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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Machine Learning and Vision Using Edge Devices for Multimodal Chatbots and Bio-meteorological Sensing

Description
Machine learning (ML) and deep learning (DL) has become an intrinsic part of multiple fields. The ability to solve complex problems makes machine learning a panacea. In the last few years, there has been an explosion of data generation, which has greatly improvised machine learning models. But this comes with…

Machine learning (ML) and deep learning (DL) has become an intrinsic part of multiple fields. The ability to solve complex problems makes machine learning a panacea. In the last few years, there has been an explosion of data generation, which has greatly improvised machine learning models. But this comes with a cost of high computation, which invariably increases power usage and cost of the hardware. In this thesis we explore applications of ML techniques, applied to two completely different fields - arts, media and theater and urban climate research using low-cost and low-powered edge devices. The multi-modal chatbot uses different machine learning techniques: natural language processing (NLP) and computer vision (CV) to understand inputs of the user and accordingly perform in the play and interact with the audience. This system is also equipped with other interactive hardware setups like movable LED systems, together they provide an experiential theatrical play tailored to each user. I will discuss how I used edge devices to achieve this AI system which has created a new genre in theatrical play. I will then discuss MaRTiny, which is an AI-based bio-meteorological system that calculates mean radiant temperature (MRT), which is an important parameter for urban climate research. It is also equipped with a vision system that performs different machine learning tasks like pedestrian and shade detection. The entire system costs around $200 which can potentially replace the existing setup worth $20,000. I will further discuss how I overcame the inaccuracies in MRT value caused by the system, using machine learning methods. These projects although belonging to two very different fields, are implemented using edge devices and use similar ML techniques. In this thesis I will detail out different techniques that are shared between these two projects and how they can be used in several other applications using edge devices.
ContributorsKulkarni, Karthik Kashinath (Author) / Jayasuriya, Suren (Thesis advisor) / Middel, Ariane (Thesis advisor) / Yu, Hongbin (Committee member) / Arizona State University (Publisher)
Created2021
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AnyNMP: Generative Cross-Embodiment Neural Motion Planning

Description
Manipulator motion planning has conventionally been solved using sampling and optimization-based algorithms that are agnostic to embodiment and environment configurations. However, these algorithms plan on a fixed environment representation approximated using shape primitives, and hence struggle to find solutions for cluttered and dynamic environments. Furthermore, these algorithms fail to produce…

Manipulator motion planning has conventionally been solved using sampling and optimization-based algorithms that are agnostic to embodiment and environment configurations. However, these algorithms plan on a fixed environment representation approximated using shape primitives, and hence struggle to find solutions for cluttered and dynamic environments. Furthermore, these algorithms fail to produce solutions for complex unstructured environments under real-time bounds. Neural Motion Planners (NMPs) are an appealing alternative to algorithmic approaches as they can leverage parallel computing for planning while incorporating arbitrary environmental constraints directly from raw sensor observations. Contemporary NMPs successfully transfer to different environment variations, however, fail to generalize across embodiments. This thesis proposes "AnyNMP'', a generalist motion planning policy for zero-shot transfer across different robotic manipulators and environments. The policy is conditioned on semantically segmented 3D pointcloud representation of the workspace thus enabling implicit sim2real transfer. In the proposed approach, templates are formulated for manipulator kinematics and ground truth motion plans are collected for over 3 million procedurally sampled robots in randomized environments. The planning pipeline consists of a state validation model for differentiable collision detection and a sampling based planner for motion generation. AnyNMP has been validated on 5 different commercially available manipulators and showcases successful cross-embodiment planning, achieving an 80% average success rate on baseline benchmarks.
ContributorsRath, Prabin Kumar (Author) / Gopalan, Nakul (Thesis advisor) / Yu, Hongbin (Thesis advisor) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2024