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- All Subjects: engineering
- Creators: Berman, Spring
Description
Human breath is a concoction of thousands of compounds having in it a breath-print of physiological processes in the body. Though breath provides a non-invasive and easy to handle biological fluid, its analysis for clinical diagnosis is not very common. Partly the reason for this absence is unavailability of cost effective and convenient tools for such analysis. Scientific literature is full of novel sensor ideas but it is challenging to develop a working device, which are few. These challenges include trace level detection, presence of hundreds of interfering compounds, excessive humidity, different sampling regulations and personal variability. To meet these challenges as well as deliver a low cost solution, optical sensors based on specific colorimetric chemical reactions on mesoporous membranes have been developed. Sensor hardware utilizing cost effective and ubiquitously available light source (LED) and detector (webcam/photo diodes) has been developed and optimized for sensitive detection. Sample conditioning mouthpiece suitable for portable sensors is developed and integrated. The sensors are capable of communication with mobile phones realizing the idea of m-health for easy personal health monitoring in free living conditions. Nitric oxide and Acetone are chosen as analytes of interest. Nitric oxide levels in the breath correlate with lung inflammation which makes it useful for asthma management. Acetone levels increase during ketosis resulting from fat metabolism in the body. Monitoring breath acetone thus provides useful information to people with type1 diabetes, epileptic children on ketogenic diets and people following fitness plans for weight loss.
ContributorsPrabhakar, Amlendu (Author) / Tao, Nongjian (Thesis advisor) / Forzani, Erica (Committee member) / Lindsay, Stuart (Committee member) / Arizona State University (Publisher)
Created2013
Description
The world of healthcare can be seen as dynamic, often an area where technology and science meet to consummate a greater good for humanity. This relationship has been working well for the last century as evident by the average life expectancy change. For the greater of the last five decades the average life expectancy at birth increased globally by almost 20 years. In the United States specifically, life expectancy has grown from 50 years in 1900 to 78 years in 2009. That is a 76% increase in just over a century. As great as this increase sounds for humanity it means there are soon to be real issues in the healthcare world. A larger older population will need more healthcare services but have fewer young professionals to provide those services. Technology and science will need to continue to push the boundaries in order to develop and provide the solutions needed to continue providing the aging world population sufficient healthcare. One solution sure to help provide a brighter future for healthcare is mobile health (m-health). M-health can help provide a means for healthcare professionals to treat more patients with less work expenditure and do so with more personalized healthcare advice which will lead to better treatments. This paper discusses one area of m-health devices specifically; human breath analysis devices. The current laboratory methods of breath analysis and why these methods are not adequate for common healthcare practices will be discussed in more detail. Then more specifically, mobile breath analysis devices are discussed. The topic will encompass the challenges that need to be met in developing such devices, possible solutions to these challenges, two real examples of mobile breath analysis devices and finally possible future directions for m-health technologies.
ContributorsLester, Bryan (Author) / Forzani, Erica (Thesis advisor) / Xian, Xiaojun (Committee member) / Trimble, Steve (Committee member) / Arizona State University (Publisher)
Created2012
Description
Air pollution is one of the biggest challenges people face today. It is closely related to people's health condition. The agencies set up standards to regulate the air pollution. However, many of the pollutants under the regulation level may still result in adverse health effect. On the other hand, it is not clear the exact mechanism of air pollutants and its health effect. So it is difficult for the health centers to advise people how to prevent the air pollutant related diseases. It is of vital importance for both the agencies and the health centers to have a better understanding of the air pollution. Based on these needs, it is crucial to establish mobile health sensors for personal exposure assessment. Here, two sensing principles are illustrated: the tuning fork platform and the colorimetric platform. Mobile devices based on these principles have been built. The detections of ozone, NOX, carbon monoxide and formaldehyde have been shown. An integrated device of nitrogen dioxide and carbon monoxide is introduced. Fan is used for sample delivery instead pump and valves to reduce the size, cost and power consumption. Finally, the future work is discussed.
