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- All Subjects: Computer Science
- Genre: Masters Thesis
Description
As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of robotic systems, manual code translation from model to code is not a feasible optimal solution so we need to move towards automated code generation for such systems. MathWorks® offers code generation facilities called Coder® products for this purpose. However in order to fully exploit the power of model-based design and code generation tools for robotic applications, we need to enhance those software systems by adding and modifying toolboxes, files and other artifacts as well as developing guidelines and procedures. In this thesis, an effort has been made to propose a guideline as well as a Simulink® library, StateFlow® interface API and a C/C++ interface API to complete this toolchain for NAO humanoid robots. Thus the model of the hierarchical control architecture can be easily and properly converted to code and built for implementation.
ContributorsRaji Kermani, Ramtin (Author) / Fainekos, Georgios (Thesis advisor) / Lee, Yann-Hang (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2013
Description
Laboratory automation systems have seen a lot of technological advances in recent times. As a result, the software that is written for them are becoming increasingly sophisticated. Existing software architectures and standards are targeted to a wider domain of software development and need to be customized in order to use them for developing software for laboratory automation systems. This thesis proposes an architecture that is based on existing software architectural paradigms and is specifically tailored to developing software for a laboratory automation system. The architecture is based on fairly autonomous software components that can be distributed across multiple computers. The components in the architecture make use of asynchronous communication methodologies that are facilitated by passing messages between one another. The architecture can be used to develop software that is distributed, responsive and thread-safe. The thesis also proposes a framework that has been developed to implement the ideas proposed by the architecture. The framework is used to develop software that is scalable, distributed, responsive and thread-safe. The framework currently has components to control very commonly used laboratory automation devices such as mechanical stages, cameras, and also to do common laboratory automation functionalities such as imaging.
ContributorsKuppuswamy, Venkataramanan (Author) / Meldrum, Deirdre (Thesis advisor) / Collofello, James (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Johnson, Roger (Committee member) / Arizona State University (Publisher)
Created2012
Description
This thesis introduces the Model-Based Development of Multi-iRobot Toolbox (MBDMIRT), a Simulink-based toolbox designed to provide the means to acquire and practice the Model-Based Development (MBD) skills necessary to design real-time embedded system. The toolbox was developed in the Cyber-Physical System Laboratory at Arizona State University. The MBDMIRT toolbox runs under MATLAB/Simulink to simulate the movements of multiple iRobots and to control, after verification by simulation, multiple physical iRobots accordingly. It adopts the Simulink/Stateflow, which exemplifies an approach to MBD, to program the behaviors of the iRobots. The MBDMIRT toolbox reuses and augments the open-source MATLAB-Based Simulator for the iRobot Create from Cornell University to run the simulation. Regarding the mechanism of iRobot control, the MBDMIRT toolbox applies the MATLAB Toolbox for the iRobot Create (MTIC) from United States Naval Academy to command the physical iRobots. The MBDMIRT toolbox supports a timer in both the simulation and the control, which is based on the local clock of the PC running the toolbox. In addition to the build-in sensors of an iRobot, the toolbox can simulate four user-added sensors, which are overhead localization system (OLS), sonar sensors, a camera, and Light Detection And Ranging (LIDAR). While controlling a physical iRobot, the toolbox supports the StarGazer OLS manufactured by HAGISONIC, Inc.
ContributorsSu, Shih-Kai (Author) / Fainekos, Georgios E (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Artemiadis, Panagiotis K (Committee member) / Arizona State University (Publisher)
Created2012
Description
A semiconductor supply chain modeling and simulation platform using Linear Program (LP) optimization and parallel Discrete Event System Specification (DEVS) process models has been developed in a joint effort by ASU and Intel Corporation. A Knowledge Interchange Broker (KIBDEVS/LP) was developed to broker information synchronously between the DEVS and LP models. Recently a single-echelon heuristic Inventory Strategy Module (ISM) was added to correct for forecast bias in customer demand data using different smoothing techniques. The optimization model could then use information provided by the forecast model to make better decisions for the process model. The composition of ISM with LP and DEVS models resulted in the first realization of what is now called the Optimization Simulation Forecast (OSF) platform. It could handle a single echelon supply chain system consisting of single hubs and single products In this thesis, this single-echelon simulation platform is extended to handle multiple echelons with multiple inventory elements handling multiple products. The main aspect for the multi-echelon OSF platform was to extend the KIBDEVS/LP such that ISM interactions with the LP and DEVS models could also be supported. To achieve this, a new, scalable XML schema for the KIB has been developed. The XML schema has also resulted in strengthening the KIB execution engine design. A sequential scheme controls the executions of the DEVS-Suite simulator, CPLEX optimizer, and ISM engine. To use the ISM for multiple echelons, it is extended to compute forecast customer demands and safety stocks over multiple hubs and products. Basic examples for semiconductor manufacturing spanning single and two echelon supply chain systems have been developed and analyzed. Experiments using perfect data were conducted to show the correctness of the OSF platform design and implementation. Simple, but realistic experiments have also been conducted. They highlight the kinds of supply chain dynamics that can be evaluated using discrete event process simulation, linear programming optimization, and heuristics forecasting models.
