Index Catalog // ScholarsArchive@OSU

Learning-based Techniques for Fast and Robust Motion Planning

Creator:: Chow, Scott
Abstract:: Motion planning is a cornerstone of autonomous robots, enabling robots to safely and efficiently perform tasks such as package delivery, infrastructure inspection, and manipulation. However, as the field of robotics matures, robotic systems are being developed that (1) are challenging to analytically model, (2) require computationally expensive model-based controllers, and...
Resource Type:: Dissertation
Full Text:: committee: Drs. Ka- gan Tumer, Cindy Grimm, Naomi T. Fitter, and Camille J. Palmer, thank you for your

Robotic Actuation and Control with Programmable, Field-Activated Material Systems

Creator:: Bira, Nicholas P.
Abstract:: This dissertation presents novel, field-activated smart material systems for the actuation and control of autonomous robots. Smart materials, a type of material whose properties can be changed with an external stimuli, represent a promising direction to expand upon existing robotic control and actuation methods, particularly in the sub-fields of soft...
Resource Type:: Dissertation

Development of a Radioxenon Detection System using Stilbene and Strontium Iodide

Creator:: Gadey, Harish R.
Abstract:: The Comprehensive Nuclear-Test-Ban Treaty (CTBT) prohibits the testing of nuclear weapons on the face of the earth. The detection of atmospheric radioxenon (131mXe, 133m/133Xe, and 135Xe) plays an important role in the identification of sub-surface clandestine nuclear weapon explosions. Since the radioxenon identified above decay via two radiation in coincidence,...
Resource Type:: Dissertation
Full Text:: . I would also like to thank my committee members Dr. Yang, Dr. Palmer, Dr. Krane, and Dr. Sinha

Pine Tree Dosimetry: Development of Geometric and Compositionally Specific Sectional Models for Organ Dose Assessment

Creator:: Condon, Caitlin A.
Abstract:: Ideally, dosimetric models for pine trees will accurately reflect the doses to its critical organs. However, existing models (e.g. that in ICRP 108) for the pine tree are over simplified or solely focused on estimating doses to one specific organ, and none of the existing models attempt dosimetry to the...
Resource Type:: Dissertation

Exploring Novel Contrast Agents with Anthropomorphic Mesh Models in MCNP

Creator:: Garcia, Jacqueline K.
Abstract:: Breast cancer is the leading cancer in women with an estimated 13% of women in the United States developing a form of invasive breast cancer in her lifetime. The survival rate is estimated to be 85%, but the American Cancer Society estimates that early detection of breast cancer in the...
Resource Type:: Dissertation
Full Text:: may one day contribute to the field. I’d like to thank my committee, Camille Palmer, Lily Ranjbar

A Novel Method for the Quantitative Assessment of Fingered Robot Hand Designs for In-Hand Manipulation using Human Studies and Object-Centric Benchmarks

Creator:: Morrow, John F., IV
Abstract:: Fingered robot hands are complicated systems made of three essential system components: its morphology, its actuation, and its software control. These system components are tightly coupled to each other. Due to this, it is hard to benchmark robot hand performance in a way to understand the contributions of the individual...
Resource Type:: Dissertation

Improving Soft Snake Robot Locomotion Through Targeted Environmental Interactions Using Artificial Snake Skin

Creator:: Branyan, Callie A.
Abstract:: This dissertation outlines the design and development of the first fully-soft, snake robot and its snake-inspired skin. Soft robotics takes advantage of soft materials to, among other things, improve robot interactions with complex, unstructured environments. Due to the interplay between the soft material and the environment, minor tweaks to the...
Resource Type:: Dissertation

Application of a Modified Microdosimetric-Kinetic Model to Analyze Cell Killing in Determination of the Optimal Particle for Light Ion Therapy

Creator:: Butkus, Michael P.
Abstract:: Ion therapy has long been investigated as a potential modality to improve cancer treatments beyond what is currently feasible with photon irradiations. Ions offer both a physical and biological advantage over photons. The physical advantages are well understood, ions deposit their maximum dose at defined penetration depths, allowing for minimal...
Resource Type:: Dissertation
Full Text:: friendship. I would like to also thank Drs. James Tanyi, Camille Palmer, and Russell Turner for serving on

Characterizing Server Compromise: Resilience Models, Instantiations, and Impossibilities

Creator:: McQuoid, Ian M.
Abstract:: One of the pervasive problems arising in our modern, digital world surrounds data breaches where an adversary, through zero-day exploitations, phishing, or old-fashioned social engineering attacks, gains access to a service’s data stores. Our society increasingly relies on these cloud-based services for everything from our taxes to personal communication. As...
Resource Type:: Dissertation

The Effect of Isothermal Aging on the Development of Long-Range Order in Ni-based Alloys

Creator:: Aerne, Nicholas S. J.
Abstract:: Nickel (Ni)-based alloys with a high chromium (Cr) content are frequently employed in applications where elevated temperatures and/or corrosive environments are present due to their excellent corrosion resistance and mechanical properties. However, a gap exists around the formation, and kinetics of long-range order (LRO) Ni2Cr phase in both model binary...
Resource Type:: Dissertation
Full Text:: , Dr. Roberto Albertani, Dr. Samuel Briggs, and Dr. Camille Palmer for their recommendations

ScholarsArchive@OSU

Learning-based Techniques for Fast and Robust Motion Planning

Robotic Actuation and Control with Programmable, Field-Activated Material Systems

Development of a Radioxenon Detection System using Stilbene and Strontium Iodide

Pine Tree Dosimetry: Development of Geometric and Compositionally Specific Sectional Models for Organ Dose Assessment

Exploring Novel Contrast Agents with Anthropomorphic Mesh Models in MCNP

A Novel Method for the Quantitative Assessment of Fingered Robot Hand Designs for In-Hand Manipulation using Human Studies and Object-Centric Benchmarks

Improving Soft Snake Robot Locomotion Through Targeted Environmental Interactions Using Artificial Snake Skin

Application of a Modified Microdosimetric-Kinetic Model to Analyze Cell Killing in Determination of the Optimal Particle for Light Ion Therapy

Characterizing Server Compromise: Resilience Models, Instantiations, and Impossibilities

The Effect of Isothermal Aging on the Development of Long-Range Order in Ni-based Alloys

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