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Re: Conditional Approval Letter For Revised Clark Tailings Consolidated Waste Management Area (Ctcwma) Site Investigation Data Summary Report 2024 And Response To Epa Comment Letter (Dated February 24, 2026), Emma Rott Apr 2026

Re: Conditional Approval Letter For Revised Clark Tailings Consolidated Waste Management Area (Ctcwma) Site Investigation Data Summary Report 2024 And Response To Epa Comment Letter (Dated February 24, 2026), Emma Rott

Silver Bow Creek/Butte Area Superfund Site

No abstract provided.


Empirical Benchmarks For Interpreting Effect Sizes In Violent Crime Interventions, Kohta James Matsukawa Hansen Apr 2026

Empirical Benchmarks For Interpreting Effect Sizes In Violent Crime Interventions, Kohta James Matsukawa Hansen

Theses and Dissertations

Criminal justice researchers apply Cohen’s (1988) benchmarks to classify effect sizes as small, medium, or large, despite these standards never being meant for broad, decontextualized use (Cohen, 1988; Gies et al., 2024; Goulet-Pelletier & Cousineau, 2018; Lakens, 2013; Milner et al., 2023). Repeatedly doing so may weaken statistical validity, distort findings, and impede effective policymaking. This study introduces the first effect size benchmarks specifically designed for violent crime interventions.

Using a quasi-meta-analysis framework, 1,605 effect sizes from 104 violent crime intervention studies from the CrimeSolutions clearinghouse were converted to Cohen’s d. Three new discrete benchmarking methods were created using a …


Direct Energy Cascade Of 2d Quantum Turbulence In Supersolids, Lukas Farthing Apr 2026

Direct Energy Cascade Of 2d Quantum Turbulence In Supersolids, Lukas Farthing

Miners Solving for Tomorrow Research Conference

The non-equilibrium turbulent response of periodically driven three-dimensional ultracold dipolar gases is induced by an external time-dependent ring potential. To model this system and monitor its non-equilibrium quantum dynamics, we invoke an extended Gross-Pitaevskii framework containing the first-order quantum correction to the mean-field energy functional. The shape of the external perturbing potential is chosen to trigger angular roton excitations, driving the supersolid configuration out of equilibrium and attaining a turbulent state. Following the generation of shallow vortical defects in the bulk, a direct cascade front manifests, transporting energy from larger to smaller length scales. This leads to a non-equilibrium quasi-steady …


Cytokinesis And Dbf2, Katharine Gray Apr 2026

Cytokinesis And Dbf2, Katharine Gray

Miners Solving for Tomorrow Research Conference

The Mitotic Exit Network (MEN) is a signaling pathway that allows a dividing cell to exit cytokinesis. Dbf2 is a MEN protein kinase in yeast, which provides a simplified model for studying this pathway. By altering Dbf2’s activity through phosphorylation mutants, its effect on cytokinesis can be studied. Transformed cells with a mutant and degron Dbf2 allele are prompted to destroy the degron Dbf2 protein, leaving only mutated Dbf2 behind. This allows for clear analysis of the effect of the phosphorylation mutant on division. Fluorescence microscopy can be used to visualise this degradation, and the impact on actin ring formation …


Vortex Generation In Dipolar Supersolids, Jacob Harl Apr 2026

Vortex Generation In Dipolar Supersolids, Jacob Harl

Miners Solving for Tomorrow Research Conference

Ultracold atomic gases offer highly tunable platforms for exploring complex quantum many-body phenomena. In addition, dipolar quantum gases of magnetic atoms featuring long-range anisotropic interactions are exquisite systems for realizing exotic phases-of-matter in an experimentally controlled way. A prototypical example is the supersolid state which simultaneously exhibits frictionless flow of superfuids and crystalline density modulation of solids. In this realm, we investigate the dynamical generation of vortex topological defects by imprinting a suitable phase jump in quasi-two-dimensional dipolar supersolids. This protocol enables the nucleation of a dark soliton which consecutively becomes unstable via the eponymous snake instability due to its …


Elucidating Complex H Behavior In Amorphous Oxide Semiconductors By Machine Learning, Lucas Ethington Apr 2026

Elucidating Complex H Behavior In Amorphous Oxide Semiconductors By Machine Learning, Lucas Ethington

