Physical Sciences and Mathematics Commons^™

Scene-Dependent Human Intention Recognition For An Assistive Robotic System, Kester Duncan

USF Tampa Graduate Theses and Dissertations

In order for assistive robots to collaborate effectively with humans for completing everyday tasks, they must be endowed with the ability to effectively perceive scenes and more importantly, recognize human intentions. As a result, we present in this dissertation a novel scene-dependent human-robot collaborative system capable of recognizing and learning human intentions based on scene objects, the actions that can be performed on them, and human interaction history. The aim of this system is to reduce the amount of human interactions necessary for communicating tasks to a robot. Accordingly, the system is partitioned into scene understanding and intention recognition modules. …

Br[O/]Nsted Acid Catalyzed Asymmetric Allylation And Propargylation Of Aldehydes, Pankaj Jain

USF Tampa Graduate Theses and Dissertations

Carbonyl allylation and propargylation reactions have been an important tool for the stereocontrolled formation of carbon-carbon bonds for synthetic chemists. The chiral homoallylic and homopropargylic alcohols obtained from these reactions serve as versatile intermediates for the synthesis of natural and pharmaceutical products. Over the past three decades and continuing on, various synthetic groups around the globe have directed their research towards the efficient synthesis of these chiral moieties. In spite extensive research, asymmetric allylation and propargylation reactions remain an enduring challenge in organic chemistry.

Chapter 1 of this thesis describes the first phosphoric acid catalyzed asymmetric allylboration of aldehydes. We …

Investigation And Characterization Of Pt-Modified Au Catalysts And Polymer Composites By Electrochemistry, Raman And Surface Enhanced Raman Spectroscopy (Sers), Ranjani Muralidharan

USF Tampa Graduate Theses and Dissertations

This dissertation thesis consists of six chapters. The main focus of this study is the need for understanding the reaction mechanism and intermediates formed on Pt-modified Au surface as anode catalysts in the formic acid fuel cells. Chapter 1 gives an introduction to formic acid and methanol fuel cells, an overview of the current catalysts employed at the anode of the fuel cells, specifically the Pt-modified Au electrodes as potential catalysts and the different deposition methods for preparing this catalytic surface. Information about different electrochemical methods used like cyclic voltammetry and potential step method along with other characterization methods and …

A Monte Carlo Study: The Consequences Of The Misspecification Of The Level-1 Error Structure, Merlande Petit-Bois

USF Tampa Graduate Theses and Dissertations

Single-case interventions allow for the repeated measurement of a case or participant across multiple time points, to assess the treatment¡͞s effect on one specific case or participant. The basic interrupted time series design includes two phases: baseline and treatment. Raudenbush and Byrk (2002) demonstrated that a meta-analysis of large group designs can be seen as a special case of multi-level analysis with participants (level-one) nested within studies (level-two). Raw data from a set of single case design studies have a similar structure. Van den Noortgate and Onghena (2003) illustrated the use of a two-level model to analyze data in primary …

Environmental And Energy Saving Technologies Of Vinyl Chloride Production, Mykola Kurta

USF Tampa Graduate Theses and Dissertations

Recently, because of the increase of environmental concerns in process design, the need to enhance conversion to product and prevent generation of wasteful byproducts in the reactor network has become urgent. This prevents high cost treatment and separation costs downstream in the process. Therefore, in this thesis I focus on making production of vinyl chloride monomer (VCM) more efficient and on possible ways of industrial organochlorine waste (OCW) recycling. In particular, in the first experiment, we investigate how catalyst and its structure can affect product output.

Infrared spectroscopy and X-ray diffraction analysis were utilized to investigate the structure of the …

Location And Capacity Modeling Of Network Interchanges, Aldo D. Fabregas

USF Tampa Graduate Theses and Dissertations

Network design decisions, especially those pertaining to urban infrastructure, are made by a central authority or network leader, and taking into consideration the network users or followers. These network decision problems are formulated as non-linear bi-level programming problems. In this work, a continuous network design problem (CNDP) and discrete network design problem (DNDP) bi-level optimization programs are proposed and solved in the context of transportation planning. The solution strategy involved reformulation and linearization as a single-level program by introducing the optimality conditions of the lower level problem into the upper level problem. For the CNDP, an alternative linearization algorithm (modified …

