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- All Subjects: engineering
- Creators: Berman, Spring
- Status: Published
Description
The Autonomous Vehicle (AV), also known as self-driving car, promises to be a game changer for the transportation industry. This technology is predicted to drastically reduce the number of traffic fatalities due to human error [21].
However, road driving at any reasonable speed involves some risks. Therefore, even with high-tech AV algorithms and sophisticated sensors, there may be unavoidable crashes due to imperfection of the AV systems, or unexpected encounters with wildlife, children and pedestrians. Whenever there is a risk involved, there is the need for an ethical decision to be made [33].
While ethical and moral decision-making in humans has long been studied by experts, the advent of artificial intelligence (AI) also calls for machine ethics. To study the different moral and ethical decisions made by humans, experts may use the Trolley Problem [34], which is a scenario where one must pull a switch near a trolley track to redirect the trolley to kill one person on the track or do nothing, which will result in the deaths of five people. While it is important to take into account the input of members of a society and perform studies to understand how humans crash during unavoidable accidents to help program moral and ethical decision-making into self-driving cars, using the classical trolley problem is not ideal, as it is unrealistic and does not represent moral situations that people face in the real world.
This work seeks to increase the realism of the classical trolley problem for use in studies on moral and ethical decision-making by simulating realistic driving conditions in an immersive virtual environment with unavoidable crash scenarios, to investigate how drivers crash during these scenarios. Chapter 1 gives an in-depth background into autonomous vehicles and relevant ethical and moral problems; Chapter 2 describes current state-of-the-art online tools and simulators that were developed to study moral decision-making during unavoidable crashes. Chapters 3 focuses on building the simulator and the design of the crash scenarios. Chapter 4 describes human subjects experiments that were conducted with the simulator and their results, and Chapter 5 provides conclusions and avenues for future work.
However, road driving at any reasonable speed involves some risks. Therefore, even with high-tech AV algorithms and sophisticated sensors, there may be unavoidable crashes due to imperfection of the AV systems, or unexpected encounters with wildlife, children and pedestrians. Whenever there is a risk involved, there is the need for an ethical decision to be made [33].
While ethical and moral decision-making in humans has long been studied by experts, the advent of artificial intelligence (AI) also calls for machine ethics. To study the different moral and ethical decisions made by humans, experts may use the Trolley Problem [34], which is a scenario where one must pull a switch near a trolley track to redirect the trolley to kill one person on the track or do nothing, which will result in the deaths of five people. While it is important to take into account the input of members of a society and perform studies to understand how humans crash during unavoidable accidents to help program moral and ethical decision-making into self-driving cars, using the classical trolley problem is not ideal, as it is unrealistic and does not represent moral situations that people face in the real world.
This work seeks to increase the realism of the classical trolley problem for use in studies on moral and ethical decision-making by simulating realistic driving conditions in an immersive virtual environment with unavoidable crash scenarios, to investigate how drivers crash during these scenarios. Chapter 1 gives an in-depth background into autonomous vehicles and relevant ethical and moral problems; Chapter 2 describes current state-of-the-art online tools and simulators that were developed to study moral decision-making during unavoidable crashes. Chapters 3 focuses on building the simulator and the design of the crash scenarios. Chapter 4 describes human subjects experiments that were conducted with the simulator and their results, and Chapter 5 provides conclusions and avenues for future work.
ContributorsKankam, Immanuella (Author) / Berman, Spring (Thesis advisor) / Johnson, Kathryn (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2019
Description
Engineering education has long sought to incorporate greater diversity into engineering programs to prepare the profession to meet the engineering challenges of society. Increasing or retaining the conative diversity of engineering programs may help extend other kinds of diversity in the profession as well (Marburger, 2004). One measure of conation is the Kolbe ATM index.
