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- All Subjects: Chamber music
Description
In order to cope with the decreasing availability of symphony jobs and collegiate faculty positions, many musicians are starting to pursue less traditional career paths. Also, to combat declining audiences, musicians are exploring ways to cultivate new and enthusiastic listeners through relevant and engaging performances. Due to these challenges, many community-based chamber music ensembles have been formed throughout the United States. These groups not only focus on performing classical music, but serve the needs of their communities as well. The problem, however, is that many musicians have not learned the business skills necessary to create these career opportunities. In this document I discuss the steps ensembles must take to develop sustainable careers. I first analyze how groups build a strong foundation through getting to know their communities and creating core values. I then discuss branding and marketing so ensembles can develop a public image and learn how to publicize themselves. This is followed by an investigation of how ensembles make and organize their money. I then examine the ways groups ensure long-lasting relationships with their communities and within the ensemble. I end by presenting three case studies of professional ensembles to show how groups create and maintain successful careers. Ensembles must develop entrepreneurship skills in addition to cultivating their artistry. These business concepts are crucial to the longevity of chamber groups. Through interviews of successful ensemble members and my own personal experiences in the Tetra String Quartet, I provide a guide for musicians to use when creating a community-based ensemble.
ContributorsDalbey, Jenna (Author) / Landschoot, Thomas (Thesis advisor) / McLin, Katherine (Committee member) / Ryan, Russell (Committee member) / Solis, Theodore (Committee member) / Spring, Robert (Committee member) / Arizona State University (Publisher)
Created2013
Description
Mobile robots are used in a broad range of application areas; e.g. search and rescue, reconnaissance, exploration, etc. Given the increasing need for high performance mobile robots, the area has received attention by researchers. In this thesis, critical control and control-relevant design issues for differential drive mobile robots is addressed. Two major themes that have been explored are the use of kinematic models for control design and the use of decentralized proportional plus integral (PI) control. While these topics have received much attention, there still remain critical questions which have not been rigorously addressed. In this thesis, answers to the following critical questions are provided: When is 1. a kinematic model sufficient for control design? 2. coupled dynamics essential? 3. a decentralized PI inner loop velocity controller sufficient? 4. centralized multiple-input multiple-output (MIMO) control essential? and how can one design the robot to relax the requirements implied in 1 and 2? In this thesis, the following is shown: 1. The nonlinear kinematic model will suffice for control design when the inner velocity (dynamic) loop is much faster (10X) than the slower outer positioning loop. 2. A dynamic model is essential when the inner velocity (dynamic) loop is less than two times faster than the slower outer positioning loop. 3. A decentralized inner loop PI velocity controller will be sufficient for accomplish- ing high performance control when the required velocity bandwidth is small, rel- ative to the peak dynamic coupling frequency. A rule-of-thumb which depends on the robot aspect ratio is given. 4. A centralized MIMO velocity controller is needed when the required bandwidth is large, relative to the peak dynamic coupling frequency. Here, the analysis in the thesis is sparse making the topic an area for future analytical work. Despite this, it is clearly shown that a centralized MIMO inner loop controller can offer increased performance vis- ́a-vis a decentralized PI controller. 5. Finally, it is shown how the dynamic coupling depends on the robot aspect ratio and how the coupling can be significantly reduced. As such, this can be used to ease the requirements imposed by 2 and 4 above.
ContributorsAnvari, Iman (Author) / Rodriguez, Armando A (Thesis advisor) / Si, Jenni (Committee member) / Tsakalis, Konstantinos (Committee member) / Arizona State University (Publisher)
Created2013
Description
This thesis discusses control and obstacle avoidance for non-holonomic differential drive mobile vehicles. The two important behaviors for the vehicle can be defined as go to goal and obstacle avoidance behavior. This thesis discusses both behaviors in detail. Go to goal behavior is the ability of the mobile vehicle to go from one particular co-ordinate to another. Cruise control, cartesian and posture stabilization problems are discussed as the part of this behavior. Control strategies used for the above three problems are explained in the thesis. Matlab simulations are presented to verify these controllers. Obstacle avoidance behavior ensures that the vehicle doesn't hit object in its path while going towards the goal. Three different techniques for obstacle avoidance which are useful for different kind of obstacles are described in the thesis. Matlab simulations are presented to show and discuss the three techniques. The controls discussed for the cartesian and posture stabilization were implemented on a low cost miniature vehicle to verify the results practically. The vehicle is described in the thesis in detail. The practical results are compared with the simulations. Hardware and matlab codes have been provided as a reference for the reader.
