Matching Items (622)
Description
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
Description
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.
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
Description
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
Description
This research compares shifts in a SuperSpec titanium nitride (TiN) kinetic inductance detector's (KID's) resonant frequency with accepted models for other KIDs. SuperSpec, which is being developed at the University of Colorado Boulder, is an on-chip spectrometer designed with a multiplexed readout with multiple KIDs that is set up for a broadband transmission of these measurements. It is useful for detecting radiation in the mm and sub mm wavelengths which is significant since absorption and reemission of photons by dust causes radiation from distant objects to reach us in infrared and far-infrared bands. In preparation for testing, our team installed stages designed previously by Paul Abers and his group into our cryostat and designed and installed other parts necessary for the cryostat to be able to test devices on the 250 mK stage. This work included the design and construction of additional parts, a new setup for the wiring in the cryostat, the assembly, testing, and installation of several stainless steel coaxial cables for the measurements through the devices, and other cryogenic and low pressure considerations. The SuperSpec KID was successfully tested on this 250 mK stage thus confirming that the new setup is functional. Our results are in agreement with existing models which suggest that the breaking of cooper pairs in the detector's superconductor which occurs in response to temperature, optical load, and readout power will decrease the resonant frequencies. A negative linear relationship in our results appears, as expected, since the parameters are varied only slightly so that a linear approximation is appropriate. We compared the rate at which the resonant frequency responded to temperature and found it to be close to the expected value.
ContributorsDiaz, Heriberto Chacon (Author) / Mauskopf, Philip (Thesis director) / McCartney, Martha (Committee member) / Department of Physics (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
This paper considers what factors influence student interest, motivation, and continued engagement. Studies show anticipated extrinsic rewards for activity participation have been shown to reduce intrinsic value for that activity. This might suggest that grade point average (GPA) has a similar effect on academic interests. Further, when incentives such as scholarships, internships, and careers are GPA-oriented, students must adopt performance goals in courses to guarantee success. However, performance goals have not been shown to correlated with continued interest in a topic. Current literature proposes that student involvement in extracurricular activities, focused study groups, and mentored research are crucial to student success. Further, students may express either a fixed or growth mindset, which influences their approach to challenges and opportunities for growth. The purpose of this study was to collect individual cases of students' experiences in college. The interview method was chosen to collect complex information that could not be gathered from standard surveys. To accomplish this, questions were developed based on content areas related to education and motivation theory. The content areas included activities and meaning, motivation, vision, and personal development. The developed interview method relied on broad questions that would be followed by specific "probing" questions. We hypothesize that this would result in participant-led discussions and unique narratives from the participant. Initial findings suggest that some of the questions were effective in eliciting detailed responses, though results were dependent on the interviewer. From the interviews we find that students value their group involvements, leadership opportunities, and relationships with mentors, which parallels results found in other studies.
ContributorsAbrams, Sara (Author) / Hartwell, Lee (Thesis director) / Correa, Kevin (Committee member) / Department of Psychology (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
This study estimates the capitalization effect of golf courses in Maricopa County using the hedonic pricing method. It draws upon a dataset of 574,989 residential transactions from 2000 to 2006 to examine how the aesthetic, non-golf benefits of golf courses capitalize across a gradient of proximity measures. The measures for amenity value extend beyond home adjacency and include considerations for homes within a range of discrete walkability buffers of golf courses. The models also distinguish between public and private golf courses as a proxy for the level of golf course access perceived by non-golfers. Unobserved spatial characteristics of the neighborhoods around golf courses are controlled for by increasing the extent of spatial fixed effects from city, to census tract, and finally to 2000 meter golf course ‘neighborhoods.’ The estimation results support two primary conclusions. First, golf course proximity is found to be highly valued for adjacent homes and homes up to 50 meters way from a course, still evident but minimal between 50 and 150 meters, and insignificant at all other distance ranges. Second, private golf courses do not command a higher proximity premia compared to public courses with the exception of homes within 25 to 50 meters of a course, indicating that the non-golf benefits of courses capitalize similarly, regardless of course type. The results of this study motivate further investigation into golf course features that signal access or add value to homes in the range of capitalization, particularly for near-adjacent homes between 50 and 150 meters thought previously not to capitalize.
ContributorsJoiner, Emily (Author) / Abbott, Joshua (Thesis director) / Smith, Kerry (Committee member) / Economics Program in CLAS (Contributor) / School of Sustainability (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
The objective of this paper is to provide an educational diagnostic into the technology of blockchain and its application for the supply chain. Education on the topic is important to prevent misinformation on the capabilities of blockchain. Blockchain as a new technology can be confusing to grasp given the wide possibilities it can provide. This can convolute the topic by being too broad when defined. Instead, the focus will be maintained on explaining the technical details about how and why this technology works in improving the supply chain. The scope of explanation will not be limited to the solutions, but will also detail current problems. Both public and private blockchain networks will be explained and solutions they provide in supply chains. In addition, other non-blockchain systems will be described that provide important pieces in supply chain operations that blockchain cannot provide. Blockchain when applied to the supply chain provides improved consumer transparency, management of resources, logistics, trade finance, and liquidity.
