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 485
Filtering by
- All Subjects: robotics
- All Subjects: Social Research
Description
Communication skills within dating contexts are developed during the adolescent years, and are associated with a lifelong ability to have satisfying, enduring, and non-violent partnerships. As such, they are currently and increasingly implemented into both more general forms of healthy relationship education, as well as that targeting the prevention of teen dating violence specifically. Reaching Mexican American youth with culturally and developmentally appropriate relationship education, including communication skills, may be particularly important given their earlier transitions to marital and parenting relationships, acculturative stressors that present them with unique coupling challenges, and their higher rates of teen dating violence as compared to European American youth. We know very little about how Mexican American dating couples communicate about areas of conflict. This dissertation research utilizes Bell and Naugle's (2008) framework of interpersonal violence to explore how cultural and developmental considerations may be integrated in order to better understand how communication behaviors contribute to Mexican American middle adolescents' experiences with dating conflict. I use an observational study design in order to 1.) Qualitatively explore the communication strategies used by a sample of committed couples, including integration of culturally- and developmentally-relevant contexts, 2.) Quantitatively examine whether couple-level discrepancies in acculturation are associated with observed negativity, including whether this relationship may be mediated by dissimilar gender-related beliefs, and to 3.) Review empirical findings pertaining to the communication behaviors of Mexican American adolescents and to integrate ecodevelopmental theory in said framework as informed by Papers 1, 2, and literature specific to this topic area. The ultimate aim of this dissertation research is to generate findings that may improve the dating health of Mexican American adolescents living in the United States.
ContributorsAdams, Heidi (Author) / Rankin Williams, Lela (Thesis advisor) / Marsiglia, Flavio (Committee member) / Anthony, Elizabeth (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 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
Community-based development: scaling up the correct use of misoprostol at home births in Afghanistan
Description
Globally, more than 350 000 women die annually from complications during pregnancy and childbirth (UNFPA, 2011). Nearly 99% of these, according to World Health Organization (WHO) trends (2010) occur in the developing world outside of a hospital setting with limited resources including emergency care (WHO, 2012; UNFPA, 2011). The most prevalent cause of death is postpartum hemorrhage (PPH), accounting for 25% of deaths according to WHO statistics (2012). Conditions in Afghanistan are reflective of the scope and magnitude of the problem. In Afghanistan, maternal mortality is thought to be among the highest in the world. The Afghan Mortality Survey (AMS) data implies that one Afghan woman dies about every 2 hours from pregnancy-related causes (AMS, 2010). Lack of empowerment, education and access to health care resources increase a woman's risk of dying during pregnancy (AMS, 2010). This project aims to investigate the prospects of scaling-up the correct use of misoprostol, a prostaglandin E1 analogue, to treat PPH in developing countries where skilled assistance and resources are scant. As there has been little published on the lessons learned from programs already in place, this study is experience-driven, based on the knowledge of industry experts. This study employs a concurrent triangulation approach to synthesize quantitative data obtained from previous studies with qualitative information gathered through the testimonies of key personnel who participated in pilot programs involving misoprostol. There are many obstacles to scaling-up training initiatives in Afghanistan and other low-resource areas. The analysis concludes that the most crucial factors for scaling-up community-based programs include: more studies analyzing lessons learns from community driven approaches; stronger partnerships with community health care workers; overcoming barriers like association with abortion, misuse and product issues; and a heightened global and community awareness of the severity of PPH without treatment. These results have implications for those who actively work in Afghanistan to promote maternal health and other countries that may use Afghanistan's work as a blueprint for reducing maternal mortality through community-based approaches. Keywords: Afghanistan, community-based interventions, community-driven, maternal mortality, MDG5, misoprostol, postpartum hemorrhage, reproduction, scale-up
ContributorsCristy, Candice (Author) / Grossman, Gary (Thesis advisor) / Parmentier, Mary-Jane (Committee member) / Byrd, Denise (Committee member) / Arizona State University (Publisher)
Created2013
Description
