Matching Items (119)
Description
As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of robotic systems, manual code translation from model to code is not a feasible optimal solution so we need to move towards automated code generation for such systems. MathWorks® offers code generation facilities called Coder® products for this purpose. However in order to fully exploit the power of model-based design and code generation tools for robotic applications, we need to enhance those software systems by adding and modifying toolboxes, files and other artifacts as well as developing guidelines and procedures. In this thesis, an effort has been made to propose a guideline as well as a Simulink® library, StateFlow® interface API and a C/C++ interface API to complete this toolchain for NAO humanoid robots. Thus the model of the hierarchical control architecture can be easily and properly converted to code and built for implementation.
ContributorsRaji Kermani, Ramtin (Author) / Fainekos, Georgios (Thesis advisor) / Lee, Yann-Hang (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2013
Description
With the advent of social media (like Twitter, Facebook etc.,) people are easily sharing their opinions, sentiments and enforcing their ideologies on others like never before. Even people who are otherwise socially inactive would like to share their thoughts on current affairs by tweeting and sharing news feeds with their friends and acquaintances. In this thesis study, we chose Twitter as our main data platform to analyze shifts and movements of 27 political organizations in Indonesia. So far, we have collected over 30 million tweets and 150,000 news articles from RSS feeds of the corresponding organizations for our analysis. For Twitter data extraction, we developed a multi-threaded application which seamlessly extracts, cleans and stores millions of tweets matching our keywords from Twitter Streaming API. For keyword extraction, we used topics and perspectives which were extracted using n-grams techniques and later approved by our social scientists. After the data is extracted, we aggregate the tweet contents that belong to every user on a weekly basis. Finally, we applied linear and logistic regression using SLEP, an open source sparse learning package to compute weekly score for users and mapping them to one of the 27 organizations on a radical or counter radical scale. Since, we are mapping users to organizations on a weekly basis, we are able to track user's behavior and important new events that triggered shifts among users between organizations. This thesis study can further be extended to identify topics and organization specific influential users and new users from various social media platforms like Facebook, YouTube etc. can easily be mapped to existing organizations on a radical or counter-radical scale.
ContributorsPoornachandran, Sathishkumar (Author) / Davulcu, Hasan (Thesis advisor) / Sen, Arunabha (Committee member) / Woodward, Mark (Committee member) / Arizona State University (Publisher)
Created2013
Description
This dissertation presents the Temporal Event Query Language (TEQL), a new language for querying event streams. Event Stream Processing enables online querying of streams of events to extract relevant data in a timely manner. TEQL enables querying of interval-based event streams using temporal database operators. Temporal databases and temporal query languages have been a subject of research for more than 30 years and are a natural fit for expressing queries that involve a temporal dimension. However, operators developed in this context cannot be directly applied to event streams. The research extends a preexisting relational framework for event stream processing to support temporal queries. The language features and formal semantic extensions to extend the relational framework are identified. The extended framework supports continuous, step-wise evaluation of temporal queries. The incremental evaluation of TEQL operators is formalized to avoid re-computation of previous results. The research includes the development of a prototype that supports the integrated event and temporal query processing framework, with support for incremental evaluation and materialization of intermediate results. TEQL enables reporting temporal data in the output, direct specification of conditions over timestamps, and specification of temporal relational operators. Through the integration of temporal database operators with event languages, a new class of temporal queries is made possible for querying event streams. New features include semantic aggregation, extraction of temporal patterns using set operators, and a more accurate specification of event co-occurrence.
ContributorsShiva, Foruhar Ali (Author) / Urban, Susan D (Thesis advisor) / Chen, Yi (Thesis advisor) / Davulcu, Hasan (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2012
Description
Laboratory automation systems have seen a lot of technological advances in recent times. As a result, the software that is written for them are becoming increasingly sophisticated. Existing software architectures and standards are targeted to a wider domain of software development and need to be customized in order to use them for developing software for laboratory automation systems. This thesis proposes an architecture that is based on existing software architectural paradigms and is specifically tailored to developing software for a laboratory automation system. The architecture is based on fairly autonomous software components that can be distributed across multiple computers. The components in the architecture make use of asynchronous communication methodologies that are facilitated by passing messages between one another. The architecture can be used to develop software that is distributed, responsive and thread-safe. The thesis also proposes a framework that has been developed to implement the ideas proposed by the architecture. The framework is used to develop software that is scalable, distributed, responsive and thread-safe. The framework currently has components to control very commonly used laboratory automation devices such as mechanical stages, cameras, and also to do common laboratory automation functionalities such as imaging.