ContributorsWang, Rui (Author) / Tao, Nongjian (Thesis advisor) / Forzani, Erica (Committee member) / Zhang, Yanchao (Committee member) / Karam, Lina (Committee member) / Arizona State University (Publisher)
Created2012
Description
This thesis presents a process by which a controller used for collective transport tasks is qualitatively studied and probed for presence of undesirable equilibrium states that could entrap the system and prevent it from converging to a target state. Fields of study relevant to this project include dynamic system modeling, modern control theory, script-based system simulation, and autonomous systems design. Simulation and computational software MATLAB and Simulink® were used in this thesis.
To achieve this goal, a model of a swarm performing a collective transport task in a bounded domain featuring convex obstacles was simulated in MATLAB/ Simulink®. The closed-loop dynamic equations of this model were linearized about an equilibrium state with angular acceleration and linear acceleration set to zero. The simulation was run over 30 times to confirm system ability to successfully transport the payload to a goal point without colliding with obstacles and determine ideal operating conditions by testing various orientations of objects in the bounded domain. An additional purely MATLAB simulation was run to identify local minima of the Hessian of the navigation-like potential function. By calculating this Hessian periodically throughout the system’s progress and determining the signs of its eigenvalues, a system could check whether it is trapped in a local minimum, and potentially dislodge itself through implementation of a stochastic term in the robot controllers. The eigenvalues of the Hessian calculated in this research suggested the model local minima were degenerate, indicating an error in the mathematical model for this system, which likely incurred during linearization of this highly nonlinear system.
To achieve this goal, a model of a swarm performing a collective transport task in a bounded domain featuring convex obstacles was simulated in MATLAB/ Simulink®. The closed-loop dynamic equations of this model were linearized about an equilibrium state with angular acceleration and linear acceleration set to zero. The simulation was run over 30 times to confirm system ability to successfully transport the payload to a goal point without colliding with obstacles and determine ideal operating conditions by testing various orientations of objects in the bounded domain. An additional purely MATLAB simulation was run to identify local minima of the Hessian of the navigation-like potential function. By calculating this Hessian periodically throughout the system’s progress and determining the signs of its eigenvalues, a system could check whether it is trapped in a local minimum, and potentially dislodge itself through implementation of a stochastic term in the robot controllers. The eigenvalues of the Hessian calculated in this research suggested the model local minima were degenerate, indicating an error in the mathematical model for this system, which likely incurred during linearization of this highly nonlinear system.
ContributorsBaye-Wallace, Lily Catherine (Author) / Berman, Spring (Thesis director) / Marvi, Hamidreza (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / School of Music, Dance and Theatre (Contributor) / School for Engineering of Matter,Transport & Enrgy (Contributor) / Barrett, The Honors College (Contributor)
Created2020-12
Description
In the next decade or so, there will be a shift in the industry of transportation across the world. Already today we have autonomous vehicles (AVs) tested in the Greater Phoenix area showing that the technology has improved to a level available to the public eye. Although this technology is not yet released commercially (for the most part), it is being used and will continue to be used to develop a safer future. With a high incidence of human error causing accidents, many expect that autonomous vehicles will be safer than human drivers. They do still require driver attention and sometimes intervention to ensure safety, but for the most part are much safer. In just the United States alone, there were 40,000 deaths due to car accidents last year [1]. If traffic fatalities were considered a disease, this would be an epidemic. The technology behind autonomous vehicles will allow for a much safer environment and increased mobility and independence for people who cannot drive and struggle with public transport. There are many opportunities for autonomous vehicles in the transportation industry. Companies can save a lot more money on shipping by cutting the costs of human drivers and trucks on the road, even allowing for simpler drop shipments should the necessary AI be developed.Research is even being done by several labs at Arizona State University. For example, Dr. Spring Berman’s Autonomous Collective Systems Lab has been collaborating with Dr. Nancy Cooke of Human Systems Engineering to develop a traffic testbed, CHARTopolis, to study the risks of driver-AV interactions and the psychological effects of AVs on human drivers on a small scale. This testbed will be used by researchers from their labs and others to develop testing on reaction, trust, and user experience with AVs in a safe environment that simulates conditions similar to those experienced by full-size AVs. Using a new type of small robot that emulates an AV, developed in Dr. Berman’s lab, participants will be able to remotely drive around a model city environment and interact with other AV-like robots using the cameras and LiDAR sensors on the remotely driven robot to guide them.
