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Description
A common design of multi-agent robotic systems requires a centralized master node, which coordinates the actions of all the agents. The multi-agent system designed in this project enables coordination between the robots and reduces the dependence on a single node in the system. This design change reduces the complexity of

A common design of multi-agent robotic systems requires a centralized master node, which coordinates the actions of all the agents. The multi-agent system designed in this project enables coordination between the robots and reduces the dependence on a single node in the system. This design change reduces the complexity of the central node, and makes the system more adaptable to changes in its topology. The final goal of this project was to have a group of robots collaboratively claim positions in pre-defined formations, and navigate to the position using pose data transmitted by a localization server.
Planning coordination between robots in a multi-agent system requires each robot to know the position of the other robots. To address this, the localization server tracked visual fiducial markers attached to the robots and relayed their pose to every robot at a rate of 20Hz using the MQTT communication protocol. The robots used this data to inform a potential fields path planning algorithm and navigate to their target position.
This project was unable to address all of the challenges facing true distributed multi-agent coordination and needed to make concessions in order to meet deadlines. Further research would focus on shoring up these deficiencies and developing a more robust system.
ContributorsThibeault, Quinn (Author) / Meuth, Ryan (Thesis director) / Chen, Yinong (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
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Description
The objective of this paper is to find and describe trends in the fast Fourier transformed accelerometer data that can be used to predict the mechanical failure of large vacuum pumps used in industrial settings, such as providing drinking water. Using three-dimensional plots of the data, this paper suggests how

The objective of this paper is to find and describe trends in the fast Fourier transformed accelerometer data that can be used to predict the mechanical failure of large vacuum pumps used in industrial settings, such as providing drinking water. Using three-dimensional plots of the data, this paper suggests how a model can be developed to predict the mechanical failure of vacuum pumps.
ContributorsHalver, Grant (Author) / Taylor, Tom (Thesis director) / Konstantinos, Tsakalis (Committee member) / Fricks, John (Committee member) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
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Description
In this research, the effect of the crystal structure of the parent phase on the morphology of nanoporous gold is explored. Specifically, Cu-Au alloys are studied. For this experiment, Cu0.75Au0.25 is heat treated to achieve an ordered phase Cu3Au and a disordered random solid solution, face centered cubic, Cu0.75Au0.25 phase,

In this research, the effect of the crystal structure of the parent phase on the morphology of nanoporous gold is explored. Specifically, Cu-Au alloys are studied. For this experiment, Cu0.75Au0.25 is heat treated to achieve an ordered phase Cu3Au and a disordered random solid solution, face centered cubic, Cu0.75Au0.25 phase, which are then dealloyed to form nanoporous gold (NPG). Using a morphology digital image analysis software called AQUAMI, SEM images of the NPG morphology were characterized to collect data on the ligament length, ligament diameter, porosity size, etc. of the samples. It was determined that the NPG formed from the ordered parent phase had an average ligament diameter that was 10 nm larger than the NPG formed from the disordered parent phase. This may be due to the ordered crystal structure allowing for faster gold diffusion and coarsening resulting in an increased average ligament size. Further future work is needed in order to obtain further evidence to support this hypothesis.
ContributorsTse, Ariana Yusof (Author) / Sieradzki, Karl (Thesis director) / Wang, Qing Hua (Committee member) / Materials Science and Engineering Program (Contributor) / Walter Cronkite School of Journalism & Mass Comm (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
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Description
This paper discusses the possibility of utilizing 2D molybdenum disulfide (MoS2) as a nanozyme to detect dopamine colorimetric assays, first by detecting color change in liquid solutions due to oxidation and then second on paper-based assays. MoS2 samples dispersed in methylcellulose (MC) solution were prepared using liquid-phase exfoliation through sonication.