Real-Time Map Manipulation For Mobile Robot Navigation, Carlos Favis Ezequiel

USF Tampa Graduate Theses and Dissertations

Mobile robots are gaining increased autonomy due to advances in sensor and computing technology. In their current form however, robots still lack algorithms for rapid perception of objects in a cluttered environment and can benefit from the assistance of a human operator. Further, fully autonomous systems will continue to be computationally expensive and costly for quite some time. Humans can visually assess objects and determine whether a certain path is traversable, but need not be involved in the low-level steering around any detected obstacles as is necessary in remote-controlled systems. If only used for rapid perception tasks, the operator could …

A Rheological Examination Of Polymer Composites: Including Functionalized Carbon Nanotubes, Viable Polyurethane Alternates, And Contact Lens Hydrogels, Bernard Knudsen

USF Tampa Graduate Theses and Dissertations

From medicine to aerospace, innovation in multiple fields will not occur without addressing current questions that still exist in polymer behavior and manipulation. This dissertation represents the research carried out over the course of three separate experiments using rheometry as the key technique to explore the behavior of polymer composites. In all three studies, polymer composites were investigated for changes to their known physical properties caused through the addition of a filler or functionalization.

Chapter Two examines the possibility of enhancing poly(4-methyl-1-pentene) through the use of soluble carbon nanotubes. In this series of experiments, carbon nanotubes were covalently functionalized using …

Gradients In Season, Latitude, And Sea Ice: Their Effect On Metabolism And Stable Isotopic Composition Of Antarctic Micronekton, Erica H. Ombres

USF Tampa Graduate Theses and Dissertations

Respiration, metabolic enzyme assays, and body composition parameters were measured in the Antarctic krill Euphausia superba during the summer, fall and winter on the Western Antarctic Peninsula (WAP). E. superba of all sizes decrease their metabolism from the summer to the winter. These same parameters were also measured along the WAP during the austral fall 2010. E. superba's enzyme activity indicated that there was a latitudinal gradient to the decline in metabolism along the WAP with the more northerly sites having significantly higher metabolic enzyme activities than the sites to the south.

Carbon (δ¹³C) and nitrogen (δ^{15 …}

Robotic Swarming Without Inter-Agent Communication, Daniel Jonathan Standish

USF Tampa Graduate Theses and Dissertations

Many physical and algorithmic swarms utilize inter-agent communication to achieve advanced swarming behaviors. These swarms are inspired by biological swarms that can be seen throughout nature and include bee swarms, ant colonies, fish schools, and bird flocks. These biological swarms do not utilize inter-agent communication like their physical and algorithmic counterparts. Instead, organisms in nature rely on a local awareness of other swarm members that facilitates proper swarm motion and behavior. This research aims to pursue an effective swarm algorithm using only line-of-sight proximity information and no inter-agent communication. It is expected that the swarm performance will be lower than …

Determining The Benefit Of Human Input In Human-In-The-Loop Robotic Systems, Christine Elizabeth Bringes

USF Tampa Graduate Theses and Dissertations

This work analyzes human-in-the-loop robotic systems to determine where human input can be most beneficial to a collaborative task. This is accomplished by implementing a pick-and-place task using a human-in-the-loop robotic system and determining which segments of the task, when replaced by human guidance, provide the most improvement to overall task performance and require the least cognitive effort.

The first experiment entails implementing a pick and place task on a commercial robotic arm. Initially, we look at a pick-and-place task that is segmented into two main areas: coarse approach towards a goal object and fine pick motion. For the fine …

The Spectrophotometric Analysis Of Lead Carbonate Complexation And Carbonate Saturation States In Seawater, Regina Anita Easley

USF Tampa Graduate Theses and Dissertations

The carbon dioxide (CO₂) system is the primary buffer in seawater which controls oceanic pH. Changes in the marine CO₂ system affect a number of processes such as metal speciation, mineral saturation states, auditory responses in fish, and primary productivity rates. Increased atmospheric concentrations of CO₂ from human activities (e.g. burning of fossil fuels, deforestation, and cement production) has led to a global decrease in surface ocean pH termed anthropogenic ocean acidification. One particular concern in response to increased oceanic CO₂ is a substantial decrease in the calcium carbonate (CaCO₃) saturation states, Ω …

The Water Culture Beliefs Of Embera Communities And Maternal And Child Health In The Republic Of Panama, Ilenia Anneth Forero

