Matching Items (17)
Filtering by
Description
Linear Temporal Logic is gaining increasing popularity as a high level specification language for robot motion planning due to its expressive power and scalability of LTL control synthesis algorithms. This formalism, however, requires expert knowledge and makes it inaccessible to non-expert users. This thesis introduces a graphical specification environment to create high level motion plans to control robots in the field by converting a visual representation of the motion/task plan into a Linear Temporal Logic (LTL) specification. The visual interface is built on the Android tablet platform and provides functionality to create task plans through a set of well defined gestures and on screen controls. It uses the notion of waypoints to quickly and efficiently describe the motion plan and enables a variety of complex Linear Temporal Logic specifications to be described succinctly and intuitively by the user without the need for the knowledge and understanding of LTL specification. Thus, it opens avenues for its use by personnel in military, warehouse management, and search and rescue missions. This thesis describes the construction of LTL for various scenarios used for robot navigation using the visual interface developed and leverages the use of existing LTL based motion planners to carry out the task plan by a robot.
ContributorsSrinivas, Shashank (Author) / Fainekos, Georgios (Thesis advisor) / Baral, Chitta (Committee member) / Burleson, Winslow (Committee member) / Arizona State University (Publisher)
Created2013
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
The use of saliva sampling as a noninvasive way for drug analysis as well as the monitoring systems within the body has become increasingly important in recent research. Because of the growing interest in saliva, this project proposes a way to analyze sodium ion concentration in a saliva solution based on its fluorescence level when in the presence of a sodium indicator dye and recorded with a smartphone camera. The dyed sample was placed in a specially designed housing to exclude all ambient light from the images. A source light of known wavelength was used to excite the fluorescent dye and the smartphone camera images recorded the emission light wavelengths. After analysis of the images using ImageJ, it was possible to create a model to determine the level of fluorescence based on sodium ion concentration. The smartphone camera image model was compared to readings from a standard fluorescence plate recorder to test the accuracy of the model. The study found that the model was accurate within 5 % as compared to the fluorescence plate recorder. Based on the results, it was concluded that the method and resulting model proposed in this study is a valid was to analyze saliva or other solutions for their sodium ion concentration via images recorded by a smartphone camera.
ContributorsSmith, Catherine Julia (Author) / Antonio, Garcia (Thesis director) / Caplan, Michael (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2014-05
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
The action/adventure game Grad School: HGH is the final, extended version of a BME Prototyping class project in which the goal was to produce a zombie-themed game that teaches biomedical engineering concepts. The gameplay provides fast paced, exciting, and mildly addicting rooms that the player must battle and survive through, followed by an engineering puzzle that must be solved in order to advance to the next room. The objective of this project was to introduce the core concepts of BME to prospective students, rather than attempt to teach an entire BME curriculum. Based on user testing at various phases in the project, we concluded that the gameplay was engaging enough to keep most users' interest through the educational puzzles, and the potential for expanding this project to reach an even greater audience is vast.
ContributorsNitescu, George (Co-author) / Medawar, Alexandre (Co-author) / Spano, Mark (Thesis director) / LaBelle, Jeffrey (Committee member) / Guiang, Kristoffer (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2014-05
Description
Goal specification is an important aspect of designing autonomous agents. A goal does not only refer to the set of states for the agent to reach. A goal also defines restrictions on the paths the agent should follow. Temporal logics are widely used in goal specification. However, they lack the ability to represent goals in a non-deterministic domain, goals that change non-monotonically, and goals with preferences. This dissertation defines new goal specification languages by extending temporal logics to address these issues. First considered is the goal specification in non-deterministic domains, in which an agent following a policy leads to a set of paths. A logic is proposed to distinguish paths of the agent from all paths in the domain. In addition, to address the need of comparing policies for finding the best ones, a language capable of quantifying over policies is proposed. As policy structures of agents play an important role in goal specification, languages are also defined by considering different policy structures. Besides, after an agent is given an initial goal, the agent may change its expectations or the domain may change, thus goals that are previously specified may need to be further updated, revised, partially retracted, or even completely changed. Non-monotonic goal specification languages that can make these changes in an elaboration tolerant manner are needed. Two languages that rely on labeling sub-formulas and connecting multiple rules are developed to address non-monotonicity in goal specification. Also, agents may have preferential relations among sub-goals, and the preferential relations may change as agents achieve other sub-goals. By nesting a comparison operator with other temporal operators, a language with dynamic preferences is proposed. Various goals that cannot be expressed in other languages are expressed in the proposed languages. Finally, plans are given for some goals specified in the proposed languages.
ContributorsZhao, Jicheng (Author) / Baral, Chitta (Thesis advisor) / Kambhampati, Subbarao (Committee member) / Lee, Joohyung (Committee member) / Lifschitz, Vladimir (Committee member) / Liu, Huan (Committee member) / Arizona State University (Publisher)
Created2010
Description
Spending time outdoors can have a positive impact on the physical and mental health of individuals. These physiological and psychological benefits were comprehensively reviewed, accompanied by a brief history of these views in American society and how modern programs are promoting outdoor activity. Some of the populations targeted in this research include children, veterans, the elderly, and the clinically ill. A guidebook for Arizona outdoor adventures \u2014 containing original landscape photography \u2014 was created to encourage ASU students to explore local hikes, campsites, and other outdoor opportunities near the city of Phoenix. Each entry contained a brief description of the area or trail, along with the distance from the ASU Tempe campus and information on the length and difficulty of the hike, if applicable. A section at the end of the book was aimed at education readers on basic outdoor survival protocol, as many people venture into the wild with very little understanding of the dangers associated with their activities. A website was made that mirrors the guidebook, but was intended to be a more accessible method of sharing our information. The final component of the project involved maintaining a social media account over the course of the year, allowing us to expand our reach to people beyond ASU and this community. Over the course of the project, the account gained a large following, and several posted photos went on to be featured on prominent regional accounts. By combining the four components described previously, several resources were created for people, particularly students attending ASU, to gain a better understanding of the outdoor adventures available to them, and the benefits that spending time surrounded by nature can have.
