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- Creators: Berman, Spring
- Member of: ASU Electronic Theses and Dissertations
Description
Humans have an inherent capability of performing highly dexterous and skillful tasks with their arms, involving maintaining posture, movement and interacting with the environment. The latter requires for them to control the dynamic characteristics of the upper limb musculoskeletal system. Inertia, damping and stiffness, a measure of mechanical impedance, gives a strong representation of these characteristics. Many previous studies have shown that the arm posture is a dominant factor for determining the end point impedance in a horizontal plane (transverse plane). The objective of this thesis is to characterize end point impedance of the human arm in the three dimensional (3D) space. Moreover, it investigates and models the control of the arm impedance due to increasing levels of muscle co-contraction. The characterization is done through experimental trials where human subjects maintained arm posture, while perturbed by a robot arm. Moreover, the subjects were asked to control the level of their arm muscles' co-contraction, using visual feedback of their muscles' activation, in order to investigate the effect of the muscle co-contraction on the arm impedance. The results of this study showed a very interesting, anisotropic increase of the arm stiffness due to muscle co-contraction. This can lead to very useful conclusions about the arm biomechanics as well as many implications for human motor control and more specifically the control of arm impedance through muscle co-contraction. The study finds implications for the EMG-based control of robots that physically interact with humans.
ContributorsPatel, Harshil Naresh (Author) / Artemiadis, Panagiotis (Thesis advisor) / Berman, Spring (Committee member) / Helms Tillery, Stephen (Committee member) / Arizona State University (Publisher)
Created2013
Description
This is a study of scientific realism, and of the extent to which it is undermined by objections that have been raised by advocates of various forms of antirealism. I seek to develop and present a version of scientific realism that improves on past formulations, and then to show that standard antirealist arguments against it do not succeed. In this paper, I will first present my formulation of scientific realism, which conceives of theories as model-based and as fundamentally non-linguistic. I advocate an epistemic position that accords with indirect realism, and I review and assess the threat posed by theses of underdetermination. Next, I review and discuss three important views: the antirealist constructivist view of Thomas Kuhn, the realist view of Norwood Hanson, and the antirealist constructive empiricist view of Bas van Fraassen. I find merits and flaws in all three views. In the course of those discussions, I develop the theme that antirealists' arguments generally depend on assumptions that are open to question, especially from the perspective of the version of realism I advocate. I further argue that these antirealist views are undermined by their own tacit appeals to realism.
ContributorsNovack, Alexander Dion (Author) / Armendt, Brad (Thesis advisor) / Creath, Richard (Committee member) / French, Peter (Committee member) / Arizona State University (Publisher)
Created2013
Description
The academic literature on science communication widely acknowledges a problem: science communication between experts and lay audiences is important, but it is not done well. General audience popular science books, however, carry a reputation for clear science communication and are understudied in the academic literature. For this doctoral dissertation, I utilize Sam Harris's The Moral Landscape, a general audience science book on the particularly thorny topic of neuroscientific approaches to morality, as a case-study to explore the possibility of using general audience science books as models for science communication more broadly. I conduct a literary analysis of the text that delimits the scope of its project, its intended audience, and the domains of science to be communicated. I also identify seven literary aspects of the text: three positive aspects that facilitate clarity and four negative aspects that interfere with lay public engagement. I conclude that The Moral Landscape relies on an assumed knowledge base and intuitions of its audience that cannot reasonably be expected of lay audiences; therefore, it cannot properly be construed as popular science communication. It nevertheless contains normative lessons for the broader science project, both in literary aspects to be salvaged and literary aspects and concepts to consciously be avoided and combated. I note that The Moral Landscape's failings can also be taken as an indication that typical descriptions of science communication offer under-detailed taxonomies of both audiences for science communication and the varieties of science communication aimed at those audiences. Future directions of study include rethinking appropriate target audiences for science literacy projects and developing a more discriminating taxonomy of both science communication and lay publics.
