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Description
Daily collaborative tasks like pushing a table or a couch require haptic communication between the people doing the task. To design collaborative motion planning algorithms for such applications, it is important to understand human behavior. Collaborative tasks involve continuous adaptations and intent recognition between the people involved in the task. This thesis explores the coordination between the human-partners through a virtual setup involving continuous visual feedback. The interaction and coordination are modeled as a two-step process: 1) Collecting data for a collaborative couch-pushing task, where both the people doing the task have complete information about the goal but are unaware of each other's cost functions or intentions and 2) processing the emergent behavior from complete information and fitting a model for this behavior to validate a mathematical model of agent-behavior in multi-agent collaborative tasks. The baseline model is updated using different approaches to resemble the trajectories generated by these models to human trajectories. All these models are compared to each other. The action profiles of both the agents and the position and velocity of the manipulated object during a goal-oriented task is recorded and used as expert-demonstrations to fit models resembling human behaviors. Analysis through hypothesis teasing is also performed to identify the difference in behaviors when there are complete information and information asymmetry among agents regarding the goal position.
ContributorsShintre, Pallavi Shrinivas (Author) / Zhang, Wenlong (Thesis advisor) / Si, Jennie (Committee member) / Ren, Yi (Committee member) / Arizona State University (Publisher)
Created2020
Description
The first part of this dissertation reports the study of the vertical carrier transport and device application in InAs/InAs1-xSbx strain-balanced type-II superlattice. It is known that the low hole mobility in the InAs/InAs1-xSbx superlattice is considered as the main reason for the low internal quantum efficiency of its mid-wave and long-wave infrared photodetectors, compared with that of its HgCdTe counterparts. Optical measurements using time-resolved photoluminescence and steady-state photoluminescence spectroscopy are implemented to extract the diffusion coefficients and mobilities of holes in the superlattices at various temperatures from 12 K to 210 K. The sample structure consists of a mid-wave infrared superlattice absorber region grown atop a long-wave infrared superlattice probe region. An ambipolar diffusion model is adopted to extract the hole mobility. The results show that the hole mobility first increases from 0.2 cm2/Vs at 12 K and then levels off at ~50 cm2/Vs as the temperature exceeds ~60 K. An InAs/InAs1-xSbx type-II superlattice nBn long-wavelength barrier infrared photodetector has also been demonstrated with a measured dark current density of 9.5×10-4 A/cm2 and a maximum resistance-area product of 563 Ω-cm2 at 77 K under a bias of -0.5 V. The Arrhenius plot of the dark current density reveals a possible high-operating-temperature of 110 K.The second part of the dissertation reports a lift-off technology using a water-soluble sacrificial MgTe layer grown on InSb. This technique enables the seamless integration of materials with lattice constants near 6.5 Å, such as InSb, CdTe, PbTe, HgTe and Sn. Coherently strained MgTe with a lattice constant close to 6.5 Å acts as a sacrificial layer which reacts with water and releases the film above it. Freestanding CdTe/MgxCd1-xTe double-heterostructures resulting from the lift-off process show increased photoluminescence intensity due to enhanced extraction efficiency and photon-recycling effect. The lifted-off thin films show smooth and flat surfaces with 6.7 Å root-mean-square roughness revealed by atomic-force microscopy profiles. The increased photoluminescence intensity also confirms that the CdTe/MgxCd1-xTe double-heterostructures maintain the high optical quality after epitaxial lift-off.
ContributorsTsai, Cheng-Ying (Author) / Zhang, Yong-Hang YZ (Thesis advisor) / Vasileska, Dragica DV (Committee member) / Johnson, Shane SJ (Committee member) / Zhao, Yuji YZ (Committee member) / Arizona State University (Publisher)
Created2020
Description
Modular multilevel converters (MMCs) have become an attractive technology for high power applications. One of the main challenges associated with control and operation of the MMC-based systems is to smoothly precharge submodule (SM) capacitors to the nominal voltage during the startup process. The existing closed-loop methods require additional effort to analyze the small-signal model of MMC and tune control parameters. The existing open-loop methods require auxiliary voltage sources to charge SM capacitors, which add to the system complexity and cost. A generalized precharging strategy is proposed in this thesis.
