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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
Subject
Date Range
2011 2017


Designers employ a variety of modeling theories and methodologies to create functional models of discrete network systems. These dynamical models are evaluated using verification and validation techniques throughout incremental design stages. Models created for these systems should directly represent their growing complexity with respect to composition and heterogeneity. Similar to software engineering practices, incremental model design is required for complex system design. As a result, models at early increments are significantly simpler relative to real systems. While experimenting (verification or validation) on models at early increments are computationally less demanding, the results of these experiments are less trustworthy and less …

Contributors
Gholami, Soroosh, Sarjoughian, Hessam S, Fainekos, Georgios, et al.
Created Date
2017

Cyber-Physical Systems (CPS) are being used in many safety-critical applications. Due to the important role in virtually every aspect of human life, it is crucial to make sure that a CPS works properly before its deployment. However, formal verification of CPS is a computationally hard problem. Therefore, lightweight verification methods such as testing and monitoring of the CPS are considered in the industry. The formal representation of the CPS requirements is a challenging task. In addition, checking the system outputs with respect to requirements is a computationally complex problem. In this dissertation, these problems for the verification of CPS are …

Contributors
Dokhanchi, Adel, Fainekos, Georgios, Lee, Yann-Hang, et al.
Created Date
2017

Testing and Verification of Cyber-Physical Systems (CPS) is a challenging problem. The challenge arises as a result of the complex interactions between the components of these systems: the digital control, and the physical environment. Furthermore, the software complexity that governs the high-level control logic in these systems is increasing day by day. As a result, in recent years, both the academic community and the industry have been heavily invested in developing tools and methodologies for the development of safety-critical systems. One scalable approach in testing and verification of these systems is through guided system simulation using stochastic optimization techniques. The …

Contributors
Hoxha, Bardh, Fainekos, Georgios, Sarjoughian, Hessam, et al.
Created Date
2017

Several physical systems exist in the real world that involve continuous as well as discrete changes. These range from natural dynamic systems like the system of a bouncing ball to robotic dynamic systems such as planning the motion of a robot across obstacles. The key aspects of effectively describing such dynamic systems is to be able to plan and verify the evolution of the continuous components of the system while simultaneously maintaining critical constraints. Developing a framework that can effectively represent and find solutions to such physical systems prove to be highly advantageous. Both hybrid automata and action languages are …

Contributors
Loney, Nikhil, Lee, Joohyung, Fainekos, Georgios, et al.
Created Date
2017

Cyber-physical systems and hard real-time systems have strict timing constraints that specify deadlines until which tasks must finish their execution. Missing a deadline can cause unexpected outcome or endanger human lives in safety-critical applications, such as automotive or aeronautical systems. It is, therefore, of utmost importance to obtain and optimize a safe upper bound of each task’s execution time or the worst-case execution time (WCET), to guarantee the absence of any missed deadline. Unfortunately, conventional microarchitectural components, such as caches and branch predictors, are only optimized for average-case performance and often make WCET analysis complicated and pessimistic. Caches especially have …

Contributors
Kim, Yooseong, Shrivastava, Aviral, Broman, David, et al.
Created Date
2017

The critical infrastructures of the nation are a large and complex network of human, physical and cyber-physical systems. In recent times, it has become increasingly apparent that individual critical infrastructures, such as the power and communication networks, do not operate in isolation, but instead are part of a complex interdependent ecosystem where a failure involving a small set of network entities can trigger a cascading event resulting in the failure of a much larger set of entities through the failure propagation process. Recognizing the need for a deeper understanding of the interdependent relationships between such critical infrastructures, several models have …

Contributors
Das, Arun, Sen, Arunabha, Xue, Guoliang, et al.
Created Date
2016

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

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

Despite incremental improvements over decades, academic planning solutions see relatively little use in many industrial domains despite the relevance of planning paradigms to those problems. This work observes four shortfalls of existing academic solutions which contribute to this lack of adoption. To address these shortfalls this work defines model-independent semantics for planning and introduces an extensible planning library. This library is shown to produce feasible results on an existing benchmark domain, overcome the usual modeling limitations of traditional planners, and accommodate domain-dependent knowledge about the problem structure within the planning process. Dissertation/Thesis

Contributors
Jonas, Michael, Gaffar, Ashraf, Fainekos, Georgios, et al.
Created Date
2016

