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Description
Electromyogram (EMG)-based control interfaces are increasingly used in robot teleoperation, prosthetic devices control and also in controlling robotic exoskeletons. Over the last two decades researchers have come up with a plethora of decoding functions to map myoelectric signals to robot motions. However, this requires a lot of training and validation data sets, while the parameters of the decoding function are specific for each subject. In this thesis we propose a new methodology that doesn't require training and is not user-specific. The main idea is to supplement the decoding functional error with the human ability to learn inverse model of an arbitrary mapping function. We have shown that the subjects gradually learned the control strategy and their learning rates improved. We also worked on identifying an optimized control scheme that would be even more effective and easy to learn for the subjects. Optimization was done by taking into account that muscles act in synergies while performing a motion task. The low-dimensional representation of the neural activity was used to control a two-dimensional task. Results showed that in the case of reduced dimensionality mapping, the subjects were able to learn to control the device in a slower pace, however they were able to reach and retain the same level of controllability. To summarize, we were able to build an EMG-based controller for robot devices that would work for any subject, without any training or decoding function, suggesting human-embedded controllers for robotic devices.
ContributorsAntuvan, Chris Wilson (Author) / Artemiadis, Panagiotis (Thesis advisor) / Muthuswamy, Jitendran (Committee member) / Santos, Veronica J (Committee member) / Arizona State University (Publisher)
Created2013
Description
The goal of this research project is to develop a DOF (degree of freedom) algebra for entity clusters to support tolerance specification, validation, and tolerance automation. This representation is required to capture the relation between geometric entities, metric constraints and tolerance specification. This research project is a part of an on-going project on creating a bi-level model of GD&T; (Geometric Dimensioning and Tolerancing). This thesis presents the systematic derivation of degree of freedoms of entity clusters corresponding to tolerance classes. The clusters can be datum reference frames (DRFs) or targets. A binary vector representation of degree of freedom and operations for combining them are proposed. An algebraic method is developed by using DOF representation. The ASME Y14.5.1 companion to the Geometric Dimensioning and Tolerancing (GD&T;) standard gives an exhaustive tabulation of active and invariant degrees of freedom (DOF) for Datum Reference Frames (DRF). This algebra is validated by checking it against all cases in the Y14.5.1 tabulation. This algebra allows the derivation of the general rules for tolerance specification and validation. A computer tool is implemented to support GD&T; specification and validation. The computer implementation outputs the geometric and tolerance information in the form of a CTF (Constraint-Tolerance-Feature) file which can be used for tolerance stack analysis.
ContributorsShen, Yadong (Author) / Shah, Jami (Thesis advisor) / Davidson, Joseph (Committee member) / Huebner, Kenneth (Committee member) / Arizona State University (Publisher)
Created2013
Description
The purpose of this dissertation was to develop a Compassionate Communication Scale (CCS) by conducting a series of studies. The first study used qualitative data to identify and develop initial scale items. A series of follow-up studies used exploratory factor analysis to investigate the underlying structure of the CCS. A three-factor structure emerged, which included: Compassionate conversation, such as listening, letting the distressed person disclose feelings, and making empathetic remarks; compassionate touch, such as holding someone's hand or patting someone's back; and compassionate messaging, such as posting an encouraging message on a social networking site or sending a sympathetic email. The next study tested convergent and divergent validity by determining how the three forms of compassionate communication associate with various traits. Compassionate conversation was positively related to compassion, empathetic concern, perspective taking, emotional intelligence, social expressivity, emotional expressivity and benevolence, and negatively related to verbal aggressiveness and narcissism. Compassionate touch was positively correlated with compassion, empathetic concern, perspective taking, emotional intelligence, social expressivity, emotional expressivity, and benevolence, and uncorrelated with verbal aggressiveness and benevolence. Finally, compassionate messaging was positively correlated with social expressivity, emotional expressivity, and uncorrelated with verbal aggressiveness and narcissism. The next study focused on cross-validation and criterion-related validity. Correlations showing that self-reports of a person's compassionate communication were positively related to a friend or romantic partner's report of that person's compassionate communication provided cross-validation. The test for criterion-related validity examined whether compassionate communication predicts relational satisfaction. Regression analyses revealed that people were more relationally satisfied when they perceived themselves to use compassionate conversation, when they perceived their partner to use compassionate conversation, and when their partner reported using compassionate conversation. This finding did not extend to compassionate touch or compassionate messaging. In fact, in one regression analysis, people reported more relational satisfaction when they perceived that their partners used high levels of compassionate conversation and low levels of compassionate touch. Overall, the analyses suggest that of the three forms of compassionate communication, compassionate conversation is most strongly related to relational satisfaction. Taken together, this series of studies provides initial evidence for the validity of the CCS.
