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Humans have an inherent capability of performing highly dexterous and skillful tasks with their arms, involving maintaining posture, movement and interacting with the environment. The latter requires for them to control the dynamic characteristics of the upper limb musculoskeletal system. Inertia, damping and stiffness, a measure of mechanical impedance, gives

Humans have an inherent capability of performing highly dexterous and skillful tasks with their arms, involving maintaining posture, movement and interacting with the environment. The latter requires for them to control the dynamic characteristics of the upper limb musculoskeletal system. Inertia, damping and stiffness, a measure of mechanical impedance, gives a strong representation of these characteristics. Many previous studies have shown that the arm posture is a dominant factor for determining the end point impedance in a horizontal plane (transverse plane). The objective of this thesis is to characterize end point impedance of the human arm in the three dimensional (3D) space. Moreover, it investigates and models the control of the arm impedance due to increasing levels of muscle co-contraction. The characterization is done through experimental trials where human subjects maintained arm posture, while perturbed by a robot arm. Moreover, the subjects were asked to control the level of their arm muscles' co-contraction, using visual feedback of their muscles' activation, in order to investigate the effect of the muscle co-contraction on the arm impedance. The results of this study showed a very interesting, anisotropic increase of the arm stiffness due to muscle co-contraction. This can lead to very useful conclusions about the arm biomechanics as well as many implications for human motor control and more specifically the control of arm impedance through muscle co-contraction. The study finds implications for the EMG-based control of robots that physically interact with humans.
ContributorsPatel, Harshil Naresh (Author) / Artemiadis, Panagiotis (Thesis advisor) / Berman, Spring (Committee member) / Helms Tillery, Stephen (Committee member) / Arizona State University (Publisher)
Created2013
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Hydrology and biogeochemistry are coupled in all systems. However, human decision-making regarding hydrology and biogeochemistry are often separate, even though decisions about hydrologic systems may have substantial impacts on biogeochemical patterns and processes. The overarching question of this dissertation was: How does hydrologic engineering interact with the effects of nutrient

Hydrology and biogeochemistry are coupled in all systems. However, human decision-making regarding hydrology and biogeochemistry are often separate, even though decisions about hydrologic systems may have substantial impacts on biogeochemical patterns and processes. The overarching question of this dissertation was: How does hydrologic engineering interact with the effects of nutrient loading and climate to drive watershed nutrient yields? I conducted research in two study systems with contrasting spatial and temporal scales. Using a combination of data-mining and modeling approaches, I reconstructed nitrogen and phosphorus budgets for the northeastern US over the 20th century, including anthropogenic nutrient inputs and riverine fluxes, for ~200 watersheds at 5 year time intervals. Infrastructure systems, such as sewers, wastewater treatment plants, and reservoirs, strongly affected the spatial and temporal patterns of nutrient fluxes from northeastern watersheds. At a smaller scale, I investigated the effects of urban stormwater drainage infrastructure on water and nutrient delivery from urban watersheds in Phoenix, AZ. Using a combination of field monitoring and statistical modeling, I tested hypotheses about the importance of hydrologic and biogeochemical control of nutrient delivery. My research suggests that hydrology is the major driver of differences in nutrient fluxes from urban watersheds at the event scale, and that consideration of altered hydrologic networks is critical for understanding anthropogenic impacts on biogeochemical cycles. Overall, I found that human activities affect nutrient transport via multiple pathways. Anthropogenic nutrient additions increase the supply of nutrients available for transport, whereas hydrologic infrastructure controls the delivery of nutrients from watersheds. Incorporating the effects of hydrologic infrastructure is critical for understanding anthropogenic effects on biogeochemical fluxes across spatial and temporal scales.

ContributorsHale, Rebecca Leslie (Author) / Grimm, Nancy (Thesis advisor) / Childers, Daniel (Committee member) / Vivoni, Enrique (Committee member) / York, Abigail (Committee member) / Wu, Jianguo (Committee member) / Arizona State University (Publisher)
Created2013
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River and riparian areas are important foraging habitat for insectivorous bats. Numerous studies have shown that aquatic insects provide an important trophic resource to terrestrial consumers, including bats, and are key in regulating population size and species interactions in terrestrial food webs. Yet these studies have generally ignored how structural