Kolbe ATM is an index developed by Kathy Kolbe to measure the conative traits on an individual. The index assigns each individual a value in four categories, or Action Modes, that indicates their level of insistence on a scale of 1 to 10 in that Action Mode (Kolbe, 2004). The four Action Modes are:
• Fact Finder – handling of information or facts
• Follow Thru – need to pattern or organize
• Quick Start – management of risk or uncertainty
• Implementor – interaction with space or tangibles
The Kolbe A (TM) index assigns each individual a value that indicates their level of insistence with 1-3 representing resistant, preventing problems in a particular Action Mode; 4-6 indicating accommodation, flexibility in a particular Action Mode; and 7-10 indicating insistence in an Action Mode, initiating solutions in that Action Mode (Kolbe, 2004).
To promote retention of conative diversity, this study examines conative diversity in two engineering student populations, a predominately freshmen population at Chandler Gilbert Community College and a predominately junior population at Arizona State University. Students in both population took a survey that asked them to self-report their GPA, satisfaction with required courses in their major, Kolbe ATM conative index, and how much their conative traits help them in each of the classes on the survey. The classes in the survey included two junior level classes at ASU, Engineering Business Practices and Structural Analysis; as well as four freshmen engineering classes, Physics Lecture, Physics Lab, English Composition, and Calculus I.
This study finds that student satisfaction has no meaningful correlation with student GPA.
The study also finds that engineering programs have a dearth of resistant Fact Finders from the freshmen level on and losses resistant Follow Thrus and insistent Quick Starts as time progresses. Students whose conative indices align well with the structure of the engineering program tend to consider their conative traits helpful to them in their engineering studies. Students whose conative indices misalign with the structure of the program report that they consider their strengths less helpful to them in their engineering studies.
This study recommends further research into the relationship between satisfaction with major and conation and into perceived helpfulness of conative traits by students. Educators should continue to use Kolbe A (TM) in the classroom and perform further research on the impacts of conation on diversity in engineering programs.
Kolbe ATM is an index developed by Kathy Kolbe to measure the conative traits on an individual. The index assigns each individual a value in four categories, or Action Modes, that indicates their level of insistence on a scale of 1 to 10 in that Action Mode (Kolbe, 2004). The four Action Modes are:
• Fact Finder – handling of information or facts
• Follow Thru – need to pattern or organize
• Quick Start – management of risk or uncertainty
• Implementor – interaction with space or tangibles
The Kolbe A (TM) index assigns each individual a value that indicates their level of insistence with 1-3 representing resistant, preventing problems in a particular Action Mode; 4-6 indicating accommodation, flexibility in a particular Action Mode; and 7-10 indicating insistence in an Action Mode, initiating solutions in that Action Mode (Kolbe, 2004).
To promote retention of conative diversity, this study examines conative diversity in two engineering student populations, a predominately freshmen population at Chandler Gilbert Community College and a predominately junior population at Arizona State University. Students in both population took a survey that asked them to self-report their GPA, satisfaction with required courses in their major, Kolbe ATM conative index, and how much their conative traits help them in each of the classes on the survey. The classes in the survey included two junior level classes at ASU, Engineering Business Practices and Structural Analysis; as well as four freshmen engineering classes, Physics Lecture, Physics Lab, English Composition, and Calculus I.
This study finds that student satisfaction has no meaningful correlation with student GPA.
The study also finds that engineering programs have a dearth of resistant Fact Finders from the freshmen level on and losses resistant Follow Thrus and insistent Quick Starts as time progresses. Students whose conative indices align well with the structure of the engineering program tend to consider their conative traits helpful to them in their engineering studies. Students whose conative indices misalign with the structure of the program report that they consider their strengths less helpful to them in their engineering studies.
This study recommends further research into the relationship between satisfaction with major and conation and into perceived helpfulness of conative traits by students. Educators should continue to use Kolbe A (TM) in the classroom and perform further research on the impacts of conation on diversity in engineering programs.
