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- All Subjects: Mechanical Engineering
- All Subjects: Creative Project
- Creators: Berman, Spring
Description
The presented work in this report is about Real time Estimation of wind and analyzing current wind correction algorithm in commercial off the shelf Autopilot board. The open source ArduPilot Mega 2.5 (APM 2.5) board manufactured by 3D Robotics is used. Currently there is lot of development being done in the field of Unmanned Aerial Systems (UAVs), various aerial platforms and corresponding; autonomous systems for them. This technology has advanced to such a stage that UAVs can be used for specific designed missions and deployed with reliability. But in some areas like missions requiring high maneuverability with greater efficiency is still under research area. This would help in increasing reliability and augmenting range of UAVs significantly. One of the problems addressed through this thesis work is, current autopilot systems have algorithm that handles wind by attitude correction with appropriate Crab angle. But the real time wind vector (direction) and its calculated velocity is based on geometrical and algebraic transformation between ground speed and air speed vectors. This method of wind estimation and prediction, many a times leads to inaccuracy in attitude correction. The same has been proved in the following report with simulation and actual field testing. In later part, new ways to tackle while flying windy conditions have been proposed.
ContributorsBiradar, Anandrao Shesherao (Author) / Saripalli, Srikanth (Thesis advisor) / Berman, Spring (Thesis advisor) / Thanga, Jekan (Committee member) / Arizona State University (Publisher)
Created2014
Description
The interaction between humans and robots has become an important area of research as the diversity of robotic applications has grown. The cooperation of a human and robot to achieve a goal is an important area within the physical human-robot interaction (pHRI) field. The expansion of this field is toward moving robotics into applications in unstructured environments. When humans cooperate with each other, often there are leader and follower roles. These roles may change during the task. This creates a need for the robotic system to be able to exchange roles with the human during a cooperative task. The unstructured nature of the new applications in the field creates a need for robotic systems to be able to interact in six degrees of freedom (DOF). Moreover, in these unstructured environments, the robotic system will have incomplete information. This means that it will sometimes perform an incorrect action and control methods need to be able to correct for this. However, the most compelling applications for robotics are where they have capabilities that the human does not, which also creates the need for robotic systems to be able to correct human action when it detects an error. Activity in the brain precedes human action. Utilizing this activity in the brain can classify the type of interaction desired by the human. For this dissertation, the cooperation between humans and robots is improved in two main areas. First, the ability for electroencephalogram (EEG) to determine the desired cooperation role with a human is demonstrated with a correct classification rate of 65%. Second, a robotic controller is developed to allow the human and robot to cooperate in six DOF with asymmetric role exchange. This system allowed human-robot cooperation to perform a cooperative task at 100% correct rate. High, medium, and low levels of robotic automation are shown to affect performance, with the human making the greatest numbers of errors when the robotic system has a medium level of automation.
ContributorsWhitsell, Bryan Douglas (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Polygerinos, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2017
Description
The construction industry is very mundane and tiring for workers without the assistance of machines. This challenge has changed the trend of construction industry tremendously by motivating the development of robots that can replace human workers. This thesis presents a computed torque controller that is designed to produce movements by a small-scale, 5 degree-of-freedom (DOF) robotic arm that are useful for construction operations, specifically bricklaying. A software framework for the robotic arm with motion and path planning features and different control capabilities has also been developed using the Robot Operating System (ROS).
First, a literature review of bricklaying construction activity and existing robots’ performance is discussed. After describing an overview of the required robot structure, a mathematical model is presented for the 5-DOF robotic arm. A model-based computed torque controller is designed for the nonlinear dynamic robotic arm, taking into consideration the dynamic and kinematic properties of the arm. For sustainable growth of this technology so that it is affordable to the masses, it is important that the energy consumption by the robot is optimized. In this thesis, the trajectory of the robotic arm is optimized using sequential quadratic programming. The results of the energy optimization procedure are also analyzed for different possible trajectories.
A construction testbed setup is simulated in the ROS platform to validate the designed controllers and optimized robot trajectories on different experimental scenarios. A commercially available 5-DOF robotic arm is modeled in the ROS simulators Gazebo and Rviz. The path and motion planning is performed using the Moveit-ROS interface and also implemented on a physical small-scale robotic arm. A Matlab-ROS framework for execution of different controllers on the physical robot is described. Finally, the results of the controller simulation and experiments are discussed in detail.
