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- Genre: Academic theses
- Genre: Masters Thesis
- Genre: Poetry
- Creators: Turaga, Pavan
- Member of: Theses and Dissertations
- Resource Type: Text
Description
Advancements in computer vision and machine learning have added a new dimension to remote sensing applications with the aid of imagery analysis techniques. Applications such as autonomous navigation and terrain classification which make use of image classification techniques are challenging problems and research is still being carried out to find better solutions. In this thesis, a novel method is proposed which uses image registration techniques to provide better image classification. This method reduces the error rate of classification by performing image registration of the images with the previously obtained images before performing classification. The motivation behind this is the fact that images that are obtained in the same region which need to be classified will not differ significantly in characteristics. Hence, registration will provide an image that matches closer to the previously obtained image, thus providing better classification. To illustrate that the proposed method works, naïve Bayes and iterative closest point (ICP) algorithms are used for the image classification and registration stages respectively. This implementation was tested extensively in simulation using synthetic images and using a real life data set called the Defense Advanced Research Project Agency (DARPA) Learning Applied to Ground Robots (LAGR) dataset. The results show that the ICP algorithm does help in better classification with Naïve Bayes by reducing the error rate by an average of about 10% in the synthetic data and by about 7% on the actual datasets used.
ContributorsMuralidhar, Ashwini (Author) / Saripalli, Srikanth (Thesis advisor) / Papandreou-Suppappola, Antonia (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2011
Description
This dissertation addresses the representation of women in the poetry of the Irish poet Thomas Kinsella. Using a variety of theoretical approaches, including historical criticism, French feminist theory and Jungian psychoanalytical theory, I argue that although women are an integral part of Kinsella's ongoing aesthetic project of self-interrogation, their role in his poetry is deeply problematic from a feminist perspective. For purposes of my discussion I have divided my analysis into three categories of female representation: the realistically based figure of the poet's wife Eleanor, often referred to as the Beloved; female archetypes and anima as formulated by the psychologist C.G. Jung; and the poetic trope of the feminized Muse. My contention is that while the underlying effect of the early love and marriage poems is to constrain the female subject by reinforcing stereotypical gender positions, Kinsella's aesthetic representation of this relationship undergoes a transformation as his poetry matures. With regard to Kinsella's mid-career work from the 1970s and the 1980s I argue that the poet's aesthetic integration of Jungian archetypes into his poetry of psychic exploration fundamentally influences his representation of women, whether real or archetypal. These works represent a substantial advance in the complexity of Kinsella's poetry; however, the imaginative power of these poems is ultimately undermined by the very ideas that inspire them - Jungian archetypal thought - since women are represented exclusively as facilitators and symbols on this male-centered journey of self-discovery. Further complicating the gender dynamics in Kinsella's poetry is the presence of the female Muse. This figure, which becomes of increasing importance to the poet, transforms from an aestheticized image of the Beloved, to a sinister snake-like apparition, and finally into a disembodied voice that is a projection of the poet and his alter-ego. Ultimately, Kinsella's Muse is an aesthetic construction, the site of inquiry into the difficulties inherent in the creative process, and a metaphor for the creative process itself. Through his innovative deployment of the trope of the Muse, Kinsella continues to advance the aesthetics of contemporary Irish poetry.
ContributorsLeavy, Adrienne (Author) / Castle, Gregory (Thesis advisor) / Hummer, Terry (Committee member) / Hogue, Cynthia (Committee member) / Arizona State University (Publisher)
Created2013
Description
Advancements in mobile technologies have significantly enhanced the capabilities of mobile devices to serve as powerful platforms for sensing, processing, and visualization. Surges in the sensing technology and the abundance of data have enabled the use of these portable devices for real-time data analysis and decision-making in digital signal processing (DSP) applications. Most of the current efforts in DSP education focus on building tools to facilitate understanding of the mathematical principles. However, there is a disconnect between real-world data processing problems and the material presented in a DSP course. Sophisticated mobile interfaces and apps can potentially play a crucial role in providing a hands-on-experience with modern DSP applications to students. In this work, a new paradigm of DSP learning is explored by building an interactive easy-to-use health monitoring application for use in DSP courses. This is motivated by the increasing commercial interest in employing mobile phones for real-time health monitoring tasks. The idea is to exploit the computational abilities of the Android platform to build m-Health modules with sensor interfaces. In particular, appropriate sensing modalities have been identified, and a suite of software functionalities have been developed. Within the existing framework of the AJDSP app, a graphical programming environment, interfaces to on-board and external sensor hardware have also been developed to acquire and process physiological data. The set of sensor signals that can be monitored include electrocardiogram (ECG), photoplethysmogram (PPG), accelerometer signal, and galvanic skin response (GSR). The proposed m-Health modules can be used to estimate parameters such as heart rate, oxygen saturation, step count, and heart rate variability. A set of laboratory exercises have been designed to demonstrate the use of these modules in DSP courses. The app was evaluated through several workshops involving graduate and undergraduate students in signal processing majors at Arizona State University. The usefulness of the software modules in enhancing student understanding of signals, sensors and DSP systems were analyzed. Student opinions about the app and the proposed m-health modules evidenced the merits of integrating tools for mobile sensing and processing in a DSP curriculum, and familiarizing students with challenges in modern data-driven applications.
