Matching Items (154)
Description
This thesis considers the application of basis pursuit to several problems in system identification. After reviewing some key results in the theory of basis pursuit and compressed sensing, numerical experiments are presented that explore the application of basis pursuit to the black-box identification of linear time-invariant (LTI) systems with both finite (FIR) and infinite (IIR) impulse responses, temporal systems modeled by ordinary differential equations (ODE), and spatio-temporal systems modeled by partial differential equations (PDE). For LTI systems, the experimental results illustrate existing theory for identification of LTI FIR systems. It is seen that basis pursuit does not identify sparse LTI IIR systems, but it does identify alternate systems with nearly identical magnitude response characteristics when there are small numbers of non-zero coefficients. For ODE systems, the experimental results are consistent with earlier research for differential equations that are polynomials in the system variables, illustrating feasibility of the approach for small numbers of non-zero terms. For PDE systems, it is demonstrated that basis pursuit can be applied to system identification, along with a comparison in performance with another existing method. In all cases the impact of measurement noise on identification performance is considered, and it is empirically observed that high signal-to-noise ratio is required for successful application of basis pursuit to system identification problems.
ContributorsThompson, Robert C. (Author) / Platte, Rodrigo (Thesis advisor) / Gelb, Anne (Committee member) / Cochran, Douglas (Committee member) / Arizona State University (Publisher)
Created2012
Some topics concerning the singular value decomposition and generalized singular value decomposition
Description
This dissertation involves three problems that are all related by the use of the singular value decomposition (SVD) or generalized singular value decomposition (GSVD). The specific problems are (i) derivation of a generalized singular value expansion (GSVE), (ii) analysis of the properties of the chi-squared method for regularization parameter selection in the case of nonnormal data and (iii) formulation of a partial canonical correlation concept for continuous time stochastic processes. The finite dimensional SVD has an infinite dimensional generalization to compact operators. However, the form of the finite dimensional GSVD developed in, e.g., Van Loan does not extend directly to infinite dimensions as a result of a key step in the proof that is specific to the matrix case. Thus, the first problem of interest is to find an infinite dimensional version of the GSVD. One such GSVE for compact operators on separable Hilbert spaces is developed. The second problem concerns regularization parameter estimation. The chi-squared method for nonnormal data is considered. A form of the optimized regularization criterion that pertains to measured data or signals with nonnormal noise is derived. Large sample theory for phi-mixing processes is used to derive a central limit theorem for the chi-squared criterion that holds under certain conditions. Departures from normality are seen to manifest in the need for a possibly different scale factor in normalization rather than what would be used under the assumption of normality. The consequences of our large sample work are illustrated by empirical experiments. For the third problem, a new approach is examined for studying the relationships between a collection of functional random variables. The idea is based on the work of Sunder that provides mappings to connect the elements of algebraic and orthogonal direct sums of subspaces in a Hilbert space. When combined with a key isometry associated with a particular Hilbert space indexed stochastic process, this leads to a useful formulation for situations that involve the study of several second order processes. In particular, using our approach with two processes provides an independent derivation of the functional canonical correlation analysis (CCA) results of Eubank and Hsing. For more than two processes, a rigorous derivation of the functional partial canonical correlation analysis (PCCA) concept that applies to both finite and infinite dimensional settings is obtained.
ContributorsHuang, Qing (Author) / Eubank, Randall (Thesis advisor) / Renaut, Rosemary (Thesis advisor) / Cochran, Douglas (Committee member) / Gelb, Anne (Committee member) / Young, Dennis (Committee member) / Arizona State University (Publisher)
Created2012
Description
Modern measurement schemes for linear dynamical systems are typically designed so that different sensors can be scheduled to be used at each time step. To determine which sensors to use, various metrics have been suggested. One possible such metric is the observability of the system. Observability is a binary condition determining whether a finite number of measurements suffice to recover the initial state. However to employ observability for sensor scheduling, the binary definition needs to be expanded so that one can measure how observable a system is with a particular measurement scheme, i.e. one needs a metric of observability. Most methods utilizing an observability metric are about sensor selection and not for sensor scheduling. In this dissertation we present a new approach to utilize the observability for sensor scheduling by employing the condition number of the observability matrix as the metric and using column subset selection to create an algorithm to choose which sensors to use at each time step. To this end we use a rank revealing QR factorization algorithm to select sensors. Several numerical experiments are used to demonstrate the performance of the proposed scheme.
