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 104
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
This research is focused on two separate but related topics. The first uses an electroencephalographic (EEG) brain-computer interface (BCI) to explore the phenomenon of motor learning transfer. The second takes a closer look at the EEG-BCI itself and tests an alternate way of mapping EEG signals into machine commands. We test whether motor learning transfer is more related to use of shared neural structures between imagery and motor execution or to more generalized cognitive factors. Using an EEG-BCI, we train one group of participants to control the movements of a cursor using embodied motor imagery. A second group is trained to control the cursor using abstract motor imagery. A third control group practices moving the cursor using an arm and finger on a touch screen. We hypothesized that if motor learning transfer is related to the use of shared neural structures then the embodied motor imagery group would show more learning transfer than the abstract imaging group. If, on the other hand, motor learning transfer results from more general cognitive processes, then the abstract motor imagery group should also demonstrate motor learning transfer to the manual performance of the same task. Our findings support that motor learning transfer is due to the use of shared neural structures between imaging and motor execution of a task. The abstract group showed no motor learning transfer despite being better at EEG-BCI control than the embodied group. The fact that more participants were able to learn EEG-BCI control using abstract imagery suggests that abstract imagery may be more suitable for EEG-BCIs for some disabilities, while embodied imagery may be more suitable for others. In Part 2, EEG data collected in the above experiment was used to train an artificial neural network (ANN) to map EEG signals to machine commands. We found that our open-source ANN using spectrograms generated from SFFTs is fundamentally different and in some ways superior to Emotiv's proprietary method. Our use of novel combinations of existing technologies along with abstract and embodied imagery facilitates adaptive customization of EEG-BCI control to meet needs of individual users.
Contributorsda Silva, Flavio J. K (Author) / Mcbeath, Michael K (Thesis advisor) / Helms Tillery, Stephen (Committee member) / Presson, Clark (Committee member) / Sugar, Thomas (Committee member) / Arizona State University (Publisher)
Created2013
Description
Myoelectric control is lled with potential to signicantly change human-robot interaction.
Humans desire compliant robots to safely interact in dynamic environments
associated with daily activities. As surface electromyography non-invasively measures
limb motion intent and correlates with joint stiness during co-contractions,
it has been identied as a candidate for naturally controlling such robots. However,
state-of-the-art myoelectric interfaces have struggled to achieve both enhanced
functionality and long-term reliability. As demands in myoelectric interfaces trend
toward simultaneous and proportional control of compliant robots, robust processing
of multi-muscle coordinations, or synergies, plays a larger role in the success of the
control scheme. This dissertation presents a framework enhancing the utility of myoelectric
interfaces by exploiting motor skill learning and
exible muscle synergies for
reliable long-term simultaneous and proportional control of multifunctional compliant
robots. The interface is learned as a new motor skill specic to the controller,
providing long-term performance enhancements without requiring any retraining or
recalibration of the system. Moreover, the framework oers control of both motion
and stiness simultaneously for intuitive and compliant human-robot interaction. The
framework is validated through a series of experiments characterizing motor learning
properties and demonstrating control capabilities not seen previously in the literature.
The results validate the approach as a viable option to remove the trade-o
between functionality and reliability that have hindered state-of-the-art myoelectric
interfaces. Thus, this research contributes to the expansion and enhancement of myoelectric
controlled applications beyond commonly perceived anthropomorphic and
\intuitive control" constraints and into more advanced robotic systems designed for
everyday tasks.
Humans desire compliant robots to safely interact in dynamic environments
associated with daily activities. As surface electromyography non-invasively measures
limb motion intent and correlates with joint stiness during co-contractions,
it has been identied as a candidate for naturally controlling such robots. However,
state-of-the-art myoelectric interfaces have struggled to achieve both enhanced
functionality and long-term reliability. As demands in myoelectric interfaces trend
toward simultaneous and proportional control of compliant robots, robust processing
of multi-muscle coordinations, or synergies, plays a larger role in the success of the
control scheme. This dissertation presents a framework enhancing the utility of myoelectric
interfaces by exploiting motor skill learning and
exible muscle synergies for
reliable long-term simultaneous and proportional control of multifunctional compliant
robots. The interface is learned as a new motor skill specic to the controller,
providing long-term performance enhancements without requiring any retraining or
recalibration of the system. Moreover, the framework oers control of both motion
and stiness simultaneously for intuitive and compliant human-robot interaction. The
framework is validated through a series of experiments characterizing motor learning
properties and demonstrating control capabilities not seen previously in the literature.
