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- All Subjects: Mechanical Engineering
- All Subjects: Ecology
- Creators: Lee, Hyunglae
Description
Once considered an abundant species in the eastern United States, local populations of red-shouldered hawks, Buteo lineatus, have declined due to habitat destruction. This destruction has created suitable habitat for red-tailed hawks, Buteo jamaicensis, and therefore increased competition between these two raptor species. Since suitable habitat is the main limiting factor for raptors, a computer model was created to simulate the effect of habitat loss in central Maryland and the impact of increased competition between the more aggressive red-tailed hawk. These simulations showed urban growth contributed to over a 30% increase in red-tailed hawk habitat as red-shouldered hawk habitat decreased 62.5-70.1% without competition and 71.8-76.3% with competition. However there was no significant difference seen between the rate of available habitat decline for current and predicted development growth.
ContributorsMurillo, Crystal (Author) / Whysong, Gary (Thesis advisor) / Alford, Eddie (Committee member) / Miller, William (Committee member) / Arizona State University (Publisher)
Created2011
Description
Modified and artificial water sources can be used as a management tool for game and non-game wildlife species. State, federal, and private agencies allocate significant resources to install and maintain artificial water sources (AWS) annually. Capture mark recapture methods were used to sample small mammal communities in the vicinity of five AWS and five paired control sites (treatments) in the surrounding Sonoran desert from October 2011 to May 2012. I measured plant species richness, density, and percent cover in the spring of 2012. A Multi-response Permutation Procedure was used to identify differences in small mammal community abundance, biomass, and species richness by season and treatment. I used Principle Component Analysis to reduce 11 habitat characteristics to five habitat factors. I related rodent occurrence to habitat characteristics using multiple and logistic regression. A total of 370 individual mammals representing three genera and eight species of rodents were captured across 4800 trap nights. Desert pocket mouse (Chaetodipus penicillatus) was the most common species in both seasons and treatments. Whereas rodent community abundance, biomass, and richness were similar between seasons, community variables of AWS were greater than CS. Rodent diversity was similar between treatments. Desert pocket mouse abundance and biomass were twice as high at AWS when compared to controls. Biomass of white-throated woodrat (Neotoma albigula) was five times greater at AWS. Habitat characteristics were similar between treatments. Neither presence of water nor distance to water explained substantial habitat variation. Occurrence of rodent species was associated with habitat characteristics. Desert rodent communities are adapted for arid environments (i.e. Heteromyids) and are not dependent on "free water". Higher abundances of desert pocket mouse at AWS were most likely related to increased disturbance and debris and not the presence of water. The results of this study and previous studies suggest that more investigation is needed and that short term studies may not be able to detect interactions (if any) between AWS and desert small mammal communities.
ContributorsSwitalski, Aaron (Author) / Bateman, Heather L (Thesis advisor) / Miller, William (Committee member) / Alford, Eddie (Committee member) / Arizona State University (Publisher)
Created2013
Description
Livestock-grazing, in particular cattle grazing, is a common use of public and private lands in western North America. As a result, the effects of grazing on both plants and animals are widely studied. Few studies, however, look directly at the long-term effects that cattle grazing may have on a particular species. The goal of this experiment was to continue research begun in 1988, to determine if the effects of cattle grazing are still seen in the age structure of two populations of saguaros (Carnegiea gigantea [Engelm.] Britton & Rose) at Saguaro National Park - Rincon Mountain District (SNP-RMD). The null hypothesis stated that enough time has elapsed since the cessation of grazing, and there is no difference in the age distribution of the saguaros of the two populations. The study area was comprised of a former fence line where grazing ceased on the western side of the fence in 1958 and the eastern side in 1978. Belt transects were laid on each side of the fence line and height was measured for each saguaro encountered in a transect. Approximate age of the individual was then calculated using an age-height correlation for SNP-RMD. Individuals were then placed into age classes of 10 year increments and a Log-Likelihood test was performed. The resulting calculated P value of 0.12 meant the null hypothesis was not rejected and there was no statistical difference between the age structure of the two populations. After 34 and 54 years rest from grazing, the negative effects of cattle grazing on the retention and recruitment of saguaro seedlings have ended, and replenishment of the populations is now dependent upon factors such as temperature and precipitation. Other factors such as climate change, increasing fire frequency, encroachment by invasive species, and poaching are sources of concern and increased mortality for these and other saguaros.