ContributorsRamos Salazar, Leslie (Author) / Guerrero, Laura (Thesis advisor) / Roberto, Anthony (Committee member) / Millsap, Roger (Committee member) / Arizona State University (Publisher)
Created2013
Description
ABSTRACT A vortex tube is a device of a simple structure with no moving parts that can be used to separate a compressed gas into a hot stream and a cold stream. Many studies have been carried out to find the mechanisms of the energy separation in the vortex tube. Recent rapid development in computational fluid dynamics is providing a powerful tool to investigate the complex flow in the vortex tube. However various issues in these numerical simulations remain, such as choosing the most suitable turbulent model, as well as the lack of systematic comparative analysis. LES model for the vortex tube simulation is hardly used in the present literatures, and the influence of parameters on the performance of the vortex tube has scarcely been studied. This study is aimed to find the influence of various parameters on the performance of the vortex tube, the best geometric value of vortex tube and the realizable method to reach the required cold out flow rate 40 kg/s . First of all, setting up an original 3-D simulation vortex tube model. By comparing experiment results reported in the literature and our simulation results, a most suitable model for the simulation of the vortex tube is obtained. Secondly, we perform simulations to optimize parameters that can deliver a set of desired output, such as cold stream pressure, temperature and flow-rate. We also discuss the use of the cold air flow for petroleum engineering applications.
ContributorsCang, Ruijin (Author) / Chen, Kangping (Thesis advisor) / Huang, Hueiping (Committee member) / Calhoun, Ronald (Committee member) / Arizona State University (Publisher)
Created2013
Description
This thesis concerns the role of geometric imperfections on assemblies in which the location of a target part is dependent on supports at two features. In some applications, such as a turbo-machine rotor that is supported by a series of parts at each bearing, it is the interference or clearance at a functional target feature, such as at the blades that must be controlled. The first part of this thesis relates the limits of location for the target part to geometric imperfections of other parts when stacked-up in parallel paths. In this section parts are considered to be rigid (non-deformable). By understanding how much of variation from the supporting parts contribute to variations of the target feature, a designer can better utilize the tolerance budget when assigning values to individual tolerances. In this work, the T-Map®, a spatial math model is used to model the tolerance accumulation in parallel assemblies. In other applications where parts are flexible, deformations are induced when parts in parallel are clamped together during assembly. Presuming that perfectly manufactured parts have been designed to fit perfectly together and produce zero deformations, the clamping-induced deformations result entirely from the imperfect geometry that is produced during manufacture. The magnitudes and types of these deformations are a function of part dimensions and material stiffnesses, and they are limited by design tolerances that control manufacturing variations. These manufacturing variations, if uncontrolled, may produce high enough stresses when the parts are assembled that premature failure can occur before the design life. The last part of the thesis relates the limits on the largest von Mises stress in one part to functional tolerance limits that must be set at the beginning of a tolerance analysis of parts in such an assembly.
