The thesis focused on the development and analysis of a distributed parameter model that apply to a class of an autonomous hyper-redundant slender robotic systems interacting with the environment. The class of robotic devices that will be implemented based on the modelling in this thesis, is intended to be autonomously deployed in unknown, unstructured environments, in which it has to accomplish different missions by being able to robustly negotiate unknown obstacles and unpredictable and unmodelled irregularities. Therefore the mechanical models presented here are inspired by some features of a class of organisms - millipedes and centipedes - that possess many of these capabilities. Specifically, these organisms posses flexible slender bodies whose shape morphs according to the curvature of the terrain on which they operate, and possess a highly redundant system of legs that couple the body with the terrain providing propulsion for forward or backward motion, with the high number of legs ensuring a robust distributed contact even on very irregular substrates. The mechanical model that naturally captures the structure of millipede bodies is the Timoshenko beam, which is therefore adopted here. Moreover, the coupling with the environment is modeled by a system of compliant elements, that provides a distributed support analogous to the one exerted by millipedes' legs; such support provides a distributed force that in a control framework is treated as the actuation for shape morphing, so that the body of the system deforms according to the curvature of the substrate. By using a Lagrangian mechanics approach, the evolution of the system is described in a suitable product Hilbert space, in which rigid body degrees of freedom and deformations are coupled. This formulation allows to pose a distributed parameter control problem in which shape morphing and locomotion are dictated by the interaction with the substrate, which in this case is approximated as rigid (that is, the profile of the substrate is not affected by the interaction with the system). Additionally, by modeling the material response of the substrate with a simple linear viscoelastic model, we pose an estimation problem in which, by measuring deformations and/or stresses on the body represented by the beam, we can infer the material properties of the substrate. In this case, the overall coupled system is modelled as a beam on a multi-layer viscoelastic foundation. Predictions of this sensor model are in good agreement with published results, suggesting that the system can be used in a versatile way as an autonomous agent operating in a generic environment, and simultaneously as a sensor that could inform the action of the system itself, or that could be used to monitor the environment. The modeling work done in this study opens the possibility for the implementation in engineering systems applied to environmental monitoring and health applications, in which we envision the system to be used to estimate material properties of living tissues, that can be correlated to the diagnosis of classes of diseases.

With their exceptionally maneuverable flapping flight, bats could serve as a model for enhancing the flight abilities for future drones. However, bat flight is extremely complex and there are many engineering restrictions that prevent a flapping-flight drone from replicating the many degrees of freedoms present in biology. Hence, to make design choices of which properties in a bats wing kinematics should be reproduced, the present research has evaluated two metrics from information and complexity theory to identify which regions of the bat flight apparatus are most complex and where coupling across features of the bat flight kinematics exists. The values were the complexity metric as a measure of variability and mutual information as a measure of coupling. Both measures were applied to ten experimentally obtained digital models of the flight kinematics in Ridley's leaf-nosed bats as well as the simulated kinematics of a flapping-flight drone inspired by the same bat type. The pilot results obtained indicate that both measures could be useful to discover which elements of flight kinematics should be looked into for understanding and reproducing the maneuvering flight of bats. However, a functional interpretation will require complementary, e.g., aerodynamic metrics. / Master of Science / Bats have incredible capabilities to execute flight maneuvers and navigate cluttered natural environments. They have evolved to hunt and evade predators in dense vegetation, which makes them suitable as a model for future aerial drones which will need to perform well in both man-made and natural environments. However, creating a drone with the flight abilities of a bat has many challenges due to current engineering and technology limitations. To accomplish this goal, the key features of bat flight must be examined in detail and decisions must be made on what aspects are most important to replicate in a bio inspired drone. Algorithms from the areas of information and complexity theory were applied to gain greater insight into the complex flights of bats. Ten digital models of Ridley's leaf-nosed bats generated from video recordings were analyzed as well as the simulated motion of a flapping-flight drone inspired by the same bat type. The pilot results showed that these measures could provide insight into replicating the flight of bats, but more flight sequences need to be analyzed, and the digital models of the bats will continue to be refined.

The objective of this research is to discover principles of ambulatory locomotion on homogeneous and heterogeneous granular substrates and create models of animal and robot interaction within such environments. Since interaction with natural substrates is too complicated to model, we take a robophysics approach – we create a terrain generation system where properties of heterogeneous multi-component substrates can be systematically varied to emulate a wide range of natural terrain properties such as compaction, orientation, obstacle shape/size/distribution, and obstacle mobility within the substrate. A schematic of the proposed system is discussed in detail in the body of this dissertation. Control of such substrates will allow for the systematic exploration of parameters of substrate properties, particularly substrate stiffness and heterogeneities. With this terrain creation system, we systematically explore locomotor strategies of simplified laboratory robots when traversing over different terrain properties. A key feature of this proposed work is the ability to generate general interaction models of locomotor appendages with such complex substrates. These models will aid in the design and control of future robots with morphologies and control strategies that allow for effective navigation on a large diversity of terrains, expanding the scope of terramechanics from large tracked and treaded vehicles on homogeneous ground to arbitrarily shaped and actuated locomotors moving on complex heterogeneous terrestrial substrates.