ContributorsSmith, James Melkon (Author) / Sarjoughian, Hessam S. (Thesis advisor) / Davulcu, Hasan (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2012
Description
In this thesis we deal with the problem of temporal logic robustness estimation. We present a dynamic programming algorithm for the robust estimation problem of Metric Temporal Logic (MTL) formulas regarding a finite trace of time stated sequence. This algorithm not only tests if the MTL specification is satisfied by the given input which is a finite system trajectory, but also quantifies to what extend does the sequence satisfies or violates the MTL specification. The implementation of the algorithm is the DP-TALIRO toolbox for MATLAB. Currently it is used as the temporal logic robust computing engine of S-TALIRO which is a tool for MATLAB searching for trajectories of minimal robustness in Simulink/ Stateflow. DP-TALIRO is expected to have near linear running time and constant memory requirement depending on the structure of the MTL formula. DP-TALIRO toolbox also integrates new features not supported in its ancestor FW-TALIRO such as parameter replacement, most related iteration and most related predicate. A derivative of DP-TALIRO which is DP-T-TALIRO is also addressed in this thesis which applies dynamic programming algorithm for time robustness computation. We test the running time of DP-TALIRO and compare it with FW-TALIRO. Finally, we present an application where DP-TALIRO is used as the robustness computation core of S-TALIRO for a parameter estimation problem.
ContributorsYang, Hengyi (Author) / Fainekos, Georgios (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Shrivastava, Aviral (Committee member) / Arizona State University (Publisher)
Created2013
Description
Time-series plots are used in many scientific and engineering applications. In this thesis, two new plug-ins for piecewise constant and event time-series are developed within the Eclipse BIRT (Business Intelligence and Reporting Tools) framework. These customizable plug-ins support superdense time, which is required for plotting the dynamics of Parallel DEVS models. These plug-ins are designed to receive time-based alphanumerical data sets from external computing sources, which can then be dynamically plotted. Static and dynamic time-series plotting are demonstrated in two settings. First, as standalone plug-ins, they can be used to create static plots, which can then be included in BIRT reports. Second, the plug-ins are integrated into the DEVS-Suite simulator where runtime simulated data generated from model components are dynamically plotted. Visual representation of data sets can simplify and improve model verification and simulation validation.
ContributorsSundaramoorthi, Savitha (Author) / Sarjoughian, Hessam S. (Thesis advisor) / Maciejewski, Ross (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
Description
Internet sites that support user-generated content, so-called Web 2.0, have become part of the fabric of everyday life in technologically advanced nations. Users collectively spend billions of hours consuming and creating content on social networking sites, weblogs (blogs), and various other types of sites in the United States and around the world. Given the fundamentally emotional nature of humans and the amount of emotional content that appears in Web 2.0 content, it is important to understand how such websites can affect the emotions of users. This work attempts to determine whether emotion spreads through an online social network (OSN). To this end, a method is devised that employs a model based on a general threshold diffusion model as a classifier to predict the propagation of emotion between users and their friends in an OSN by way of mood-labeled blog entries. The model generalizes existing information diffusion models in that the state machine representation of a node is generalized from being binary to having n-states in order to support n class labels necessary to model emotional contagion. In the absence of ground truth, the prediction accuracy of the model is benchmarked with a baseline method that predicts the majority label of a user's emotion label distribution. The model significantly outperforms the baseline method in terms of prediction accuracy. The experimental results make a strong case for the existence of emotional contagion in OSNs in spite of possible alternative arguments such confounding influence and homophily, since these alternatives are likely to have negligible effect in a large dataset or simply do not apply to the domain of human emotions. A hybrid manual/automated method to map mood-labeled blog entries to a set of emotion labels is also presented, which enables the application of the model to a large set (approximately 900K) of blog entries from LiveJournal.
