Matching Items (304)
Description
VTOL drones were designed and built at the beginning of the 20th century for military applications due to easy take-off and landing operations. Many companies like Lockheed, Convair, NASA and Bell Labs built their own aircrafts but only a few from them came in to the market. Usually, flight automation starts from first principles modeling which helps in the controller design and dynamic analysis of the system.
In this project, a VTOL drone with a shape similar to a Convair XFY-1 is studied and the primary focus is stabilizing and controlling the flight path of the drone in
its hover and horizontal flying modes. The model of the plane is obtained using first principles modeling and controllers are designed to stabilize the yaw, pitch and roll rotational motions.
The plane is modeled for its yaw, pitch and roll rotational motions. Subsequently, the rotational dynamics of the system are linearized about the hover flying mode, hover to horizontal flying mode, horizontal flying mode, horizontal to hover flying mode for ease of implementation of linear control design techniques. The controllers are designed based on an H∞ loop shaping procedure and the results are verified on the actual nonlinear model for the stability of the closed loop system about hover flying, hover to horizontal transition flying, horizontal flying, horizontal to hover transition flying. An experiment is conducted to study the dynamics of the motor by recording the PWM input to the electronic speed controller as input and the rotational speed of the motor as output. A theoretical study is also done to study the thrust generated by the propellers for lift, slipstream velocity analysis, torques acting on the system for various thrust profiles.
In this project, a VTOL drone with a shape similar to a Convair XFY-1 is studied and the primary focus is stabilizing and controlling the flight path of the drone in
its hover and horizontal flying modes. The model of the plane is obtained using first principles modeling and controllers are designed to stabilize the yaw, pitch and roll rotational motions.
The plane is modeled for its yaw, pitch and roll rotational motions. Subsequently, the rotational dynamics of the system are linearized about the hover flying mode, hover to horizontal flying mode, horizontal flying mode, horizontal to hover flying mode for ease of implementation of linear control design techniques. The controllers are designed based on an H∞ loop shaping procedure and the results are verified on the actual nonlinear model for the stability of the closed loop system about hover flying, hover to horizontal transition flying, horizontal flying, horizontal to hover transition flying. An experiment is conducted to study the dynamics of the motor by recording the PWM input to the electronic speed controller as input and the rotational speed of the motor as output. A theoretical study is also done to study the thrust generated by the propellers for lift, slipstream velocity analysis, torques acting on the system for various thrust profiles.
ContributorsRAGHURAMAN, VIGNESH (Author) / Tsakalis, Konstantinos (Thesis advisor) / Rodriguez, Armando (Committee member) / Yong, Sze Zheng (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
Description
Soft Poly-Limb (SPL) is a pneumatically driven, wearable, soft continuum robotic arm designed to aid humans with medical conditions, such as cerebral palsy, paraplegia, cervical spondylotic myelopathy, perform activities of daily living. To support user's tasks, the SPL acts as an additional limb extending from the human body which can be controlled to perform safe and compliant mobile manipulation in three-dimensional space. The SPL is inspired by invertebrate limbs, such as the elephant trunk and the arms of the octopus. In this work, various geometrical and physical parameters of the SPL are identified, and behavior of the actuators that comprise it are studied by varying their parameters through novel quasi-static computational models. As a result, this study provides a set of engineering design rules to create soft actuators for continuum soft robotic arms by understanding how varying parameters affect the actuator's motion as a function of the input pressure. A prototype of the SPL is fabricated to analyze the accuracy of these computational models by performing linear expansion, bending and arbitrary pose tests. Furthermore, combinations of the parameters based on the application of the SPL are determined to affect the weight, payload capacity, and stiffness of the arm. Experimental results demonstrate the accuracy of the proposed computational models and help in understanding the behavior of soft compliant actuators. Finally, based on the set functional requirements for the assistance of impaired users, results show the effectiveness of the SPL in performing tasks for activities of daily living.
