ASU Electronic Theses and Dissertations

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Date Range
2010 2017

Robots are becoming an important part of our life and industry. Although a lot of robot control interfaces have been developed to simplify the control method and improve user experience, users still cannot control robots comfortably. With the improvements of the robot functions, the requirements of universality and ease of use of robot control interfaces are also increasing. This research introduces a graphical interface for Linear Temporal Logic (LTL) specifications for mobile robots. It is a sketch based interface built on the Android platform which makes the LTL control interface more friendly to non-expert users. By predefining a set of ...

Contributors
Wei, Wei, Fainekos, Georgios, Amor, Hani Ben, et al.
Created Date
2016

A Cyber Physical System consists of a computer monitoring and controlling physical processes usually in a feedback loop. These systems are increasingly becoming part of our daily life ranging from smart buildings to medical devices to automobiles. The controller comprises discrete software which may be operating in one of the many possible operating modes and interacting with a changing physical environment in a feedback loop. The systems with such a mix of discrete and continuous dynamics are usually termed as hybrid systems. In general, these systems are safety critical, hence their correct operation must be verified. Model Based Design (MBD) ...

Contributors
Thekkalore Srinivasa, Rahul, Fainekos, Georgios, Mayyas, Abdel Ra’ouf, et al.
Created Date
2016

To ensure system integrity, robots need to proactively avoid any unwanted physical perturbation that may cause damage to the underlying hardware. In this thesis work, we investigate a machine learning approach that allows robots to anticipate impending physical perturbations from perceptual cues. In contrast to other approaches that require knowledge about sources of perturbation to be encoded before deployment, our method is based on experiential learning. Robots learn to associate visual cues with subsequent physical perturbations and contacts. In turn, these extracted visual cues are then used to predict potential future perturbations acting on the robot. To this end, we ...

Contributors
Sur, Indranil, Amor, Heni B, Fainekos, Georgios, et al.
Created Date
2017

Time-series plots are used in many scientific and engineering applications. In this thesis, two new plug-ins for piecewise constant and event time-series are developed within the Eclipse BIRT (Business Intelligence and Reporting Tools) framework. These customizable plug-ins support superdense time, which is required for plotting the dynamics of Parallel DEVS models. These plug-ins are designed to receive time-based alphanumerical data sets from external computing sources, which can then be dynamically plotted. Static and dynamic time-series plotting are demonstrated in two settings. First, as standalone plug-ins, they can be used to create static plots, which can then be included in BIRT ...

Contributors
Sundaramoorthi, Savitha, Sarjoughian, Hessam S, Maciejewski, Ross, et al.
Created Date
2015

There has been exciting progress in the area of Unmanned Aerial Vehicles (UAV) in the last decade, especially for quadrotors due to their nature of easy manipulation and simple structure. A lot of research has been done on achieving autonomous and robust control for quadrotors. Recently researchers have been utilizing linear temporal logic as mission specification language for robot motion planning due to its expressiveness and scalability. Several algorithms have been proposed to achieve autonomous temporal logic planning. Also, several frameworks are designed to compose those discrete planners and continuous controllers to make sure the actual trajectory also satisfies the ...

Contributors
Zhang, Xiaotong, Fainekos, Georgios, Ben Amor, Heni, et al.
Created Date
2016

One of the main challenges in planetary robotics is to traverse the shortest path through a set of waypoints. The shortest distance between any two waypoints is a direct linear traversal. Often times, there are physical restrictions that prevent a rover form traversing straight to a waypoint. Thus, knowledge of the terrain is needed prior to traversal. The Digital Terrain Model (DTM) provides information about the terrain along with waypoints for the rover to traverse. However, traversing a set of waypoints linearly is burdensome, as the rovers would constantly need to modify their orientation as they successively approach waypoints. Although ...

Contributors
Kamasamudram, Anurag, Saripalli, Srikanth, Fainekos, Georgios, et al.
Created Date
2013

Dynamic software update (DSU) enables a program to update while it is running. DSU aims to minimize the loss due to program downtime for updates. Usually DSU is done in three steps: suspending the execution of an old program, mapping the execution state from the old program to a new one, and resuming execution of the new program with the mapped state. The semantic correctness of DSU depends largely on the state mapping which is mostly composed by developers manually nowadays. However, the manual construction of a state mapping does not necessarily ensure sound and dependable state mapping. This dissertation ...

Contributors
Shen, Jun, Bazzi, Rida A, Fainekos, Georgios, et al.
Created Date
2015

In this dissertation, two problems are addressed in the verification and control of Cyber-Physical Systems (CPS): 1) Falsification: given a CPS, and a property of interest that the CPS must satisfy under all allowed operating conditions, does the CPS violate, i.e. falsify, the property? 2) Conformance testing: given a model of a CPS, and an implementation of that CPS on an embedded platform, how can we characterize the properties satisfied by the implementation, given the properties satisfied by the model? Both problems arise in the context of Model-Based Design (MBD) of CPS: in MBD, the designers start from a set ...

Contributors
Abbas, Houssam, Fainekos, Georgios, Duman, Tolga, et al.
Created Date
2015

In recent years, there are increasing numbers of applications that use multi-variate time series data where multiple uni-variate time series coexist. However, there is a lack of systematic of multi-variate time series. This thesis focuses on (a) defining a simplified inter-related multi-variate time series (IMTS) model and (b) developing robust multi-variate temporal (RMT) feature extraction algorithm that can be used for locating, filtering, and describing salient features in multi-variate time series data sets. The proposed RMT feature can also be used for supporting multiple analysis tasks, such as visualization, segmentation, and searching / retrieving based on multi-variate time series similarities. ...

Contributors
Wang, Xiaolan, Candan, Kasim Selcuk, Sapino, Maria Luisa, et al.
Created Date
2013

The need for multi-core architectural trends was realized in the desktop computing domain fairly long back. This trend is also beginning to be seen in the deeply embedded systems such as automotive and avionics industry owing to ever increasing demands in terms of sheer computational bandwidth, responsiveness, reliability and power consumption constraints. The adoption of such multi-core architectures in safety critical systems is often met with resistance owing to the overhead in migration of the existing stable code base to the new system setup, typically requiring extensive re-design. This also brings about the need for exhaustive testing and validation that ...

Contributors
Bulusu, Girish Rao, Lee, Yann-Hang, Fainekos, Georgios, et al.
Created Date
2014

This collection includes most of the ASU Theses and Dissertations from 2011 to present. ASU Theses and Dissertations are available in downloadable PDF format; however, a small percentage of items are under embargo. Information about the dissertations/theses includes degree information, committee members, an abstract, supporting data or media.

In addition to the electronic theses found in the ASU Digital Repository, ASU Theses and Dissertations can be found in the ASU Library Catalog.

Dissertations and Theses granted by Arizona State University are archived and made available through a joint effort of the ASU Graduate College and the ASU Libraries.

For more information or questions about this collection contact or visit the Digital Repository ETD Library Guide or contact the ASU Graduate College at gradformat@asu.edu.