ContributorsIlkturk, Utku (Author) / Gelb, Anne (Thesis advisor) / Platte, Rodrigo (Thesis advisor) / Cochran, Douglas (Committee member) / Renaut, Rosemary (Committee member) / Armbruster, Dieter (Committee member) / Arizona State University (Publisher)
Created2015
Description
Scattering from random rough surface has been of interest for decades. Several
methods were proposed to solve this problem, and Kirchho approximation (KA)
and small perturbation method (SMP) are among the most popular. Both methods
provide accurate results on rst order scattering, and the range of validity is limited
and cross-polarization scattering coecient is zero for these two methods unless these
two methods are carried out for higher orders. Furthermore, it is complicated for
higher order formulation and multiple scattering and shadowing are neglected in these
classic methods.
Extension of these two methods has been made in order to x these problems.
However, it is usually complicated and problem specic. While small slope approximation
is one of the most widely used methods to bridge KA and SMP, it is not easy
to implement in a general form. Two scale model can be employed to solve scattering
problems for a tilted perturbation plane, the range of validity is limited.
A new model is proposed in this thesis to deal with cross-polarization scattering
phenomenon on perfect electric conducting random surfaces. Integral equation
is adopted in this model. While integral equation method is often combined with
numerical method to solve the scattering coecient, the proposed model solves the
integral equation iteratively by analytic approximation. We utilize some approximations
on the randomness of the surface, and obtain an explicit expression. It is shown
that this expression achieves agreement with SMP method in second order.
methods were proposed to solve this problem, and Kirchho approximation (KA)
and small perturbation method (SMP) are among the most popular. Both methods
provide accurate results on rst order scattering, and the range of validity is limited
and cross-polarization scattering coecient is zero for these two methods unless these
two methods are carried out for higher orders. Furthermore, it is complicated for
higher order formulation and multiple scattering and shadowing are neglected in these
classic methods.
Extension of these two methods has been made in order to x these problems.
However, it is usually complicated and problem specic. While small slope approximation
is one of the most widely used methods to bridge KA and SMP, it is not easy
to implement in a general form. Two scale model can be employed to solve scattering
problems for a tilted perturbation plane, the range of validity is limited.
A new model is proposed in this thesis to deal with cross-polarization scattering
phenomenon on perfect electric conducting random surfaces. Integral equation
is adopted in this model. While integral equation method is often combined with
numerical method to solve the scattering coecient, the proposed model solves the
integral equation iteratively by analytic approximation. We utilize some approximations
on the randomness of the surface, and obtain an explicit expression. It is shown
that this expression achieves agreement with SMP method in second order.
ContributorsCao, Jiahao (Author) / Pan, George (Thesis advisor) / Balanis, Constantine A (Committee member) / Cochran, Douglas (Committee member) / Arizona State University (Publisher)
Created2017
Description
Inverse problems model real world phenomena from data, where the data are often noisy and models contain errors. This leads to instabilities, multiple solution vectors and thus ill-posedness. To solve ill-posed inverse problems, regularization is typically used as a penalty function to induce stability and allow for the incorporation of a priori information about the desired solution. In this thesis, high order regularization techniques are developed for image and function reconstruction from noisy or misleading data. Specifically the incorporation of the Polynomial Annihilation operator allows for the accurate exploitation of the sparse representation of each function in the edge domain.
This dissertation tackles three main problems through the development of novel reconstruction techniques: (i) reconstructing one and two dimensional functions from multiple measurement vectors using variance based joint sparsity when a subset of the measurements contain false and/or misleading information, (ii) approximating discontinuous solutions to hyperbolic partial differential equations by enhancing typical solvers with l1 regularization, and (iii) reducing model assumptions in synthetic aperture radar image formation, specifically for the purpose of speckle reduction and phase error correction. While the common thread tying these problems together is the use of high order regularization, the defining characteristics of each of these problems create unique challenges.