Although these commercial and research systems are still in testing, it is important to understand how AVs are being marketed to the general public and how they are perceived, so that one day they may be effectively adopted into everyday life. People do not want to see a car they do not trust on the same roads as them, so the questions are: why don’t people trust them, and how can companies and researchers improve the trustworthiness of the vehicles?
Although these commercial and research systems are still in testing, it is important to understand how AVs are being marketed to the general public and how they are perceived, so that one day they may be effectively adopted into everyday life. People do not want to see a car they do not trust on the same roads as them, so the questions are: why don’t people trust them, and how can companies and researchers improve the trustworthiness of the vehicles?
ContributorsShuster, Daniel Nadav (Author) / Berman, Spring (Thesis director) / Cooke, Nancy (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
This thesis details the design and construction of a torque-controlled robotic gripper for use with the Pheeno swarm robotics platform. This project required expertise from several fields of study including: robotic design, programming, rapid prototyping, and control theory. An electronic Inertial Measurement Unit and a DC Motor were both used along with 3D printed plastic components and an electronic motor control board to develop a functional open-loop controlled gripper for use in collective transportation experiments. Code was developed that effectively acquired and filtered rate of rotation data alongside other code that allows for straightforward control of the DC motor through experimentally derived relationships between the voltage applied to the DC motor and the torque output of the DC motor. Additionally, several versions of the physical components are described through their development.
ContributorsMohr, Brennan (Author) / Berman, Spring (Thesis director) / Ren, Yi (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / School for Engineering of Matter,Transport & Enrgy (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
In this paper, we propose an autonomous throwing and catching system to be developed as a preliminary step towards the refinement of a robotic arm capable of improving strength and motor function in the limb. This will be accomplished by first autonomizing simpler movements, such as throwing a ball. In this system, an autonomous thrower will detect a desired target through the use of image processing. The launch angle and direction necessary to hit the target will then be calculated, followed by the launching of the ball. The smart catcher will then detect the ball as it is in the air, calculate its expected landing location based on its initial trajectory, and adjust its position so that the ball lands in the center of the target. The thrower will then proceed to compare the actual landing position with the position where it expected the ball to land, and adjust its calculations accordingly for the next throw. By utilizing this method of feedback, the throwing arm will be able to automatically correct itself. This means that the thrower will ideally be able to hit the target exactly in the center within a few throws, regardless of any additional uncertainty in the system. This project will focus of the controller and image processing components necessary for the autonomous throwing arm to be able to detect the position of the target at which it will be aiming, and for the smart catcher to be able to detect the position of the projectile and estimate its final landing position by tracking its current trajectory.
ContributorsLundberg, Kathie Joy (Co-author) / Thart, Amanda (Co-author) / Rodriguez, Armando (Thesis director) / Berman, Spring (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Obesity has consistently presented a significant challenge, with excess body fat contributing to the development of numerous severe conditions such as diabetes, cardiovascular disease, cancer, and various musculoskeletal disorders. In this study, different methods are proposed to study substrate utilization (carbohydrates, proteins, and fats) in the human body and validate the biomarkers enabling to investigation of weight management and monitor metabolic health. The first technique to study was Indirect calorimetry, which assessed Resting Energy Expenditure (REE) and measured parameters like oxygen consumption (VO2) and carbon dioxide production (VCO2). A validation study was conducted to study the effectiveness of the medical device Breezing Med determining REE, VO2, and VCO2. The results were compared with correlation slopes and regression coefficients close to 1. Indirect Calorimetry can be used to determine carbohydrate and fat utilization but it requires additional correction for protein utilization. Protein utilization can be studied by analyzing urinary nitrogen. Therefore, a secondary technique was studied for identifying urea and ammonia concentration in human urine samples. Along this line two methods for detecting urea were explored, a colorimetric technique and it was validated against the Ion-Selective method. The results were then compared by correlation analysis of urine samples measured with both methods simultaneously curves. The equations for fat, carb, and protein oxidation, involving VO2, VCO2 consumption, and urinary nitrogen were implemented and validated, using the above-described methods in a human subject study with 16 subjects. The measurements included diverse diets (normal vs. high fat/protein) in normal energy balance and pre-/post interventions of exercise, fasting, and a high-fat meal. It can be concluded that the indirect calorimetry portable method in conjunction with urine urea methods are important to help the understanding of substrate utilization in human subjects, and therefore, excellent tools to contribute to the treatments and interventions of obesity and overweighted populations.
