In this dissertation we study the interactions between free bodies and unsteady viscous flows, with particular interest in locomotion and in particle transport in streami[...]

This research pioneers formal combined plant and controller optimization (termed ``co-design") schemes for complex systems where accurate but expensive experiments are fu[...]

Mathematical models for the self-propulsion of articulated bodies in fluids at low Reynolds number can be interpreted geometrically in terms of connections in principal b[...]

This research aims to develop, enhance, and validate infrastructure-based hierarchical control framework designs for improving the mobility of large-scale heterogeneous t[...]

This thesis describes the development of an indoor water tank facility for controlsresearch and the design, testing, and system identification of a miniature underwater v[...]

In this work, consensus Alternating Direction Method of Multipliers (ADMM) was implemented with the intention of improving the performance of Model Predictive Control (MP[...]

The performance of a mobile sensor network is measured by its ability to survey regions of interest efficiently and accurately with limited resources. Approaches for samp[...]

This research establishes a novel combined plant and controller optimization (termed co-design) framework, aimed at complex systems, that speeds up the optimization proce[...]

The overarching objective of this research is to use machine learning tools to address the design and real-time control of active systems, focusing specifically by tether[...]

During single-point metal turning processes, a long, razor-sharp chip nest is often formed that can be a hazard to both operators and the part being machined. To combat t[...]