Fast and robust numerical algorithms are also developed so that these problems can be solved efficiently without requiring fine tuning of parameters. Indeed, the numerical experiments presented in this dissertation strongly suggest that the new methodology provides more accurate and robust solutions to a variety of ill-posed inverse problems.
This dissertation tackles three main problems through the development of novel reconstruction techniques: (i) reconstructing one and two dimensional functions from multiple measurement vectors using variance based joint sparsity when a subset of the measurements contain false and/or misleading information, (ii) approximating discontinuous solutions to hyperbolic partial differential equations by enhancing typical solvers with l1 regularization, and (iii) reducing model assumptions in synthetic aperture radar image formation, specifically for the purpose of speckle reduction and phase error correction. While the common thread tying these problems together is the use of high order regularization, the defining characteristics of each of these problems create unique challenges.
Fast and robust numerical algorithms are also developed so that these problems can be solved efficiently without requiring fine tuning of parameters. Indeed, the numerical experiments presented in this dissertation strongly suggest that the new methodology provides more accurate and robust solutions to a variety of ill-posed inverse problems.
ContributorsScarnati, Theresa (Author) / Gelb, Anne (Thesis advisor) / Platte, Rodrigo (Thesis advisor) / Cochran, Douglas (Committee member) / Gardner, Carl (Committee member) / Sanders, Toby (Committee member) / Arizona State University (Publisher)
Created2018
Description
The interaction between humans and robots has become an important area of research as the diversity of robotic applications has grown. The cooperation of a human and robot to achieve a goal is an important area within the physical human-robot interaction (pHRI) field. The expansion of this field is toward moving robotics into applications in unstructured environments. When humans cooperate with each other, often there are leader and follower roles. These roles may change during the task. This creates a need for the robotic system to be able to exchange roles with the human during a cooperative task. The unstructured nature of the new applications in the field creates a need for robotic systems to be able to interact in six degrees of freedom (DOF). Moreover, in these unstructured environments, the robotic system will have incomplete information. This means that it will sometimes perform an incorrect action and control methods need to be able to correct for this. However, the most compelling applications for robotics are where they have capabilities that the human does not, which also creates the need for robotic systems to be able to correct human action when it detects an error. Activity in the brain precedes human action. Utilizing this activity in the brain can classify the type of interaction desired by the human. For this dissertation, the cooperation between humans and robots is improved in two main areas. First, the ability for electroencephalogram (EEG) to determine the desired cooperation role with a human is demonstrated with a correct classification rate of 65%. Second, a robotic controller is developed to allow the human and robot to cooperate in six DOF with asymmetric role exchange. This system allowed human-robot cooperation to perform a cooperative task at 100% correct rate. High, medium, and low levels of robotic automation are shown to affect performance, with the human making the greatest numbers of errors when the robotic system has a medium level of automation.
ContributorsWhitsell, Bryan Douglas (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Polygerinos, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2017
Description
Spectral congestion is quickly becoming a problem for the telecommunications sector. In order to alleviate spectral congestion and achieve electromagnetic radio frequency (RF) convergence, communications and radar systems are increasingly encouraged to share bandwidth. In direct opposition to the traditional spectrum sharing approach between radar and communications systems of complete isolation (temporal, spectral or spatial), both systems can be jointly co-designed from the ground up to maximize their joint performance for mutual benefit. In order to properly characterize and understand cooperative spectrum sharing between radar and communications systems, the fundamental limits on performance of a cooperative radar-communications system are investigated. To facilitate this investigation, performance metrics are chosen in this dissertation that allow radar and communications to be compared on the same scale. To that effect, information is chosen as the performance metric and an information theoretic radar performance metric compatible with the communications data rate, the radar estimation rate, is developed. The estimation rate measures the amount of information learned by illuminating a target. With the development of the estimation rate, standard multi-user communications performance bounds are extended with joint radar-communications users to produce bounds on the performance of a joint radar-communications system. System performance for variations of the standard spectrum sharing problem defined in this dissertation are investigated, and inner bounds on performance are extended to account for the effect of continuous radar waveform optimization, multiple radar targets, clutter, phase noise, and radar detection. A detailed interpretation of the estimation rate and a brief discussion on how to use these performance bounds to select an optimal operating point and achieve RF convergence are provided.
