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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Description
This dissertation investigates the long-term consequences of human land-use practices in general, and in early agricultural villages in specific. This pioneering case study investigates the "collapse" of the Early (Pre-Pottery) Neolithic lifeway, which was a major transformational event marked by significant changes in settlement patterns, material culture, and social markers. To move beyond traditional narratives of cultural collapse, I employ a Complex Adaptive Systems approach to this research, and combine agent-based computer simulations of Neolithic land-use with dynamic and spatially-explicit GIS-based environmental models to conduct experiments into long-term trajectories of different potential Neolithic socio-environmental systems. My analysis outlines how the Early Neolithic "collapse" was likely instigated by a non-linear sequence of events, and that it would have been impossible for Neolithic peoples to recognize the long-term outcome of their actions. The experiment-based simulation approach shows that, starting from the same initial conditions, complex combinations of feedback amplification, stochasticity, responses to internal and external stimuli, and the accumulation of incremental changes to the socio-natural landscape, can lead to widely divergent outcomes over time. Thus, rather than being an inevitable consequence of specific Neolithic land-use choices, the "catastrophic" transformation at the end of the Early Neolithic was an emergent property of the Early Neolithic socio-natural system itself, and thus likely not an easily predictable event. In this way, my work uses the technique of simulation modeling to connect CAS theory with the archaeological and geoarchaeological record to help better understand the causes and consequences of socio-ecological transformation at a regional scale. The research is broadly applicable to other archaeological cases of resilience and collapse, and is truly interdisciplinary in that it draws on fields such as geomorphology, computer science, and agronomy in addition to archaeology.
ContributorsUllah, Isaac (Author) / Barton, C. Michael (Thesis advisor) / Banning, Edward B. (Committee member) / Clark, Geoffrey (Committee member) / Arrowsmith, J. Ramon (Committee member) / Arizona State University (Publisher)
Created2013
Description
The causes and consequences of stylistic change have been a concern of archaeologists over the past several decades. The actual process of stylistic innovation, however, has received less attention. This project explores the relationship between the process of stylistic innovation on decorated pottery and the social context in which it occurred in the Hohokam area of south-central Arizona between A.D. 800 and 1300. This interval was punctuated by three episodes of reorganization, each of which was characterized to varying degrees by significant shifts in ideology, economics, and politics. Each reorganization episode was also accompanied by a rapid profusion of stylistic innovation on buff ware pottery. The goal of this study was to build a framework to understand the variation in the process of innovation as a response to different incentives and opportunities perceived in the changing social environment. By bringing stylistic analyses and provenance data together for the first time in Hohokam red-on-buff studies, I investigated how the process of innovation was variously influenced by social reorganizations at three different periods of time: the 9th, 11th, and 12th centuries A.D. Four variables were used to evaluate the process of innovation at each temporal period: 1) The origin of a stylistic invention, 2) the rate of its adoption, 3) the pattern of its adoption, and 4) the uniformity of its adoption among all buff ware potting communities. To accomplish the task, stylistic innovations and provenance were recorded on over 3,700 red-on-buff sherds were analyzed from 20 sites in the Phoenix Basin. The innovation process was found to vary with each reorganization episode, but often in different ways than expected. The results revealed the complexity and unpredictability of the process of stylistic innovation among the Hohokam. They also challenged some assumptions archaeologists have made regarding the scale and extent of the changes associated with some of the reorganization episodes. The variables utilized to measure the innovation process were found to be effective at providing a composite picture of that process, and thus warrant broader application to other archaeological contexts.
ContributorsLack, Andrew D (Author) / Abbott, David R. (Thesis advisor) / Hegmon, Michelle (Committee member) / Spielmann, Katherine A. (Committee member) / Nelson, Ben A. (Committee member) / Arizona State University (Publisher)
Created2013
Description
One of the main challenges in planetary robotics is to traverse the shortest path through a set of waypoints. The shortest distance between any two waypoints is a direct linear traversal. Often times, there are physical restrictions that prevent a rover form traversing straight to a waypoint. Thus, knowledge of the terrain is needed prior to traversal. The Digital Terrain Model (DTM) provides information about the terrain along with waypoints for the rover to traverse. However, traversing a set of waypoints linearly is burdensome, as the rovers would constantly need to modify their orientation as they successively approach waypoints. Although there are various solutions to this problem, this research paper proposes the smooth traversability of the rover using splines as a quick and easy implementation to traverse a set of waypoints. In addition, a rover was used to compare the smoothness of the linear traversal along with the spline interpolations. The data collected illustrated that spline traversals had a less rate of change in the velocity over time, indicating that the rover performed smoother than with linear paths.
ContributorsKamasamudram, Anurag (Author) / Saripalli, Srikanth (Thesis advisor) / Fainekos, Georgios (Thesis advisor) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2013
Description
As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of robotic systems, manual code translation from model to code is not a feasible optimal solution so we need to move towards automated code generation for such systems. MathWorks® offers code generation facilities called Coder® products for this purpose. However in order to fully exploit the power of model-based design and code generation tools for robotic applications, we need to enhance those software systems by adding and modifying toolboxes, files and other artifacts as well as developing guidelines and procedures. In this thesis, an effort has been made to propose a guideline as well as a Simulink® library, StateFlow® interface API and a C/C++ interface API to complete this toolchain for NAO humanoid robots. Thus the model of the hierarchical control architecture can be easily and properly converted to code and built for implementation.