For large-scale MMC-embedded power systems, it is required to investigate dynamic performance, fault characteristics, and stability. Modeling of the MMC is one of the challenges associated with the study of large-scale MMC-based power systems. The existing models of MMC did not consider the various configurations of SMs and different operating conditions. An improved equivalent circuit model is proposed in this thesis.
The solid state transformer (SST) has been investigated for the distribution systems to reduce the volume and weight of power transformer. Recently, the MMC is employed into the SST due to its salient features. For design and control of the MMC-based SST, its operational principles are comprehensively analyzed. Based on the analysis, its mathematical model is developed for evaluating steady-state performances. For optimal design of the MMC-based SST, the mathematical model is modified by considering circuit parameters.
One of the challenges of the MMC-based SST is the balancing of capacitor voltages. The performances of various voltage balancing algorithms and different modulation methods have not been comprehensively evaluated. In this thesis, the performances of different voltage-balancing algorithms and modulation methods are analyzed and evaluated. Based on the analysis, two improved voltage-balancing algorithms are proposed in this thesis.
For design of the MMC-based SST, existing references only focus on optimal design of medium-frequency transformer (MFT). In this thesis, an optimal design procedure is developed for the MMC under medium-frequency operation based on the mathematical model of the MMC-based SST. The design performance of MMC is comprehensively evaluated based on free system parameters.
For large-scale MMC-embedded power systems, it is required to investigate dynamic performance, fault characteristics, and stability. Modeling of the MMC is one of the challenges associated with the study of large-scale MMC-based power systems. The existing models of MMC did not consider the various configurations of SMs and different operating conditions. An improved equivalent circuit model is proposed in this thesis.
The solid state transformer (SST) has been investigated for the distribution systems to reduce the volume and weight of power transformer. Recently, the MMC is employed into the SST due to its salient features. For design and control of the MMC-based SST, its operational principles are comprehensively analyzed. Based on the analysis, its mathematical model is developed for evaluating steady-state performances. For optimal design of the MMC-based SST, the mathematical model is modified by considering circuit parameters.
One of the challenges of the MMC-based SST is the balancing of capacitor voltages. The performances of various voltage balancing algorithms and different modulation methods have not been comprehensively evaluated. In this thesis, the performances of different voltage-balancing algorithms and modulation methods are analyzed and evaluated. Based on the analysis, two improved voltage-balancing algorithms are proposed in this thesis.
For design of the MMC-based SST, existing references only focus on optimal design of medium-frequency transformer (MFT). In this thesis, an optimal design procedure is developed for the MMC under medium-frequency operation based on the mathematical model of the MMC-based SST. The design performance of MMC is comprehensively evaluated based on free system parameters.
ContributorsZhang, Lei (Author) / Qin, Jiangchao (Thesis advisor) / Ayyanar, Raja (Committee member) / Weng, Yang (Committee member) / Wu, Meng (Committee member) / Arizona State University (Publisher)
Created2020
Description
The recording of biosignals enables physicians to correctly diagnose diseases and prescribe treatment. Existing wireless systems failed to effectively replace the conventional wired methods due to their large sizes, high power consumption, and the need to replace batteries. This thesis aims to alleviate these issues by presenting a series of wireless fully-passive sensors for the acquisition of biosignals: including neuropotential, biopotential, intracranial pressure (ICP), in addition to a stimulator for the pacing of engineered cardiac cells. In contrast to existing wireless biosignal recording systems, the proposed wireless sensors do not contain batteries or high-power electronics such as amplifiers or digital circuitries. Instead, the RFID tag-like sensors utilize a unique radiofrequency (RF) backscattering mechanism to enable wireless and battery-free telemetry of biosignals with extremely low power consumption. This characteristic minimizes the risk of heat-induced tissue damage and avoids the need to use any transcranial/transcutaneous wires, and thus significantly enhances long-term safety and reliability. For neuropotential recording, a small (9mm x 8mm), biocompatible, and flexible wireless recorder is developed and verified by in vivo acquisition of two types of neural signals, the somatosensory evoked potential (SSEP) and interictal epileptic discharges (IEDs). For wireless multichannel neural recording, a novel time-multiplexed multichannel recording method based on an inductor-capacitor delay circuit is presented and tested, realizing simultaneous wireless recording from 11 channels in a completely passive manner. For biopotential recording, a wearable and flexible wireless sensor is developed, achieving real-time wireless acquisition of ECG, EMG, and EOG signals. For ICP monitoring, a very small (5mm x 4mm) wireless ICP sensor is designed and verified both in vitro through a benchtop setup and in vivo through real-time ICP recording in rats. Finally, for cardiac cell stimulation, a flexible wireless passive stimulator, capable of delivering stimulation current as high as 60 mA, is developed, demonstrating successful control over the contraction of engineered cardiac cells. The studies conducted in this thesis provide information and guidance for future translation of wireless fully-passive telemetry methods into actual clinical application, especially in the field of implantable and wearable electronics.
