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- Genre: Doctoral Dissertation
Description
The development of advanced, anthropomorphic artificial hands aims to provide upper extremity amputees with improved functionality for activities of daily living. However, many state-of-the-art hands have a large number of degrees of freedom that can be challenging to control in an intuitive manner. Automated grip responses could be built into artificial hands in order to enhance grasp stability and reduce the cognitive burden on the user. To this end, three studies were conducted to understand how human hands respond, passively and actively, to unexpected perturbations of a grasped object along and about different axes relative to the hand. The first study investigated the effect of magnitude, direction, and axis of rotation on precision grip responses to unexpected rotational perturbations of a grasped object. A robust "catch-up response" (a rapid, pulse-like increase in grip force rate previously reported only for translational perturbations) was observed whose strength scaled with the axis of rotation. Using two haptic robots, we then investigated the effects of grip surface friction, axis, and direction of perturbation on precision grip responses for unexpected translational and rotational perturbations for three different hand-centric axes. A robust catch-up response was observed for all axes and directions for both translational and rotational perturbations. Grip surface friction had no effect on the stereotypical catch-up response. Finally, we characterized the passive properties of the precision grip-object system via robot-imposed impulse perturbations. The hand-centric axis associated with the greatest translational stiffness was different than that for rotational stiffness. This work expands our understanding of the passive and active features of precision grip, a hallmark of human dexterous manipulation. Biological insights such as these could be used to enhance the functionality of artificial hands and the quality of life for upper extremity amputees.
ContributorsDe Gregorio, Michael (Author) / Santos, Veronica J. (Thesis advisor) / Artemiadis, Panagiotis K. (Committee member) / Santello, Marco (Committee member) / Sugar, Thomas (Committee member) / Helms Tillery, Stephen I. (Committee member) / Arizona State University (Publisher)
Created2013
Description
Modern physical systems are experiencing tremendous evolutions with growing size, more and more complex structures, and the incorporation of new devices. This calls for better planning, monitoring, and control. However, achieving these goals is challenging since the system knowledge (e.g., system structures and edge parameters) may be unavailable for a normal system, let alone some dynamic changes like maintenance, reconfigurations, and events, etc. Therefore, extracting system knowledge becomes a central topic. Luckily, advanced metering techniques bring numerous data, leading to the emergence of Machine Learning (ML) methods with efficient learning and fast inference. This work tries to propose a systematic framework of ML-based methods to learn system knowledge under three what-if scenarios: (i) What if the system is normally operated? (ii) What if the system suffers dynamic interventions? (iii) What if the system is new with limited data? For each case, this thesis proposes principled solutions with extensive experiments. Chapter 2 tackles scenario (i) and the golden rule is to learn an ML model that maintains physical consistency, bringing high extrapolation capacity for changing operational conditions. The key finding is that physical consistency can be linked to convexity, a central concept in optimization. Therefore, convexified ML designs are proposed and the global optimality implies faithfulness to the underlying physics. Chapter 3 handles scenario (ii) and the goal is to identify the event time, type, and locations. The problem is formalized as multi-class classification with special attention to accuracy and speed. Subsequently, Chapter 3 builds an ensemble learning framework to aggregate different ML models for better prediction. Next, to tackle high-volume data quickly, a tensor as the multi-dimensional array is used to store and process data, yielding compact and informative vectors for fast inference. Finally, if no labels exist, Chapter 3 uses physical properties to generate labels for learning. Chapter 4 deals with scenario (iii) and a doable process is to transfer knowledge from similar systems, under the framework of Transfer Learning (TL). Chapter 4 proposes cutting-edge system-level TL by considering the network structure, complex spatial-temporal correlations, and different physical information.
