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- Genre: Doctoral Dissertation
Description
The end of the nineteenth century was an exhilarating and revolutionary era for the flute. This period is the Second Golden Age of the flute, when players and teachers associated with the Paris Conservatory developed what would be considered the birth of the modern flute school. In addition, the founding in 1871 of the Société Nationale de Musique by Camille Saint-Saëns (1835-1921) and Romain Bussine (1830-1899) made possible the promotion of contemporary French composers. The founding of the Société des Instruments à Vent by Paul Taffanel (1844-1908) in 1879 also invigorated a new era of chamber music for wind instruments. Within this groundbreaking environment, Mélanie Hélène Bonis (pen name Mel Bonis) entered the Paris Conservatory in 1876, under the tutelage of César Franck (1822-1890). Many flutists are dismayed by the scarcity of repertoire for the instrument in the Romantic and post-Romantic traditions; they make up for this absence by borrowing the violin sonatas of Gabriel Fauré (1845-1924) and Franck. The flute and piano works of Mel Bonis help to fill this void with music composed originally for flute. Bonis was a prolific composer with over 300 works to her credit, but her works for flute and piano have not been researched or professionally recorded in the United States before the present study. Although virtually unknown today in the American flute community, Bonis's music received much acclaim from her contemporaries and deserves a prominent place in the flutist's repertoire. After a brief biographical introduction, this document examines Mel Bonis's musical style and describes in detail her six works for flute and piano while also offering performance suggestions.
ContributorsDaum, Jenna Elyse (Author) / Buck, Elizabeth (Thesis advisor) / Holbrook, Amy (Committee member) / Micklich, Albie (Committee member) / Schuring, Martin (Committee member) / Norton, Kay (Committee member) / Arizona State University (Publisher)
Created2013
Description
Wearable robotics has gained huge popularity in recent years due to its wide applications in rehabilitation, military, and industrial fields. The weakness of the skeletal muscles in the aging population and neurological injuries such as stroke and spinal cord injuries seriously limit the abilities of these individuals to perform daily activities. Therefore, there is an increasing attention in the development of wearable robots to assist the elderly and patients with disabilities for motion assistance and rehabilitation. In military and industrial sectors, wearable robots can increase the productivity of workers and soldiers. It is important for the wearable robots to maintain smooth interaction with the user while evolving in complex environments with minimum effort from the user. Therefore, the recognition of the user's activities such as walking or jogging in real time becomes essential to provide appropriate assistance based on the activity.
This dissertation proposes two real-time human activity recognition algorithms intelligent fuzzy inference (IFI) algorithm and Amplitude omega ($A \omega$) algorithm to identify the human activities, i.e., stationary and locomotion activities. The IFI algorithm uses knee angle and ground contact forces (GCFs) measurements from four inertial measurement units (IMUs) and a pair of smart shoes. Whereas, the $A \omega$ algorithm is based on thigh angle measurements from a single IMU.
This dissertation also attempts to address the problem of online tuning of virtual impedance for an assistive robot based on real-time gait and activity measurement data to personalize the assistance for different users. An automatic impedance tuning (AIT) approach is presented for a knee assistive device (KAD) in which the IFI algorithm is used for real-time activity measurements. This dissertation also proposes an adaptive oscillator method known as amplitude omega adaptive oscillator ($A\omega AO$) method for HeSA (hip exoskeleton for superior augmentation) to provide bilateral hip assistance during human locomotion activities. The $A \omega$ algorithm is integrated into the adaptive oscillator method to make the approach robust for different locomotion activities. Experiments are performed on healthy subjects to validate the efficacy of the human activities recognition algorithms and control strategies proposed in this dissertation. Both the activity recognition algorithms exhibited higher classification accuracy with less update time. The results of AIT demonstrated that the KAD assistive torque was smoother and EMG signal of Vastus Medialis is reduced, compared to constant impedance and finite state machine approaches. The $A\omega AO$ method showed real-time learning of the locomotion activities signals for three healthy subjects while wearing HeSA. To understand the influence of the assistive devices on the inherent dynamic gait stability of the human, stability analysis is performed. For this, the stability metrics derived from dynamical systems theory are used to evaluate unilateral knee assistance applied to the healthy participants.