Miners Solving for Tomorrow Research Conference

In this project, the disordered oxide structures will be mapped by a machine-learning algorithm (e.g., HDBSCAN) to identify characteristic behaviors of the proton across different material densities and defect types. This should help identify the under-coordinated, highly distorted, weakly-bonded, and dynamically unstable atoms to predict the most probable H locations. This fast and accurate prediction of energetically favorable H distribution will enable a reliable and fast screening of a large number of AOSs with variable cation and/or anion compositions. The approach will help find AOSs with suppressed numbers of M-OH defects (that form deep electron traps, limiting the number of …


The Structure Of Amorphous Alox And Its Role In H Distribution And Dynamics, Lana Herkenhoff Apr 2026

The Structure Of Amorphous Alox And Its Role In H Distribution And Dynamics, Lana Herkenhoff

Miners Solving for Tomorrow Research Conference

Hydrogen is known to be the culprit of electron decoherence in Josephson junctions, greatly affecting the performance of superconducting quantum circuits. For Al/AlOx interfaces, the challenge is two-fold: 1) similar Al-Al and Al-H bond strength promotes bond switching and, hence, facilitates vigorous H motion; whereas 2) oxygen has only a slight preference to form Al-O rather than H-O bond, implying that (meta)stable Al--O-H are likely to occur, especially in a disordered oxide. In this project, ab initio molecular dynamics (MD) simulations are employed to generate the atomistic models of Al2O3-x with oxygen vacancy defects and to quantify the H diffusion, …


Wheel-Spoke Encoding: A Product Quantization-Compatible Radial Encoding Scheme For Convex Polygonal Data, Maris Reinkemeyer Apr 2026

Wheel-Spoke Encoding: A Product Quantization-Compatible Radial Encoding Scheme For Convex Polygonal Data, Maris Reinkemeyer

Miners Solving for Tomorrow Research Conference

Product quantization has historically been unapplied to GIS datasets, likely due to a mismatch between quantization’s input precondition of fixed, equal length vectors and GIS data’s inherent variability in the number of data points. Therefore, any quantization-compatible encoding method must operate independently of the data points within GIS records. The challenge is to balance the guarantee of producing fixed, equal length vectors with the preservation of semantic meaning present in the raw data. Here, we develop a radial polygon encoding method that achieves this balance while providing acceptable recall in a time complexity of O(nrv), where n is the number …


Dynamical Transition From A Two-Dimensional Soliton To A Rogue Wave In Quantum Droplets, Punit Sesha Sai Turlapati Apr 2026

Dynamical Transition From A Two-Dimensional Soliton To A Rogue Wave In Quantum Droplets, Punit Sesha Sai Turlapati

Miners Solving for Tomorrow Research Conference

We investigate the nonequilibrium dynamics of two-dimensional quantum droplets: ultracold self-bound many-body states stabilized by the interplay of mean-field attractive interactions and repulsive quantum fluctuations. Flat-top ground state droplets are subject to an external potential, an attractive well and a repulsive barrier. Under the influence of the attractive well, we observe signatures of a Townes soliton formation, which for increasing strength of the well transitions into a two-dimensional rogue wave structure, a time-periodic highly localized configuration with amplitude three times larger than the background. The barrier instead favors a dynamical splitting of the droplet. We have developed a parallelized simulation …


Lay Summarization For Medical Patents, Manav Raja Vinotha Apr 2026

Lay Summarization For Medical Patents, Manav Raja Vinotha

Miners Solving for Tomorrow Research Conference

Technical documents, such as medical patents, are often inaccessible to non-expert audiences due to specialized terminology. This paper presents a multi-agent system for automated lay summarization that optimizes both quality and computational efficiency through strategic task decomposition. The proposed pipeline utilizes four specialized stages: autonomous medical entity retrieval from the Unified Medical Language System (UMLS), context distillation into lay conceptualizations, and a structured writer-critic loop for iterative refinement. By distributing cognitive load across specialized agents, this architecture effectively leverages smaller, cost-effective language models while maintaining the performance of SOTA LLMs. Evaluated against single-agent baselines using an LLM as a Judge …


The Stability Study Of Dna-Polymer Hybrids For Nanotechnology Applications, Ethan Kuehn, Milan Jebaraj Apr 2026

The Stability Study Of Dna-Polymer Hybrids For Nanotechnology Applications, Ethan Kuehn, Milan Jebaraj

