This thesis examines the origins and outcomes of Operation Paperclip, a program the U.S. government operated in the years immediately following WWII to recruit former Nazi doctors, scientists, and technicians, and capitalize on their research experience. As part of this operation, the U.S. welcomed two doctors who had conducted medical...
This work expands the field of indoor free-space optical communication by introducing novel techniques in short range optical communication. The increasing need for high bandwidth communication necessitates the transition to optical frequencies with hundreds of terahertz worth of unregulated bandwidth. Optical communication offers an inherent security advantage over traditional communications...
In recent years, model-free Deep Reinforcement Learning (RL) has become an increasingly popular alternative to more traditional model-based or optimization-based control methods in solving robotic legged locomotion. However, deploying RL in the real world can be a significant undertaking. Constructing reward functions which compel controllers to learn the desired behavior...
Learning latent space representations of high-dimensional world states has been at the core of recent rapid growth in reinforcement learning(RL). At the same time, RL algo- rithms have suffered from ignored uncertainties in the predicted estimates of model-free or model-based methods. In our work, we investigate both of these aspects...
Legged robots have consistently captured our collective imagination through various forms of media, from Hollywood films, anime, and viral Youtube videos of robots accomplishing incredible feats of acrobatics. These robots have the potential to navigate our environments, capable of completing tasks that would otherwise require human intervention. However, developing controls...
Reinforcement learning has emerged as a popular tool for solving control tasks, with multiple works focusing on the complex and dynamic task of locomotion. However, the naive application of reinforcement learning to this problem often produces maladaptive policies that exploit the model or reward function. This results in behavior that...
Dynamic bipedal locomotion is among the most difficult and yet relevant problems in modern robotics. While a multitude of classical control methods for bipedal locomotion exist, they are often brittle or limited in capability. In recent years, work in applying reinforcement learning to robotics has lead to superior performance across...
Silicon photonics has rapidly become one of the most promising photonic integration platforms. Especially, microring resonator (MRR) plays a pivotal role in silicon photonics and has been widely used for electro-optic (E-O) modulators and wavelength filters due to its small footprint, low energy consumption, and high quality factor (Q-factor). Recently,...
Expensive pricing for laboratory bioreactors proves to be the main barrier-to-entry for lab-scale academic research. Most laboratory bioreactors are priced at $100K+ and require significant training to use, thereby limiting their accessibility. The IDEAL (Intuitive, Developmental And Research Oriented, Easy To Use, Affordable, And Low Volume) Bioreactor aims to solve...
Metal grating based plasmonic filters are widely researched for their unique properties of field enhancement and localization of light beyond diffraction limit. However, the plasmonic grating filters reported in literature mostly have broadband outputs making them unsuitable for spectroscopy. In this project, we have designed, fabricated, and characterized an array...