River and riparian areas are important foraging habitat for insectivorous bats. Numerous studies have shown that aquatic insects provide an important trophic resource to terrestrial consumers, including bats, and are key in regulating population size and species interactions in terrestrial food webs. Yet these studies have generally ignored how structural characteristics of the riverine landscape influence trophic resource availability or how terrestrial consumers respond to ensuing spatial and temporal patterns of trophic resources. Moreover, few studies have examined linkages between a stream's hydrologic regime and the timing and magnitude of aquatic insect availability. The main objective of my dissertation is to understand the causes of bat distributions in space and time. Specifically, I examine how trophic resource availability, structural components of riverine landscapes (channel confinement and riparian vegetation structure), and hydrologic regimes (flow permanence and timing of floods) mediate spatial and temporal patterns in bat activity. First, I show that river channel confinement determines bat activity along a river's longitudinal axis (directly above the river), while trophic resources appear to have stronger effects across a river's lateral (with distance from the river) axis. Second, I show that flow intermittency affects bat foraging activity indirectly via its effects on trophic resource availability. Seasonal river drying appears to have complex effects on bat foraging activity, initially causing imperfect tracking by consumers of localized concentrations of resources but later resulting in disappearance of both insects and bats after complete river drying. Third, I show that resource tracking by bats varies among streams with contrasting patterns of trophic resource availability and this variation appears to be in response to differences in the timing of aquatic insect emergence, duration and magnitude of emergence, and adult body size of emergent aquatic insects. Finally, I show that aquatic insects directly influence bat activity along a desert stream and that riparian vegetation composition affects bat activity, but only indirectly, via effects on aquatic insect availability. Overall, my results show river channel confinement, riparian vegetation structure, flow permanence, and the timing of floods influence spatial and temporal patterns in bat distributions; but these effects are indirect by influencing the ability of bats to track trophic resources in space and time.

ContributorsHagen, Elizabeth M (Author) / Sabo, John L (Thesis advisor) / Fisher, Stuart G. (Committee member) / Grimm, Nancy (Committee member) / Schmeeckle, Mark W (Committee member) / Stromberg, Juliet C. (Committee member) / Arizona State University (Publisher)
Created2010
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The global transport and deposition of anthropogenic nitrogen (N) to downwind ecosystems are significant and continue to increase. Indeed, atmospheric deposition can be a significant source of N to many watersheds, including those in remote, unpopulated areas. Bacterial denitrification in lake sediments may ameliorate the effects of N loading by

The global transport and deposition of anthropogenic nitrogen (N) to downwind ecosystems are significant and continue to increase. Indeed, atmospheric deposition can be a significant source of N to many watersheds, including those in remote, unpopulated areas. Bacterial denitrification in lake sediments may ameliorate the effects of N loading by converting nitrate (NO3-) to N2 gas. Denitrification also produces nitrous oxide (N2O), a potent greenhouse gas. The ecological effects of atmospheric N inputs in terrestrial ecosystems and the pelagic zone of lakes have been well documented; however, similar research in lake sediments is lacking. This project investigates the effects N of deposition on denitrification and N2O production in lakes. Atmospheric N inputs might alter the availability of NO3- and other key resources to denitrifiers. Such altered resources could influence denitrification, N2O production, and the abundance of denitrifying bacteria in sediments. The research contrasts these responses in lakes at the ends of gradients of N deposition in Colorado and Norway. Rates of denitrification and N2O production were elevated in the sediments of lakes subject to anthropogenic N inputs. There was no evidence, however, that N deposition has altered sediment resources or the abundance of denitrifiers. Further investigation into the dynamics of nitric oxide, N2O, and N2 during denitrification found no difference between deposition regions. Regardless of atmospheric N inputs, sediments from lakes in both Norway and Colorado possess considerable capacity to remove NO3- by denitrification. Catchment-specific properties may influence the denitrifying community more strongly than the rate of atmospheric N loading. In this regard, sediments appear to be insulated from the effects of N deposition compared to the water column. Lastly, surface water N2O concentrations were greater in high-deposition lakes compared to low-deposition lakes. To understand the potential magnitude of deposition-induced N2O production, the greenhouse gas inventory methodology of Intergovernmental Panel on Climate Change was applied to available datasets. Estimated emissions from lakes are 7-371 Gg N y-1, suggesting that lakes could be an important source of N2O.

