Matching Items (25)
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- All Subjects: engineering
- Creators: Berman, Spring
Description
The price based marketplace has dominated the construction industry. The majority of owners use price based practices of management (expectation and decision making, control, direction, and inspection.) The price based/management and control paradigm has not worked. Clients have now been moving toward the best value environment (hire contractors who know what they are doing, who preplan, and manage and minimize risk and deviation.) Owners are trying to move from client direction and control to hiring an expert and allowing them to do the quality control/risk management. The movement of environments changes the paradigm for the contractors from a reactive to a proactive, from a bureaucratic
on-accountable to an accountable position, from a relationship based
on-measuring to a measuring entity, and to a contractor who manages and minimizes the risk that they do not control. Years of price based practices have caused poor quality and low performance in the construction industry. This research identifies what is a best value contractor or vendor, what factors make up a best value vendor, and the methodology to transform a vendor to a best value vendor. It will use deductive logic, a case study to confirm the logic and the proposed methodology.
on-accountable to an accountable position, from a relationship based
on-measuring to a measuring entity, and to a contractor who manages and minimizes the risk that they do not control. Years of price based practices have caused poor quality and low performance in the construction industry. This research identifies what is a best value contractor or vendor, what factors make up a best value vendor, and the methodology to transform a vendor to a best value vendor. It will use deductive logic, a case study to confirm the logic and the proposed methodology.
ContributorsPauli, Michele (Author) / Kashiwagi, Dean (Thesis advisor) / Sullivan, Kenneth (Committee member) / Badger, William (Committee member) / Arizona State University (Publisher)
Created2011
Description
As global competition continues to grow more disruptive, organizational change is an ever-present reality that affects companies in all industries at both the operational and strategic level. Organizational change capabilities have become a necessary aspect of existence for organizations in all industries worldwide. Research suggests that more than half of all organizational change efforts fail to achieve their original intended results, with some studies quoting failure rates as high as 70 percent. Exasperating this problem is the fact that no single change methodology has been universally accepted. This thesis examines two aspect of organizational change: the implementation of tactical and strategic initiatives, primarily focusing on successful tactical implementation techniques. This research proposed that tactical issues typically dominate the focus of change agents and recipients alike, often to the detriment of strategic level initiatives that are vital to the overall value and success of the organizational change effort. The Delphi method was employed to develop a tool to facilitate the initial implementation of organizational change such that tactical barriers were minimized and available resources for strategic initiatives were maximized. Feedback from two expert groups of change agents and change facilitators was solicited to develop the tool and evaluate its impact. Preliminary pilot testing of the tool confirmed the proposal and successfully served to minimize tactical barriers to organizational change.
ContributorsLines, Brian (Author) / Sullivan, Kenneth T. (Thesis advisor) / Badger, William (Committee member) / Kashiwagi, Dean (Committee member) / Arizona State University (Publisher)
Created2011
Description
ABSTRACT Facility managers have an important job in today's competitive business world by caring for the backbone of the corporation's capital. Maintaining assets and the support efforts cause facility managers to fight an uphill battle to prove the worth of their organizations. This thesis will discuss the important and flexible use of measurement and leadership reports and the benefits of justifying the work required to maintain or upgrade a facility. The task is streamlined by invoking accountability to subject experts. The facility manager must trust in the ability of his or her work force to get the job done. However, with accountability comes increased risk. Even though accountability may not alleviate total control or cease reactionary actions, facility managers can develop key leadership based reports to reassign accountability and measure subject matter experts while simultaneously reducing reactionary actions leading to increased cost. Identifying and reassigning risk that are not controlled to subject matter experts is imperative for effective facility management leadership and allows facility managers to create an accurate and solid facility management plan, supports the organization's succession plan, and allows the organization to focus on key competencies.
ContributorsTellefsen, Thor (Author) / Sullivan, Kenneth (Thesis advisor) / Kashiwagi, Dean (Committee member) / Badger, William (Committee member) / Arizona State University (Publisher)
Created2011
Description
Over the past couple of decades, quality has been an area of increased focus. Multiple models and approaches have been proposed to measure the quality in the construction industry. This paper focuses on determining the quality of one of the types of roofing systems used in the construction industry, i.e. Sprayed Polyurethane Foam Roofs (SPF roofs). Thirty seven urethane coated SPF roofs that were installed in 2005 / 2006 were visually inspected to measure the percentage of blisters and repairs three times over a period of 4 year, 6 year and 7 year marks. A repairing criteria was established after a 6 year mark based on the data that were reported to contractors as vulnerable roofs. Furthermore, the relation between four possible contributing time of installation factors i.e. contractor, demographics, season, and difficulty (number of penetrations and size of the roof in square feet) that could affect the quality of the roof was determined. Demographics and difficulty did not affect the quality of the roofs whereas the contractor and the season when the roof was installed did affect the quality of the roofs.