ContributorsKrone, Elizabeth AnnMarie Stewart (Author) / Alford, Eddie (Thesis advisor) / Brady, Ward (Committee member) / Green, Douglas (Committee member) / Arizona State University (Publisher)
Created2013
Description
Mycorrhizal fungi form symbiotic relationships with plant roots, increasing nutrient and water availability to plants and improving soil stability. Mechanical disturbance of soil has been found to reduce mycorrhizal inoculum in soils, but findings have been inconsistent. To examine the impact of restoration practices on riparian mycorrhizal inoculum potential, soil samples were collected at the Tres Rios Ecosystem Restoration and Flood Control Project located at the confluence of the Salt, Gila, and Agua Fria rivers in central Arizona. The project involved the mechanical removal of invasive Tamarix spp.( tamarisk, salt cedar) and grading prior to revegetation. Soil samples were collected from three stages of restoration: pre-restoration, soil banks with chipped vegetation, and in areas that had been graded in preparation for revegetation. Bioassay plants were grown in the soil samples and roots analyzed for arbuscular mycorrhizal (AM) and ectomycorrhizal (EM) infection percentages. Vegetations measurements were also taken for woody vegetation at the site. The mean number of AM and EM fungal propagules did not differ between the three treatment area, but inoculum levels did differ between AM and EM fungi with AM fungal propagules detected at moderate levels and EM fungi at very low levels. These differences may have been related to availability of host plants since AM fungi form associations with a variety of desert riparian forbs and grasses and EM fungi only form associations with Populus spp. and Salix spp. which were present at the site but at low density and canopy cover. Prior studies have also found that EM fungi may be more affected by tamarisk invasions than AM fungi. Our results were similar to other restoration projects for AM fungi suggesting that it may not be necessary to add AM fungi to soil prior to planting native vegetation because of the moderate presence of AM fungi even in soils dominated by tamarisk and exposed to soil disturbance during the restoration process. In contrast when planting trees that form EM associations, it may be beneficial to augment soil with EM fungi collected from riparian areas or to pre-inoculate plants prior to planting.
ContributorsArnold, Susanne (Author) / Stutz, Jean (Thesis advisor) / Alford, Eddie (Committee member) / Green, Douglas (Committee member) / Arizona State University (Publisher)
Created2012
Description
With the substantial development of intelligent robots, human-robot interaction (HRI) has become ubiquitous in applications such as collaborative manufacturing, surgical robotic operations, and autonomous driving. In all these applications, a human behavior model, which can provide predictions of human actions, is a helpful reference that helps robots to achieve intelligent interaction with humans. The requirement elicits an essential problem of how to properly model human behavior, especially when individuals are interacting or cooperating with each other. The major objective of this thesis is to utilize the human intention decoding method to help robots enhance their performance while interacting with humans. Preliminary work on integrating human intention estimation with an HRI scenario is shown to demonstrate the benefit. In order to achieve this goal, the research topic is divided into three phases. First, a novel method of an online measure of the human's reliance on the robot, which can be estimated through the intention decoding process from human actions，is described. An experiment that requires human participants to complete an object-moving task with a robot manipulator was conducted under different conditions of distractions. A relationship is discovered between human intention and trust while participants performed a familiar task with no distraction. This finding suggests a relationship between the psychological construct of trust and joint physical coordination, which bridges the human's action to its mental states. Then, a novel human collaborative dynamic model is introduced based on game theory and bounded rationality, which is a novel method to describe human dyadic behavior with the aforementioned theories. The mutual intention decoding process was also considered to inform this model. Through this model, the connection between the mental states of the individuals to their cooperative actions is indicated. A haptic interface is developed with a virtual environment and the experiments are conducted with 30 human subjects. The result suggests the existence of mutual intention decoding during the human dyadic cooperative behaviors. Last, the empirical results show that allowing agents to have empathy in inference, which lets the agents understand that others might have a false understanding of their intentions, can help to achieve correct intention inference. It has been verified that knowledge about vehicle dynamics was also important to correctly infer intentions. A new courteous policy is proposed that bounded the courteous motion using its inferred set of equilibrium motions. A simulation, which is set to reproduce an intersection passing case between an autonomous car and a human driving car, is conducted to demonstrate the benefit of the novel courteous control policy.
ContributorsWang, Yiwei (Author) / Zhang, Wenlong (Thesis advisor) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Ren, Yi (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2021
Description
In the development of autonomous ground vehicles (AGVs), how to guarantee vehicle lateral stability is one of the most critical aspects. Based on nonlinear vehicle lateral and tire dynamics, new driving requirements of AGVs demand further studies and analyses of vehicle lateral stability control strategies. To achieve comprehensive analyses and stability-guaranteed vehicle lateral driving control, this dissertation presents three main contributions.First, a new method is proposed to estimate and analyze vehicle lateral driving stability regions, which provide a direct and intuitive demonstration for stability control of AGVs. Based on a four-wheel vehicle model and a nonlinear 2D analytical LuGre tire model, a local linearization method is applied to estimate vehicle lateral driving stability regions by analyzing vehicle local stability at each operation point on a phase plane. The obtained stability regions are conservative because both vehicle and tire stability are simultaneously considered. Such a conservative feature is specifically important for characterizing the stability properties of AGVs.
