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- Creators: Barrett, The Honors College
- Creators: Kavazanjian, Edward
- Creators: Allenby, Braden
Leveraging Machine Learning and Wireless Sensing for Robot Localization - Location Variance Analysis
Description
Object localization is used to determine the location of a device, an important aspect of applications ranging from autonomous driving to augmented reality. Commonly-used localization techniques include global positioning systems (GPS), simultaneous localization and mapping (SLAM), and positional tracking, but all of these methodologies have drawbacks, especially in high traffic indoor or urban environments. Using recent improvements in the field of machine learning, this project proposes a new method of localization using networks with several wireless transceivers and implemented without heavy computational loads or high costs. This project aims to build a proof-of-concept prototype and demonstrate that the proposed technique is feasible and accurate.
Modern communication networks heavily depend upon an estimate of the communication channel, which represents the distortions that a transmitted signal takes as it moves towards a receiver. A channel can become quite complicated due to signal reflections, delays, and other undesirable effects and, as a result, varies significantly with each different location. This localization system seeks to take advantage of this distinctness by feeding channel information into a machine learning algorithm, which will be trained to associate channels with their respective locations. A device in need of localization would then only need to calculate a channel estimate and pose it to this algorithm to obtain its location.
As an additional step, the effect of location noise is investigated in this report. Once the localization system described above demonstrates promising results, the team demonstrates that the system is robust to noise on its location labels. In doing so, the team demonstrates that this system could be implemented in a continued learning environment, in which some user agents report their estimated (noisy) location over a wireless communication network, such that the model can be implemented in an environment without extensive data collection prior to release.
Modern communication networks heavily depend upon an estimate of the communication channel, which represents the distortions that a transmitted signal takes as it moves towards a receiver. A channel can become quite complicated due to signal reflections, delays, and other undesirable effects and, as a result, varies significantly with each different location. This localization system seeks to take advantage of this distinctness by feeding channel information into a machine learning algorithm, which will be trained to associate channels with their respective locations. A device in need of localization would then only need to calculate a channel estimate and pose it to this algorithm to obtain its location.
As an additional step, the effect of location noise is investigated in this report. Once the localization system described above demonstrates promising results, the team demonstrates that the system is robust to noise on its location labels. In doing so, the team demonstrates that this system could be implemented in a continued learning environment, in which some user agents report their estimated (noisy) location over a wireless communication network, such that the model can be implemented in an environment without extensive data collection prior to release.
ContributorsChang, Roger (Co-author) / Kann, Trevor (Co-author) / Alkhateeb, Ahmed (Thesis director) / Bliss, Daniel (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
The goal of this thesis is designing controllers for swarm robots transport a payload over inclines. Several fields of study are related to this study, including control theory, dynamic modeling and programming. MATLAB, a tool of design controller and simulation, is used in this thesis.
To achieve this goal, a model of swarm robots transportation should be designed, which is cruise control for this scenario. Secondly, based on free body diagram, force equilibrium equation can be deduced. Then, the function of plant can be deduced based on cruise control and force equilibrium equations. Thirdly, list potential controllers, which may implement desired controls of swarm robots, and test their performance. Modify value of gains and do simulations of these controller. After analyzing results of simulation, the best controller can be selected.
In the last section, there is conclusion of entire thesis project and pointing out future work. The section of future work will mention potential difficulties of building entire control system, which allow swarm robots transport over inclines in real environment.
To achieve this goal, a model of swarm robots transportation should be designed, which is cruise control for this scenario. Secondly, based on free body diagram, force equilibrium equation can be deduced. Then, the function of plant can be deduced based on cruise control and force equilibrium equations. Thirdly, list potential controllers, which may implement desired controls of swarm robots, and test their performance. Modify value of gains and do simulations of these controller. After analyzing results of simulation, the best controller can be selected.
In the last section, there is conclusion of entire thesis project and pointing out future work. The section of future work will mention potential difficulties of building entire control system, which allow swarm robots transport over inclines in real environment.
