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- Creators: Barrett, The Honors College
Description
Robots are often used in long-duration scenarios, such as on the surface of Mars,where they may need to adapt to environmental changes. Typically, robots have been built specifically for single tasks, such as moving boxes in a warehouse or surveying construction sites. However, there is a modern trend away from human hand-engineering and toward robot learning. To this end, the ideal robot is not engineered,but automatically designed for a specific task. This thesis focuses on robots which learn path-planning algorithms for specific environments. Learning is accomplished via genetic programming. Path-planners are represented as Python code, which is optimized via Pareto evolution. These planners are encouraged to explore curiously and efficiently. This research asks the questions: “How can robots exhibit life-long learning where they adapt to changing environments in a robust way?”, and “How can robots learn to be curious?”.
ContributorsSaldyt, Lucas P (Author) / Ben Amor, Heni (Thesis director) / Pavlic, Theodore (Committee member) / Computer Science and Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description
This thesis proposes the concept of soft robotic supernumerary limbs to assist the wearer in the execution of tasks, whether it be to share loads or replace an assistant. These controllable extra arms are made using soft robotics to reduce the weight and cost of the device, and are not limited in size and location to the user's arm as with exoskeletal devices. Soft robotics differ from traditional robotics in that they are made using soft materials such as silicone elastomers rather than hard materials such as metals or plastics. This thesis presents the design, fabrication, and testing of the arm, including the joints and the actuators to move them, as well as the design and fabrication of the human-body interface to unite man and machine. This prototype utilizes two types of pneumatically-driven actuators, pneumatic artificial muscles and fiber-reinforced actuators, to actuate the elbow and shoulder joints, respectively. The robotic limb is mounted at the waist on a backpack frame to avoid interfering with the wearer's biological arm. Through testing and evaluation, this prototype device proves the feasibility of soft supernumerary limbs, and opens up opportunities for further development into the field.
ContributorsOlson, Weston Roscoe (Author) / Polygerinos, Panagiotis (Thesis director) / Zhang, Wenlong (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05
Description
The effect of conflicting sensorimotor memories on optimal force strategies was explored. Subjects operated a virtual object controlled by a physical handle to complete a simple straight-line task. Perturbations applied to the handle induced a period of increased error in subject accuracy. After two blocks of 33 trials, perturbations switched direction, inducing increased error from the previous trials. Subjects returned after a 24-hour period to complete a similar protocol, but beginning with the second context and ending with the first. Interference from the first context on each day caused an increase in initial error for the second (P < 0.05). Following the rest period, subjects showed retention of the sensorimotor memory from the previous day through significantly decreased initial error (P = 3x10-6). However, subjects showed an increase in forces for each new context resulting from a sub-optimal motor strategy. Higher levels of total effort (P < 0.05) and a lack of separation between force values for opposing and non-opposing digits (P > 0.05) indicated a strategy that used more energy to complete the task, even when rates of learning appeared identical or improved. Two possible mechanisms for this lack of energy conservation have been proposed.
ContributorsSmith, Michael David (Author) / Santello, Marco (Thesis director) / Kleim, Jeffrey (Committee member) / Harrington Bioengineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05
Description
Education in computer science is a difficult endeavor, with learning a new programing language being a barrier to entry, especially for college freshman and high school students. Learning a first programming language requires understanding the syntax of the language, the algorithms to use, and any additional complexities the language carries. Often times this becomes a deterrent from learning computer science at all. Especially in high school, students may not want to spend a year or more simply learning the syntax of a programming language. In order to overcome these issues, as well as to mitigate the issues caused by Microsoft discontinuing their Visual Programming Language (VPL), we have decided to implement a new VPL, ASU-VPL, based on Microsoft's VPL. ASU-VPL provides an environment where users can focus on algorithms and worry less about syntactic issues. ASU-VPL was built with the concepts of Robot as a Service and workflow based development in mind. As such, ASU-VPL is designed with the intention of allowing web services to be added to the toolbox (e.g. WSDL and REST services). ASU-VPL has strong support for multithreaded operations, including event driven development, and is built with Microsoft VPL users in mind. It provides support for many different robots, including Lego's third generation robots, i.e. EV3, and any open platform robots. To demonstrate the capabilities of ASU-VPL, this paper details the creation of an Intel Edison based robot and the use of ASU-VPL for programming both the Intel based robot and an EV3 robot. This paper will also discuss differences between ASU-VPL and Microsoft VPL as well as differences between developing for the EV3 and for an open platform robot.