ContributorsRajan, Deepta (Author) / Spanias, Andreas (Thesis advisor) / Frakes, David (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2013
Description
With robots being used extensively in various areas, a certain degree of robot autonomy has always been found desirable. In applications like planetary exploration, autonomous path planning and navigation are considered essential. But every now and then, a need to modify the robot's operation arises, a need for a human to provide it some supervisory parameters that modify the degree of autonomy or allocate extra tasks to the robot. In this regard, this thesis presents an approach to include a provision to accept and incorporate such human inputs and modify the navigation functions of the robot accordingly. Concepts such as applying kinematical constraints while planning paths, traversing of unknown areas with an intent of maximizing field of view, performing complex tasks on command etc. have been examined and implemented. The approaches have been tested in Robot Operating System (ROS), using robots such as the iRobot Create, Personal Robotics (PR2) etc. Simulations and experimental demonstrations have proved that this approach is feasible for solving some of the existing problems and that it certainly can pave way to further research for enhancing functionality.
ContributorsVemprala, Sai Hemachandra (Author) / Saripalli, Srikanth (Thesis advisor) / Fainekos, Georgios (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2013
Description
In contemporary society, sustainability and public well-being have been pressing challenges. Some of the important questions are:how can sustainable practices, such as reducing carbon emission, be encouraged? , How can a healthy lifestyle be maintained?Even though individuals are interested, they are unable to adopt these behaviors due to resource constraints. Developing a framework to enable cooperative behavior adoption and to sustain it for a long period of time is a major challenge. As a part of developing this framework, I am focusing on methods to understand behavior diffusion over time. Facilitating behavior diffusion with resource constraints in a large population is qualitatively different from promoting cooperation in small groups. Previous work in social sciences has derived conditions for sustainable cooperative behavior in small homogeneous groups. However, how groups of individuals having resource constraint co-operate over extended periods of time is not well understood, and is the focus of my thesis. I develop models to analyze behavior diffusion over time through the lens of epidemic models with the condition that individuals have resource constraint. I introduce an epidemic model SVRS ( Susceptible-Volatile-Recovered-Susceptible) to accommodate multiple behavior adoption. I investigate the longitudinal effects of behavior diffusion by varying different properties of an individual such as resources,threshold and cost of behavior adoption. I also consider how behavior adoption of an individual varies with her knowledge of global adoption. I evaluate my models on several synthetic topologies like complete regular graph, preferential attachment and small-world and make some interesting observations. Periodic injection of early adopters can help in boosting the spread of behaviors and sustain it for a longer period of time. Also, behavior propagation for the classical epidemic model SIRS (Susceptible-Infected-Recovered-Susceptible) does not continue for an infinite period of time as per conventional wisdom. One interesting future direction is to investigate how behavior adoption is affected when number of individuals in a network changes. The affects on behavior adoption when availability of behavior changes with time can also be examined.
ContributorsDey, Anindita (Author) / Sundaram, Hari (Thesis advisor) / Turaga, Pavan (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2013
Description
Black Laurel is a book-length manuscript which has at its center poems that reveal and explore issues related to Michele Poulos's identity as a Greek-American writer, discovering the connections that link the past and present of both Greece and America. These poems often work as a quest to recover identity. They explore the idea that it is her own privileged perspective as an educated Greek-American woman that both allows and in some ways prevents her seeing herself in the Greeks who today are struggling economically, emotionally, and psychologically. Many of the poems work to achieve a complex understanding of both an individual as well as a broader cultural history. These poems sometimes take on the personas of striking figures from other times and other landscapes, while others draw on materials which are somewhat more autobiographical. In one poem titled "Before My Mother Set Herself on Fire," the speaker is an imagined daughter in a modern-day Greek family. The poem, inspired by a news story about an elderly man who shot himself in the head in front of Syntagma Square in Athens to protest the austerity measures imposed on the Greek population, explores the various ways in which a national crisis may affect an individual family. Alternatively, Poulos delves into her personal family history in "When the Wind Falls," a poem about the Nazi invasions of northern Greece. At the same time, this focus on past and present Greece is only one strand in a wide-ranging manuscript woven of materials which also include a variety of subjects related to science, history, eroticism, mysticism, and much more.
