associated with the greatest translational stiffness was different than that for rotational stiffness. This work expands our understanding of the passive and active features of precision grip, a hallmark of human dexterous manipulation. Biological insights such as these could be used to enhance the functionality of artificial hands and the quality of life for upper extremity amputees.
ContributorsDe Gregorio, Michael (Author) / Santos, Veronica J. (Thesis advisor) / Artemiadis, Panagiotis K. (Committee member) / Santello, Marco (Committee member) / Sugar, Thomas (Committee member) / Helms Tillery, Stephen I. (Committee member) / Arizona State University (Publisher)
Created2013
Description
This research is focused on two separate but related topics. The first uses an electroencephalographic (EEG) brain-computer interface (BCI) to explore the phenomenon of motor learning transfer. The second takes a closer look at the EEG-BCI itself and tests an alternate way of mapping EEG signals into machine commands. We test whether motor learning transfer is more related to use of shared neural structures between imagery and motor execution or to more generalized cognitive factors. Using an EEG-BCI, we train one group of participants to control the movements of a cursor using embodied motor imagery. A second group is trained to control the cursor using abstract motor imagery. A third control group practices moving the cursor using an arm and finger on a touch screen. We hypothesized that if motor learning transfer is related to the use of shared neural structures then the embodied motor imagery group would show more learning transfer than the abstract imaging group. If, on the other hand, motor learning transfer results from more general cognitive processes, then the abstract motor imagery group should also demonstrate motor learning transfer to the manual performance of the same task. Our findings support that motor learning transfer is due to the use of shared neural structures between imaging and motor execution of a task. The abstract group showed no motor learning transfer despite being better at EEG-BCI control than the embodied group. The fact that more participants were able to learn EEG-BCI control using abstract imagery suggests that abstract imagery may be more suitable for EEG-BCIs for some disabilities, while embodied imagery may be more suitable for others. In Part 2, EEG data collected in the above experiment was used to train an artificial neural network (ANN) to map EEG signals to machine commands. We found that our open-source ANN using spectrograms generated from SFFTs is fundamentally different and in some ways superior to Emotiv's proprietary method. Our use of novel combinations of existing technologies along with abstract and embodied imagery facilitates adaptive customization of EEG-BCI control to meet needs of individual users.
Contributorsda Silva, Flavio J. K (Author) / Mcbeath, Michael K (Thesis advisor) / Helms Tillery, Stephen (Committee member) / Presson, Clark (Committee member) / Sugar, Thomas (Committee member) / Arizona State University (Publisher)
Created2013
Description
The National Research Council 2011 report lists quantifying the extent of de facto (or unplanned) potable reuse in the U.S. as the top research need associated with assessing the potential for expanding the nations water supply through reuse of municipal wastewater. Efforts to identify the significance and potential health impacts of de facto water reuse are impeded by out dated information regarding the contribution of municipal wastewater effluent to potable water supplies. This project aims to answer this research need. The overall goal of the this project is to quantify the extent of de facto reuse by developing a model that estimates the amount of wastewater effluent that is present within drinking water treatment plants; and to use the model in conjunction with a survey to help assess public perceptions. The four-step approach to accomplish this goal includes: (1) creating a GIS-based model coupled with Python programming; (2) validating the model with field studies by analyzing sucralose as a wastewater tracer; (3) estimating the percentage of wastewater in raw drinking water sources under varying streamflow conditions; (4) and assessing through a social survey the perceptions of the general public relating to acceptance and occurrence of de facto reuse. The resulting De Facto Reuse in our Nations Consumable Supply (DRINCS) Model, estimates that treated municipal wastewater is present at nearly 50% of drinking water treatment plant intake sites serving greater than 10,000 people (N=2,056). Contrary to the high frequency of occurrence, the magnitude of occurrence is relatively low with 50% of impacted intakes yielding less than 1% de facto reuse under average streamflow conditions. Model estimates increase under low flow conditions (modeled by Q95), in several cases treated wastewater makes up 100% of the water supply. De facto reuse occurs at levels that surpass what is publically perceived in the three cities of Atlanta, GA, Philadelphia, PA, and Phoenix, AZ. Respondents with knowledge of de facto reuse occurrence are 10 times more likely to have a high acceptance (greater than 75%) of treated wastewater at their home tap.