One of the greatest challenges in controlling robotic hands is grasping and manipulating objects in unstructured and uncertain environments. Robotic hands are typically too rigid to react against unexpected impacts and disturbances in order to prevent damage. The human hands have great versatility and robustness due, in part, to the passive compliance and damping. Designing mechanical elements that are inspired by the nonlinear joint compliance of human hands is a promising solution to achieve human-like grasping and manipulation. However, the exact role of biomechanical elements in realizing joint stiffness is unknown. We conducted a series of experiments to investigate nonlinear stiffness and damping of the metacarpophalangeal (MCP) joint at the index finger. We designed a custom-made mechanism to integrate electromyography sensors (EMGs) and a motion capture system to collect data from 19 subjects. We investigated the relative contributions of muscle-tendon units and the MCP capsule ligament complex to joint stiffness with subject-specific modeling. The results show that the muscle-tendon units provide limited contribution to the passive joint compliance. This findings indicate that the parallel compliance, in the form of the capsule-ligament complex, is significant in defining the passive properties of the hand. To identify the passive damping, we used the hysteresis loops to investigate the energy dissipation function. We used symbolic regression and principal component analysis to derive and interpret the damping models. The results show that the nonlinear viscous damping depends on the cyclic frequency, and fluid and structural types of damping also exist at the MCP joint. Inspired by the nonlinear stiffness of the MCP joint, we developed a miniaturized mechanism that uses pouring liquid plastic to design energy storing elements. The key innovations in this design are: a) a set of nonlinear elasticity of compliant materials, b) variable pulley configurations to tune the stiffness profile, and c) pretension mechanism to scale the stiffness profile. The design exhibits human-like passive compliance. By taking advantage of miniaturized joint size and additive manufacturing, we incorporated the novel joint design in a novel robotic manipulator with six series elastic actuators (SEA). The robotic manipulator has passive joint compliance with the intrinsic property of human hands. To validate the system, we investigated the Cartesian stiffness of grasping with low-level force control. The results show that that the overall system performs a great force tracking with position feedback. The parallel compliance decreases the motor efforts and can stabilize the system. / text

Cloud computing environments mainly focus on the delivery of resources, platforms, and infrastructure as services to users over the Internet. More specifically, Cloud promises user access to a scalable amount of resources, making use of the elasticity on the provisioning of recourses by scaling them up and down depending on the demand. The cloud technology has gained popularity in recent years as the next big step in the IT industry. The number of users of Cloud services has been increasing steadily, so the need for efficient task scheduling is crucial for improving and maintaining performance. Moreover, those users have different SLAs that imposes different demands on the cloud system. In this particular case, a scheduler is responsible for assigning tasks to virtual machines in an effective and efficient matter to meet with the QoS promised to users. The scheduler needs to adapt to changes in the cloud environment along with defined demand requirements. Hence, an Adjustable and Configurable bio-inspired scheduling heuristic for cloud based systems (ACBH) is suggested. We also present an extensively comparative performance study on bio-inspired scheduling algorithms namely Ant Colony Optimization (ACO) and Honey Bee Optimization (HBO). Furthermore, a networking scheduling algorithm is also evaluated, which comprises Random Biased Sampling (RBS). The study of bio-inspired techniques concluded that all the bio-inspired algorithms follow the same flow that was later used in the development of (ACBH). The experimental results have shown that ACBH has a 90% better execution time that it closest rival which is ACO. ACBH has a better performance in terms of the fairness between execution time differences between tasks. HBO shows better scheduling when the objective consists mainly of costs. However, when there is multiple optimization objectives ACBH performs the best due to its configurability and adaptability.