ContributorsSmith, Logan Farren (Author) / Seager, Thomas P. (Thesis director) / Adams, Elizabeth A. (Committee member) / Civil, Environmental and Sustainable Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2015-05
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
Engineers spend several years studying intense technical details of the processes that shape our world, yet few are exposed to classes addressing social behaviors or issues. Engineering culture creates specific barriers to addressing social science issues, such as unconscious bias, within engineering classrooms. I developed a curriculum that uses optical illusions, Legos, and the instructor's vulnerability to tackle unconscious bias in a way that addresses the barriers in engineering culture that prevent engineers from learning social science issues. Unconscious bias has documented long-term negative impacts on success and personal development, even in engineering environments. Creating a module in engineering education that addresses unconscious bias with the aim of reducing the negative effects of bias would benefit developing engineers by improving product development and team diversity. Engineering culture fosters disengagement with social issues through three pillars: depoliticization, technical/social dualism, and meritocracy. The developed curriculum uses optical illusions and Legos as proxies to start discussions about unconscious bias. The proxies allow engineers to explore their own biases without running into one of the pillars of disengagement that limits the engineer's willingness to discuss social issues. The curriculum was implemented in the Fall of 2017 in an upper-division engineering classroom as a professional communication module. The module received qualitatively positive feedback from fellow instructors and students. The curriculum was only implemented once by the author, but future implementations should be done with a different instructor and using quantitative data to measure if the learning objectives were achieved. Appendix A of the paper contains a lesson plan of the module that could be implemented by other instructors.
ContributorsLauber, Emily Anne (Author) / Wernimont, Jacqueline (Thesis director) / Mertz, Benjamin (Committee member) / Civil, Environmental and Sustainable Engineering Programs (Contributor) / College of Integrative Sciences and Arts (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
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 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
Productivity in the construction industry is an essential measure of production efficiency and economic progress, quantified by craft laborers' time spent directly adding value to a project. In order to better understand craft labor productivity as an aspect of lean construction, an activity analysis was conducted at the Arizona State University Palo Verde Main engineering dormitory construction site in December of 2016. The objective of this analysis on craft labor productivity in construction projects was to gather data regarding the efficiency of craft labor workers, make conclusions about the effects of time of day and other site-specific factors on labor productivity, as well as suggest improvements to implement in the construction process. Analysis suggests that supporting tasks, such as traveling or materials handling, constitute the majority of craft labors' efforts on the job site with the highest percentages occurring at the beginning and end of the work day. Direct work and delays were approximately equal at about 20% each hour with the highest peak occurring at lunchtime between 10:00 am and 11:00 am. The top suggestion to improve construction productivity would be to perform an extensive site utilization analysis due to the confined nature of this job site. Despite the limitations of an activity analysis to provide a complete prospective of all the factors that can affect craft labor productivity as well as the small number of days of data acquisition, this analysis provides a basic overview of the productivity at the Palo Verde Main construction site. Through this research, construction managers can more effectively generate site plans and schedules to increase labor productivity.
ContributorsFord, Emily Lucile (Author) / Grau, David (Thesis director) / Chong, Oswald (Committee member) / Civil, Environmental and Sustainable Engineering Programs (Contributor) / School of International Letters and Cultures (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
Interest in Micro Aerial Vehicle (MAV) research has surged over the past decade. MAVs offer new capabilities for intelligence gathering, reconnaissance, site mapping, communications, search and rescue, etc. This thesis discusses key modeling and control aspects of flapping wing MAVs in hover. A three degree of freedom nonlinear model is used to describe the flapping wing vehicle. Averaging theory is used to obtain a nonlinear average model. The equilibrium of this model is then analyzed. A linear model is then obtained to describe the vehicle near hover. LQR is used to as the main control system design methodology. It is used, together with a nonlinear parameter optimization algorithm, to design a family multivariable control system for the MAV. Critical performance trade-offs are illuminated. Properties at both the plant output and input are examined. Very specific rules of thumb are given for control system design. The conservatism of the rules are also discussed. Issues addressed include
What should the control system bandwidth be vis--vis the flapping frequency (so that averaging the nonlinear system is valid)?
When is first order averaging sufficient? When is higher order averaging necessary?
When can wing mass be neglected and when does wing mass become critical to model?
This includes how and when the rules given can be tightened; i.e. made less conservative.
What should the control system bandwidth be vis--vis the flapping frequency (so that averaging the nonlinear system is valid)?
When is first order averaging sufficient? When is higher order averaging necessary?