ContributorsRice, Jacelyn (Author) / Westerhoff, Paul (Thesis advisor) / Abbaszadegan, Morteza (Committee member) / Vivoni, Enrique (Committee member) / Wutich, Amber (Committee member) / Arizona State University (Publisher)
Created2014
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
In accordance with the Principal Agent Theory, Property Right Theory, Incentive Theory, and Human Capital Theory, firms face agency problems due to “separation of ownership and management”, which call for effective corporate governance. Ownership structure is a core element of the corporate governance. The differences in ownership structures thus may result in differential incentives in governance through the selection of senior management and in the design of senior management compensation system. This thesis investigates four firms with four different types of ownership structures: a public listed firm with the controlling interest by the state, a public listed firm with a non-state-owned controlling interest, a public listed firm a family-owned controlling interest, and a Sino-foreign joint venture firm. By using a case study approach, I focus on two dimensions of ownership structure characteristics – ownership diversification and differences in property rights so as to document whether there are systematic differences in governance participation and executive compensation design. Specifically, I focused on whether such differences are reflected in management selection (which is linked to adverse selection and moral hazard problems) and in compensation design (the choices of performance measurements, performance pay, and in stock option or restricted stock). The results are consistent with my expectation – the nature of ownership structure does affect senior management compensation design. Policy implications are discussed accordingly.
ContributorsGao, Shenghua (Author) / Pei, Ker-Wei (Thesis advisor) / Li, Feng (Committee member) / Shen, Wei (Committee member) / Arizona State University (Publisher)
Created2015
Description
Bacteria of the Legionella genus are a water-borne pathogen of increasing concern due to being responsible for more annual drinking water related disease outbreaks in the United States than all other microbes combined. Unfortunately, the development of public health policies concerning Legionella has impeded by several key factors, including a paucity of data on their interactions and growth requirements in water distribution networks, a poor understanding of potential transmission sources for legionellosis, and limitations in current methodology for the characterization of these pathogens. To address these issues, a variety of research approaches were taken. By measuring Legionella survival in tap water, association in pipe material biofilms, population dynamics in a model distribution system, and occurrence in drinking water distribution system biofilms, key aspects of Legionella ecology in drinking water systems were revealed. Through a series of experiments qualitatively and quantitatively examining the growth of Legionella via nutrients obtained from several water sources, environmental nutritional requirements and capability for growth in the absence of host organisms were demonstrated. An examination of automobile windshield washer fluid as a possible source of legionellosis transmission revealed Legionella survival in certain windshield washer fluids, growth within washer fluid reservoirs, high levels and frequency of contamination in washer fluid reservoirs, and the presence of viable cells in washer fluid spray, suggesting the potential for exposure to Legionella from this novel source. After performing a systematic and quantitative analysis of methodology optimization for the analysis of Legionella cells via matrix-assisted laser desorption/ionization time-of-flight mass spectrometry, several strains of this microbe isolated from separated and varied environmental water sampling sites were distinctly typed, demonstrating a potential application of this technology for the characterization of Legionella. The results from this study provide novel insight and methodology relevant to the development of programs for the monitoring and treatment of Legionella in drinking water systems.
ContributorsSchwake, David Otto (Author) / Abbaszadegan, Morteza (Thesis advisor) / Alum, Absar (Committee member) / Fox, Peter (Committee member) / Stout, Valerie (Committee member) / Arizona State University (Publisher)
Created2014
Description
Since its first report in 1976, many outbreaks of Legionella have been reported in the world. These outbreaks are a public health concern because of legionellosis, which cause Pontiac fever and Legionnaires disease. Legionnaires disease is a type of pneumonia responsible for the majority of the illness in the reported outbreaks. This study consists of an extensive literature review and experimental work on the aerosolization of Legionella and a bacterial surrogate under laboratory conditions. The literature review summarizes Legionella characteristics, legionellosis, potential sources of Legionella, disease outbreaks, collection and detection methodologies, environmental conditions for growth and survival of Legionella, Gaussian plume dispersion modeling, and recommendations for reducing potential Legionella outbreaks. The aerosolization and airborne dispersion of Legionella and E. coli was conducted separately inside of a closed environment. First, the bacterial cells were sprayed inside of an airtight box and then samples were collected using a microbial air sampler to measure the number of bacterial cells aerosolized and transported in air. Furthermore, a Gaussian plume dispersion model was used to estimate the dispersion under the experimental conditions and parameters. The concentration of Legionella was estimated for a person inhaling the air at three different distances away from the spray. The concentration of Legionella at distances of 0.1 km, 1 km, and 10 km away from the source was predicted to be 1.7x10-1, 2.2x10-3, and 2.6x10-5 CFU/m3, respectively.