ContributorsLiu, Shiyi (Author) / Christen, Jennifer (Thesis advisor) / Nikkhah, Mehdi (Committee member) / Phillips, Stephen (Committee member) / Cao, Yu (Committee member) / Goryll, Michael (Committee member) / Arizona State University (Publisher)
Created2020
Description
Video analysis and understanding have obtained more and more attention in recent years. The research community also has devoted considerable effort and made progress in many related visual tasks, like video action/event recognition, thumbnail frame or video index retrieval, and zero-shot learning. The way to find good representative features of videos is an important objective for these visual tasks.
Thanks to the success of deep neural networks in recent vision tasks, it is natural to take the deep learning methods into consideration for better extraction of a global representation of the images and videos. In general, Convolutional Neural Network (CNN) is utilized for obtaining the spatial information, and Recurrent Neural Network (RNN) is leveraged for capturing the temporal information.
This dissertation provides a perspective of the challenging problems in different kinds of videos which may require different solutions. Therefore, several novel deep learning-based approaches of obtaining representative features are outlined for different visual tasks like zero-shot learning, video retrieval, and video event recognition in this dissertation. To better understand and obtained the video spatial and temporal information, Convolutional Neural Network and Recurrent Neural Network are jointly utilized in most approaches. And different experiments are conducted to present the importance and effectiveness of good representative features for obtaining a better knowledge of video clips in the computer vision field. This dissertation also concludes a discussion with possible future works of obtaining better representative features of more challenging video clips.
Thanks to the success of deep neural networks in recent vision tasks, it is natural to take the deep learning methods into consideration for better extraction of a global representation of the images and videos. In general, Convolutional Neural Network (CNN) is utilized for obtaining the spatial information, and Recurrent Neural Network (RNN) is leveraged for capturing the temporal information.
This dissertation provides a perspective of the challenging problems in different kinds of videos which may require different solutions. Therefore, several novel deep learning-based approaches of obtaining representative features are outlined for different visual tasks like zero-shot learning, video retrieval, and video event recognition in this dissertation. To better understand and obtained the video spatial and temporal information, Convolutional Neural Network and Recurrent Neural Network are jointly utilized in most approaches. And different experiments are conducted to present the importance and effectiveness of good representative features for obtaining a better knowledge of video clips in the computer vision field. This dissertation also concludes a discussion with possible future works of obtaining better representative features of more challenging video clips.
ContributorsLi, Yikang (Author) / Li, Baoxin BL (Thesis advisor) / Karam, Lina LK (Committee member) / LiKamWa, Robert RL (Committee member) / Yang, Yezhou YY (Committee member) / Arizona State University (Publisher)
Created2020
Description
BioMEMS has the potential to provide many future tools for life sciences, combined with microfabrication technologies and biomaterials. Especially due to the recent corona 19 epidemic, interest in BioMEMS technology has increased significantly, and the related research has also grown significantly. The field with the highest demand for BioMEMS devices is in the medical field. In particular, the implantable device field is the largest sector where cutting-edge BioMEMS technology is applied along with nanotechnology, artificial intelligence, genetic engineering, etc. However, implantable devices used for brain diseases are still very limited because unlike other parts of human organs, the brain is still unknow area which cannot be completely replaceable.To date, the most commercially used, almost only, implantable device for the brain is a shunt system for the treatment of hydrocephalus. The current cerebrospinal fluid (CSF) shunt treatment yields high failure rates: ~40% within first 2 years and 98% within 10 years. These failures lead to high hospital admission rates and repeated invasive surgical procedures, along with reduced quality of life. New treatments are needed to improve the disease burden associated with hydrocephalus. In this research, the proposed catheter-free, completely-passive miniaturized valve is designed to alleviate hydrocephalus at the originating site of the disorder and diminish failure mechanisms associated with current treatment methods. The valve is composed of hydrogel diaphragm structure and polymer or glass outer frame which are 100% bio-compatible material. The valve aims to be implanted between the sub-arachnoid space and the superior sagittal sinus to regulate the CSF flow substituting for the obstructed arachnoid granulations.