The results validate the approach as a viable option to remove the trade-o
between functionality and reliability that have hindered state-of-the-art myoelectric
interfaces. Thus, this research contributes to the expansion and enhancement of myoelectric
controlled applications beyond commonly perceived anthropomorphic and
\intuitive control" constraints and into more advanced robotic systems designed for
everyday tasks.
ContributorsIson, Mark (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Greger, Bradley (Committee member) / Berman, Spring (Committee member) / Sugar, Thomas (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
Description
With the increasing user demand for low latency, elastic provisioning of computing resources coupled with ubiquitous and on-demand access to real-time data, cloud computing has emerged as a popular computing paradigm to meet growing user demands. However, with the introduction and rising use of wear- able technology and evolving uses of smart-phones, the concept of Internet of Things (IoT) has become a prevailing notion in the currently growing technology industry. Cisco Inc. has projected a data creation of approximately 403 Zetabytes (ZB) by 2018. The combination of bringing benign devices and connecting them to the web has resulted in exploding service and data aggregation requirements, thus requiring a new and innovative computing platform. This platform should have the capability to provide robust real-time data analytics and resource provisioning to clients, such as IoT users, on-demand. Such a computation model would need to function at the edge-of-the-network, forming a bridge between the large cloud data centers and the distributed connected devices.
This research expands on the notion of bringing computational power to the edge- of-the-network, and then integrating it with the cloud computing paradigm whilst providing services to diverse IoT-based applications. This expansion is achieved through the establishment of a new computing model that serves as a platform for IoT-based devices to communicate with services in real-time. We name this paradigm as Gateway-Oriented Reconfigurable Ecosystem (GORE) computing. Finally, this thesis proposes and discusses the development of a policy management framework for accommodating our proposed computational paradigm. The policy framework is designed to serve both the hosted applications and the GORE paradigm by enabling them to function more efficiently. The goal of the framework is to ensure uninterrupted communication and service delivery between users and their applications.
This research expands on the notion of bringing computational power to the edge- of-the-network, and then integrating it with the cloud computing paradigm whilst providing services to diverse IoT-based applications. This expansion is achieved through the establishment of a new computing model that serves as a platform for IoT-based devices to communicate with services in real-time. We name this paradigm as Gateway-Oriented Reconfigurable Ecosystem (GORE) computing. Finally, this thesis proposes and discusses the development of a policy management framework for accommodating our proposed computational paradigm. The policy framework is designed to serve both the hosted applications and the GORE paradigm by enabling them to function more efficiently. The goal of the framework is to ensure uninterrupted communication and service delivery between users and their applications.
ContributorsDsouza, Clinton (Author) / Ahn, Gail-Joon (Thesis advisor) / Doupe, Adam (Committee member) / Dasgupta, Partha (Committee member) / Arizona State University (Publisher)
Created2015
Description
Android is currently the most widely used mobile operating system. The permission model in Android governs the resource access privileges of applications. The permission model however is amenable to various attacks, including re-delegation attacks, background snooping attacks and disclosure of private information. This thesis is aimed at understanding, analyzing and performing forensics on application behavior. This research sheds light on several security aspects, including the use of inter-process communications (IPC) to perform permission re-delegation attacks.
Android permission system is more of app-driven rather than user controlled, which means it is the applications that specify their permission requirement and the only thing which the user can do is choose not to install a particular application based on the requirements. Given the all or nothing choice, users succumb to pressures and needs to accept permissions requested. This thesis proposes a couple of ways for providing the users finer grained control of application privileges. The same methods can be used to evade the Permission Re-delegation attack.
This thesis also proposes and implements a novel methodology in Android that can be used to control the access privileges of an Android application, taking into consideration the context of the running application. This application-context based permission usage is further used to analyze a set of sample applications. We found the evidence of applications spoofing or divulging user sensitive information such as location information, contact information, phone id and numbers, in the background. Such activities can be used to track users for a variety of privacy-intrusive purposes. We have developed implementations that minimize several forms of privacy leaks that are routinely done by stock applications.
Android permission system is more of app-driven rather than user controlled, which means it is the applications that specify their permission requirement and the only thing which the user can do is choose not to install a particular application based on the requirements. Given the all or nothing choice, users succumb to pressures and needs to accept permissions requested. This thesis proposes a couple of ways for providing the users finer grained control of application privileges. The same methods can be used to evade the Permission Re-delegation attack.