ContributorsNuthi, Sai Gautham (Author) / Polygerinos, Panagiotis (Thesis advisor) / Lee, Hyunglae (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2018
Description
This work considers the design of separating input signals in order to discriminate among a finite number of uncertain nonlinear models. Each nonlinear model corresponds to a system operating mode, unobserved intents of other drivers or robots, or to fault types or attack strategies, etc., and the separating inputs are designed such that the output trajectories of all the nonlinear models are guaranteed to be distinguishable from each other under any realization of uncertainties in the initial condition, model discrepancies or noise. I propose a two-step approach. First, using an optimization-based approach, we over-approximate nonlinear dynamics by uncertain affine models, as abstractions that preserve all its system behaviors such that any discrimination guarantees for the affine abstraction also hold for the original nonlinear system. Then, I propose a novel solution in the form of a mixed-integer linear program (MILP) to the active model discrimination problem for uncertain affine models, which includes the affine abstraction and thus, the nonlinear models. Finally, I demonstrate the effectiveness of our approach for identifying the intention of other vehicles in a highway lane changing scenario. For the abstraction, I explore two approaches. In the first approach, I construct the bounding planes using a Mixed-Integer Nonlinear Problem (MINLP) formulation of the given system with appropriately designed constraints. For the second approach, I solve a linear programming (LP) problem that over-approximates the nonlinear function at only the grid points of a mesh with a given resolution and then accounting for the entire domain via an appropriate correction term. To achieve a desired approximation accuracy, we also iteratively subdivide the domain into subregions. This method applies to nonlinear functions with different degrees of smoothness, including Lipschitz continuous functions, and improves on existing approaches by enabling the use of tighter bounds. Finally, we compare the effectiveness of this approach with the existing optimization-based methods in simulation and illustrate its applicability for estimator design.
ContributorsSingh, Kanishka Raj (Author) / Yong, Sze Zheng (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2018
Description
There are a large group of amputees living in the country and the number of them is supposed to increase a lot in the following years. Among them, lower-limb amputees are the majority. In order to improve the locomotion of lower-limb amputees, many prostheses have been developed. Most commercially available prostheses are passive. They can not actively provide pure torque as an intact human could do. Powered prostheses have been the focus during the past decades. Some advanced prostheses have been successful in walking on level ground as well as on inclined surface and climbing stairs. However, not much work has been done regarding walking on compliant surfaces. My preliminary studies on myoelectric signals of the lower limbs during walking showed that there exists difference in muscle activation when walking on compliant surfaces. However, the mapping of muscle activities to joint torques for a prosthesis that will be capable of providing the required control to walk on compliant surfaces is not straightforward. In order to explore the effects of surface compliance on leg joint torque, a dynamic model of the lower limb was built using Simscape. The simulated walker (android) was commanded to track the same kinematics data of intact human walking on solid surface. Multiple simulations were done while varying ground stiffness in order to see how the torque at the leg joints would change as a function of the ground compliance. The results of this study could be used for the control of powered prostheses for robust walking on compliant surfaces.
ContributorsWang, Junxin, 1989- (Author) / Artemiadis, Panagiotis (Thesis advisor) / Yong, Sze Zheng (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2019
Description
The purpose of this research is to explore Latina/o students' involvement at Arizona State University West and how it affects their sense of belonging, and thereby, their retention. I operationalize a "sense of belonging" as being able to express and feel comfortable with one's ethnic identity in the context of a higher education institution (Hurtado, 1997). I operationalize student involvement by the extent to which an individual student is devoted to their academic experience, invests time studying on campus, participates in student organizations, and interacts with faculty and their peers (Astin, 1984). I draw from Astin's theory of student involvement and Hurtado's sense of belonging as a base for this inquiry because they are critical components to understanding retention among the Latino/a community at Arizona State University West.
ContributorsGuerra, Luis D. (Author) / Cuadraz, Gloria (Thesis director) / Aska, Cassandra (Committee member) / School of Social and Behavioral Sciences (Contributor) / School of Humanities, Arts, and Cultural Studies (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
In today’s economy, advertisers understand that sex sells. The foundations of this concept, however, are influenced by patriarchal expectations that women are first and foremost sexual objects for men. Women are sold beauty and demeanor expectations for them to utilize when making themselves attractive for men and men are sold the idea of beautiful, docile women. This dynamic perpetuates strict definitions of acceptable gender displays and reinforces socially permitted gendered behavior. As a society in the 21st century, we understand the damage of sexist ideals, but where we fall short is in the monitoring of channels that perpetuate and maintain those stereotypes and how affected the public really is by the male gaze, and lack of a female gaze, in media. In this paper, I search for a female gaze, but in doing so recognize the inequalities inherent in yet another gendered practice of looking and instead steer the conversation towards personalized perspectives informed by an understanding of the dominant practice of looking and its inverse.
The primary perspective from which people are depicted in media today is shaped by the male gaze. The male gaze is comprised of patriarchal ideals and relies on the understanding that the spectator or viewer is a standard human being, which heteronormativity tells us is a man. From this perspective, the scope of visual representations of men and women in media has been molded after the hierarchized gender displays within which masculinity has primacy over femininity. By presenting a limited spectrum of behavior acceptable for men and women, the media hegemonically manipulates the social constructs of gender and gendered behavior across all levels of society.