A cardiac pacemaker is one of the longest and most widely used implantable devices and the wireless technology is the most widely used with it for easy acquisition of vital signs and rapid disease diagnosis without clinical surgery. But the conventional pacemakers with some wireless technology face some essential complications associated with finite battery life, ultra-vein pacing leads, and risk of infection from device pockets and leads. To solve these problems, wireless cardiac pacemaker operating in fully-passive modality is proposed and demonstrates the promising potential by realizing a prototype and functional evaluating.
A cardiac pacemaker is one of the longest and most widely used implantable devices and the wireless technology is the most widely used with it for easy acquisition of vital signs and rapid disease diagnosis without clinical surgery. But the conventional pacemakers with some wireless technology face some essential complications associated with finite battery life, ultra-vein pacing leads, and risk of infection from device pockets and leads. To solve these problems, wireless cardiac pacemaker operating in fully-passive modality is proposed and demonstrates the promising potential by realizing a prototype and functional evaluating.
ContributorsLee, Seunghyun (Author) / Christen, Jennifer (Thesis advisor) / Goryll, Michael (Committee member) / Nikkhah, Mehdi (Committee member) / Sohn, SungMin (Committee member) / Arizona State University (Publisher)
Created2020
Description
The maximum theoretical efficiency of a terrestrial non-concentrated silicon solar cell is 29.4%, as obtained from detailed balance analysis. Over 90% of the current silicon photovoltaics market is based on solar cells with diffused junctions (Al-BSF, PERC, PERL, etc.), which are limited in performance by increased non-radiative recombination in the doped regions. This limitation can be overcome through the use of passivating contacts, which prevent recombination at the absorber interfaces while providing the selectivity to efficiently separate the charge carriers generated in the absorber. This thesis aims at developing an understanding of how the material properties of the contact affect device performance through simulations.The partial specific contact resistance framework developed by Onno et al. aims to link material behavior to device performance specifically at open circuit. In this thesis, the framework is expanded to other operating points of a device, leading to a model for calculating the partial contact resistances at any current flow. The error in calculating these resistances is irrelevant to device performance resulting in an error in calculating fill factor from resistances below 0.1% when the fill factors of the cell are above 70%, i.e., for cells with good passivation and selectivity.
Further, silicon heterojunction (SHJ) and tunnel-oxide based solar cells are simulated in 1D finite-difference modeling package AFORS-HET. The effects of material property changes on device performance are investigated using novel contact materials like Al0.8Ga0.2As (hole contact for SHJ) and ITO (electron contact for tunnel-oxide cells). While changing the bandgap and electron affinity of the contact affect the height of the Schottky barrier and hence contact resistivity, increasing the doping of the contact will increase its selectivity. In the case of ITO, the contact needs to have a work function below 4.2 eV to be electron selective, which suggests that other low work function TCOs (like AZO) will be more applicable as alternative dopant-free electron contacts. The AFORS-HET model also shows that buried doped regions arising from boron diffusion in the absorber can damage passivation and decrease the open circuit voltage of the device.
Further, silicon heterojunction (SHJ) and tunnel-oxide based solar cells are simulated in 1D finite-difference modeling package AFORS-HET. The effects of material property changes on device performance are investigated using novel contact materials like Al0.8Ga0.2As (hole contact for SHJ) and ITO (electron contact for tunnel-oxide cells). While changing the bandgap and electron affinity of the contact affect the height of the Schottky barrier and hence contact resistivity, increasing the doping of the contact will increase its selectivity. In the case of ITO, the contact needs to have a work function below 4.2 eV to be electron selective, which suggests that other low work function TCOs (like AZO) will be more applicable as alternative dopant-free electron contacts. The AFORS-HET model also shows that buried doped regions arising from boron diffusion in the absorber can damage passivation and decrease the open circuit voltage of the device.