ContributorsDe Luca, Gennaro (Author) / Chen, Yinong (Thesis director) / Cheng, Calvin (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2015-12
Description
microRNAs (miRNAs) are short ~22nt non-coding RNAs that regulate gene output at the post-transcriptional level. Via targeting of degenerate elements primarily in 3'untranslated regions (3'UTR) of mRNAs, miRNAs can target thousands of varying genes and suppress their protein translation. The precise mechanistic function and bio- logical role of miRNAs is not fully understood and yet it is a major contributor to a pleth- ora of diseases, including neurological disorders, muscular disorders, and cancer. Cer- tain model organisms are valuable in understanding the function of miRNA and there- fore fully understanding the biological significance of miRNA targeting. Here I report a mechanistic analysis of miRNA targeting in C. elegans, and a bioinformatic approach to aid in further investigation of miRNA targeted sequences. A few of the biologically significant mechanisms discussed in this thesis include alternative polyadenylation, RNA binding proteins, components of the miRNA recognition machinery, miRNA secondary structures, and their polymorphisms. This thesis also discusses a novel bioinformatic approach to studying miRNA biology, including computational miRNA target prediction software, and sequence complementarity. This thesis allows a better understanding of miRNA biology and presents an ideal strategy for approaching future research in miRNA targeting.
ContributorsWeigele, Dustin Keith (Author) / Mangone, Marco (Thesis director) / Katchman, Benjamin (Committee member) / Barrett, The Honors College (Contributor) / Department of Chemistry and Biochemistry (Contributor) / School of Life Sciences (Contributor)
Created2014-12
Description
The goal of this project was to explore biomimetics by creating a jellyfish flying device that uses propulsion of air to levitate while utilizing electromyography signals and infrared signals as mechanisms to control the device. Completing this project would require knowledge of biological signals, electrical circuits, computer programming, and physics to accomplish. An EMG sensor was used to obtain processed electrical signals produced from the muscles in the forearm and was then utilized to control the actuation speed of the tentacles. An Arduino microprocessor was used to translate the EMG signals to infrared blinking sequences which would propagate commands through a constructed circuit shield to the infrared receiver on jellyfish. The receiver will then translate the received IR sequence into actions. Then the flying device must produce enough thrust to propel the body upwards. The application of biomimetics would best test my skills as an engineer as well as provide a method of applying what I have learned over the duration of my undergraduate career.
ContributorsTsui, Jessica W (Author) / Muthuswamy, Jitteran (Thesis director) / Blain Christen, Jennifer (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2014-05
Description
Methane (CH4) is very important in the environment as it is a greenhouse gas and important for the degradation of organic matter. During the last 200 years the atmospheric concentration of CH4 has tripled. Methanogens are methane-producing microbes from the Archaea domain that complete the final step in breaking down organic matter to generate methane through a process called methanogenesis. They contribute to about 74% of the CH4 present on the Earth's atmosphere, producing 1 billion tons of methane annually. The purpose of this work is to generate a preliminary metabolic reconstruction model of two methanogens: Methanoregula boonei 6A8 and Methanosphaerula palustris E1-9c. M. boonei and M. palustris are part of the Methanomicrobiales order and perform hydrogenotrophic methanogenesis, which means that they reduce CO2 to CH4 by using H2 as their major electron donor. Metabolic models are frameworks for understanding a cell as a system and they provide the means to assess the changes in gene regulation in response in various environmental and physiological constraints. The Pathway-Tools software v16 was used to generate these draft models. The models were manually curated using literature searches, the KEGG database and homology methods with the Methanosarcina acetivorans strain, the closest methanogen strain with a nearly complete metabolic reconstruction. These preliminary models attempt to complete the pathways required for amino acid biosynthesis, methanogenesis, and major cofactors related to methanogenesis. The M. boonei reconstruction currently includes 99 pathways and has 82% of its reactions completed, while the M. palustris reconstruction includes 102 pathways and has 89% of its reactions completed.