This paper discusses the possibility of utilizing 2D molybdenum disulfide (MoS2) as a nanozyme to detect dopamine colorimetric assays, first by detecting color change in liquid solutions due to oxidation and then second on paper-based assays. MoS2 samples dispersed in methylcellulose (MC) solution were prepared using liquid-phase exfoliation through sonication. The dopamine (DOPA) and hydrogen peroxide (H¬¬2O2) solutions were prepared separately in specific concentrations. The solutions were mixed in a well plate and colorimetric results were analyzed by a plate reader, revealing a quantitative relationship between dopamine concentration and absorbance. Subsequent testing was conducted using paper assays, where combined solutions of DOPA and H2O2 were dropped onto paper with printed wax wells that contained dried MoS2. An analysis of the color change was conducted using a smartphone application called Color Grab to detect the red, green, and blue (RGB) values. Plotting the RGB results across the dopamine concentrations revealed a positively correlated relationship between the two factors, suggesting that a predictive model could be developed to predict dopamine concentrations based on measured colorimetric values.
ContributorsNalla, Akshay (Co-author, Co-author) / Wang, Qing Hua (Thesis director) / Green, Alexander (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Materials Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
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Description
The focus of this research paper is understanding the impacts of human factors on the technology innovations in automobiles and the direction our society is headed. There will be an assessment of our current state and the possible solutions to combat the issue of creating technology advancements for automobiles that

The focus of this research paper is understanding the impacts of human factors on the technology innovations in automobiles and the direction our society is headed. There will be an assessment of our current state and the possible solutions to combat the issue of creating technology advancements for automobiles that cater towards the human factors. There will be an introduction on the history of the first automobile invented to provide an understanding of the what the first automobile consisted of and will continue discussing the technological innovations that were implemented due to human factors. Diving into the types of technological innovations such as the ignition system, car radio, the power steering system, and self-driving, it will show the progression of the technological advancements that was implemented in relation to the human factors that was prominent among society. From there, it is important to understand what human factors and the concept of human factor engineering are. It will provide a better understanding of why humans have created technology in relation to the human factors. Then, there will be an introduction of the mobile phone industry history/timeline as a comparison to show the impacts of how human factors have had on the development of the technology in mobile phones and how heavily it catered towards human factors. There will be a discussion of the 3 key human factors that have been catered towards the development and implementation of technology in automobiles. They are selecting the path that requires the least cognitive effort, overestimating the performance of technology, and reducing the attention due to an automated system being put into place. Lastly, is understanding that if we create or implement technology such as self-driving, it should not solely be for comfort and ease of use, but for the overall efficient use of transportation in the future. This way humans would not rely heavily too much on the technology and limit the effect that human factors have on us.
ContributorsParham, Gi-onli (Author) / Keane, Katy (Thesis director) / Collins, Gregory (Committee member) / Department of Supply Chain Management (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
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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,

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.
Created2020-12
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Description

The goal of this research was to identify why the federal government should invest in solar research and development, and which areas of solar improvement should be focused on. Motivation for this can be found in the pressing need to prevent and reverse the effects of climate change, the inevitability

The goal of this research was to identify why the federal government should invest in solar research and development, and which areas of solar improvement should be focused on. Motivation for this can be found in the pressing need to prevent and reverse the effects of climate change, the inevitability of fossil fuel resources eventually running out, and the economic and job creation potential which solar energy holds. Additionally, it is important to note that the best course of action will involve a split of funding between current solar rollout and energy grid updating, and the R&D listed in this research. Upon examination, it can be seen that an energy revolution, led by a federal solar jobs program and a Green New Deal, would be both an ethically and economically beneficial solution. A transition from existing fossil fuel infrastructure to renewable, solar-powered infrastructure would not only be possible but highly beneficial in many aspects, including massive job creation, a more affordable, renewable energy solution to replace coal-fired plants, and no fuel spending or negotiation required.<br/>When examining which areas of solar improvement to focus on for R&D funding, four primary areas were identified, with solutions presented for each. These areas for improvement are EM capture, EM conversion efficiency, energy storage capacity, and the prevention of overheating. For each of these areas of improvement, affordable solutions that would greatly improve the efficiency and viability of solar as a primary energy source were identified. The most notable area that should be examined is solar storage, which would allow solar PV panels to overcome their greatest real and perceived obstacle, which is the inconsistent power generation. Solar storage is easily attainable, and with enough storage capacity, excess solar energy which would otherwise be wasted during the day can be stored and used during the night or cloudy weather as necessary. Furthermore, the implementation of highly innovative solutions, such as agrivoltaics, would allow for a solar revolution to occur.