ContributorsTaghdiri, Sepideh (Author) / Abbaszadegan, Morteza (Thesis advisor) / Fox, Peter (Committee member) / Estes, Robert (Committee member) / Arizona State University (Publisher)
Created2014
Description
Granular activated carbon (GAC) filters are final polishing step in the drinking water treatment systems for removal of dissolved organic carbon fractions. Generally filters are colonized by bacterial communities and their activity reduces biodegradable solutes allowing partial regeneration of GAC's adsorptive capacity. When the bacteria pass into the filtrate due to increased growth, microbiological quality of drinking water is compromised and regrowth in the distribution system occurs. Bacteria attached to carbon particles as biofilms or in conjugation with other bacteria were observed to be highly resistant to post filtration microbial mitigation techniques. Some of these bacteria were identified as pathogenic.
This study focuses on one such pathogen Legionella pneumophila which is resistant to environmental stressors and treatment conditions. It is also responsible for Legionnaires' disease outbreak through drinking water thus attracting attention of regulatory agencies. The work assessed the attachment and colonization of Legionella and heterotrophic bacteria in lab scale GAC media column filters. Quantification of Legionella and HPC in the influent, effluent, column's biofilms and on the GAC particles was performed over time using fluorescent microscopy and culture based techniques.
The results indicated gradual increase in the colonization of the GAC particles with HPC bacteria. Initially high number of Legionella cells were detected in the column effluent and were not detected on GAC suggesting low attachment of the cells to the particles potentially due to lack of any previous biofilms. With the initial colonization of the filter media by other bacteria the number of Legionella cells on the GAC particles and biofilms also increased. Presence of Legionella was confirmed in all the samples collected from the columns spiked with Legionella. Significant increase in the Legionella was observed in column's inner surface biofilm (0.25 logs up to 0.52 logs) and on GAC particles (0.42 logs up to 0.63 logs) after 2 months. Legionella and HPC attached to column's biofilm were higher than that on GAC particles indicating the strong association with biofilms. The bacterial concentration slowly increased in the effluent. This may be due to column's wall effect decreasing filter efficiency, possible exhaustion of GAC capacity over time and potential bacterial growth.
This study focuses on one such pathogen Legionella pneumophila which is resistant to environmental stressors and treatment conditions. It is also responsible for Legionnaires' disease outbreak through drinking water thus attracting attention of regulatory agencies. The work assessed the attachment and colonization of Legionella and heterotrophic bacteria in lab scale GAC media column filters. Quantification of Legionella and HPC in the influent, effluent, column's biofilms and on the GAC particles was performed over time using fluorescent microscopy and culture based techniques.
The results indicated gradual increase in the colonization of the GAC particles with HPC bacteria. Initially high number of Legionella cells were detected in the column effluent and were not detected on GAC suggesting low attachment of the cells to the particles potentially due to lack of any previous biofilms. With the initial colonization of the filter media by other bacteria the number of Legionella cells on the GAC particles and biofilms also increased. Presence of Legionella was confirmed in all the samples collected from the columns spiked with Legionella. Significant increase in the Legionella was observed in column's inner surface biofilm (0.25 logs up to 0.52 logs) and on GAC particles (0.42 logs up to 0.63 logs) after 2 months. Legionella and HPC attached to column's biofilm were higher than that on GAC particles indicating the strong association with biofilms. The bacterial concentration slowly increased in the effluent. This may be due to column's wall effect decreasing filter efficiency, possible exhaustion of GAC capacity over time and potential bacterial growth.
ContributorsSharma, Harsha (Author) / Abbaszadegan, Morteza (Thesis advisor) / Alum, Absar (Committee member) / Fox, Peter (Committee member) / Arizona State University (Publisher)
Created2014
Description
Research in microbial biofuels has dramatically increased over the last decade. The bulk of this research has focused on increasing the production yields of cyanobacteria and algal cells and improving extraction processes. However, there has been little to no research on the potential impact of viruses on the yields of these phototrophic microbes for biofuel production. Viruses have the potential to significantly reduce microbial populations and limit their growth rates. It is therefore important to understand how viruses affect phototrophic microbes and the prevalence of these viruses in the environment. For this study, phototrophic microbes were grown in glass bioreactors, under continuous light and aeration. Detection and quantification of viruses of both environmental and laboratory microbial strains were measured through the use of a plaque assay. Plates were incubated at 25º C under continuous direct florescent light. Several environmental samples were taken from Tempe Town Lake (Tempe, AZ) and all the samples tested positive for viruses. Virus free phototrophic microbes were obtained from plaque assay plates by using a sterile loop to scoop up a virus free portion of the microbial lawn and transferred into a new bioreactor. Isolated cells were confirmed virus free through subsequent plaque assays. Viruses were detected from the bench scale bioreactors of Cyanobacteria Synechocystis PCC 6803 and the environmental samples. Viruses were consistently present through subsequent passage in fresh cultures; demonstrating viral contamination can be a chronic problem. In addition TEM was performed to examine presence or viral attachment to cyanobacterial cells and to characterize viral particles morphology. Electron micrographs obtained confirmed viral attachment and that the viruses detected were all of a similar size and shape. Particle sizes were measured to be approximately 50-60 nm. Cell reduction was observed as a decrease in optical density, with a transition from a dark green to a yellow green color for the cultures. Phototrophic microbial viruses were demonstrated to persist in the natural environment and to cause a reduction in algal populations in the bioreactors. Therefore it is likely that viruses could have a significant impact on microbial biofuel production by limiting the yields of production ponds.