Miners Solving for Tomorrow Research Conference

DNA nanostructures have garnered increasing interest in their application as drug delivery vehicles. However, DNA is susceptible to degradation under physiological conditions. To remedy this, we have devised a novel method to coat DNA nanostructures with the polysaccharide chitosan (a natural derivative of chitin). Chitosan binds to DNA electrostatically and inhibits nuclease activity that would normally degrade DNA in a physiological environment. We used both agarose gel electrophoresis (AGE) and atomic force microscopy (AFM) to determine the stability of DNA before and after immersion in a simulated biological environment. Physiological conditions were mimicked by incubating the DNA in cell culture …


Analysis Of Autonomous Vehicle Survivability To 5g Communication Errors, Sydney Clark Apr 2026

Analysis Of Autonomous Vehicle Survivability To 5g Communication Errors, Sydney Clark

Miners Solving for Tomorrow Research Conference

Autonomous vehicles rely on low-latency, high-reliability data exchange for real-time perception and control. Disruptions such as packet loss, latency variation, protocol-level errors, and malicious interference can pose significant safety risks to both passengers and surrounding environments. This project aims to evaluate, quantify, and predict the survivability of autonomous vehicle systems to communication errors, with focus on 5G network environments. The impact of these communication impairments on vehicle stability and control will be investigated through high-fidelity cyber-physical simulation of the vehicle and its surrounding environment. Experiments designed to capture varying network conditions will be used to assess a broad range of …


A Wearable Mxene-Based Sweat Sensor For Real-Time Monitoring Of Inflammatory Biomarkers, Ariel Pilger Apr 2026

A Wearable Mxene-Based Sweat Sensor For Real-Time Monitoring Of Inflammatory Biomarkers, Ariel Pilger

Miners Solving for Tomorrow Research Conference

Many conventional biosensing approaches rely on invasive sampling or bulky benchtop instrumentation, limiting their use in continuous and portable applications. This project focuses on the development of wearable sweat-based biosensors that enable non-invasive, continuous, and portable monitoring of physical, chemical, and biological markers. The system will be designed to target markers present in sweat and transduce the biochemical interactions into measurable electrical signals. These signals will be processed through integrated electronics to produce clear, interpretable outputs for users and medical professionals. Supporting circuitry including filters, amplifiers, and an independent power supply will be implemented as necessary to ensure signal accuracy, …


The Effects Of Preventing Dephosphorylation Of Lqg1 On Cytokinesis, Jenna Mueller Apr 2026

The Effects Of Preventing Dephosphorylation Of Lqg1 On Cytokinesis, Jenna Mueller

Miners Solving for Tomorrow Research Conference

Iqg1 plays crucial roles in cytokinesis, including the assembly, contraction, and disassembly of the actomyosin ring, as well as the coordination of contraction and septation. Given that cytokinesis must occur post-mitosis, Iqg1 is regulated by the cell cycle. This study explores hypotheses regarding Iqg1 regulation: it’s binding to action is negatively influenced by the cyclin-dependent kinase (CDK) Cdc28 and positively influenced by dephosphorylation via Cdc14. Newly developed yeast degron tagged strains allow for rapid depletion of specific proteins. Iqg1 mutations that alter serine to threonine, which allows phosphorylation but not dephosphorylation, in the degron strain allow testing of mutant phenotypes. …


Asphalt Pavement Rejuvenation Investigated By Nuclear Magnetic Resonance Relaxometry, Catherine Skaggs Apr 2026

Asphalt Pavement Rejuvenation Investigated By Nuclear Magnetic Resonance Relaxometry, Catherine Skaggs

Miners Solving for Tomorrow Research Conference

Asphalt is a relatively inexpensive material commonly used for road pavements; however, asphalt ages from exposure to oxygen and UV radiation, leading to loss of elasticity, which leads to cracks and potholes. To slow or reverse asphalt aging, pavement preservation treatments are in use. It’s unclear whether these treatments truly rejuvenate the pavement structure or merely offer a short-term benefit. Nuclear Magnetic Resonance (NMR) relaxometry is an analytical technique that uses the recovery of excited nuclear magnetization as a parameter to gain insights into molecular environments. Recovery-time distributions gathered from asphalt materials show differences between regular and rejuvenated asphalt samples, …