ContributorsGajjar, Dhaval (Author) / Kashiwagi, Dean (Thesis advisor) / Sullivan, Kenneth (Committee member) / Badger, William (Committee member) / Arizona State University (Publisher)
Created2013
Description
This thesis presents a process by which a controller used for collective transport tasks is qualitatively studied and probed for presence of undesirable equilibrium states that could entrap the system and prevent it from converging to a target state. Fields of study relevant to this project include dynamic system modeling, modern control theory, script-based system simulation, and autonomous systems design. Simulation and computational software MATLAB and Simulink® were used in this thesis.
To achieve this goal, a model of a swarm performing a collective transport task in a bounded domain featuring convex obstacles was simulated in MATLAB/ Simulink®. The closed-loop dynamic equations of this model were linearized about an equilibrium state with angular acceleration and linear acceleration set to zero. The simulation was run over 30 times to confirm system ability to successfully transport the payload to a goal point without colliding with obstacles and determine ideal operating conditions by testing various orientations of objects in the bounded domain. An additional purely MATLAB simulation was run to identify local minima of the Hessian of the navigation-like potential function. By calculating this Hessian periodically throughout the system’s progress and determining the signs of its eigenvalues, a system could check whether it is trapped in a local minimum, and potentially dislodge itself through implementation of a stochastic term in the robot controllers. The eigenvalues of the Hessian calculated in this research suggested the model local minima were degenerate, indicating an error in the mathematical model for this system, which likely incurred during linearization of this highly nonlinear system.
To achieve this goal, a model of a swarm performing a collective transport task in a bounded domain featuring convex obstacles was simulated in MATLAB/ Simulink®. The closed-loop dynamic equations of this model were linearized about an equilibrium state with angular acceleration and linear acceleration set to zero. The simulation was run over 30 times to confirm system ability to successfully transport the payload to a goal point without colliding with obstacles and determine ideal operating conditions by testing various orientations of objects in the bounded domain. An additional purely MATLAB simulation was run to identify local minima of the Hessian of the navigation-like potential function. By calculating this Hessian periodically throughout the system’s progress and determining the signs of its eigenvalues, a system could check whether it is trapped in a local minimum, and potentially dislodge itself through implementation of a stochastic term in the robot controllers. The eigenvalues of the Hessian calculated in this research suggested the model local minima were degenerate, indicating an error in the mathematical model for this system, which likely incurred during linearization of this highly nonlinear system.
ContributorsBaye-Wallace, Lily Catherine (Author) / Berman, Spring (Thesis director) / Marvi, Hamidreza (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / School of Music, Dance and Theatre (Contributor) / School for Engineering of Matter,Transport & Enrgy (Contributor) / Barrett, The Honors College (Contributor)
Created2020-12
Description
In the next decade or so, there will be a shift in the industry of transportation across the world. Already today we have autonomous vehicles (AVs) tested in the Greater Phoenix area showing that the technology has improved to a level available to the public eye. Although this technology is not yet released commercially (for the most part), it is being used and will continue to be used to develop a safer future. With a high incidence of human error causing accidents, many expect that autonomous vehicles will be safer than human drivers. They do still require driver attention and sometimes intervention to ensure safety, but for the most part are much safer. In just the United States alone, there were 40,000 deaths due to car accidents last year [1]. If traffic fatalities were considered a disease, this would be an epidemic. The technology behind autonomous vehicles will allow for a much safer environment and increased mobility and independence for people who cannot drive and struggle with public transport. There are many opportunities for autonomous vehicles in the transportation industry. Companies can save a lot more money on shipping by cutting the costs of human drivers and trucks on the road, even allowing for simpler drop shipments should the necessary AI be developed.Research is even being done by several labs at Arizona State University. For example, Dr. Spring Berman’s Autonomous Collective Systems Lab has been collaborating with Dr. Nancy Cooke of Human Systems Engineering to develop a traffic testbed, CHARTopolis, to study the risks of driver-AV interactions and the psychological effects of AVs on human drivers on a small scale. This testbed will be used by researchers from their labs and others to develop testing on reaction, trust, and user experience with AVs in a safe environment that simulates conditions similar to those experienced by full-size AVs. Using a new type of small robot that emulates an AV, developed in Dr. Berman’s lab, participants will be able to remotely drive around a model city environment and interact with other AV-like robots using the cameras and LiDAR sensors on the remotely driven robot to guide them.
Although these commercial and research systems are still in testing, it is important to understand how AVs are being marketed to the general public and how they are perceived, so that one day they may be effectively adopted into everyday life. People do not want to see a car they do not trust on the same roads as them, so the questions are: why don’t people trust them, and how can companies and researchers improve the trustworthiness of the vehicles?
Although these commercial and research systems are still in testing, it is important to understand how AVs are being marketed to the general public and how they are perceived, so that one day they may be effectively adopted into everyday life. People do not want to see a car they do not trust on the same roads as them, so the questions are: why don’t people trust them, and how can companies and researchers improve the trustworthiness of the vehicles?
