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- Genre: Masters Thesis
- Genre: Poetry
- Creators: Turaga, Pavan
- Member of: Theses and Dissertations
- Resource Type: Text
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
Description
Our research focuses on finding answers through decentralized search, for complex, imprecise queries (such as "Which is the best hair salon nearby?") in situations where there is a spatiotemporal constraint (say answer needs to be found within 15 minutes) associated with the query. In general, human networks are good in answering imprecise queries. We try to use the social network of a person to answer his query. Our research aims at designing a framework that exploits the user's social network in order to maximize the answers for a given query. Exploiting an user's social network has several challenges. The major challenge is that the user's immediate social circle may not possess the answer for the given query, and hence the framework designed needs to carry out the query diffusion process across the network. The next challenge involves in finding the right set of seeds to pass the query to in the user's social circle. One other challenge is to incentivize people in the social network to respond to the query and thereby maximize the quality and quantity of replies. Our proposed framework is a mobile application where an individual can either respond to the query or forward it to his friends. We simulated the query diffusion process in three types of graphs: Small World, Random and Preferential Attachment. Given a type of network and a particular query, we carried out the query diffusion by selecting seeds based on attributes of the seed. The main attributes are Topic relevance, Replying or Forwarding probability and Time to Respond. We found that there is a considerable increase in the number of replies attained, even without saturating the user's network, if we adopt an optimal seed selection process. We found the output of the optimal algorithm to be satisfactory as the number of replies received at the interrogator's end was close to three times the number of neighbors an interrogator has. We addressed the challenge of incentivizing people to respond by associating a particular amount of points for each query asked, and awarding the same to people involved in answering the query. Thus, we aim to design a mobile application based on our proposed framework so that it helps in maximizing the replies for the interrogator's query by diffusing the query across his/her social network.
ContributorsSwaminathan, Neelakantan (Author) / Sundaram, Hari (Thesis advisor) / Davulcu, Hasan (Thesis advisor) / Turaga, Pavan (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
A collection of poems that explore what it means to be from the Atomic City-- a city built atop cleared-out rural communities in East Tennessee during World War II, and with the sole and secretive purpose of enriching uranium for the atomic bomb. The poems look back to the more isolated Appalachian culture of previous generations, discovering the identity rifts caused by such massive and rushed development. In trying to understand the poet's own cultural inheritance of both nuclear weaponry and an Appalachian hardness, the poems begin to meditate on inhabitation. They ask what it means to live in a country, a local community, a body. The poems travel far beyond the Atomic City's limits, incorporating characters that live, in some sense, at the edge of a community. As he crosses the Atlantic, the Spanish poet Jiménez wonders if either sound or vision are more trustworthy tools for perception; an aging grandmother in Tennessee realizes that she still "drives" her younger body in her dreams; an American woman becomes aroused after touring the killing fields in Cambodia; and the prophet of Oak Ridge, who supposedly predicted the Manhattan Project, considers how his baby daughter has become a thing after death. The various voices show the poet grappling with her own guilt over Hiroshima, and ultimately attempt to understand the limits of both grief and love, how one inherits a tragedy.
ContributorsSams, Sara (Author) / Hogue, Cynthia (Thesis advisor) / Ball, Sally (Committee member) / Dubie, Norman (Committee member) / Arizona State University (Publisher)
Created2013
Description
Ranging in subject from a Tuareg festival outside Timbuktu to the 1975 "Battle of the Sexes" race at Belmont track to a Mississippi classroom in the Delta flood plains, the poems in The Body Snatcher's Complaint explore the blurring of self hood, a feeling of foreignness within one's own physical experience of the world, in the most intimate and global contexts.