ContributorsRaji Kermani, Ramtin (Author) / Fainekos, Georgios (Thesis advisor) / Lee, Yann-Hang (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2013
Description
Irrigation agriculture has been heralded as the solution to feeding the world's growing population. To this end, irrigation agriculture is both extensifying and intensifying in arid regions across the world in an effort to create highly productive agricultural systems. Over one third of modern irrigated fields, however, show signs of serious soil degradation, including salinization and waterlogging, which threaten the productivity of these fields and the world's food supply. Surprisingly, little ecological data on agricultural soils have been collected to understand and address these problems. How, then, can expanding and intensifying modern irrigation systems remain agriculturally productive for the long-term? Archaeological case studies can provide critical insight into how irrigated agricultural systems may be sustainable for hundreds, if not thousands, of years. Irrigation systems in Mesopotamia, for example, have been cited consistently as a cautionary tale of the relationship between mismanaged irrigation systems and the collapse of civilizations, but little data expressly link how and why irrigation failed in the past. This dissertation presents much needed ecological data from two different regions of the world - the Phoenix Basin in southern Arizona and the Pampa de Chaparrí on the north coast of Peru - to explore how agricultural soils were affected by long-term irrigation in a variety of social and economic contexts, including the longevity and intensification of irrigation agriculture. Data from soils in prehispanic and historic agricultural fields indicate that despite long-lived and intensive irrigation farming, farmers in both regions created strategies to sustain large populations with irrigation agriculture for hundreds of years. In the Phoenix Basin, Hohokam and O'odham farmers relied on sedimentation from irrigation water to add necessary fine sediments and nutrients to otherwise poor desert soils. Similarly, on the Pampa, farmers relied on sedimentation in localized contexts, but also constructed fields with ridges and furrows to draw detrimental salts away from planting surfaces in the furrows on onto the ridges. These case studies are then compared to failing modern and ancient irrigated systems across the world to understand how the centralization of management may affect the long-term sustainability of irrigation agriculture.
ContributorsStrawhacker, Colleen (Author) / Spielmann, Katherine A. (Thesis advisor) / Hall, Sharon J (Committee member) / Nelson, Margaret C. (Committee member) / Sandor, Jonathan A (Committee member) / Arizona State University (Publisher)
Created2013
Description
This dissertation research investigates both spatial and temporal aspects of Bronze Age land use and land cover in the Eastern Mediterranean using botanical macrofossils of charcoal and charred seeds as sources of proxy data. Comparisons through time and over space using seed and charcoal densities, seed to charcoal ratios, and seed and charcoal identifications provide a comprehensive view of island vs. mainland vegetative trajectories through the critical 1000 year time period from 2500 BC to 1500 BC of both climatic fluctuation and significant anthropogenic forces. This research focuses particularly on the Mediterranean island of Cyprus during this crucial interface of climatic and human impacts on the landscape. Macrobotanical data often are interpreted locally in reference to a specific site, whereas this research draws spatial comparisons between contemporaneous archaeological sites as well as temporal comparisons between non-contemporaneous sites. This larger perspective is particularly crucial on Cyprus, where field scientists commonly assume that botanical macrofossils are poorly preserved, thus unnecessarily limiting their use as an interpretive proxy. These data reveal very minor anthropogenic landscape changes on the island of Cyprus compared to those associated with contemporaneous mainland sites. These data also reveal that climatic forces influenced land use decisions on the mainland sites, and provides crucial evidence pertaining to the rise of early anthropogenic landscapes and urbanized civilization.
ContributorsKlinge, JoAnna M (Author) / Fall, Patricia L. (Thesis advisor) / Falconer, Steven E. (Committee member) / Brazel, Anthony J. (Committee member) / Pigg, Kathleen B (Committee member) / Arizona State University (Publisher)
Created2013
Description
This project examines the social and economic factors that contributed to the development of a specialist-based economy among the Phoenix Basin Hohokam. In the Hohokam case, widespread dependence on the products of a few concentrated pottery producers developed in the absence of political centralization or hierarchical social arrangements. The factors that promoted intensified pottery production, therefore, are the keys to addressing how economic systems can expand in small-scale and middle-range societies. This dissertation constructs a multi-factor model that explores changes to the organization of decorated pottery production during a substantial portion of the pre-Classic period (AD 700 - AD 1020). The analysis is designed to examine simultaneously several variables that may have encouraged demand for ceramic vessels made by specialists. This study evaluates the role of four factors in the development of supply and demand for specialist produced red-on-buff pottery in Hohokam settlements. The factors include 1) agricultural intensification in the form of irrigation agriculture, 2) increases in population density, 3) ritual or social obligations that require the production of particular craft items, and 4) reduced transport costs. Supply and demand for specialist-produced pottery is estimated through a sourcing analysis of non-local pottery at 13 Phoenix Basin settlements. Through a series of statistical analyses, the study measures changes in the influence of each factor on demand for specialist-produced pottery through four temporal phases of the Hohokam pre-Classic period. The analysis results indicate that specialized red-on-buff production was initially spurred by demand for light-colored, shiny, decorated pottery, but then by comparative advantages to specialized production in particular areas of the Phoenix Basin. Specialists concentrated on the Snaketown canal system were able to generate light-colored, mica-dense wares that Phoenix Basin consumers desired while lowering transport costs in the distribution of red-on-buff pottery. The circulation of decorated wares was accompanied by the production of plainware pottery in other areas of the Phoenix Basin. Economic growth in the region was based on complementary and coordinated economic activities between the Salt and the Gila River valleys.