ContributorsShe, Hanyu (Author) / Berman, Spring (Thesis director) / Marvi, Hamidreza (Committee member) / Mechanical and Aerospace Engineering Program (Contributor, Contributor) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
Currently conventional Subtitle D landfills are the primary means of disposing of our waste in the United States. While this method of waste disposal aims at protecting the environment, it does so through the use of liners and caps that effectively freeze the breakdown of waste. Because this method can keep landfills active, and thus a potential groundwater threat for over a hundred years, I take an in depth look at the ability of bioreactor landfills to quickly stabilize waste. In the thesis I detail the current state of bioreactor landfill technologies, assessing the pros and cons of anaerobic and aerobic bioreactor technologies. Finally, with an industrial perspective, I conclude that moving on to bioreactor landfills as an alternative isn't as simple as it may first appear, and that it is a contextually specific solution that must be further refined before replacing current landfills.
ContributorsWhitten, George Avery (Author) / Kavazanjian, Edward (Thesis director) / Allenby, Braden (Committee member) / Houston, Sandra (Committee member) / Civil, Environmental and Sustainable Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2013-05
Description
Seed awns (Erodium and Pelargonium) bury themselves into ground for germination usinghygroscopic coiling and uncoilingmovements. Similarly,wormlizards (Amphisbaenia) create
tunnels for habitation by oscillating their heads along the long axis of the trunks. Inspired by
these burrowing strategies, this research aims to understand these mechanisms from a soil
mechanics perspective, investigate the factors influencing penetration resistance, and develop
a self-burrowing technology for subterranean explorations. The rotational movements of
seed awns, specifically their coiling and uncoiling movements, were initially examined
using the Discrete Element Method (DEM) under shallow and dry conditions. The findings
suggest that rotation reduces penetration resistance by decreasing penetrator-particle contact
number and the force exerted, and by shifting the contact force away from vertical direction.
The effects of rotation were illustrated through the force chain network, displacement field,
and particle trajectories, supporting the "force chain breakage" hypothesis and challenging
the assumptions of previous analytical models. The factors reducing penetration resistance
were subsequently examined, both numerically and experimentally. The experimental results
link the reduction of horizontal penetration resistance to embedment depth and penetrator
geometry. Notably, both numerical and experimental results confirm that the reduction of
penetration resistance is determined by the relative slip velocity, not by the absolute values.
The reduction initially spikes sharply with the relative slip velocity, then increases at a slower
rate, leveling off at higher relative slip velocities. Additional findings revealed a minimal
impact of relative density, particle shape, and inertial number on penetration resistance
reduction. Conversely, interface friction angle appeared to increase the reduction, while
penetrator roundness and confining pressure decreased it. The investigation also extended
to the effect of rotational modes on the reduction of penetration resistance. Reductions
between cone-continuous rotation (CCR) and cone-oscillatory rotation (COR) cases were
i
comparable. However, whole-body-continuous rotation (WCR) yielded a higher reduction
under the same relative slip velocities. Interestingly, the amplitude of oscillation movement
demonstrated a negligible effect on the reduction. Lastly, a self-burrowing soft robot was
constructed based on these insights. Preliminary findings indicate that the robot can move
horizontally, leveraging a combination of extensioncontraction and rotational movements.
ContributorsTang, Yong (Author) / Tao, Junliang (Thesis advisor) / Kavazanjian, Edward (Committee member) / Marvi, Hamid (Committee member) / Arizona State University (Publisher)
Created2023
Description
It has been found that certain biological organisms, such as Erodium seeds and Scincus scincus, are capable of effectively and efficiently burying themselves in soil. Biological Organisms employ various locomotion modes, including coiling and uncoiling motions, asymmetric body twisting, and undulating movements that generate motion waves. The coiling-uncoiling motion drives a seed awn to bury itself like a corkscrew, while sandfish skinks use undulatory swimming, which can be thought of as a 2D version of helical motion. Studying burrowing behavior aims to understand how animals navigate underground, whether in their natural burrows or underground habitats, and to implement this knowledge in solving geotechnical penetration problems. Underground horizontal burrowing is challenging due to overcoming the resistance of interaction forces of granular media to move forward. Inspired by the burrowing behavior of seed-awn and sandfish skink, a horizontal self-burrowing robot is developed. The robot is driven by two augers and stabilized by a fin structure. The robot’s burrowing behavior is studied in a laboratory setting. It is found that rotation and propulsive motion along the axis of the auger’s helical shape significantly reduce granular media’s resistance against horizontal penetration by breaking kinematic symmetry or granular media boundary. Additional thrusting and dragging tests were performed to examine the propulsive and resistive forces and unify the observed burrowing behaviors. The tests revealed that the rotation of an auger not only reduces the resistive force and generates a propulsive force, which is influenced by the auger geometry, rotational speed, and direction. As a result, the burrowing behavior of the robot can be predicted using the geometry-rotation-force relations.