ContributorsChopra, Dhruv (Author) / Rodriguez, Armando A (Thesis advisor) / Tsakalis, Konstantinos (Committee member) / Si, Jennie (Committee member) / Arizona State University (Publisher)
Created2013
Description
American Primitive is a composition written for wind ensemble with an instrumentation of flute, oboe, clarinet, bass clarinet, alto, tenor, and baritone saxophones, trumpet, horn, trombone, euphonium, tuba, piano, and percussion. The piece is approximately twelve minutes in duration and was written September - December 2013. American Primitive is absolute music (i.e. it does not follow a specific narrative) comprising blocks of distinct, contrasting gestures which bookend a central region of delicate textural layering and minimal gestural contrast. Though three gestures (a descending interval followed by a smaller ascending interval, a dynamic swell, and a chordal "chop") were consciously employed throughout, it is the first gesture of the three that creates a sense of unification and overall coherence to the work. Additionally, the work challenges listeners' expectations of traditional wind ensemble music by featuring the trumpet as a quasi-soloist whose material is predominately inspired by transcriptions of jazz solos. This jazz-inspired material is at times mimicked and further developed by the ensemble, also often in a soloistic manner while the trumpet maintains its role throughout. This interplay of dialogue between the "soloists" and the "ensemble" further skews listeners' conceptions of traditional wind ensemble music by featuring almost every instrument in the ensemble. Though the term "American Primitive" is usually associated with the "naïve art" movement, it bears no association to the music presented in this work. Instead, the term refers to the author's own compositional attitudes, education, and aesthetic interests.
ContributorsJandreau, Joshua (Composer) / Rockmaker, Jody D (Thesis advisor) / Rogers, Rodney I (Committee member) / Demars, James R (Committee member) / Arizona State University (Publisher)
Created2014
Description
This project is a practical annotated bibliography of original works for oboe trio with the specific instrumentation of two oboes and English horn. Presenting descriptions of 116 readily available oboe trios, this project is intended to promote awareness, accessibility, and performance of compositions within this genre.
The annotated bibliography focuses exclusively on original, published works for two oboes and English horn. Unpublished works, arrangements, works that are out of print and not available through interlibrary loan, or works that feature slightly altered instrumentation are not included.
Entries in this annotated bibliography are listed alphabetically by the last name of the composer. Each entry includes the dates of the composer and a brief biography, followed by the title of the work, composition date, commission, and dedication of the piece. Also included are the names of publishers, the length of the entire piece in minutes and seconds, and an incipit of the first one to eight measures for each movement of the work.
In addition to providing a comprehensive and detailed bibliography of oboe trios, this document traces the history of the oboe trio and includes biographical sketches of each composer cited, allowing readers to place the genre of oboe trios and each individual composition into its historical context. Four appendices at the end include a list of trios arranged alphabetically by composer's last name, chronologically by the date of composition, and by country of origin and a list of publications of Ludwig van Beethoven's oboe trios from the 1940s and earlier.
The annotated bibliography focuses exclusively on original, published works for two oboes and English horn. Unpublished works, arrangements, works that are out of print and not available through interlibrary loan, or works that feature slightly altered instrumentation are not included.
Entries in this annotated bibliography are listed alphabetically by the last name of the composer. Each entry includes the dates of the composer and a brief biography, followed by the title of the work, composition date, commission, and dedication of the piece. Also included are the names of publishers, the length of the entire piece in minutes and seconds, and an incipit of the first one to eight measures for each movement of the work.
In addition to providing a comprehensive and detailed bibliography of oboe trios, this document traces the history of the oboe trio and includes biographical sketches of each composer cited, allowing readers to place the genre of oboe trios and each individual composition into its historical context. Four appendices at the end include a list of trios arranged alphabetically by composer's last name, chronologically by the date of composition, and by country of origin and a list of publications of Ludwig van Beethoven's oboe trios from the 1940s and earlier.