This dissertation proposes two real-time human activity recognition algorithms intelligent fuzzy inference (IFI) algorithm and Amplitude omega ($A \omega$) algorithm to identify the human activities, i.e., stationary and locomotion activities. The IFI algorithm uses knee angle and ground contact forces (GCFs) measurements from four inertial measurement units (IMUs) and a pair of smart shoes. Whereas, the $A \omega$ algorithm is based on thigh angle measurements from a single IMU.
This dissertation also attempts to address the problem of online tuning of virtual impedance for an assistive robot based on real-time gait and activity measurement data to personalize the assistance for different users. An automatic impedance tuning (AIT) approach is presented for a knee assistive device (KAD) in which the IFI algorithm is used for real-time activity measurements. This dissertation also proposes an adaptive oscillator method known as amplitude omega adaptive oscillator ($A\omega AO$) method for HeSA (hip exoskeleton for superior augmentation) to provide bilateral hip assistance during human locomotion activities. The $A \omega$ algorithm is integrated into the adaptive oscillator method to make the approach robust for different locomotion activities. Experiments are performed on healthy subjects to validate the efficacy of the human activities recognition algorithms and control strategies proposed in this dissertation. Both the activity recognition algorithms exhibited higher classification accuracy with less update time. The results of AIT demonstrated that the KAD assistive torque was smoother and EMG signal of Vastus Medialis is reduced, compared to constant impedance and finite state machine approaches. The $A\omega AO$ method showed real-time learning of the locomotion activities signals for three healthy subjects while wearing HeSA. To understand the influence of the assistive devices on the inherent dynamic gait stability of the human, stability analysis is performed. For this, the stability metrics derived from dynamical systems theory are used to evaluate unilateral knee assistance applied to the healthy participants.
ContributorsChinimilli, Prudhvi Tej (Author) / Redkar, Sangram (Thesis advisor) / Zhang, Wenlong (Thesis advisor) / Sugar, Thomas G. (Committee member) / Lee, Hyunglae (Committee member) / Marvi, Hamidreza (Committee member) / Arizona State University (Publisher)
Created2018
Description
Wearable robotics is a growing sector in the robotics industry, they can increase the productivity of workers and soldiers and can restore some of the lost function to people with disabilities. Wearable robots should be comfortable, easy to use, and intuitive. Robust control methods are needed for wearable robots that assist periodic motion.
This dissertation studies a phase based oscillator constructed with a second order dynamic system and a forcing function based on the phase angle of the system. This produces a bounded control signal that can alter the damping and stiffens properties of the dynamic system. It is shown analytically and experimentally that it is stable and robust. It can handle perturbations remarkably well. The forcing function uses the states of the system to produces stable oscillations. Also, this work shows the use of the phase based oscillator in wearable robots to assist periodic human motion focusing on assisting the hip motion. One of the main problems to assist periodic motion properly is to determine the frequency of the signal. The phase oscillator eliminates this problem because the signal always has the correct frequency. The input requires the position and velocity of the system. Additionally, the simplicity of the controller allows for simple implementation.
This dissertation studies a phase based oscillator constructed with a second order dynamic system and a forcing function based on the phase angle of the system. This produces a bounded control signal that can alter the damping and stiffens properties of the dynamic system. It is shown analytically and experimentally that it is stable and robust. It can handle perturbations remarkably well. The forcing function uses the states of the system to produces stable oscillations. Also, this work shows the use of the phase based oscillator in wearable robots to assist periodic human motion focusing on assisting the hip motion. One of the main problems to assist periodic motion properly is to determine the frequency of the signal. The phase oscillator eliminates this problem because the signal always has the correct frequency. The input requires the position and velocity of the system. Additionally, the simplicity of the controller allows for simple implementation.
