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 510
Filtering by
- All Subjects: robotics
- All Subjects: Statistics
Description
Many longitudinal studies, especially in clinical trials, suffer from missing data issues. Most estimation procedures assume that the missing values are ignorable or missing at random (MAR). However, this assumption leads to unrealistic simplification and is implausible for many cases. For example, an investigator is examining the effect of treatment on depression. Subjects are scheduled with doctors on a regular basis and asked questions about recent emotional situations. Patients who are experiencing severe depression are more likely to miss an appointment and leave the data missing for that particular visit. Data that are not missing at random may produce bias in results if the missing mechanism is not taken into account. In other words, the missing mechanism is related to the unobserved responses. Data are said to be non-ignorable missing if the probabilities of missingness depend on quantities that might not be included in the model. Classical pattern-mixture models for non-ignorable missing values are widely used for longitudinal data analysis because they do not require explicit specification of the missing mechanism, with the data stratified according to a variety of missing patterns and a model specified for each stratum. However, this usually results in under-identifiability, because of the need to estimate many stratum-specific parameters even though the eventual interest is usually on the marginal parameters. Pattern mixture models have the drawback that a large sample is usually required. In this thesis, two studies are presented. The first study is motivated by an open problem from pattern mixture models. Simulation studies from this part show that information in the missing data indicators can be well summarized by a simple continuous latent structure, indicating that a large number of missing data patterns may be accounted by a simple latent factor. Simulation findings that are obtained in the first study lead to a novel model, a continuous latent factor model (CLFM). The second study develops CLFM which is utilized for modeling the joint distribution of missing values and longitudinal outcomes. The proposed CLFM model is feasible even for small sample size applications. The detailed estimation theory, including estimating techniques from both frequentist and Bayesian perspectives is presented. Model performance and evaluation are studied through designed simulations and three applications. Simulation and application settings change from correctly-specified missing data mechanism to mis-specified mechanism and include different sample sizes from longitudinal studies. Among three applications, an AIDS study includes non-ignorable missing values; the Peabody Picture Vocabulary Test data have no indication on missing data mechanism and it will be applied to a sensitivity analysis; the Growth of Language and Early Literacy Skills in Preschoolers with Developmental Speech and Language Impairment study, however, has full complete data and will be used to conduct a robust analysis. The CLFM model is shown to provide more precise estimators, specifically on intercept and slope related parameters, compared with Roy's latent class model and the classic linear mixed model. This advantage will be more obvious when a small sample size is the case, where Roy's model experiences challenges on estimation convergence. The proposed CLFM model is also robust when missing data are ignorable as demonstrated through a study on Growth of Language and Early Literacy Skills in Preschoolers.
ContributorsZhang, Jun (Author) / Reiser, Mark R. (Thesis advisor) / Barber, Jarrett (Thesis advisor) / Kao, Ming-Hung (Committee member) / Wilson, Jeffrey (Committee member) / St Louis, Robert D. (Committee member) / Arizona State University (Publisher)
Created2013
Description
Nowadays product reliability becomes the top concern of the manufacturers and customers always prefer the products with good performances under long period. In order to estimate the lifetime of the product, accelerated life testing (ALT) is introduced because most of the products can last years even decades. Much research has been done in the ALT area and optimal design for ALT is a major topic. This dissertation consists of three main studies. First, a methodology of finding optimal design for ALT with right censoring and interval censoring have been developed and it employs the proportional hazard (PH) model and generalized linear model (GLM) to simplify the computational process. A sensitivity study is also given to show the effects brought by parameters to the designs. Second, an extended version of I-optimal design for ALT is discussed and then a dual-objective design criterion is defined and showed with several examples. Also in order to evaluate different candidate designs, several graphical tools are developed. Finally, when there are more than one models available, different model checking designs are discussed.
ContributorsYang, Tao (Author) / Pan, Rong (Thesis advisor) / Montgomery, Douglas C. (Committee member) / Borror, Connie (Committee member) / Rigdon, Steve (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
This work presents two complementary studies that propose heuristic methods to capture characteristics of data using the ensemble learning method of random forest. The first study is motivated by the problem in education of determining teacher effectiveness in student achievement. Value-added models (VAMs), constructed as linear mixed models, use students’ test scores as outcome variables and teachers’ contributions as random effects to ascribe changes in student performance to the teachers who have taught them. The VAMs teacher score is the empirical best linear unbiased predictor (EBLUP). This approach is limited by the adequacy of the assumed model specification with respect to the unknown underlying model. In that regard, this study proposes alternative ways to rank teacher effects that are not dependent on a given model by introducing two variable importance measures (VIMs), the node-proportion and the covariate-proportion. These VIMs are novel because they take into account the final configuration of the terminal nodes in the constitutive trees in a random forest. In a simulation study, under a variety of conditions, true rankings of teacher effects are compared with estimated rankings obtained using three sources: the newly proposed VIMs, existing VIMs, and EBLUPs from the assumed linear model specification. The newly proposed VIMs outperform all others in various scenarios where the model was misspecified. The second study develops two novel interaction measures. These measures could be used within but are not restricted to the VAM framework. The distribution-based measure is constructed to identify interactions in a general setting where a model specification is not assumed in advance. In turn, the mean-based measure is built to estimate interactions when the model specification is assumed to be linear. Both measures are unique in their construction; they take into account not only the outcome values, but also the internal structure of the trees in a random forest. In a separate simulation study, under a variety of conditions, the proposed measures are found to identify and estimate second-order interactions.