ContributorsKuppuswamy, Venkataramanan (Author) / Meldrum, Deirdre (Thesis advisor) / Collofello, James (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Johnson, Roger (Committee member) / Arizona State University (Publisher)
Created2012
Description
The pay-as-you-go economic model of cloud computing increases the visibility, traceability, and verifiability of software costs. Application developers must understand how their software uses resources when running in the cloud in order to stay within budgeted costs and/or produce expected profits. Cloud computing's unique economic model also leads naturally to an earn-as-you-go profit model for many cloud based applications. These applications can benefit from low level analyses for cost optimization and verification. Testing cloud applications to ensure they meet monetary cost objectives has not been well explored in the current literature. When considering revenues and costs for cloud applications, the resource economic model can be scaled down to the transaction level in order to associate source code with costs incurred while running in the cloud. Both static and dynamic analysis techniques can be developed and applied to understand how and where cloud applications incur costs. Such analyses can help optimize (i.e. minimize) costs and verify that they stay within expected tolerances. An adaptation of Worst Case Execution Time (WCET) analysis is presented here to statically determine worst case monetary costs of cloud applications. This analysis is used to produce an algorithm for determining control flow paths within an application that can exceed a given cost threshold. The corresponding results are used to identify path sections that contribute most to cost excess. A hybrid approach for determining cost excesses is also presented that is comprised mostly of dynamic measurements but that also incorporates calculations that are based on the static analysis approach. This approach uses operational profiles to increase the precision and usefulness of the calculations.
ContributorsBuell, Kevin, Ph.D (Author) / Collofello, James (Thesis advisor) / Davulcu, Hasan (Committee member) / Lindquist, Timothy (Committee member) / Sen, Arunabha (Committee member) / Arizona State University (Publisher)
Created2012
Description
This thesis introduces the Model-Based Development of Multi-iRobot Toolbox (MBDMIRT), a Simulink-based toolbox designed to provide the means to acquire and practice the Model-Based Development (MBD) skills necessary to design real-time embedded system. The toolbox was developed in the Cyber-Physical System Laboratory at Arizona State University. The MBDMIRT toolbox runs under MATLAB/Simulink to simulate the movements of multiple iRobots and to control, after verification by simulation, multiple physical iRobots accordingly. It adopts the Simulink/Stateflow, which exemplifies an approach to MBD, to program the behaviors of the iRobots. The MBDMIRT toolbox reuses and augments the open-source MATLAB-Based Simulator for the iRobot Create from Cornell University to run the simulation. Regarding the mechanism of iRobot control, the MBDMIRT toolbox applies the MATLAB Toolbox for the iRobot Create (MTIC) from United States Naval Academy to command the physical iRobots. The MBDMIRT toolbox supports a timer in both the simulation and the control, which is based on the local clock of the PC running the toolbox. In addition to the build-in sensors of an iRobot, the toolbox can simulate four user-added sensors, which are overhead localization system (OLS), sonar sensors, a camera, and Light Detection And Ranging (LIDAR). While controlling a physical iRobot, the toolbox supports the StarGazer OLS manufactured by HAGISONIC, Inc.
ContributorsSu, Shih-Kai (Author) / Fainekos, Georgios E (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Artemiadis, Panagiotis K (Committee member) / Arizona State University (Publisher)
Created2012
Description
A semiconductor supply chain modeling and simulation platform using Linear Program (LP) optimization and parallel Discrete Event System Specification (DEVS) process models has been developed in a joint effort by ASU and Intel Corporation. A Knowledge Interchange Broker (KIBDEVS/LP) was developed to broker information synchronously between the DEVS and LP models. Recently a single-echelon heuristic Inventory Strategy Module (ISM) was added to correct for forecast bias in customer demand data using different smoothing techniques. The optimization model could then use information provided by the forecast model to make better decisions for the process model. The composition of ISM with LP and DEVS models resulted in the first realization of what is now called the Optimization Simulation Forecast (OSF) platform. It could handle a single echelon supply chain system consisting of single hubs and single products In this thesis, this single-echelon simulation platform is extended to handle multiple echelons with multiple inventory elements handling multiple products. The main aspect for the multi-echelon OSF platform was to extend the KIBDEVS/LP such that ISM interactions with the LP and DEVS models could also be supported. To achieve this, a new, scalable XML schema for the KIB has been developed. The XML schema has also resulted in strengthening the KIB execution engine design. A sequential scheme controls the executions of the DEVS-Suite simulator, CPLEX optimizer, and ISM engine. To use the ISM for multiple echelons, it is extended to compute forecast customer demands and safety stocks over multiple hubs and products. Basic examples for semiconductor manufacturing spanning single and two echelon supply chain systems have been developed and analyzed. Experiments using perfect data were conducted to show the correctness of the OSF platform design and implementation. Simple, but realistic experiments have also been conducted. They highlight the kinds of supply chain dynamics that can be evaluated using discrete event process simulation, linear programming optimization, and heuristics forecasting models.