Bis(Μ-1,4-Dihydropyridin-4-One-Κ2o:O)Di-Μperchlorato-Κ4o:O0-Bis[Aqua(1,4-Dihydropyridin-4-One-Κo)Copper(Ii)] Tetraaquabis(1,4-Dihydropyridin-4-One-Κo)Copper(Ii) Tetrakis(Perchlorate) 1,4-Dihydropyridin-4-One Disolvate, Mark M. Turnbull, Christopher Landee, Jan L. Wikaira Apr 2026

Bis(Μ-1,4-Dihydropyridin-4-One-Κ2o:O)Di-Μperchlorato-Κ4o:O0-Bis[Aqua(1,4-Dihydropyridin-4-One-Κo)Copper(Ii)] Tetraaquabis(1,4-Dihydropyridin-4-One-Κo)Copper(Ii) Tetrakis(Perchlorate) 1,4-Dihydropyridin-4-One Disolvate, Mark M. Turnbull, Christopher Landee, Jan L. Wikaira

Chemistry

The reaction of copper(II) perchlorate hexahydrate with 4-pyridone and pyrazine in 1-propanol serendipitously yielded crystals of the solvated title double salt, [Cu(C5H5NO)2(H2O)4][Cu2(ClO4)2(C5H5NO)4(H2O)2](ClO4)4·2C5H5NO, as a biproduct. The copper cations in both the monometallic complex and the dimeric species exhibit classic Jahn-Teller-like elongations. All coordinating 4-pyridone molecules are in the κ-O coordination mode. The dimeric component exhibits both bridging 4-pyridone and perchlorate ligands. Both complexes and the 4-pyridone molecules are bound together by a network of classical hydrogen bonds. The non-coordinating perchlorate ions were modeled as three-site disordered and one of the coordinating 4-pyridone molecules was modeled as two-site disordered. © 2026 …


Non-Redundant Rovibrational Hamiltonians By Molien Generating Functions And Gröbner-Basis Reduction, Leandro Ajo Apr 2026

Non-Redundant Rovibrational Hamiltonians By Molien Generating Functions And Gröbner-Basis Reduction, Leandro Ajo

University Libraries Undergraduate Research Award

High-resolution molecular spectroscopy requires an effective Hamiltonian whose operator content is both complete, containing every term allowed by molecular symmetry and nonredundant, free of any algebraically dependent operators that would cause ill-conditioned parameter fits. Traditional derivations based on Van Vleck contact transformations satisfy neither criterion automatically. This paper develops a rigorous, algorithmic pipeline that guarantees both properties simultaneously. Starting from the permutation– inversion (PI) group GPI of a molecule (Longuet-Higgins, 1963), we apply Molien’s theorem (Molien, 1897) to the symplectic normal-coordinate representation to obtain the vibrational generating function Φvib(t); integrate over the Haar measure of SO(3) (Weyl, 1946) to obtain …


Dynamics Of Localized Wave Packets In Quantum Mechanics, Ayla Zook, Keigo L. Fujita, Rufus Boyack Phd Apr 2026

Dynamics Of Localized Wave Packets In Quantum Mechanics, Ayla Zook, Keigo L. Fujita, Rufus Boyack Phd

Wetterhahn Science Symposium Posters

Quantum wave packets are localized, time-dependent solutions of the Schrödinger equation that mimic classical particle motion. In his 1926 paper, Schrödinger famously showed that displacing the ground state of the harmonic oscillator produces a wave packet whose probability density maintains its shape and saturates the Heisenberg uncertainty bound. Motivated by this result, we construct and analyze wave-packet solutions for the Airy potential, the simple harmonic oscillator (SHO), and the pseudoharmonic oscillator (PHO). Our general approach is to find expansion coefficients and take a superposition of the energy eigenstates of the time-independent Schrödinger equation. We examine spatially displaced eigenstates alongside alternative …


Construction Of A Deffi Sprayer: Using 3d Printer Methodology And Techniques For Cost-Effective Analysis Using Desi Mass Spectrometry Imaging, Ryan Karst, Savvy Stevens, Luke Amos, Logan Koester, Ethan Newbold, Karson Whitaker Apr 2026

Construction Of A Deffi Sprayer: Using 3d Printer Methodology And Techniques For Cost-Effective Analysis Using Desi Mass Spectrometry Imaging, Ryan Karst, Savvy Stevens, Luke Amos, Logan Koester, Ethan Newbold, Karson Whitaker

