Unmanned aerial vehicle (UAV) technology has grown out of traditional research and military applications and has captivated the commercial and consumer markets, showing the ability to perform a spectrum of autonomous functions. This technology has the capability of saving lives in search and rescue, fighting wildfires in environmental monitoring, and...
Multiagent approaches are well suited to designing autonomous solutions for systems that feature complex interactions between many individuals such as in autonomous traffic systems and multi-robot exploration systems. However, creating autonomous agents that function effectively in these systems is a challenging task. In these complex environments, agents need informative reward...
Multi-robot teams offer promising solutions for many long term deployments in remote and dangerous domains, such as extraterrestrial or underseas exploration. However, long term deployments present many problems preventing robot teams from operating effectively. Learning over long time scales is makes it difficult to assign credit to robots' actions, as...
Social robots benefit from a sense of humor, which requires the ability to recognize and adapt to human responses during playful interactions. Past work on humorous robots has classified audience responses with audio-based and preliminary visual-based methods following the joke punchline. Building on this progress, we conducted a survey of...
Deep pressure therapy (DPT) is a method of anxiety relief that uses pressure sensations to lower the stress response produced in the brain, and functions in a manner similar to a hug. Heavily weighted blankets and weighted vests are most commonly used to apply DPT, though recent work has shown...
There are at least fifteen types of upper extremity tendon transfer procedures for combined peripheral nerve injuries that involve re-routing a single donor muscle to multiple recipient tendons. As a result, force and movement across finger joints become coupled, resulting in limited grasping abilities. Quantification and modeling of the donor...
Artificial Intelligence has gained resurgence in popularity through machine learning methods. This thesis investigates the current use of AI, the impact it will have on the economy and the ethical considerations for developing this technology. In the coming decade AI could increase global economic output over $10 Trillion. AI will...
The Jetson Artificial Intelligence Tool chain (JAI-TC) is a set of packages, APIs and libraries for Artificial Intelligence applications to be deployed on the NVidia SOC, Jetson TX2. JAI-TC automates the installation of these items allowing for a wider set of users to leverage these technologies. Prior to this, the...
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...
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...
Robots are being utilized in ever more complex tasks and environments to help humans with difficult or dangerous tasks. However, robotic grasping is still in its infancy and is one of the limiting factors which prevent the deployment of robots in the home and other assisted living scenarios. Traditional methods...
Expressive motion has been found to be a highly effective tool in communicating intent and motivation in single robot human-robot interaction, but work in exploring how groups of robots can use motion in interactions with humans is relatively nascent. There are many additional complexities to consider expanding from single robot...
The purpose of this dissertation was to estimate the extent to which group-level synchrony predicts specific group outcomes. Synchrony is broadly defined as the coordination of biological and behavioral processes during social contact (Feldman, 2017). In this dissertation, biological coordination is defined as, “the spontaneous synchronization of physiological signals (e.g.,...
This thesis presents a decentralized communication planning algorithm for cooperative terrain-based navigation (dec-TBN) with autonomous underwater vehicles. The proposed algorithm uses forward simulation to approximate the value of communicating at each time step. The simulations are used to build a directed acyclic graph that can be searched to provide a...
The purpose of this thesis was to assess the relationship between group rapport and nonverbal expressivity using three data sources: self-report, observer ratings, and test data. Assessing these constructs using multiple data sources enabled the construction of multitrait-multimethod matrices. These matrices allowed for a critical evaluation of the convergent and...
While robotic systems may have once been relegated to structured environments and automation style tasks, in recent years these boundaries have begun to erode. As robots begin to operate in largely unstructured environments, it becomes more difficult for them to effectively interpret their surroundings. As sensor technology improves, the amount...
Smart Manufacturing (SM) is envisioned to make manufacturing processes more efficient through automation and integration of networked information systems. Robotic arms are integral to this vision. However the benefits of SM, enabled by automation and networking, also come with cyber risks.
In this work, we propose an anomaly detection framework...
