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Description
Transcriptions and arrangements of works originally written for other instruments have greatly expanded the guitar’s repertoire. This project focuses on a new arrangement of the Suite in A Minor by Élisabeth Jacquet de la Guerre (1665–1729), which originally was composed for harpsichord. The author chose this work because the repertoire for the guitar is critically lacking in examples of French Baroque harpsichord music and also of works by female composers. The suite includes an unmeasured harpsichord prelude––a genre that, to the author’s knowledge, has not been arranged for the modern six-string guitar. This project also contains a brief account of Jacquet de la Guerre’s life, discusses the genre of unmeasured harpsichord preludes, and provides an overview of compositional aspects of the suite. Furthermore, it includes the arrangement methodology, which shows the process of creating an idiomatic arrangement from harpsichord to solo guitar while trying to preserve the integrity of the original work. A summary of the changes in the current arrangement is presented in Appendix B.
ContributorsSewell, David (Author) / Koonce, Frank (Thesis advisor) / Rotaru, Catalin (Committee member) / Suzuki, Kotoka (Committee member) / Arizona State University (Publisher)
Created2019
Description
In order for a robot to solve complex tasks in real world, it needs to compute discrete, high-level strategies that can be translated into continuous movement trajectories. These problems become increasingly difficult with increasing numbers of objects and domain constraints, as well as with the increasing degrees of freedom of robotic manipulator arms.
The first part of this thesis develops and investigates new methods for addressing these problems through hierarchical task and motion planning for manipulation with a focus on autonomous construction of free-standing structures using precision-cut planks. These planks can be arranged in various orientations to design complex structures; reliably and autonomously building such structures from scratch is computationally intractable due to the long planning horizon and the infinite branching factor of possible grasps and placements that the robot could make.
An abstract representation is developed for this class of problems and show how pose generators can be used to autonomously compute feasible robot motion plans for constructing a given structure. The approach was evaluated through simulation and on a real ABB YuMi robot. Results show that hierarchical algorithms for planning can effectively overcome the computational barriers to solving such problems.
The second part of this thesis proposes a deep learning-based algorithm to identify critical regions for motion planning. Further investigation is done whether these learned critical regions can be translated to learn high-level landmark actions for automated planning.
The first part of this thesis develops and investigates new methods for addressing these problems through hierarchical task and motion planning for manipulation with a focus on autonomous construction of free-standing structures using precision-cut planks. These planks can be arranged in various orientations to design complex structures; reliably and autonomously building such structures from scratch is computationally intractable due to the long planning horizon and the infinite branching factor of possible grasps and placements that the robot could make.
An abstract representation is developed for this class of problems and show how pose generators can be used to autonomously compute feasible robot motion plans for constructing a given structure. The approach was evaluated through simulation and on a real ABB YuMi robot. Results show that hierarchical algorithms for planning can effectively overcome the computational barriers to solving such problems.
The second part of this thesis proposes a deep learning-based algorithm to identify critical regions for motion planning. Further investigation is done whether these learned critical regions can be translated to learn high-level landmark actions for automated planning.
ContributorsKumar, Kislay (Author) / Srivastava, Siddharth (Thesis advisor) / Zhang, Yu (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2019
Description
Two-dimensional quantum materials have garnered increasing interest in a wide
variety of applications due to their promising optical and electronic properties. These
quantum materials are highly anticipated to make transformative quantum sensors and
biosensors. Biosensors are currently considered among one of the most promising
solutions to a wide variety of biomedical and environmental problems including highly
sensitive and selective detection of difficult pathogens, toxins, and biomolecules.
However, scientists face enormous challenges in achieving these goals with current
technologies. Quantum biosensors can have detection with extraordinary sensitivity and
selectivity through manipulation of their quantum states, offering extraordinary properties
that cannot be attained with traditional materials. These quantum materials are anticipated
to make significant impact in the detection, diagnosis, and treatment of many diseases.