USF Tampa Graduate Theses and Dissertations

Water has cultural and spiritual values to indigenous people. These beliefs expose them to unsafe water sources and make them vulnerable to waterborne diseases. This background is not taken into account when countries write their water legislations, therefor imposing a management of water not readily accepted by them. The Embera group is one of the indigenous groups from the Republic of Panama, who have strong water beliefs. They live along the shore of rivers in houses built on high stilts away from urban areas. The purpose of this cross-sectional community based study is to describe through a survey the relation …

Distinguishing Processes That Induce Temporal Beach Profile Changes Using Principal Component Analysis: A Case Study At Long Key, West-Central Florida, Denise Marie Davis

USF Tampa Graduate Theses and Dissertations

The heavily developed Long Key is located in Pinellas County in west-central Florida. The structured Blind Pass at the north end of the barrier island interrupts the southward longshore sediment transport, resulting in severe and chronic beach erosion along the northern portion of the island. Frequent beach nourishments were conducted to mitigate the erosion. In this study, the performance of the most recent beach nourishment in 2010 is quantified through time-series beach profile surveys. Over the 34-month period, the nourished northern portion of the island, Upham Beach, lost up to 330 m3/m of sand, with a landward shoreline retreat of …

Assessing Hurricane Preparedness Among Residential Staff At Louisiana State University: A Case Study On Hurricane Isaac, Ashley Marie Weatherall

USF Tampa Graduate Theses and Dissertations

Studying hurricane preparedness among the Resident Assistants (RAs) and Residence Life Coordinators (RLCs) at Louisiana State University (LSU) is imperative to assure that the university housing staff is fully equipped when faced with an oncoming threat. This study seeks to fill a gap in research by investigating the influences of preparedness on student housing employees. A survey was developed and the measures were found to be coherent and internally reliable through the use of factor analysis. Based on theory and previous literature, a linear regression model was developed that quantified the relationship between the independent variable of preparedness and general …

Uncontrolled Hypertension And Associated Factors In Hypertensive Patients At The Primary Healthcare Center Luis H. Moreno, Panama: A Feasibility Study, Roderick Ramon Chen Camano

USF Tampa Graduate Theses and Dissertations

Background: According to the World Health Organization (WHO), hypertension is a major risk factor for cardiovascular disease (CVD), renal impairment, peripheral vascular disease, and blindness. In Panama, a recent study estimated the prevalence of hypertension at 38.5% in the two main provinces of the country, with a rate of uncontrolled hypertension of 47.2%.

Objectives: The aims of this study were to assess the feasibility of the study design and to describe the characteristics of the hypertensive population and the physician's adherence to Panamanian antihypertensive protocols and their relationship with uncontrolled hypertension.

Methods: This is a cross-sectional study of adult hypertensive …

Development Of Nanostructured Graphene/Conducting Polymer Composite Materials For Supercapacitor Applications, Punya A. Basnayaka

USF Tampa Graduate Theses and Dissertations

The developments in mobile/portable electronics and alternative energy vehicles prompted engineers and researchers to develop electrochemical energy storage devices called supercapacitors, as the third generation type capacitors. Most of the research and development on supercapacitors focus on electrode materials, electrolytes and hybridization. Some attempts have been directed towards increasing the energy density by employing electroactive materials, such as metal oxides and conducting polymers (CPs). However, the high cost and toxicity of applicable metal oxides and poor long term stability of CPs paved the way to alternative electrode materials. The electroactive materials with carbon particles in composites have been used substantially …

Metabolism In Corals From Antarctica, The Deep-Sea, And The Shallow Subtropics: Contrasts In Temperature, Depth, And Light, Lara Henry

USF Tampa Graduate Theses and Dissertations

Coral habitats span the range from tropical to polar, extremely shallow to thousands of meters deep. The differences in light and temperature experienced in these varied habitats likely affect the metabolic rates of the corals residing there. The metabolism of three coral species from different habitats have been examined to elucidate the effects of these environmental parameters on metabolism, an under-studied aspect of coral biology. For all three species, measurements of oxygen uptake, ammonium excretion, and activity of the enzymes lactate dehydrogenase (LDH), malate dehydrogenase (MDH), and citrate synthase (CS) were used to characterize their metabolism. Off Florida's Gulf coast, …