ContributorsLi, Haoran (Author) / Weng, Yang (Thesis advisor) / Tong, Hanghang (Committee member) / Dasarathy, Gautam (Committee member) / Sankar, Lalitha (Committee member) / Arizona State University (Publisher)
Created2022
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
Machine learning models are increasingly being deployed in real-world applications where their predictions are used to make critical decisions in a variety of domains. The proliferation of such models has led to a burgeoning need to ensure the reliability and safety of these models, given the potential negative consequences of model vulnerabilities. The complexity of machine learning models, along with the extensive data sets they analyze, can result in unpredictable and unintended outcomes. Model vulnerabilities may manifest due to errors in data input, algorithm design, or model deployment, which can have significant implications for both individuals and society. To prevent such negative outcomes, it is imperative to identify model vulnerabilities at an early stage in the development process. This will aid in guaranteeing the integrity, dependability, and safety of the models, thus mitigating potential risks and enabling the full potential of these technologies to be realized. However, enumerating vulnerabilities can be challenging due to the complexity of the real-world environment. Visual analytics, situated at the intersection of human-computer interaction, computer graphics, and artificial intelligence, offers a promising approach for achieving high interpretability of complex black-box models, thus reducing the cost of obtaining insights into potential vulnerabilities of models. This research is devoted to designing novel visual analytics methods to support the identification and analysis of model vulnerabilities. Specifically, generalizable visual analytics frameworks are instantiated to explore vulnerabilities in machine learning models concerning security (adversarial attacks and data perturbation) and fairness (algorithmic bias). In the end, a visual analytics approach is proposed to enable domain experts to explain and diagnose the model improvement of addressing identified vulnerabilities of machine learning models in a human-in-the-loop fashion. The proposed methods hold the potential to enhance the security and fairness of machine learning models deployed in critical real-world applications.
ContributorsXie, Tiankai (Author) / Maciejewski, Ross (Thesis advisor) / Liu, Huan (Committee member) / Bryan, Chris (Committee member) / Tong, Hanghang (Committee member) / Arizona State University (Publisher)
Created2023
Description
Soft robots currently rely on additional hardware such as pumps, high voltage supplies,light generation sources, and magnetic field generators for their operation. These components
resist miniaturization; thus, embedding them into small-scale soft robots is challenging.
This issue limits their applications, especially in hyper-redundant mobile robots. This
dissertation aims at addressing some of the challenges associated with creating miniature,
untethered soft robots that can function without any attachment to external power supplies
or receiving any control signals from outside sources. This goal is accomplished by introducing
a soft active material and a manufacturing method that together, facilitate the
miniaturization of soft robots and effectively supports their autonomous, mobile operation
without any connection to outside equipment or human intervention.
The soft active material presented here is a hydrogel based on a polymer called poly(Nisopropylacrylamide)
(PNIPAAm). This hydrogel responds to changes in the temperature
and responds by expanding or contracting. A major challenge regarding PNIPAAm-based
hydrogels is their slow response. This challenge is addressed by introducing a mixedsolvent
photo-polymerization technique that alters the pore structure of the hydrogel and
facilitates the water transport and thus the rate of volume change. Using this technique,
the re-swelling response time of hydrogels is reduced to 2:4min – over 25 times faster
than hydrogels demonstrated previously. The material properties of hydrogels including
their response rate and Young’s modulus are tuned simultaneously. The one-step photopolymerization
using UV light is performed in under 15 sec, which is a significant improvement
over thermo-polymerization, which takes anywhere between a few minutes to
several hours. Photopolymerization is key towards simplifying recipes, improving access
to these techniques, and making them tractable for iterative design processes.
To address the manufacturing challenges, soft voxel actuators (SVAs) are presented.
SVAs are actuated by electrical currents through Joule heating. SVAs weighing only 100 mg require small footprint microcontrollers for their operation which can be embedded
in the robotic system. The advantages of hydrogel-based SVAs are demonstrated through
different robotic platforms namely a hyper-redundant manipulator with 16 SVAs, an untethered
miniature robot for mobile underwater applications using 8 SVAs, and a gripper
using 32 SVAs.
