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 449
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- All Subjects: robotics
- All Subjects: management
Description
Using experience, observations, data, current research, and writings in the field of volunteer management, it was determined there was a need to study the effects of leadership/management practices on the productivity outcomes of a volunteer construction workforce. A simple wood bench that would be tiled and painted was designed to test the areas of Time, Waste, Quality, Safety, and Satisfaction of different volunteer groups. The challenge was bolstered by giving the teams no power tools and limited available resources. A simple design of experiment model was used to test highs and lows in the three management techniques of Instruction, Help, and Encouragement. Each scenario was tested multiple times. Data was collected, normalized and analyzed using statistical analysis software. A few significant findings were discovered. The first; the research showed that there was no significant correlation between the management practices of the leader and the satisfaction of the volunteers. The second; the research also showed when further analyzed into specific realistic scenarios that the organizations would be better to focus on high amounts of Help and Encouragement in order to maximize the productivity of their volunteer construction workforce. This is significant as it allows NPO's and governments to focus their attention where best suited to produce results. The results were shared and the study was further validated as "significant" by conducting interviews with experts in the construction nonprofit sector.
ContributorsPrigge, Diedrich (Author) / Sullivan, Kenneth (Thesis advisor) / Wiezel, Avi (Committee member) / Badger, William (Committee member) / Arizona State University (Publisher)
Created2013
Description
This dissertation is an exploratory study that examined the differences in perceptions about supply chain management strategy, topics, tools, and techniques between procurement professionals in public and private sector organizations. This was accomplished through a survey of procurement professionals in a Fortune 500 company and a municipality in Arizona. The data were analyzed to understand how perceptions of supply chain management differed within this sample and whether the differences in perceptions were associated with formal education levels. Key findings indicate that for this or similar samples, public procurement respondents viewed their organizations' approach to supply chain management as a narrow function within purchasing while private sector respondents viewed their organization's approach to supply chain management as a strategic purchasing perspective that requires the coordination of cross functional areas. Second, public procurement respondents reported consistent and statistically significant lower levels of formal education than private sector respondents. Third, the supply chain management topics, tools, and techniques seem to be more important to private sector respondents than the public sector respondents. Finally, Respondents in both sectors recognize the importance of ethics and ethical behavior as an essential part of supply chain management.
ContributorsHeller, Jacob (Author) / Cayer, Joseph (Thesis advisor) / Lan, Gerald (Committee member) / Eden, Catherine (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
The construction industry in India suffers from major time and cost overruns. Data from government and industry reports suggest that projects suffer from 20 to 25 percent time and cost overruns. Waste of resources has been identified as a major source of inefficiency. Despite a substantial increase in the past few years, demand for professionals and contractors still exceeds supply by a large margin. The traditional methods adopted in the Indian construction industry may not suffice the needs of this dynamic environment, as they have produced large inefficiencies. Innovative ways of procurement and project management can satisfy the needs aspired to as well as bring added value. The problems faced by the Indian construction industry are very similar to those faced by other developing countries. The objective of this paper is to discuss and analyze the economic concerns, inefficiencies and investigate a model that both explains the Indian construction industry structure and provides a framework to improve efficiencies. The Best Value (BV) model is examined as an approach to be adopted in lieu of the traditional approach. This could result in efficient construction projects by minimizing cost overruns and delays, which until now have been a rarity.