ContributorsChiriyath, Alex Rajan (Author) / Bliss, Daniel W (Thesis advisor) / Cochran, Douglas (Committee member) / Kosut, Oliver (Committee member) / Richmond, Christ D (Committee member) / Arizona State University (Publisher)
Created2018
Description
Research literature was reviewed to find recommended tools and technologies for operating Unmanned Aerial Systems (UAS) fleets in an urban environment. However, restrictive legislation prohibits fully autonomous flight without an operator. Existing literature covers considerations for operating UAS fleets in a controlled environment, with an emphasis on the effect different networking approaches have on the topology of the UAS network. The primary network topology used to implement UAS communications is 802.11 protocols, which can transmit telemetry and a video stream using off the shelf hardware. Other implementations use low-frequency radios for long distance communication, or higher latency 4G LTE modems to access existing network infrastructure. However, a gap remains testing different network topologies outside of a controlled environment.
With the correct permits in place, further research can explore how different UAS network topologies behave in an urban environment when implemented with off the shelf UAS hardware. In addition to testing different network topologies, this thesis covers the implementation of building a secure, scalable system using modern cloud computation tools and services capable of supporting a variable number of UAS. The system also supports the end-to-end simulation of the system considering factors such as battery life and realistic UAS kinematics. The implementation of the system leads to new findings needed to deploy UAS fleets in urban environments.
With the correct permits in place, further research can explore how different UAS network topologies behave in an urban environment when implemented with off the shelf UAS hardware. In addition to testing different network topologies, this thesis covers the implementation of building a secure, scalable system using modern cloud computation tools and services capable of supporting a variable number of UAS. The system also supports the end-to-end simulation of the system considering factors such as battery life and realistic UAS kinematics. The implementation of the system leads to new findings needed to deploy UAS fleets in urban environments.
ContributorsD'Souza, Daniel (Author) / Panchanathan, Sethuraman (Thesis advisor) / Berman, Spring (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)
Created2018
Description
The Autonomous Vehicle (AV), also known as self-driving car, promises to be a game changer for the transportation industry. This technology is predicted to drastically reduce the number of traffic fatalities due to human error [21].
However, road driving at any reasonable speed involves some risks. Therefore, even with high-tech AV algorithms and sophisticated sensors, there may be unavoidable crashes due to imperfection of the AV systems, or unexpected encounters with wildlife, children and pedestrians. Whenever there is a risk involved, there is the need for an ethical decision to be made [33].
While ethical and moral decision-making in humans has long been studied by experts, the advent of artificial intelligence (AI) also calls for machine ethics. To study the different moral and ethical decisions made by humans, experts may use the Trolley Problem [34], which is a scenario where one must pull a switch near a trolley track to redirect the trolley to kill one person on the track or do nothing, which will result in the deaths of five people. While it is important to take into account the input of members of a society and perform studies to understand how humans crash during unavoidable accidents to help program moral and ethical decision-making into self-driving cars, using the classical trolley problem is not ideal, as it is unrealistic and does not represent moral situations that people face in the real world.
This work seeks to increase the realism of the classical trolley problem for use in studies on moral and ethical decision-making by simulating realistic driving conditions in an immersive virtual environment with unavoidable crash scenarios, to investigate how drivers crash during these scenarios. Chapter 1 gives an in-depth background into autonomous vehicles and relevant ethical and moral problems; Chapter 2 describes current state-of-the-art online tools and simulators that were developed to study moral decision-making during unavoidable crashes. Chapters 3 focuses on building the simulator and the design of the crash scenarios. Chapter 4 describes human subjects experiments that were conducted with the simulator and their results, and Chapter 5 provides conclusions and avenues for future work.
However, road driving at any reasonable speed involves some risks. Therefore, even with high-tech AV algorithms and sophisticated sensors, there may be unavoidable crashes due to imperfection of the AV systems, or unexpected encounters with wildlife, children and pedestrians. Whenever there is a risk involved, there is the need for an ethical decision to be made [33].
