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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 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

Myoelectric control is lled with potential to signicantly change human-robot interaction. Humans desire compliant robots to safely interact in dynamic environments associated with daily activities. As surface electromyography non-invasively measures limb motion intent and correlates with joint stiness during co-contractions, it has been identied as a candidate for naturally controlling such robots. However, state-of-the-art myoelectric interfaces have struggled to achieve both enhanced functionality and long-term reliability. As demands in myoelectric interfaces trend toward simultaneous and proportional control of compliant robots, robust processing of multi-muscle coordinations, or synergies, plays a larger role in the success of the control scheme. This dissertation …

Contributors
Ison, Mark, Artemiadis, Panagiotis, Santello, Marco, et al.
Created Date
2015

Unmanned aerial vehicles have received increased attention in the last decade due to their versatility, as well as the availability of inexpensive sensors (e.g. GPS, IMU) for their navigation and control. Multirotor vehicles, specifically quadrotors, have formed a fast growing field in robotics, with the range of applications spanning from surveil- lance and reconnaissance to agriculture and large area mapping. Although in most applications single quadrotors are used, there is an increasing interest in architectures controlling multiple quadrotors executing a collaborative task. This thesis introduces a new concept of control involving more than one quadrotors, according to which two quadrotors …

Contributors
Larsson, Daniel, Artemiadis, Panagiotis, Marvi, Hamidreza, et al.
Created Date
2016

In this thesis, we focus on some of the NP-hard problems in control theory. Thanks to the converse Lyapunov theory, these problems can often be modeled as optimization over polynomials. To avoid the problem of intractability, we establish a trade off between accuracy and complexity. In particular, we develop a sequence of tractable optimization problems - in the form of Linear Programs (LPs) and/or Semi-Definite Programs (SDPs) - whose solutions converge to the exact solution of the NP-hard problem. However, the computational and memory complexity of these LPs and SDPs grow exponentially with the progress of the sequence - meaning …

Contributors
Kamyar, Reza, Peet, Matthew, Berman, Spring, et al.
Created Date
2016

Wearable robotics is a growing sector in the robotics industry, they can increase the productivity of workers and soldiers and can restore some of the lost function to people with disabilities. Wearable robots should be comfortable, easy to use, and intuitive. Robust control methods are needed for wearable robots that assist periodic motion. This dissertation studies a phase based oscillator constructed with a second order dynamic system and a forcing function based on the phase angle of the system. This produces a bounded control signal that can alter the damping and stiffens properties of the dynamic system. It is shown …

Contributors
De la Fuente Valadez, Juan Oziel, Sugar, Thomas G, Redkar, Sangram, et al.
Created Date
2016

To achieve the ambitious long-term goal of a feet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses several critical modeling, design, control objectives for rear-wheel drive ground vehicles. Toward this ambitious goal, several critical objectives are addressed. One central objective of the thesis was to show how to build low-cost multi-capability robot platform that can be used for conducting FAME research. A TFC-KIT car chassis was augmented to provide a suite of substantive capabilities. The augmented vehicle (FreeSLAM Robot) costs less than $500 but offers the capability of commercially available vehicles costing over $2000. …

Contributors
Lu, Xianglong, Rodriguez, Armando Antonio, Berman, Spring, et al.
Created Date
2016

Millions of individuals suffer from gait impairments due to stroke or other neurological disorders. A primary goal of patients is to walk independently, but most patients only achieve a poor functional outcome five years after injury. Despite the growing interest in using robotic devices for rehabilitation of sensorimotor function, state-of-the-art robotic interventions in gait therapy have not resulted in improved outcomes when compared to traditional treadmill-based therapy. Because bipedal walking requires neural coupling and dynamic interactions between the legs, a fundamental understanding of the sensorimotor mechanisms of inter-leg coordination during walking is needed to inform robotic interventions in gait therapy. …

Contributors
Skidmore, Jeffrey, Artemiadis, Panagiotis, Santello, Marco, et al.
Created Date
2017

In order for assistive mobile robots to operate in the same environment as humans, they must be able to navigate the same obstacles as humans do. Many elements are required to do this: a powerful controller which can understand the obstacle, and power-dense actuators which will be able to achieve the necessary limb accelerations and output energies. Rapid growth in information technology has made complex controllers, and the devices which run them considerably light and cheap. The energy density of batteries, motors, and engines has not grown nearly as fast. This is problematic because biological systems are more agile, and …

Contributors
Cahill, Nathan Michael, Sugar, Thomas, Ren, Yi, et al.
Created Date
2017

The interaction between humans and robots has become an important area of research as the diversity of robotic applications has grown. The cooperation of a human and robot to achieve a goal is an important area within the physical human-robot interaction (pHRI) field. The expansion of this field is toward moving robotics into applications in unstructured environments. When humans cooperate with each other, often there are leader and follower roles. These roles may change during the task. This creates a need for the robotic system to be able to exchange roles with the human during a cooperative task. The unstructured …

Contributors
Whitsell, Bryan Douglas, Artemiadis, Panagiotis, Santello, Marco, 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