Matching Items (378)
Description
Effective tactile sensing in prosthetic and robotic hands is crucial for improving the functionality of such hands and enhancing the user's experience. Thus, improving the range of tactile sensing capabilities is essential for developing versatile artificial hands. Multimodal tactile sensors called BioTacs, which include a hydrophone and a force electrode array, were used to understand how grip force, contact angle, object texture, and slip direction may be encoded in the sensor data. Findings show that slip induced under conditions of high contact angles and grip forces resulted in significant changes in both AC and DC pressure magnitude and rate of change in pressure. Slip induced under conditions of low contact angles and grip forces resulted in significant changes in the rate of change in electrode impedance. Slip in the distal direction of a precision grip caused significant changes in pressure magnitude and rate of change in pressure, while slip in the radial direction of the wrist caused significant changes in the rate of change in electrode impedance. A strong relationship was established between slip direction and the rate of change in ratios of electrode impedance for radial and ulnar slip relative to the wrist. Consequently, establishing multiple thresholds or establishing a multivariate model may be a useful method for detecting and characterizing slip. Detecting slip for low contact angles could be done by monitoring electrode data, while detecting slip for high contact angles could be done by monitoring pressure data. Predicting slip in the distal direction could be done by monitoring pressure data, while predicting slip in the radial and ulnar directions could be done by monitoring electrode data.
ContributorsHsia, Albert (Author) / Santos, Veronica J (Thesis advisor) / Santello, Marco (Committee member) / Helms Tillery, Stephen I (Committee member) / Arizona State University (Publisher)
Created2012
Description
Humans moving in the environment must frequently change walking speed and direction to negotiate obstacles and maintain balance. Maneuverability and stability requirements account for a significant part of daily life. While constant-average-velocity (CAV) human locomotion in walking and running has been studied extensively unsteady locomotion has received far less attention. Although some studies have described the biomechanics and neurophysiology of maneuvers, the underlying mechanisms that humans employ to control unsteady running are still not clear. My dissertation research investigated some of the biomechanical and behavioral strategies used for stable unsteady locomotion. First, I studied the behavioral level control of human sagittal plane running. I tested whether humans could control running using strategies consistent with simple and independent control laws that have been successfully used to control monopod robots. I found that humans use strategies that are consistent with the distributed feedback control strategies used by bouncing robots. Humans changed leg force rather than stance duration to control center of mass (COM) height. Humans adjusted foot placement relative to a "neutral point" to change running speed increment between consecutive flight phases, i.e. a "pogo-stick" rather than a "unicycle" strategy was adopted to change running speed. Body pitch angle was correlated by hip moments if a proportional-derivative relationship with time lags corresponding to pre-programmed reaction (87 ± 19 ms) was assumed. To better understand the mechanisms of performing successful maneuvers, I studied the functions of joints in the lower extremities to control COM speed and height. I found that during stance, the hip functioned as a power generator to change speed. The ankle switched between roles as a damper and torsional spring to contributing both to speed and elevation changes. The knee facilitated both speed and elevation control by absorbing mechanical energy, although its contribution was less than hip or ankle. Finally, I studied human turning in the horizontal plane. I used a morphological perturbation (increased body rotational inertia) to elicit compensational strategies used to control sidestep cutting turns. Humans use changes to initial body angular speed and body pre-rotation to prevent changes in braking forces.
ContributorsQiao, Mu, 1981- (Author) / Jindrich, Devin L (Thesis advisor) / Dounskaia, Natalia (Committee member) / Abbas, James (Committee member) / Hinrichs, Richard (Committee member) / Santello, Marco (Committee member) / Arizona State University (Publisher)
Created2012
Description
Diabetic retinopathy (DR) is a common cause of blindness occurring due to prolonged presence of diabetes. The risk of developing DR or having the disease progress is increasing over time. Despite advances in diabetes care over the years, DR remains a vision-threatening complication and one of the leading causes of blindness among American adults. Recent studies have shown that diagnosis based on digital retinal imaging has potential benefits over traditional face-to-face evaluation. Yet there is a dearth of computer-based systems that can match the level of performance achieved by ophthalmologists. This thesis takes a fresh perspective in developing a computer-based system aimed at improving diagnosis of DR images. These images are categorized into three classes according to their severity level. The proposed approach explores effective methods to classify new images and retrieve clinically-relevant images from a database with prior diagnosis information associated with them. Retrieval provides a novel way to utilize the vast knowledge in the archives of previously-diagnosed DR images and thereby improve a clinician's performance while classification can safely reduce the burden on DR screening programs and possibly achieve higher detection accuracy than human experts. To solve the three-class retrieval and classification problem, the approach uses a multi-class multiple-instance medical image retrieval framework that makes use of spectrally tuned color correlogram and steerable Gaussian filter response features. The results show better retrieval and classification performances than prior-art methods and are also observed to be of clinical and visual relevance.
