Matching Items (76)
Description
What if there is a way to integrate prosthetics seamlessly with the human body and robots could help improve the lives of children with disabilities? With physical human-robot interaction being seen in multiple aspects of life, including industry, medical, and social, how these robots are interacting with human becomes even more important. Therefore, how smoothly the robot can interact with a person will determine how safe and efficient this relationship will be. This thesis investigates adaptive control method that allows a robot to adapt to the human's actions based on the interaction force. Allowing the relationship to become more effortless and less strained when the robot has a different goal than the human, as seen in Game Theory, using multiple techniques that adapts the system. Few applications this could be used for include robots in physical therapy, manufacturing robots that can adapt to a changing environment, and robots teaching people something new like dancing or learning how to walk after surgery.
The experience gained is the understanding of how a cost function of a system works, including the tracking error, speed of the system, the robot’s effort, and the human’s effort. Also, this two-agent system, results into a two-agent adaptive impedance model with an input for each agent of the system. This leads to a nontraditional linear quadratic regulator (LQR), that must be separated and then added together. Thus, creating a traditional LQR. This new experience can be used in the future to help build better safety protocols on manufacturing robots. In the future the knowledge learned from this research could be used to develop technologies for a robot to allow to adapt to help counteract human error.
The experience gained is the understanding of how a cost function of a system works, including the tracking error, speed of the system, the robot’s effort, and the human’s effort. Also, this two-agent system, results into a two-agent adaptive impedance model with an input for each agent of the system. This leads to a nontraditional linear quadratic regulator (LQR), that must be separated and then added together. Thus, creating a traditional LQR. This new experience can be used in the future to help build better safety protocols on manufacturing robots. In the future the knowledge learned from this research could be used to develop technologies for a robot to allow to adapt to help counteract human error.
ContributorsBell, Rebecca C (Author) / Zhang, Wenlong (Thesis advisor) / Chiou, Erin (Committee member) / Aukes, Daniel (Committee member) / Arizona State University (Publisher)
Created2019
Description
This paper will review past unethical studies conducted in the last 100 years on humans, including studies such as the WWII Concentration Camp studies on hypothermia and sterilization, Tuskegee Syphilis Study, and the case of Henrietta Lacks; Analyze why they were deemed unethical, the laws that emerged from these studies, and how it relates to contemporary technology, with a focus on the issues surrounding the development of an electronic wearable pregnancy monitor. The studies will include details of how they were conducted as well as what deemed them unethical and an explanation of why the results are unusable. Following the studies will be an explanation of the laws that were set into place following the studies with a lead into current technologies and how these technologies created a new set of ethics. The Google Mini, the wearable biosensor onesies for infants, and the intensive care unit at Banner Baywood will be described and so will their role in the development of an electronic wearable pregnancy monitor. The mini-meta analysis includes possible features of the monitor as well as a description of what the ethical consent form will look like. To conclude the paper, the importance of analyzing past unethical studies will help create a new ethical device that will make a point to go above and beyond to ensure the physical health of unborn children, in a way that is both ethical and significant.
ContributorsWallace, Sydney Sarah (Author) / Hall, Rick (Thesis director) / Kamenca, Andrea (Committee member) / Human Systems Engineering (Contributor) / Arizona State University. College of Nursing & Healthcare Innovation (Contributor) / Barrett, The Honors College (Contributor)
Created2017-12
Description
Previous research has shown that an individual's bias can have a negative impact on behavior. One proposed method of modifying such behavior is vicarious (observational) learning. In the current study, the researcher explored the possibility of using vicarious learning to create an effective training video on LGBT bias. The researcher predicted that a vicarious learning video would be more effective at reducing negative LGBT bias than an informationally-equivalent control video. Participants completed the Explicit Attitudes of Sexuality questionnaire (EASQ), were randomized into one of two groups (vicarious or control), watched the assigned training video, and then completed the EASQ again to measure any changes in LGBT bias. The results of the study indicated that the vicarious video was no more effective in reducing negative LGBT bias when compared to the control. Additionally it was found that the vicarious training video was significantly more effective in eliciting new knowledge when compared to the control. The researcher discusses these findings in relation to Social Cognitive Theory for Personal and Social Change by Enabling Media. The researcher also explains how findings of insignificance could have been caused by a selection bias, self-report bias, and/or not enough treatment dosage.