First, a literature review of bricklaying construction activity and existing robots’ performance is discussed. After describing an overview of the required robot structure, a mathematical model is presented for the 5-DOF robotic arm. A model-based computed torque controller is designed for the nonlinear dynamic robotic arm, taking into consideration the dynamic and kinematic properties of the arm. For sustainable growth of this technology so that it is affordable to the masses, it is important that the energy consumption by the robot is optimized. In this thesis, the trajectory of the robotic arm is optimized using sequential quadratic programming. The results of the energy optimization procedure are also analyzed for different possible trajectories.
A construction testbed setup is simulated in the ROS platform to validate the designed controllers and optimized robot trajectories on different experimental scenarios. A commercially available 5-DOF robotic arm is modeled in the ROS simulators Gazebo and Rviz. The path and motion planning is performed using the Moveit-ROS interface and also implemented on a physical small-scale robotic arm. A Matlab-ROS framework for execution of different controllers on the physical robot is described. Finally, the results of the controller simulation and experiments are discussed in detail.
ContributorsGandhi, Sushrut (Author) / Berman, Spring (Thesis advisor) / Marvi, Hamidreza (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2019
Description
In this thesis, different H∞ observers for time-delay systems are implemented and
their performances are compared. Equations that can be used to calculate observer gains are mentioned. Different methods that can be used to implement observers for time-delay systems are illustrated. Various stable and unstable systems are used and H∞ bounds are calculated using these observer designing methods. Delays are assumed to be known constants for all systems. H∞ gains are calculated numerically using disturbance signals and performances of observers are compared.
The primary goal of this thesis is to implement the observer for Time Delay Systems designed using SOS and compare its performance with existing H∞ optimal observers. These observers are more general than other observers for time-delay systems as they make corrections to the delayed state as well along with the present state. The observer dynamics can be represented by an ODE coupled with a PDE. Results shown in this thesis show that this type of observers performs better than other H∞ observers. Sub-optimal observer-based state feedback system is also generated and simulated using the SOS observer. The simulation results show that the closed loop system converges very quickly, and the observer can be used to design full state-feedback closed loop system.
their performances are compared. Equations that can be used to calculate observer gains are mentioned. Different methods that can be used to implement observers for time-delay systems are illustrated. Various stable and unstable systems are used and H∞ bounds are calculated using these observer designing methods. Delays are assumed to be known constants for all systems. H∞ gains are calculated numerically using disturbance signals and performances of observers are compared.
The primary goal of this thesis is to implement the observer for Time Delay Systems designed using SOS and compare its performance with existing H∞ optimal observers. These observers are more general than other observers for time-delay systems as they make corrections to the delayed state as well along with the present state. The observer dynamics can be represented by an ODE coupled with a PDE. Results shown in this thesis show that this type of observers performs better than other H∞ observers. Sub-optimal observer-based state feedback system is also generated and simulated using the SOS observer. The simulation results show that the closed loop system converges very quickly, and the observer can be used to design full state-feedback closed loop system.
ContributorsTalati, Rushabh Vikram (Author) / Peet, Matthew (Thesis advisor) / Berman, Spring (Committee member) / Rivera, Daniel (Committee member) / Arizona State University (Publisher)
Created2018
Description
This investigation focuses on the development of uncertainty modeling methods applicable to both the structural and thermal models of heated structures as part of an effort to enable the design under uncertainty of hypersonic vehicles. The maximum entropy-based nonparametric stochastic modeling approach is used within the context of coupled structural-thermal Reduced Order Models (ROMs). Not only does this strategy allow for a computationally efficient generation of samples of the structural and thermal responses but the maximum entropy approach allows to introduce both aleatoric and some epistemic uncertainty into the system.
While the nonparametric approach has a long history of applications to structural models, the present investigation was the first one to consider it for the heat conduction problem. In this process, it was recognized that the nonparametric approach had to be modified to maintain the localization of the temperature near the heat source, which was successfully achieved.