This thesis also proposes and implements a novel methodology in Android that can be used to control the access privileges of an Android application, taking into consideration the context of the running application. This application-context based permission usage is further used to analyze a set of sample applications. We found the evidence of applications spoofing or divulging user sensitive information such as location information, contact information, phone id and numbers, in the background. Such activities can be used to track users for a variety of privacy-intrusive purposes. We have developed implementations that minimize several forms of privacy leaks that are routinely done by stock applications.
ContributorsGollapudi, Narasimha Aditya (Author) / Dasgupta, Partha (Thesis advisor) / Xue, Guoliang (Committee member) / Doupe, Adam (Committee member) / Arizona State University (Publisher)
Created2014
Description
The increasing number of continually connected mobile persons has created an environment conducive to real time user data gathering for many uses both public and private in nature. Publicly, one can envision no longer requiring a census to determine the demographic composition of the country and its sub regions. The information provided is vastly more up to date than that of a census and allows civil authorities to be more agile and preemptive with planning. Privately, advertisers take advantage of a persons stated opinions, demographics, and contextual (where and when) information in order to formulate and present pertinent offers.
Regardless of its use this information can be sensitive in nature and should therefore be under the control of the user. Currently, a user has little say in the manner that their information is processed once it has been released. An ad-hoc approach is currently in use, where the location based service providers each maintain their own policy over personal information usage.
In order to allow more user control over their personal information while still providing for targeted advertising, a systematic approach to the release of the information is needed. It is for that reason we propose a User-Centric Context Aware Spatiotemporal Anonymization framework. At its core the framework will unify the current spatiotemporal anonymization with that of traditional anonymization so that user specified anonymization requirement is met or exceeded while allowing for more demographic information to be released.
Regardless of its use this information can be sensitive in nature and should therefore be under the control of the user. Currently, a user has little say in the manner that their information is processed once it has been released. An ad-hoc approach is currently in use, where the location based service providers each maintain their own policy over personal information usage.
In order to allow more user control over their personal information while still providing for targeted advertising, a systematic approach to the release of the information is needed. It is for that reason we propose a User-Centric Context Aware Spatiotemporal Anonymization framework. At its core the framework will unify the current spatiotemporal anonymization with that of traditional anonymization so that user specified anonymization requirement is met or exceeded while allowing for more demographic information to be released.
ContributorsSanchez, Michael Andrew (Author) / Ahn, Gail-Joon (Thesis advisor) / Doupe, Adam (Committee member) / Dasgupta, Partha (Committee member) / Arizona State University (Publisher)
Created2014
Description
The rate at which new malicious software (Malware) is created is consistently increasing each year. These new malwares are designed to bypass the current anti-virus countermeasures employed to protect computer systems. Security Analysts must understand the nature and intent of the malware sample in order to protect computer systems from these attacks. The large number of new malware samples received daily by computer security companies require Security Analysts to quickly determine the type, threat, and countermeasure for newly identied samples. Our approach provides for a visualization tool to assist the Security Analyst in these tasks that allows the Analyst to visually identify relationships between malware samples.
This approach consists of three steps. First, the received samples are processed by a sandbox environment to perform a dynamic behavior analysis. Second, the reports of the dynamic behavior analysis are parsed to extract identifying features which are matched against other known and analyzed samples. Lastly, those matches that are determined to express a relationship are visualized as an edge connected pair of nodes in an undirected graph.
This approach consists of three steps. First, the received samples are processed by a sandbox environment to perform a dynamic behavior analysis. Second, the reports of the dynamic behavior analysis are parsed to extract identifying features which are matched against other known and analyzed samples. Lastly, those matches that are determined to express a relationship are visualized as an edge connected pair of nodes in an undirected graph.
ContributorsHolmes, James Edward (Author) / Ahn, Gail-Joon (Thesis advisor) / Dasgupta, Partha (Committee member) / Doupe, Adam (Committee member) / Arizona State University (Publisher)
Created2014
Description
Brain Computer Interfaces are becoming the next generation controllers not only in the medical devices for disabled individuals but also in the gaming and entertainment industries. In order to build an effective Brain Computer Interface, which accurately translates the user thoughts into machine commands, it is important to have robust and fail proof signal processing and machine learning modules which operate on the raw EEG signals and estimate the current thought of the user.
In this thesis, several techniques used to perform EEG signal pre-processing, feature extraction and signal classification have been discussed, implemented, validated and verified; efficient supervised machine learning models, for the EEG motor imagery signal classification are identified. To further improve the performance of system unsupervised feature learning techniques have been investigated by pre-training the Deep Learning models. Use of pre-training stacked autoencoders have been proposed to solve the problems caused by random initialization of weights in neural networks.