ContributorsMahendra, Divya (Author) / Cadillo-Quiroz, Hinsby (Thesis director) / Wang, Xuan (Committee member) / Stout, Valerie (Committee member) / Barrett, The Honors College (Contributor) / Computing and Informatics Program (Contributor) / School of Life Sciences (Contributor) / Biomedical Informatics Program (Contributor)
Created2014-05
Description
The goal of this project was to use the sense of touch to investigate tactile cues during multidigit rotational manipulations of objects. A robotic arm and hand equipped with three multimodal tactile sensors were used to gather data about skin deformation during rotation of a haptic knob. Three different rotation speeds and two levels of rotation resistance were used to investigate tactile cues during knob rotation. In the future, this multidigit task can be generalized to similar rotational tasks, such as opening a bottle or turning a doorknob.
ContributorsChalla, Santhi Priya (Author) / Santos, Veronica (Thesis director) / Helms Tillery, Stephen (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / School of Earth and Space Exploration (Contributor)
Created2014-05
Description
Background: Breast cancer is the most frequently diagnosed cancer and the leading cause of cancer deaths in females worldwide, accounting for 23% of all new cancer cases and 14% of all total cancer deaths in 2008. Five tumor-normal pairs of primary breast epithelial cells were treated for infinite proliferation by using a ROCK inhibitor and mouse feeder cells. Methods: Raw paired-end, 100x coverage RNA-Seq data was aligned to the Human Reference Genome Version 19 using BWA and Tophat. Gene differential expression analysis was completed using Cufflinks and Cuffdiff. Interactive Genome Viewer was used for data visualization. Results: 15 genes were found to be down-regulated by at least one log-fold change in 4/5 of tumor samples. 75 genes were found to be down-regulated in 3/5 of our tumor samples by at least one log-fold change. 11 genes were found to be up-regulated in 4/5 of our tumor samples, and 68 genes were identified to be up-regulated in 3/5 of the tumor samples by at least one-fold change. Conclusion: Expression changes in genes such as AZGP1, AGER, ALG11, and S1007 suggest a disruption in the glycosylation pathway. No correlation was found between Cufflink's Her2 gene-expression and DAKO score classification.
ContributorsHernandez, Fernando (Author) / Anderson, Karen (Thesis director) / Mangone, Marco (Committee member) / Park, Jin (Committee member) / Barrett, The Honors College (Contributor) / Department of Information Systems (Contributor)
Created2013-05
Description
As robots become more prevalent, the need is growing for efficient yet stable control systems for applications with humans in the loop. As such, it is a challenge for scientists and engineers to develop robust and agile systems that are capable of detecting instability in teleoperated systems. Despite how much research has been done to characterize the spatiotemporal parameters of human arm motions for reaching and gasping, not much has been done to characterize the behavior of human arm motion in response to control errors in a system. The scope of this investigation is to investigate human corrective actions in response to error in an anthropomorphic teleoperated robot limb. Characterizing human corrective actions contributes to the development of control strategies that are capable of mitigating potential instabilities inherent in human-machine control interfaces. Characterization of human corrective actions requires the simulation of a teleoperated anthropomorphic armature and the comparison of a human subject's arm kinematics, in response to error, against the human arm kinematics without error. This was achieved using OpenGL software to simulate a teleoperated robot arm and an NDI motion tracking system to acquire the subject's arm position and orientation. Error was intermittently and programmatically introduced to the virtual robot's joints as the subject attempted to reach for several targets located around the arm. The comparison of error free human arm kinematics to error prone human arm kinematics revealed an addition of a bell shaped velocity peak into the human subject's tangential velocity profile. The size, extent, and location of the additional velocity peak depended on target location and join angle error. Some joint angle and target location combinations do not produce an additional peak but simply maintain the end effector velocity at a low value until the target is reached. Additional joint angle error parameters and degrees of freedom are needed to continue this investigation.
ContributorsBevilacqua, Vincent Frank (Author) / Artemiadis, Panagiotis (Thesis director) / Santello, Marco (Committee member) / Trimble, Steven (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2013-05