Engineering Commons^™

Model Based Force Estimation And Stiffness Control For Continuum Robots, Vincent A. Aloi

Doctoral Dissertations

Continuum Robots are bio-inspired structures that mimic the motion of snakes, elephant trunks, octopus tentacles, etc. With good design, these robots can be naturally compliant and miniaturizable, which makes Continuum Robots ideal for traversing narrow complex environments. Their flexible design, however, prevents us from using traditional methods for controlling and estimating loading on rigid link robots.

In the first thrust of this research, we provided a novel stiffness control law that alters the behavior of an end effector during contact. This controller is applicable to any continuum robot where a method for sensing or estimating tip forces and pose exists. …

Exploration Of The Stability Of Multicomponent Metal Halide Perovskites Utilizing Automated, High-Throughput Methods And Machine Learning, Katherine N. Higgins

Doctoral Dissertations

Because of their outstanding optoelectronic properties and low-cost, solution-based fabrication, metal halide perovskites (MHP) are appealing candidates for a variety of applications, such as photovoltaics, light-emitting diodes, photodetectors, and ionizing radiation detectors. However, concerns of this material’s stability in pure or device-integrated form under external stimuli, such as light, humidity, oxygen, and heat, have prohibited the widespread utilizations of MHPs. It is well established that alloying can lessen detrimental effects of these factors. To date, a small portion of alloyed compositions have been investigated compared to the thousands of possible perovskites proposed theoretically. Conventional approaches to materials discovery and optimization, …