Motor Imagery (imaginary hand and leg movements) signals are acquire using the Emotiv EEG headset. Different kinds of features like mean signal, band powers, RMS of the signal have been extracted and supplied to the machine learning (ML) stage, wherein, several ML techniques like LDA, KNN, SVM, Logistic regression and Neural Networks are applied and validated. During the validation phase the performances of various techniques are compared and some important observations are reported. Further, deep Learning techniques like autoencoding have been used to perform unsupervised feature learning. The reliability of the features is analyzed by performing classification by using the ML techniques mentioned earlier. The performance of the neural networks has been further improved by pre-training the network in an unsupervised fashion using stacked autoencoders and supplying the stacked autoencoders’ network parameters as initial parameters to the neural network. All the findings in this research, during each phase (pre-processing, feature extraction, classification) are directly relevant and can be used by the BCI research community for building motor imagery based BCI applications.
Additionally, this thesis attempts to develop, test, and compare the performance of an alternative method for classifying human driving behavior. This thesis proposes the use of driver affective states to know the driving behavior. The purpose of this part of the thesis was to classify the EEG data collected from several subjects while driving simulated vehicle and compare the classification results with those obtained by classifying the driving behavior using vehicle parameters collected simultaneously from all the subjects. The objective here is to see if the drivers’ mental state is reflected in his driving behavior.
In this thesis, several techniques used to perform EEG signal pre-processing, feature extraction and signal classification have been discussed, implemented, validated and verified; efficient supervised machine learning models, for the EEG motor imagery signal classification are identified. To further improve the performance of system unsupervised feature learning techniques have been investigated by pre-training the Deep Learning models. Use of pre-training stacked autoencoders have been proposed to solve the problems caused by random initialization of weights in neural networks.
Motor Imagery (imaginary hand and leg movements) signals are acquire using the Emotiv EEG headset. Different kinds of features like mean signal, band powers, RMS of the signal have been extracted and supplied to the machine learning (ML) stage, wherein, several ML techniques like LDA, KNN, SVM, Logistic regression and Neural Networks are applied and validated. During the validation phase the performances of various techniques are compared and some important observations are reported. Further, deep Learning techniques like autoencoding have been used to perform unsupervised feature learning. The reliability of the features is analyzed by performing classification by using the ML techniques mentioned earlier. The performance of the neural networks has been further improved by pre-training the network in an unsupervised fashion using stacked autoencoders and supplying the stacked autoencoders’ network parameters as initial parameters to the neural network. All the findings in this research, during each phase (pre-processing, feature extraction, classification) are directly relevant and can be used by the BCI research community for building motor imagery based BCI applications.
Additionally, this thesis attempts to develop, test, and compare the performance of an alternative method for classifying human driving behavior. This thesis proposes the use of driver affective states to know the driving behavior. The purpose of this part of the thesis was to classify the EEG data collected from several subjects while driving simulated vehicle and compare the classification results with those obtained by classifying the driving behavior using vehicle parameters collected simultaneously from all the subjects. The objective here is to see if the drivers’ mental state is reflected in his driving behavior.
ContributorsManchala, Vamsi Krishna (Author) / Redkar, Sangram (Thesis advisor) / Rogers, Bradley (Committee member) / Sugar, Thomas (Committee member) / Arizona State University (Publisher)
Created2015
Description
Due to the shortcomings of modern Mobile Device Management solutions, businesses
have begun to incorporate forensics to analyze their mobile devices and respond
to any incidents of malicious activity in order to protect their sensitive data. Current
forensic tools, however, can only look a static image of the device being examined,
making it difficult for a forensic analyst to produce conclusive results regarding the
integrity of any sensitive data on the device. This research thesis expands on the
use of forensics to secure data by implementing an agent on a mobile device that can
continually collect information regarding the state of the device. This information is
then sent to a separate server in the form of log files to be analyzed using a specialized
tool. The analysis tool is able to look at the data collected from the device over time
and perform specific calculations, according to the user's specifications, highlighting
any correlations or anomalies among the data which might be considered suspicious
to a forensic analyst. The contribution of this paper is both an in-depth explanation
on the implementation of an iOS application to be used to improve the mobile forensics
process as well as a proof-of-concept experiment showing how evidence collected
over time can be used to improve the accuracy of a forensic analysis.