ContributorsKhodambashi, Roozbeh (Author) / Aukes, Daniel (Thesis advisor) / Sugar, Thomas (Committee member) / Nam, Changho (Committee member) / Arizona State University (Publisher)
Created2021
Description
Walking and mobility are essential aspects of our daily lives, enabling us to engage in various activities. Gait disorders and impaired mobility are widespread challenges faced by older adults and people with neurological injuries, as these conditions can significantly impact their quality of life, leading to a loss of independence and an increased risk of mortality. In response to these challenges, rehabilitation, and assistive robotics have emerged as promising alternatives to conventional gait therapy, offering potential solutions that are less labor-intensive and costly. Despite numerous advances in wearable lower-limb robotics, their current applicability remains confined to laboratory settings. To expand their utility to broader gait impairments and daily living conditions, there is a pressing need for more intelligent robot controllers. In this dissertation, these challenges are tackled from two perspectives: First, to improve the robot's understanding of human motion and intentions which is crucial for assistive robot control, a robust human locomotion estimation technique is presented, focusing on measuring trunk motion. Employing an invariant extended Kalman filtering method that takes sensor misplacement into account, improved convergence properties over the existing methods for different locomotion modes are shown. Secondly, to enhance safe and effective robot-aided gait training, this dissertation proposes to directly learn from physical therapists' demonstrations of manual gait assistance in post-stroke rehabilitation.
Lower-limb kinematics of patients and assistive force applied by therapists to the patient's leg are measured using a wearable sensing system which includes a custom-made force sensing array. The collected data is then used to characterize a therapist's strategies. Preliminary analysis indicates that knee extension and weight-shifting play pivotal roles in shaping a therapist's assistance strategies, which are then incorporated into a virtual impedance model that effectively captures high-level therapist behaviors throughout a complete training session. Furthermore, to introduce safety constraints in the design of such controllers, a safety-critical learning framework is explored through theoretical analysis and simulations. A safety filter incorporating an online iterative learning component is introduced to bring robust safety guarantees for gait robotic assistance and training, addressing challenges such as stochasticity and the absence of a known prior dynamic model.
ContributorsRezayat Sorkhabadi, Seyed Mostafa (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
Teams are increasingly indispensable to achievements in any organizations. Despite the organizations' substantial dependency on teams, fundamental knowledge about the conduct of team-enabled operations is lacking, especially at the {\it social, cognitive} and {\it information} level in relation to team performance and network dynamics. The goal of this dissertation is to create new instruments to {\it predict}, {\it optimize} and {\it explain} teams' performance in the context of composite networks (i.e., social-cognitive-information networks).
Understanding the dynamic mechanisms that drive the success of high-performing teams can provide the key insights into building the best teams and hence lift the productivity and profitability of the organizations. For this purpose, novel predictive models to forecast the long-term performance of teams ({\it point prediction}) as well as the pathway to impact ({\it trajectory prediction}) have been developed. A joint predictive model by exploring the relationship between team level and individual level performances has also been proposed.
For an existing team, it is often desirable to optimize its performance through expanding the team by bringing a new team member with certain expertise, or finding a new candidate to replace an existing under-performing member. I have developed graph kernel based performance optimization algorithms by considering both the structural matching and skill matching to solve the above enhancement scenarios. I have also worked towards real time team optimization by leveraging reinforcement learning techniques.
With the increased complexity of the machine learning models for predicting and optimizing teams, it is critical to acquire a deeper understanding of model behavior. For this purpose, I have investigated {\em explainable prediction} -- to provide explanation behind a performance prediction and {\em explainable optimization} -- to give reasons why the model recommendations are good candidates for certain enhancement scenarios.
Understanding the dynamic mechanisms that drive the success of high-performing teams can provide the key insights into building the best teams and hence lift the productivity and profitability of the organizations. For this purpose, novel predictive models to forecast the long-term performance of teams ({\it point prediction}) as well as the pathway to impact ({\it trajectory prediction}) have been developed. A joint predictive model by exploring the relationship between team level and individual level performances has also been proposed.
