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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Islamist groups in Somalia define themselves by their opposition. From the pre-Islamist movement of Mohammed Hassan in the nineteenth century to al-Itihaad al-Islaami in the twentieth to al-Shabaab in the twenty-first, Islamism exists as a form of resistance against the dominant power of the era. Furthermore these Islamist groups have all been influenced by the type of state in which they exist, be it colonial, independent, or failed. This work seeks to examine the relationship between the uniquely Somali form of Islamism and the state. Through use of historical records, modern media, and existing scholarship this dissertation will chart the development of Islamism in Somalia from the colonial period to the present and explore the relationship Somali Islamism has with various forms of state.
ContributorsFurlow, Richard Bennett (Author) / Gallab, Abdullahi (Thesis advisor) / Talebi, Shahla (Committee member) / Ali, Souad (Committee member) / Arizona State University (Publisher)
Created2013
Description
ABSTRACT In this thesis, I probe into the ways in which the much-debated word Jihad lends itself to multifarious meanings within the Mourid Sufi Order and examine the foundations of the principles of peace and non-violence that informed the relationships between Cheikh Ahmadou Bamba, the founder of Mouridism (1853 ca - 1927) and the French colonial state from 1883 to 1927. As a matter of fact, unlike some Senegalese Muslim leaders who had waged a violent Jihad during the colonial conquest and expansion, Cheikh Ahmadou Bamba promoted peaceful forms of Jihad which partook of his reform and revival movement in the Senegalese society. Yet, it is worth pointing out that the Mourid leader's ethics of peace and philosophy of non-violence as methods of struggle (the etymological sense of the word Jihad) during colonial times have been largely unexplored within academia. The contours of these new forms of resistance were grounded on a peaceful and non-violent approach which, according to Cheikh Ahmadou Bamba, was the only way to reach his spiritual, educational and social goals. This thesis proffers a counter-example to religious violence often associated with and perpetrated in the name of Islam. I argue in this thesis that a close investigation into Cheikh Ahmadou Bamba's epistemology of Jihad evidences that the term Jihad has spiritual, educational, social, cultural and economic functions which naturally contrast with its one-sided and violent connotation spotlighted over the last two decades. In conducting research for this work, I used a transdisciplinary approach that can allow me to address the complex issues of Jihad, peace and non-violence in a more comprehensive way. Accordingly, I have used a methodology that crosses the boundaries of several disciplines (historical, anthropological, sociological and literary).
ContributorsSeye, Cheikh (Author) / Haines, Charles (Thesis advisor) / Gallab, Abdullahi (Committee member) / Talebi, Shahla (Committee member) / Saikia, Yasmin (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
Recent research has identified affirmation of transcendence and exposure to violent Bible verses as being related to greater prejudice toward value-violating out-groups (Blogowska & Saroglou, 2012; Shen et al., 2013). Effects of exposure to specific Bible verses on attitudes toward out-groups have not been measured in combination with the Post-Critical Belief Scale developed by Hutsebaut (1996). The relationships between exposure to scriptural endorsements of prejudice, affirmation vs. disaffirmation of transcendence, literal vs. symbolic processing of religious content, and prejudice toward value-violating out-groups were examined using an online survey administered to a sample of U.S. adults (N=283). Greater affirmation of transcendence scores were linked to greater prejudice toward atheists and homosexuals and more favorable ratings of Christians and highly religious people. Lower affirmation of transcendence scores were linked to less favorable ratings of Christians and highly religious people and more favorable ratings of atheists. Exposure to scriptural endorsements of prejudice did not have a significant effect on levels of prejudice in this study.
ContributorsGrove, Richard (Author) / Robles, Elías (Thesis advisor) / Hall, Deborah (Committee member) / Schweitzer, Nicholas (Committee member) / Arizona State University (Publisher)
Created2013
Description
This study aimed to fill the gap in research with regards to how individuals who define themselves as LGBT (lesbian, gay, bisexual, and transgendered) and devoutly religious (either currently or in the past) manage the interaction between these two conflicting identities. The researchers conducted 8 semi-structured qualitative interviews to examine how these individuals manage this conflict and what affects these individuals experience internally and externally. To analyze the interviews, researchers used an open coding method to determine the common themes amongst the participants. Results indicated that these participants traveled a similar path when attempting to manage the conflict between their religion and sexuality and similar internal and external affects were experienced amongst the participants.
ContributorsWheeler, Heather (Author) / Gerdes, Karen (Thesis advisor) / Klimek, Barbara (Committee member) / Segal, Elizabeth (Committee member) / Arizona State University (Publisher)
Created2013
Description
A novel about an Orthodox priest who seeks solace in Greece after the death of his wife. While Father Christopolous struggles to find forgiveness and restoration in the Paschal celebration, he grows increasingly entangled with a young priest-activist and his striking, self-destructive wife. Amid the tumult of a country in political upheaval, he unravels the secrets of his hosts and confronts truths about his own marriage that threaten his faith and his place in the world. Set over the course of Holy Week, the novel explores the tensions in the bodily experience of faith and in the dichotomy between the knowledge of the mind and that of the heart.
ContributorsHynes, Sarah (Author) / Mcnally, Thomas M (Thesis advisor) / Ison, Tara (Committee member) / Pritchard, Melissa (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
This thesis discusses the intersection of Christian and Blues exegesis and hermeneutics in the life and lyrics of Eddie "Son" House, a Baptist and Methodist preacher and Blues singer who was born in Lyon, Mississippi. It is intended as a biographical case study that highlights and explores the complex and multifaceted relationship between Black Protestant Preaching and Blues Singing/Preaching. In doing so, it critically appropriates Religious Studies theoretical and methodological considerations, orientations, and insights--particularly those from Charles Long and Paul Ricoeur--to examine the life, artistry, ministry, and lyrics of House in light of his expressed religious orientations and dual, often conflicting roles as a Christian Minister and Blues Preacher.
ContributorsBroyles, Michael (Author) / Moore, Moses (Thesis advisor) / Ali, Souad (Committee member) / Anderson, Lisa (Committee member) / Arizona State University (Publisher)
Created2013