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Description
As robots become more prevalent, the need is growing for efficient yet stable control systems for applications with humans in the loop. As such, it is a challenge for scientists and engineers to develop robust and agile systems that are capable of detecting instability in teleoperated systems. Despite how much research has been done to characterize the spatiotemporal parameters of human arm motions for reaching and gasping, not much has been done to characterize the behavior of human arm motion in response to control errors in a system. The scope of this investigation is to investigate human corrective actions in response to error in an anthropomorphic teleoperated robot limb. Characterizing human corrective actions contributes to the development of control strategies that are capable of mitigating potential instabilities inherent in human-machine control interfaces. Characterization of human corrective actions requires the simulation of a teleoperated anthropomorphic armature and the comparison of a human subject's arm kinematics, in response to error, against the human arm kinematics without error. This was achieved using OpenGL software to simulate a teleoperated robot arm and an NDI motion tracking system to acquire the subject's arm position and orientation. Error was intermittently and programmatically introduced to the virtual robot's joints as the subject attempted to reach for several targets located around the arm. The comparison of error free human arm kinematics to error prone human arm kinematics revealed an addition of a bell shaped velocity peak into the human subject's tangential velocity profile. The size, extent, and location of the additional velocity peak depended on target location and join angle error. Some joint angle and target location combinations do not produce an additional peak but simply maintain the end effector velocity at a low value until the target is reached. Additional joint angle error parameters and degrees of freedom are needed to continue this investigation.
ContributorsBevilacqua, Vincent Frank (Author) / Artemiadis, Panagiotis (Thesis director) / Santello, Marco (Committee member) / Trimble, Steven (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2013-05
Description
My thesis is on the subject of mentoring. I researched the benefits and the styles of programs available and then used my research to create a survey to give to IDSA national members to see what they believe would make a good mentoring program. From there I tried to improve the current ASU IDSA mentoring program.
ContributorsBargellini, Sylvia Joy (Author) / Hunter, Joel (Thesis director) / Velazquez, Joseph (Committee member) / Burleson, Winslow (Committee member) / Barrett, The Honors College (Contributor) / Herberger Institute for Design and the Arts (Contributor) / The Design School (Contributor)
Created2013-05
Description
Freewheelin': The American Counterculture in Museums is the first study to explore American museums that collect artifacts from the counterculture era at length. Examining institutions whose specialized collections and histories represent the recent, dynamic social movements of the mid-twentieth century begets particular institutional challenges and extraordinary opportunities; both factors causing the evolution of some American history museums into premier social history centers. I have focused on four institutions for research: the Beat Museum, the GLBT History Museum, the Rock and Roll Hall of Fame, and the Museum of Sex. The analysis of each organization contains a brief account of the history they strive to preserve, a case study of their professional operations, and objective recommendations. Ultimately through researching the four selected institutions and museum studies at large, it was determined that certain collective features are propelling a paradigm shift in modern American history museums.
ContributorsSenjamin, Willow (Author) / Fahlman, Betsy (Thesis director) / Codell, Julie (Committee member) / Susser, Deborah (Committee member) / Barrett, The Honors College (Contributor) / Herberger Institute for Design and the Arts (Contributor)
Created2012-12
Description
The role of retention and forgetting of context dependent sensorimotor memory of dexterous manipulation was explored. Human subjects manipulated a U-shaped object by switching the handle to be grasped (context) three times, and then came back two weeks later to lift the same object in the opposite context relative to that experience on the last block. On each context switch, an interference of the previous block of trials was found resulting in manipulation errors (object tilt). However, no significant re-learning was found two weeks later for the first block of trials (p = 0.826), indicating that the previously observed interference among contexts lasted a very short time. Interestingly, upon switching to the other context, sensorimotor memories again interfered with visually-based planning. This means that the memory of lifting in the first context somehow blocked the memory of lifting in the second context. In addition, the performance in the first trial two weeks later and the previous trial of the same context were not significantly different (p = 0.159). This means that subjects are able to retain long-term sensorimotor memories. Lastly, the last four trials in which subjects switched contexts were not significantly different from each other (p = 0.334). This means that the interference from sensorimotor memories of lifting in opposite contexts was weaker, thus eventually leading to the attainment of steady performance.
