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.
Filtering by
- Creators: Shen, Wei
- Creators: Tamizhmani, Govindasamy
- Creators: Sugar, Thomas
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 study was conducted to investigate the optimum cleaning frequency for cleaning PV modules installed in Mesa, AZ. By monitoring the soiling loss of PV modules mounted on a mock rooftop at ASU-PRL, a detailed soiling modeling was obtained. Same setup was also used for other soiling-related investigations like studying the effect of soiling density on angle of incidence (AOI) dependence, the climatological relevance (CR) to soiling, and spatial variation of the soiling loss. During the first dry season (May to June), the daily soiling rate was found as -0.061% for 20o tilted modules. Based on the obtained soiling rate, cleaning PV modules, when the soiling is just due to dust on 20o tilted residential arrays, was found economically not justifiable.
The second study focuses on evaluating the soiling loss in different locations of Metro Phoenix area of Arizona. The main goal behind the second study was to validate the daily soiling rate obtained from the mock rooftop setup in the first part of this thesis. By collaborating with local solar panel cleaning companies, soiling data for six residential systems in 5 different cities in and around Phoenix was collected, processed, and analyzed. The range of daily soiling rate in the Phoenix area was found as -0.057% to -0.085% for 13-28o tilted arrays. The soiling rate found in the first part of the thesis (-0.061%) for 20o tilted array, was validated since it falls within the range obtained from the second part of the thesis.