ContributorsDasgupta, Sagnik (Author) / Holman, Zachary (Thesis advisor) / Onno, Arthur (Committee member) / Wang, Qing Hua (Committee member) / Arizona State University (Publisher)
Created2020
Description
Infants born before 37 weeks of pregnancy are considered to be preterm. Typically, preterm infants have to be strictly monitored since they are highly susceptible to health problems like hypoxemia (low blood oxygen level), apnea, respiratory issues, cardiac problems, neurological problems as well as an increased chance of long-term health issues such as cerebral palsy, asthma and sudden infant death syndrome. One of the leading health complications in preterm infants is bradycardia - which is defined as the slower than expected heart rate, generally beating lower than 60 beats per minute. Bradycardia is often accompanied by low oxygen levels and can cause additional long term health problems in the premature infant.The implementation of a non-parametric method to predict the onset of brady- cardia is presented. This method assumes no prior knowledge of the data and uses kernel density estimation to predict the future onset of bradycardia events. The data is preprocessed, and then analyzed to detect the peaks in the ECG signals, following which different kernels are implemented to estimate the shared underlying distribu- tion of the data. The performance of the algorithm is evaluated using various metrics and the computational challenges and methods to overcome them are also discussed.
It is observed that the performance of the algorithm with regards to the kernels used are consistent with the theoretical performance of the kernel as presented in a previous work. The theoretical approach has also been automated in this work and the various implementation challenges have been addressed.
It is observed that the performance of the algorithm with regards to the kernels used are consistent with the theoretical performance of the kernel as presented in a previous work. The theoretical approach has also been automated in this work and the various implementation challenges have been addressed.
ContributorsMitra, Sinjini (Author) / Papandreou-Suppappola, Antonia (Thesis advisor) / Moraffah, Bahman (Thesis advisor) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2020
Description
The quest to find efficient algorithms to numerically solve differential equations isubiquitous in all branches of computational science. A natural approach to address
this problem is to try all possible algorithms to solve the differential equation and
choose the one that is satisfactory to one's needs. However, the vast variety of algorithms
in place makes this an extremely time consuming task. Additionally, even
after choosing the algorithm to be used, the style of programming is not guaranteed
to result in the most efficient algorithm. This thesis attempts to address the same
problem but pertinent to the field of computational nanoelectronics, by using PETSc
linear solver and SLEPc eigenvalue solver packages to efficiently solve Schrödinger
and Poisson equations self-consistently.
In this work, quasi 1D nanowire fabricated in the GaN material system is considered
as a prototypical example. Special attention is placed on the proper description
of the heterostructure device, the polarization charges and accurate treatment of the
free surfaces. Simulation results are presented for the conduction band profiles, the
electron density and the energy eigenvalues/eigenvectors of the occupied sub-bands
for this quasi 1D nanowire. The simulation results suggest that the solver is very
efficient and can be successfully used for the analysis of any device with two dimensional
confinement. The tool is ported on www.nanoHUB.org and as such is freely
available.
this problem is to try all possible algorithms to solve the differential equation and
choose the one that is satisfactory to one's needs. However, the vast variety of algorithms
in place makes this an extremely time consuming task. Additionally, even
after choosing the algorithm to be used, the style of programming is not guaranteed
to result in the most efficient algorithm. This thesis attempts to address the same
problem but pertinent to the field of computational nanoelectronics, by using PETSc
linear solver and SLEPc eigenvalue solver packages to efficiently solve Schrödinger
and Poisson equations self-consistently.
In this work, quasi 1D nanowire fabricated in the GaN material system is considered
as a prototypical example. Special attention is placed on the proper description
of the heterostructure device, the polarization charges and accurate treatment of the
free surfaces. Simulation results are presented for the conduction band profiles, the
electron density and the energy eigenvalues/eigenvectors of the occupied sub-bands
for this quasi 1D nanowire. The simulation results suggest that the solver is very
efficient and can be successfully used for the analysis of any device with two dimensional
confinement. The tool is ported on www.nanoHUB.org and as such is freely
available.
