In this thesis we analyze a model for Kerr optical materials consisting of Maxwell's equations along with the dispersive Duffing model. We consider Duffing models with cubic and quintic polynomial nonlinearities. We assume a traveling wave solution to this nonlinear electromagnetic system and analyze it using the theory of dynamical...
Studies were conducted to investigate the metabolism of
selenium (Se) , and the influences of Se on the metabolism of cadmium (Cd) and inorganic mercury (Hg) in rats, and in ram semen in
vitro. Se-deficient (-Se) or Se-adequate (+Se) rats were injected intraperitoneally with either ¹⁰⁹CdCl₂ (5 μCi/rat) or ²⁰³HgN0₃...
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...
This thesis explores the differences in puppetted and teleoperation control of robotic hands, using the Asterisk test as a benchmark. Two hands were tested, including modified versions of the Model Q and Model Q developed by Yale's GRAB Lab. Small differences were observed between the puppetted and teleoperation control of...
Magnetic materials can be used in modern soft robotics as a method for external stimulus actuation and motion control. By combining aspects of biology and mechanics, devices are fabricated to create a structure capable of complex movement. Applications that these devices are subject to can be broken down into four...
Energy consumption has become a significant concern for cloud service providers due to financial as well as environmental factors. As a result, cloud service providers are seeking innovative ways that allow them to reduce the amount of energy that their data centers consume. They are calling for the development of...
Enabled by a rich ecosystem of Machine Learning (ML) libraries, programming using learned models, i.e., Software-2.0, has gained substantial adoption. However, we do not know what challenges developers encounter when they use ML libraries. With this knowledge gap, researchers miss opportunities to contribute to new research directions, tool builders do...
To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center, Moffett Field, CA, USA, has developed and validated two software environments for the analysis, simulation and design of tensegrity robots. These tools, along with...
Modern walking robots have shown that dynamic gaits can be achieved without ankle motors. It seems logical that the additional control authority that they provide can be used to improve the stability of the walking gait against foot placement errors caused by low level control. This thesis develops and compares...
Government regulation is an established policy tool for inducing technological innovation in a market. For example, many environmental regulations prescribe performance requirements that industry complies with by innovating aspects of the product design. These design innovations might include updated components, new functionality, or a revised product architecture. However, the effect...