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.
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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
This dissertation explores vulnerability to extreme heat hazards in the Maricopa County, Arizona metropolitan region. By engaging an interdisciplinary approach, I uncover the epidemiological, historical-geographical, and mitigation dimensions of human vulnerability to extreme heat in a rapidly urbanizing region characterized by an intense urban heat island and summertime heat waves. I first frame the overall research within global climate change and hazards vulnerability research literature, and then present three case studies. I conclude with a synthesis of the findings and lessons learned from my interdisciplinary approach using an urban political ecology framework. In the first case study I construct and map a predictive index of sensitivity to heat health risks for neighborhoods, compare predicted neighborhood sensitivity to heat-related hospitalization rates, and estimate relative risk of hospitalizations for neighborhoods. In the second case study, I unpack the history and geography of land use/land cover change, urban development and marginalization of minorities that created the metropolitan region's urban heat island and consequently, the present conditions of extreme heat exposure and vulnerability in the urban core. The third study uses computational microclimate modeling to evaluate the potential of a vegetation-based intervention for mitigating extreme heat in an urban core neighborhood. Several findings relevant to extreme heat vulnerability emerge from the case studies. First, two main socio-demographic groups are found to be at higher risk for heat illness: low-income minorities in sparsely-vegetated neighborhoods in the urban core, and the elderly and socially-isolated in the expansive suburban fringe of Maricopa County. The second case study reveals that current conditions of heat exposure in the region's urban heat island are the legacy of historical marginalization of minorities and large-scale land-use/land cover transformations of natural desert land covers into heat-retaining urban surfaces of the built environment. Third, summertime air temperature reductions in the range 0.9-1.9 °C and of up to 8.4 °C in surface temperatures in the urban core can be achieved through desert-adapted canopied vegetation, suggesting that, at the microscale, the urban heat island can be mitigated by creating vegetated park cool islands. A synthesis of the three case studies using the urban political ecology framework argues that climate changed-induced heat hazards in cities must be problematized within the socio-ecological transformations that produce and reproduce urban landscapes of risk. The interdisciplinary approach to heat hazards in this dissertation advances understanding of the social and ecological drivers of extreme heat by drawing on multiple theories and methods from sociology, urban and Marxist geography, microclimatology, spatial epidemiology, environmental history, political economy and urban political ecology.
ContributorsDeclet-Barreto, Juan (Author) / Harlan, Sharon L (Thesis advisor) / Bolin, Bob (Thesis advisor) / Hirt, Paul (Committee member) / Boone, Christopher (Committee member) / Arizona State University (Publisher)
Created2013
Description
This dissertation investigates spatial and temporal changes in land cover and plant species distributions on Cyprus in the past, present and future (1973-2070). Landsat image analysis supports inference of land cover changes following the political division of the island of Cyprus in 1974. Urban growth in Nicosia, Larnaka and Limasol, as well as increased development along the southern coastline, is clearly evident between 1973 and 2011. Forests of the Troodos and Kyrenia Ranges remain relatively stable, with transitions occurring most frequently between agricultural land covers and shrub/herbaceous land covers. Vegetation models were constructed for twenty-two plant species of Cyprus using Maxent to predict potentially suitable areas of occurrence. Modern vegetation models were constructed from presence-only data collected by field surveys conducted between 2008 and 2011. These models provide a baseline for the assessment of potential species distributions under two climate change scenarios (A1b and A2) for the years 2030, 2050, and 2070. Climate change in Cyprus is likely to influence habitat availability, particularly for high elevation species as the relatively low elevation mountain ranges and small latitudinal range prevent species from shifting to areas of suitable environmental conditions. The loss of suitable habitat for some species may allow the introduction of non-native plant species or the expansion of generalists currently excluded from these areas. Results from future projections indicate the loss of suitable areas for most species by the year 2030 under both climate regimes and all four endemic species (Cedrus brevifolia, Helianthemum obtusifolium, Pterocephalus multiflorus, and Quercus alnifolia) are predicted to lose all suitable environments as soon as 2030. As striking exceptions Prunus dulcis (almond), Ficus carica (fig), Punica granatum (pomegranate) and Olea europaea (olive), which occur as both wild varieties and orchard cultigens, will expand under both scenarios. Land cover and species distribution maps are evaluated in concert to create a more detailed interpretation of the Cypriot landscape and to discuss the potential implications of climate change for land cover and plant species distributions.