Hearing And Echolocation In Stranded And Captive Odontocete Cetaceans, Danielle Greenhow

USF Tampa Graduate Theses and Dissertations

Odontocetes use echolocation to detect, track, and discriminate their prey, as well as negotiate their environment. Their hearing abilities match the frequency of greatest sensitivity to the higher frequencies used for foraging and navigation. Hearing and echolocation together provide odontocetes with a highly developed biosonar system. This dissertation examines the hearing ability of several odontocete species to understand what signals they can perceive during echolocation. The variability in hearing ranges between species is examined in the context of phylogenetic and ecological differences among taxa. An autonomous hydrophone array is also developed that could be used in an expanded form in …

Tracking Atlantic Hurricanes Using Statistical Methods, Elizabeth Caitlin Miller

USF Tampa Graduate Theses and Dissertations

Creating an accurate hurricane location forecasting model is of the utmost importance because of the safety measures that need to occur in the days and hours leading up to a storm's landfall. Hurricanes can be incredibly deadly and costly, but if people are given adequate warning, many lives can be spared. This thesis seeks to develop an accurate model for predicting storm location based on previous location, previous wind speed, and previous pressure. The models are developed using hurricane data from 1980-2009.

Harmful Algal Blooms Of The West Florida Shelf And Campeche Bank: Visualization And Quantification Using Remote Sensing Methods, Inia Mariel Soto Ramos

USF Tampa Graduate Theses and Dissertations

Harmful Algal Blooms (HABs) in the Gulf of Mexico (GOM) are natural phenomena that can have negative impacts on marine ecosystems on which human health and the economy of some Gulf States depends. Many of the HABs in the GOM are dominated by the toxic dinoflagellate Karenia brevis. Non-toxic phytoplankton taxa such as Scrippsiella sp. also form intense blooms off the Mexican coast that result in massive fish mortality and economic losses, particularly as they may lead to anoxia.

The main objectives of this dissertation were to (1) evaluate and improve the techniques developed for detection of Karenia spp. blooms …

A Modeling Investigation Of Human Exposure To Select Traffic-Related Air Pollutants In The Tampa Area: Spatiotemporal Distributions Of Concentrations, Social Distributions Of Exposures, And Impacts Of Urban Design On Both, Haofei Yu

USF Tampa Graduate Theses and Dissertations

Increasing vehicle dependence in the United States has resulted in substantial emissions of traffic-related air pollutants that contribute to the deterioration of urban air quality. Exposure to urban air pollutants trigger a number of public health concerns, including the potential of inequality of exposures and health effects among population subgroups. To better understand the impact of traffic-related pollutants on air quality, exposure, and exposure inequality, modeling methods that can appropriately characterize the spatiotemporally resolved concentration distributions of traffic-related pollutants need to be improved. These modeling methods can then be used to investigate the impacts of urban design and transportation management …

A Polarizable And Transferable Carbon Dioxide Potential For Materials Simulation, Ashley Lynn Mullen

USF Tampa Graduate Theses and Dissertations

Intermolecular potential energy functions for CO₂ have been developed from first principles for use in heterogeneous systems, including one with explicit polarization. The intermolecular potentials have been expressed in a transferable form and parameterized from nearly exact electronic structure calculations. Models with and without explicit many-body polarization effects, known to be important in simulation of interfacial processes, are constructed. The models have been validated on pressure-density isotherms of bulk CO₂ and adsorption in three metal-organic framework (MOF) materials. The present models appear to offer advantages over high quality fluid/liquid state potentials in describing CO₂ interactions in interfacial …

Synoptic To Interannual Variability In Volumetric Flushing In Tampa Bay, Fl Using Observational Data And A Numerical Model, Monica Wilson

USF Tampa Graduate Theses and Dissertations

This research provides insight into changes in volumetric flushing of the Tampa Bay estuary caused by synoptic scale wind events. The two main studies of this dissertation involve 1) using wavelet analysis to investigate the link between the El Niño-Southern Oscillation (ENSO) and the frequency and strength of volumetric flushing driven by synoptic variability and 2) using a multi-decadal model simulation to examine how extratropical/winter storms and hurricanes affect the overall flushing rates for Tampa Bay, FL.

