Theses and Dissertations
This collection includes both ASU Theses and Dissertations, submitted by graduate students, and the Barrett, Honors College theses submitted by undergraduate students.
Displaying 1 - 10 of 485
Filtering by
- All Subjects: robotics
- All Subjects: Entrepreneurship
Description
This thesis explores the extent to which entrepreneurship is possible for women in Saudi Arabia, and it's potential to increase Saudi women's socio-cultural autonomy, financial independence, and overall well-being. The study uses interviews and an online surveys to gather information from recognized female entrepreneurs, those officially registered with the Women's Business Center in Alkhober, Saudi Arabia, about how they founded their businesses, the challenges they have experienced, and the effects of business ownership. These women are interesting because their experience seems to run counter to Saudi society, which generally restricts women's activities. The study's findings show that despite their successes, Arab traditions still hinder the success of Alkhober female entrepreneurs, for instance, by requiring male guardianship and prohibiting travel unaccompanied by a man. From an institutional perspective, administrative and legal requirement can prevent women from fully realizing their potential as businesswomen. The existing women's rights legislation lacks authority because political opportunities for Alkhober women are still limited. For Saudi women entrepreneurship remains an alternative to joblessness and dissatisfaction derived from other employment sources. The challenges women entrepreneurs experience while starting businesses are lack of support from the executive branch of government, lack of quality education, and lack of available financial resources, in addition to the cultural barriers caused by Arab traditions restricting the activities of women. However, a key finding from this study is that the women interviewed all showed a high level of resourcefulness and creativity that helped them to circumvent such obstacles. This study recommends that the government provide financial services, or training programs to aspiring female entrepreneurs and offer incentives for women to register their businesses. This will benefit not just Saudi women but for the Saudi economy overall.
ContributorsAlhabidi, Mariam (Author) / C. Parmentier, Mary Jane C. Parmentier Jane (Thesis advisor) / Grossman, Gary M. (Committee member) / Crewe, Katherine (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
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
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
Description
Linear Temporal Logic is gaining increasing popularity as a high level specification language for robot motion planning due to its expressive power and scalability of LTL control synthesis algorithms. This formalism, however, requires expert knowledge and makes it inaccessible to non-expert users. This thesis introduces a graphical specification environment to create high level motion plans to control robots in the field by converting a visual representation of the motion/task plan into a Linear Temporal Logic (LTL) specification. The visual interface is built on the Android tablet platform and provides functionality to create task plans through a set of well defined gestures and on screen controls. It uses the notion of waypoints to quickly and efficiently describe the motion plan and enables a variety of complex Linear Temporal Logic specifications to be described succinctly and intuitively by the user without the need for the knowledge and understanding of LTL specification. Thus, it opens avenues for its use by personnel in military, warehouse management, and search and rescue missions. This thesis describes the construction of LTL for various scenarios used for robot navigation using the visual interface developed and leverages the use of existing LTL based motion planners to carry out the task plan by a robot.
ContributorsSrinivas, Shashank (Author) / Fainekos, Georgios (Thesis advisor) / Baral, Chitta (Committee member) / Burleson, Winslow (Committee member) / Arizona State University (Publisher)
Created2013
Description
A common concern among musical performers in today'’s musical market pertains to their capacity to adapt to the constantly changing climate of the music business. This document focuses on one aspect of the development of a sustainable, entrepreneurship skill set: the production of a recording. While producing the recording Chocolates, the author examined and documented the multiplicity of skills encompassed with a recording project. The first part of the document includes a discussion of various aspects of the recording project, Chocolates, through an entrepreneurial lens, and an evaluation of the skill sets acquired through the recording process. Additionally, the inspiration and relevance behind the recording project and the process of collaboration between the two composers from whom I commissioned new compositions, Noah Taylor and James Grant, and myself is considered. Finally, I describe the recording and editing processes, including the planning involved within each process, how I achieved the final product, and the entrepreneurial skills involved. The second portion of this document examines a broad range of applications of entrepreneurship, marketing, and career management skills not only within the confines of this particular project, but also in relation to the overall sustainability of a twenty-–first century music-–performing career.
