Matching Items (320)
Description
Advancements in computer vision and machine learning have added a new dimension to remote sensing applications with the aid of imagery analysis techniques. Applications such as autonomous navigation and terrain classification which make use of image classification techniques are challenging problems and research is still being carried out to find better solutions. In this thesis, a novel method is proposed which uses image registration techniques to provide better image classification. This method reduces the error rate of classification by performing image registration of the images with the previously obtained images before performing classification. The motivation behind this is the fact that images that are obtained in the same region which need to be classified will not differ significantly in characteristics. Hence, registration will provide an image that matches closer to the previously obtained image, thus providing better classification. To illustrate that the proposed method works, naïve Bayes and iterative closest point (ICP) algorithms are used for the image classification and registration stages respectively. This implementation was tested extensively in simulation using synthetic images and using a real life data set called the Defense Advanced Research Project Agency (DARPA) Learning Applied to Ground Robots (LAGR) dataset. The results show that the ICP algorithm does help in better classification with Naïve Bayes by reducing the error rate by an average of about 10% in the synthetic data and by about 7% on the actual datasets used.
ContributorsMuralidhar, Ashwini (Author) / Saripalli, Srikanth (Thesis advisor) / Papandreou-Suppappola, Antonia (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2011
Description
A numerical study of incremental spin-up and spin-up from rest of a thermally- stratified fluid enclosed within a right circular cylinder with rigid bottom and side walls and stress-free upper surface is presented. Thermally stratified spin-up is a typical example of baroclinity, which is initiated by a sudden increase in rotation rate and the tilting of isotherms gives rise to baroclinic source of vorticity. Research by (Smirnov et al. [2010a]) showed the differences in evolution of instabilities when Dirichlet and Neumann thermal boundary conditions were applied at top and bottom walls. Study of parametric variations carried out in this dissertation confirmed the instability patterns observed by them for given aspect ratio and Rossby number values greater than 0.5. Also results reveal that flow maintained axisymmetry and stability for short aspect ratio containers independent of amount of rotational increment imparted. Investigation on vorticity components provides framework for baroclinic vorticity feedback mechanism which plays important role in delayed rise of instabilities when Dirichlet thermal Boundary Conditions are applied.
ContributorsKher, Aditya Deepak (Author) / Chen, Kangping (Thesis advisor) / Huang, Huei-Ping (Committee member) / Herrmann, Marcus (Committee member) / Arizona State University (Publisher)
Created2011
Description
Motor learning is the process of improving task execution according to some measure of performance. This can be divided into skill learning, a model-free process, and adaptation, a model-based process. Prior studies have indicated that adaptation results from two complementary learning systems with parallel organization. This report attempted to answer the question of whether a similar interaction leads to savings, a model-free process that is described as faster relearning when experiencing something familiar. This was tested in a two-week reaching task conducted on a robotic arm capable of perturbing movements. The task was designed so that the two sessions differed in their history of errors. By measuring the change in the learning rate, the savings was determined at various points. The results showed that the history of errors successfully modulated savings. Thus, this supports the notion that the two complementary systems interact to develop savings. Additionally, this report was part of a larger study that will explore the organizational structure of the complementary systems as well as the neural basis of this motor learning.
ContributorsRuta, Michael (Author) / Santello, Marco (Thesis director) / Blais, Chris (Committee member) / School of Mathematical and Statistical Sciences (Contributor) / School of Molecular Sciences (Contributor) / School of Human Evolution & Social Change (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description
Image processing in canals, rivers and other bodies of water has been a very important concern. This research using Image Processing was performed to obtain a photographic evidence of the data of the site which helps in monitoring the conditions of the water body and the surroundings. Images are captured using a digital camera and the images are stored onto a datalogger, these images are retrieved using a cellular/ satellite modem. A MATLAB program was designed to obtain the level of water by just entering the file name into to the program, a curve fit model was created to determine the contrast parameters. The contrast parameters were obtained using the data obtained from the gray scale image mainly the mean and variance of the intensity values. The enhanced images are used to determine the level of water by taking pixel intensity plots along the region of interest. The level of water obtained is accurate to less than 2% of the actual level of water observed from the image. High speed imaging in micro channels have various application in industrial field, medical field etc. In medical field it is tested by using blood samples. The experimental procedure proposed determines the flow duration and the defects observed in these channel using a fluid introduced into the micro channel the fluid being water based dye and whole milk. The viscosity of the fluid shows different types of flow patterns and defects in the micro channel. The defects observed vary from a small effect to the flow pattern to an extreme defect in the channel such as obstruction of flow or deformation in the channel. The sample needs to be further analyzed by SEM to get a better insight on the defects.