ContributorsMcCrackin, Michelle Lynn (Author) / Elser, James J (Thesis advisor) / Grimm, Nancy (Committee member) / Hall, Sharon J (Committee member) / Hartnett, Hilairy E (Committee member) / Souza, Valeria (Committee member) / Arizona State University (Publisher)
Created2010
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General ecological thought pertaining to plant biology, conservation, and urban areas has rested on two potentially contradictory underlying assumptions. The first is that non-native plants can spread easily from human developments to “pristine” areas. The second is that native plants cannot disperse through developed areas. Both assume anthropogenic changes to

General ecological thought pertaining to plant biology, conservation, and urban areas has rested on two potentially contradictory underlying assumptions. The first is that non-native plants can spread easily from human developments to “pristine” areas. The second is that native plants cannot disperse through developed areas. Both assume anthropogenic changes to ecosystems create conditions that favor non-native plants and hinder native species. However, it is just as likely that anthropogenic alterations of habitats will favor certain groups of plant species with similar functional traits, whether native or not. Migration of plants can be divided into the following stages: dispersal, germination, establishment, reproduction and spread. Functional traits of species determine which are most successful at each of the stages of invasion or range enlargement. I studied the traits that allow both native and non-native plant species to disperse into freeway corridors, germinate, establish, reproduce, and then disperse along those corridors in Phoenix, Arizona. Field methods included seed bank sample collection and germination, vegetation surveys, and seed trapping. I also evaluated concentrations of plant-available nitrate as a result of localized nitrogen deposition. While many plant species found on the roadsides are either landscape varieties or typical weedy species, some uncommon native species and unexpected non-native species were also encountered. Maintenance regimes greatly influence the amount of vegetative cover and species composition along roadsides. Understanding which traits permit success at various stages of the invasion process indicates whether it is native, non-native, or species with particular traits that are likely to move through the city and establish in the desert. In a related case study conducted in Victoria, Australia, transportation professionals and ecologists were surveyed regarding preferences for roadside landscape design. Roadside design and maintenance projects are typically influenced by different groups of transportation professionals at various stages in a linear project cycle. Landscape architects and design professionals have distinct preferences and priorities compared to other transportation professionals and trained ecologists. The case study reveals the need for collaboration throughout the stages of design, construction and maintenance in order to efficiently manage roadsides for multiple priorities.

ContributorsGade, Kristin Joan (Author) / Kinzig, Ann P (Thesis advisor) / Grimm, Nancy (Committee member) / Perrings, Charles (Committee member) / Robbins, Paul (Committee member) / Stromberg, Juliet C. (Committee member) / Arizona State University (Publisher)
Created2010
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Description

More than half of all accessible freshwater has been appropriated for human use, and a substantial portion of terrestrial ecosystems have been transformed by human action. These impacts are heaviest in urban ecosystems, where impervious surfaces increase runoff, water delivery and stormflows are managed heavily, and there are substantial anthropogenic

More than half of all accessible freshwater has been appropriated for human use, and a substantial portion of terrestrial ecosystems have been transformed by human action. These impacts are heaviest in urban ecosystems, where impervious surfaces increase runoff, water delivery and stormflows are managed heavily, and there are substantial anthropogenic sources of nitrogen (N). Urbanization also frequently results in creation of intentional novel ecosystems. These "designed" ecosystems are fashioned to fulfill particular needs of the residents, or ecosystem services. In the Phoenix, Arizona area, the augmentation and redistribution of water has resulted in numerous component ecosystems that are atypical for a desert environment. Because these systems combine N loading with the presence of water, they may be hot spots of biogeochemical activity. The research presented here illustrates the types of hydrological modifications typical of desert cities and documents the extent and distribution of common designed aquatic ecosystems in the Phoenix metropolitan area: artificial lakes and stormwater retention basins. While both ecosystems were designed for other purposes (recreation/aesthetics and flood abatement, respectively), they have the potential to provide the added ecosystem service of N removal via denitrification. However, denitrification in urban lakes is likely to be limited by the rate of diffusion of nitrate into the sediment. Retention basins export some nitrate to groundwater, but grassy basins have higher denitrification rates than xeriscaped ones, due to higher soil moisture and organic matter content. An economic valuation of environmental amenities demonstrates the importance of abundant vegetation, proximity to water, and lower summer temperatures throughout the region. These amenities all may be provided by designed, water-intensive ecosystems. Some ecosystems are specifically designed for multiple uses, but maximizing one ecosystem service often entails trade-offs with other services. Further investigation into the distribution, bundling, and tradeoffs among water-related ecosystem services shows that some types of services are constrained by the hydrogeomorphology of the area, while for others human engineering and the creation of designed ecosystems has enabled the delivery of hydrologic ecosystem services independent of natural constraints.

