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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
Chicago, the third largest city in the United States, is frequently in the national media's spotlight for negative news such as violence or failed gun laws. The city is hardly ever talked about in a positive light. This study aims to inform and educate outsiders of what the city is like through the perspective lens of Chicago residents. To grasp a general understanding of Chicago, this creative project was completed through a narrative and interview-driven podcast series and split up into different topic categories. These categories were Chicago food, Chicago neighborhoods, Chicago's Southside, and Chicago sports. These topic areas are some of the things Chicago is most known for and give an adequate representation of what the city is like. Researching and putting this creative project into a podcast form proved how podcasts can be an alternative to in-depth and long-form journalism projects. The Chicago food episode called "Harold's v. Uncle Remus" explains the delicious food culture and showed two of the popular black restaurant chains that cater to the city. These two chicken spots are always a hot topic in heated debates of what place has the best chicken. The neighborhoods episode called "Won't You Be My Neighbor" highlights some of Chicago's interesting neighborhoods that tourists may not have on their attractions lists. This episode talks about the Pill Hill, Printers Row, and Little Italy neighborhoods, which all have unique histories. "Southside With You" explores the infamous region of Chicago, tells its history, and gives a theory as to why it continues to be the area it is known for in the media. Lastly, the sports episode "Sports: A History Lesson" is a full interview with a Chicago resident who has been a Chicago sports fan since the mid-60s and who has experienced the effects of racial divisions in sports. The episodes give only a peak of what the large city is like, but they demonstrate that Chicago is not this scary place, but a place with a complicatedly fascinating history.
ContributorsCarter, Jade (Author) / Thornton, Leslie-Jean (Thesis director) / Gatewood, Kira (Committee member) / School of Social and Behavioral Sciences (Contributor) / Walter Cronkite School of Journalism & Mass Comm (Contributor) / Barrett, The Honors College (Contributor)
Created2018-12
Description
In this creative thesis, I traveled to India and used my month long summer vacation back home to interview people about mental health in India. I talked to a therapist and four students about depression to find out what the situation is in India, contributing factors, experiences and stigma unique to depression among students in India, what the government is doing, and possible solutions or steps that can be taken to help students struggling with mental health problems. I also went to mainstream and special schools to meet special educators who work with differently abled children, occupational therapists, parents of differently abled children, and a student with Asperger’s in Chennai, Tamil Nadu to find out about the stigma surrounding differently abled children and their education path.
My efforts have culminated in the creation of the website mentalhealthinindia.com that can be used as a resource both by people in India as well as those abroad who are curious to learn about the stigma surrounding depression and differently abled children in India.
My efforts have culminated in the creation of the website mentalhealthinindia.com that can be used as a resource both by people in India as well as those abroad who are curious to learn about the stigma surrounding depression and differently abled children in India.
ContributorsVenkatakrishnan, Ranjani (Author) / Koester, Nicole (Thesis director) / Pruitt, Rhonda (Committee member) / Walter Cronkite School of Journalism & Mass Comm (Contributor) / School of International Letters and Cultures (Contributor) / Department of Psychology (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
The sport of tennis is played in over 100 countries and over 256 Division I collegiate programs across the United States. Each program contains 8-10 individual athletes for both men's and women's rosters. When first observing a roster from any Division I program, people will see that many of the athletes are international. Courts of Cultures is a documentary about the lives of five select tennis athletes of how they have adjusted to life in the United States, the shift in cultures and the transition into playing in collegiate tennis. Makey Rakotomalala (France), Pierre Louis Dodens (Switzerland), Thomas Wright (Great Britain), Lauryn John-Baptiste (England), and Tereza Kolarova (Czech Republic) all share their experiences of coming to Arizona State University and give insight into what life adjustments they have made not only for the college lifestyle, but international living as well. Head coaches Matt Hill (men's) and Sheila McInerney (women's) also speak to the recruitment of international students and how new technology has made the process simpler. In many countries, you either have to go professional in tennis out of high school, or toss away the racquet and just go to college for academics. Being able to play tennis and go to school benefits these athletes because they are able to improve on their skills and earn a degree. Each athlete featured in this film has a different story and a different background, but they all find commonality on the tennis court. A worldwide sport that has brought worldwide talent to Tempe. Courts of Cultures was directed, photographed, edited, and produced by Blaine McCormick along with narration by Scotty Gange.
ContributorsMccormick, Blaine Robert (Author) / Kurland, Brett (Thesis director) / Fergus, Thomas (Committee member) / Rhodes, Gail (Committee member) / School of Geographical Sciences and Urban Planning (Contributor) / Walter Cronkite School of Journalism & Mass Comm (Contributor) / Barrett, The Honors College (Contributor)
Created2018-12
Description
This research report investigates the feasibility of using RFID in Traffic Sign Recognition (TSR) Systems for autonomous vehicles, specifically driver-less cars. Driver-less cars are becoming more prominent in society but must be designed to integrate with the current transportation infrastructure. Current research in TSR systems use image processing as well as LIDAR to identify traffic signs, yet these are highly dependent on lighting conditions, camera quality and sign visibility. The read rates of current TSR systems in literature are approximately 96 percent. The usage of RFID in TSR systems can improve the performance of traditional TSR systems. An RFID TSR was designed for the Autonomous Pheeno Test-bed at the Arizona State University (ASU) Autonomous Collective Systems (ACS) Laboratory. The system was tested with varying parameters to see the effect of the parameters on the read rate. It was found that high reader strength and low tag distance had a maximum read rate of 96.3 percent, which is comparable to existing literature. It was proven that an RFID TSR can perform as well as traditional TSR systems, and has the capacity to improve accuracy when used alongside RGB cameras and LIDAR.
ContributorsMendoza, Madilyn Kido (Author) / Berman, Spring (Thesis director) / Yu, Hongbin (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Experience Ireland is a multimedia interactive website about ten different heritage tourism sites and traditions. The sites range from a farm in Dublin to a fort on the edge of a cliff in the Aran Islands. The website also includes traditions such as storytelling and Irish dancing. Hear from experts, tour guides, and tourists about the history behind each site/tradition and what it means to them.
ContributorsMarples, Megan Dianne (Author) / Muench, Sarah (Thesis director) / Timothy, Dallen (Committee member) / Walter Cronkite School of Journalism & Mass Comm (Contributor) / Watts College of Public Service & Community Solut (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05