Physical Sciences and Mathematics Commons^™

Investigations Of Prokaryotic Defense Systems, Hannah Domgaard

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

Bacteria are constantly threatened with infection by mobile genetic elements (MGE) such as bacteriophage and plasmids. Bacteriophage and plasmids require the bacteria's cellular infrastructure to replicate their genomes. Rampant replication can lead to cell death which is one reason why bacteria have developed a diverse array of immune systems to prevent or limit infection. This thesis studies three types of bacterial immune systems, type IV-A CRISPR-Cas (Clustered Regularly Interspaced Short Palindromic Repeat –CRISPR associated), type V-A2 CRISPR-Cas systems, and Wadjet systems.

The type IV-A system lies adjacent to a dinG-like helicase gene. Research has shown that this system can target …

Design Of Environment Aware Planning Heuristics For Complex Navigation Objectives, Carter D. Bailey

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

A heuristic is the simplified approximations that helps guide a planner in deducing the best way to move forward. Heuristics are valued in many modern AI algorithms and decision-making architectures due to their ability to drastically reduce computation time. Particularly in robotics, path planning heuristics are widely leveraged to aid in navigation and exploration. As the robotic platform explores and navigates, information about the world can and should be used to augment and update the heuristic to guide solutions. Complex heuristics that can account for environmental factors, robot capabilities, and desired actions provide optimal results with little wasted exploration, but …