ContributorsWhitlow, Hunter Marshall (Author) / Fong, Benjamin (Thesis director) / Andino, Jean (Committee member) / Chemical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
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Description
In 2022, the revenue generated from accounting services hit an all-time high of 119.48 billion USD (“Accounting Services in the US - Market Size”, 2022). On top of this, research has shown that 45% of all accounting professionals would like to automate something about their workflow (Thomas, 2020). Indeed, a

In 2022, the revenue generated from accounting services hit an all-time high of 119.48 billion USD (“Accounting Services in the US - Market Size”, 2022). On top of this, research has shown that 45% of all accounting professionals would like to automate something about their workflow (Thomas, 2020). Indeed, a lot of bookkeeping accountancy has been phased out by simple automation. However, larger accounting tasks like business mergers still require a team of accountants despite being a largely iterative process. This project chronicles one such attempt at automating accounting events or transactions that are performed by businesses both large and small. With the help of accounting students Madeline Stolper and Heddie Liu we were able to build a fully-functioning website to automate accounting transactions. For this project, we used industry-standard software frameworks React and Express to build the site with dynamic accounting applications. These applications were built with reusable components, making the development of future applications very simple. We also leveraged cutting-edge technological solutions from Amazon Web Services to make the website available on the Internet with rapid response times. Lastly, we incorporated an agile approach to project management and communication, in order to create functionality in the most efficient and organized manner possible. On a large scale, something like this has never been attempted and TurboIFRS/GAAP represents a revolutionary leap in accounting automation.
ContributorsForde, Jakob (Author) / Roth, Ryder (Co-author) / McLemore, Benjamin (Co-author) / Chen, Yinong (Thesis director) / Hunt, Neil (Committee member) / Barrett, The Honors College (Contributor) / Computer Science and Engineering Program (Contributor) / School of Music, Dance and Theatre (Contributor) / School of Mathematical and Statistical Sciences (Contributor)
Created2022-05
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Description

STEAMtank is a project beneath that falls under the umbrella of InnovationSpace, an initiative of the Design School at Arizona State University. STEAMtank is the product of the product of the honors thesis of Abigail Peters, who envisioned a K-8 STEAM (science, technology, engineering, art, and math) museum that was

STEAMtank is a project beneath that falls under the umbrella of InnovationSpace, an initiative of the Design School at Arizona State University. STEAMtank is the product of the product of the honors thesis of Abigail Peters, who envisioned a K-8 STEAM (science, technology, engineering, art, and math) museum that was hosted on campus at ASU and was free to the community to promote STEAM education for underrepresented communities. STEAMtank is now in its second iteration, with six teams creating six attractions for the museum. Alongside these projects, presented here is a concept design for a museum exhibit focused entirely around chemistry, a particular branch of science that is lacking from all K-8 focused STEAM exhibits in Phoenix.

ContributorsFarrington, Logan (Author) / Hedges, Craig (Thesis director) / Reeves, James (Committee member) / Barrett, The Honors College (Contributor) / School of Molecular Sciences (Contributor)
Created2022-05
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Description
The lack of infrastructure to provide clean drinking water and sanitation has led to the immense influx and use of plastic sachets, plastic water bottles, and the overall continued rise of plastic usage. Plastic pollution is rising at unprecedented rates. Current estimations show that there will be more plastic in

The lack of infrastructure to provide clean drinking water and sanitation has led to the immense influx and use of plastic sachets, plastic water bottles, and the overall continued rise of plastic usage. Plastic pollution is rising at unprecedented rates. Current estimations show that there will be more plastic in the ocean than fish before 2050. BYOH2O was developed in efforts to ensure clean water access for individuals while minimizing waste creation and more specifically, reducing plastic. BYOH2O (Bring Your Own H2O) is a revolutionary device that provides clean water for outdoor recreational trips such as backpacking, hiking, hunting, and cycling. The BYOH2O company was created in August 2021. BYOH2O is a device that significantly reduces the amount of plastic that is typically found in portable water devices by allowing the easy filtration of water without the need for electricity.
ContributorsWaxman, Aviel (Author) / Butler, Jacob (Co-author) / Langlais, Grayson (Co-author) / Vullo, Delaney (Co-author) / Byrne, Jared (Thesis director) / Larsen, Wiley (Committee member) / Lawson, Brennan (Committee member) / Barrett, The Honors College (Contributor) / School of Social Work (Contributor)
Created2022-05