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- Genre: Academic theses
- Creators: Berman, Spring
Description
Rabies disease remains enzootic among raccoons, skunks, foxes and bats in the United States. It is of primary concern for public-health agencies to control spatial spread of rabies in wildlife and its potential spillover infection of domestic animals and humans. Rabies is invariably fatal in wildlife if untreated, with a non-negligible incubation period. Understanding how this latency affects spatial spread of rabies in wildlife is the concern of chapter 2 and 3. Chapter 1 deals with the background of mathematical models for rabies and lists main objectives. In chapter 2, a reaction-diffusion susceptible-exposed-infected (SEI) model and a delayed diffusive susceptible-infected (SI) model are constructed to describe the same epidemic process -- rabies spread in foxes. For the delayed diffusive model a non-local infection term with delay is resulted from modeling the dispersal during incubation stage. Comparison is made regarding minimum traveling wave speeds of the two models, which are verified using numerical experiments. In chapter 3, starting with two Kermack and McKendrick's models where infectivity, death rate and diffusion rate of infected individuals can depend on the age of infection, the asymptotic speed of spread $c^\ast$ for the cumulated force of infection can be analyzed. For the special case of fixed incubation period, the asymptotic speed of spread is governed by the same integral equation for both models. Although explicit solutions for $c^\ast$ are difficult to obtain, assuming that diffusion coefficient of incubating animals is small, $c^\ast$ can be estimated in terms of model parameter values. Chapter 4 considers the implementation of realistic landscape in simulation of rabies spread in skunks and bats in northeast Texas. The Finite Element Method (FEM) is adopted because the irregular shapes of realistic landscape naturally lead to unstructured grids in the spatial domain. This implementation leads to a more accurate description of skunk rabies cases distributions.
ContributorsLiu, Hao (Author) / Kuang, Yang (Thesis advisor) / Jackiewicz, Zdzislaw (Committee member) / Lanchier, Nicolas (Committee member) / Smith, Hal (Committee member) / Thieme, Horst (Committee member) / Arizona State University (Publisher)
Created2013
Description
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
Description
Bacteriophage (phage) are viruses that infect bacteria. Typical laboratory experiments show that in a chemostat containing phage and susceptible bacteria species, a mutant bacteria species will evolve. This mutant species is usually resistant to the phage infection and less competitive compared to the susceptible bacteria species. In some experiments, both susceptible and resistant bacteria species, as well as phage, can coexist at an equilibrium for hundreds of hours. The current research is inspired by these observations, and the goal is to establish a mathematical model and explore sufficient and necessary conditions for the coexistence. In this dissertation a model with infinite distributed delay terms based on some existing work is established. A rigorous analysis of the well-posedness of this model is provided, and it is proved that the susceptible bacteria persist. To study the persistence of phage species, a "Phage Reproduction Number" (PRN) is defined. The mathematical analysis shows phage persist if PRN > 1 and vanish if PRN < 1. A sufficient condition and a necessary condition for persistence of resistant bacteria are given. The persistence of the phage is essential for the persistence of resistant bacteria. Also, the resistant bacteria persist if its fitness is the same as the susceptible bacteria and if PRN > 1. A special case of the general model leads to a system of ordinary differential equations, for which numerical simulation results are presented.
ContributorsHan, Zhun (Author) / Smith, Hal (Thesis advisor) / Armbruster, Dieter (Committee member) / Kawski, Matthias (Committee member) / Kuang, Yang (Committee member) / Thieme, Horst (Committee member) / Arizona State University (Publisher)
Created2012
Description
In vertebrate outer retina, changes in the membrane potential of horizontal cells affect the calcium influx and glutamate release of cone photoreceptors via a negative feedback. This feedback has a number of important physiological consequences. One is called background-induced flicker enhancement (BIFE) in which the onset of dim background enhances the center flicker response of horizontal cells. The underlying mechanism for the feedback is still unclear but competing hypotheses have been proposed. One is the GABA hypothesis, which states that the feedback is mediated by gamma-aminobutyric acid (GABA), an inhibitory neurotransmitter released from horizontal cells. Another is the ephaptic hypothesis, which contends that the feedback is non-GABAergic and is achieved through the modulation of electrical potential in the intersynaptic cleft between cones and horizontal cells. In this study, a continuum spine model of the cone-horizontal cell synaptic circuitry is formulated. This model, a partial differential equation system, incorporates both the GABA and ephaptic feedback mechanisms. Simulation results, in comparison with experiments, indicate that the ephaptic mechanism is necessary in order for the model to capture the major spatial and temporal dynamics of the BIFE effect. In addition, simulations indicate that the GABA mechanism may play some minor modulation role.
