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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Convolutional Neural Network for Pose Initialization with Uncertainty Estimation

Description
Accurate pose initialization and pose estimation are crucial requirements in on-orbit space assembly and various other autonomous on-orbit tasks. However, pose initialization and pose estimation are much more difficult to do accurately and consistently in space. This is primarily due to not only the variable lighting conditions present in space,…

Accurate pose initialization and pose estimation are crucial requirements in on-orbit space assembly and various other autonomous on-orbit tasks. However, pose initialization and pose estimation are much more difficult to do accurately and consistently in space. This is primarily due to not only the variable lighting conditions present in space, but also the power requirements mandated by space-flyable hardware. This thesis investigates leveraging a deep learning approach for monocular one-shot pose initialization and pose estimation. A convolutional neural network was used to estimate the 6D pose of an assembly truss object. This network was trained by utilizing synthetic imagery generated from a simulation testbed. Furthermore, techniques to quantify model uncertainty of the deep learning model were investigated and applied in the task of in-space pose estimation and pose initialization. The feasibility of this approach on low-power computational platforms was also tested. The results demonstrate that accurate pose initialization and pose estimation can be conducted using a convolutional neural network. In addition, the results show that the model uncertainty can be obtained from the network. Lastly, the use of deep learning for pose initialization and pose estimation in addition with uncertainty quantification was demonstrated to be feasible on low-power compute platforms.
ContributorsKailas, Siva Maneparambil (Author) / Ben Amor, Heni (Thesis director) / Detry, Renaud (Committee member) / Economics Program in CLAS (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
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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