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...
PART I. The preparation of (-)-ibogamine (1) in fourteen steps from benzoquinone and in 10% overall yield is a powerful illustration of the value of the asymmetric Diels-Alder reaction as a starting point in a multistep synthesis. All four cycloadducts, 70, 77, 84 and 96, obtained with the (S)-BINOL-TiCl₂ complex...
University-based makerspaces are receiving increasing attention as promising innovations that may contribute to the development of future engineers. Using a theory of social boundary spaces, we investigated whether undergraduate student users at two university-based makerspaces in the United States viewed these spaces as affording their development as well-rounded professionals equipped...
This work details the development of 3D printed TPU pneunet actuators for use in apple picking for agricultural soft robotics. These actuators increase the force capabilities of soft pneunets and simplify manufacturing. Grippers based on these actuators are ideal for apple picking because they are compliant, yet exert sufficient force...
Newcomers’ seamless onboarding is important for open collaboration communi- ties, particularly those that leverage outsiders’ contributions to remain sustainable. Nevertheless, previous work shows that OSS newcomers often face several barriers to contribute, which lead them to lose motivation and even give up on contributing. A well-known way to help newcomers...
Soft robots are designed to utilize their compliance and contortionistic abilities to both interact safely with their environment and move through it in ways a rigid robot cannot. To more completely achieve this, the robot should be made of as many soft components as possible. Here we present a completely...
Deep learning has recently revolutionized robot perception in many canonical robotic applications, such as autonomous driving. However, a similar transformation has yet to occur in more harsh environments including underwater and underground. This is due in part to the difficulty in deploying robots in these environments, which lack large real...
As decomposers, fungi are key players in recycling plant material in global carbon cycles. We hypothesized that genomes of early diverging fungi may have inherited pectinases from an ancestral species that had been able to extract nutrients from pectin-containing land plants and their algal allies (Streptophytes). We aimed to infer,...
We detail an exploratory study of faculty members’ perceptions of activities associated with undergraduate engineering programs in university-based makerspaces. Our study examines the affordances and constraints faculty perceive regarding teaching and learning in these spaces and, specifically, how makerspaces support engineering faculty members in accomplishing the goals and expectations they...
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...