When can wing mass be neglected and when does wing mass become critical to model?
This includes how and when the rules given can be tightened; i.e. made less conservative.
ContributorsBiswal, Shiba (Author) / Rodriguez, Armando (Thesis advisor) / Mignolet, Marc (Thesis advisor) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2015
Description
Robotic systems are outmatched by the abilities of the human hand to perceive and manipulate the world. Human hands are able to physically interact with the world to perceive, learn, and act to accomplish tasks. Limitations of robotic systems to interact with and manipulate the world diminish their usefulness. In order to advance robot end effectors, specifically artificial hands, rich multimodal tactile sensing is needed. In this work, a multi-articulating, anthropomorphic robot testbed was developed for investigating tactile sensory stimuli during finger-object interactions. The artificial finger is controlled by a tendon-driven remote actuation system that allows for modular control of any tendon-driven end effector and capabilities for both speed and strength. The artificial proprioception system enables direct measurement of joint angles and tendon tensions while temperature, vibration, and skin deformation are provided by a multimodal tactile sensor. Next, attention was focused on real-time artificial perception for decision-making. A robotic system needs to perceive its environment in order to make decisions. Specific actions such as “exploratory procedures” can be employed to classify and characterize object features. Prior work on offline perception was extended to develop an anytime predictive model that returns the probability of having touched a specific feature of an object based on minimally processed sensor data. Developing models for anytime classification of features facilitates real-time action-perception loops. Finally, by combining real-time action-perception with reinforcement learning, a policy was learned to complete a functional contour-following task: closing a deformable ziplock bag. The approach relies only on proprioceptive and localized tactile data. A Contextual Multi-Armed Bandit (C-MAB) reinforcement learning algorithm was implemented to maximize cumulative rewards within a finite time period by balancing exploration versus exploitation of the action space. Performance of the C-MAB learner was compared to a benchmark Q-learner that eventually returns the optimal policy. To assess robustness and generalizability, the learned policy was tested on variations of the original contour-following task. The work presented contributes to the full range of tools necessary to advance the abilities of artificial hands with respect to dexterity, perception, decision-making, and learning.
ContributorsHellman, Randall Blake (Author) / Santos, Veronica J (Thesis advisor) / Artemiadis, Panagiotis K (Committee member) / Berman, Spring (Committee member) / Helms Tillery, Stephen I (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2016
Description
Millions of individuals suffer from gait impairments due to stroke or other neurological disorders. A primary goal of patients is to walk independently, but most patients only achieve a poor functional outcome five years after injury. Despite the growing interest in using robotic devices for rehabilitation of sensorimotor function, state-of-the-art robotic interventions in gait therapy have not resulted in improved outcomes when compared to traditional treadmill-based therapy. Because bipedal walking requires neural coupling and dynamic interactions between the legs, a fundamental understanding of the sensorimotor mechanisms of inter-leg coordination during walking is needed to inform robotic interventions in gait therapy. This dissertation presents a systematic exploration of sensorimotor mechanisms of inter-leg coordination by studying the effect of unilateral perturbations of the walking surface stiffness on contralateral muscle activation in healthy populations. An analysis of the contribution of several sensory modalities to the muscle activation of the opposite leg provides new insight into the sensorimotor control mechanisms utilized in human walking, including the role of supra-spinal neural circuits in inter-leg coordination. Based on these insights, a model is created which relates the unilateral deflection of the walking surface to the resulting neuromuscular activation in the opposite leg. Additionally, case studies with hemiplegic walkers indicate the existence of the observed mechanism in neurologically impaired walkers. The results of this dissertation suggest a novel approach to gait therapy for hemiplegic patients in which desired muscle activity is evoked in the impaired leg by only interacting with the healthy leg. One of the most significant advantages of this approach over current rehabilitation protocols is the safety of the patient since there is no direct manipulation of the impaired leg. Therefore, the methods and results presented in this dissertation represent a potential paradigm shift in robot-assisted gait therapy.
ContributorsSkidmore, Jeffrey Alan (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Marvi, Hamidreza (Committee member) / Arizona State University (Publisher)
Created2017