Mountain glaciers are receding worldwide with numerous consequences including changing hydrology and geomorphology. This study focuses on changes in glacier area on Mt. Hood, Oregon and Mt. Rainier, Washington where damaging debris flows have occurred in glaciated basins. Landsat imagery is used to map debris-free ice on a decadal time...
This thesis examines depictions of medievalism in three central texts: Sir Walter Scott's Ivanhoe, Mark Twain's A Connecticut Yankee in King Arthur's Court, and George R.R. Martin's A Game of Thrones. Each of these texts provides an entry point for exploring the ways in which English and American writers have...
Legged robots, while advancing quickly, have far to go before they can recover from major disturbances safely and consistently. Reflected inertia, which affects how quickly the actuators can physically respond to an environmental disturbance, and delay, which describes the time necessary for the controller to sense, re-plan, and respond to...
Contemporary stream restoration efforts increasingly prioritize restoring natural stream processes to regain lost ecosystem functions. Stage 0 stream restoration resets disturbed, channelized streams to a theoretical pre-disturbance state (“stage zero”). It is assumed that this valley-scale restoration/disturbance will restore natural abiotic and biotic processes, leading to greater primary and secondary...
Over the past decade, it has come to light that many published scientific findings cannot be reproduced. This has led to the replication crisis in science. Many researchers feel that they can no longer trust much of what they read in scientific journals, and the public is becoming ever more...
The ATRIAS agile humanoid robot, along with a number of other spring-mass walking
machines, currently have two instabilities: one resulting from inertial forces on the torso
which cause the robot to spin like a top, and another resulting from stiff ground collisions
which cause chattering of the point-contact toes. This...
Practical bipedal robots need to be simultaneously efficient, robust, and versatile machines, but designing robots dynamically capable of these demands has been a significant bottleneck. We designed ATRIAS to be a highly dynamic biped capable of both walking and running untethered in real environments. To meet these goals, ATRIAS is...
Bipedal locomotion is a complex phenomenon to understand and control, making it difficult for legged robots to achieve the speed, agility, efficiency, and robustness of their animal counterparts. This thesis argues for the use of numerical optimization to investigate and implement bipedal control as it applies to biology, dynamical models,...
"Collaborative filtering has seen considerable success in the areas regarding
information overload and e-commerce, while the current developed systems are
flawed in several respects. Two approaches, the distribution-based algorithm and
the blurring profile solution, are proposed to address several outstanding issues.
The main findings of this research include:
• The...