ContributorsShaharear, Md Ragib (Author) / Tao, Junliang (Thesis advisor) / Kavazanjian, Edward (Committee member) / Marvi, Hamidreza (Committee member) / Arizona State University (Publisher)
Created2023
Characterization and Manipulation of Microbiomes From Arid Landfills for Improved Methane Production
Description
Environmentally harmful byproducts from solid waste’s decomposition, including methane (CH4) emissions, are managed through standardized landfill engineering and gas-capture mechanisms. Yet only a limited number of studies have analyzed the development and composition of Bacteria and Archaea involved in CH4 production from landfills. The objectives of this research were to compare microbiomes and bioactivity from CH4-producing communities in contrasting spatial areas of arid landfills and to tests a new technology to biostimulate CH4 production (methanogenesis) from solid waste under dynamic environmental conditions controlled in the laboratory. My hypothesis was that the diversity and abundance of methanogenic Archaea in municipal solid waste (MSW), or its leachate, play an important role on CH4 production partially attributed to the group’s wide hydrogen (H2) consumption capabilities. I tested this hypothesis by conducting complementary field observations and laboratory experiments. I describe niches of methanogenic Archaea in MSW leachate across defined areas within a single landfill, while demonstrating functional H2-dependent activity. To alleviate limited H2 bioavailability encountered in-situ, I present biostimulant feasibility and proof-of-concepts studies through the amendment of zero valent metals (ZVMs). My results demonstrate that older-aged MSW was minimally biostimulated for greater CH4 production relative to a control when exposed to iron (Fe0) or manganese (Mn0), due to highly discernable traits of soluble carbon, nitrogen, and unidentified fluorophores found in water extracts between young and old aged, starting MSW. Acetate and inhibitory H2 partial pressures accumulated in microcosms containing old-aged MSW. In a final experiment, repeated amendments of ZVMs to MSW in a 600 day mesocosm experiment mediated significantly higher CH4 concentrations and yields during the first of three ZVM injections. Fe0 and Mn0 experimental treatments at mesocosm-scale also highlighted accelerated development of seemingly important, but elusive Archaea including Methanobacteriaceae, a methane-producing family that is found in diverse environments. Also, prokaryotic classes including Candidatus Bathyarchaeota, an uncultured group commonly found in carbon-rich ecosystems, and Clostridia; All three taxa I identified as highly predictive in the time-dependent progression of MSW decomposition. Altogether, my experiments demonstrate the importance of H2 bioavailability on CH4 production and the consistent development of Methanobacteriaceae in productive MSW microbiomes.
ContributorsReynolds, Mark Christian (Author) / Cadillo-Quiroz, Hinsby (Thesis advisor) / Krajmalnik-Brown, Rosa (Thesis advisor) / Wang, Xuan (Committee member) / Kavazanjian, Edward (Committee member) / Arizona State University (Publisher)
Created2022
Description
Zero-Valent Metals (ZVM) are highly reactive materials and have been proved to be effective in contaminant reduction in soils and groundwater remediation. In fact, zero-Valent Iron (ZVI) has proven to be very effective in removing, particularly chlorinated organics, heavy metals, and odorous sulfides. Addition of ZVI has also been proved in enhancing the methane gas generation in anaerobic digestion of activated sludge. However, no studies have been conducted regarding the effect of ZVM stimulation to Municipal Solid Waste (MSW) degradation. Therefore, a collaborative study was developed to manipulate microbial activity in the landfill bioreactors to favor methane production by adding ZVMs. This study focuses on evaluating the effects of added ZVM on the leachate generated from replicated lab scale landfill bioreactors. The specific objective was to investigate the effects of ZVMs addition on the organic and inorganic pollutants in leachate. The hypothesis here evaluated was that adding ZVM including ZVI and Zero Valent Manganese (ZVMn) will enhance the removal rates of the organic pollutants present in the leachate, likely by a putative higher rate of microbial metabolism. Test with six (4.23 gallons) bioreactors assembled with MSW collected from the Salt River Landfill and Southwest Regional Landfill showed that under 5 grams /liter of ZVI and 0.625 grams/liter of ZVMn additions, no significant difference was observed in the pH and temperature data of the leachate generated from these reactors. The conductivity data suggested the steady rise across all reactors over the period of time. The removal efficiency of sCOD was highest (27.112 mg/lit/day) for the reactors added with ZVMn at the end of 150 days for bottom layer, however the removal rate was highest (16.955 mg/lit/day) for ZVI after the end of 150 days of the middle layer. Similar trends in the results was observed in TC analysis. HPLC study indicated the dominance of the concentration of heptanoate and isovalerate were leachate generated from the bottom layer across all reactors. Heptanoate continued to dominate in the ZVMn added leachate even after middle layer injection. IC analysis concluded the chloride was dominant in the leachate generated from all the reactors and there was a steady increase in the chloride content over the period of time. Along with chloride, fluoride, bromide, nitrate, nitrite, phosphate and sulfate were also detected in considerable concentrations. In the summary, the addition of the zero valent metals has proved to be efficient in removal of the organics present in the leachate.