As robotic systems become increasingly prevalent in our lives (e.g., by harvesting food, assisting with disaster response and defense, and transporting persons and our goods around the world) there is a growing need to ensure that they can cooperate to achieve their intended goals. Robotic cooperation in the real-world is...
There is growing commercial interest in the use of unmanned aerial vehicles (UAVs) in urban environments, specifically for package delivery applications. However, the size, complexity and sheer numbers of expected UAVs makes conventional air traffic management that relies on human air traffic controllers infeasible. To enable UAVs to safely and...
Tensegrity structures are composed of pure compressional elements that are connected via a network of pure tensional elements. The concept of tensegrity promises numerous advantages to the field of robotics. Tensegrity robots are, however, notoriously difficult to control due to their oscillatory nature and nonlinear interaction between the components. Multiagent...
Human-robot teams are invaluable for mapping unknown environments, exploring difficult-to-reach areas, and manipulating inaccessible equipment. However, guiding autonomous robots requires dealing with these dynamic domains while synthesizing a significant amount of data and balancing competing objectives. Current mission planning methods often involve manually specifying low-level parameters of the mission, such...
A registered flock of Hampshire sheep that had been predominantly
closed for approximately 30 years was utilized to study the
effects of inbreeding on productivity of the 1980 and 1981 lamb crops.
Five generation pedigrees for ewes and rams were used to calculate
inbreeding coefficients. The median inbreeding coefficient of...
The properties and evolution of nonlinear internal waves (NLIWs) depend
upon the background conditions within which waves form, propagate, and dissipate. As a result, the NLIW field on the New Jersey shelf displayed dramatic variability during the Shallow Water 2006 experiment. Wave variability was exhibited by 1) amplitudes that ranged...
This paper discusses opportunities for developments in spatial clustering methods to help leverage broad scale community science data for building species distribution models (SDMs). SDMs are critical tools that inform the science and policy needed to mitigate the impacts of climate change on biodiversity. Community science data span spatial and...
Land managers in the Blue Mountains of eastern Oregon are currently faced with large areas of forest with health problems and extreme levels of fuel loading in the stand and on the forest floor. These conditions resulted from a combination of insect infestations, past management practices and the elimination of...
Numerous water supply systems and community based water boards have been created with the aid of international organizations and NGOs in developing countries. These water systems have great potential to improve people’s social life and health in these countries. However, in reality, these water systems are often not effectively managed;...
Habitat restoration projects are vital for recovering ecosystems, but they can be expensive. One way to help justify the price tag is to value the economic benefits provided by the restored habitat. The issue is that many ecosystem services and the flow of benefits they produce are complex, requiring careful...
Invasive species are a growing global economic and ecological problem. Invasive Indo-Pacific lionfish (Pterois spp.) are known to have extreme negative effects on coral-reef communities in the Bahamas, so understating their distribution within and among reefs, what limits their local movements, and the effects they have on native prey species...
The use of mechanized harvest equipment has been
increasing as an economical method to harvest small diameter
timber. While the use of this equipment is increasing,
little is known about associated soil compaction. In
particular, little information exists on soil compaction
caused by feller--bunchers.
This study measured soil compaction caused...
High purity niobium metal is used in the construction of superconducting radio frequency (SRF) cavities in superconducting particle accelerators, such as the Large Hadron Collider (LHC) at CERN or the Spallation Neutron Source (SNS) at Oak Ridge National Laboratory. The usual method for characterizing the impurities in this niobium, the...
Bulk metallic glasses (BMGs) are relatively new amorphous materials that have received much attention in recent years. Rapid cooling methods from the liquid state provides the possibility to bypass crystallization during solidification. Due to the lack of crystal defects such as grain boundaries and dislocations, BMGs can have some special...
The purpose of this study was to describe and explore the relationships between work and family domain characteristics, time-based work-family conflict (WFC), and turnover intention of agriculture teachers. This study sought to identify factors influencing agriculture teachers' turnover intentions. An additional focus of this study was to explore differences between...
