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In this work, different passive prosthetic ankles are studied. It is observed that complicated designs increase the cost of production, but simple designs have limited functionality. A new design for a passive prosthetic ankle is presented that is simple to manufacture while having superior functionality. This prosthetic ankle design has

In this work, different passive prosthetic ankles are studied. It is observed that complicated designs increase the cost of production, but simple designs have limited functionality. A new design for a passive prosthetic ankle is presented that is simple to manufacture while having superior functionality. This prosthetic ankle design has two springs: one mimicking Achilles tendon and the other mimicking Anterior-Tibialis tendon. The dynamics of the prosthetic ankle is discussed and simulated using Working model 2D. The simulation results are used to optimize the springs stiffness. Two experiments are conducted using the developed ankle to verify the simulation It is found that this novel ankle design is better than Solid Ankle Cushioned Heel (SACH) foot. The experimental data is used to find the tendon and muscle activation forces of the subject wearing the prosthesis using OpenSim. A conclusion is included along with suggested future work.
ContributorsBhat, Sandesh Ganapati (Author) / Redkar, Sangram (Thesis advisor) / Sugar, Thomas (Committee member) / Lee, Hyuglae (Committee member) / Marvi, Hamid (Committee member) / Arizona State University (Publisher)
Created2017
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The Basilisk lizard is known for its agile locomotion capabilities on granular and aquatic media making it an impressive model organism for studying multi-terrain locomotion mechanics. The work presented here is aimed at understanding locomotion characteristics of Basilisk lizards through a systematic series of robotic and animal experiments. In this

The Basilisk lizard is known for its agile locomotion capabilities on granular and aquatic media making it an impressive model organism for studying multi-terrain locomotion mechanics. The work presented here is aimed at understanding locomotion characteristics of Basilisk lizards through a systematic series of robotic and animal experiments. In this work, a Basilisk lizard inspired legged robot with bipedal and quadrupedal locomotion capabilities is presented. A series of robot experiments are conducted on dry and wet (saturated) granular media to determine the effects of gait parameters and substrate saturation, on robot velocity and energetics. Gait parameters studied here are stride frequency and stride length. Results of robot experiments are compared with previously obtained animal data. It is observed that for a fixed robot stride frequency, velocity and stride length increase with increasing saturation, confirming the locomotion characteristics of the Basilisk lizard. It is further observed that with increasing saturation level, robot cost of transport decreases. An identical series of robot experiments are performed with quadrupedal gait to determine effects of gait parameters on robot performance. Generally, energetics of bipedal running is observed to be higher than quadrupedal operation. Experimental results also reveal how gait parameters can be varied to achieve different desired velocities depending on the substrate saturation level. In addition to robot experiments on granular media, a series of animal experiments are conducted to determine and characterize strategies

exhibited by Basilisk lizards when transitioning from granular to aquatic media.
ContributorsJayanetti, Vidu (Author) / Marvi, Hamid (Thesis advisor) / Emady, Heather (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2018
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Robotic swarms can potentially perform complicated tasks such as exploration and mapping at large space and time scales in a parallel and robust fashion. This thesis presents strategies for mapping environmental features of interest – specifically obstacles, collision-free paths, generating a metric map and estimating scalar density fields– in an