ContributorsStuckemeyer, Mary (Author) / Micklich, Albie (Thesis advisor) / Carpenter, Ellon (Committee member) / Hill, Gary (Committee member) / Schuring, Martin (Committee member) / Spring, Robert (Committee member) / Arizona State University (Publisher)
Created2013
Description
This dissertation examines the role that business counselors in a public entrepreneurial development program play in improving the Entrepreneurial Specific Human Capital (ESHC) of nascent and active entrepreneurs. Through multiple research methodologies, this study identifies the types of ESHC provided by business counselors then compares them to the types of ESHC commonly accepted as necessary for entrepreneurial success. The comparison reveals a number of insights for policy and research, most notably a minimum portfolio of skills necessary for entrepreneurial success. This study also examines the methods counselors use to help entrepreneurs acquire higher levels of ESHC. These methods allow counselors to assist entrepreneurs in recognizing and overcoming common barriers to business growth, and a model of entrepreneurial business growth barriers has been produced which depicts these barriers as conceptual-operational transition points for the entrepreneur. Additionally, this dissertation develops important information about the use of the business plan in entrepreneurial development, and uncovers a number of moderators in the relationship between the use of the business plan and entrepreneurial success. Finally, the study produces detailed information about ESHC which has potential for scale development, and highlights a number of insights for policy and research that have not been identified previously.
ContributorsDahlstrom, Timothy R (Author) / Chapman, Jeffrey I. (Thesis advisor) / Phillips, Rhonda (Committee member) / Knopf, Richard (Committee member) / Arizona State University (Publisher)
Created2013
Description
The jobless recovery of the Great Recession has led policymakers and citizens alike to ask what can be done to better protect regions from the cascading effects of an economic downturn. Economic growth strategies that aim to redevelop a waterfront for tourism or attract high growth companies to the area, for example, have left regions vulnerable by consolidating resources in just a few industry sectors or parts of town. A promising answer that coincided with growing interest in regional innovation policy has been to promote entrepreneurship for bottom-up, individual-led regional development. However, these policies have also failed to maximize the potential for bottom-up development by focusing on high skill entrepreneurs and high tech industry sectors, such as green energy and nanotechnology. This dissertation uses the extended case method to determine whether industry cluster theory can be usefully extended from networks of high skill innovators to entrepreneurs in traditional trades. It uses U.S. Census data and in-person interviews in cluster and non-cluster neighborhoods in Dayton, Ohio to assess whether traditional entrepreneurs cluster and whether social networks explain high rates of neighborhood self-employment. Entrepreneur interviews are also conducted in Raleigh, North Carolina to explore regional resilience by comparing the behavior of traditional entrepreneurs in the ascendant tech-hub region of Raleigh and stagnant Rustbelt region of Dayton. The quantitative analysis documents, for the first time, a minor degree of neighborhood-level entrepreneur clustering. In interviews, entrepreneurs offered clear examples of social networks that resemble those shown to make regional clusters successful, and they helped clarify that a slightly larger geography may reveal more clustering. Comparing Raleigh and Dayton entrepreneurs, the study found few differences in their behavior to explain the regions' differing long-term economic trends. However, charitable profit-seeking and trial and error learning are consistent behaviors that may distinguish traditional, small scale entrepreneurs from larger export-oriented business owners and contribute to a region's ability to withstand recessions and other shocks. The research informs growing policy interest in bottom-up urban development by offering qualitative evidence for how local mechanics, seamstresses, lawn care businesses and many others can be regional assets. Future research should use larger entrepreneur samples to systematically test the relationship between entrepreneur resilience behaviors to regional economic outcomes.
ContributorsAuer, Jennifer Claire (Author) / Chapman, Jeffrey (Thesis advisor) / Johnston, Erik W., 1977- (Committee member) / Jurik, Nancy (Committee member) / Arizona State University (Publisher)
Created2013