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
In this thesis, we present the study of several physical properties of relativistic mat- ters under extreme conditions. We start by deriving the rate of the nonleptonic weak processes and the bulk viscosity in several spin-one color superconducting phases of quark matter. We also calculate the bulk viscosity in the nonlinear and anharmonic regime in the normal phase of strange quark matter. We point out several qualitative effects due to the anharmonicity, although quantitatively they appear to be relatively small. In the corresponding study, we take into account the interplay between the non- leptonic and semileptonic weak processes. The results can be important in order to relate accessible observables of compact stars to their internal composition. We also use quantum field theoretical methods to study the transport properties in monolayer graphene in a strong magnetic field. The corresponding quasi-relativistic system re- veals an anomalous quantum Hall effect, whose features are directly connected with the spontaneous flavor symmetry breaking. We study the microscopic origin of Fara- day rotation and magneto-optical transmission in graphene and show that their main features are in agreement with the experimental data.
ContributorsWang, Xinyang, Ph.D (Author) / Shovkovy, Igor (Thesis advisor) / Belitsky, Andrei (Committee member) / Easson, Damien (Committee member) / Peng, Xihong (Committee member) / Vachaspati, Tanmay (Committee member) / Arizona State University (Publisher)
Created2013
Description
In this thesis I model the thermal and structural evolution of Kuiper Belt Objects (KBOs) and explore their ability to retain undifferentiated crusts of rock and ice over geologic timescales. Previous calculations by Desch et al. (2009) predicted that initially homogenous KBOs comparable in size to Charon (R ~ 600 km) have surfaces too cold to permit the separation of rock and ice, and should always retain thick (~ 85 km) crusts, despite the partial differentiation of rock and ice inside the body. The retention of a thermally insulating, undifferentiated crust is favorable to the maintenance of subsurface liquid and potentially cryovolcanism on the KBO surface. A potential objection to these models is that the dense crust of rock and ice overlying an ice mantle represents a gravitationally unstable configuration that should overturn by Rayleigh-Taylor (RT) instabilities. I have calculated the growth rate of RT instabilities at the ice-crust interface, including the effect of rock on the viscosity. I have identified a critical ice viscosity for the instability to grow significantly over the age of the solar system. I have calculated the viscosity as a function of temperature for conditions relevant to marginal instability. I find that RT instabilities on a Charon-sized KBO require temperatures T > 143 K. Including this effect in thermal evolution models of KBOs, I find that the undifferentiated crust on KBOs is thinner than previously calculated, only ~ 50 km. While thinner, this crustal thickness is still significant, representing ~ 25% of the KBO mass, and helps to maintain subsurface liquid throughout most of the KBO's history.
ContributorsRubin, Mark (Author) / Desch, Steven J (Thesis advisor) / Sharp, Thomas (Committee member) / Christensen, Philip R. (Philip Russel) (Committee member) / Arizona State University (Publisher)
Created2013
Description
A significant portion of stars occur as binary systems, in which two stellar components orbit a common center of mass. As the number of known exoplanet systems continues to grow, some binary systems are now known to harbor planets around one or both stellar components. As a first look into composition of these planetary systems, I investigate the chemical compositions of 4 binary star systems, each of which is known to contain at least one planet. Stars are known to vary significantly in their composition, and their overall metallicity (represented by iron abundance, [Fe/H]) has been shown to correlate with the likelihood of hosting a planetary system. Furthermore, the detailed chemical composition of a system can give insight into the possible properties of the system's known exoplanets. Using high-resolution spectra, I quantify the abundances of up to 28 elements in each stellar component of the binary systems 16 Cyg, 83 Leo, HD 109749, and HD 195019. A direct comparison is made between each star and its binary companion to give a differential composition for each system. For each star, a comparison of elemental abundance vs. condensation temperature is made, which may be a good diagnostic of refractory-rich terrestrial planets in a system. The elemental ratios C/O and Mg/Si, crucial in determining the atmospheric composition and mineralogy of planets, are calculated and discussed for each star. Finally, the compositions and diagnostics of each binary system are discussed in terms of the known planetary and stellar parameters for each system.