ContributorsJohnson, Nathan W (Author) / Robert, Jason S (Thesis advisor) / Creath, Richard (Committee member) / Martinez, Jacqueline (Committee member) / Sylvester, Edward (Committee member) / Lynch, John (Committee member) / Arizona State University (Publisher)
Created2013
Description
Once perceived as an unimportant occurrence in living organisms, cell degeneration was reconfigured as an important biological phenomenon in development, aging, health, and diseases in the twentieth century. This dissertation tells a twentieth-century history of scientific investigations on cell degeneration, including cell death and aging. By describing four central developments in cell degeneration research with the four major chapters, I trace the emergence of the degenerating cell as a scientific object, describe the generations of a variety of concepts, interpretations and usages associated with cell death and aging, and analyze the transforming influences of the rising cell degeneration research. Particularly, the four chapters show how the changing scientific practices about cellular life in embryology, cell culture, aging research, and molecular biology of Caenorhabditis elegans shaped the interpretations about cell degeneration in the twentieth-century as life-shaping, limit-setting, complex, yet regulated. These events created and consolidated important concepts in life sciences such as programmed cell death, the Hayflick limit, apoptosis, and death genes. These cases also transformed the material and epistemic practices about the end of cellular life subsequently and led to the formations of new research communities. The four cases together show the ways cell degeneration became a shared subject between molecular cell biology, developmental biology, gerontology, oncology, and pathology of degenerative diseases. These practices and perspectives created a special kind of interconnectivity between different fields and led to a level of interdisciplinarity within cell degeneration research by the early 1990s.
ContributorsJiang, Lijing (Author) / Maienschein, Jane (Thesis advisor) / Laubichler, Manfred (Thesis advisor) / Hurlbut, James (Committee member) / Creath, Richard (Committee member) / White, Michael (Committee member) / Arizona State University (Publisher)
Created2013
Description
The present essay addresses the epistemic difficulties involved in achieving consensus with respect to the Hayek-Keynes debate. In particular, it is argued that the debate cannot be settled on the basis of the observable evidence; or, more precisely, that the empirical implications of the theories of Hayek and Keynes are such that, regardless of what is observed, both of the theories can be interpreted as true, or at least, not falsified. Regardless of the evidence, both Hayek and Keynes can be interpreted as right. The underdetermination of theories by evidence is an old and ubiquitous problem in science. The present essay makes explicit the respects in which the empirical evidence underdetermines the choice between the theories of Hayek and Keynes. In particular, it is argued both that there are convenient responses one can offer that protect each theory from what appears to be threatening evidence (i.e., that the choice between the two theories is underdetermined in the holist sense) and that, for particular kinds of evidence, the two theories are empirically equivalent (i.e., with respect to certain kinds of evidence, the choice between the two theories is underdetermined in the contrastive sense).
ContributorsScheall, Scott (Author) / Creath, Richard (Thesis advisor) / Armendt, Brad (Committee member) / French, Peter (Committee member) / Arizona State University (Publisher)
Created2012
Description
Gays identity is usually cast in generics--statements about an indeterminate number of members in a given category. Sometimes these generic statements often get built up into folk definitions, vague and imprecise ways to talk about objects. Other times generics get co-opted into authentic definitions, definitions that pick out a few traits and assert that real members of the class have these traits and members that do not are simply members by a technicality. I assess how we adopt these generic traits into our language and what are the ramifications of using generic traits as a social identity. I analyze the use of authentic definitions in Queer Theory, particularly Michael Warner's use of authentic traits to define a normative Queer identity. I do not just simply focus on what are the effects, but how these folk or authentic definitions gain currency and, furthermore, how can they be changed. I conclude with an analytic account of what it means to be gay and argue that such an account will undercut many of the problems associated with folk or authentic definitions about being gay.
ContributorsBlankschaen, Kurt (Author) / Calhoun, Cheshire (Thesis advisor) / Pinillos, Angel (Committee member) / Creath, Richard (Committee member) / Arizona State University (Publisher)
Created2012
Description
One activity for which philosophers are perhaps best known is having disputes with one another. Some non-philosophers, and increasingly many philosophers, believe that a number of these disputes are silly or misguided in some way. Call such silly or misguided disputes defective disputes. When is a dispute defective? What kinds of defective disputes are there? How are these different kinds of defective disputes different from one another? What does it mean to call a dispute 'merely verbal'? These questions come up for consideration in Part One of this manuscript. In Part Two I examine whether certain disputes in ontology and over the nature of possible worlds are defective in any of the ways described in Part One. I focus mainly on the question of whether these disputes are merely verbal disputes, though I examine whether they are defective in any other ways. I conclude that neither dispute is defective in any of the senses that I make clear in Part One. Moreover, I conclude that even some defective philosophical disputes can be worth consideration under certain circumstances.