Despite the exciting promise of these cutting-edge technologies, it is largely
unknown what the inherent toxicity and biocompatibility of two-dimensional (2D)
materials are. Studies are greatly needed to lay the foundation for understanding the
interactions between quantum materials and biosystems. This work introduces a new
method to continuously monitor the cell proliferation and toxicity behavior of 2D
materials. The cell viability and toxicity measurements coupled with Live/Dead
fluorescence imaging suggest the biocompatibility of crystalline MoS2 and MoSSe
monolayers and the significantly-reduced cellular growth of defected MoTe2 thin films
and exfoliated MoS2 nanosheets. Results show the exciting potential of incorporating
kinetic cell viability data of 2D materials with other assay tools to further fundamental
understanding of 2D material biocompatibility.
variety of applications due to their promising optical and electronic properties. These
quantum materials are highly anticipated to make transformative quantum sensors and
biosensors. Biosensors are currently considered among one of the most promising
solutions to a wide variety of biomedical and environmental problems including highly
sensitive and selective detection of difficult pathogens, toxins, and biomolecules.
However, scientists face enormous challenges in achieving these goals with current
technologies. Quantum biosensors can have detection with extraordinary sensitivity and
selectivity through manipulation of their quantum states, offering extraordinary properties
that cannot be attained with traditional materials. These quantum materials are anticipated
to make significant impact in the detection, diagnosis, and treatment of many diseases.
Despite the exciting promise of these cutting-edge technologies, it is largely
unknown what the inherent toxicity and biocompatibility of two-dimensional (2D)
materials are. Studies are greatly needed to lay the foundation for understanding the
interactions between quantum materials and biosystems. This work introduces a new
method to continuously monitor the cell proliferation and toxicity behavior of 2D
materials. The cell viability and toxicity measurements coupled with Live/Dead
fluorescence imaging suggest the biocompatibility of crystalline MoS2 and MoSSe
monolayers and the significantly-reduced cellular growth of defected MoTe2 thin films
and exfoliated MoS2 nanosheets. Results show the exciting potential of incorporating
kinetic cell viability data of 2D materials with other assay tools to further fundamental
understanding of 2D material biocompatibility.
ContributorsTran, Michael, Ph.D (Author) / Tongay, Sefaattin (Thesis advisor) / Green, Matthew (Thesis advisor) / Muhich, Christopher (Committee member) / Arizona State University (Publisher)
Created2019
Description
The autonomous vehicle technology has come a long way, but currently, there are no companies that are able to offer fully autonomous ride in any conditions, on any road without any human supervision. These systems should be extensively trained and validated to guarantee safe human transportation. Any small errors in the system functionality may lead to fatal accidents and may endanger human lives. Deep learning methods are widely used for environment perception and prediction of hazardous situations. These techniques require huge amount of training data with both normal and abnormal samples to enable the vehicle to avoid a dangerous situation.
The goal of this thesis is to generate simulations from real-world tricky collision scenarios for training and testing autonomous vehicles. Dashcam crash videos from the internet can now be utilized to extract valuable collision data and recreate the crash scenarios in a simulator. The problem of extracting 3D vehicle trajectories from videos recorded by an unknown monocular camera source is solved using a modular approach. The framework is divided into two stages: (a) extracting meaningful adversarial trajectories from short crash videos, and (b) developing methods to automatically process and simulate the vehicle trajectories on a vehicle simulator.
The goal of this thesis is to generate simulations from real-world tricky collision scenarios for training and testing autonomous vehicles. Dashcam crash videos from the internet can now be utilized to extract valuable collision data and recreate the crash scenarios in a simulator. The problem of extracting 3D vehicle trajectories from videos recorded by an unknown monocular camera source is solved using a modular approach. The framework is divided into two stages: (a) extracting meaningful adversarial trajectories from short crash videos, and (b) developing methods to automatically process and simulate the vehicle trajectories on a vehicle simulator.
ContributorsBashetty, Sai Krishna (Author) / Fainkeos, Georgios (Thesis advisor) / Amor, Heni Ben (Thesis advisor) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2019
Description
This thesis draws on industry experience and academic literature to highlight several problems facing the construction and facility management industries. These problems include issues with product delivery performance and financial failures that often lead firms to spend much more than anticipated, while obtaining much less of a product. Transaction-cost economics theory and literature are presented as a model for understanding, predicting, and preventing these problems. Transaction-cost economics suggests that specificity and uncertainty, two key characteristics of industry transactions, are improperly aligned with governance structures, leading to preventable failures. This thesis highlights several case studies in which these failures occur and argues that the correct application of this theory can mitigate many of these problems. A final case study illustrates how this alignment can make a difference in outcome without a compromise of quality.