For an existing team, it is often desirable to optimize its performance through expanding the team by bringing a new team member with certain expertise, or finding a new candidate to replace an existing under-performing member. I have developed graph kernel based performance optimization algorithms by considering both the structural matching and skill matching to solve the above enhancement scenarios. I have also worked towards real time team optimization by leveraging reinforcement learning techniques.
With the increased complexity of the machine learning models for predicting and optimizing teams, it is critical to acquire a deeper understanding of model behavior. For this purpose, I have investigated {\em explainable prediction} -- to provide explanation behind a performance prediction and {\em explainable optimization} -- to give reasons why the model recommendations are good candidates for certain enhancement scenarios.
ContributorsLi, Liangyue (Author) / Tong, Hanghang (Thesis advisor) / Baral, Chitta (Committee member) / Liu, Huan (Committee member) / Buchler, Norbou (Committee member) / Arizona State University (Publisher)
Created2018
Description
The popularity of social media has generated abundant large-scale social networks, which advances research on network analytics. Good representations of nodes in a network can facilitate many network mining tasks. The goal of network representation learning (network embedding) is to learn low-dimensional vector representations of social network nodes that capture certain properties of the networks. With the learned node representations, machine learning and data mining algorithms can be applied for network mining tasks such as link prediction and node classification. Because of its ability to learn good node representations, network representation learning is attracting increasing attention and various network embedding algorithms are proposed.
Despite the success of these network embedding methods, the majority of them are dedicated to static plain networks, i.e., networks with fixed nodes and links only; while in social media, networks can present in various formats, such as attributed networks, signed networks, dynamic networks and heterogeneous networks. These social networks contain abundant rich information to alleviate the network sparsity problem and can help learn a better network representation; while plain network embedding approaches cannot tackle such networks. For example, signed social networks can have both positive and negative links. Recent study on signed networks shows that negative links have added value in addition to positive links for many tasks such as link prediction and node classification. However, the existence of negative links challenges the principles used for plain network embedding. Thus, it is important to study signed network embedding. Furthermore, social networks can be dynamic, where new nodes and links can be introduced anytime. Dynamic networks can reveal the concept drift of a user and require efficiently updating the representation when new links or users are introduced. However, static network embedding algorithms cannot deal with dynamic networks. Therefore, it is important and challenging to propose novel algorithms for tackling different types of social networks.
In this dissertation, we investigate network representation learning in social media. In particular, we study representative social networks, which includes attributed network, signed networks, dynamic networks and document networks. We propose novel frameworks to tackle the challenges of these networks and learn representations that not only capture the network structure but also the unique properties of these social networks.
Despite the success of these network embedding methods, the majority of them are dedicated to static plain networks, i.e., networks with fixed nodes and links only; while in social media, networks can present in various formats, such as attributed networks, signed networks, dynamic networks and heterogeneous networks. These social networks contain abundant rich information to alleviate the network sparsity problem and can help learn a better network representation; while plain network embedding approaches cannot tackle such networks. For example, signed social networks can have both positive and negative links. Recent study on signed networks shows that negative links have added value in addition to positive links for many tasks such as link prediction and node classification. However, the existence of negative links challenges the principles used for plain network embedding. Thus, it is important to study signed network embedding. Furthermore, social networks can be dynamic, where new nodes and links can be introduced anytime. Dynamic networks can reveal the concept drift of a user and require efficiently updating the representation when new links or users are introduced. However, static network embedding algorithms cannot deal with dynamic networks. Therefore, it is important and challenging to propose novel algorithms for tackling different types of social networks.
In this dissertation, we investigate network representation learning in social media. In particular, we study representative social networks, which includes attributed network, signed networks, dynamic networks and document networks. We propose novel frameworks to tackle the challenges of these networks and learn representations that not only capture the network structure but also the unique properties of these social networks.