Symposium Projects

Using 3D Printer Methodology and Techniques for Cost-Effective Analysis using DESI Mass Spectrometry Imaging


The Effects Of Climate Change On Competition And Recovery From Disturbance In An Iconic Marine Community, Lauren Tibbits Apr 2026

The Effects Of Climate Change On Competition And Recovery From Disturbance In An Iconic Marine Community, Lauren Tibbits

Senior Theses

This paper explores how the recovery of populations of Semibalanus balanoides is affected by climate variation. In intertidal marine ecosystems, larval recruitment is important in shaping all ecological processes. S. balanoides is a cold-water barnacle species that is competitively dominant over Chthamalus montagui and C. stellatus, two warm-water species. This competitive interaction is well studied, though it is not understood how that competition influences the recovery of S. balanoides after a disturbance nor how this process varies over a temperature gradient. 19 sites were studied across the United Kingdom, spanning from northern Scotland to southwestern England. At each site, a …


Crystallization And Utility Of Brominated Phenylethynylene Bis-Urea Macrocycles, Paras Srivastava Apr 2026

Crystallization And Utility Of Brominated Phenylethynylene Bis-Urea Macrocycles, Paras Srivastava

Senior Theses

Macrocycles are large, cyclic molecules with central cavities that can encapsulate other molecules and that have uses in supramolecular chemistry. The Shimizu group has previously synthesized Macrocycle 1, a phenylethynylene bis-urea macrocycle that crystallizes in a columnar form, enabling its utility as a host in host-guest systems. Reactions within these systems can be used to modify stereospecificity, kinetics, and other physical properties. Previously, photodimerization reactions between coumarins and chromones have been studied in systems of Macrocycle 1, resulting in the improved specificity of photodimerization products. Herein, we apply a dynamic covalent chemistry (DCC) strategy to synthesize Macrocycle 1 and its …


A Guide To Environmentally Sustainable Filmmaking In South Carolina, Christina Vera Dobrowolski Apr 2026

A Guide To Environmentally Sustainable Filmmaking In South Carolina, Christina Vera Dobrowolski

Senior Theses

The entertainment industry has a massive environmental impact. This information is not new in the filmmaking world, as multiple mainstream efforts exist to curb the material-intensive production of live action films and TV. One of these efforts is the use of voluntary sustainable guidelines, which serve as tools that outline sustainable best practices and resources that can help achieve them. However, current guidelines often lack practicality— focusing more on altruism rather than core economic factors that ultimately drive filmmaking. This project aims to address that gap for filmmakers in South Carolina by offering a website featuring attainable, state-specific resources for …


Fingerprinting Voice Commands Of Vpn-Protected Smart Speakers, Xiaoguang Guo, Keyang Yu, Qi Li, Dong Chen Apr 2026

Fingerprinting Voice Commands Of Vpn-Protected Smart Speakers, Xiaoguang Guo, Keyang Yu, Qi Li, Dong Chen

Computer Science Faculty Research and Publications

Extensive recent research has shown that it is surprisingly easy to infer Amazon Alexa voice commands over their network traffic data. To prevent these traffic analytics (TA)-based inference attacks, smart home owners are considering deploying virtual private networks (VPNs) to safeguard their smart speakers. In this work, we design a new machine learning-powered attack framework—VoiceAttack that could still accurately fingerprint voice commands on VPN-encrypted voice speaker network traffic. We evaluate VoiceAttack under 5 different real-world settings using Amazon Alexa and Google Home. Our results show that VoiceAttack could correctly infer voice command sentences with a Matthews Correlation Coefficient (MCC) of …


Designing A Novel Inhibitor For Cobalamin-Independent Methionine Synthase, Damon Virgo Apr 2026

Designing A Novel Inhibitor For Cobalamin-Independent Methionine Synthase, Damon Virgo

Undergraduate Honors Papers

Microbial infections are some of the leading causes of death in the population at large, and antimicrobial-resistant “superbugs” have become a growing issue, so there is a great need to explore new and alternative pathways for fighting these diseases. One method for doing this is by exploring Methionine synthase (MetSyn), which plays a critical role in cellular one-carbon metabolism, catalyzing the methylation of homocysteine to form methionine, an essential amino acid required for protein synthesis and methyl group transfer reactions. Key differences between the B12-independant fungal MetSyn enzyme and the B12-dependant mammalian form can allow for selective targeting of the …