ContributorsSassaman, Melissa Ann (Author) / Schuring, Martin (Thesis advisor) / Buck, Elizabeth (Committee member) / Holbrook, Amy (Committee member) / Hill, Gary (Committee member) / Arizona State University (Publisher)
Created2014
ContributorsPagano, Caio, 1940- (Performer) / Mechetti, Fabio (Conductor) / Buck, Elizabeth (Performer) / Schuring, Martin (Performer) / Spring, Robert (Performer) / Rodrigues, Christiano (Performer) / Landschoot, Thomas (Performer) / Rotaru, Catalin (Performer) / Avanti Festival Orchestra (Performer) / ASU Library. Music Library (Publisher)
Created2018-03-02
ContributorsSchuring, Martin (Performer) / Stromberg, Eric (Performer) / Campbell, Andrew (Pianist) (Performer) / ASU Library. Music Library (Publisher)
Created2018-08-19
ContributorsDe La Cruz, Nathaniel (Performer) / LoGiudice, Rosa (Contributor) / Tallino, Michael (Performer) / McKinch, Riley (Performer) / Li, Yuhui (Performer) / Armenta, Tyler (Contributor) / Gonzalez, David (Performer) / Jones, Tarin (Performer) / Ryall, Blake (Performer) / Senseman, Stephen (Performer)
Created2018-10-10
Description
To achieve the ambitious long-term goal of a feet of cooperating Flexible Autonomous
Machines operating in an uncertain Environment (FAME), this thesis addresses several
critical modeling, design, control objectives for rear-wheel drive ground vehicles.
Toward this ambitious goal, several critical objectives are addressed. One central objective of the thesis was to show how to build low-cost multi-capability robot platform
that can be used for conducting FAME research.
A TFC-KIT car chassis was augmented to provide a suite of substantive capabilities.
The augmented vehicle (FreeSLAM Robot) costs less than $500 but offers the capability
of commercially available vehicles costing over $2000.
All demonstrations presented involve rear-wheel drive FreeSLAM robot. The following
summarizes the key hardware demonstrations presented and analyzed:
(1)Cruise (v, ) control along a line,
(2) Cruise (v, ) control along a curve,
(3) Planar (x, y) Cartesian Stabilization for rear wheel drive vehicle,
(4) Finish the track with camera pan tilt structure in minimum time,
(5) Finish the track without camera pan tilt structure in minimum time,
(6) Vision based tracking performance with different cruise speed vx,
(7) Vision based tracking performance with different camera fixed look-ahead distance L,
(8) Vision based tracking performance with different delay Td from vision subsystem,
(9) Manually remote controlled robot to perform indoor SLAM,
(10) Autonomously line guided robot to perform indoor SLAM.
For most cases, hardware data is compared with, and corroborated by, model based
simulation data. In short, the thesis uses low-cost self-designed rear-wheel
drive robot to demonstrate many capabilities that are critical in order to reach the
longer-term FAME goal.
Machines operating in an uncertain Environment (FAME), this thesis addresses several
critical modeling, design, control objectives for rear-wheel drive ground vehicles.
Toward this ambitious goal, several critical objectives are addressed. One central objective of the thesis was to show how to build low-cost multi-capability robot platform
that can be used for conducting FAME research.
A TFC-KIT car chassis was augmented to provide a suite of substantive capabilities.
The augmented vehicle (FreeSLAM Robot) costs less than $500 but offers the capability
of commercially available vehicles costing over $2000.
All demonstrations presented involve rear-wheel drive FreeSLAM robot. The following
summarizes the key hardware demonstrations presented and analyzed:
(1)Cruise (v, ) control along a line,
(2) Cruise (v, ) control along a curve,
(3) Planar (x, y) Cartesian Stabilization for rear wheel drive vehicle,
(4) Finish the track with camera pan tilt structure in minimum time,
(5) Finish the track without camera pan tilt structure in minimum time,
(6) Vision based tracking performance with different cruise speed vx,
(7) Vision based tracking performance with different camera fixed look-ahead distance L,
(8) Vision based tracking performance with different delay Td from vision subsystem,
(9) Manually remote controlled robot to perform indoor SLAM,
(10) Autonomously line guided robot to perform indoor SLAM.
For most cases, hardware data is compared with, and corroborated by, model based
simulation data. In short, the thesis uses low-cost self-designed rear-wheel
drive robot to demonstrate many capabilities that are critical in order to reach the
longer-term FAME goal.