have begun to incorporate forensics to analyze their mobile devices and respond
to any incidents of malicious activity in order to protect their sensitive data. Current
forensic tools, however, can only look a static image of the device being examined,
making it difficult for a forensic analyst to produce conclusive results regarding the
integrity of any sensitive data on the device. This research thesis expands on the
use of forensics to secure data by implementing an agent on a mobile device that can
continually collect information regarding the state of the device. This information is
then sent to a separate server in the form of log files to be analyzed using a specialized
tool. The analysis tool is able to look at the data collected from the device over time
and perform specific calculations, according to the user's specifications, highlighting
any correlations or anomalies among the data which might be considered suspicious
to a forensic analyst. The contribution of this paper is both an in-depth explanation
on the implementation of an iOS application to be used to improve the mobile forensics
process as well as a proof-of-concept experiment showing how evidence collected
over time can be used to improve the accuracy of a forensic analysis.
ContributorsWhitaker, Jeremy (Author) / Ahn, Gail-Joon (Thesis advisor) / Doupe, Adam (Committee member) / Yau, Stephen (Committee member) / Arizona State University (Publisher)
Created2015
Description
Widespread adoption of smartphone based Mobile Medical Apps (MMAs) is opening new avenues for innovation, bringing MMAs to the forefront of low cost healthcare delivery. These apps often control human physiology and work on sensitive data. Thus it is necessary to have evidences of their trustworthiness i.e. maintaining privacy of health data, long term operation of wearable sensors and ensuring no harm to the user before actual marketing. Traditionally, clinical studies are used to validate the trustworthiness of medical systems. However, they can take long time and could potentially harm the user. Such evidences can be generated using simulations and mathematical analysis. These methods involve estimating the MMA interactions with human physiology. However, the nonlinear nature of human physiology makes the estimation challenging.
This research analyzes and develops MMA software while considering its interactions with human physiology to assure trustworthiness. A novel app development methodology is used to objectively evaluate trustworthiness of a MMA by generating evidences using automatic techniques. It involves developing the Health-Dev β tool to generate a) evidences of trustworthiness of MMAs and b) requirements assured code generation for vulnerable components of the MMA without hindering the app development process. In this method, all requests from MMAs pass through a trustworthy entity, Trustworthy Data Manager which checks if the app request satisfies the MMA requirements. This method is intended to expedite the design to marketing process of MMAs. The objectives of this research is to develop models, tools and theory for evidence generation and can be divided into the following themes:
• Sustainable design configuration estimation of MMAs: Developing an optimization framework which can generate sustainable and safe sensor configuration while considering interactions of the MMA with the environment.
• Evidence generation using simulation and formal methods: Developing models and tools to verify safety properties of the MMA design to ensure no harm to the human physiology.
• Automatic code generation for MMAs: Investigating methods for automatically
• Performance analysis of trustworthy data manager: Evaluating response time generating trustworthy software for vulnerable components of a MMA and evidences.performance of trustworthy data manager under interactions from non-MMA smartphone apps.
This research analyzes and develops MMA software while considering its interactions with human physiology to assure trustworthiness. A novel app development methodology is used to objectively evaluate trustworthiness of a MMA by generating evidences using automatic techniques. It involves developing the Health-Dev β tool to generate a) evidences of trustworthiness of MMAs and b) requirements assured code generation for vulnerable components of the MMA without hindering the app development process. In this method, all requests from MMAs pass through a trustworthy entity, Trustworthy Data Manager which checks if the app request satisfies the MMA requirements. This method is intended to expedite the design to marketing process of MMAs. The objectives of this research is to develop models, tools and theory for evidence generation and can be divided into the following themes:
• Sustainable design configuration estimation of MMAs: Developing an optimization framework which can generate sustainable and safe sensor configuration while considering interactions of the MMA with the environment.
• Evidence generation using simulation and formal methods: Developing models and tools to verify safety properties of the MMA design to ensure no harm to the human physiology.
• Automatic code generation for MMAs: Investigating methods for automatically
• Performance analysis of trustworthy data manager: Evaluating response time generating trustworthy software for vulnerable components of a MMA and evidences.performance of trustworthy data manager under interactions from non-MMA smartphone apps.
ContributorsBagade, Priyanka (Author) / Gupta, Sandeep K. S. (Thesis advisor) / Wu, Carole-Jean (Committee member) / Doupe, Adam (Committee member) / Zhang, Yi (Committee member) / Arizona State University (Publisher)
Created2015