The introduction of uncertainty in coupled structural-thermal ROMs of heated structures was addressed next. It was first recognized that the structural stiffness coefficients (linear, quadratic, and cubic) and the parameters quantifying the effects of the temperature distribution on the structural response can be regrouped into a matrix that is symmetric and positive definite. The nonparametric approach was then applied to this matrix allowing the assessment of the effects of uncertainty on the resulting temperature distributions and structural response.
The third part of this document focuses on introducing uncertainty using the Maximum Entropy Method at the level of finite element by randomizing elemental matrices, for instance, elemental stiffness, mass and conductance matrices. This approach brings some epistemic uncertainty not present in the parametric approach (e.g., by randomizing the elasticity tensor) while retaining more local character than the operation in ROM level.
The last part of this document focuses on the development of “reduced ROMs” (RROMs) which are reduced order models with small bases constructed in a data-driven process from a “full” ROM with a much larger basis. The development of the RROM methodology is motivated by the desire to optimally reduce the computational cost especially in multi-physics situations where a lack of prior understanding/knowledge of the solution typically leads to the selection of ROM bases that are excessively broad to ensure the necessary accuracy in representing the response. It is additionally emphasized that the ROM reduction process can be carried out adaptively, i.e., differently over different ranges of loading conditions.
While the nonparametric approach has a long history of applications to structural models, the present investigation was the first one to consider it for the heat conduction problem. In this process, it was recognized that the nonparametric approach had to be modified to maintain the localization of the temperature near the heat source, which was successfully achieved.
The introduction of uncertainty in coupled structural-thermal ROMs of heated structures was addressed next. It was first recognized that the structural stiffness coefficients (linear, quadratic, and cubic) and the parameters quantifying the effects of the temperature distribution on the structural response can be regrouped into a matrix that is symmetric and positive definite. The nonparametric approach was then applied to this matrix allowing the assessment of the effects of uncertainty on the resulting temperature distributions and structural response.
The third part of this document focuses on introducing uncertainty using the Maximum Entropy Method at the level of finite element by randomizing elemental matrices, for instance, elemental stiffness, mass and conductance matrices. This approach brings some epistemic uncertainty not present in the parametric approach (e.g., by randomizing the elasticity tensor) while retaining more local character than the operation in ROM level.
The last part of this document focuses on the development of “reduced ROMs” (RROMs) which are reduced order models with small bases constructed in a data-driven process from a “full” ROM with a much larger basis. The development of the RROM methodology is motivated by the desire to optimally reduce the computational cost especially in multi-physics situations where a lack of prior understanding/knowledge of the solution typically leads to the selection of ROM bases that are excessively broad to ensure the necessary accuracy in representing the response. It is additionally emphasized that the ROM reduction process can be carried out adaptively, i.e., differently over different ranges of loading conditions.
ContributorsSong, Pengchao (Author) / Mignolet, Marc P (Thesis advisor) / Smarslok, Benjamin (Committee member) / Chattopadhyay, Aditi (Committee member) / Liu, Yongming (Committee member) / Jiang, Hanqing (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2019
Description
Students Organize for Syria (SOS) is the student led initiative for Syria. With 18 registered chapters across the United States, this student organization is targeting a multidimensional cause by different means. Though it is now a national movement, it started off with one group at Arizona State University, with one student. Zana Alattar, founder and student director of SOS, tells the story of how she took an ASU organization, Save Our Syrian Freedom (SOS Freedom), to the national level as SOS. As a pre-medical student, she also combines her work in human rights with her future in healthcare. After all, health and human rights have long maintained a synergistic relationship.
ContributorsAlattar, Zana (Author) / Graff, Sarah (Thesis director) / McClurg, Sharolyn (Committee member) / School of Molecular Sciences (Contributor) / School of Social Transformation (Contributor) / School of Life Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05
Description
Although the number of women earning college degrees and entering the workforce is increasing, a gender gap persists at top leadership positions. Women are faced with numerous challenges throughout the talent pipeline, challenges that often drive women out of the workforce. This paper looks at the power of mentoring and how women, particularly young women, have the potential to overcome these challenges through a successful mentoring relationship. We use examples of successful mentoring programs at the corporate and university level to support the development of a mentoring program at the high school level. Our paper presents the research and development process behind the Young Women in Leadership (YWiL) Workshop, a half-day event that focused on bringing awareness to the importance of mentoring and leadership at the high school level while providing young women with the confidence and knowledge to begin to establish their own mentoring relationships.
