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 511
Filtering by
- All Subjects: robotics
- All Subjects: criminology
Description
Research examining the long-term impacts of federal interventions under the Civil Rights of Institutionalized Persons Act on correctional institutions has been scant. The result has been a failure to understand the sustainability of reforms aimed at protecting the civil rights of confined persons. This dissertation examined the long-term reforms at the Arizona Department of Juvenile Corrections following a consent decree with the U.S. Department of Justice from 2004 to 2007. Interviews were conducted with current and former ADJC employees, juvenile justice advocates across Arizona, and county court representatives to determine how each of these groups perceived the status of the reforms at the ADJC. The findings of the current dissertation suggest that long-term reforms following consent decrees imposed on correctional institutions are possible. At the ADJC, the methods for securing the reform required that the agency reform its culture, implement a Quality Assurance process, revamp the Investigations and Inspections unit at the agency, and consider the perspectives of external agencies. One of the primary reasons why the department has been committed to making these reforms is because of the perceived loss of legitimacy and resources that would occur if they failed to reform. Such a failure for the agency could have potentially resulted in a closure of the agency. However, the increase in punitive and preventive policies used to enforce the reforms may have negative repercussions on the organizational culture in the long term. Policy implications for future CRIPA consent decrees are outlined, limitations are addressed, and suggestions for future research are made.
ContributorsTaylor, Melanie Ann (Author) / Decker, Scott H. (Thesis advisor) / Katz, Charles M. (Committee member) / Fox, Kathleen (Committee member) / Arizona State University (Publisher)
Created2013
Description
Knowing that disorder is related to crime, it has become essential for criminologists to understand how and why certain individuals perceive disorder. Using data from the Perceptions of Neighborhood Disorder and Interpersonal Conflict Project, this study uses a fixed photograph of a neighborhood, to assess whether individuals "see" disorder cues. A final sample size of n=815 respondents were asked to indicate if they saw particular disorder cues in the photograph. The results show that certain personal characteristics do predict whether an individual sees disorder. Because of the experimental design, results are a product of the individual's personal characteristics, not of the respondent's neighborhood. These findings suggest that the perception of disorder is not as clear cut as once thought. Future research should explore what about these personal characteristics foster the perception of disorder when it is not present, as well as, how to fight disorder in neighborhoods when perception plays such a substantial role.
ContributorsScott, Christopher (Author) / Wallace, Danielle (Thesis advisor) / Katz, Charles (Committee member) / Ready, Justin (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
ABSTRACT Research on self-control theory (Gottfredson & Hirschi, 1990) consistently supports its' central proposition that low self-control significantly affects crime. The theory includes other predictions, which have received far less empirical scrutiny. Among these is the argument that self-control is developed early in childhood and that individual differences then persist over time. Gottfredson and Hirschi contend that once established by age ten, self-control remains relatively stable over one's life-course (stability postulate). To determine the empirical status of Gottfredson and Hirschi's "stability postulate," a meta-analysis on existing empirical studies was conducted. Results for this study support the contentions made by Gottfredson and Hirschi, however the inclusion of various moderating variables significantly influenced this relationship. Keywords: self-control, self-control stability, absolute stability, relative stability
ContributorsMeyers, Travis J (Author) / Pratt, Travis (Thesis advisor) / Burt, Callie (Committee member) / Wright, Kevin (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
A void exists in public administration, criminology, and criminal justice research as it relates to the study of power in American policing agencies. This has significant ramifications for academia and practitioners in terms of how they view, address, study, and interpret behaviors/actions in American policing agencies and organizations in general. In brief, mainstream research on power in organizations does not take into account relationships of power that do not act directly, and immediately, on others. By placing its emphasis on an agency centric perspective of power, the mainstream approach to the study of power fails to recognize indirect power relationships that influence discourse, pedagogy, mechanisms of communication, knowledge, and individual behavior/actions. In support of a more holistic inquiry, this study incorporates a Foucauldian perspective of power along with an ethnographical methodology and methods to build a greater understanding of power in policing organizations. This ethnography of an American policing organization illuminates the relationship between the exercise of power and the objectification of the subject through the interplay of relationships of communication, goal oriented activities, and relationships of power. Specifically, the findings demonstrate that sworn officers and civilian employees are objectified distinctly and dissimilarly. In summary, this study argues that the exercise of power in this American policing organization objectifies the civilian employee as a second class citizen.
ContributorsBentley, Paul C (Author) / Catlaw, Thomas (Thesis advisor) / Musheno, Michael (Committee member) / Lucio, Joanna (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
There has been a tremendous amount of innovation in policing over the last 40 years, from community and problem-oriented policing to hot spots and intelligence-led policing. Many of these innovations have been subjected to empirical testing, with mixed results on effectiveness. The latest innovation in policing is the Bureau of Justice Assistance's Smart Policing Initiative (2009). Created in 2009, the SPI provides funding to law enforcement agencies to develop and test evidence-based practices to address crime and disorder. Researchers have not yet tested the impact of the SPI on the funded agencies, particularly with regard to core principles of the Initiative. The most notable of these is the collaboration between law enforcement agencies and their research partners. The current study surveyed SPI agencies and their research partners on key aspects of their Initiative. The current study uses mean score comparisons and qualitative responses to evaluate this partnership to determine the extent of its value and effect. It also seeks to determine the areas of police agency crime analysis and research units that are most in need of enhancement. Findings indicate that the research partners are actively involved in a range of aspects involved in problem solving under the Smart Policing Initiative, and that they have positively influenced police agencies' research and crime analysis functions, and to a lesser extent, have positively impacted police agencies' tactical operations. Additionally, personnel, technology, and training were found to be the main areas of the crime analysis and research units that still need to be enhanced. The thesis concludes with a discussion of the implications of these findings for police policy and practice.
ContributorsMartin-Roethele, Chelsie (Author) / White, Michael D. (Thesis advisor) / Ready, Justin (Committee member) / D'Anna, Matthew (Committee member) / Arizona State University (Publisher)
Created2013