ContributorsValdivia, Arturo (Author) / Eubank, Randall (Thesis advisor) / Young, Dennis (Committee member) / Reiser, Mark R. (Committee member) / Kao, Ming-Hung (Committee member) / Broatch, Jennifer (Committee member) / Arizona State University (Publisher)
Created2013
Description
Statistics is taught at every level of education, yet teachers often have to assume their students have no knowledge of statistics and start from scratch each time they set out to teach statistics. The motivation for this experimental study comes from interest in exploring educational applications of augmented reality (AR) delivered via mobile technology that could potentially provide rich, contextualized learning for understanding concepts related to statistics education. This study examined the effects of AR experiences for learning basic statistical concepts. Using a 3 x 2 research design, this study compared learning gains of 252 undergraduate and graduate students from a pre- and posttest given before and after interacting with one of three types of augmented reality experiences, a high AR experience (interacting with three dimensional images coupled with movement through a physical space), a low AR experience (interacting with three dimensional images without movement), or no AR experience (two dimensional images without movement). Two levels of collaboration (pairs and no pairs) were also included. Additionally, student perceptions toward collaboration opportunities and engagement were compared across the six treatment conditions. Other demographic information collected included the students' previous statistics experience, as well as their comfort level in using mobile devices. The moderating variables included prior knowledge (high, average, and low) as measured by the student's pretest score. Taking into account prior knowledge, students with low prior knowledge assigned to either high or low AR experience had statistically significant higher learning gains than those assigned to a no AR experience. On the other hand, the results showed no statistical significance between students assigned to work individually versus in pairs. Students assigned to both high and low AR experience perceived a statistically significant higher level of engagement than their no AR counterparts. Students with low prior knowledge benefited the most from the high AR condition in learning gains. Overall, the AR application did well for providing a hands-on experience working with statistical data. Further research on AR and its relationship to spatial cognition, situated learning, high order skill development, performance support, and other classroom applications for learning is still needed.
ContributorsConley, Quincy (Author) / Atkinson, Robert K (Thesis advisor) / Nguyen, Frank (Committee member) / Nelson, Brian C (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
Dimensionality assessment is an important component of evaluating item response data. Existing approaches to evaluating common assumptions of unidimensionality, such as DIMTEST (Nandakumar & Stout, 1993; Stout, 1987; Stout, Froelich, & Gao, 2001), have been shown to work well under large-scale assessment conditions (e.g., large sample sizes and item pools; see e.g., Froelich & Habing, 2007). It remains to be seen how such procedures perform in the context of small-scale assessments characterized by relatively small sample sizes and/or short tests. The fact that some procedures come with minimum allowable values for characteristics of the data, such as the number of items, may even render them unusable for some small-scale assessments. Other measures designed to assess dimensionality do not come with such limitations and, as such, may perform better under conditions that do not lend themselves to evaluation via statistics that rely on asymptotic theory. The current work aimed to evaluate the performance of one such metric, the standardized generalized dimensionality discrepancy measure (SGDDM; Levy & Svetina, 2011; Levy, Xu, Yel, & Svetina, 2012), under both large- and small-scale testing conditions. A Monte Carlo study was conducted to compare the performance of DIMTEST and the SGDDM statistic in terms of evaluating assumptions of unidimensionality in item response data under a variety of conditions, with an emphasis on the examination of these procedures in small-scale assessments. Similar to previous research, increases in either test length or sample size resulted in increased power. The DIMTEST procedure appeared to be a conservative test of the null hypothesis of unidimensionality. The SGDDM statistic exhibited rejection rates near the nominal rate of .05 under unidimensional conditions, though the reliability of these results may have been less than optimal due to high sampling variability resulting from a relatively limited number of replications. Power values were at or near 1.0 for many of the multidimensional conditions. It was only when the sample size was reduced to N = 100 that the two approaches diverged in performance. Results suggested that both procedures may be appropriate for sample sizes as low as N = 250 and tests as short as J = 12 (SGDDM) or J = 19 (DIMTEST). When used as a diagnostic tool, SGDDM may be appropriate with as few as N = 100 cases combined with J = 12 items. The study was somewhat limited in that it did not include any complex factorial designs, nor were the strength of item discrimination parameters or correlation between factors manipulated. It is recommended that further research be conducted with the inclusion of these factors, as well as an increase in the number of replications when using the SGDDM procedure.
ContributorsReichenberg, Ray E (Author) / Levy, Roy (Thesis advisor) / Thompson, Marilyn S. (Thesis advisor) / Green, Samuel B. (Committee member) / Arizona State University (Publisher)
Created2013
Description
Parallel Monte Carlo applications require the pseudorandom numbers used on each processor to be independent in a probabilistic sense. The TestU01 software package is the standard testing suite for detecting stream dependence and other properties that make certain pseudorandom generators ineffective in parallel (as well as serial) settings. TestU01 employs two basic schemes for testing parallel generated streams. The first applies serial tests to the individual streams and then tests the resulting P-values for uniformity. The second turns all the parallel generated streams into one long vector and then applies serial tests to the resulting concatenated stream. Various forms of stream dependence can be missed by each approach because neither one fully addresses the multivariate nature of the accumulated data when generators are run in parallel. This dissertation identifies these potential faults in the parallel testing methodologies of TestU01 and investigates two different methods to better detect inter-stream dependencies: correlation motivated multivariate tests and vector time series based tests. These methods have been implemented in an extension to TestU01 built in C++ and the unique aspects of this extension are discussed. A variety of different generation scenarios are then examined using the TestU01 suite in concert with the extension. This enhanced software package is found to better detect certain forms of inter-stream dependencies than the original TestU01 suites of tests.
ContributorsIsmay, Chester (Author) / Eubank, Randall (Thesis advisor) / Young, Dennis (Committee member) / Kao, Ming-Hung (Committee member) / Lanchier, Nicolas (Committee member) / Reiser, Mark R. (Committee member) / Arizona State University (Publisher)
Created2013