ContributorsShasedhara, Abhijeet Bangalore (Author) / Lee, Taewoo (Thesis advisor) / Huang, Huei-Ping (Committee member) / Chen, Kangping (Committee member) / Arizona State University (Publisher)
Created2011
Description
Neurostimulation methods currently include deep brain stimulation (DBS), optogenetic, transcranial direct-current stimulation (tDCS), and transcranial magnetic stimulation (TMS). TMS and tDCS are noninvasive techniques whereas DBS and optogenetic require surgical implantation of electrodes or light emitting devices. All approaches, except for optogenetic, have been implemented in clinical settings because they have demonstrated therapeutic utility and clinical efficacy for neurological and psychiatric disorders. When applied for therapeutic applications, these techniques suffer from limitations that hinder the progression of its intended use to treat compromised brain function. DBS requires an invasive surgical procedure that surfaces complications from infection, longevity of electrical components, and immune responses to foreign materials. Both TMS and tDCS circumvent the problems seen with DBS as they are noninvasive procedures, but they fail to produce the spatial resolution required to target specific brain structures. Realizing these restrictions, we sought out to use ultrasound as a neurostimulation modality. Ultrasound is capable of achieving greater resolution than TMS and tDCS, as we have demonstrated a ~2mm lateral resolution, which can be delivered noninvasively. These characteristics place ultrasound superior to current neurostimulation methods. For these reasons, this dissertation provides a developed protocol to use transcranial pulsed ultrasound (TPU) as a neurostimulation technique. These investigations implement electrophysiological, optophysiological, immunohistological, and behavioral methods to elucidate the effects of ultrasound on the central nervous system and raise questions about the functional consequences. Intriguingly, we showed that TPU was also capable of stimulating intact sub-cortical circuits in the anesthetized mouse. These data reveal that TPU can evoke synchronous oscillations in the hippocampus in addition to increasing expression of brain-derived neurotrophic factor (BDNF). Considering these observations, and the ability to noninvasively stimulate neuronal activity on a mesoscale resolution, reveals a potential avenue to be effective in clinical settings where current brain stimulation techniques have shown to be beneficial. Thus, the results explained by this dissertation help to pronounce the significance for these protocols to gain translational recognition.
ContributorsTufail, Yusuf Zahid (Author) / Tyler, William J (Thesis advisor) / Duch, Carsten (Committee member) / Muthuswamy, Jitendran (Committee member) / Santello, Marco (Committee member) / Tillery, Stephen H (Committee member) / Arizona State University (Publisher)
Created2011
Description
An accurate sense of upper limb position is crucial to reaching movements where sensory information about upper limb position and target location is combined to specify critical features of the movement plan. This dissertation was dedicated to studying the mechanisms of how the brain estimates the limb position in space and the consequences of misestimation of limb position on movements. Two independent but related studies were performed. The first involved characterizing the neural mechanisms of limb position estimation in the non-human primate brain. Single unit recordings were obtained in area 5 of the posterior parietal cortex in order to examine the role of this area in estimating limb position based on visual and somatic signals (proprioceptive, efference copy). When examined individually, many area 5 neurons were tuned to the position of the limb in the workspace but very few neurons were modulated by visual feedback. At the population level however decoding of limb position was somewhat more accurate when visual feedback was provided. These findings support a role for area 5 in limb position estimation but also suggest that visual signals regarding limb position are only weakly represented in this area, and only at the population level. The second part of this dissertation focused on the consequences of misestimation of limb position for movement production. It is well known that limb movements are inherently variable. This variability could be the result of noise arising at one or more stages of movement production. Here we used biomechanical modeling and simulation techniques to characterize movement variability resulting from noise in estimating limb position ('sensing noise') and in planning required movement vectors ('planning noise'), and compared that to the variability expected due to noise in movement execution. We found that the effects of sensing and planning related noise on movement variability were dependent upon both the planned movement direction and the initial configuration of the arm and were different in many respects from the effects of execution noise.
ContributorsShi, Ying (Author) / Buneo, Christopher A (Thesis advisor) / Helms Tillery, Stephen (Committee member) / Santello, Marco (Committee member) / He, Jiping (Committee member) / Santos, Veronica (Committee member) / Arizona State University (Publisher)
Created2011
Description
A new method of adaptive mesh generation for the computation of fluid flows is investigated. The method utilizes gradients of the flow solution to adapt the size and stretching of elements or volumes in the computational mesh as is commonly done in the conventional Hessian approach. However, in the new method, higher-order gradients are used in place of the Hessian. The method is applied to the finite element solution of the incompressible Navier-Stokes equations on model problems. Results indicate that a significant efficiency benefit is realized.