ContributorsRust, Brenna (Co-author) / Myers, Sheridan (Co-author) / Desch, Tim (Thesis director) / Kalika, Dale (Committee member) / Barrett, The Honors College (Contributor) / School of Life Sciences (Contributor) / School of Accountancy (Contributor) / T. Denny Sanford School of Social and Family Dynamics (Contributor) / WPC Graduate Programs (Contributor) / W. P. Carey School of Business (Contributor)
Created2015-05
Description
‘why we bend' a Bachelor of Fine Arts honors thesis exhibition by Ximenna Hofsetz and Tiernan Warner brings together installation, digital, sculptural, and printed artwork. The main focus concerns memory; and its vague, formless, and hazy nature. The work also examines what would happen if cognitive space could be physically mapped? What would it look like in sculptural form? Memory erodes and distorts with time. We influence our memories as much as they affect us. Thus, just as relationships are ever-changing, and our memories of those we interact with constantly shifting, our relationships with our own memories are malleable and evolve through time. This transient nature of memory is depicted in the various stylistic means of this exhibition by referencing time and space as well as personal memories and ephemera in both concrete and abstract ways. ‘why we bend’ implements a variety of multimedia techniques to examine recollection and its hold on us.
ContributorsHofsetz, Ximenna Cedella (Author) / Gutierrez, Rogelio (Thesis director) / Hood, Mary (Committee member) / Barrett, The Honors College (Contributor) / School of Life Sciences (Contributor) / School of Art (Contributor)
Created2014-12
Description
A Guiding Hand: Grief Response in Young Adults works to guide young adults thought the grieving process after the traumatic death of a loved one. It goes through the steps of grieving and what a person can expect when they suddenly lose someone dear. Written from the point of view of someone who had lost their best friend in a murder/suicide, A Guiding Hand, shares a personal view that is often missing in other books on grief. This piece works to prepare other young adults for the unexpected emotions that are associated with grief. It also works to provide coping strategies to help recover from a traumatic loss in a healthy manner and to put people in touch with resources they may not know exist in order to help with healing.
ContributorsSmith, Madison Ann (Author) / Foy, Joseph (Thesis director) / Shaeffer, John (Committee member) / Barrett, The Honors College (Contributor) / School of Life Sciences (Contributor)
Created2014-12
Description
The ASU Page Turners is an entrepreneurial community action program founded by Chase Fitzgerald and Hannah McAtee. In 2014, a third program partner, Chloe Holmes, replaced Hannah as co-president. The ASU Page Turners program aims to enhance opportunities for the children of the Tempe/Mesa school districts through a unique one-on-one weekly reading program that is designed to draw together engaged ASU Barrett students and similarly motivated second and third grade students at the Tempe Public Library. The ASU Page Turners empowers the youth of our community by growing reading confidence, vocalization, and public speaking that can serve as transformative skill sets both in and out of the classroom. This document serves as a description and appraisal of the work done to establish the program, expand its reach and success, reflect on the experiences of the primary collaborators, appraise the value of the work as seen by the Tempe Public library, and set it on a sustainable path of growth for its future with Barrett, The Honors College and the Tempe Public Library. The Page Turners community consists of thirty Barrett students and thirty second and third grade students from ASU's greater community who actively embrace our mission to cultivate their own intellectual growth in a safe and productive manner. We look for every opportunity to encourage academic development, hold ourselves accountable, and realize our potential through the work we are doing, regardless if you are the student or the teacher. We have learned that these roles regularly reverse themselves, as there is much to learn from an inquisitive child's mind.
ContributorsFitzgerald, Chase Matthew (Author) / Mokwa, Michael (Thesis director) / Eaton, John (Committee member) / Barrett, The Honors College (Contributor) / School of Life Sciences (Contributor) / School of Human Evolution and Social Change (Contributor)
Created2015-05