In the first study, two analyses are performed on 55 years of observational data to investigate the effect of multiple small wind events …

Playing In Trelis Weyr: Investigating Collaborative Practices In A Dragons Of Pern Role-Play-Game Forum, Kathleen Marie Alley

USF Tampa Graduate Theses and Dissertations

This descriptive case study examined adolescents' and emerging adults' literate and social practices within the context of a role-play-game (RPG) forum, investigating the ways participants read and collaboratively composed within this space. As a researcher, I was interested in how this space functioned and how the interactions between members impacted their composing processes, with particular attention to the role of online spaces and popular culture in adolescents' motivation to engage in this forum. This study was guided by three research questions: (1) In what ways is Trelis Weyr, an RPG forum, organized as a virtual environment?; (2) In what ways, …

Reaction Enthalpy And Volume Profiles For Excited State Reactions Involving Electron Transfer And Proton-Coupled Electron Transfer, William Antonio Maza

USF Tampa Graduate Theses and Dissertations

Electron transfer, ET, and proton-coupled electron transfer, PCET, reactions are central to biological reactions involving catalysis, energy conversion and energy storage. The movement of electrons and protons in either a sequential or concerted manner are coupled in a series of elementary reaction steps in respiration and photosynthesis to harvest and convert energy consumed in foodstuffs or by absorption of light into high energy chemi-cal bonds in the form of ATP. These electron transfer processes may be modulated by conformational dynamics within the protein matrix or at the protein-protein interface, the energetics of which are still not well understood. Photoacoustic calorimetry …

Spin Dependent Transport In Novel Magnetic Heterostructures, Priyanga Buddhika Jayathilaka

USF Tampa Graduate Theses and Dissertations

Magnetic oxides have become of interest source for spin transport devices due to their high spin polarization. But the real applications of these oxides remains unsatisfactory up to date, mostly due to the change of properties as a result of nano structuring. Magnetite (Fe₃O₄) is one such a material. High Curie temperature and the half metallicity of Fe₃O₄ make it a good potential candidate for spin transport devices. Studies have shown that the nano structuring Fe₃O₄ changes most of it's important properties. This includes high saturation magnetization and drop of …

Chiral Phosphoric Acid-Catalyzed Acetalization And Iso-Pictet-Spengler Reactions, Matthew Jon Kaplan

USF Tampa Graduate Theses and Dissertations

The development of novel asymmetric reaction methodologies has been invaluable in both the academic and industrial world. In just 15 years, organocatalysis has provided a new means of developing asymmetric reaction methodologies using catalysts that are environmentally benign, relatively inexpensive, bench stable, and non-toxic. One development in organocatalysis that is important to our group in particular is chiral phosphoric acid-catalysis. BINOL-derived and VAPOL-derived phosphoric acids have proven to be excellent catalysts for a number of reactions.

The two projects I will discuss my efforts on are acetalization and iso-Pictet-Spengler reactions. These were projects that I performed during my first two …

Delta Encoding Based Methods To Reduce The Size Of Smartphone Application Updates, Nikolai Samteladze

USF Tampa Graduate Theses and Dissertations

In 2012 the two biggest smartphone application markets - the Google Play store and the Apple App Store - each had close to 700 thousand applications with approximately 2 billion downloads happening every month. The introduction of new features and correction of bugs and security vulnerabilities make it usual for mobile application developers to release new version of an application every month. Combined with the great smartphone popularity, it leads to approximately 400 PB annual traffic generated by app updates in the U.S. wireless networks alone. Being partially transmitted through cellular networks, mobile application updates traffic accounts to up to …

Net Effects Of Batrachochytrium Dendrobatidis (Bd) And Fungicides On Anurans Across Life Stages, Jenise Brown

USF Tampa Graduate Theses and Dissertations

Amphibians are declining at alarming rates globally. Multiple factors contribute to these declines, including chemical contaminants and emergent diseases. In recent years, agrochemical use, especially fungicide applications, has increased considerably. Previous studies have demonstrated that these agrochemicals leave application sites and enter wetlands via runoff and have detrimental effects on non-target organisms. For example, exposure to contaminants can have multifarious effects on amphibians, such as reducing their ability to deal with a secondary stressor, such as disease.

A pathogen that is found concomitant with chemical contaminants in aquatic systems is Batrachochytrium dendrobatidis (Bd). Bd has decimated amphibian populations worldwide. Susceptibility …