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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- Creators: Turaga, Pavan
Description
Multi-sensor fusion is a fundamental problem in Robot Perception. For a robot to operate in a real world environment, multiple sensors are often needed. Thus, fusing data from various sensors accurately is vital for robot perception. In the first part of this thesis, the problem of fusing information from a LIDAR, a color camera and a thermal camera to build RGB-Depth-Thermal (RGBDT) maps is investigated. An algorithm that solves a non-linear optimization problem to compute the relative pose between the cameras and the LIDAR is presented. The relative pose estimate is then used to find the color and thermal texture of each LIDAR point. Next, the various sources of error that can cause the mis-coloring of a LIDAR point after the cross- calibration are identified. Theoretical analyses of these errors reveal that the coloring errors due to noisy LIDAR points, errors in the estimation of the camera matrix, and errors in the estimation of translation between the sensors disappear with distance. But errors in the estimation of the rotation between the sensors causes the coloring error to increase with distance.
On a robot (vehicle) with multiple sensors, sensor fusion algorithms allow us to represent the data in the vehicle frame. But data acquired temporally in the vehicle frame needs to be registered in a global frame to obtain a map of the environment. Mapping techniques involving the Iterative Closest Point (ICP) algorithm and the Normal Distributions Transform (NDT) assume that a good initial estimate of the transformation between the 3D scans is available. This restricts the ability to stitch maps that were acquired at different times. Mapping can become flexible if maps that were acquired temporally can be merged later. To this end, the second part of this thesis focuses on developing an automated algorithm that fuses two maps by finding a congruent set of five points forming a pyramid.
Mapping has various application domains beyond Robot Navigation. The third part of this thesis considers a unique application domain where the surface displace- ments caused by an earthquake are to be recovered using pre- and post-earthquake LIDAR data. A technique to recover the 3D surface displacements is developed and the results are presented on real earthquake datasets: El Mayur Cucupa earthquake, Mexico, 2010 and Fukushima earthquake, Japan, 2011.
On a robot (vehicle) with multiple sensors, sensor fusion algorithms allow us to represent the data in the vehicle frame. But data acquired temporally in the vehicle frame needs to be registered in a global frame to obtain a map of the environment. Mapping techniques involving the Iterative Closest Point (ICP) algorithm and the Normal Distributions Transform (NDT) assume that a good initial estimate of the transformation between the 3D scans is available. This restricts the ability to stitch maps that were acquired at different times. Mapping can become flexible if maps that were acquired temporally can be merged later. To this end, the second part of this thesis focuses on developing an automated algorithm that fuses two maps by finding a congruent set of five points forming a pyramid.
Mapping has various application domains beyond Robot Navigation. The third part of this thesis considers a unique application domain where the surface displace- ments caused by an earthquake are to be recovered using pre- and post-earthquake LIDAR data. A technique to recover the 3D surface displacements is developed and the results are presented on real earthquake datasets: El Mayur Cucupa earthquake, Mexico, 2010 and Fukushima earthquake, Japan, 2011.
ContributorsKrishnan, Aravindhan K (Author) / Saripalli, Srikanth (Thesis advisor) / Klesh, Andrew (Committee member) / Fainekos, Georgios (Committee member) / Thangavelautham, Jekan (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2016
Description
Open Design is a crowd-driven global ecosystem which tries to challenge and alter contemporary modes of capitalistic hardware production. It strives to build on the collective skills, expertise and efforts of people regardless of their educational, social or political backgrounds to develop and disseminate physical products, machines and systems. In contrast to capitalistic hardware production, Open Design practitioners publicly share design files, blueprints and knowhow through various channels including internet platforms and in-person workshops. These designs are typically replicated, modified, improved and reshared by individuals and groups who are broadly referred to as ‘makers’.
This dissertation aims to expand the current scope of Open Design within human-computer interaction (HCI) research through a long-term exploration of Open Design’s socio-technical processes. I examine Open Design from three perspectives: the functional—materials, tools, and platforms that enable crowd-driven open hardware production, the critical—materially-oriented engagements within open design as a site for sociotechnical discourse, and the speculative—crowd-driven critical envisioning of future hardware.
More specifically, this dissertation first explores the growing global scene of Open Design through a long-term ethnographic study of the open science hardware (OScH) movement, a genre of Open Design. This long-term study of OScH provides a focal point for HCI to deeply understand Open Design's growing global landscape. Second, it examines the application of Critical Making within Open Design through an OScH workshop with designers, engineers, artists and makers from local communities. This work foregrounds the role of HCI researchers as facilitators of collaborative critical engagements within Open Design. Third, this dissertation introduces the concept of crowd-driven Design Fiction through the development of a publicly accessible online Design Fiction platform named Dream Drones. Through a six month long development and a study with drone related practitioners, it offers several pragmatic insights into the challenges and opportunities for crowd-driven Design Fiction. Through these explorations, I highlight the broader implications and novel research pathways for HCI to shape and be shaped by the global Open Design movement.
This dissertation aims to expand the current scope of Open Design within human-computer interaction (HCI) research through a long-term exploration of Open Design’s socio-technical processes. I examine Open Design from three perspectives: the functional—materials, tools, and platforms that enable crowd-driven open hardware production, the critical—materially-oriented engagements within open design as a site for sociotechnical discourse, and the speculative—crowd-driven critical envisioning of future hardware.
More specifically, this dissertation first explores the growing global scene of Open Design through a long-term ethnographic study of the open science hardware (OScH) movement, a genre of Open Design. This long-term study of OScH provides a focal point for HCI to deeply understand Open Design's growing global landscape. Second, it examines the application of Critical Making within Open Design through an OScH workshop with designers, engineers, artists and makers from local communities. This work foregrounds the role of HCI researchers as facilitators of collaborative critical engagements within Open Design. Third, this dissertation introduces the concept of crowd-driven Design Fiction through the development of a publicly accessible online Design Fiction platform named Dream Drones. Through a six month long development and a study with drone related practitioners, it offers several pragmatic insights into the challenges and opportunities for crowd-driven Design Fiction. Through these explorations, I highlight the broader implications and novel research pathways for HCI to shape and be shaped by the global Open Design movement.
ContributorsFernando, Kattak Kuttige Rex Piyum (Author) / Kuznetsov, Anastasia (Thesis advisor) / Turaga, Pavan (Committee member) / Middel, Ariane (Committee member) / Takamura, John (Committee member) / Arizona State University (Publisher)
Created2020