Robotic swarms can potentially perform complicated tasks such as exploration and mapping at large space and time scales in a parallel and robust fashion. This thesis presents strategies for mapping environmental features of interest – specifically obstacles, collision-free paths, generating a metric map and estimating scalar density fields– in an unknown domain using data obtained by a swarm of resource-constrained robots. First, an approach was developed for mapping a single obstacle using a swarm of point-mass robots with both directed and random motion. The swarm population dynamics are modeled by a set of advection-diffusion-reaction partial differential equations (PDEs) in which a spatially-dependent indicator function marks the presence or absence of the obstacle in the domain. The indicator function is estimated by solving an optimization problem with PDEs as constraints. Second, a methodology for constructing a topological map of an unknown environment was proposed, which indicates collision-free paths for navigation, from data collected by a swarm of finite-sized robots. As an initial step, the number of topological features in the domain was quantified by applying tools from algebraic topology, to a probability function over the explored region that indicates the presence of obstacles. A topological map of the domain is then generated using a graph-based wave propagation algorithm. This approach is further extended, enabling the technique to construct a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resource-constrained robots, filtered using intensity measurements of an external signal. Next, a distributed method was developed to construct the occupancy grid map of an unknown environment using a swarm of inexpensive robots or mobile sensors with limited communication. In addition to this, an exploration strategy which combines information theoretic ideas with Levy walks was also proposed. Finally, the problem of reconstructing a two-dimensional scalar field using observations from a subset of a sensor network in which each node communicates its local measurements to its neighboring nodes was addressed. This problem reduces to estimating the initial condition of a large interconnected system with first-order linear dynamics, which can be solved as an optimization problem.
ContributorsRamachandran, Ragesh Kumar (Author) / Berman, Spring M (Thesis advisor) / Mignolet, Marc (Committee member) / Artemiadis, Panagiotis (Committee member) / Marvi, Hamid (Committee member) / Robinson, Michael (Committee member) / Arizona State University (Publisher)
Created2018
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Description
The role of robotics mobility is essential in the world of research because it allows humans to perform jobs that are dull, dirty, or dangerous without being physically present. A typical robot environment is one that is smooth and predictable. Screw-powered vehicles (SPV's) have commonly been used in these predictable

The role of robotics mobility is essential in the world of research because it allows humans to perform jobs that are dull, dirty, or dangerous without being physically present. A typical robot environment is one that is smooth and predictable. Screw-powered vehicles (SPV's) have commonly been used in these predictable environment situations such as terrestrial applications like mud and snow. However, a gap remains in SPV's traversing complex environments, particularly debris and granular material. The goal is to study the characteristics of how a SPV might move and generate force in such a granular environment for Earth and space. In our study, the chosen granular environment is soda-lime glass beads for easy characterization. This study with glass beads focuses on two separate approaches. The first approach is using a single screw rotating while the apparatus remains static and analyzing the forces that impact the screw. The second approach includes using a full body craft with two double helix screws and analyzing the translational velocity of the craft. This study presents both experimental and computational results using simulations with Multi-Body Dynamics (MBD) and Discrete Element Method (DEM) software packages to investigate the trends of SPV's in a granular environment.
ContributorsRamirez, Sierra Monique (Author) / Marvi, Hamid (Thesis director) / Emady, Heather (Committee member) / Thoesen, Andrew (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
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Description
This thesis presents an approach to design and implementation of an adaptive boundary coverage control strategy for a swarm robotic system. Several fields of study are relevant to this project, including; dynamic modeling, control theory, programming, and robotic design. Tools and techniques from these fields were used to design and

This thesis presents an approach to design and implementation of an adaptive boundary coverage control strategy for a swarm robotic system. Several fields of study are relevant to this project, including; dynamic modeling, control theory, programming, and robotic design. Tools and techniques from these fields were used to design and implement a model simulation and an experimental testbed. To achieve this goal, a simulation of the boundary coverage control strategy was first developed. This simulated model allowed for concept verification for different robot groups and boundary designs. The simulation consisted of a single, constantly expanding circular boundary with a modeled swarm of robots that autonomously allocate themselves around the boundary. Ultimately, this simulation was implemented in an experimental testbed consisting of mobile robots and a moving boundary wall to exhibit the behaviors of the simulated robots. The conclusions from this experiment are hoped to help make further advancements to swarm robotic technology. The results presented show promise for future progress in adaptive control strategies for robotic swarms.
ContributorsMurphy, Hunter Nicholas (Author) / Berman, Spring (Thesis director) / Marvi, Hamid (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
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Chapter 1: Functional Specialization and Arm Length in Octopus bimaculoides<br/>Although studies are limited, there is some evidence that octopuses use their arms for specialized functions. For example, in Octopus maya and O. vulgaris, the anterior arms are utilized more frequently for grasping and exploring (Lee, 1992; Byrne et al., 2006a),

