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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Robotic 3D Mapping for Virtual Reality Implementation

Description
In recent years, environment mapping has garnered significant interest in both industrial and academic settings as a viable means of generating comprehensive virtual models of the physical world. These maps are created using simultaneous localization and mapping (SLAM) algorithms that combine depth contours with visual imaging information to create rich,…

In recent years, environment mapping has garnered significant interest in both industrial and academic settings as a viable means of generating comprehensive virtual models of the physical world. These maps are created using simultaneous localization and mapping (SLAM) algorithms that combine depth contours with visual imaging information to create rich, layered point clouds. Given the recent advances in virtual reality technology, these generated point clouds can be imported onto the Oculus Rift or similar headset for virtual reality implementation. This project deals with the robotic implementation of RGB-D SLAM algorithms on mobile ground robots to generate complete point clouds that can be processed off-line and imported into virtual reality engines for viewing in the Oculus Rift. This project uses a ground robot along with a Kinect sensor to collect RGB-D data of the surrounding environment to build point cloud maps using SLAM software. These point clouds are then exported as object or polygon files for post-processing in software engines such as Meshlab or Unity. The point clouds generated from the SLAM software can be viewed in the Oculus Rift as is. However, these maps are mainly empty space and can be further optimized for virtual viewing. Additional techniques such as meshing and texture meshing were implemented on the raw point cloud maps and tested on the Oculus Rift. The aim of this project was to increase the potential applications for virtual reality by taking a robotic mapping approach to virtual reality environment development. This project was successful in achieving its objective. The following report details the processes used in developing a remotely-controlled robotic platform that can scan its environment and generate viable point cloud maps. These maps are then processed off line and ported into virtual reality software for viewing through the Oculus Rift.
ContributorsUdupa, Shreya (Author) / Artemiadis, Panagiotis (Thesis director) / Chickamenahalli, Shamala (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Economics Program in CLAS (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
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Genetic and Environmental Contributions to the Relation Between Parenting and Child Psychopathology

Description

Prior research has established a relation between parenting behaviors and symptoms of child psychopathology, and this association may be influenced by both genetic and environmental factors. Gene-environment correlation, or the influence of a child’s genes on the environment they receive, represents one possible mechanism through which genes and environment combine…

Prior research has established a relation between parenting behaviors and symptoms of child psychopathology, and this association may be influenced by both genetic and environmental factors. Gene-environment correlation, or the influence of a child’s genes on the environment they receive, represents one possible mechanism through which genes and environment combine to influence child outcomes. This study examined evocative gene-environment correlation in the relation between parenting and symptoms of child psychopathology in a sample of 676 twins (51.5% female, 58.5% Caucasian, 23.7% Hispanic/Latinx, primarily middle class, MAge=8.43, SD=.62) recruited from Arizona birth records. Using univariate ACE twin biometric models, genetic influences were found to moderately contribute to internalizing symptoms (A=.47, C=.25, E=.28), while externalizing (A=.86, E=.14) and ADHD (A=.84, E=.16) symptoms were found to be highly heritable. The genetic influences for positive (C=.54, E=.46) and negative (C=.44, E=.56) parenting were smaller and found to be nonsignificant. The correlations between parenting and types of psychopathology were examined and bivariate Cholesky decompositions were conducted for statistically significant correlations. Negative parenting was moderately positively correlated with externalizing and ADHD symptoms; the relation between externalizing symptoms and negative parenting was found to be due to shared genetics, whereas the relation between negative parenting and ADHD symptoms was due to the shared environment. The mixed results regarding the role of gene environment correlation in relations between parenting and child psychopathology indicate that further research on the mechanisms of this relation is needed.
ContributorsCarrizosa, Mya Grace (Author) / Lemery-Chalfant, Kathryn (Thesis director) / Corbin, William (Committee member) / Davis, Mary (Committee member) / Oro, Veronica (Committee member) / Department of Information Systems (Contributor) / Economics Program in CLAS (Contributor) / Department of Psychology (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05