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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.


A control method based on the phase angle is used to control oscillating systems. The phase oscillator uses the sine and cosine of the phase angle to change key properties of a mass-spring-damper system, including amplitude, frequency, and equilibrium. An inverted pendulum is used to show a further application of the phase oscillator. Two methods of control based on the phase oscillator are used for swing-up and balancing of the pendulum. The first control method involves two separate stages. The scenarios where this control works are discussed. The second control method uses variable coefficients to result in a smooth transition …

Contributors
Bates, Andrew, Sugar, Thomas, Redkar, Sangram, et al.
Created Date
2015

As the robotic industry becomes increasingly present in some of the more extreme environments such as the battle field, disaster sites or extraplanetary exploration, it will be necessary to provide locomotive niche strategies that are optimal to each terrain. The hopping gait has been well studied in robotics and proven to be a potential method to fit some of these niche areas. There have been some difficulties in producing terrain following controllers that maintain robust, steady state, which are disturbance resistant. The following thesis will discuss a controller which has shown the ability to produce these desired properties. A phase …

Contributors
New, Philip Wesley, Sugar, Thomas G, Artemiadis, Panagiotis, et al.
Created Date
2015