ContributorsPandit, Gandhar Abhay (Author) / Cadillo – Quiroz, Hinsby (Thesis advisor) / Olson, Larry (Thesis advisor) / Boyer, Treavor (Committee member) / Arizona State University (Publisher)
Created2019
Description
The focus of this project investigates high mobility robotics by developing a fully integrated framework for a ball-balancing robot. Using Lagrangian mechanics, a model for the robot was derived and used to conduct trade studies on significant system parameters. With a broad understanding of system dynamics, controllers were designed using LQR methodology. A prototype was then built and tested to exhibit desired reference command following and disturbance attenuation.
ContributorsKapron, Mark Andrew (Author) / Rodriguez, Armando (Thesis director) / Artemiadis, Panagiotis (Committee member) / Industrial, Systems & Operations Engineering Prgm (Contributor) / Electrical Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
This paper presents a variable damping controller that can be implemented into wearable and exoskeleton robots. The variable damping controller functions by providing different levels of robotic damping from negative to positive to the coupled human-robot system. The wearable ankle robot was used to test this control strategy in the different directions of motion. The range of damping applied was selected based on the known inherent damping of the human ankle, ensuring that the coupled system became positively damped, and therefore stable. Human experiments were performed to understand and quantify the effects of the variable damping controller on the human user. Within the study, the human subjects performed a target reaching exercise while the ankle robot provided the system with constant positive, constant negative, or variable damping. These three damping conditions could then be compared to analyze the performance of the system. The following performance measures were selected: maximum speed to quantify agility, maximum overshoot to quantify stability, and muscle activation to quantify effort required by the human user. Maximum speed was found to be statistically the same in the variable damping controller and the negative damping condition and to be increased from positive damping controller to variable damping condition by 57.9%, demonstrating the agility of the system. Maximum overshoot was found to significantly decrease overshoot from the negative damping condition to the variable damping controller by 39.6%, demonstrating an improvement in system stability with the variable damping controller. Muscle activation results showed that the variable damping controller required less effort than the positive damping condition, evidenced by the decreased muscle activation of 23.8%. Overall, the study demonstrated that a variable damping controller can balance the trade-off between agility and stability in human-robot interactions and therefore has many practical implications.
ContributorsArnold, James Michael (Author) / Lee, Hyunglae (Thesis director) / Yong, Sze Zheng (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / School for Engineering of Matter,Transport & Enrgy (Contributor) / Barrett, The Honors College (Contributor)
Created2019-12
Description
A heterogeneous team of robots working in symbiosis can maximize their strengths while complementing each other’s weaknesses. These simple robots can achieve more working together than they could on their own but cost less than a single robot with the same combination of capabilities. This project aims to validate the symbiotic relationship of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) with a physical implementation of a heterogenous team of robots and a demonstration of their capabilities. This paper details the selection of robots, the design of the physical coupling mechanism, and the design of the autonomous controls. An experiment was performed to assess the capabilities of the robots according to four performance criteria. The UGV must navigate a space while the UAV follows. The UAV must couple with the UGV. The UAV must lift the UGV over an obstacle. The UGV must navigate the space while carrying the UAV.
ContributorsBreaux, Chris (Author) / Artemiadis, Panagiotis (Thesis director) / Lee, Hyunglae (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-12