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.
Automated planning provides the solution to this problem -- indeed, one of the main motivations that underpinned the beginnings of the field of automated planning was to provide planning support for Shakey the robot with the STRIPS system. For long, however, automated planners suffered from scalability issues that precluded their application to real world, real time robotic systems. Recent decades have seen a gradual abeyance of those issues, and fast planning systems are now the norm rather than the exception. However, some of these advances in speedup and scalability have been achieved by ignoring or abstracting out challenges that real world integrated robotic systems must confront.
In this work, the problem of planning for human-hobot teaming is introduced. The central idea -- the use of automated planning systems as mediators in such human-robot teaming scenarios -- and the main challenges inspired from real world scenarios that must be addressed in order to make such planning seamless are presented: (i) Goals which can be specified or changed at execution time, after the planning process has completed; (ii) Worlds and scenarios where the state changes dynamically while a previous plan is executing; (iii) Models that are incomplete and can be changed during execution; and (iv) Information about the human agent's plan and intentions that can be used for coordination. These challenges are compounded by the fact that the human-robot team must execute in an open world, rife with dynamic events and other agents; and in a manner that encourages the exchange of information between the human and the robot. As an answer to these challenges, implemented solutions and a fielded prototype that combines all of those solutions into one planning system are discussed. Results from running this prototype in real world scenarios are presented, and extensions to some of the solutions are offered as appropriate.
MFI zeolite membranes were synthesized on α-alumina supports by secondary growth method. Novel positron annihilation spectroscopy (PAS) techniques were used to non-destructively characterize the pore structure of these membranes. PAS reveals a bimodal pore structure consisting of intracrystalline zeolitic micropores of ~0.6 nm in diameter and irregular intercrystalline micropores of 1.4 to 1.8 nm in size for the membranes. The template-free synthesized membrane exhibited a high permeance but a low selectivity in C3H6/C3H8 mixture separation.
CMS membranes were synthesized by coating/pyrolysis method on mesoporous γ-alumina support. Such supports allow coating of thin, high-quality polymer films and subsequent CMS membranes with no infiltration into support pores. The CMS membranes show strong molecular sieving effect, offering a high C3H6/C3H8 mixture selectivity of ~30. Reduction in membrane thickness from 500 nm to 300 nm causes an increase in C3H8 permeance and He/N2 selectivity, but a decrease in the permeance of He, N2 and C3H6 and C3H6/C3H8 selectivity. This can be explained by the thickness dependent chain mobility of the polymer film resulting in final carbon membrane of reduced pore size with different effects on transport of gas of different sizes, including possible closure of C3H6-accessible micropores.
CMS membranes demonstrate excellent C3H6/C3H8 separation performance over a wide range of feed pressure, composition and operation temperature. No plasticization was observed at a feed pressure up to 100 psi. The permeation and separation is mainly controlled by diffusion instead of adsorption. CMS membrane experienced a decline in permeance, and an increase in selectivity over time under on-stream C3H6/C3H8 separation. This aging behavior is due to the reduction in effective pore size and porosity caused by oxygen chemisorption and physical aging of the membrane structure.