Second, to analyze vehicle stability, two novel features of the estimated vehicle lateral driving stability regions are studied. First, a shifting vector is formulated to explicitly describe the shifting feature of the lateral stability regions with respect to the vehicle steering angles. Second, dynamic margins of the stability regions are formulated and applied to avoid the penetration of vehicle state trajectory with respect to the region boundaries. With these two features, the shiftable stability regions are feasible for real-time stability analysis.
Third, to keep the vehicle states (lateral velocity and yaw rate) always stay in the shiftable stability regions, different control methods are developed and evaluated. Based on different vehicle control configurations, two dynamic sliding mode controllers (SMC) are designed. To better control vehicle stability without suffering chattering issues in SMC, a non-overshooting model predictive control is proposed and applied. To further save computational burden for real-time implementation, time-varying control-dependent invariant sets and time-varying control-dependent barrier functions are proposed and adopted in a stability-guaranteed vehicle control problem.
Finally, to validate the correctness and effectiveness of the proposed theories, definitions, and control methods, illustrative simulations and experimental results are presented and discussed.
ContributorsHuang, Yiwen (Author) / Chen, Yan (Thesis advisor) / Lee, Hyunglae (Committee member) / Ren, Yi (Committee member) / Yong, Sze Zheng (Committee member) / Zhang, Wenlong (Committee member) / Arizona State University (Publisher)
Created2021
Description
As the explorations beyond the Earth's boundaries continue to evolve, researchers and engineers strive to develop versatile technologies capable of adapting to unknown space conditions. For instance, the utilization of Screw-Propelled Vehicles (SPVs) and robotics that utilize helical screws propulsion to transverse planetary bodies is a growing area of interest. An example of such technology is the Extant Exobiology Life Surveyor (EELS), a snake-like robot currently developed by the NASA Jet Propulsion Laboratory (JPL) to explore the surface of Saturn’s moon, Enceladus. However, the utilization of such a mechanism requires a deep and thorough understanding of screw mobility in uncertain conditions. The main approach to exploring screw dynamics and optimal design involves the utilization of Discrete Element Method (DEM) simulations to assess interactions and behavior of screws when interacting with granular terrains. In this investigation, the Simplified Johnson-Kendall-Roberts (SJKR) model is implemented into the utilized simulation environment to account for cohesion effects similar to what is experienced on celestial bodies like Enceladus. The model is verified and validated through experimental and theoretical testing. Subsequently, the performance characteristics of screws are explored under varying parameters, such as thread depth, number of screw starts, and the material’s cohesion level. The study has examined significant relationships between the parameters under investigation and their influence on the screw performance.
ContributorsAbdelrahim, Mohammad (Author) / Marvi, Hamid (Thesis advisor) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2023
Description
While wearable soft robots have successfully addressed many inherent design limitations faced by wearable rigid robots, they possess a unique set of challenges due to their soft and compliant nature. Some of these challenges are present in the sensing, modeling, control and evaluation of wearable soft robots. Machine learning algorithms have shown promising results for sensor fusion with wearable robots, however, they require extensive data to train models for different users and experimental conditions. Modeling soft sensors and actuators require characterizing non-linearity and hysteresis, which complicates deriving an analytical model. Experimental characterization can capture the characteristics of non-linearity and hysteresis but requires developing a synthesized model for real-time control. Controllers for wearable soft robots must be robust to compensate for unknown disturbances that arise from the soft robot and its interaction with the user. Since developing dynamic models for soft robots is complex, inaccuracies that arise from the unmodeled dynamics lead to significant disturbances that the controller needs to compensate for. In addition, obtaining a physical model of the human-robot interaction is complex due to unknown human dynamics during walking. Finally, the performance of soft robots for wearable applications requires extensive experimental evaluation to analyze the benefits for the user. To address these challenges, this dissertation focuses on the sensing, modeling, control and evaluation of soft robots for wearable applications. A model-based sensor fusion algorithm is proposed to improve the estimation of human joint kinematics, with a soft flexible robot that requires compact and lightweight sensors. To overcome limitations with rigid sensors, an inflatable soft haptic sensor is developed to enable gait sensing and haptic feedback. Through experimental characterization, a mathematical model is derived to quantify the user's ground reaction forces and the delivered haptic force. Lastly, the performance of a wearable soft exosuit in assisting human users during lifting tasks is evaluated, and the benefits obtained from the soft robot assistance are analyzed.