ContributorsIoia, Kody Allan (Author) / Craig, Scotty (Thesis director) / Roscoe, Rod (Committee member) / Human Systems Engineering (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05
Description
"Seventy five percent of the world's poor live in rural areas of developing countries, where most people's livelihoods rely directly on agriculture." (USAid, 2014) Reduced levels of crop production and the accompanying problems of malnourishment exist all over the world. In rural Peru, for example, 11 percent of the population is malnourished. (Global Healthfacts.org, 2012) Since the success in agriculture relies importantly on the fertility of the soil, it is imperative that any efforts at reversing this trend be primarily directed at improving the existing soils. This, in turn, will increase crop yields, and if done properly, will also conserve natural resources and maximize profits for farmers. In order to improve the lives of those at the bottom of the pyramid through agriculture, certain tools and knowledge must be provided in order to empower such persons to help themselves. An ancient method of soil improvement, known as Terra Preta do Indio (Indian dark earth), was discovered by Anthropologists in the 1800's. These dark, carbon-rich, soils are notable for their high fertility, high amounts of plant available nutrients, and their high moisture retention rates. The key to their long-lasting fertility and durability is the presence of high levels of biochar, a highly stable organic carbon \u2014 produced when organic matter (crop residues, food waste, manure, etc.) is burned at low temperatures in the absence of oxygen. Research has shown that when charcoal (biochar) and fertilizers are combined, it can yield as much as 880 percent more than when fertilizers are used by themselves. (Steiner, University of Bayreuth, 2004)
ContributorsStefanik, Kathleen Ann (Author) / Henderson, Mark (Thesis director) / Johnson, Nathan (Committee member) / Barrett, The Honors College (Contributor) / Human Systems Engineering (Contributor)
Created2014-12
Description
Improvised explosive devices (IEDs) have become a major threat to military personnel in recent years. In the United States Army, Mission Payload Operators (MPOs) operate cameras from unmanned aerial vehicles (UAVs) to detect the threat of IEDs using real-time images received. Previous researchers obtained the expert knowledge of twelve MPOs at Fort Huachuca and learned that they rely on "behavioral signatures," the behavioral and environmental cues associated with IED threat rather than the IED itself (Cooke, Hosch, Banas, Hunn, Staszewski & Fensterer, 2010). To the best of our knowledge, no formal MPO training exists and all training is acquired on-the-job. The end goal is to create training systems for future MPOs using cognitive engineering based on expert skill (CEBES) that focus on detection of behavioral cues associated with IED threats. The complexity and dynamicity of cues associated with IED emplacement is to be noted, as such cues are influenced by sociocultural knowledge and often develop over significant periods of time. A dynamic full motion video simulation environment has been created, and embedded with cues elicited from expert MPOs. A three-part simulation has been created. The next step is verifying critical cues MPOs identify and focus on using eye tracking equipment.
ContributorsKnobloch, Ashley Kay (Author) / Cooke, Nancy (Thesis director) / Branaghan, Russ (Committee member) / Barrett, The Honors College (Contributor) / School of Nutrition and Health Promotion (Contributor) / Human Systems Engineering (Contributor)
Created2014-12
Description
The knowledge of cognitive processes of teams and how they work as a system, has drastically broadened in recent years. However, few researchers have applied their findings to an orchestral setting. In the current study, team cognition was observed and analyzed based off an 8th grade orchestra, in addition to the middle and highest-level orchestras at a junior high and high school in the Arizona Public School system. It was found, that in the 8th grade orchestra, most communication is either given or received in the form of auditory cues both verbal and musical. Regardless of skill level, groups that have higher interactions during practices have better performances.