This phenomenological qualitative study examines the experiences of volunteer tourism on host communities using social representations theory. The experiences of three stakeholder-groups (community residents, volunteers, and nongovernmental organizations) are considered. Overall objectives of this project are to investigate the following questions: a) what are the effects of volunteer tourism on a community as perceived by different stakeholders; b) what effects do volunteer tourists have on the community compared to other forms of tourism as perceived by different stakeholders; c) how do the various stakeholders perceive the different forms of tourism in communities in which they live or work; and d) why and how do nongovernmental organizations (NGOs) use volunteer tourism as a strategy for their projects. This study attempts to describe and interpret these meanings with a high degree of depth and richness using interviews, observation, and document analysis. Each chapter is written as a stand-alone paper to be published in a journal and describes the perspectives of the three groups interviewed with the final chapter a summary and comparison from all three groups. Findings show that there are both positive and negative impacts of volunteer tourism in favela communities, with the majority of the three groups expressing its positives and its importance to the community. All groups mentioned similar positive and negative elements of volunteer tourism with some elements that were unique to each group. This study also attempted to compare and contrast the differences between volunteer tourism and favela tours. The findings show that volunteer tourism helps recreate the social representations of the favela thereby improving self-esteem in the community, helps breakdown preconceptions, and helps create community pride. The community feels as equals with the volunteers and describes the interactions as friendships, sharing cultural experiences, and exchanging of knowledge. Conversely, all three groups described favela tours as dehumanizing using words like `safari tour' or `zoo tour' and felt that their community was being sold as a commodity. However, the interviews showed that all three groups, although had strong opinions about the ethical implications of favela tours, still felt conflicted when comparing it with some of the potential social and economic benefits that it may bring.
ContributorsAquino, Jessica Faustini (Author) / Andereck, Kathleen (Thesis advisor) / Mcgehee, Nancy (Committee member) / Phillips, Rhonda (Committee member) / Wang, Lili (Committee member) / Arizona State University (Publisher)
Created2013
Description
There is a popular notion that creativity is highly valued in our culture. However, those "in the trenches," people in creative endeavors that actually produce the acts of creativity, say this is not so. There is a negative correlation between the value stated and the true value placed on creativity by our contemporary culture. The primary purpose of this study was to investigate that correlation as well as a possible contributing factor to this negative correlation--the fear of risk involved in enacting and accepting creativity. The methods used in this study were literature review and interview. An extensive literature review was done, as much has been written on creativity. The review was done in four parts: 1) the difficulty in defining creativity; 2) fear and the fear of creativity; 3) solutions - ways to be, express, and accept creativity; and 4) the plethora of articles written about creativity. Six one-on-one interviews were conducted with creative individuals from a variety of commercial creative endeavors. Creatives in commercial fields were chosen specifically because of their ability to influence the culture. The results of this study showed that the hypothesis, that there is a negative correlation between the value stated and the true value placed on creativity, is true. The fear of risk involved in enacting and accepting creativity as a factor in this dichotomy was also shown to be true.
ContributorsGelman, Howard P (Author) / Heywood, Wil (Thesis advisor) / Patel, Mookesh (Committee member) / Knox, Gordon (Committee member) / Arizona State University (Publisher)
Created2013
Description
This study was done in collaboration with the Kino Border Initiative. The Kino Border Initiative is a Catholic, bi-national organization run by Missionary Sisters of the Eucharist, Jesuit priests and lay people. The organization is dedicated to providing services to recently deported migrants and migrants-in-transit through their soup kitchen, women's shelter and first aid station in Nogales, Sonora. Based on their experiences in the women's shelter, the Missionary Sisters of the Eucharist and researcher sought out to further understand migrant women's experiences of gender-based violence prior to migration. Using data collected by the Sisters, it was decided to use an analysis rooted in testimonio, and, in this way, use the women's words as a foundational basis for understanding the migration of women. The analysis is based on 62 testimonies related to women's histories of violence and their migration experiences, and the information from 74 intake questionnaires that were all analyzed retroactively. The analysis of data and testimonios has led to the realization that violence suffered by migrant women is not limited to the journey itself, and that 71% of women report having suffered some sort of violence either prior to or during migration. Often times, the first experiences of violence originated in their homes when they were children and continue to repeat itself throughout their lifetimes in varied forms. Their stories reveal how the decision to migrate is a consequence to the transnational and structural violence that pushes women to seek out ways to survive and provide for their families.
ContributorsConrad, Marla (Author) / Elenes, C. Alejandra (Thesis advisor) / Simmons, William P. (Committee member) / Téllez, Michelle (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