ContributorsGaw, Nathan Benjamin (Author) / Santello, Marco (Thesis director) / Helms Tillery, Stephen (Committee member) / Buneo, Christopher (Committee member) / Barrett, The Honors College (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Harrington Bioengineering Program (Contributor)
Created2013-05
Description
I worked on the human-machine interface to improve human physical capability. This work was done in the Human Oriented Robotics and Control Lab (HORC) towards the creation of an advanced, EMG-controlled exoskeleton. The project was new, and any work on the human- machine interface needs the physical interface itself. So I designed and fabricated a human-robot coupling device with a novel safety feature. The validation testing of this coupling proved very successful, and the device was granted a provisional patent as well as published to facilitate its spread to other human-machine interface applications, where it could be of major benefit. I then employed this coupling in experimentation towards understanding impedance, with the end goal being the creation of an EMG-based impedance exoskeleton control system. I modified a previously established robot-to-human perturbation method for use in my novel, three- dimensional (3D) impedance measurement experiment. Upon execution of this experiment, I was able to successfully characterize passive, static human arm stiffness in 3D, and in doing so validated the aforementioned method. This establishes an important foundation for promising future work on understanding impedance and the creation of the proposed control scheme, thereby furthering the field of human-robot interaction.
ContributorsO'Neill, Gerald D. (Author) / Artemiadis, Panagiotis (Thesis director) / Santello, Marco (Committee member) / Santos, Veronica (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2013-05
Description
In 1937 Canadian neurosurgeon Wilder Penfield made the first to attempt to map the sensorimotor cortex of the human brain in his paper entitled Somatic Motor and Sensory Representation in the Cerebral Cortex of Man as Studied by Electrical Stimulation. While analogous experimentation had been carried out previously using animal subjects, Penfield sought to understand the delicate and complex neuronal pathways that served as the hidden control mechanisms for human activity. The motor homunculus that followed from his findings has been widely accepted as the standard model for the relative spatial representation of the functionality of the motor cortex, and has been virtually unaltered since its inception. While Penfield took measures to collect cortical data in a manner as accurately as scientifically possible for the time period, his original model is deserving of further analysis using modern techniques. This study uses functional magnetic resonance imaging (fMRI) to quantitatively determine motor function volumes and spatial relationships for four motor tasks: toe, finger, eyebrow, and tongue. Although Penfield's general representation of the superior-to-inferior spatial distribution of the motor cortex was replicated with reasonable accuracy, relative mean task volumes seem to differ from Penfield's original model. The data was first analyzed in each individual patient's native anatomical space for task comparison within a single subject. The volumes of the motor cortex devoted to the eyebrow and toe tasks, which comprise only small portions of the Penfield homunculus, are shown to be relatively large in their fMRI representation compared to finger and tongue. However, these tasks have large deviation values, indicating a lack of consistency in task volume size among patients. Behaviorally, toe movement may include whole foot movement in some individuals, and eyebrows may include face movement, causing distributions that are more widespread. The data was then analyzed in the Montreal Neurological Institute (MNI) space, which is mathematically normalized for task comparison between different subjects. Tongue and finger tasks were the largest in volume, much like Penfield's model. However, they also had substantial deviation, again indicating task volume size inconsistencies. Since the Penfield model is only a qualitative spatial evaluation of motor function along the precentral gyrus, numerical deviation from the model cannot necessarily be quantified. Hence, the results of this study can be interpreted standalone without a current comparison. While future research will serve to further validate these distances and volumes, this quantitative model of the functionality of the motor cortex will be of great utility for future neurological research and during preoperative evaluations of neurosurgical patients.
ContributorsOland, Gabriel Lee (Author) / Frakes, David (Thesis director) / Santello, Marco (Committee member) / Baxter, Leslie (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2013-05
Description
The following business plan is for Classically Designed, an event design and coordination company in the Raleigh-Durham area of North Carolina. All portions (business philosophy, marketing plan, operational plan, financials, etc.) are clearly lined out for immediate use and implementation. Classically Designed will be a business that will have the reputation of honesty, responsibility, and unbelievable imagination. Previous events will shine out of the past to practically sell the business on their own. Clients should get to enjoy their own events as much as their guests and we will strive to make this happen even for the most hands-on event hosts. Customer service should always be of utmost importance so that clients know they are being taken care of and respected by every employee, whether they are with Classically Designed or were simply referred by us. We will be a well-known event company that people use when they want a memorable experience from start to finish for their event.