ContributorsColeman, Pamela Brooke (Author) / Cooke, Nancy (Thesis director) / Craig, Scotty (Committee member) / Human Systems Engineering (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
In this article we present a low-cost force-sensing quadrupedal laminate robot platform. The robot has two degrees of freedom on each of four independent legs, allowing for a variety of motion trajectories to be created at each leg, thus creating a rich control space to explore on a relatively low-cost robot. This platform allows a user to research complex motion and gait analysis control questions, and use different concepts in computer science and control theory methods to permit it to walk. The motion trajectory of each leg has been modeled in Python. Critical design considerations are: the complexity of the laminate design, the rigidity of the materials of which the laminate is constructed, the accuracy of the transmission to control each leg, and the design of the force sensing legs.
ContributorsShuch, Benjamin David (Author) / Aukes, Daniel (Thesis director) / Sodemann, Angela (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
This project is investigating the impact curvature, buckling, and anisotropy play when used passively to enhance jumping capability. In this paper we employ a curved structure to allow a rigid link to collapse preferentially in one direction when it encounters aerodynamic drag forces. A joint of this nature could be used for passively actuated jump gliding, where wings would collapse immediately on takeoff and passively redeploy during descent, allowing the jumping robot to extend its horizontal range via gliding. A passively actuated joint is simpler and more lightweight than active solutions, allowing for a lighter glider and higher jumps. To test this, several prototype collapsing gliding wings of different diameters were tested by dropping them from a consistent height above the ground and by launching them upwards and recording their initial velocity. A model was constructed in Python using the data gathered through the experiments and was tuned so that its outputs were as close as possible to the experimental results. As expected, increasing the wing diameter increased the total fall time, and increasing the payload mass decreased the total fall time. Orientation of the wings around the vertical axis of the glider relative to the direction of horizontal motion was also found to have an effect on the length of time between when the gliding platform was launched and when it made contact with the ground, with a configuration where the axis between the wings was parallel to the direction of motion granting added stability.
ContributorsLighthouse, Guston Heqian (Author) / Aukes, Daniel (Thesis director) / Sodemann, Angela (Committee member) / Engineering Programs (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
Behavior traits were examined in an observed experiment with the presentation of an American Pit Bull Terrier. The experiment was conducted at two locations (Wal Mart, Pet Smart) with searching for behavior traits (positive, negative) with an American Pit Bull Terrier present. In contrast to the hypothesis, there was more positive behavior traits than negative behavior traits. Together, these findings suggest that the presentation of an American Pit Bull Terrier has a more positive outlook on the breed rather than negative. Similar studies should be conducted to change the legislation in regard of "Pit Bulls" that cause discrimination against the breed.
ContributorsMendoza, Beatriz Karinme (Author) / Cooke, Nancy (Thesis director) / Meloy, Elizabeth (Committee member) / Human Systems Engineering (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
This study explores the connection between hearing impairment, workplace (social, performance, and employer) stressors, and self-efficacy beliefs. The aim was to compute the statistical significance, direction, and strength between specific stressors and self-efficacy beliefs to see how individuals manage workplace stress overall. In addition, the literature review and a qualitative analysis of open-ended responses from six participants were examined to determine effective coping mechanisms. Descriptive quantitative analysis, frequency charts, t-tests, correlational matrices, and ANOVAs were used to calculate relationships between demographics, stress, and self-efficacy ratings. The results show that self-efficacy and stress are negatively correlated and that self-efficacy and coping techniques are positively correlated. In addition, positive work experiences are correlated with lower stress and higher self-efficacy. Amongst workplace stressors, social stress outranks performance and employer stressors. The opposite trend shows in workplace self-efficacy where performance and employer self-efficacy beliefs are greater than social self-efficacy. Hearing loss level and communication style (e.g., speech, lip reading, sign language) were two important demographic factors in determining stress and self-efficacy levels. Effective coping mechanisms that participants reported included mindfulness, and breaks, whereas ineffective coping included avoidance coping.
ContributorsBaker, Nicholas Ryan (Author) / Roscoe, Rod (Thesis director) / McBride, Ingrid (Committee member) / Human Systems Engineering (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12