Robotic technology is advancing to the point where it will soon be feasible to deploy massive populations, or swarms, of low-cost autonomous robots to collectively perform tasks over large domains and time scales. Many of these tasks will require the robots to allocate themselves around the boundaries of regions or features of interest and achieve target objectives that derive from their resulting spatial configurations, such as forming a connected communication network or acquiring sensor data around the entire boundary. We refer to this spatial allocation problem as boundary coverage. Possible swarm tasks that will involve boundary coverage include cooperative load …

Contributors
Peruvemba Kumar, Ganesh, Berman, Spring M, Fainekos, Georgios, et al.
Created Date
2016

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

There has been a vast increase in applications of Unmanned Aerial Vehicles (UAVs) in civilian domains. To operate in the civilian airspace, a UAV must be able to sense and avoid both static and moving obstacles for flight safety. While indoor and low-altitude environments are mainly occupied by static obstacles, risks in space of higher altitude primarily come from moving obstacles such as other aircraft or flying vehicles in the airspace. Therefore, the ability to avoid moving obstacles becomes a necessity for Unmanned Aerial Vehicles. Towards enabling a UAV to autonomously sense and avoid moving obstacles, this thesis makes the …

Contributors
Lin, Yucong, Saripalli, Srikanth, Scowen, Paul, et al.
Created Date
2015

Cisco estimates that by 2020, 50 billion devices will be connected to the Internet. But 99% of the things today remain isolated and unconnected. Different connectivity protocols, proprietary access, varied device characteristics, security concerns are the main reasons for that isolated state. This project aims at designing and building a prototype gateway that exposes a simple and intuitive HTTP Restful interface to access and manipulate devices and the data that they produce while addressing most of the issues listed above. Along with manipulating devices, the framework exposes sensor data in such a way that it can be used to create …

Contributors
Nair, Shankar, Lee, Yann-Hang, Lee, Joohyung, et al.
Created Date
2015

Most embedded applications are constructed with multiple threads to handle concurrent events. For optimization and debugging of the programs, dynamic program analysis is widely used to collect execution information while the program is running. Unfortunately, the non-deterministic behavior of multithreaded embedded software makes the dynamic analysis difficult. In addition, instrumentation overhead for gathering execution information may change the execution of a program, and lead to distorted analysis results, i.e., probe effect. This thesis presents a framework that tackles the non-determinism and probe effect incurred in dynamic analysis of embedded software. The thesis largely consists of three parts. First of all, …

Contributors
Song, Young Wn, Lee, Yann-Hang, Shrivastava, Aviral, 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

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

As the number of cores per chip increases, maintaining cache coherence becomes prohibitive for both power and performance. Non Coherent Cache (NCC) architectures do away with hardware-based cache coherence, but they become difficult to program. Some existing architectures provide a middle ground by providing some shared memory in the hardware. Specifically, the 48-core Intel Single-chip Cloud Computer (SCC) provides some off-chip (DRAM) shared memory some on-chip (SRAM) shared memory. We call such architectures Hybrid Shared Memory, or HSM, manycore architectures. However, how to efficiently execute multi-threaded programs on HSM architectures is an open problem. To be able to execute a …

Contributors
Rawat, Tushar Shishpal, Shrivastava, Aviral, Dasgupta, Partha, et al.
Created Date
2014

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

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

As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of …

Contributors
Raji Kermani, Ramtin, Fainekos, Georgios, Lee, Yann-Hang, et al.
Created Date
2013

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

In this thesis we deal with the problem of temporal logic robustness estimation. We present a dynamic programming algorithm for the robust estimation problem of Metric Temporal Logic (MTL) formulas regarding a finite trace of time stated sequence. This algorithm not only tests if the MTL specification is satisfied by the given input which is a finite system trajectory, but also quantifies to what extend does the sequence satisfies or violates the MTL specification. The implementation of the algorithm is the DP-TALIRO toolbox for MATLAB. Currently it is used as the temporal logic robust computing engine of S-TALIRO which is …

Contributors
Yang, Hengyi, Fainekos, Georgios, Sarjoughian, Hessam, et al.
Created Date
2013

Linear Temporal Logic is gaining increasing popularity as a high level specification language for robot motion planning due to its expressive power and scalability of LTL control synthesis algorithms. This formalism, however, requires expert knowledge and makes it inaccessible to non-expert users. This thesis introduces a graphical specification environment to create high level motion plans to control robots in the field by converting a visual representation of the motion/task plan into a Linear Temporal Logic (LTL) specification. The visual interface is built on the Android tablet platform and provides functionality to create task plans through a set of well defined …

Contributors
Srinivas, Shashank, Fainekos, Georgios, Baral, Chitta, et al.
Created Date
2013