ContributorsLu, Xianglong (Author) / Rodriguez, Armando Antonio (Thesis advisor) / Berman, Spring (Committee member) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2016
Description
Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses various control objectives for ground vehicles.
There are two main objectives within this thesis, first is the use of visual information to control a Differential-Drive Thunder Tumbler (DDTT) mobile robot and second is the solution to a minimum time optimal control problem for the robot around a racetrack.
One method to do the first objective is by using the Position Based Visual Servoing (PBVS) approach in which a camera looks at a target and the position of the target with respect to the camera is estimated; once this is done the robot can drive towards a desired position (x_ref, z_ref). Another method is called Image Based Visual Servoing (IBVS), in which the pixel coordinates (u,v) of markers/dots placed on an object are driven towards the desired pixel coordinates (u_ref, v_ref) of the corresponding markers.
By doing this, the mobile robot gets closer to a desired pose (x_ref, z_ref, theta_ref).
For the second objective, a camera-based and noncamera-based (v,theta) cruise-control systems are used for the solution of the minimum time problem. To set up the minimum time problem, optimal control theory is used. Then a direct method is implemented by discretizing states and controls of the system. Finally, the solution is obtained by modeling the problem in AMPL and submitting to the nonlinear optimization solver KNITRO. Simulation and experimental results are presented.
The DDTT-vehicle used within this thesis has different components as summarized below:
(1) magnetic wheel-encoders/IMU for inner-loop speed-control and outer-loop directional control,
(2) Arduino Uno microcontroller-board for encoder-based inner-loop speed-control and encoder-IMU-based outer-loop cruise-directional-control,
(3) Arduino motor-shield for inner-loop speed-control,
(4) Raspberry Pi II computer-board for outer-loop vision-based cruise-position-directional-control,
(5) Raspberry Pi 5MP camera for outer-loop cruise-position-directional control.
Hardware demonstrations shown in this thesis are summarized: (1) PBVS without pan camera, (2) PBVS with pan camera, (3) IBVS with 1 marker/dot, (4) IBVS with 2 markers, (5) IBVS with 3 markers, (6) camera and (7) noncamera-based (v,theta) cruise control system for the minimum time problem.
There are two main objectives within this thesis, first is the use of visual information to control a Differential-Drive Thunder Tumbler (DDTT) mobile robot and second is the solution to a minimum time optimal control problem for the robot around a racetrack.
One method to do the first objective is by using the Position Based Visual Servoing (PBVS) approach in which a camera looks at a target and the position of the target with respect to the camera is estimated; once this is done the robot can drive towards a desired position (x_ref, z_ref). Another method is called Image Based Visual Servoing (IBVS), in which the pixel coordinates (u,v) of markers/dots placed on an object are driven towards the desired pixel coordinates (u_ref, v_ref) of the corresponding markers.
By doing this, the mobile robot gets closer to a desired pose (x_ref, z_ref, theta_ref).
For the second objective, a camera-based and noncamera-based (v,theta) cruise-control systems are used for the solution of the minimum time problem. To set up the minimum time problem, optimal control theory is used. Then a direct method is implemented by discretizing states and controls of the system. Finally, the solution is obtained by modeling the problem in AMPL and submitting to the nonlinear optimization solver KNITRO. Simulation and experimental results are presented.
The DDTT-vehicle used within this thesis has different components as summarized below:
(1) magnetic wheel-encoders/IMU for inner-loop speed-control and outer-loop directional control,
(2) Arduino Uno microcontroller-board for encoder-based inner-loop speed-control and encoder-IMU-based outer-loop cruise-directional-control,
(3) Arduino motor-shield for inner-loop speed-control,
(4) Raspberry Pi II computer-board for outer-loop vision-based cruise-position-directional-control,
(5) Raspberry Pi 5MP camera for outer-loop cruise-position-directional control.
Hardware demonstrations shown in this thesis are summarized: (1) PBVS without pan camera, (2) PBVS with pan camera, (3) IBVS with 1 marker/dot, (4) IBVS with 2 markers, (5) IBVS with 3 markers, (6) camera and (7) noncamera-based (v,theta) cruise control system for the minimum time problem.
ContributorsAldaco Lopez, Jesus (Author) / Rodriguez, Armando A. (Thesis advisor) / Artemiadis, Panagiotis K. (Committee member) / Berman, Spring M. (Committee member) / Arizona State University (Publisher)
Created2016