ContributorsRice, Michael L., M.S (Author) / Sullivan, Kenneth (Thesis advisor) / Stone, Brian (Committee member) / Smithwick, Jake (Committee member) / Arizona State University (Publisher)
Created2019
Description
In undergraduate music curricula, the subjects of music theory and applied music are typically taught separately, with little connection made between them. As a result, students may compartmentalize their knowledge instead of applying it to the music they work on in the studio. This lack of connection can especially affect students studying the tuba, an instrument seldom represented in music theory textbooks and classrooms. This project proposes a way to use the applied tuba studio as a vehicle for a more integrated approach to music theory. Following a first-semester curriculum from Steven G. Laitz’s textbook, The Complete Musician: An Integrated Approach to Tonal Theory, Analysis, and Listening, fourth edition, études from Marco Bordogni’s 43 Bel Canto Studies for Tuba and H.W. Tyrrell’s 40 Advanced Studies for B-flat Bass, two popular tuba method books, are used to illustrate concepts the student is likely to encounter in music theory classes. By showing how what is learned in class can be applied to études the student is practicing, this approach encourages the student to see music theory as a subject that is relevant to their own musical pursuits while they work to improve their performance skills.
ContributorsMargolis, Robert (Author) / Swoboda, Deanna (Thesis advisor) / Holbrook, Amy (Committee member) / Ericson, John (Committee member) / Arizona State University (Publisher)
Created2019
Description
For more than 100 years, the Unite States National Park Service (NPS) has been guided by a mandate to preserve parks and their resources for the enjoyment of present and future generations. But all parks are subject to conditions that may frustrate preservation efforts. Climate change is melting the glaciers. Rising seas are sweeping away protected shorelines. Development projects, accompanied by air, water, light, and noise pollution, edge closer to parks and fragment habitats. The number of visitors and vested interests are swelling and diversifying. Resources for preservation, such as funds and staff, seem to be continuously shrinking, at least relative to demand.
Still, the NPS remains committed to the preservation of our natural and cultural heritage. Yet the practice of that promise is evolving, slowly and iteratively, but detectably. Through explorations of legal and scholarly literature, as well as interviews across the government, non-profit, and academic sectors, I’ve tracked the evolution of preservation in parks. How is preservation shifting to address socio-ecological change? How has preservation evolved before? How should the NPS preserve parks moving forward?
The practice of preservation has come to rely on science, including partnerships with academic researchers, as well as inventory and monitoring programs. That shift has in part been guided by goals that have also become more informed by science, like ecological integrity. While some interviewees see science as a solution to the NPS’s challenges, others wonder how applying science can get “gnarly,” due to uncertainty, lack of clear policies, and the diversity of parks and resources. “Gnarly” questions stem in part from the complexity of the NPS as a socio-ecological system, as well as from disputed, normative concepts that underpin the broader philosophy of preservation, including naturalness. What’s natural in the context of pervasive anthropogenic change? Further, I describe how parks hold deep, sometimes conflicting, cultural and symbolic significance for their local and historical communities and for our nation. Understanding and considering those values is part of the gnarly task park managers face in their mission to preserve parks. I explain why this type of conceptual and values-based uncertainty cannot be reduced through science.
Still, the NPS remains committed to the preservation of our natural and cultural heritage. Yet the practice of that promise is evolving, slowly and iteratively, but detectably. Through explorations of legal and scholarly literature, as well as interviews across the government, non-profit, and academic sectors, I’ve tracked the evolution of preservation in parks. How is preservation shifting to address socio-ecological change? How has preservation evolved before? How should the NPS preserve parks moving forward?