ContributorsSmith, James Melkon (Author) / Sarjoughian, Hessam S. (Thesis advisor) / Davulcu, Hasan (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2012
Description
Communication networks, both wired and wireless, are expected to have a certain level of fault-tolerance capability.These networks are also expected to ensure a graceful degradation in performance when some of the network components fail. Traditional studies on fault tolerance in communication networks, for the most part, make no assumptions regarding the location of node/link faults, i.e., the faulty nodes and links may be close to each other or far from each other. However, in many real life scenarios, there exists a strong spatial correlation among the faulty nodes and links. Such failures are often encountered in disaster situations, e.g., natural calamities or enemy attacks. In presence of such region-based faults, many of traditional network analysis and fault-tolerant metrics, that are valid under non-spatially correlated faults, are no longer applicable. To this effect, the main thrust of this research is design and analysis of robust networks in presence of such region-based faults. One important finding of this research is that if some prior knowledge is available on the maximum size of the region that might be affected due to a region-based fault, this piece of knowledge can be effectively utilized for resource efficient design of networks. It has been shown in this dissertation that in some scenarios, effective utilization of this knowledge may result in substantial saving is transmission power in wireless networks. In this dissertation, the impact of region-based faults on the connectivity of wireless networks has been studied and a new metric, region-based connectivity, is proposed to measure the fault-tolerance capability of a network. In addition, novel metrics, such as the region-based component decomposition number(RBCDN) and region-based largest component size(RBLCS) have been proposed to capture the network state, when a region-based fault disconnects the network. Finally, this dissertation presents efficient resource allocation techniques that ensure tolerance against region-based faults, in distributed file storage networks and data center networks.
ContributorsBanerjee, Sujogya (Author) / Sen, Arunabha (Thesis advisor) / Xue, Guoliang (Committee member) / Richa, Andrea (Committee member) / Hurlbert, Glenn (Committee member) / Arizona State University (Publisher)
Created2013
Description
Data mining is increasing in importance in solving a variety of industry problems. Our initiative involves the estimation of resource requirements by skill set for future projects by mining and analyzing actual resource consumption data from past projects in the semiconductor industry. To achieve this goal we face difficulties like data with relevant consumption information but stored in different format and insufficient data about project attributes to interpret consumption data. Our first goal is to clean the historical data and organize it into meaningful structures for analysis. Once the preprocessing on data is completed, different data mining techniques like clustering is applied to find projects which involve resources of similar skillsets and which involve similar complexities and size. This results in "resource utilization templates" for groups of related projects from a resource consumption perspective. Then project characteristics are identified which generate this diversity in headcounts and skillsets. These characteristics are not currently contained in the data base and are elicited from the managers of historical projects. This represents an opportunity to improve the usefulness of the data collection system for the future. The ultimate goal is to match the product technical features with the resource requirement for projects in the past as a model to forecast resource requirements by skill set for future projects. The forecasting model is developed using linear regression with cross validation of the training data as the past project execution are relatively few in number. Acceptable levels of forecast accuracy are achieved relative to human experts' results and the tool is applied to forecast some future projects' resource demand.
ContributorsBhattacharya, Indrani (Author) / Sen, Arunabha (Thesis advisor) / Kempf, Karl G. (Thesis advisor) / Liu, Huan (Committee member) / Arizona State University (Publisher)
Created2013
Description
Contention based IEEE 802.11MAC uses the binary exponential backoff algorithm (BEB) for the contention resolution. The protocol suffers poor performance in the heavily loaded networks and MANETs, high collision rate and packet drops, probabilistic delay guarantees, and unfairness. Many backoff strategies were proposed to improve the performance of IEEE 802.11 but all ignore the network topology and demand. Persistence is defined as the fraction of time a node is allowed to transmit, when this allowance should take into account topology and load, it is topology and load aware persistence (TLA). We develop a relation between contention window size and the TLA-persistence. We implement a new backoff strategy where the TLA-persistence is defined as the lexicographic max-min channel allocation. We use a centralized algorithm to calculate each node's TLApersistence and then convert it into a contention window size. The new backoff strategy is evaluated in simulation, comparing with that of the IEEE 802.11 using BEB. In most of the static scenarios like exposed terminal, flow in the middle, star topology, and heavy loaded multi-hop networks and in MANETs, through the simulation study, we show that the new backoff strategy achieves higher overall average throughput as compared to that of the IEEE 802.11 using BEB.
ContributorsBhyravajosyula, Sai Vishnu Kiran (Author) / Syrotiuk, Violet R. (Thesis advisor) / Sen, Arunabha (Committee member) / Richa, Andrea (Committee member) / Arizona State University (Publisher)
Created2013