Phase 5 - Post Implementation, Anna Pugerud Apr 2026

Phase 5 - Post Implementation, Anna Pugerud

Distinguished Student Scholarship Collection

This paper presents a post‑implementation analysis and system design plan for digitizing animal health records within the Animal Health Services (AHS) department. The project addresses inefficiencies, data inaccuracies, and physical storage limitations associated with paper‑based documentation by proposing the adoption of a Software as a Service (SaaS) digital records solution. Through stakeholder interviews, observations, and document analysis, the project identifies functional, non‑functional, and system requirements necessary to support streamlined reporting, treatment tracking, and regulatory compliance. The analysis outlines feasibility across technical, economic, and organizational dimensions, demonstrating that the proposed system can reduce documentation time, improve response times, and lower operational …


Multiple Variable Regression Assignment, Sam Loyd Apr 2026

Multiple Variable Regression Assignment, Sam Loyd

Distinguished Student Scholarship Collection

This paper applies multiple linear regression analysis to examine whether life outlook and sociability predict happiness. Using a dataset of 38 observations, the study employs IBM SPSS to conduct exploratory data analysis, assess regression assumptions, and evaluate model validity. Key assumptions—including linearity, homoscedasticity, independence of residuals, multicollinearity, normality, and the presence of influential outliers—are systematically examined using statistical tests and visual diagnostics. While some deviations from normality and potential nonlinear patterns are identified, the analysis proceeds based on sample size considerations and overall assumption adequacy. Results indicate that the regression model is not statistically significant and explains only a small …


Gravity Compensation, Carter Glover, Siyuan Zhou Apr 2026

Gravity Compensation, Carter Glover, Siyuan Zhou

Senior Project

This project focused on the design, analysis, and testing of an air-bearing gravity compensation testbed intended to simulate reduced-friction motion for space-related applications. Computational Fluid Dynamics (CFD) simulations were conducted to evaluate airflow characteristics, pressure distribution, and bearing performance under various operating conditions. The design was refined to improve load support, stability, and airflow efficiency while maintaining manufacturability. Experimental testing and simulation results were compared to assess system performance and validate design assumptions. The completed testbed demonstrates the feasibility of using air bearings to create a low-friction environment suitable for motion testing and gravity compensation studies.


Optical Force/Torque Sensor, Kyle Sweeney, Ian Unruh Apr 2026

Optical Force/Torque Sensor, Kyle Sweeney, Ian Unruh

Senior Project

This project presents the design, development, and testing of a low-cost optical force/torque sensor for Skyforge, an autonomous robotic system intended for in-space construction. The sensor utilizes eight optical transmissive sensors and a compliant PEEK spring mechanism to measure forces and torques across six degrees of freedom. By detecting spring deflections through changes in light intensity, the system provides real-time force and torque feedback while remaining significantly less expensive than commercially available alternatives. The prototype was designed to measure forces up to ±5 N and torques up to ±50 N·mm with a target minimum detectable force of 0.5 N. Calibration …


Skyforge End Effector, Sarah Alexander, Coleman Bubar Apr 2026

Skyforge End Effector, Sarah Alexander, Coleman Bubar

Senior Project

Large space structures are necessary for space advancement. However, construction is difficult with the current methods; SkyForge is a robot intended for orbital assembly. The robot will walk on and build the structure by utilizing the end effectors to grasp and position parts.


Skyforge—Autonomous Robot For On-Orbit Assembly Of Space Structures, Kate Keeler, Garrett Farnham, Logan Trier, Ainsley West Apr 2026

Skyforge—Autonomous Robot For On-Orbit Assembly Of Space Structures, Kate Keeler, Garrett Farnham, Logan Trier, Ainsley West

Senior Project

As interest in deep space exploration and satellite communications increases around the world, the need for large orbital structures such as space stations, solar fields, and telescopes increases in parallel. Current methods include monolithic modular assembly, expanding deployable structures or requiring Extra-Vehicular Activities, all of which are costly and highly specialized. This paper proposes a form of robotic on-orbit assembly for structures beyond the size constraints of the launch vehicle. The SkyForge system consists of a launch capsule containing construction materials and a pair of tripedal robots, identical in form and task. These robots would autonomously locomote on, and assemble …