ContributorsCole, William David, M.S (Author) / Liu, Huan (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Candan, Kasim S (Committee member) / Arizona State University (Publisher)
Created2011
Description
Analysis of political texts, which contains a huge amount of personal political opinions, sentiments, and emotions towards powerful individuals, leaders, organizations, and a large number of people, is an interesting task, which can lead to discover interesting interactions between the political parties and people. Recently, political blogosphere plays an increasingly important role in politics, as a forum for debating political issues. Most of the political weblogs are biased towards their political parties, and they generally express their sentiments towards their issues (i.e. leaders, topics etc.,) and also towards issues of the opposing parties. In this thesis, I have modeled the above interactions/debate as a sentimental bi-partite graph, a bi-partite graph with Blogs forming vertices of a disjoint set, and the issues (i.e. leaders, topics etc.,) forming the other disjoint set,and the edges between the two sets representing the sentiment of the blogs towards the issues. I have used American Political blog data to model the sentimental bi- partite graph, in particular, a set of popular political liberal and conservative blogs that have clearly declared positions. These blogs contain discussion about social, political, economic issues and related key individuals in their conservative/liberal view. To be more focused and more polarized, 22 most popular liberal/conservative blogs of a particular time period, May 2008 - October 2008(because of high intensity of debate and discussions), just before the presidential elections, was considered, involving around 23,800 articles. This thesis involves solving the questions: a) which is the most liberal/conservative blogs on the web? b) Who is on which side of debate and what are the issues? c) Who are the important leaders? d) How do you model the relationship between the participants of the debate and the underlying issues?
ContributorsThirumalai, Dananjayan (Author) / Davulcu, Hasan (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Sen, Arunabha (Committee member) / Arizona State University (Publisher)
Created2012
Description
In recent years, the food, energy, and water (FEW) nexus has become a topic of considerable importance and has spurred research in many scientific and technical fields. This increased interest stems from the high level, and broad area, of impact that could occur in the long term if the interactions between these complex FEW sectors are incorrectly or only partially defined. For this reason, a significant amount of interdisciplinary collaboration is needed to accurately define these interactions and produce viable solutions to help sustain and secure resources within these sectors. Providing tools that effectively promote interdisciplinary collaboration would allow for the development of a better understanding of FEW nexus interactions, support FEW policy-making under uncertainty, facilitate identification of critical design requirements for FEW visualizations, and encourage proactive FEW visualization design.
The goal of this research will be the completion of 3 primary objectives: (i) specify visualization design requirements relating to the FEW nexus; (ii) develop visualization approaches for the FEW nexus; and (iii) provide a comparison of current FEW visualization approaches against the proposed visualization approach. These objectives will be accomplished by reviewing graph-based visualization, network evolution, and visual analysis of volume data tasks, discussion with domain experts, examination of currently used visualization methods in FEW research, and conduction of a user study. This will provide a more thorough and representative depiction of the FEW nexus, as well as a basis for further research in the area of FEW visualization. This research will enhance collaboration between policymakers and domain experts in an attempt to encourage in-depth nexus research that will help support informed policy-making and promote future resource security.
The goal of this research will be the completion of 3 primary objectives: (i) specify visualization design requirements relating to the FEW nexus; (ii) develop visualization approaches for the FEW nexus; and (iii) provide a comparison of current FEW visualization approaches against the proposed visualization approach. These objectives will be accomplished by reviewing graph-based visualization, network evolution, and visual analysis of volume data tasks, discussion with domain experts, examination of currently used visualization methods in FEW research, and conduction of a user study. This will provide a more thorough and representative depiction of the FEW nexus, as well as a basis for further research in the area of FEW visualization. This research will enhance collaboration between policymakers and domain experts in an attempt to encourage in-depth nexus research that will help support informed policy-making and promote future resource security.
ContributorsMathis, Brandon (Author) / Maciejewski, Ross (Thesis advisor) / Mascaro, Giuseppe (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2019
Description
The Global Change Assessment Model (GCAM) is an integrated assessment tool for exploring consequences and responses to global change. However, the current iteration of GCAM relies on NetCDF file outputs which need to be exported for visualization and analysis purposes. Such a requirement limits the uptake of this modeling platform for analysts that may wish to explore future scenarios. This work has focused on a web-based geovisual analytics interface for GCAM. Challenges of this work include enabling both domain expert and model experts to be able to functionally explore the model. Furthermore, scenario analysis has been widely applied in climate science to understand the impact of climate change on the future human environment. The inter-comparison of scenario analysis remains a big challenge in both the climate science and visualization communities. In a close collaboration with the Global Change Assessment Model team, I developed the first visual analytics interface for GCAM with a series of interactive functions to help users understand the simulated impact of climate change on sectors of the global economy, and at the same time allow them to explore inter comparison of scenario analysis with GCAM models. This tool implements a hierarchical clustering approach to allow inter-comparison and similarity analysis among multiple scenarios over space, time, and multiple attributes through a set of coordinated multiple views. After working with this tool, the scientists from the GCAM team agree that the geovisual analytics tool can facilitate scenario exploration and enable scientific insight gaining process into scenario comparison. To demonstrate my work, I present two case studies, one of them explores the potential impact that the China south-north water transportation project in the Yangtze River basin will have on projected water demands. The other case study using GCAM models demonstrates how the impact of spatial variations and scales on similarity analysis of climate scenarios varies at world, continental, and country scales.
ContributorsChang, Zheng (Author) / Maciejewski, Ross (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / White, Dave (Committee member) / Luo, Wei (Committee member) / Arizona State University (Publisher)
Created2015