ContributorsMarsh, Gerald (Author) / French, Peter (Thesis advisor) / Creath, Richard (Committee member) / Blackson, Thomas (Committee member) / Arizona State University (Publisher)
Created2011
Description
Biology textbooks are everybody's business. In accepting the view that texts are created with specific social goals in mind, I examined 127 twentieth-century high school biology textbooks for representations of animal development. Paragraphs and visual representations were coded and placed in one of four scientific literacy categories: descriptive, investigative, nature of science, and human embryos, technology, and society (HETS). I then interpreted how embryos and fetuses have been socially constructed for students. I also examined the use of Haeckel's embryo drawings to support recapitulation and evolutionary theory. Textbooks revealed that publication of Haeckel's drawings was influenced by evolutionists and anti-evolutionists in the 1930s, 1960s, and the 1990s. Haeckel's embryos continue to persist in textbooks because they "safely" illustrate similarities between embryos and are rarely discussed in enough detail to understand comparative embryology's role in the support of evolution. Certain events coincided with changes in how embryos were presented: (a) the growth of the American Medical Association (AMA) and an increase in birth rates (1950s); (b) the Biological Sciences Curriculum Study (BSCS) and public acceptance of birth control methods (1960s); (c) Roe vs. Wade (1973); (d) in vitro fertilization and Lennart Nilsson's photographs (1970s); (e) prenatal technology and fetocentrism (1980s); and (f) genetic engineering and Science-Technology-Society (STS) curriculum (1980s and 1990s). By the end of the twentieth century, changing conceptions, research practices, and technologies all combined to transform the nature of biological development. Human embryos went from a highly descriptive, static, and private object to that of sometimes contentious public figure. I contend that an ignored source for helping move embryos into the public realm is schoolbooks. Throughout the 1900s, authors and publishers accomplished this by placing biology textbook embryos and fetuses in several different contexts--biological, technological, experimental, moral, social, and legal.
ContributorsWellner, Karen L (Author) / Maienschein, Jane (Thesis advisor) / Ellison, Karin D. (Committee member) / Robert, Jason S. (Committee member) / Arizona State University (Publisher)
Created2010
Description
With the substantial development of intelligent robots, human-robot interaction (HRI) has become ubiquitous in applications such as collaborative manufacturing, surgical robotic operations, and autonomous driving. In all these applications, a human behavior model, which can provide predictions of human actions, is a helpful reference that helps robots to achieve intelligent interaction with humans. The requirement elicits an essential problem of how to properly model human behavior, especially when individuals are interacting or cooperating with each other. The major objective of this thesis is to utilize the human intention decoding method to help robots enhance their performance while interacting with humans. Preliminary work on integrating human intention estimation with an HRI scenario is shown to demonstrate the benefit. In order to achieve this goal, the research topic is divided into three phases. First, a novel method of an online measure of the human's reliance on the robot, which can be estimated through the intention decoding process from human actions，is described. An experiment that requires human participants to complete an object-moving task with a robot manipulator was conducted under different conditions of distractions. A relationship is discovered between human intention and trust while participants performed a familiar task with no distraction. This finding suggests a relationship between the psychological construct of trust and joint physical coordination, which bridges the human's action to its mental states. Then, a novel human collaborative dynamic model is introduced based on game theory and bounded rationality, which is a novel method to describe human dyadic behavior with the aforementioned theories. The mutual intention decoding process was also considered to inform this model. Through this model, the connection between the mental states of the individuals to their cooperative actions is indicated. A haptic interface is developed with a virtual environment and the experiments are conducted with 30 human subjects. The result suggests the existence of mutual intention decoding during the human dyadic cooperative behaviors. Last, the empirical results show that allowing agents to have empathy in inference, which lets the agents understand that others might have a false understanding of their intentions, can help to achieve correct intention inference. It has been verified that knowledge about vehicle dynamics was also important to correctly infer intentions. A new courteous policy is proposed that bounded the courteous motion using its inferred set of equilibrium motions. A simulation, which is set to reproduce an intersection passing case between an autonomous car and a human driving car, is conducted to demonstrate the benefit of the novel courteous control policy.
ContributorsWang, Yiwei (Author) / Zhang, Wenlong (Thesis advisor) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Ren, Yi (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2021
Description
Building and optimizing a design for deformable media can be extremely costly. However, granular scaling laws enable the ability to predict system velocity and mobility
power consumption by testing at a smaller scale in the same environment. The validity of
the granular scaling laws for arbitrarily shaped wheels and screws were evaluated in
materials like silica sand and BP-1, a lunar simulant. Different wheel geometries, such as
non-grousered and straight and bihelically grousered wheels were created and tested
using 3D printed technologies. Using the granular scaling laws and the empirical data
from initial experiments, power and velocity were predicted for a larger scaled version
then experimentally validated on a dynamic mobility platform. Working with granular
media has high variability in material properties depending on initial environmental
conditions, so particular emphasis was placed on consistency in the testing methodology.
Through experiments, these scaling laws have been validated with defined use cases and
limitations.
ContributorsMcbryan, Teresa (Author) / Marvi, Hamidreza (Thesis advisor) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2022