ContributorsChandakkar, Parag Shridhar (Author) / Li, Baoxin (Thesis advisor) / Turaga, Pavan (Committee member) / Frakes, David (Committee member) / Arizona State University (Publisher)
Created2012
Description
Approximately 1.7 million people in the United States are living with limb loss and are in need of more sophisticated devices that better mimic human function. In the Human Machine Integration Laboratory, a powered, transtibial prosthetic ankle was designed and build that allows a person to regain ankle function with improved ankle kinematics and kinetics. The ankle allows a person to walk normally and up and down stairs, but volitional control is still an issue. This research tackled the problem of giving the user more control over the prosthetic ankle using a force/torque circuit. When the user presses against a force/torque sensor located inside the socket the prosthetic foot plantar flexes or moves downward. This will help the user add additional push-off force when walking up slopes or stairs. It also gives the user a sense of control over the device.
ContributorsFronczyk, Adam (Author) / Sugar, Thomas G. (Thesis advisor) / Helms-Tillery, Stephen (Thesis advisor) / Santello, Marco (Committee member) / Arizona State University (Publisher)
Created2012
Description
Recent advances in camera architectures and associated mathematical representations now enable compressive acquisition of images and videos at low data-rates. While most computer vision applications of today are composed of conventional cameras, which collect a large amount redundant data and power hungry embedded systems, which compress the collected data for further processing, compressive cameras offer the advantage of direct acquisition of data in compressed domain and hence readily promise to find applicability in computer vision, particularly in environments hampered by limited communication bandwidths. However, despite the significant progress in theory and methods of compressive sensing, little headway has been made in developing systems for such applications by exploiting the merits of compressive sensing. In such a setting, we consider the problem of activity recognition, which is an important inference problem in many security and surveillance applications. Since all successful activity recognition systems involve detection of human, followed by recognition, a potential fully functioning system motivated by compressive camera would involve the tracking of human, which requires the reconstruction of atleast the initial few frames to detect the human. Once the human is tracked, the recognition part of the system requires only the features to be extracted from the tracked sequences, which can be the reconstructed images or the compressed measurements of such sequences. However, it is desirable in resource constrained environments that these features be extracted from the compressive measurements without reconstruction. Motivated by this, in this thesis, we propose a framework for understanding activities as a non-linear dynamical system, and propose a robust, generalizable feature that can be extracted directly from the compressed measurements without reconstructing the original video frames. The proposed feature is termed recurrence texture and is motivated from recurrence analysis of non-linear dynamical systems. We show that it is possible to obtain discriminative features directly from the compressed stream and show its utility in recognition of activities at very low data rates.
ContributorsKulkarni, Kuldeep Sharad (Author) / Turaga, Pavan (Thesis advisor) / Spanias, Andreas (Committee member) / Frakes, David (Committee member) / Arizona State University (Publisher)
Created2012
Description
This thesis focuses on the life of the Roman Emperor Galerius, with special attention paid to his military campaigns in the east against the Sassanid Empire. Because of a lack of primary sources, Galerius's potential route into Armenia and his two engagements against the Sassanids have been recreated in this thesis. Potential answers to the lack of information were revealed through the analysis of primary sources from different time periods in which similar scenarios occurred between the Romans and Parthians/Sassanids. In addition to the Eastern Campaign, the Christian primary sources are scrutinized due to their bias in portraying Galerius as a bloodthirsty monster. Overall, this thesis puts forth potential answers to the missing information about Galerius's campaign in the East and recreates his legacy as an important figure in Roman history, not just an individual who persecuted Christians.
ContributorsMartin, Maximilian Michael (Author) / Sullivan, Benjamin (Thesis director) / Langille, Timothy (Committee member) / Division of Teacher Preparation (Contributor) / School of Public Affairs (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description
The purpose of this study is to first investigate the role of political socialization on young men and women and what motivates them to become politically active and make the ultimate decision to run for elected office. These effects include parental attitudes, exposure to political shows and news sources, participation in voluntary organizations, and overall community involvement. After understanding these direct and indirect effects of political socialization, I can attempt to explain the causes for the gender gap in political ambition \u2014 meaning that significantly more men are running for elected office compared to women.