ContributorsRidder, Elizabeth (Author) / Fall, Patricia L. (Thesis advisor) / Myint, Soe W (Committee member) / Hirt, Paul W (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
Global climate change (GCC) is among the most important issues of the 21st century. Adaptation to and mitigation of climate change are some of the salient local and regional challenges scientists, decision makers, and the general public face today and will be in the near future. However, designed adaptation and mitigation strategies do not guarantee success in coping with global climate change. Despite the robust and convincing body for anthropogenic global climate change research and science there is still a significant gap between the recommendations provided by the scientific community and the actual actions by the public and policy makers. In order to design, implement, and generate sufficient public support for policies and planning interventions at the national and international level, it is necessary to have a good understanding of the public's perceptions regarding GCC. Based on survey research in nine countries, the purpose of this study is two-fold: First, to understand the nature of public perceptions of global climate change in different countries; and secondly to identi-fy perception factors which have a significant impact on the public's willingness to sup-port GCC policies or commit to behavioral changes to reduce GHG emissions. Factors such as trust in GCC information which need to be considered in future climate change communication efforts are also dealt with in this dissertation. This study has identified several aspects that need to be considered in future communication programs. GCC is characterized by high uncertainties, unfamiliar risks, and other characteristics of hazards which make personal connections, responsibility and engagement difficult. Communication efforts need to acknowledge these obstacles, build up trust and motivate the public to be more engaged in reducing GCC by emphasizing the multiple benefits of many policies outside of just reducing GCC. Levels of skepticism among the public towards the reality of GCC as well as the trustworthiness and sufficien-cy of the scientific findings varies by country. Thus, communicators need to be aware of their audience in order to decide how educational their program needs to be.
ContributorsHagen, Bjoern (Author) / Pijawka, David (Thesis advisor) / Brazel, Anthony (Committee member) / Chhetri, Netra (Committee member) / Guhathakurta, Subhrajit (Committee member) / Arizona State University (Publisher)
Created2013
Description
The United Nation's Framework Convention on Climate Change (UNFCCC) recognizes development as a priority for carbon dioxide (CO2) allocation, under its principle of "common but differentiated responsibilities". This was codified in the Kyoto Protocol, which exempt developing nations from binding emission reduction targets. Additionally, they could be the recipients of financed sustainable development projects in exchange for emission reduction credits that the developed nations could use to comply with emission targets. Due to ineffective results, post-Kyoto policy discussions indicate a transition towards mitigation commitments from major developed and developing emitters, likely supplemented by market-based mechanisms to reduce mitigation costs. Although the likelihood of achieving substantial emission reductions is increased by the new plan, there is a paucity of consideration to how an ethic of development might be advanced. Therefore, this research empirically investigates the role that CO2 plays in advancing human development (in terms of the Human Development Index or HDI) over the 1990 to 2010 time period. Based on empirical evidence, a theoretical CO2-development framework is established, which provides a basis for designing a novel policy proposal that integrates mitigation efforts with human development objectives. Empirical evidence confirms that CO2 and HDI are highly correlated, but that there are diminishing returns to HDI as per capita CO2 emissions increase. An examination of development pathways reveals that as nations develop, their trajectories generally become less coupled with CO2. Moreover, the developing countries with the greatest gains in HDI are also nations that have, or are in the process of moving toward, outward-oriented trade policies that involve increased domestic capabilities for product manufacture and export. With these findings in mind, future emission targets should reduce current emissions in developed nations and allow room for HDI growth in developing countries as well as in the least developed nations of the world. Emission trading should also be limited to nations with similar HDI levels to protect less-developed nations from unfair competition for capacity building resources. Lastly, developed countries should be incentivized to invest in joint production ventures within the LDCs to build capacity for self-reliant and sustainable development over the long-term.
ContributorsClark, Susan Spierre (Author) / Seager, Thomas P. (Thesis advisor) / Allenby, Braden (Committee member) / Klinsky, Sonja (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