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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.


Contributor
Language
  • English
Mime Type
Status
  • Public
Date Range
2012 2020


One potential application of multi-robot systems is collective transport, a task in which multiple mobile robots collaboratively transport a payload that is too large or heavy to be carried by a single robot. Numerous control schemes have been proposed for collective transport in environments where robots can localize themselves (e.g., using GPS) and communicate with one another, have information about the payload's geometric and dynamical properties, and follow predefined robot and/or payload trajectories. However, these approaches cannot be applied in uncertain environments where robots do not have reliable communication and GPS and lack information about the payload. These conditions characterize …

Contributors
Farivarnejad, Hamed, Berman, Spring, Mignolet, Marc, et al.
Created Date
2020

The human shoulder plays an integral role in upper limb motor function. As the basis of arm motion, its performance is vital to the accomplishment of daily tasks. Impaired motor control, as a result of stroke or other disease, can cause errors in shoulder position to accumulate and propagate to the entire arm. This is why it is a highlight of concern for clinicians and why it is an important point of study. One of the primary causes of impaired shoulder motor control is abnormal mechanical joint impedance, which can be modeled as a 2nd order system consisting of mass, …

Contributors
Hunt, Justin, Lee, Hyunglae, Artemiadis, Panagiotis, et al.
Created Date
2020

The human ankle is a vital joint in the lower limb of the human body. As the point of interaction between the human neuromuscular system and the physical world, the ankle plays important role in lower extremity functions including postural balance and locomotion . Accurate characterization of ankle mechanics in lower extremity function is essential not just to advance the design and control of robots physically interacting with the human lower extremities but also in rehabilitation of humans suffering from neurodegenerative disorders. In order to characterize the ankle mechanics and understand the underlying mechanisms that influence the neuromuscular properties of …

Contributors
Nalam, Varun, Lee, Hyunglae, Artemiadis, Panagiotis, et al.
Created Date
2020

This dissertation aimed to evaluate the effectiveness and drawbacks of promising fall prevention strategies in individuals with stroke by rigorously analyzing the biomechanics of laboratory falls and compensatory movements required to prevent a fall. Ankle-foot-orthoses (AFOs) and functional electrical stimulators (FESs) are commonly prescribed to treat foot drop. Despite well-established positive impacts of AFOs and FES devices on balance and gait, AFO and FES users fall at a high rate. In chapter 2 (as a preliminary study), solely mechanical impacts of a semi-rigid AFO on the compensatory stepping response of young healthy individuals following trip-like treadmill perturbations were evaluated. It …

Contributors
Nevisipour, Masood, Honeycutt, Claire, Sugar, Thomas, et al.
Created Date
2019

Locomotion is of prime importance in enabling human beings to effectively respond in space and time to meet different needs. Approximately 2 million Americans live with an amputation with most of those amputations being of the lower limbs. To advance current state-of-the-art lower limb prosthetic devices, it is necessary to adapt performance at a level of intelligence seen in human walking. As such, this thesis focuses on the mechanisms involved during human walking, while transitioning from rigid to compliant surfaces such as from pavement to sand, grass or granular media. Utilizing a unique tool, the Variable Stiffness Treadmill (VST), as …

Contributors
Obeng, Ruby Afriyie, Artemiadis, Panagiotis, Santello, Marco, et al.
Created Date
2019

For a conventional quadcopter system with 4 planar rotors, flight times vary between 10 to 20 minutes depending on the weight of the quadcopter and the size of the battery used. In order to increase the flight time, either the weight of the quadcopter should be reduced or the battery size should be increased. Another way is to increase the efficiency of the propellers. Previous research shows that ducting a propeller can cause an increase of up to 94 % in the thrust produced by the rotor-duct system. This research focused on developing and testing a quadcopter having a centrally …

Contributors
Lal, Harsh, Artemiadis, Panagiotis, Lee, Hyunglae, et al.
Created Date
2019

There are a large group of amputees living in the country and the number of them is supposed to increase a lot in the following years. Among them, lower-limb amputees are the majority. In order to improve the locomotion of lower-limb amputees, many prostheses have been developed. Most commercially available prostheses are passive. They can not actively provide pure torque as an intact human could do. Powered prostheses have been the focus during the past decades. Some advanced prostheses have been successful in walking on level ground as well as on inclined surface and climbing stairs. However, not much work …

Contributors
Wang, Junxin, Artemiadis, Panagiotis, Yong, Sze Zheng, et al.
Created Date
2019

In this research, a new cutting edge wear estimator for micro-endmilling is developed and the reliabillity of the estimator is evaluated. The main concept of this estimator is the minimum chip thickness effect. This estimator predicts the cutting edge radius by detecting the drop in the chip production rate as the cutting edge of a micro- endmill slips over the workpiece when the minimum chip thickness becomes larger than the uncut chip thickness, thus transitioning from the shearing to the ploughing dominant regime. The chip production rate is investigated through simulation and experiment. The simulation and the experiment show that …

Contributors
LEE, JUE-HYUN, Sodemann, Angela A, Shuaib, Abdelrahman, et al.
Created Date
2019

Robotic swarms can potentially perform complicated tasks such as exploration and mapping at large space and time scales in a parallel and robust fashion. This thesis presents strategies for mapping environmental features of interest – specifically obstacles, collision-free paths, generating a metric map and estimating scalar density fields– in an unknown domain using data obtained by a swarm of resource-constrained robots. First, an approach was developed for mapping a single obstacle using a swarm of point-mass robots with both directed and random motion. The swarm population dynamics are modeled by a set of advection-diffusion-reaction partial differential equations (PDEs) in which …

Contributors
Ramachandran, Ragesh Kumar, Berman, Spring M, Mignolet, Marc, et al.
Created Date
2018

Neural interfacing applications have advanced in complexity, with needs for increasingly high degrees of freedom in prosthetic device control, sharper discrimination in sensory percepts in bidirectional interfaces, and more precise localization of functional connectivity in the brain. As such, there is a growing need for reliable neurophysiological recordings at a fine spatial scale matching that of cortical columnar processing. Penetrating microelectrodes provide localization sufficient to isolate action potential (AP) waveforms, but often suffer from recorded signal deterioration linked to foreign body response. Micro-Electrocorticography (μECoG) surface electrodes elicit lower foreign body response and show greater chronic stability of recorded signals, though …

Contributors
Barton, Cody David, Greger, Bradley, Greger, Bradley, et al.
Created Date
2018