Bats have a unique flying style that allows them to be highly dexterous in capturing prey and have great freedom of movement in flight. Bats' wings have a wing membrane that is tensioned by their fingers and arms, allowing them to retract their wings laterally in flight. This distinct motion has allowed bats to be the only mammals capable of sustained flight, adding to their evolutionary uniqueness. This thesis presents the creation of the VALKRIE (Versatile Aerial Lifesize Kinetic Robot Inspired by bat Evolution) project: a to-scale simplified bat-inspired ornithopter that can be remotely controlled, sustain flight, and passively retract and extend its wings laterally. VALKRIE mimics the dimensions and size of its biological counterpart, Hipposideros diadema, a medium-sized bat; setting its aerodynamical constraints to the dimensions of Hipposideros diadema. Bats' maneuverability is derived from their unique wing motion while in flight, retracting and extending their wings. VALKRIE mimics this motion by simplifying the joint structure of a bat's wing and passively retracting and extending the wings. By simplifying the complex anatomy of bat wing motion, VALKRIE can maintain flight and generate sufficient lift for increasing altitude. With a simplified design, VALKRIE only has two motors that actuate wing flapping, wing retraction, and rotation of the hind legs. With this simplified design, the operator can remotely control VALKRIE by increasing and decreasing the wingbeat frequency and steering to the right and left with the hind legs. / Master of Science / Bats have a unique flying style that allows them to be highly dexterous in capturing prey and have great freedom of movement in flight. Bats' wings have a wing membrane that is tensioned by their fingers and arms, allowing them to retract their wings laterally in flight. This distinct motion has allowed bats to be the only mammals capable of sustained flight, adding to their evolutionary uniqueness. This thesis presents the creation of the VALKRIE (Versatile Aerial Lifesize Kinetic Robot Inspired by bat Evolution) project: a to-scale simplified bat-inspired ornithopter that can be remotely controlled, sustain flight, and passively retract and extend its wings laterally. VALKRIE mimics the dimensions and size of its biological counterpart, Hipposideros diadema, a medium-sized bat; setting its aerodynamical constraints to the dimensions of Hipposideros diadema. Bats' maneuverability is derived from their unique wing motion while in flight, retracting and extending their wings. VALKRIE mimics this motion by simplifying the joint structure of a bat's wing and passively retracting and extending the wings. By simplifying the complex anatomy of bat wing motion, VALKRIE can maintain flight and generate sufficient lift for increasing altitude. With a simplified design, VALKRIE only has two motors that actuate wing flapping, wing retraction, and rotation of the hind legs. With this simplified design, the operator can remotely control VALKRIE by increasing and decreasing the wingbeat frequency and steering to the right and left with the hind legs.

The contributions of this dissertation can be divided into three primary foci: input waveform optimization, the modeling and optimization of fish-like robots, and experiments on a flapping wing robot. Novel contributions were made in every focus. The first focus was on input waveform optimization. This goal of this research was to develop a means by which the optimal input waveforms can be selected to vibrationally stabilize a system. Vibrational stabilization is the use of high-frequency, high-amplitude periodic waveforms to stabilize a system about a desired state. The contributions presented herein develop a technique to choose the ``best" input waveform and a discussion of how the ``best" input waveform changes with the definition of ``best." The next focus was the optimization of a fish-like robot. In order to optimize such robots, a new model for fish-like locomotion is developed. An optimization technique that uses numerous simulations of fish-like locomotion was used to determine the best gaits for traveling at various speeds. Based on these results, trends were found that can determine the optimal gait using a couple relatively simple functions. The final focus was experimentation on a flapping wing robot in a wind tunnel. These experiments determined the performance of the flapping wing robot at a variety of flight conditions. The results of this research were presented in manner that is accessible to the larger aircraft design community rather than only to those specializing in flapping flight. / Ph. D.

Both bird and fish locomotion are thought to be more efficient than the equivalent man-made vehicles driven by propellers/impellers and jet engines. Through studies that decompose the different kinematic and shape effects of these biological systems, we can understand what leads to their high cruising performance and efficiency. Two major studies were conducted. The first was on the effect of different kinematic parameters of large soaring birds on flight performance and the second was on the effect of caudal fin shape on the performance of thunniform swimmers. For the first study on flight performance, flapping, folding, and twist were the wing motions of interest. The second study on swimming performance observed how caudal fin sweep angle affects propulsion while isolating the effect of this shape difference from aspect ratio and area effects. Low order models were primarily used to conduct the bird flight study, though experimental methods were investigated as well. The thunniform swimming study was conducted through experimentation on a biomimetic system. The flight study found that, under the right circumstances, both wing twist and wing folding have a positive effect on flight performance. However, the impact of wing twist is much larger. To incorporate this wing twist into a robotic system, a new reduced order model that partially accounts for 3D effects was developed and validated. In the future, this model can be used in conjunction with a flight controller to control wing twist. The swimming study found that caudal fin sweep had a significant impact on performance, moderately swept fins showing the greatest improvement. Using an overly large sweep angle led to diminished performance when compared to the moderately swept fins, but still demonstrated improved performance over a non-swept fin. The increased performance of the moderately swept fins was due to how it affected LEV formation and stability. / Ph. D. / Bird flight and fish swimming are thought to be more efficient than drones and submersible vehicles respectively. By conducting studies on the motion of the wing and the shape of the tail fin, we can gain a better understanding of how to produce efficient vehicles that are inspired by fish/birds. Two major studies were conducted. The first study analyzed the wing motion of birds such as seagulls. The three most important wing motions were analyzed using fast computational simulations. Functional flapping aircraft that can be used in future studies were also constructed. The second study analyzed the tail fin shape of tuna, specifically how the swept shape affects propulsion performance. This study was conducted by operating a robotic tuna with interchangeable tails in a water tunnel. The computational studies on wing motion showed that controlling twist of the wing in addition to typical flapping motion could greatly improve performance of a flapping bird-like aerial vehicle. To incorporate this wing twist into a future system, a mathematical model that provided aerodynamic predictions was developed. This model can be used in conjunction with a controller to provide efficient real time control of the wing twist. The experimental swimming study found that fin sweep had a significant impact on performance. Using a moderately swept fin (25-35 degrees) increases thrust production without increased energy expenditure. Fins with greater sweep angles start to yield diminished performance benefits. Using an elliptical area distribution can also lead to increased performance.