ContributorsKelly, Sophia E (Author) / Abbott, David R. (Thesis advisor) / Darling, J. Andrew (Committee member) / Moore, Gordon (Committee member) / Spielmann, Katherine A. (Committee member) / Arizona State University (Publisher)
Created2013
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
Human fingertips contain thousands of specialized mechanoreceptors that enable effortless physical interactions with the environment. Haptic perception capabilities enable grasp and manipulation in the absence of visual feedback, as when reaching into one's pocket or wrapping a belt around oneself. Unfortunately, state-of-the-art artificial tactile sensors and processing algorithms are no match for their biological counterparts. Tactile sensors must not only meet stringent practical specifications for everyday use, but their signals must be processed and interpreted within hundreds of milliseconds. Control of artificial manipulators, ranging from prosthetic hands to bomb defusal robots, requires a constant reliance on visual feedback that is not entirely practical. To address this, we conducted three studies aimed at advancing artificial haptic intelligence. First, we developed a novel, robust, microfluidic tactile sensor skin capable of measuring normal forces on flat or curved surfaces, such as a fingertip. The sensor consists of microchannels in an elastomer filled with a liquid metal alloy. The fluid serves as both electrical interconnects and tunable capacitive sensing units, and enables functionality despite substantial deformation. The second study investigated the use of a commercially-available, multimodal tactile sensor (BioTac sensor, SynTouch) to characterize edge orientation with respect to a body fixed reference frame, such as a fingertip. Trained on data from a robot testbed, a support vector regression model was developed to relate haptic exploration actions to perception of edge orientation. The model performed comparably to humans for estimating edge orientation. Finally, the robot testbed was used to perceive small, finger-sized geometric features. The efficiency and accuracy of different haptic exploratory procedures and supervised learning models were assessed for estimating feature properties such as type (bump, pit), order of curvature (flat, conical, spherical), and size. This study highlights the importance of tactile sensing in situations where other modalities fail, such as when the finger itself blocks line of sight. Insights from this work could be used to advance tactile sensor technology and haptic intelligence for artificial manipulators that improve quality of life, such as prosthetic hands and wheelchair-mounted robotic hands.
ContributorsPonce Wong, Ruben Dario (Author) / Santos, Veronica J (Thesis advisor) / Artemiadis, Panagiotis K (Committee member) / Helms Tillery, Stephen I (Committee member) / Posner, Jonathan D (Committee member) / Runger, George C. (Committee member) / Arizona State University (Publisher)
Created2013
Description
The Hohokam of central Arizona left behind evidence of a culture markedly different from and more complex than the small communities of O'odham farmers first encountered by Europeans in the sixteenth and seventeenth centuries A.D. Archaeologists have worked for well over a century to document Hohokam culture history, but much about Pre-Columbian life in the Sonoran Desert remains poorly understood. In particular, the organization of the Hohokam economy in the Phoenix Basin has been an elusive and complicated subject, despite having been the focus of much previous research. This dissertation provides an assessment of several working hypotheses regarding the organization and evolution of the pottery distribution sector of the Hohokam economy. This was accomplished using an agent-based modeling methodology known as pattern-oriented modeling. The objective of the research was to first identify a variety of economic models that may explain patterns of artifact distribution in the archaeological record. Those models were abstract representations of the real-world system theoretically drawn from different sources, including microeconomics, mathematics (network/graph theory), and economic anthropology. Next, the effort was turned toward implementing those hypotheses as agent-based models, and finally assessing whether or not any of the models were consistent with Hohokam ceramic datasets. The project's pattern-oriented modeling methodology led to the discard of several hypotheses, narrowing the range of plausible models of the organization of the Hohokam economy. The results suggest that for much of the Hohokam sequence a market-based system, perhaps structured around workshop procurement and shopkeeper merchandise, provided the means of distributing pottery from specialist producers to widely distributed consumers. Perhaps unsurprisingly, the results of this project are broadly consistent with earlier researchers' interpretations that the structure of the Hohokam economy evolved through time, growing more complex throughout the Preclassic, and undergoing a major reorganization resulting in a less complicated system at the transition to the Classic Period.
ContributorsWatts, Joshua (Author) / Abbott, David R. (Thesis advisor) / Barton, C Michael (Committee member) / Van Der Leeuw, Sander (Committee member) / Janssen, Marcus (Committee member) / Arizona State University (Publisher)
Created2013