Chapter 1: Functional Specialization and Arm Length in Octopus bimaculoides<br/>Although studies are limited, there is some evidence that octopuses use their arms for specialized functions. For example, in Octopus maya and O. vulgaris, the anterior arms are utilized more frequently for grasping and exploring (Lee, 1992; Byrne et al., 2006a), while posterior arms are more frequently utilized for crawling in O. vulgaris (Levy et al., 2015). In addition, O. vulgaris uses favored arms when retrieving food and making contact with a T-maze as dictated by their lateralized vision (Byrne, 2006b). O. vulgaris also demonstrates a preference for anterior arms when retrieving food from a Y-maze (Gutnick et. al. 2020). In Octopus bimaculoides bending and elongation were more frequent in anterior arms than posterior arms during reaching and grasping tasks, and right arms displayed deformation more frequently than left arms, with the exception of the hectocotylus (R3) in males (Kennedy et. al. 2020). Given these observed functional differences, the goal of this study was to determine if morphological differences exist between different octopus arm identities, coded as L1-L4 and R1-R4. In particular, the relationship between arm length and arm identity was analyzed statistically. The dataset included 111 intact arms from 22 wild-caught specimens of O. bimaculoides (11 male and 11 female). Simple linear regressions and an analysis of covariance were performed to test the relationship between arm length and a number of factors, including body mass, sex, anterior versus posterior location, and left versus the right side. Mass had a significant linear relationship with arm length and a one-way ANOVA demonstrated that arm identity is significantly correlated with arm length. Moreover, an analysis of covariance demonstrated that independent of mass, arm identity has a significant linear relationship with arm length. Despite an overall appearance of bilateral symmetry, arms of different identities do not have statistically equivalent lengths in O. bimaculoides. Furthermore, differences in arm length do not appear to be related to sex, anterior versus posterior location, or left or right side. These results call into question the existing practice of treating all arms as equivalent by either using a single-arm measurement as representative of all eight or calculating an average length and suggest that morphological analyses of specific arm identities may be more informative.<br/><br/>Chapter 2: Predicting and Analyzing Octopus bimaculoides Sensitivity to Global Anesthetic<br/>Although global anesthetic is widely used in human and veterinary medicine the mechanism and impact of global anesthetic is relatively poorly comprehended, even in well-studied mammalian models. Invertebrate anesthetic is even less understood. In order to evaluate factors that impact anesthetic effectiveness analyses were conducted on 22 wild-caught specimens of Octopus bimaculoides during 72 anesthetic events.Three machine learning models: regression tree, random forest, and generalized additive model were utilized to make predictions of the concentration of anesthetic (percent ethanol by volume) from 11 features and to determine feature importance in making those predictions. The fit of each model was analyzed on three criteria: correlation coefficient, mean squared error, and relative error. Feature importance was determined in a model-specific manner. Predictions from the best performing model, random forest, have a .82 correlation coefficient with experimental values. Feature importance suggests that temperature on arrival and cohabitation factors strongly influence predictions for anesthesia concentration. This likely indicates the transportation process was incurring stress on the animals and that cohabitation was also stressful for the typically solitary O. bimaculoides. This long-term stress could lead to a decline in the animal’s well-being and a lower necessary ethanol concentration (Horvath et al., 2013). This analysis provides information to improve the care of octopus in laboratory settings and furthers the understanding of the effects of global anesthetic in invertebrates, particularly one with a distributed nervous system.

ContributorsSorge, Marieke Alexandria (Author) / Fisher, Rebecca (Thesis director) / Zhao, Yunpeng (Committee member) / Marvi, Hamid (Committee member) / School of Life Sciences (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05