ContributorsQuiñones Yumbla, Emiliano (Author) / Zhang, Wenlong (Thesis advisor) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Marvi, Hamid (Committee member) / Sugar, Thomas (Committee member) / Arizona State University (Publisher)
Created2023
Description
The Soft Robotic Hip Exosuit (SR-HExo) was designed, fabricated, and tested in treadmill walking experiments with healthy participants to gauge effectivity of the suit in assisting locomotion and in expanding the basin of entrainment as a method of rehabilitation. The SR-HExo consists of modular, compliant materials to move freely with a user’s range of motion and is actuated with X-oriented flat fabric pneumatic artificial muscles (X-ff-PAM) that contract when pressurized and can generate 190N of force at 200kPa in a 0.3 sec window. For use in gait assistance experiments, X-ff-PAM actuators were placed anterior and posterior to the right hip joint. Extension assistance and flexion assistance was provided in 10-45% and 50-90% of the gait cycle, respectively. Device effectivity was determined through range of motion (ROM) preservation and hip flexor and extensor muscular activity reduction. While the active suit reduced average hip ROM by 4o from the target 30o, all monitored muscles experienced significant reductions in electrical activity. The gluteus maximus and biceps femoris experienced electrical activity reduction of 13.1% and 6.6% respectively and the iliacus and rectus femoris experienced 10.7% and 27.7% respectively. To test suit rehabilitative potential, the actuators were programmed to apply periodic torque perturbations to induce locomotor entrainment. An X-ff-PAM was contracted at
the subject’s preferred gait frequency and, in randomly ordered increments of 3%, increased up to 15% beyond.
Perturbations located anterior and posterior to the hip were tested separately to assess impact of location on entrainment characteristics. All 11 healthy participants achieved entrainment in all 12 experimental conditions in both
suit orientations. Phase-locking consistently occurred around toe-off phase of the gait cycle (GC). Extension perturbations synchronized earlier in the gait cycle (before 60% GC where peak hip extension occurs) than flexion perturbations (just after 60% GC at the transition from full hip extension to hip flexion), across group averaged results. The study demonstrated the suit can significantly extend the basin of entrainment and improve transient response compared to previously reported results and confirms that a single stable attractor exists during gait entrainment to unidirectional hip perturbations.
ContributorsBaye-Wallace, Lily (Author) / Lee, Hyunglae (Thesis advisor) / Marvi, Hamidreza (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2021
Description
Technological progress in robot sensing, design, and fabrication, and the availability of open source software frameworks such as the Robot Operating System (ROS), are advancing the applications of swarm robotics from toy problems to real-world tasks such as surveillance, precision agriculture, search-and-rescue, and infrastructure inspection. These applications will require the development of robot controllers and system architectures that scale well with the number of robots and that are robust to robot errors and failures. To achieve this, one approach is to design decentralized robot control policies that require only local sensing and local, ad-hoc communication. In particular, stochastic control policies can be designed that are agnostic to individual robot identities and do not require a priori information about the environment or sophisticated computation, sensing, navigation, or communication capabilities. This dissertation presents novel swarm control strategies with these properties for detecting and mapping static targets, which represent features of interest, in an
unknown, bounded, obstacle-free environment. The robots move on a finite spatial grid according to
the time-homogeneous transition probabilities of a Discrete-Time Discrete-State (DTDS) Markov chain model, and they exchange information with other robots within their communication range using a consensus (agreement) protocol. This dissertation extend theoretical guarantees on multi-robot consensus over fixed and time-varying communication networks with known connectivity properties to consensus over the networks that have Markovian switching dynamics and no presumed connectivity. This dissertation develops such swarm consensus strategies for detecting a single feature in the environment, tracking multiple features, and reconstructing a discrete distribution of features modeled as an occupancy grid map.
The proposed consensus approaches are validated in numerical simulations and in 3D physics-based simulations of quadrotors in Gazebo. The scalability of the proposed approaches is examined through extensive numerical simulation studies over different swarm populations and environment sizes.
ContributorsShirsat, Aniket (Author) / Berman, Spring (Thesis advisor) / Lee, Hyunglae (Committee member) / Marvi, Hamid (Committee member) / Saripalli, Srikanth (Committee member) / Gharavi, Lance (Committee member) / Arizona State University (Publisher)
Created2022