Robot hands -- Design and construction. Robots -- Motion -- Mathematical models. Manipulators (Mechanism) -- Design and construction. Textile fabrics. Knots and splices. String.
Flexible objects are a challenge to manipulate. Their motions are hard to predict, and the high number of degrees of freedom makes sensing, control, and planning difficult. Additionally, they have more complex friction and contact issues than rigid...
This thesis characterized the solubilities of sugar monomers and xylooligomers in water and explored the potential role of solubility for pretreatment of cellulosic Biomass by hemicellulose hydrolysis in only water. A novel apparatus was developed...
Goldman and Turaev constructed a Lie bialgebra structure on the free Z-module generated by free homotopy classes of loops on an oriented surface. Turaev conjectured that the cobracket of A is zero if and only if A is a power of a simple class. Chas...
Optical tomography. ; Near infrared spectroscopy. ; Image analysis -- Mathematical models. ; Imaging systems -- Image quality -- Mathematical models. ; Image reconstruction -- Mathematical models. ; Least squares. Breast -- Tomography.
Diffuse optical tomography (DOT) has the potential to become a non-invasive and non-ionizing diagnostic imaging technique for breast cancer imaging. DOT uses near-infrared (NIR) light to illuminate the breast, generally through the use of fiber...
This thesis centers around a generalization of the classical discrete Fourier transform. We first present a general diagrammatic approach to the construction of efficient algorithms for computing the Fourier transform of a function on a finite...
Automatic control -- Sensitivity. Structural control (Engineering). Strains and stresses -- Computer simulation. Structural analysis (Engineering). Engineering models.
Autonomous damage detection in engineering structures is critically important as the demands placed upon those structures are increased. It has been well established that damage detection can be done through monitoring the modal frequencies of the...
The main driving force behind the development of computers was the attempt to solve problems that would otherwise require a large amount of time to be solved. Despite the technological development that has made computers ubiquitous in daily lives,...
We describe a set of natural image statistics that are built upon two multi-scale image decompositions, the quadrature mirror filter pyramid decomposition and the local angular harmonic decomposition. These image statistics consist of first- and...
Predictive control. Adaptive control systems -- Design. Airplanes -- Control systems.
A direct method to design data-based model predictive controllers is presented. The design method uses system identification techniques to identify model predictive controller gains directly from a set of excitation input and disturbance corrupted...
The first chapter of this thesis encompasses progress towards the X-ray structure determination and drug design for the dihydrofolate reductase-thymidylate synthase (DHFR-TS) enzyme from the protozoa Toxoplasma gondii, along with another mutant...
Lowest order charged particle motion in the Earth''s magnetosphere can be explained using simple adiabatic theory. However, nonadiabatic theory is required to explain particle behavior in cases such as when the particle's gyroradius is large...
An interval order is an ordered set whose elements are in correspondence with a collection of intervals in a linearly ordered set, with disjoint intervals ordered by their relative position. The order complex of an ordered set is the simplicial...
In image-guided neurosurgery, preoperative magnetic resonance images (pMR) are typically used intraoperatively for neuronavigation. The accuracy of image guidance using preoperative images can be significantly compromised by intraoperative brain...
Hematopoietic stem cells (HSCs) balance self-renewal with the continuous production of the suitable numbers of lineage-restricted progenitor cells. In this work we demonstrate that the Mixed lineage leukemia 1 (Mll1) gene is essential for this...
Three-dimensional imaging in medicine -- Mathematical models. ; Stereoencephalotomy.
In the past, clinicians skilled at image-guided neurosurgery have relied solely on pre-operative scans for their navigational information. Often in the course of surgery, tissue is purposely retracted/resected or inadvertently moved resulting in a...
This thesis presents technologies for the design, fabrication, operation, and control of electrostatic MEMS micro-robots. It describes prototype micro-robots, with dimensions of 60 μm by 250 μm by 10 μm, that are capable of controllable...
Bayesian nonparametric methods have become increasingly popular in machine learning for their ability to allow the data to determine model complexity. In particular, Bayesian nonparametric versions of common latent variable models can learn as...
For many scientific applications, the data set cannot entirely fit in main memory. The data must reside out-of-core, i.e., on parallel disks. For many basic data-movement operations such as permuting, if the programmer does not design efficient...
The Euler '-function and Carmichael -function are extremely important in modern number theory, and much work has been devoted to studying the distribution and arithmetic properties of the values of each function. One interesting unresolved question...
The brain is a vastly interconnected information processing network. In humans, this network supports the rich mental space at the root of the imagination and enables many flexible cognitive abilities such as scientific and artistic creativity. How...