ContributorsKrukar, Joel Michael (Author) / Oke, Adegoke (Thesis director) / Duarte, Brett (Committee member) / Hahn, Richard (Committee member) / School of Mathematical and Statistical Sciences (Contributor) / Department of Economics (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
The Super Catalan numbers are a known set of numbers which have so far eluded a combinatorial interpretation. Several weighted interpretations have appeared since their discovery, one of which was discovered by William Kuszmaul in 2017. In this paper, we connect the weighted Super Catalan structure created previously by Kuszmaul and a natural $q$-analogue of the Super Catalan numbers. We do this by creating a statistic $\sigma$ for which the $q$ Super Catalan numbers, $S_q(m,n)=\sum_X (-1)^{\mu(X)} q^{\sigma(X)}$. In doing so, we take a step towards finding a strict combinatorial interpretation for the Super Catalan numbers.
ContributorsHouse, John Douglas (Author) / Fishel, Susanna (Thesis director) / Childress, Nancy (Committee member) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Construction is a defining characteristic of geometry classes. In a traditional classroom, teachers and students use physical tools (i.e. a compass and straight-edge) in their constructions. However, with modern technology, construction is possible through the use of digital applications such as GeoGebra and Geometer’s SketchPad.
Many other studies have researched the benefits of digital manipulatives and digital environments through student completion of tasks and testing. This study intends to research students’ use of the digital tools and manipulatives, along with the students’ interactions with the digital environment. To this end, I conducted exploratory teaching experiments with two calculus I students.
In the exploratory teaching experiments, students were introduced to a GeoGebra application developed by Fischer (2019), which includes instructional videos and corresponding quizzes, as well as exercises and interactive notepads, where students could use digital tools to construct line segments and circles (corresponding to the physical straight-edge and compass). The application built up the students’ foundational knowledge, culminating in the construction and verbal proof of Euclid’s Elements, Proposition 1 (Euclid, 1733).
The central findings of this thesis are the students’ interactions with the digital environment, with observed changes in their conceptions of radii and circles, and in their use of tools. The students were observed to have conceptions of radii as a process, a geometric shape, and a geometric object. I observed the students’ conceptions of a circle change from a geometric shape to a geometric object, and with that change, observed the students’ use of tools change from a measuring focus to a property focus.
I report a summary of the students’ work and classify their reasoning and actions into the above categories, and an analysis of how the digital environment impacts the students’ conceptions. I also briefly discuss the impact of the findings on pedagogy and future research.
Many other studies have researched the benefits of digital manipulatives and digital environments through student completion of tasks and testing. This study intends to research students’ use of the digital tools and manipulatives, along with the students’ interactions with the digital environment. To this end, I conducted exploratory teaching experiments with two calculus I students.
In the exploratory teaching experiments, students were introduced to a GeoGebra application developed by Fischer (2019), which includes instructional videos and corresponding quizzes, as well as exercises and interactive notepads, where students could use digital tools to construct line segments and circles (corresponding to the physical straight-edge and compass). The application built up the students’ foundational knowledge, culminating in the construction and verbal proof of Euclid’s Elements, Proposition 1 (Euclid, 1733).
The central findings of this thesis are the students’ interactions with the digital environment, with observed changes in their conceptions of radii and circles, and in their use of tools. The students were observed to have conceptions of radii as a process, a geometric shape, and a geometric object. I observed the students’ conceptions of a circle change from a geometric shape to a geometric object, and with that change, observed the students’ use of tools change from a measuring focus to a property focus.
I report a summary of the students’ work and classify their reasoning and actions into the above categories, and an analysis of how the digital environment impacts the students’ conceptions. I also briefly discuss the impact of the findings on pedagogy and future research.
ContributorsSakauye, Noelle Marie (Author) / Roh, Kyeong Hah (Thesis director) / Zandieh, Michelle (Committee member) / School of Mathematical and Statistical Sciences (Contributor) / School of International Letters and Cultures (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
The original version of Helix, the one I pitched when first deciding to make a video game
for my thesis, is an action-platformer, with the intent of metroidvania-style progression
and an interconnected world map.
The current version of Helix is a turn based role-playing game, with the intent of roguelike
gameplay and a dark fantasy theme. We will first be exploring the challenges that came
with programming my own game - not quite from scratch, but also without a prebuilt
engine - then transition into game design and how Helix has evolved from its original form
to what we see today.
for my thesis, is an action-platformer, with the intent of metroidvania-style progression
and an interconnected world map.
The current version of Helix is a turn based role-playing game, with the intent of roguelike
gameplay and a dark fantasy theme. We will first be exploring the challenges that came
with programming my own game - not quite from scratch, but also without a prebuilt
engine - then transition into game design and how Helix has evolved from its original form
to what we see today.
ContributorsDiscipulo, Isaiah K (Author) / Meuth, Ryan (Thesis director) / Kobayashi, Yoshihiro (Committee member) / School of Mathematical and Statistical Sciences (Contributor) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05