ContributorsOsgood, Shannon Marie (Author) / Woodall, Gina (Thesis director) / Herrera, Richard (Committee member) / Barrett, The Honors College (Contributor) / College of Public Service and Community Solutions (Contributor) / School of Public Affairs (Contributor) / School of Politics and Global Studies (Contributor)
Created2015-05
Description
As of late, many universities and colleges have been attempting to change their policies that surround campus sexual assault in order to maintain their compliance as an educational institution by the Department of Education Title IX, Clery Act, the Family Educational Rights and Privacy Act (FERPA) and locally, by the Arizona Board of Regents (ABOR). Currently, statistics show that 1 in 5 women will be sexually assaulted during her college career. Educational institutions are becoming overwhelmed by law suits and other remedies in order to satisfy complaints of campus sexual assault. To understand the current mood of students at Arizona State University (ASU) on the topic of campus sexual assault, the present study examined the current knowledge of students regarding resources at ASU, as well as their potential commitment to participate in new policies at ASU. The sample (N=238) consisted of 20.2% male and 79.8% female of varying years of study from undergraduate to masters who overwhelming agreed that they would adhere to the three (3) recommendations of policy change at ASU in order to educate students on the dangers of campus sexual assault. Survey evaluations are discussed to show support for the recommended policies. Keywords: campus sexual assault, rape myth acceptance, policy implementation, recommendations
ContributorsCervantes, Felix Del Campo (Author) / Desouza, Kevin (Thesis director) / Roe-Sepowitz, Dominique (Committee member) / Barrett, The Honors College (Contributor) / School of Public Affairs (Contributor)
Created2015-05
Description
The generation of walking motion is one of the most vital functions of the human body because it allows us to be mobile in our environment. Unfortunately, numerous individuals suffer from gait impairment as a result of debilitating conditions like stroke, resulting in a serious loss of mobility. Our understanding of human gait is limited by the amount of research we conduct in relation to human walking mechanisms and their characteristics. In order to better understand these characteristics and the systems involved in the generation of human gait, it is necessary to increase the depth and range of research pertaining to walking motion. Specifically, there has been a lack of investigation into a particular area of human gait research that could potentially yield interesting conclusions about gait rehabilitation, which is the effect of surface stiffness on human gait. In order to investigate this idea, a number of studies have been conducted using experimental devices that focus on changing surface stiffness; however, these systems lack certain functionality that would be useful in an experimental scenario. To solve this problem and to investigate the effect of surface stiffness further, a system has been developed called the Variable Stiffness Treadmill system (VST). This treadmill system is a unique investigative tool that allows for the active control of surface stiffness. What is novel about this system is its ability to change the stiffness of the surface quickly, accurately, during the gait cycle, and throughout a large range of possible stiffness values. This type of functionality in an experimental system has never been implemented and constitutes a tremendous opportunity for valuable gait research in regard to the influence of surface stiffness. In this work, the design, development, and implementation of the Variable Stiffness Treadmill system is presented and discussed along with preliminary experimentation. The results from characterization testing demonstrate highly accurate stiffness control and excellent response characteristics for specific configurations. Initial indications from human experimental trials in relation to quantifiable effects from surface stiffness variation using the Variable Stiffness Treadmill system are encouraging.
ContributorsBarkan, Andrew Robert (Author) / Artemiadis, Panagiotis (Thesis director) / Santello, Marco (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2015-05
Description
Sound is immediate and ever-present, pushing in, around, and through physical boundaries to blend together in whichever way it best sees fit, no matter the controls we seek to impose on it. It builds associations for us: physical spaces become distinctive based on the quality and familiarity of sounds which inhabit them. With this spirit, I see sound as the central arbiter of sense of place, particularly in alternative community spaces, wherein individual and collaborative expression is not only encouraged, but essential to its experience, separating it from commonly-held mainstream and/or programmed social space. By recording the sounds of three distinctive such alternative cultural spaces in central Phoenix—The Trunk Space, Lawn Gnome Publishing, and Welcome Diner, rooted in art and music, literature, and food and drink, respectively—I captured the soundscapes in which the community around theses spaces democratically builds its sense of place. Compiling them into a soundscape composition, I installed the piece in the non-place of an art gallery, immersing listeners in fleeting glances at theses soundscapes, then inviting them to use the fluctuating sonic environment to cite their own associations with art, literature, and food-based senses of place right on the gallery walls. Through this exercise, and research on the experience of sound and meanings of sense of place, I express the intersection and essentiality sound, ambient and performative, in building sense of place.
ContributorsDescheemaker, Connor Patrick (Author) / McHugh, Kevin (Thesis director) / McKay, John (Committee member) / Barrett, The Honors College (Contributor) / School of Geographical Sciences and Urban Planning (Contributor) / School of Public Affairs (Contributor)
Created2015-05