ContributorsLarson, Elisabeth Knight (Author) / Grimm, Nancy (Thesis advisor) / Hartnett, Hilairy E (Committee member) / Fisher, Stuart G. (Committee member) / Anderies, John M (Committee member) / Lohse, Kathleen A (Committee member) / Arizona State University (Publisher)
Created2010
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Urban ecosystems cover less than 3% of the Earth's land surface, yet more than half of the human population lives in urban areas. The process of urbanization stresses biodiversity and other ecosystem functions within and far beyond the city. To understand the mechanisms underlying observed changes in biodiversity patterns, several

Urban ecosystems cover less than 3% of the Earth's land surface, yet more than half of the human population lives in urban areas. The process of urbanization stresses biodiversity and other ecosystem functions within and far beyond the city. To understand the mechanisms underlying observed changes in biodiversity patterns, several observational and experimental studies were performed in the metropolitan area of Phoenix, Arizona, and the surrounding Sonoran Desert. The first study was comprised of seven years of arthropod monitoring using pitfall traps in common urban land-use types. This study revealed differences in community structure, diversity and abundance over time and between urban and wildland habitats. Urban habitats with high productivity had higher abundances of arthropods, but lower diversity compared to wildland habitats. Arthropod abundance in less-productive urban habitats was positively correlated with precipitation, but abundance in high-productivity urban habitats was completely decoupled from annual fluctuations in precipitation. This study showed the buffering capacity and the habitat heterogeneity of urban areas. To test the mechanisms controlling community diversity and structure in urban areas, a major field experiment was initiated. Productivity of the native shrub Encelia farinosa and bird predation of associated arthropods were manipulated to test whether bottom-up or top-down forces were more important in urban habitats compared to wildland habitats. Abundance, richness and similarity were monitored, revealing clear differences between urban and wildland habitats. An unusually cold and dry first season had a negative effect on plant growth and arthropod abundance. Plants in urban habitats were relatively unaffected by the low temperature. An increase in arthropod abundance with water availability indicated bottom-up forces in wildland habitats, whereas results from bird exclusions suggested that bird predation may not be as prominent in cities as previously thought. In contrast to the pitfall study, arthropod abundance was lower in urban habitats. A second field experiment testing the sheltering effect of urban structures demonstrated that reduced wind speed is an important factor facilitating plant growth in urban areas. A mathematical model incorporating wind, water and temperature demonstrated that urban habitats may be more robust than wildland habitats, supporting the empirical results.

ContributorsBang, Christofer (Author) / Faeth, Stanley H. (Thesis advisor) / Sabo, John L. (Thesis advisor) / Grimm, Nancy (Committee member) / Anderies, J. Marty (Committee member) / Warren, Paige S. (Committee member) / Arizona State University (Publisher)
Created2010
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With the substantial development of intelligent robots, human-robot interaction (HRI) has become ubiquitous in applications such as collaborative manufacturing, surgical robotic operations, and autonomous driving. In all these applications, a human behavior model, which can provide predictions of human actions, is a helpful reference that helps robots to achieve intelligent

