In this thesis, we present different approaches to tying knots using robots by enforcing different types of constraints. We attack the problem from three different directions; mechanical design, motion planning with simple control strategies, and...
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...
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 purpose of this thesis is to describe methods for detecting hidden crevasses on glaciers in Polar regions. Crevasses form in ice sheets as a result of forces imposed upon the brittle ice. The crevasses are hidden from view by bridges of soft...
We begin with a result on the refocussing of null geodesics in space-times. We show that all oriented refocussing 2-dimensional Lorentz manifolds are also strongly refocussing. We also introduce a theory of virtual Legendrian knots. We show that...
Robots -- Control systems -- Design and construction. Mobile robots. Robots -- Dynamics.
This thesis examines the issues of vehicle and information dynamics in the control of a multi-robot system using a radial-basis potential function controller. Distributed control of multi-robot systems requires each robot to communicate state...
Medical imaging methods have become increasingly important in diagnosing diseases and assisting therapeutic treatment. In particular, early detection of breast cancer is considered as a critical factor in reducing the mortality rate of women....
Perceptual-motor learning -- Physiological aspects. ; Language acquisition -- Physiological aspects. ; Motor ability -- Physiological aspects. ; Knots and splices.
The studies presented in this dissertation explore several points of intersection between action perception and production within the human brain. One's ability to use perceptual information about another individual's actions to guide and inform...
I investigate the kinematics and space densities of the local cataclysmic variable (CV) population. CVs are close binary star systems composed of a white dwarf that accretes matter from a less compact companion star in Roche lobe overflow....
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...
For ordinary knots in R 3 , there are no degree one Vassiliev invariants. For virtual knots, however, the space of degree one Vassiliev invariants is infinite dimensional. We introduce a sequence of three degree one Vassiliev invariants of virtual...
There are no Vassiliev invariants of degree one for classical knots. A. Henrich proved the existence of a sequence of three Vassiliev invariants of degree one for virtual knots. The invariants get stronger and stronger, and the final invariant is...
We present results from a modeling effort of simple shock phenomena in the Cygnus Loop and Cassiopeia A. Using multi-epoch MDM observations of a small, isolated cloud in the southwest region of the Cygnus Loop, we measure the velocity of the...
Graph algorithms. Nuclear magnetic resonance spectroscopy -- Data processing. Proteins -- Structure -- Mathematical models. Proteins -- Crosslinking -- Mathematical models. Protein folding -- Mathematical models.
The study of three-dimensional protein structures produces insights into protein function at the molecular level. Graphs provide a natural representation of protein structures and associated experimental data, and enable the development of graph...
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...
Schooner to be used by Dartmouth man on trip to arctic waters: the 100 foot schooner, "Blue Dolphin," which will be commanded by David C. Nutt, Arctic Specialist at the Dartmouth College Museum, on a three-month exploration trip of northern waters...