This honors thesis applies semiotic and feminist methodologies to engage visual forms of media through art, film, and social media to challenge the social constructs of gender perpetuated and reinforced by dated stereotypes of gender and gendered behavior. First, the theoretical foundation will provide a framework for semiotic and feminist analysis of visual representations of gender in media. Then, I will present data representing the real-world impact that this social construction of gender has on adolescents in America using The State of Gender Equality for U.S. Adolescents, published by Plan International Inc. I will then bring together the explicated methodologies and evidential data alongside my own experiences as a female consumer of visual media to reveal alternative practices of looking that do not revolve around patriarchal norms, looking for a female gaze. In doing so, I hope to present recourse in the face of persistent use of sexist imagery across all levels of our culture and every medium of visual self-expression by providing tools that can be used to interrogate gendered perceptions and inform self-examination in pursuit of a feminist practice of looking.
The primary perspective from which people are depicted in media today is shaped by the male gaze. The male gaze is comprised of patriarchal ideals and relies on the understanding that the spectator or viewer is a standard human being, which heteronormativity tells us is a man. From this perspective, the scope of visual representations of men and women in media has been molded after the hierarchized gender displays within which masculinity has primacy over femininity. By presenting a limited spectrum of behavior acceptable for men and women, the media hegemonically manipulates the social constructs of gender and gendered behavior across all levels of society.
This honors thesis applies semiotic and feminist methodologies to engage visual forms of media through art, film, and social media to challenge the social constructs of gender perpetuated and reinforced by dated stereotypes of gender and gendered behavior. First, the theoretical foundation will provide a framework for semiotic and feminist analysis of visual representations of gender in media. Then, I will present data representing the real-world impact that this social construction of gender has on adolescents in America using The State of Gender Equality for U.S. Adolescents, published by Plan International Inc. I will then bring together the explicated methodologies and evidential data alongside my own experiences as a female consumer of visual media to reveal alternative practices of looking that do not revolve around patriarchal norms, looking for a female gaze. In doing so, I hope to present recourse in the face of persistent use of sexist imagery across all levels of our culture and every medium of visual self-expression by providing tools that can be used to interrogate gendered perceptions and inform self-examination in pursuit of a feminist practice of looking.
ContributorsPreston, Phoebe Jane (Author) / Gaffney, Cynthia (Thesis director) / Kirsch, Sharon (Committee member) / School of Humanities, Arts, and Cultural Studies (Contributor) / School of Social and Behavioral Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
The purpose of this project is to raise awareness for children with social anxiety. As a book directed to children around the age of 12, it will give them a character they can relate to, so they can feel less alone. Throughout the story, the main character experiences symptoms of social anxiety and is subject to events that exacerbate those symptoms. Despite her challenges, the main character is able to effectively cope with her social anxiety through her own hard work, and help from her family members, teachers, and peers. The intent is to show children with social anxiety that, contrary to what their disorder makes them feel, they are special and have the capacity to develop skills that are relevant to their talents and interests, and overcome their fears. They should know that parents, teachers, and peers will be there to help and support them and will not judge them as harshly as they suspect. The supporting characters in this story show how a strong support base can influence the success of children with social anxiety. By the end of the story, the main character still has social anxiety, but has gained confidence and her symptoms are less severe. This illustrates that, although social anxiety cannot simply be overcome—that is, it doesn’t go away completely—it can be effectively managed with assistance from close others, and perseverance.
ContributorsDillard, Bethlehem (Author) / Lewis, Stephen (Thesis director) / Gaffney, Cynthia (Committee member) / School of Social and Behavioral Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
As climate change and air pollution continue to plague the world today, committed citizens are doing their part to minimize their environmental impact. However, financial limitations have hindered a majority of individuals from adopting clean, renewable energy such as rooftop photovoltaic solar systems. England Sustainability Consulting plans to reverse this limitation and increase affordability for residents across Northern California to install solar panel systems for their energy needs. The purpose of this proposal is to showcase a new approach to procuring solar panel system components while offering the same products needed by each customer. We will examine market data to further prove the feasibility of this business approach while remaining profitable and spread our company's vision across all of Northern California.
ContributorsEngland, Kaysey (Author) / Dooley, Kevin (Thesis director) / Keahey, Jennifer (Committee member) / Department of Supply Chain Management (Contributor) / School of Social and Behavioral Sciences (Contributor) / W.P. Carey School of Business (Contributor) / School of Sustainability (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05