The focus of this dissertation is on refining atomic force micrscopy (AFM) methods and data analysis routines to measure the viscoelastic mechanical properties of soft polymer and biological materials in relevant fluid environments and in vivo using a range of relevant temperatures, applied forces, and loading rates. These methods are directly applied here to a several interesting synthetic and biological materials. First, we probe poly(n-butyl methacrylate) (PnBMA), above, at and below its glass transition temperature in order to verify our experimental procedure. Next, we use AFM to study the viscoelastic properties of coating materials and additives of silicone-based soft contact lenses in a tear-like saline solution. Finally, a major focus in this dissertation is determining the fundamental mechanical properties that contribute to the excellent sensitivity of the strain sensing organs in a wandering spider (Cupiennius salei) by probing under in vivo conditions. These strain-sensing organs are known to have a significant viscoelastic component. Thus, the cuticle of living spiders is directly investigated in near-natural environments (high humidity, temperatures from 15-40 °C). The main achievements of these studies can be summarized through the following findings: We suggest that full time-temperature-modulus relationships are necessary for the understanding of soft materials systems, and present a practical method for obtaining such relationships. These studies will have a direct impact on both scientists in the metrology field by developing practical experimental procedures and data analysis routines to investigate viscoelastic mechanical properties at the nanoscale, and future materials scientists and engineers by showing via spider mechanosensory systems how viscoelasticity can be applied for functional use in sensing technology.

In this thesis, we examine algorithms for the division of labour in a group of robot. The algorithms make no use of direct communication. Instead, they are based only on the interactions among the robots and between the group and the environment. Division of labour is the mechanism that decides how many robots shall be used to perform a task. The efficiency of the group of robots depends in fact on the number of robots involved in a task. If too few robots are used to achieve a task, they might not be successful or might perform poorly. If too many robots are used, it might be a waste of resources. The number of robots to use might be decided a priori by the system designer. More interestingly, the group of robots might autonomously select how many and which robots to use. In this thesis, we study algorithms of the latter type. The robotic literature offers already some solutions, but most of them use a form of direct communication between agents. Direct, or explicit, communication between the robots is usually considered a necessary condition for co-ordination. Recent studies have questioned this assumption. The claim is based on observations of animal colonies, e.g., ants and termites. They can effectively co-operate without directly communicating, but using indirect forms of communication like stigmergy. Because they do not rely on communication, such colonies show robust behaviours at group level, a condition that one wishes also for groups of robots. Algorithms for robot co-ordination without direct communication have been proposed in the last few years. They are interesting not only because they are a stimulating intellectual challenge, but also because they address a situation that might likely occur when using robots for real-world out-door applications. Unfortunately, they are still poorly studied. This thesis helps the understanding and the development of such algorithms. We start from a specific case to learn its characteristics. Then we improve our understandings through comparisons with other solutions, and finally we port everything into another domain. We first study an algorithm for division of labour that was inspired by ants' foraging. We test the algorithm in an application similar to ants' foraging: prey retrieval. We prove that the model used for ants' foraging can be effective also in real conditions. Our analysis allows us to understand the underlying mechanisms of the division of labour and to define some way of measuring it. Using this knowledge, we continue by comparing the ant-inspired algorithm with similar solutions that can be found in the literature and by assessing their differences. In performing these comparisons, we take care of using a formal methodology that allows us to spare resources. Namely, we use concepts of experiment design to reduce the number of experiments with real robots, without losing significance in the results. Finally, we apply and port what we previously learnt into another application: Sensor/Actor Networks (SANETs). We develop an architecture for division of labour that is based on the same mechanisms as the ants' foraging model. Although the individuals in the SANET can communicate, the communication channel might be overloaded. Therefore, the agents of a SANET shall be able to co-ordinate without accessing the communication channel.