While ethical and moral decision-making in humans has long been studied by experts, the advent of artificial intelligence (AI) also calls for machine ethics. To study the different moral and ethical decisions made by humans, experts may use the Trolley Problem [34], which is a scenario where one must pull a switch near a trolley track to redirect the trolley to kill one person on the track or do nothing, which will result in the deaths of five people. While it is important to take into account the input of members of a society and perform studies to understand how humans crash during unavoidable accidents to help program moral and ethical decision-making into self-driving cars, using the classical trolley problem is not ideal, as it is unrealistic and does not represent moral situations that people face in the real world.
This work seeks to increase the realism of the classical trolley problem for use in studies on moral and ethical decision-making by simulating realistic driving conditions in an immersive virtual environment with unavoidable crash scenarios, to investigate how drivers crash during these scenarios. Chapter 1 gives an in-depth background into autonomous vehicles and relevant ethical and moral problems; Chapter 2 describes current state-of-the-art online tools and simulators that were developed to study moral decision-making during unavoidable crashes. Chapters 3 focuses on building the simulator and the design of the crash scenarios. Chapter 4 describes human subjects experiments that were conducted with the simulator and their results, and Chapter 5 provides conclusions and avenues for future work.
ContributorsKankam, Immanuella (Author) / Berman, Spring (Thesis advisor) / Johnson, Kathryn (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2019
Description
The construction industry is very mundane and tiring for workers without the assistance of machines. This challenge has changed the trend of construction industry tremendously by motivating the development of robots that can replace human workers. This thesis presents a computed torque controller that is designed to produce movements by a small-scale, 5 degree-of-freedom (DOF) robotic arm that are useful for construction operations, specifically bricklaying. A software framework for the robotic arm with motion and path planning features and different control capabilities has also been developed using the Robot Operating System (ROS).
First, a literature review of bricklaying construction activity and existing robots’ performance is discussed. After describing an overview of the required robot structure, a mathematical model is presented for the 5-DOF robotic arm. A model-based computed torque controller is designed for the nonlinear dynamic robotic arm, taking into consideration the dynamic and kinematic properties of the arm. For sustainable growth of this technology so that it is affordable to the masses, it is important that the energy consumption by the robot is optimized. In this thesis, the trajectory of the robotic arm is optimized using sequential quadratic programming. The results of the energy optimization procedure are also analyzed for different possible trajectories.
A construction testbed setup is simulated in the ROS platform to validate the designed controllers and optimized robot trajectories on different experimental scenarios. A commercially available 5-DOF robotic arm is modeled in the ROS simulators Gazebo and Rviz. The path and motion planning is performed using the Moveit-ROS interface and also implemented on a physical small-scale robotic arm. A Matlab-ROS framework for execution of different controllers on the physical robot is described. Finally, the results of the controller simulation and experiments are discussed in detail.
First, a literature review of bricklaying construction activity and existing robots’ performance is discussed. After describing an overview of the required robot structure, a mathematical model is presented for the 5-DOF robotic arm. A model-based computed torque controller is designed for the nonlinear dynamic robotic arm, taking into consideration the dynamic and kinematic properties of the arm. For sustainable growth of this technology so that it is affordable to the masses, it is important that the energy consumption by the robot is optimized. In this thesis, the trajectory of the robotic arm is optimized using sequential quadratic programming. The results of the energy optimization procedure are also analyzed for different possible trajectories.
A construction testbed setup is simulated in the ROS platform to validate the designed controllers and optimized robot trajectories on different experimental scenarios. A commercially available 5-DOF robotic arm is modeled in the ROS simulators Gazebo and Rviz. The path and motion planning is performed using the Moveit-ROS interface and also implemented on a physical small-scale robotic arm. A Matlab-ROS framework for execution of different controllers on the physical robot is described. Finally, the results of the controller simulation and experiments are discussed in detail.
ContributorsGandhi, Sushrut (Author) / Berman, Spring (Thesis advisor) / Marvi, Hamidreza (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2019