ContributorsMurray, Catherine (Author) / Hogue, Cynthia (Thesis advisor) / Ball, Sally (Committee member) / Hummer, Terry (Committee member) / Arizona State University (Publisher)
Created2013
Description
We solve the problem of activity verification in the context of sustainability. Activity verification is the process of proving the user assertions pertaining to a certain activity performed by the user. Our motivation lies in incentivizing the user for engaging in sustainable activities like taking public transport or recycling. Such incentivization schemes require the system to verify the claim made by the user. The system verifies these claims by analyzing the supporting evidence captured by the user while performing the activity. The proliferation of portable smart-phones in the past few years has provided us with a ubiquitous and relatively cheap platform, having multiple sensors like accelerometer, gyroscope, microphone etc. to capture this evidence data in-situ. In this research, we investigate the supervised and semi-supervised learning techniques for activity verification. Both these techniques make use the data set constructed using the evidence submitted by the user. Supervised learning makes use of annotated evidence data to build a function to predict the class labels of the unlabeled data points. The evidence data captured can be either unimodal or multimodal in nature. We use the accelerometer data as evidence for transportation mode verification and image data as evidence for recycling verification. After training the system, we achieve maximum accuracy of 94% when classifying the transport mode and 81% when detecting recycle activity. In the case of recycle verification, we could improve the classification accuracy by asking the user for more evidence. We present some techniques to ask the user for the next best piece of evidence that maximizes the probability of classification. Using these techniques for detecting recycle activity, the accuracy increases to 93%. The major disadvantage of using supervised models is that it requires extensive annotated training data, which expensive to collect. Due to the limited training data, we look at the graph based inductive semi-supervised learning methods to propagate the labels among the unlabeled samples. In the semi-supervised approach, we represent each instance in the data set as a node in the graph. Since it is a complete graph, edges interconnect these nodes, with each edge having some weight representing the similarity between the points. We propagate the labels in this graph, based on the proximity of the data points to the labeled nodes. We estimate the performance of these algorithms by measuring how close the probability distribution of the data after label propagation is to the probability distribution of the ground truth data. Since labeling has a cost associated with it, in this thesis we propose two algorithms that help us in selecting minimum number of labeled points to propagate the labels accurately. Our proposed algorithm achieves a maximum of 73% increase in performance when compared to the baseline algorithm.
ContributorsDesai, Vaishnav (Author) / Sundaram, Hari (Thesis advisor) / Li, Baoxin (Thesis advisor) / Turaga, Pavan (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
In this thesis, quantitative evaluation of quality of movement during stroke rehabilitation will be discussed. Previous research on stroke rehabilitation in hospital has been shown to be effective. In this thesis, we study various issues that arise when creating a home-based system that can be deployed in a patient's home. Limitation of motion capture due to reduced number of sensors leads to problems with design of kinematic features for quantitative evaluation. Also, the hierarchical three-level tasks of rehabilitation requires new design of kinematic features. In this thesis, the design of kinematic features for a home based stroke rehabilitation system will be presented. Results of the most challenging classifier are shown and proves the effectiveness of the design. Comparison between modern classification techniques and low computational cost threshold based classification with same features will also be shown.
ContributorsCheng, Long (Author) / Turaga, Pavan (Thesis advisor) / Arizona State University (Publisher)
Created2012
Description
Motion capture using cost-effective sensing technology is challenging and the huge success of Microsoft Kinect has been attracting researchers to uncover the potential of using this technology into computer vision applications. In this thesis, an upper-body motion analysis in a home-based system for stroke rehabilitation using novel RGB-D camera - Kinect is presented. We address this problem by first conducting a systematic analysis of the usability of Kinect for motion analysis in stroke rehabilitation. Then a hybrid upper body tracking approach is proposed which combines off-the-shelf skeleton tracking with a novel depth-fused mean shift tracking method. We proposed several kinematic features reliably extracted from the proposed inexpensive and portable motion capture system and classifiers that correlate torso movement to clinical measures of unimpaired and impaired. Experiment results show that the proposed sensing and analysis works reliably on measuring torso movement quality and is promising for end-point tracking. The system is currently being deployed for large-scale evaluations.
ContributorsDu, Tingfang (Author) / Turaga, Pavan (Thesis advisor) / Spanias, Andreas (Committee member) / Rikakis, Thanassis (Committee member) / Arizona State University (Publisher)
Created2012
Description
The Fledglings of Anani is a universe with an underlying organizing principle of desire, auspiciousness and serendipity, the veiled doors and windows of these realms serve as fugues bridging layers of time leading us through myth and landscape intimately tied to the physical intelligence of earth and character of place. It is a voice that comes to know itself first as being, then in correspondence to nature and her elements, enters into the rhythm of human connection and ultimately circles back to comprehend itself as all these things, varying only in degree. The poems travel further and further toward an allusive center with a contemplative inner eye that embraces the complexity and vitality of life.
ContributorsPoole, Heather Lea (Author) / Dubie, Norman (Thesis advisor) / Hogue, Cynthia (Committee member) / Savard, Jeannine (Committee member) / Arizona State University (Publisher)
Created2012