Objective of this thesis project is to build a prototype using Linear Temporal Logic specifications for generating a 2D motion plan commanding an iRobot to fulfill the specifications. This thesis project was created for Cyber Physical Systems Lab in Arizona State University. The end product of this thesis is creation of a software solution which can be used in the academia and industry for research in cyber physical systems related applications. The major features of the project are: creating a modular system for motion planning, use of Robot Operating System (ROS), use of triangulation for environment decomposition and using stargazer …

Contributors
Pandya, Parth Ashwinkumar, Fainekos, Georgios, Dasgupta, Partha, et al.
Created Date
2013

Answer Set Programming (ASP) is one of the most prominent and successful knowledge representation paradigms. The success of ASP is due to its expressive non-monotonic modeling language and its efficient computational methods originating from building propositional satisfiability solvers. The wide adoption of ASP has motivated several extensions to its modeling language in order to enhance expressivity, such as incorporating aggregates and interfaces with ontologies. Also, in order to overcome the grounding bottleneck of computation in ASP, there are increasing interests in integrating ASP with other computing paradigms, such as Constraint Programming (CP) and Satisfiability Modulo Theories (SMT). Due to the …

Contributors
Meng, Yunsong, Lee, Joohyung, Ahn, Gail-Joon, et al.
Created Date
2013

A semiconductor supply chain modeling and simulation platform using Linear Program (LP) optimization and parallel Discrete Event System Specification (DEVS) process models has been developed in a joint effort by ASU and Intel Corporation. A Knowledge Interchange Broker (KIBDEVS/LP) was developed to broker information synchronously between the DEVS and LP models. Recently a single-echelon heuristic Inventory Strategy Module (ISM) was added to correct for forecast bias in customer demand data using different smoothing techniques. The optimization model could then use information provided by the forecast model to make better decisions for the process model. The composition of ISM with LP …

Contributors
Smith, James Melkon, Sarjoughian, Hessam S, Davulcu, Hasan, et al.
Created Date
2012

Debugging is a boring, tedious, time consuming but inevitable step of software development and debugging multiple threaded applications with user interactions is even more complicated. Since concurrency and synchronism are normal features in Android mobile applications, the order of thread execution may vary in every run even with the same input. To make things worse, the target erroneous cases may happen just in a few specific runs. Besides, the randomness of user interactions makes the whole debugging procedure more unpredictable. Thus, debugging a multiple threaded application is a tough and challenging task. This thesis introduces a replay mechanism for debugging …

Contributors
Lu, He, Lee, Yann-Hang, Fainekos, Georgios, et al.
Created Date
2012

Critical infrastructures in healthcare, power systems, and web services, incorporate cyber-physical systems (CPSes), where the software controlled computing systems interact with the physical environment through actuation and monitoring. Ensuring software safety in CPSes, to avoid hazards to property and human life as a result of un-controlled interactions, is essential and challenging. The principal hurdle in this regard is the characterization of the context driven interactions between software and the physical environment (cyber-physical interactions), which introduce multi-dimensional dynamics in space and time, complex non-linearities, and non-trivial aggregation of interaction in case of networked operations. Traditionally, CPS software is tested for safety …

Contributors
Banerjee, Ayan, Gupta, Sandeep K.S., Poovendran, Radha, et al.
Created Date
2012

While developing autonomous intelligent robots has been the goal of many research programs, a more practical application involving intelligent robots is the formation of teams consisting of both humans and robots. An example of such an application is search and rescue operations where robots commanded by humans are sent to environments too dangerous for humans. For such human-robot interaction, natural language is considered a good communication medium as it allows humans with less training about the robot's internal language to be able to command and interact with the robot. However, any natural language communication from the human needs to be …

Contributors
Lumpkin, Barry Thomas, Baral, Chitta, Lee, Joohyung, et al.
Created Date
2012

S-Taliro is a fully functional Matlab toolbox that searches for trajectories of minimal robustness in hybrid systems that are implemented as either m-functions or Simulink/State flow models. Trajectories with minimal robustness are found using automatic testing of hybrid systems against user specifications. In this work we use Metric Temporal Logic (MTL) to describe the user specifications for the hybrid systems. We then try to falsify the MTL specification using global minimization of robustness metric. Global minimization is carried out using stochastic optimization algorithms like Monte-Carlo (MC) and Extended Ant Colony Optimization (EACO) algorithms. Irrespective of the type of the model …

Contributors
Annapureddy, Yashwanth Singh Rahul, Fainekos, Georgios, Lee, Yann-Hang, et al.
Created Date
2011