ContributorsWang, Suhang (Author) / Liu, Huan (Thesis advisor) / Aggarwal, Charu (Committee member) / Sen, Arunabha (Committee member) / Tong, Hanghang (Committee member) / Arizona State University (Publisher)
Created2018
Description
Social media refers computer-based technology that allows the sharing of information and building the virtual networks and communities. With the development of internet based services and applications, user can engage with social media via computer and smart mobile devices. In recent years, social media has taken the form of different activities such as social network, business network, text sharing, photo sharing, blogging, etc. With the increasing popularity of social media, it has accumulated a large amount of data which enables understanding the human behavior possible. Compared with traditional survey based methods, the analysis of social media provides us a golden opportunity to understand individuals at scale and in turn allows us to design better services that can tailor to individuals’ needs. From this perspective, we can view social media as sensors, which provides online signals from a virtual world that has no geographical boundaries for the real world individual's activity.
One of the key features for social media is social, where social media users actively interact to each via generating content and expressing the opinions, such as post and comment in Facebook. As a result, sentiment analysis, which refers a computational model to identify, extract or characterize subjective information expressed in a given piece of text, has successfully employs user signals and brings many real world applications in different domains such as e-commerce, politics, marketing, etc. The goal of sentiment analysis is to classify a user’s attitude towards various topics into positive, negative or neutral categories based on textual data in social media. However, recently, there is an increasing number of people start to use photos to express their daily life on social media platforms like Flickr and Instagram. Therefore, analyzing the sentiment from visual data is poise to have great improvement for user understanding.
In this dissertation, I study the problem of understanding human sentiments from large scale collection of social images based on both image features and contextual social network features. We show that neither
visual features nor the textual features are by themselves sufficient for accurate sentiment prediction. Therefore, we provide a way of using both of them, and formulate sentiment prediction problem in two scenarios: supervised and unsupervised. We first show that the proposed framework has flexibility to incorporate multiple modalities of information and has the capability to learn from heterogeneous features jointly with sufficient training data. Secondly, we observe that negative sentiment may related to human mental health issues. Based on this observation, we aim to understand the negative social media posts, especially the post related to depression e.g., self-harm content. Our analysis, the first of its kind, reveals a number of important findings. Thirdly, we extend the proposed sentiment prediction task to a general multi-label visual recognition task to demonstrate the methodology flexibility behind our sentiment analysis model.
One of the key features for social media is social, where social media users actively interact to each via generating content and expressing the opinions, such as post and comment in Facebook. As a result, sentiment analysis, which refers a computational model to identify, extract or characterize subjective information expressed in a given piece of text, has successfully employs user signals and brings many real world applications in different domains such as e-commerce, politics, marketing, etc. The goal of sentiment analysis is to classify a user’s attitude towards various topics into positive, negative or neutral categories based on textual data in social media. However, recently, there is an increasing number of people start to use photos to express their daily life on social media platforms like Flickr and Instagram. Therefore, analyzing the sentiment from visual data is poise to have great improvement for user understanding.
In this dissertation, I study the problem of understanding human sentiments from large scale collection of social images based on both image features and contextual social network features. We show that neither
visual features nor the textual features are by themselves sufficient for accurate sentiment prediction. Therefore, we provide a way of using both of them, and formulate sentiment prediction problem in two scenarios: supervised and unsupervised. We first show that the proposed framework has flexibility to incorporate multiple modalities of information and has the capability to learn from heterogeneous features jointly with sufficient training data. Secondly, we observe that negative sentiment may related to human mental health issues. Based on this observation, we aim to understand the negative social media posts, especially the post related to depression e.g., self-harm content. Our analysis, the first of its kind, reveals a number of important findings. Thirdly, we extend the proposed sentiment prediction task to a general multi-label visual recognition task to demonstrate the methodology flexibility behind our sentiment analysis model.