ContributorsShortridge, Randall (Author) / Chen, Kang Ping (Thesis advisor) / Herrmann, Marcus (Thesis advisor) / Wells, Valana (Committee member) / Huang, Huei-Ping (Committee member) / Mittelmann, Hans (Committee member) / Arizona State University (Publisher)
Created2011
Description
Anticipatory planning of digit positions and forces is critical for successful dexterous object manipulation. Anticipatory (feedforward) planning bypasses the inherent delays in reflex responses and sensorimotor integration associated with reactive (feedback) control. It has been suggested that feedforward and feedback strategies can be distinguished based on the profile of grip and load force rates during the period between initial contact with the object and object lift. However, this has not been validated in tasks that do not constrain digit placement. The purposes of this thesis were (1) to validate the hypothesis that force rate profiles are indicative of the control strategy used for object manipulation and (2) to test this hypothesis by comparing manipulation tasks performed with and without digit placement constraints. The first objective comprised two studies. In the first study an additional light or heavy mass was added to the base of the object. In the second study a mass was added, altering the object's center of mass (CM) location. In each experiment digit force rates were calculated between the times of initial digit contact and object lift. Digit force rates were fit to a Gaussian bell curve and the goodness of fit was compared across predictable and unpredictable mass and CM conditions. For both experiments, a predictable object mass and CM elicited bell shaped force rate profiles, indicative of feedforward control. For the second objective, a comparison of performance between subjects who performed the grasp task with either constrained or unconstrained digit contact locations was conducted. When digit location was unconstrained and CM was predictable, force rates were well fit to a bell shaped curve. However, the goodness of fit of the force rate profiles to the bell shaped curve was weaker for the constrained than the unconstrained digit placement condition. These findings seem to indicate that brain can generate an appropriate feedforward control strategy even when digit placement is unconstrained and an infinite combination of digit placement and force solutions exists to lift the object successfully. Future work is needed that investigates the role digit positioning and tactile feedback has on anticipatory control of object manipulation.
ContributorsCooperhouse, Michael A (Author) / Santello, Marco (Thesis advisor) / Helms Tillery, Stephen (Committee member) / Buneo, Christopher (Committee member) / Arizona State University (Publisher)
Created2011
Description
The evolution of single hairpin vortices and multiple interacting hairpin vortices are studied in direct numerical simulations of channel flow at Re-tau=395. The purpose of this study is to observe the effects of increased Reynolds number and varying initial conditions on the growth of hairpins and the conditions under which single hairpins autogenerate hairpin packets. The hairpin vortices are believed to provide a unified picture of wall turbulence and play an important role in the production of Reynolds shear stress which is directly related to turbulent drag. The structures of the initial three-dimensional vortices are extracted from the two-point spatial correlation of the fully turbulent direct numerical simulation of the velocity field by linear stochastic estimation and embedded in a mean flow having the profile of the fully turbulent flow. The Reynolds number of the present simulation is more than twice that of the Re-tau=180 flow from earlier literature and the conditional events used to define the stochastically estimated single vortex initial conditions include a number of new types of events such as quasi-streamwise vorticity and Q4 events. The effects of parameters like strength, asymmetry and position are evaluated and compared with existing results in the literature. This study then attempts to answer questions concerning how vortex mergers produce larger scale structures, a process that may contribute to the growth of length scale with increasing distance from the wall in turbulent wall flows. Multiple vortex interactions are studied in detail.
ContributorsParthasarathy, Praveen Kumar (Author) / Adrian, Ronald (Thesis advisor) / Huang, Huei-Ping (Committee member) / Herrmann, Marcus (Committee member) / Arizona State University (Publisher)
Created2011
Description
The exhaust system is an integral part of any internal combustion engine. A well- designed exhaust system efficiently removes exhaust gasses expelled from the cylinders. If tuned for performance purposes, the exhaust system can also exhibit scavenging and supercharging characteristics. This project reviews the major components of an exhaust system and discusses the proper design techniques necessary to utilize the performance boosting potential of a tuned exhaust system for a four-stroke engine. These design considerations are then applied to Arizona State University's Formula SAE vehicle by comparing the existing system to a properly tuned system. An inexpensive testing method, developed specifically for this project, is used to test the effectiveness of the current design. The results of the test determined that the current design is ineffective at scavenging neighboring pipes of exhaust gasses and should be redesigned for better performance.
ContributorsKnutsen, Jeffrey Scott (Author) / Huang, Huei-Ping (Thesis director) / Steele, Bruce (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2014-05