ContributorsCarande, Bryce (Author) / Young, Patrick (Thesis advisor) / Patience, Jennifer L (Thesis advisor) / Anbar, Ariel D (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
Solar system orbital dynamics can offer unique challenges. Impacts of interplanetary dust particles can significantly alter the surfaces of icy satellites and minor planets. Impact heating from these particles can anneal away radiation damage to the crystalline structure of surface water ice. This effect is enhanced by gravitational focusing for giant planet satellites. In addition, impacts of interplanetary dust particles on the small satellites of the Pluto system can eject into the system significant amounts of secondary intra-satellite dust. This dust is primarily swept up by Pluto and Charon, and could explain the observed albedo features on Pluto's surface. In addition to Pluto, a large fraction of trans-neptunian objects (TNOs) are binary or multiple systems. The mutual orbits of these TNO binaries can range from very wide (periods of several years) to near-contact systems (less than a day period). No single formation mechanism can explain this distribution. However, if the systems generally formed wide, a combination of solar and body tides (commonly called Kozai Cycles-Tidal Friction, KCTF) can cause most systems to tighten sufficiently to explain the observed distributions. This KCTF process can also be used to describe the orbital evolution of a terrestrial-class exoplanet after being captured as a satellite of a habitable-zone giant exoplanet. The resulting exomoon would be both potentially habitable and potenially detectable in the full Kepler data set.
ContributorsPorter, Simon Bernard (Author) / Desch, Steven (Thesis advisor) / Zolotov, Mikhail (Committee member) / Timmes, Francis (Committee member) / Scannapieco, Evan (Committee member) / Robinson, Mark (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
Galaxies represent a fundamental catalyst in the ``lifecycle'' of matter in the Universe, and the study of galaxy assembly and evolution provides unique insight into the physical processes governing the transformation of matter from atoms to gas to stars. With the Hubble Space Telescope, the astrophysical community is able to study the formation and evolution of galaxies, at an unrivaled spatial resolution, over more than 90% of cosmic time. Here, I present results from two complementary studies of galaxy evolution in the local and intermediate redshift Universe which used new and archival HST images. First, I use archival broad-band HST WFPC2 optical images of local (d<63 Mpc) Seyfert-type galaxies to test the observed correlation between visually-classified host galaxy dust morphology and AGN class. Using quantitative parameters for classifying galaxy morphology, I do not measure a strong correlation between the galaxy morphology and AGN class. This result could imply that the Unified Model of AGN provides a sufficient model for the observed diversity of AGN, but this result could also indicate the quantitative techniques are insufficient for characterizing the dust morphology of local galaxies. To address the latter, I develop a new automated method using an inverse unsharp masking technique coupled to Source Extractor to detect and measure dust morphology. I measure no strong trends with dust-morphology and AGN class using this method, and conclude that the Unified Model remains sufficient to explain the diversity of AGN. Second, I use new UV-optical-near IR broad-band images obtained with the HST WFC3 in the Early Release Science (ERS) program to study the evolution of massive, early-type galaxies. These galaxies were once considered to be ``red and dead'', as a class uniformly devoid of recent star formation, but observations of these galaxies in the local Universe at UV wavelengths have revealed a significant fraction (30%) of ETGs to have recently formed a small fraction (5-10%) of their stellar mass in young stars. I extend the study of recent star formation in ETGs to intermediate-redshift 0.35<1.5 with the ERS data. Comparing the mass fraction and age of young stellar populations identified in these ETGs from two-component SED analysis with the morphology of the ETG and the frequency of companions, I find that at this redshift many ETGs are likely to have experienced a minor burst of recent star formation. The mechanisms driving this recent star formation are varied, and evidence for both minor merger driven recent star formation as well as the evolution of transitioning ETGs is identified.
ContributorsRutkowski, Michael (Author) / Windhorst, Rogier A. (Thesis advisor) / Bowman, Judd (Committee member) / Butler, Nathaniel (Committee member) / Desch, Steven (Committee member) / Young, Patrick (Committee member) / Arizona State University (Publisher)
Created2013
Description
Electromyogram (EMG)-based control interfaces are increasingly used in robot teleoperation, prosthetic devices control and also in controlling robotic exoskeletons. Over the last two decades researchers have come up with a plethora of decoding functions to map myoelectric signals to robot motions. However, this requires a lot of training and validation data sets, while the parameters of the decoding function are specific for each subject. In this thesis we propose a new methodology that doesn't require training and is not user-specific. The main idea is to supplement the decoding functional error with the human ability to learn inverse model of an arbitrary mapping function. We have shown that the subjects gradually learned the control strategy and their learning rates improved. We also worked on identifying an optimized control scheme that would be even more effective and easy to learn for the subjects. Optimization was done by taking into account that muscles act in synergies while performing a motion task. The low-dimensional representation of the neural activity was used to control a two-dimensional task. Results showed that in the case of reduced dimensionality mapping, the subjects were able to learn to control the device in a slower pace, however they were able to reach and retain the same level of controllability. To summarize, we were able to build an EMG-based controller for robot devices that would work for any subject, without any training or decoding function, suggesting human-embedded controllers for robotic devices.
ContributorsAntuvan, Chris Wilson (Author) / Artemiadis, Panagiotis (Thesis advisor) / Muthuswamy, Jitendran (Committee member) / Santos, Veronica J (Committee member) / Arizona State University (Publisher)
Created2013