Crystal morphology and dimensionality of single-crystal semiconducting materials can have dramatic effects on the optical and electrical properties. Organic photovoltaic (OPV) materials and fluorinated graphene folds are two materials that show these dependencies. Anthradithiophene (ADT), is an OPV that can be functionalized with different side groups to form different crystal...
Designs for improved cookstoves aim to decrease the detrimental environmental and health impacts that are associated with traditional biomass cooking practiced by nearly 40% of the global population. Programs to provide improved cookstoves are found worldwide, and regional testing centers support development of these through emissions testing services. Aprovecho Research...
We propose the experimental use of resazurin (Raz) and develop a metabolically active transient storage (MATS) model to include processes that may provide additional information on transient storage from a biogeochemical perspective in stream ecosystems. Raz is a phenoxazine compound that reduces irreversibly to resorufin (Rru) in the presence of...
This thesis explores the use of human kinesthetic input to advance robotic grasp planning. It specifically focuses on identification of human heuristics of grasp similarity by extensive human-subject experiments. This heuristic is then utilized to develop a robust metric for identifying similar robotic grasps. The central hypothesis of this work...
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...
Information Foraging Theory (IFT) has successfully explained how people seek information in various domains, in turn, informing the design of several tools and information-intensive environments. However, prior research has not explored foraging in the presence of several, very similar variants of the same artifact. Such variants are commonplace in several...
The thesis focuses on activity recognition from sensor data, which has spurred a great deal of interest due to its impact on health care and security. Previous work on activity recognition from multivariate time series data has mainly applied supervised learning techniques which require a high degree of annotation effort...
Relative to visual and audible communication, haptic perception is quiet, does not require eye contact, can be applied at any point on the human body, and can function in parallel with the other four human senses. Vibrotactile feedback is a method of haptic communication using vibrations applied to the skin....
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...