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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.


Traditional methods for detecting the status of traffic lights used in autonomous vehicles may be susceptible to errors, which is troublesome in a safety-critical environment. In the case of vision-based recognition methods, failures may arise due to disturbances in the environment such as occluded views or poor lighting conditions. Some methods also depend on high-precision meta-data which is not always available. This thesis proposes a complementary detection approach based on an entirely new source of information: the movement patterns of other nearby vehicles. This approach is robust to traditional sources of error, and may serve as a viable supplemental detection …

Contributors
Campbell, Joseph, Fainekos, Georgios, Ben Amor, Heni, 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

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