ContributorsChang, Shaojie (Author) / Baer, Steven M. (Thesis advisor) / Gardner, Carl L (Thesis advisor) / Crook, Sharon M (Committee member) / Kuang, Yang (Committee member) / Ringhofer, Christian (Committee member) / Arizona State University (Publisher)
Created2012
Description
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
Description
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
Description
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
Description
A Graph Neural Network (GNN) is a type of neural network architecture that operates on data consisting of objects and their relationships, which are represented by a graph. Within the graph, nodes represent objects and edges represent associations between those objects. The representation of relationships and correlations between data is unique to graph structures. GNNs exploit this feature of graphs by augmenting both forms of data, individual and relational, and have been designed to allow for communication and sharing of data within each neural network layer. These benefits allow each node to have an enriched perspective, or a better understanding, of its neighbouring nodes and its connections to those nodes. The ability of GNNs to efficiently process high-dimensional node data and multi-faceted relationships among nodes gives them advantages over neural network architectures such as Convolutional Neural Networks (CNNs) that do not implicitly handle relational data. These quintessential characteristics of GNN models make them suitable for solving problems in which the correspondences among input data are needed to produce an accurate and precise representation of these data. GNN frameworks may significantly improve existing communication and control techniques for multi-agent tasks by implicitly representing not only information associated with the individual agents, such as agent position, velocity, and camera data, but also their relationships with one another, such as distances between the agents and their ability to communicate with one another. One such task is a multi-agent navigation problem in which the agents must coordinate with one another in a decentralized manner, using proximity sensors only, to navigate safely to their intended goal positions in the environment without collisions or deadlocks. The contribution of this thesis is the design of an end-to-end decentralized control scheme for multi-agent navigation that utilizes GNNs to prevent inter-agent collisions and deadlocks. The contributions consist of the development, simulation and evaluation of the performance of an advantage actor-critic (A2C) reinforcement learning algorithm that employs actor and critic networks for training that simultaneously approximate the policy function and value function, respectively. These networks are implemented using GNN frameworks for navigation by groups of 3, 5, 10 and 15 agents in simulated two-dimensional environments. It is observed that in $40\%$ to $50\%$ of the simulation trials, between 70$\%$ to 80$\%$ of the agents reach their goal positions without colliding with other agents or becoming trapped in deadlocks. The model is also compared to a random run simulation, where actions are chosen randomly for the agents and observe that the model performs notably well for smaller groups of agents.
ContributorsAyalasomayajula, Manaswini (Author) / Berman, Spring (Thesis advisor) / Mian, Sami (Committee member) / Pavlic, Theodore (Committee member) / Arizona State University (Publisher)
Created2022
Description
Recently, Generative Adversarial Networks (GANs) have been applied to the problem of Cold-Start Recommendation, but the training performance of these models is hampered by the extreme sparsity in warm user purchase behavior. This thesis introduces a novel representation for user-vectors by combining user demographics and user preferences, making the model a hybrid system which uses Collaborative Filtering and Content Based Recommendation. This system models user purchase behavior using weighted user-product preferences (explicit feedback) rather than binary user-product interactions (implicit feedback). Using this a novel sparse adversarial model, Sparse ReguLarized Generative Adversarial Network (SRLGAN), is developed for Cold-Start Recommendation. SRLGAN leverages the sparse user-purchase behavior which ensures training stability and avoids over-fitting on warm users. The performance of SRLGAN is evaluated on two popular datasets and demonstrate state-of-the-art results.
ContributorsShah, Aksheshkumar Ajaykumar (Author) / Venkateswara, Hemanth (Thesis advisor) / Berman, Spring (Thesis advisor) / Ladani, Leila J (Committee member) / Arizona State University (Publisher)
Created2022
Description
Soft continuum robots with the ability to bend, twist, elongate, and shorten, similar to octopus arms, have many potential applications, such as dexterous manipulation and navigation through unstructured, dynamic environments. Novel soft materials such as smart hydrogels, which change volume and other properties in response to stimuli such as temperature, pH, and chemicals, can potentially be used to construct soft robots that achieve self-regulated adaptive reconfiguration through on-demand dynamic control of local properties. However, the design of controllers for soft continuum robots is challenging due to their high-dimensional configuration space and the complexity of modeling soft actuator dynamics. To address these challenges, this dissertation presents two different model-based control approaches for robots with distributed soft actuators and sensors and validates the approaches in simulations and physical experiments. It is demonstrated that by choosing an appropriate dynamical model and designing a decentralized controller based on this model, such robots can be controlled to achieve diverse types of complex configurations. The first approach consists of approximating the dynamics of the system, including its actuators, as a linear state-space model in order to apply optimal robust control techniques such as H∞ state-feedback and H∞ output-feedback methods. These techniques are designed to utilize the decentralized control structure of the robot and its distributed sensing and actuation to achieve vibration control and trajectory tracking. The approach is validated in simulation on an Euler-Bernoulli dynamic model of a hydrogel based cantilevered robotic arm and in experiments with a hydrogel-actuated miniature 2-DOF manipulator. The second approach is developed for soft continuum robots with dynamics that can be modeled using Cosserat rod theory. An inverse dynamics control approach is implemented on the Cosserat model of the robot for tracking configurations that include bending, torsion, shear, and extension deformations. The decentralized controller structure facilitates its implementation on robot arms composed of independently-controllable segments that have local sensing and actuation. This approach is validated on simulated 3D robot arms and on an actual silicone robot arm with distributed pneumatic actuation, for which the inverse dynamics problem is solved in simulation and the computed control outputs are applied to the robot in real-time.
ContributorsDoroudchi, Azadeh (Author) / Berman, Spring (Thesis advisor) / Tsakalis, Konstantinos (Committee member) / Si, Jennie (Committee member) / Marvi, Hamid (Committee member) / Arizona State University (Publisher)
Created2022