ContributorsBaikadi, Pranay Kumar Reddy (Author) / Vasileska, Dragica (Thesis advisor) / Goodnick, Stephen (Committee member) / Povolotskyi, Mykhailo (Committee member) / Arizona State University (Publisher)
Created2020
Description
Power management circuits have been more and more widely used in various applications, while providing fully integrated voltage regulation remains a challenging topic. Switched-capacitor (SC) voltage converters have received attentions in integrated power conversion for fixed-ratio voltage conversions with good efficiency and feasibility of integration. During my PhD study, an on-chip current sensing technique is proposed to dynamically modulate both switching frequency and switch widths of SC voltage converters, enhancing fast transient response and higher efficiency across a wide range of load currents. In conjunction with SC converters, a low-dropout regulator (LDO) is implemented which is driven by a push-pull operational transconductance amplifier (OTA), whose current is mirrored and sensed with minimal power and efficiency overhead. The sensed load current directly controls the frequency and width of SC converters through a voltage-controlled oscillator (VCO) and a time-to-digital converter, respectively.
Theoretical analysis and optimization for SC DC-DC converters have been presented in prior works, however optimization of different capacitors, namely flying and input/output decoupling capacitors, in SC voltage regulators (SCVRs) under an area constraint has not been addressed. A methodology to optimize flying and decoupling capacitance for area-constrained on-chip SCVRs to achieve the highest system-level power efficiency. Considering both conversion efficiency and droop voltage against fast load transients, the proposed model determines the optimal ratio between flying and decoupling.
Based on the previous design, a fully integrated switched-capacitor voltage regulator with voltage comparison and on-chip lossless current sensing control is proposed. Based on the voltage comparison result and sensed current as the load current changes, the frequency of the SC converters are modulated for optimal efficiency. The voltage regulator targets 2.1V input voltage and 0.9V output voltage, which offers higher-voltage power transfer across chip package. A 17-phase interleaved structure is used to reduce output voltage ripple.
In 65nm CMOS, the regulator is implemented with MIM-capacitor, targeting 2.1V input voltage and 0.9V output voltage. According to the measurement results, the proposed SC voltage regulator achieves 69.6% peak efficiency at 60mA load current, which corresponds to a 4.2mW/mm2 power-area density and 12.5mW
F power-capacitance density. The efficiency across 20mA to 92mA regulator load current range is above 62%. The steady-state output voltage ripple across 22x load current range of 3.5mA-76mA is between 50mV to 60mV.
Theoretical analysis and optimization for SC DC-DC converters have been presented in prior works, however optimization of different capacitors, namely flying and input/output decoupling capacitors, in SC voltage regulators (SCVRs) under an area constraint has not been addressed. A methodology to optimize flying and decoupling capacitance for area-constrained on-chip SCVRs to achieve the highest system-level power efficiency. Considering both conversion efficiency and droop voltage against fast load transients, the proposed model determines the optimal ratio between flying and decoupling.
Based on the previous design, a fully integrated switched-capacitor voltage regulator with voltage comparison and on-chip lossless current sensing control is proposed. Based on the voltage comparison result and sensed current as the load current changes, the frequency of the SC converters are modulated for optimal efficiency. The voltage regulator targets 2.1V input voltage and 0.9V output voltage, which offers higher-voltage power transfer across chip package. A 17-phase interleaved structure is used to reduce output voltage ripple.
In 65nm CMOS, the regulator is implemented with MIM-capacitor, targeting 2.1V input voltage and 0.9V output voltage. According to the measurement results, the proposed SC voltage regulator achieves 69.6% peak efficiency at 60mA load current, which corresponds to a 4.2mW/mm2 power-area density and 12.5mW
F power-capacitance density. The efficiency across 20mA to 92mA regulator load current range is above 62%. The steady-state output voltage ripple across 22x load current range of 3.5mA-76mA is between 50mV to 60mV.
ContributorsMi, Xiaoyang (Author) / Seo, Jae-Sun (Thesis advisor) / Bakkaloglu, Bertan (Committee member) / Ogras, Umit Y. (Committee member) / Kitchen, Jennifer (Committee member) / Arizona State University (Publisher)
Created2020