The practice of preservation has come to rely on science, including partnerships with academic researchers, as well as inventory and monitoring programs. That shift has in part been guided by goals that have also become more informed by science, like ecological integrity. While some interviewees see science as a solution to the NPS’s challenges, others wonder how applying science can get “gnarly,” due to uncertainty, lack of clear policies, and the diversity of parks and resources. “Gnarly” questions stem in part from the complexity of the NPS as a socio-ecological system, as well as from disputed, normative concepts that underpin the broader philosophy of preservation, including naturalness. What’s natural in the context of pervasive anthropogenic change? Further, I describe how parks hold deep, sometimes conflicting, cultural and symbolic significance for their local and historical communities and for our nation. Understanding and considering those values is part of the gnarly task park managers face in their mission to preserve parks. I explain why this type of conceptual and values-based uncertainty cannot be reduced through science.
ContributorsSullivan Govani, Michelle (Author) / Minteer, Ben A (Thesis advisor) / Budruk, Megha (Committee member) / Sarewitz, Daniel (Committee member) / Theuer, Jason (Committee member) / Arizona State University (Publisher)
Created2019
Description
The purpose of this case study was to explore the barriers, or constraints, to the integration of field-based environmental education (EE) programs in K-8 public elementary schools in Phoenix, Arizona. Research continues to show that field based EE programs improve student outcomes (Bartosh, Tudor, Ferguson, & Taylor, 2006; Cole, 2007; James and Williams, 2017). Despite the empirical evidence, there appear to be obstacles to integrating field based EE into school curriculum. This study used Hierarchical Leisure Constraints Theory (HLCT) to identify and understand these constraints. There were 22 focus group participants and 13 interviewees from ten different schools and five school districts within the Phoenix area. Looking at the constraints identified by all participants, funding and the availability of transportation play a major role barring the use of field based EE programming. However, when applying HLCT, both of these barriers are structural in nature. This means these are constraints beyond the control of the individual but are negotiable. According to HLCT, you must first understand intrapersonal and interpersonal constraints and the effect they have on overcoming barriers. This study found that perception and prior knowledge emerged as the root of most constraints. In other words, while structural constraints are named as the primary issue in integrating field based EE in public schools, this study concludes from the findings that human nature and human values influence whether teachers and administrators participate in field based programming with their students.
ContributorsCoco, Virginia A (Author) / Andereck, Kathleen (Thesis advisor) / Hultsman, Wendy (Thesis advisor) / Winsor, Brian (Committee member) / Kurz, Alex (Committee member) / Arizona State University (Publisher)
Created2019
Description
This thesis investigated the effects of differing diameters and varying moisture content on the flowability properties of granular glass beads through use of a Freeman FT4 Powder Rheometer. These parameters were tested in order to construct an empirical model to predict flowability properties of glass beads at differing size ranges and moisture contents. The final empirical model outputted an average error of 8.73% across all tested diameters and moisture ranges.
Mohr's circles were constructed from experimentally-obtained shear stress values to quantitatively describe flowability of tested materials in terms of a flow function parameter. A high flow function value (>10) was indicative of a good flow.
By testing 120-180 µm, 120-350 µm, 180-250 µm, 250-350 µm, 430-600 µm, and 600-850 µm glass bead diameter ranges, an increase in size was seen to result in higher flow function values. The limitations of testing using the FT4 became apparent as inconsistent flow function values were obtained at 0% moisture with size ranges above 120-180 µm, or at flow function values of >21. Bead sizes larger than 430 µm showed significant standard deviation over all tested trials--when excluding size ranges above that value, the empirical model showed an average error of only 6.45%.
Wet material testing occurred at all tested glass bead size ranges using a deionized water content of 0%, 1%, 5%, 15%, and 20% by weight. The results of such testing showed a decrease in the resulting flow function parameter as more water content was added. However, this trend changed as 20% moisture content was achieved; the wet material became supersaturated, and an increase in flow function values was observed. The empirical model constructed, therefore, neglected the 20% moisture content regime.
Mohr's circles were constructed from experimentally-obtained shear stress values to quantitatively describe flowability of tested materials in terms of a flow function parameter. A high flow function value (>10) was indicative of a good flow.