With the substantial development of intelligent robots, human-robot interaction (HRI) has become ubiquitous in applications such as collaborative manufacturing, surgical robotic operations, and autonomous driving. In all these applications, a human behavior model, which can provide predictions of human actions, is a helpful reference that helps robots to achieve intelligent interaction with humans. The requirement elicits an essential problem of how to properly model human behavior, especially when individuals are interacting or cooperating with each other. The major objective of this thesis is to utilize the human intention decoding method to help robots enhance their performance while interacting with humans. Preliminary work on integrating human intention estimation with an HRI scenario is shown to demonstrate the benefit. In order to achieve this goal, the research topic is divided into three phases. First, a novel method of an online measure of the human's reliance on the robot, which can be estimated through the intention decoding process from human actions,is described. An experiment that requires human participants to complete an object-moving task with a robot manipulator was conducted under different conditions of distractions. A relationship is discovered between human intention and trust while participants performed a familiar task with no distraction. This finding suggests a relationship between the psychological construct of trust and joint physical coordination, which bridges the human's action to its mental states. Then, a novel human collaborative dynamic model is introduced based on game theory and bounded rationality, which is a novel method to describe human dyadic behavior with the aforementioned theories. The mutual intention decoding process was also considered to inform this model. Through this model, the connection between the mental states of the individuals to their cooperative actions is indicated. A haptic interface is developed with a virtual environment and the experiments are conducted with 30 human subjects. The result suggests the existence of mutual intention decoding during the human dyadic cooperative behaviors. Last, the empirical results show that allowing agents to have empathy in inference, which lets the agents understand that others might have a false understanding of their intentions, can help to achieve correct intention inference. It has been verified that knowledge about vehicle dynamics was also important to correctly infer intentions. A new courteous policy is proposed that bounded the courteous motion using its inferred set of equilibrium motions. A simulation, which is set to reproduce an intersection passing case between an autonomous car and a human driving car, is conducted to demonstrate the benefit of the novel courteous control policy.
ContributorsWang, Yiwei (Author) / Zhang, Wenlong (Thesis advisor) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Ren, Yi (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2021
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Building and optimizing a design for deformable media can be extremely costly. However, granular scaling laws enable the ability to predict system velocity and mobility power consumption by testing at a smaller scale in the same environment. The validity of the granular scaling laws for arbitrarily shaped wheels and screws

Building and optimizing a design for deformable media can be extremely costly. However, granular scaling laws enable the ability to predict system velocity and mobility power consumption by testing at a smaller scale in the same environment. The validity of the granular scaling laws for arbitrarily shaped wheels and screws were evaluated in materials like silica sand and BP-1, a lunar simulant. Different wheel geometries, such as non-grousered and straight and bihelically grousered wheels were created and tested using 3D printed technologies. Using the granular scaling laws and the empirical data from initial experiments, power and velocity were predicted for a larger scaled version then experimentally validated on a dynamic mobility platform. Working with granular media has high variability in material properties depending on initial environmental conditions, so particular emphasis was placed on consistency in the testing methodology. Through experiments, these scaling laws have been validated with defined use cases and limitations.
ContributorsMcbryan, Teresa (Author) / Marvi, Hamidreza (Thesis advisor) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2022
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Chemical Reaction Networks (CRNs) provide a useful framework for modeling andcontrolling large numbers of agents that undergo stochastic transitions between a set of states in a manner similar to chemical compounds. By utilizing CRN models to design agent control policies, some of the computational challenges in the coordination of multi-agent systems can be

Chemical Reaction Networks (CRNs) provide a useful framework for modeling andcontrolling large numbers of agents that undergo stochastic transitions between a set of states in a manner similar to chemical compounds. By utilizing CRN models to design agent control policies, some of the computational challenges in the coordination of multi-agent systems can be overcome. In this thesis, a CRN model is developed that defines agent control policies for a multi-agent construction task. The use of surface CRNs to overcome the tradeoff between speed and accuracy of task performance is explained. The computational difficulties involved in coordinating multiple agents to complete collective construction tasks is then discussed. A method for stochastic task and motion planning (TAMP) is proposed to explain how a TAMP solver can be applied with CRNs to coordinate multiple agents. This work defines a collective construction scenario in which a group of noncommunicating agents must rearrange blocks on a discrete domain with obstacles into a predefined target distribution. Four different construction tasks are considered with 10, 20, 30, or 40 blocks, and a simulation of each scenario with 2, 4, 6, or 8 agents is performed. As the number of blocks increases, the construction problem becomes more complex, and a given population of agents requires more time to complete the task. Populations of fewer than 8 agents are unable to solve the 30-block and 40-block problems in the allotted simulation time, suggesting an inflection point for computational feasibility, implying that beyond that point the solution times for fewer than 8 agents would be expected to increase significantly. For a group of 8 agents, the time to complete the task generally increases as the number of blocks increases, except for the 30-block problem, which has specifications that make the task slightly easier for the agents to complete compared to the 20-block problem. For the 10-block and 20- block problems, the time to complete the task decreases as the number of agents increases; however, the marginal effect of each additional two agents on this time decreases. This can be explained through the pigeonhole principle: since there area finite number of states, when the number of agents is greater than the number of available spaces, deadlocks start to occur and the expectation is that the overall solution time to tend to infinity.
ContributorsKamojjhala, Pranav (Author) / Berman, Spring (Thesis advisor) / Fainekos, Gergios E (Thesis advisor) / Pavlic, Theodore P (Committee member) / Arizona State University (Publisher)
Created2022