ContributorsPoulos, Michele (Author) / Dubie, Norman (Thesis advisor) / Hogue, Cynthia (Committee member) / Hummer, Terry (Committee member) / Arizona State University (Publisher)
Created2013
Description
Chris Miller's Souvenirs of Sleep is as serious as it is whimsical, if this is a possibility. The "Museum of the Zoo-real" may be an equally appropriate title as animals are often in performance. In this visual and spiritual investigation, childhood, dream, and the loss of a mother to suicide are the currents. Miller's work is informed by the cinema of Werner Herzog, Andrei Tarkovsky, Robert Bresson and beyond. Miller believes in the power of implication. The poems begin with intense focus, but are often in the business of expansion. Souvenirs of Sleep is a journey toward sense-making, a search for language that might allow it.
ContributorsMiller, Christopher (Author) / Dubie, Norman (Thesis advisor) / Hogue, Cynthia (Committee member) / Ball, Sally (Committee member) / Arizona State University (Publisher)
Created2013
Description
Cruz del Sur is an exploration of what it means to be an outsider: as a resident, as a foreigner, from the perspective of the human eye, or from the perspective of a camera lens. An unlikely blending of voices, these poems embark the reader on a journey across a continent, and also into an interior: a mystical quest.
ContributorsMontgomery, Scott (Author) / Dubie, Norman (Thesis advisor) / Hogue, Cynthia (Committee member) / Hummer, Terry (Committee member) / Arizona State University (Publisher)
Created2013
Description
Digital sound synthesis allows the creation of a great variety of sounds. Focusing on interesting or ecologically valid sounds for music, simulation, aesthetics, or other purposes limits the otherwise vast digital audio palette. Tools for creating such sounds vary from arbitrary methods of altering recordings to precise simulations of vibrating objects. In this work, methods of sound synthesis by re-sonification are considered. Re-sonification, herein, refers to the general process of analyzing, possibly transforming, and resynthesizing or reusing recorded sounds in meaningful ways, to convey information. Applied to soundscapes, re-sonification is presented as a means of conveying activity within an environment. Applied to the sounds of objects, this work examines modeling the perception of objects as well as their physical properties and the ability to simulate interactive events with such objects. To create soundscapes to re-sonify geographic environments, a method of automated soundscape design is presented. Using recorded sounds that are classified based on acoustic, social, semantic, and geographic information, this method produces stochastically generated soundscapes to re-sonify selected geographic areas. Drawing on prior knowledge, local sounds and those deemed similar comprise a locale's soundscape. In the context of re-sonifying events, this work examines processes for modeling and estimating the excitations of sounding objects. These include plucking, striking, rubbing, and any interaction that imparts energy into a system, affecting the resultant sound. A method of estimating a linear system's input, constrained to a signal-subspace, is presented and applied toward improving the estimation of percussive excitations for re-sonification. To work toward robust recording-based modeling and re-sonification of objects, new implementations of banded waveguide (BWG) models are proposed for object modeling and sound synthesis. Previous implementations of BWGs use arbitrary model parameters and may produce a range of simulations that do not match digital waveguide or modal models of the same design. Subject to linear excitations, some models proposed here behave identically to other equivalently designed physical models. Under nonlinear interactions, such as bowing, many of the proposed implementations exhibit improvements in the attack characteristics of synthesized sounds.
ContributorsFink, Alex M (Author) / Spanias, Andreas S (Thesis advisor) / Cook, Perry R. (Committee member) / Turaga, Pavan (Committee member) / Tsakalis, Konstantinos (Committee member) / Arizona State University (Publisher)
Created2013
Description
One of the main challenges in planetary robotics is to traverse the shortest path through a set of waypoints. The shortest distance between any two waypoints is a direct linear traversal. Often times, there are physical restrictions that prevent a rover form traversing straight to a waypoint. Thus, knowledge of the terrain is needed prior to traversal. The Digital Terrain Model (DTM) provides information about the terrain along with waypoints for the rover to traverse. However, traversing a set of waypoints linearly is burdensome, as the rovers would constantly need to modify their orientation as they successively approach waypoints. Although there are various solutions to this problem, this research paper proposes the smooth traversability of the rover using splines as a quick and easy implementation to traverse a set of waypoints. In addition, a rover was used to compare the smoothness of the linear traversal along with the spline interpolations. The data collected illustrated that spline traversals had a less rate of change in the velocity over time, indicating that the rover performed smoother than with linear paths.
ContributorsKamasamudram, Anurag (Author) / Saripalli, Srikanth (Thesis advisor) / Fainekos, Georgios (Thesis advisor) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2013