Some of the most pressing conservation concerns involve declining populations of species with low fecundity and highly specialized foraging and reproductive requirements. Yet, we often lack a functional understanding of how individuals of those species interact with their environment, specifically how their movement is affected by human-induced changes. In order...
The ability to engineer stiffness and strength in any desired direction make composites an ideal material candidate for various applications when compared to their traditional isotropic counterparts. In spite of this, the ability to model the material response in composites has yet to be fully explored. Composite research largely focuses...
A method of calculating surface evapotranspiration by separately
including the effects of vegetation and atmospheric evaporative demand
under the condition of nonlimiting soil moisture is presented. A
literature survey is conducted to determine the effects of plants on
evapotranspiration.
To represent the atmospheric evaporative demand, the original
potential evaporation equation...
The response of sweet corn (Zea mays L. var. rugosa cultivar
Jubilee) to 12 populations and four nitrogen rates was studied in a
field experiment. Populations ranged from 43, 904 to 329,800
plants/ha with nitrogen levels ranging from 0 to 224 Kg/ha. A systematic
spacing design was used. Plant height,...
Litter nutrient dynamics contribute significantly to biogeochemical cycling in
forest ecosystems. These dynamics may be influenced by site attributes, litter nutrient concentrations, and soil nutrient availability either independently or synergistically. Litter nutrient dynamics were examined in two decomposition studies in temperate coniferous forests of Oregon. I used ¹⁵N-labelled litter of...
A taxonomic study was made on the genera Rhynchophorus and
Dynamis of the weevil family Curculionidae which includes all of the
species known to occur in the world. The bibliography lists all the
important papers published to date on the taxonomy and bionomics of
these weevils. A full synonymy is...
Environmental quality and the spatial distribution of economic activities affect each other in many ways. The primary purpose of this dissertation is to contribute to understanding the complex interrelationship and its policy implications. This dissertation consists of three essays.
The first essay examines the roles that locational amenities and increasing...
Field, screenhouse, and laboratory experiments were conducted to
study weed interference in rice grown on hydromorphic soils at the
International Institute of Tropical Agriculture (IITA) at Ibadan, Nigeria.
Rice and weeds emerged at the same time, 1 week after planting.
Weed dry weight was significantly reduced when the crop was...
The Problem
The general purpose of this study was to determine the
completeness and adequacy of student personnel services in
Negro colleges of the South Atlantic States. Specifically,
the problem was (1) to identify and analyze the nature of
student personnel practices in Negro colleges of the South
Atlantic States;...
The two major purposes of this study were: (1) to test the
assumption that the IT Scale for Children (standard-ITSC) can be used
as a measure of both appropriate sex role discrimination and sex role
preference with preschool aged children, and (2) to extend previous
studies in these areas by...
Processes of metamorphosis, settlement, and growth were examined in Pacific sanddab
using field studies and otolith microstructure. This flatfish transforms at large sizes, has a
gradual metamorphosis, and settles to a nursery on the middle continental shelf. Eye migration
takes 3 months and "metamorphosis proper" which begins after completion of...
Continental flood basalts represent short-lived but immense blasts of mafic magma to the continental crust. The youngest and smallest continental flood basalt worldwide, the Columbia River Basalt, initiated with the eruption of the most mafic member, the Steens Basalt (~16.9 Ma). The Steens Basalt is exposed in southeast Oregon, southwest...
From July 1985 to April 1987 the pelagic zooplankton community of Crater Lake, Oregon was studied to determine taxonomic structure, absolute and relative densities, and spatial and temporal distributional patterns. Samples were collected using vertically-towed zooplankton nets. The community structure consisted of two cladoceran and nine rotifer species, which were...
The research conducted here originated with the question of what caused the massive build-up of nuclear arsenals, which included ever larger and more powerful bombs and delivery systems from them, in the United States and the Soviet Union, even though the consensus beforehand was that nuclear energy should be prohibited...