ContributorsKlaum, Patrice Katherine (Author) / Hoffman, David (Thesis director) / Heywood, William (Committee member) / Coon, Cynthia (Committee member) / Barrett, The Honors College (Contributor) / Herberger Institute for Design and the Arts (Contributor) / School of Community Resources and Development (Contributor)
Created2014-05
Description
In light of the intensifying environmental, social, and economic challenges facing the world, sustainable development is more necessary than ever. Approaching sustainability problems through Asset-Based Community Development (ABCD) programs involving music is unconventional, but holds potential for grand results. An examination of various existing community development projects, from the Playing for Change Foundation to the Arizona State University Barrett Choir, shows that music-related activities are highly effective at fostering community development. Once a foundation of community connectedness is created, other issues such as social injustices or natural disasters can be more effectively addressed and overcome. Music and other fine arts can contribute, in a variety of ways, to the health of communities. This should be recognized and utilized in the pursuit of sustainable community development to preserve the health of the planet and its inhabitants.
ContributorsPaonessa, Carlotta Colleen (Author) / Schildkret, David (Thesis director) / Manuel-Navarrete, David (Committee member) / Barrett, The Honors College (Contributor) / Herberger Institute for Design and the Arts (Contributor) / School of Sustainability (Contributor)
Created2014-05
Description
Advertising to the Millennial Generation is an honors thesis project that combines research with a creative application. The thesis is broken into three main sections: a literature review of the Millennial Generation, three case studies identifying brands or advertising campaigns that have successfully reached Generation Y, and the application of these findings to an advertising campaign with additional marketing mix elements for Bose headphones.
Before creating a campaign targeting Millennials, this thesis first identifies which consumers belong in the Millennial demographic. The definition given looks beyond the ‘age 18-34’ demographic information and analyzes the generation’s unique characteristics, their feelings of being misunderstood by businesses, the importance of social media and technology in their world, and what motivates them to take action.
The subsequent case studies examine the advertising tactics of Barack Obama’s 2008 presidential campaign, the burgeoning social news and entertainment website BuzzFeed, and Beats by Dre headphones. Each of these brands successfully captured the Gen Y demographic group, with an emphasis on the younger end of the 18-34 age spectrum, and effectively communicated their understanding of Millennials’ culture. Each of the three campaigns contained social or digital elements to create engaging and relevant content for the niche of younger Millennials. Immediately following the case studies, best practices are outlined to summarize the findings.
Finally, a digital campaign is proposed for Bose headphones. The literature review, case studies, and best practices contributed to the culminating campaign, which will allow Bose to reach the younger Millennial audience.
Before creating a campaign targeting Millennials, this thesis first identifies which consumers belong in the Millennial demographic. The definition given looks beyond the ‘age 18-34’ demographic information and analyzes the generation’s unique characteristics, their feelings of being misunderstood by businesses, the importance of social media and technology in their world, and what motivates them to take action.
The subsequent case studies examine the advertising tactics of Barack Obama’s 2008 presidential campaign, the burgeoning social news and entertainment website BuzzFeed, and Beats by Dre headphones. Each of these brands successfully captured the Gen Y demographic group, with an emphasis on the younger end of the 18-34 age spectrum, and effectively communicated their understanding of Millennials’ culture. Each of the three campaigns contained social or digital elements to create engaging and relevant content for the niche of younger Millennials. Immediately following the case studies, best practices are outlined to summarize the findings.
Finally, a digital campaign is proposed for Bose headphones. The literature review, case studies, and best practices contributed to the culminating campaign, which will allow Bose to reach the younger Millennial audience.
ContributorsOechsner, Meredith Leigh (Author) / Montoya, Detra (Thesis director) / Ostrom, Amy (Committee member) / Giles, Charles (Committee member) / Barrett, The Honors College (Contributor) / Herberger Institute for Design and the Arts (Contributor) / Department of Marketing (Contributor) / W. P. Carey School of Business (Contributor)
Created2014-05
DescriptionShort fiction revolving around the Y2K scare, written from three perspectives. Explores the fear and uncertainty prevalent during the time and how it affected actions and relationships.
ContributorsMoore, Matthew Robert (Author) / Dalton, Kevin (Thesis director) / Blasingame, James (Committee member) / Barrett, The Honors College (Contributor) / Herberger Institute for Design and the Arts (Contributor) / Department of English (Contributor)
Created2014-05