ContributorsJaishankar, Lupin Niranjan (Author) / Davidson, Joseph K. (Thesis advisor) / Shah, Jami J. (Committee member) / Mignolet, Marc P (Committee member) / Arizona State University (Publisher)
Created2012
Description
The Holocaust and the effects it has had upon witnesses has been a topic of study for nearly six decades; however, few angles of research have been conducted relating to the long-term effects of the Holocaust upon the children and grandchildren of Holocaust survivors--the After Generations. The After Generations are considered the proof--the living legacies--that their parents and grandparents survived. Growing up with intimate knowledge of the atrocities that occurred during the Holocaust, members of the After Generations not only carry with them their family's story, but also their own vicarious experience(s) of trauma. From this legacy comes a burden of responsibility to those who perished, their survivor parents/grandparents, the stories that were shared, as well as to future generations. Using grounded theory method, this study not only explores the long-term effects of the Holocaust upon members of the After Generations, but what it means to responsibly remember the stories from the Holocaust, as well as how individuals might ethically represent such stories/memories. Findings that developed out of an axial analysis of interview transcripts and journal writing, as well as the later development of a performance script, are embodied in a manner that allows the actual language and experiences of the participants to be collectively witnessed both symbolically and visually. Through their desire to remember, members of the After Generations demonstrate how they plan to carry on traditions, live lives that honor those that came before them, and maintain hope for the future. In so doing, the stories shared reveal the centrality of the Holocaust in the lives of members of the After Generations through their everyday choices to responsibly and actively remember through their art, writings, life-work, as well as from within their work in their local communities. Such acts of remembrance are important to the education of others as well as to the construction and maintenance of the After Generations' identities. The representation of these voices acts as a reminder of how hatred and its all-consuming characteristics can affect not only the person targeted, but multiple generations, as well.
ContributorsRath, Sandra (Author) / de la Garza, Sarah Amira (Thesis advisor) / Underiner, Tamara (Committee member) / Corey, Frederick C. (Committee member) / Eisenberg, Judith (Committee member) / Arizona State University (Publisher)
Created2012
Description
Law enforcement, schools and universities, health service agencies, as well as social service agencies, each acquire information from individuals that receive their services. That information gets recorded into the respective application system of each organization. The information, however, gets recorded only in the context of each service rendered and within each system used to record it. Information that is recorded by the police department for one individual is entirely different from the information that is recorded by the hospital for that same individual. What if all the organizations used the same system to record information? What if all the organizations followed the same protocols to record information as well as access it? The goal of this research was to analyze a system that allows for all organizations within a community to share information with each other. Technically, this system is feasible. However, public opinion says sharing personal information is unethical, and Federal regulation says it is unlawful. To accomplish an information-sharing system of this type, both regulation and public opinion need to be addressed.
ContributorsPullin, Britton Scott (Author) / Schildgen, Thomas (Thesis advisor) / Prewitt, Deborah (Committee member) / Ralston, Laurel (Committee member) / Arizona State University (Publisher)
Created2012
Description
As a result of the district program evaluation, a follow up on teacher perceptions of an online collaboration versus face to face collaboration approach was deemed necessary. The interviews were conducted with eight teachers from a suburban southwest K-8 public school district. After all teachers had participated in a 10 week program evaluation comparing online team teacher collaboration with face-to-face team teacher collaboration, the interview process began. One teacher from each grade level team was randomly selected to participate in the interview process. Analysis of the interview responses was inconclusive. Findings were confounded by the apparent lack of understanding of major concepts of Professional Learning Communities on the part of the participants. Assumptions about participant knowledge must be tested prior to investigations of the influence of either face to face or online format as delivery modes.