ContributorsNihas, Syed (Author) / Kashiwagi, Dean (Thesis advisor) / Sullivan, Kenneth (Committee member) / Kashiwagi, Jacob (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
After decades of dormancy, character is re-emerging as an important research topic among organizational leadership researchers in response to the need to better explain the source of certain exemplary and ethical leader performance (Hannah & Avolio, 2011; Leonard, 1997; Thompson & Riggio, 2010; Wright & Goodstein, 2007). However, efforts to operationalize character are criticized for their abstract and idealistic trait-based conceptualizations that fail to capture the reality of leadership and situational dynamics (Conger & Hollenbeck, 2010). The purpose of this study is to develop a more robust theoretical approach to character that is empirically grounded in the real life complexities of leadership. Combat provides the context for this study because the adversity of such an extreme context tends to make character a more salient and readily observable phenomenon than in more conventional organizational contexts (Wright & Quick, 2011; Hannah, Uhl-Bien, Avolio, & Cavarretta, 2009). I employed an ethnographic grounded theory design to gain a unique insider's perspective absent in many studies of leader character (Charmaz, 2009; Parry & Meindl, 2002). Data collection involved (1) physically embedding for six months with U.S. Army small unit infantry leaders operating in combat in Afghanistan; (2) participant observation in the full range of combat activities engaged in by these leaders; and (3) in-depth semi-structured interviews with key informants. An important contribution of this study is that the emergent concept of leader character is fully situated in the leader's social and environmental context represented by the leader's inner struggle to resist the adversity of combat and uphold the standards of leadership. In this dialectical framework, certain agentic resources important to resolving this inner struggle emerge as the locus of leader character. This agency-based concept of character is rooted in the internalization of the standards of leadership through identity-conferring normative commitments and entails particular motivational and volitional capacities. These produce a distinct mode of functioning--a strong form of personal moral agency--characterized by the leader's willingness to sacrifice in upholding standards in the face of adversity. This primacy of leader agency over adversity is the hallmark of leader character--what I call the character to lead.
ContributorsJennings, Peter L. (Author) / Corley, Kevin (Thesis advisor) / Waldman, David (Thesis advisor) / Hannah, Sean T (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
The healthcare system is plagued with increasing cost and poor quality outcomes. A major contributing factor for these issues is that outdated leadership practices, such as leader-centricity, linear thinking, and poor readiness for innovation, are being used in healthcare organizations. Through a qualitative case study analysis of innovation implementation, a new framework of leadership was uncovered. This framework presented new characteristics of leaders that led to the successful implementation of an innovation. Characteristics uncovered included boundary spanning, risk taking, visioning, leveraging opportunity, adaptation, coordination of information flow, and facilitation. These characteristics describe how leaders throughout the system were able to influence information flow, relationships, connections, and organizational context to implement innovation.
ContributorsWeberg, Daniel Robert (Author) / Fluery, Julie (Thesis advisor) / Malloch, Kathy (Thesis advisor) / Porter-O'Grady, Timothy (Committee member) / Hagler, Debra (Committee member) / Arizona State University (Publisher)
Created2013
Description
In many respects, the current public child welfare system closely resembles that of over 100 years ago. Then, as well as now, nonprofit child welfare agencies are the critical providers of service delivery to vulnerable children and their families. Contemporary nonprofits, however, are confronted with social and fiscal pressures to conform to normative practices and behaviors of governmental and for-profit organizations. Simultaneously, these agencies may also feel compelled to behave in accordance with a nonprofit normative ethic. Yet, scholars and practitioners are often unaware of how these different forces may be shaping the practices of child welfare agencies and, the nonprofit sector in general. This multi-paper dissertation examines how managerial and organizational practices of child welfare nonprofits are influenced business, government, and other nonprofit organizations and the extent to which processes process of institutional isomorphism in child welfare nonprofits are happening. Data was collected from a national ample of 184 child welfare administrators to explore marketization practices, collaboration behaviors, and managerial priorities of these agencies. Multinomial logistic, ordered logistic, and ordinary least squares regression, and historical analysis help shed light on the contemporary practices of these agencies. The results reveal that these agency's behaviors are shaped by government control, influences from the business community, identification with a nonprofit mindset (i.e., nonprofitness), funding streams, and various other factors. One key finding is that identification with a nonprofit mindset encourages certain behaviors like collaboration with other nonprofits and placing greater importance on key managerial priorities, but it does not reduce the likelihood of adopting business management strategies. Another important finding is that government control and funding does not have as strong as an influence on child welfare nonprofits as expected; however, influence from the business community does strongly affect many of their practices. The implications of these findings are discussed for child welfare agencies and the nonprofit sector in general. The consequences of nonprofits operating similarly to business and government are considered.
ContributorsRobichau, Robbie Waters (Author) / Catlaw, Thomas (Thesis advisor) / Nahavandi, Afsaneh (Committee member) / Gustavsson, Nora (Committee member) / Wang, Lili (Committee member) / Arizona State University (Publisher)
Created2013