ContributorsSwitzer, Hannah (Co-author) / Weinstein, Casey (Co-author) / Smith, Andrew (Thesis director) / Lefler, Scott (Committee member) / Kozakiewicz, Scott (Committee member) / Harrington Bioengineering Program (Contributor) / Department of Psychology (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
The purpose of this paper was to systematically review current literature regarding the effect of hand splints on aesthetic outcomes for individuals with acquired hand deformities. Hand splints vary in form and function, and are used to maintain or ameliorate hand function and aesthetics. A literature search was performed on peer-reviewed publications that used splinting as an intervention for conservative hand improvement. Evidence from ten randomized clinical trials (published from 2003 to 2015) was evaluated for aesthetic improvement among a total of 659 subjects. Cosmetic outcomes were analyzed by a change in angle measurements, such as extensor lag, ulnar deviation, and passive and active range of motion. Of these ten studies, five focused on hand deformities caused by neurological impairment, while the other five measured those with musculoskeletal complications. Only two of the ten studies concluded that splinting could aesthetically improve the hands, and only one of these reporting statistical significance in its data. The data was not only limited in quantity, but was presented in heterogeneous formats. There was an extensive variation in measured outcomes, intervention protocols, follow-up times, and many other aspects of the studies; this dissimilarity led to difficulty in performing a systematic assessment. The majority of evidence concludes that splinting does not improve the appearance of deformities, however none directly investigated this measure. Therefore, further RCTs that include measurements of cosmetic traits are necessary to better quantify the effect of splinting for management of hand deformities. This review was the first of its kind to evaluate the correction of hand deformities using splints as an intervention.
ContributorsVale, Nicholas Marshall (Author) / Santello, Marco (Thesis director) / Skiba, Jeffry (Committee member) / Harrington Bioengineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor, Contributor) / School of Biological and Health Systems Engineering (Contributor)
Created2017-05
Description
Enabling robots to physically engage with their environment in a safe and efficient manner is an essential step towards human-robot interaction. To date, robots usually operate as pre-programmed workers that blindly execute tasks in highly structured environments crafted by skilled engineers. Changing the robots’ behavior to cover new duties or handle variability is an expensive, complex, and time-consuming process. However, with the advent of more complex sensors and algorithms, overcoming these limitations becomes within reach. This work proposes innovations in artificial intelligence, language understanding, and multimodal integration to enable next-generation grasping and manipulation capabilities in autonomous robots. The underlying thesis is that multimodal observations and instructions can drastically expand the responsiveness and dexterity of robot manipulators. Natural language, in particular, can be used to enable intuitive, bidirectional communication between a human user and the machine. To this end, this work presents a system that learns context-aware robot control policies from multimodal human demonstrations. Among the main contributions presented are techniques for (a) collecting demonstrations in an efficient and intuitive fashion, (b) methods for leveraging physical contact with the environment and objects, (c) the incorporation of natural language to understand context, and (d) the generation of robust robot control policies. The presented approach and systems are evaluated in multiple grasping and manipulation settings ranging from dexterous manipulation to pick-and-place, as well as contact-rich bimanual insertion tasks. Moreover, the usability of these innovations, especially when utilizing human task demonstrations and communication interfaces, is evaluated in several human-subject studies.
ContributorsStepputtis, Simon (Author) / Ben Amor, Heni (Thesis advisor) / Baral, Chitta (Committee member) / Yang, Yezhou (Committee member) / Lee, Stefan (Committee member) / Arizona State University (Publisher)
Created2021
Description
Water is a scarce resource that is recycled through wastewater treatment plants (WWTPs) to help fulfill the demand for water. Agriculture is a large consumer of water, indicating that WWTP-treated water is proportionally applied to crops at a high rate. Recycled water is highly regulated but is capable of containing high-risk pathogens and contaminants despite the efforts of physical and microbial treatments throughout the WWTP process. WWTPs are also producers of biosolids, treated sewage sludge regulated by the EPA that can be applied in agricultural settings to act as a fertilizer. Biosolids are a useful fertilizer as they are rich in nitrogen and contain many beneficial nutrients for soil and crops. Due to biosolids being a by-product of recycled water, they are susceptible to containing the same pathogens and contaminants that can be transferred in the WWTP systems. Antibiotic resistance (AR) is an ever-growing threat on a global scale and is one of the areas of concern for consideration of pathogen spread from WWTPs. Antibiotic resistance bacteria, created through mutation of bacterial plasmids producing antibiotic resistance genes (ARGs), have been quantified and studied to help mitigate the risk posed by continued AR spread in the environment. This study aims to produce a comprehensive collection of quantified ARG concentration data in biosolids, as well as producing a QMRA model integrating Monte Carlo distributions to provide groundwork for understanding of the direct dosage and consumption of ARGs to the standard U.S. citizen. The study determined that sul1, sul2, tetM, and tetO are ARGs of high concern in biosolid samples based on current concentration data of biosolid samples. The resulting dose models and gene concentration distributions provide data to support the need to mitigate AR risk presented by agricultural biosolid application.
ContributorsMorgan, Grace (Author) / Hamilton, Kerry (Thesis director) / Muenich, Rebecca (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2022-05