By testing 120-180 µm, 120-350 µm, 180-250 µm, 250-350 µm, 430-600 µm, and 600-850 µm glass bead diameter ranges, an increase in size was seen to result in higher flow function values. The limitations of testing using the FT4 became apparent as inconsistent flow function values were obtained at 0% moisture with size ranges above 120-180 µm, or at flow function values of >21. Bead sizes larger than 430 µm showed significant standard deviation over all tested trials--when excluding size ranges above that value, the empirical model showed an average error of only 6.45%.
Wet material testing occurred at all tested glass bead size ranges using a deionized water content of 0%, 1%, 5%, 15%, and 20% by weight. The results of such testing showed a decrease in the resulting flow function parameter as more water content was added. However, this trend changed as 20% moisture content was achieved; the wet material became supersaturated, and an increase in flow function values was observed. The empirical model constructed, therefore, neglected the 20% moisture content regime.
ContributorsKleppe, Cameron (Author) / Emady, Heather (Thesis advisor) / Marvi, Hamidreza (Committee member) / Deng, Shuguang (Committee member) / Arizona State University (Publisher)
Created2019
Description
Transportation plays a significant role in every human's life. Numerous factors, such as cost of living, available amenities, work style, to name a few, play a vital role in determining the amount of travel time. Such factors, among others, led in part to an increased need for private transportation and, consequently, leading to an increase in the purchase of private cars. Also, road safety was impacted by numerous factors such as Driving Under Influence (DUI), driver’s distraction due to the increase in the use of mobile devices while driving. These factors led to an increasing need for an Advanced Driver Assistance System (ADAS) to help the driver stay aware of the environment and to improve road safety.
EcoCAR3 is one of the Advanced Vehicle Technology Competitions, sponsored by the United States Department of Energy (DoE) and managed by Argonne National Laboratory in partnership with the North American automotive industry. Students are challenged beyond the traditional classroom environment in these competitions, where they redesign a donated production vehicle to improve energy efficiency and to meet emission standards while maintaining the features that are attractive to the customer, including but not limited to performance, consumer acceptability, safety, and cost.
This thesis presents a driver assistance system interface that was implemented as part of EcoCAR3, including the adopted sensors, hardware and software components, system implementation, validation, and testing. The implemented driver assistance system uses a combination of range measurement sensors to determine the distance, relative location, & the relative velocity of obstacles and surrounding objects together with a computer vision algorithm for obstacle detection and classification. The sensor system and vision system were tested individually and then combined within the overall system. Also, a visual and audio feedback system was designed and implemented to provide timely feedback for the driver as an attempt to enhance situational awareness and improve safety.
Since the driver assistance system was designed and developed as part of a DoE sponsored competition, the system needed to satisfy competition requirements and rules. This work attempted to optimize the system in terms of performance, robustness, and cost while satisfying these constraints.
EcoCAR3 is one of the Advanced Vehicle Technology Competitions, sponsored by the United States Department of Energy (DoE) and managed by Argonne National Laboratory in partnership with the North American automotive industry. Students are challenged beyond the traditional classroom environment in these competitions, where they redesign a donated production vehicle to improve energy efficiency and to meet emission standards while maintaining the features that are attractive to the customer, including but not limited to performance, consumer acceptability, safety, and cost.
This thesis presents a driver assistance system interface that was implemented as part of EcoCAR3, including the adopted sensors, hardware and software components, system implementation, validation, and testing. The implemented driver assistance system uses a combination of range measurement sensors to determine the distance, relative location, & the relative velocity of obstacles and surrounding objects together with a computer vision algorithm for obstacle detection and classification. The sensor system and vision system were tested individually and then combined within the overall system. Also, a visual and audio feedback system was designed and implemented to provide timely feedback for the driver as an attempt to enhance situational awareness and improve safety.
Since the driver assistance system was designed and developed as part of a DoE sponsored competition, the system needed to satisfy competition requirements and rules. This work attempted to optimize the system in terms of performance, robustness, and cost while satisfying these constraints.
ContributorsBalaji, Venkatesh (Author) / Karam, Lina J (Thesis advisor) / Papandreou-Suppappola, Antonia (Committee member) / Yu, Hongbin (Committee member) / Arizona State University (Publisher)
Created2019