ContributorsDe la Fuente Valadez, Juan Oziel (Author) / Sugar, Thomas G. (Committee member) / Redkar, Sangram (Committee member) / Berman, Spring (Committee member) / Artemiadis, Panagiotis (Committee member) / Schroeder, Kyle A (Committee member) / Arizona State University (Publisher)
Created2016
Description
ABSTRACT Many musicians, both amateur and professional alike, are continuously seeking to expand and explore their performance literature and repertory. Introducing new works into the standard repertory is an exciting endeavor for any active musician. Establishing connections, commissioning new works, and collaborating on performances can all work together toward the acceptance and success of a composer's music within an instrument community. For the flute, one such composer is Daniel Dorff (b. 1956). Dorff, a Philadelphia-based composer, has written for symphony orchestra, clarinet, contrabassoon, and others; however, his award-winning works for flute and piccolo are earning him much recognition. He has written works for such illustrious flutists as Mimi Stillman, Walfrid Kujala, and Gary Schocker; his flute works have been recorded by Laurel Zucker, Pamela Youngblood and Lois Bliss Herbine; and his pieces have been performed and premiered at each of the National Flute Association Conventions from 2004 to 2009. Despite this success, little has been written about Dorff's life, compositional style, and contributions to the flute repertory. In order to further promote the flute works of Daniel Dorff, the primary focus of this study is the creation of a compact disc recording of Dorff's most prominent works for flute: April Whirlwind, 9 Walks Down 7th Avenue, both for flute and piano, and Nocturne Caprice for solo flute. In support of this recording, the study also provides biographical information regarding Daniel Dorff, discusses his compositional methods and ideology, and presents background information, description, and performance notes for each piece. Interviews with Daniel Dorff regarding biographical and compositional details serve as the primary source for this document. Suggestions for the performance of the three flute works were gathered through interviews with prominent flutists who have studied and performed Dorff's pieces. Additional performance suggestions for Nocturne Caprice were gathered through a coaching session between the author and the composer. This project is meant to promote the flute works of Daniel Dorff and to help establish their role in the standard flute repertory.
ContributorsRich, Angela Marie (Contributor) / Novak, Gail (Pianist) (Performer) / Buck, Elizabeth Y (Thesis advisor) / Hill, Gary W. (Committee member) / Holbrook, Amy (Committee member) / Schuring, Martin (Committee member) / Arizona State University (Publisher)
Created2010
Description
This work presents the design, modeling, analysis, and experimental characterization and testing of soft wearable robotics for lower limb rehabilitation for the ankle and hip. The Soft Robotic Ankle-Foot Orthosis (SR-AFO) is a wearable soft robot designed using multiple pneumatically-powered soft actuators to assist the ankle in multiple degrees-of-freedom during standing and walking tasks. The flat fabric pneumatic artificial muscle (ff-PAM) contracts upon pressurization and assists ankle plantarflexion in the sagittal plane. The Multi-material Actuator for Variable Stiffness (MAVS) aids in supporting ankle inversion/eversion in the frontal plane. Analytical models of the ff-PAM and MAVS were created to understand how the changing of the design parameters affects tensile force generation and stiffness support, respectively. The models were validated by both finite element analysis and experimental characterization using a universal testing machine. A set of human experiments were performed with healthy participants: 1) to measure lateral ankle support during quiet standing, 2) to determine lateral ankle support during walking over compliant surfaces, and 3) to evaluate plantarflexion assistance at push-off during treadmill walking, and 4) determine if the SR-AFO could be used for gait entrainment. Group results revealed increased ankle stiffness during quiet standing with the MAVS active, reduced ankle deflection while walking over compliant surfaces with the MAVS active, and reduced muscle effort from the SOL and GAS during 40 - 60% of the gait cycle with the dual ff-PAM active. The SR-AFO shows promising results in providing lateral ankle support and plantarflexion assistance with healthy participants, and a drastically increased basin of entrainment, which suggests a capability to help restore the gait of impaired users in future trials. The ff-PAM actuators were used in an X-orientation to assist the hip in flexion and extension. The Soft Robotic Hip Exosuit (SR-HExo) was evaluated using the same set of actuators and trials with healthy participants showed reduction in muscle effort during hip flexion and extension to further enhance the study of soft fabric actuators on human gait assistance.
ContributorsThalman, Carly Megan (Author) / Lee, Hyunglae (Thesis advisor) / Artemiadis, Panagiotis (Thesis advisor) / Sugar, Thomas (Committee member) / Zhang, Wenlong (Committee member) / Arizona State University (Publisher)
Created2021