ContributorsKraft, Kyle (Author) / Abbaszadegan, Morteza (Thesis advisor) / Alum, Absar (Committee member) / Fox, Peter (Committee member) / Arizona State University (Publisher)
Created2014
Description
Human running requires extensive training and conditioning for an individual to maintain high speeds (greater than 10mph) for an extended duration of time. Studies have shown that running at peak speeds generates a high metabolic cost due to the use of large muscle groups in the legs associated with the human gait cycle. Applying supplemental external and internal forces to the human body during the gait cycle has been shown to decrease the metabolic cost for walking, allowing individuals to carry additional weight and walk further distances. Significant research has been conducted to reduce the metabolic cost of walking, however, there are few if any documented studies that focus specifically on reducing the metabolic cost associated with high speed running. Three mechanical systems were designed to work in concert with the human user to decrease metabolic cost and increase the range and speeds at which a human can run.
The methods of design require a focus on mathematical modeling, simulations, and metabolic cost. Mathematical modeling and simulations are used to aid in the design process of robotic systems and metabolic testing is regarded as the final analysis process to determine the true effectiveness of robotic prototypes. Metabolic data, (VO2) is the volumetric consumption of oxygen, per minute, per unit mass (ml/min/kg). Metabolic testing consists of analyzing the oxygen consumption of a test subject while performing a task naturally and then comparing that data with analyzed oxygen consumption of the same task while using an assistive device.
Three devices were designed and tested to augment high speed running. The first device, AirLegs V1, is a mostly aluminum exoskeleton with two pneumatic linear actuators connecting from the lower back directly to the user's thighs, allowing the device to induce a torque on the leg by pushing and pulling on the user's thigh during running. The device also makes use of two smaller pneumatic linear actuators which drive cables connecting to small lever arms at the back of the heel, inducing a torque at the ankles. Device two, AirLegs V2, is also pneumatically powered but is considered to be a soft suit version of the first device. It uses cables to interface the forces created by actuators located vertically on the user's back. These cables then connect to the back of the user's knees resulting in greater flexibility and range of motion of the legs. Device three, a Jet Pack, produces an external force against the user's torso to propel a user forward and upward making it easier to run. Third party testing, pilot demonstrations and timed trials have demonstrated that all three of the devices effectively reduce the metabolic cost of running below that of natural running with no device.
The methods of design require a focus on mathematical modeling, simulations, and metabolic cost. Mathematical modeling and simulations are used to aid in the design process of robotic systems and metabolic testing is regarded as the final analysis process to determine the true effectiveness of robotic prototypes. Metabolic data, (VO2) is the volumetric consumption of oxygen, per minute, per unit mass (ml/min/kg). Metabolic testing consists of analyzing the oxygen consumption of a test subject while performing a task naturally and then comparing that data with analyzed oxygen consumption of the same task while using an assistive device.
Three devices were designed and tested to augment high speed running. The first device, AirLegs V1, is a mostly aluminum exoskeleton with two pneumatic linear actuators connecting from the lower back directly to the user's thighs, allowing the device to induce a torque on the leg by pushing and pulling on the user's thigh during running. The device also makes use of two smaller pneumatic linear actuators which drive cables connecting to small lever arms at the back of the heel, inducing a torque at the ankles. Device two, AirLegs V2, is also pneumatically powered but is considered to be a soft suit version of the first device. It uses cables to interface the forces created by actuators located vertically on the user's back. These cables then connect to the back of the user's knees resulting in greater flexibility and range of motion of the legs. Device three, a Jet Pack, produces an external force against the user's torso to propel a user forward and upward making it easier to run. Third party testing, pilot demonstrations and timed trials have demonstrated that all three of the devices effectively reduce the metabolic cost of running below that of natural running with no device.
ContributorsKerestes, Jason (Author) / Sugar, Thomas (Thesis advisor) / Redkar, Sangram (Committee member) / Rogers, Bradley (Committee member) / Arizona State University (Publisher)
Created2014