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ASU Electronic Theses and Dissertations


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.


Date Range
2013 2019


A computational framework based on convex optimization is presented for stability analysis of systems described by Partial Differential Equations (PDEs). Specifically, two forms of linear PDEs with spatially distributed polynomial coefficients are considered. The first class includes linear coupled PDEs with one spatial variable. Parabolic, elliptic or hyperbolic PDEs with Dirichlet, Neumann, Robin or mixed boundary conditions can be reformulated in order to be used by the framework. As an example, the reformulation is presented for systems governed by Schr¨odinger equation, parabolic type, relativistic heat conduction PDE and acoustic wave equation, hyperbolic types. The second form of PDEs of interest …

Contributors
Meyer, Evgeny, Peet, Matthew, Berman, Spring, et al.
Created Date
2016

Currently, one of the biggest limiting factors for long-term deployment of autonomous systems is the power constraints of a platform. In particular, for aerial robots such as unmanned aerial vehicles (UAVs), the energy resource is the main driver of mission planning and operation definitions, as everything revolved around flight time. The focus of this work is to develop a new method of energy storage and charging for autonomous UAV systems, for use during long-term deployments in a constrained environment. We developed a charging solution that allows pre-equipped UAV system to land on top of designated charging pads and rapidly replenish …

Contributors
Mian, Sami, Panchanathan, Sethuraman, Berman, Spring, et al.
Created Date
2018

Research literature was reviewed to find recommended tools and technologies for operating Unmanned Aerial Systems (UAS) fleets in an urban environment. However, restrictive legislation prohibits fully autonomous flight without an operator. Existing literature covers considerations for operating UAS fleets in a controlled environment, with an emphasis on the effect different networking approaches have on the topology of the UAS network. The primary network topology used to implement UAS communications is 802.11 protocols, which can transmit telemetry and a video stream using off the shelf hardware. Other implementations use low-frequency radios for long distance communication, or higher latency 4G LTE modems …

Contributors
D'Souza, Daniel, Panchanathan, Sethuraman, Berman, Spring, et al.
Created Date
2018

Robotic joints can be either powered or passive. This work will discuss the creation of a passive and a powered joint system as well as the combination system being both powered and passive along with its benefits. A novel approach of analysis and control of the combination system is presented. A passive and a powered ankle joint system is developed and fit to the field of prosthetics, specifically ankle joint replacement for able bodied gait. The general 1 DOF robotic joint designs are examined and the results from testing are discussed. Achievements in this area include the able bodied gait …

Contributors
Holgate, Robert, Sugar, Thomas, Artemiades, Panagiotis, et al.
Created Date
2017

This work considers the design of separating input signals in order to discriminate among a finite number of uncertain nonlinear models. Each nonlinear model corresponds to a system operating mode, unobserved intents of other drivers or robots, or to fault types or attack strategies, etc., and the separating inputs are designed such that the output trajectories of all the nonlinear models are guaranteed to be distinguishable from each other under any realization of uncertainties in the initial condition, model discrepancies or noise. I propose a two-step approach. First, using an optimization-based approach, we over-approximate nonlinear dynamics by uncertain affine models, …

Contributors
Singh, Kanishka Raj, Yong, Sze Zheng, Artemiadis, Panagiotis, et al.
Created Date
2018

This thesis presents an autonomous vehicle test bed which can be used to conduct studies on the interaction between human-driven vehicles and autonomous vehicles on the road. The test bed will make use of a fleet of robots which is a microcosm of an autonomous vehicle performing all the vital tasks like lane following, traffic signal obeying and collision avoidance with other vehicles on the road. The robots use real-time image processing and closed-loop control techniques to achieve automation. The testbed also features a manual control mode where a user can choose to control the car with a joystick by …

Contributors
Subramanyam, Rakshith, Berman, Spring, Yu, Honbin, et al.
Created Date
2018

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 …

Contributors
Patel, Harshil, Artemiadis, Panagiotis, Berman, Spring, et al.
Created Date
2013

In-situ exploration of planetary bodies such as Mars or the Moon have provided geologists and planetary scientists a detailed understanding of how these bodies formed and evolved. In-situ exploration has aided in the quest for water and life-supporting chemicals. In-situ exploration of Mars carried out by large SUV-sized rovers that travel long distance, carry sophisticated onboard laboratories to perform soil analysis and sample collection. But their large size and mobility method prevents them from accessing or exploring extreme environments, particularly caves, canyons, cliffs and craters. This work presents sub- 2 kg ball robots that can roll and hop in low …

Contributors
Raura, Laksh Deepak, Thangavelautham, Jekanthan, Berman, Spring, et al.
Created Date
2016

The Autonomous Vehicle (AV), also known as self-driving car, promises to be a game changer for the transportation industry. This technology is predicted to drastically reduce the number of traffic fatalities due to human error [21]. However, road driving at any reasonable speed involves some risks. Therefore, even with high-tech AV algorithms and sophisticated sensors, there may be unavoidable crashes due to imperfection of the AV systems, or unexpected encounters with wildlife, children and pedestrians. Whenever there is a risk involved, there is the need for an ethical decision to be made [33]. While ethical and moral decision-making in humans …

Contributors
Kankam, Immanuella, Berman, Spring, Johnson, Kathryn, et al.
Created Date
2019

The construction industry is very mundane and tiring for workers without the assistance of machines. This challenge has changed the trend of construction industry tremendously by motivating the development of robots that can replace human workers. This thesis presents a computed torque controller that is designed to produce movements by a small-scale, 5 degree-of-freedom (DOF) robotic arm that are useful for construction operations, specifically bricklaying. A software framework for the robotic arm with motion and path planning features and different control capabilities has also been developed using the Robot Operating System (ROS). First, a literature review of bricklaying construction activity …

Contributors
Gandhi, Sushrut, Berman, Spring, Marvi, Hamidreza, et al.
Created Date
2019