ContributorsTucker, Pamela K (Author) / McCoy, Kathleen (Thesis advisor) / Gehrke, Rebecca (Committee member) / Ham, Timothy (Committee member) / Arizona State University (Publisher)
Created2013
Description
Although high performance, light-weight composites are increasingly being used in applications ranging from aircraft, rotorcraft, weapon systems and ground vehicles, the assurance of structural reliability remains a critical issue. In composites, damage is absorbed through various fracture processes, including fiber failure, matrix cracking and delamination. An important element in achieving reliable composite systems is a strong capability of assessing and inspecting physical damage of critical structural components. Installation of a robust Structural Health Monitoring (SHM) system would be very valuable in detecting the onset of composite failure. A number of major issues still require serious attention in connection with the research and development aspects of sensor-integrated reliable SHM systems for composite structures. In particular, the sensitivity of currently available sensor systems does not allow detection of micro level damage; this limits the capability of data driven SHM systems. As a fundamental layer in SHM, modeling can provide in-depth information on material and structural behavior for sensing and detection, as well as data for learning algorithms. This dissertation focusses on the development of a multiscale analysis framework, which is used to detect various forms of damage in complex composite structures. A generalized method of cells based micromechanics analysis, as implemented in NASA's MAC/GMC code, is used for the micro-level analysis. First, a baseline study of MAC/GMC is performed to determine the governing failure theories that best capture the damage progression. The deficiencies associated with various layups and loading conditions are addressed. In most micromechanics analysis, a representative unit cell (RUC) with a common fiber packing arrangement is used. The effect of variation in this arrangement within the RUC has been studied and results indicate this variation influences the macro-scale effective material properties and failure stresses. The developed model has been used to simulate impact damage in a composite beam and an airfoil structure. The model data was verified through active interrogation using piezoelectric sensors. The multiscale model was further extended to develop a coupled damage and wave attenuation model, which was used to study different damage states such as fiber-matrix debonding in composite structures with surface bonded piezoelectric sensors.
ContributorsMoncada, Albert (Author) / Chattopadhyay, Aditi (Thesis advisor) / Dai, Lenore (Committee member) / Papandreou-Suppappola, Antonia (Committee member) / Rajadas, John (Committee member) / Yekani Fard, Masoud (Committee member) / Arizona State University (Publisher)
Created2012
Description
The focus of this investigation is on the optimum placement of a limited number of dampers, fewer than the number of blades, on a bladed disk to induce the smallest amplitude of blade response. The optimization process considers the presence of random mistuning, i.e. small involuntary variations in blade stiffness properties resulting, say, from manufacturing variability. Designed variations of these properties, known as intentional mistuning, is considered as an option to reduce blade response and the pattern of two blade types (A and B blades) is then part of the optimization in addition to the location of dampers on the disk. First, this study focuses on the formulation and validation of dedicated algorithms for the selection of the damper locations and the intentional mistuning pattern. Failure of one or several of the dampers could lead to a sharp rise in blade response and this issue is addressed by including, in the optimization, the possibility of damper failure to yield a fail-safe solution. The high efficiency and accuracy of the optimization algorithms is assessed in comparison with computationally very demanding exhaustive search results. Second, the developed optimization algorithms are applied to nonlinear dampers (underplatform friction dampers), as well as to blade-blade dampers, both linear and nonlinear. Further, the optimization of blade-only and blade-blade linear dampers is extended to include uncertainty or variability in the damper properties induced by manufacturing or wear. It is found that the optimum achieved without considering such uncertainty is robust with respect to it. Finally, the potential benefits of using two different types of friction dampers differing in their masses (A and B types), on a bladed disk are considered. Both A/B pattern and the damper masses are optimized to obtain the largest benefit compared to using identical dampers of optimized masses on every blade. Four situations are considered: tuned disks, disks with random mistuning of blade stiffness, and, disks with random mistuning of both blade stiffness and damper normal forces with and without damper variability induced by manufacturing and wear. In all cases, the benefit of intentional mistuning of friction dampers is small, of the order of a few percent.
ContributorsMurthy, Raghavendra Narasimha (Author) / Mignolet, Marc P (Thesis advisor) / Rajan, Subramaniam D. (Committee member) / Lentz, Jeff (Committee member) / Chattopadhyay, Aditi (Committee member) / Jiang, Hanqing (Committee member) / Arizona State University (Publisher)
Created2012