ContributorsShuster, Daniel Nadav (Author) / Berman, Spring (Thesis director) / Cooke, Nancy (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
This thesis details the design and construction of a torque-controlled robotic gripper for use with the Pheeno swarm robotics platform. This project required expertise from several fields of study including: robotic design, programming, rapid prototyping, and control theory. An electronic Inertial Measurement Unit and a DC Motor were both used along with 3D printed plastic components and an electronic motor control board to develop a functional open-loop controlled gripper for use in collective transportation experiments. Code was developed that effectively acquired and filtered rate of rotation data alongside other code that allows for straightforward control of the DC motor through experimentally derived relationships between the voltage applied to the DC motor and the torque output of the DC motor. Additionally, several versions of the physical components are described through their development.
ContributorsMohr, Brennan (Author) / Berman, Spring (Thesis director) / Ren, Yi (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / School for Engineering of Matter,Transport & Enrgy (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
In this paper, we propose an autonomous throwing and catching system to be developed as a preliminary step towards the refinement of a robotic arm capable of improving strength and motor function in the limb. This will be accomplished by first autonomizing simpler movements, such as throwing a ball. In this system, an autonomous thrower will detect a desired target through the use of image processing. The launch angle and direction necessary to hit the target will then be calculated, followed by the launching of the ball. The smart catcher will then detect the ball as it is in the air, calculate its expected landing location based on its initial trajectory, and adjust its position so that the ball lands in the center of the target. The thrower will then proceed to compare the actual landing position with the position where it expected the ball to land, and adjust its calculations accordingly for the next throw. By utilizing this method of feedback, the throwing arm will be able to automatically correct itself. This means that the thrower will ideally be able to hit the target exactly in the center within a few throws, regardless of any additional uncertainty in the system. This project will focus of the controller and image processing components necessary for the autonomous throwing arm to be able to detect the position of the target at which it will be aiming, and for the smart catcher to be able to detect the position of the projectile and estimate its final landing position by tracking its current trajectory.
ContributorsLundberg, Kathie Joy (Co-author) / Thart, Amanda (Co-author) / Rodriguez, Armando (Thesis director) / Berman, Spring (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
The construction industry in India suffers from major time and cost overruns. Data from government and industry reports suggest that projects suffer from 20 to 25 percent time and cost overruns. Waste of resources has been identified as a major source of inefficiency. Despite a substantial increase in the past few years, demand for professionals and contractors still exceeds supply by a large margin. The traditional methods adopted in the Indian construction industry may not suffice the needs of this dynamic environment, as they have produced large inefficiencies. Innovative ways of procurement and project management can satisfy the needs aspired to as well as bring added value. The problems faced by the Indian construction industry are very similar to those faced by other developing countries. The objective of this paper is to discuss and analyze the economic concerns, inefficiencies and investigate a model that both explains the Indian construction industry structure and provides a framework to improve efficiencies. The Best Value (BV) model is examined as an approach to be adopted in lieu of the traditional approach. This could result in efficient construction projects by minimizing cost overruns and delays, which until now have been a rarity.
ContributorsNihas, Syed (Author) / Kashiwagi, Dean (Thesis advisor) / Sullivan, Kenneth (Committee member) / Kashiwagi, Jacob (Committee member) / Arizona State University (Publisher)
Created2013
Description
Navigation and mapping in GPS-denied environments, such as coal mines ordilapidated buildings filled with smog or particulate matter, pose a significant challenge
due to the limitations of conventional LiDAR or vision systems. Therefore there
exists a need for a navigation algorithm and mapping strategy which do not use vision
systems but are still able to explore and map the environment. The map can further
be used by first responders and cave explorers to access the environments.
This thesis presents the design of a collision-resilient Unmanned Aerial Vehicle
(UAV), XPLORER that utilizes a novel navigation algorithm for exploration and
simultaneous mapping of the environment. The real-time navigation algorithm uses
the onboard Inertial Measurement Units (IMUs) and arm bending angles for contact
estimation and employs an Explore and Exploit strategy. Additionally, the quadrotor
design is discussed, highlighting its improved stability over the previous design.
The generated map of the environment can be utilized by autonomous vehicles to
navigate the environment. The navigation algorithm is validated in multiple real-time
experiments in different scenarios consisting of concave and convex corners and circular
objects. Furthermore, the developed mapping framework can serve as an auxiliary
input for map generation along with conventional LiDAR or vision-based mapping
algorithms.
Both the navigation and mapping algorithms are designed to be modular, making
them compatible with conventional UAVs also. This research contributes to the
development of navigation and mapping techniques for GPS-denied environments,
enabling safer and more efficient exploration of challenging territories.
ContributorsPandian Saravanakumaran, Aravind Adhith (Author) / Zhang, Wenlong (Thesis advisor) / Das, Jnaneshwar (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2023