ContributorsPradhan, Ayushi (Author) / Forzani, Erica (Thesis advisor) / Lind, Mary Laura (Committee member) / Wang, Shaopeng (Committee member) / Arizona State University (Publisher)
Created2023
Description
Navigation and mapping in GPS-denied environments, such as coal mines ordilapidated buildings filled with smog or particulate matter, pose a significant challenge
due to the limitations of conventional LiDAR or vision systems. Therefore there
exists a need for a navigation algorithm and mapping strategy which do not use vision
systems but are still able to explore and map the environment. The map can further
be used by first responders and cave explorers to access the environments.
This thesis presents the design of a collision-resilient Unmanned Aerial Vehicle
(UAV), XPLORER that utilizes a novel navigation algorithm for exploration and
simultaneous mapping of the environment. The real-time navigation algorithm uses
the onboard Inertial Measurement Units (IMUs) and arm bending angles for contact
estimation and employs an Explore and Exploit strategy. Additionally, the quadrotor
design is discussed, highlighting its improved stability over the previous design.
The generated map of the environment can be utilized by autonomous vehicles to
navigate the environment. The navigation algorithm is validated in multiple real-time
experiments in different scenarios consisting of concave and convex corners and circular
objects. Furthermore, the developed mapping framework can serve as an auxiliary
input for map generation along with conventional LiDAR or vision-based mapping
algorithms.
Both the navigation and mapping algorithms are designed to be modular, making
them compatible with conventional UAVs also. This research contributes to the
development of navigation and mapping techniques for GPS-denied environments,
enabling safer and more efficient exploration of challenging territories.
ContributorsPandian Saravanakumaran, Aravind Adhith (Author) / Zhang, Wenlong (Thesis advisor) / Das, Jnaneshwar (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2023
Description
Multibody Dynamic (MBD) models are important tools in motion analysis and are used to represent and accurately predict the behavior of systems in the real-world. These models have a range of applications, including the stowage and deployment of flexible deployables on spacecraft, the dynamic response of vehicles in automotive design and crash testing, and mapping interactions of the human body. An accurate model can aid in the design of a system to ensure the system is effective and meets specified performance criteria when built. A model may have many design parameters, such as geometrical constraints and component mechanical properties, or controller parameters if the system uses an external controller. Varying these parameters and rerunning analyses by hand to find an ideal design can be time consuming for models that take hours or days to run. To reduce the amount of time required to find a set of parameters that produces a desired performance, optimization is necessary. Many papers have discussed methods for optimizing rigid and flexible MBD models, and separately their controllers, using both gradient-based and gradient-free algorithms. However, these optimization methods have not been used to optimize full-scale MBD models and their controllers simultaneously. This thesis presents a method for co-optimizing an MBD model and controller that allows for the flexibility to find model and controller-based solutions for systems with tightly coupled parameters. Specifically, the optimization is performed on a quadrotor drone MBD model undergoing disturbance from a slung load and its position controller to meet specified position error performance criteria. A gradient-free optimization algorithm and multiple objective approach is used due to the many local optima from the tradeoffs between the model and controller parameters. The thesis uses nine different quadrotor cases with three different position error formulations. The results are used to determine the effectiveness of the optimization and the ability to converge on a single optimal design. After reviewing the results, the optimization limitations are discussed as well as the ability to transition the optimization to work with different MBD models and their controllers.
ContributorsGambatese, Marcus (Author) / Zhang, Wenlong (Thesis advisor) / Berman, Spring (Committee member) / Inoyama, Daisaku (Committee member) / Arizona State University (Publisher)
Created2022