ContributorsWang, Yilin (Author) / Li, Baoxin (Thesis advisor) / Liu, Huan (Committee member) / Tong, Hanghang (Committee member) / Chang, Yi (Committee member) / Arizona State University (Publisher)
Created2018
Description
In recent years, the rise in social media usage both vertically in terms of the number of users by platform and horizontally in terms of the number of platforms per user has led to data explosion.
User-generated social media content provides an excellent opportunity to mine data of interest and to build resourceful applications. The rise in the number of healthcare-related social media platforms and the volume of healthcare knowledge available online in the last decade has resulted in increased social media usage for personal healthcare. In the United States, nearly ninety percent of adults, in the age group 50-75, have used social media to seek and share health information. Motivated by the growth of social media usage, this thesis focuses on healthcare-related applications, study various challenges posed by social media data, and address them through novel and effective machine learning algorithms.
The major challenges for effectively and efficiently mining social media data to build functional applications include: (1) Data reliability and acceptance: most social media data (especially in the context of healthcare-related social media) is not regulated and little has been studied on the benefits of healthcare-specific social media; (2) Data heterogeneity: social media data is generated by users with both demographic and geographic diversity; (3) Model transparency and trustworthiness: most existing machine learning models for addressing heterogeneity are considered as black box models, not many providing explanations for why they do what they do to trust them.
In response to these challenges, three main research directions have been investigated in this thesis: (1) Analyzing social media influence on healthcare: to study the real world impact of social media as a source to offer or seek support for patients with chronic health conditions; (2) Learning from task heterogeneity: to propose various models and algorithms that are adaptable to new social media platforms and robust to dynamic social media data, specifically on modeling user behaviors, identifying similar actors across platforms, and adapting black box models to a specific learning scenario; (3) Explaining heterogeneous models: to interpret predictive models in the presence of task heterogeneity. In this thesis, novel algorithms with theoretical analysis from various aspects (e.g., time complexity, convergence properties) have been proposed. The effectiveness and efficiency of the proposed algorithms is demonstrated by comparison with state-of-the-art methods and relevant case studies.
User-generated social media content provides an excellent opportunity to mine data of interest and to build resourceful applications. The rise in the number of healthcare-related social media platforms and the volume of healthcare knowledge available online in the last decade has resulted in increased social media usage for personal healthcare. In the United States, nearly ninety percent of adults, in the age group 50-75, have used social media to seek and share health information. Motivated by the growth of social media usage, this thesis focuses on healthcare-related applications, study various challenges posed by social media data, and address them through novel and effective machine learning algorithms.
The major challenges for effectively and efficiently mining social media data to build functional applications include: (1) Data reliability and acceptance: most social media data (especially in the context of healthcare-related social media) is not regulated and little has been studied on the benefits of healthcare-specific social media; (2) Data heterogeneity: social media data is generated by users with both demographic and geographic diversity; (3) Model transparency and trustworthiness: most existing machine learning models for addressing heterogeneity are considered as black box models, not many providing explanations for why they do what they do to trust them.
In response to these challenges, three main research directions have been investigated in this thesis: (1) Analyzing social media influence on healthcare: to study the real world impact of social media as a source to offer or seek support for patients with chronic health conditions; (2) Learning from task heterogeneity: to propose various models and algorithms that are adaptable to new social media platforms and robust to dynamic social media data, specifically on modeling user behaviors, identifying similar actors across platforms, and adapting black box models to a specific learning scenario; (3) Explaining heterogeneous models: to interpret predictive models in the presence of task heterogeneity. In this thesis, novel algorithms with theoretical analysis from various aspects (e.g., time complexity, convergence properties) have been proposed. The effectiveness and efficiency of the proposed algorithms is demonstrated by comparison with state-of-the-art methods and relevant case studies.
ContributorsNelakurthi, Arun Reddy (Author) / He, Jingrui (Thesis advisor) / Cook, Curtiss B (Committee member) / Maciejewski, Ross (Committee member) / Tong, Hanghang (Committee member) / Arizona State University (Publisher)
Created2019