The following study focuses on the design and validation of an underactuated robotic gripper built for the Tactical Hazardous Operations Robot (THOR). THOR is a humanoid robot designed for use in the DARPA Robotics Challenge (DRC) and the Shipboard Autonomous Fire Fighting Robot (SAFFiR) project, both of which pertain to completing tasks associated with disaster response. The gripper was designed to accomplish a list of specific tasks outlined by the DRC and SAFFiR project. Underactuation was utilized in the design of the gripper to keep its complexity low while acquiring the level of dexterity needed to complete the required tasks. The final gripper contains two actuators, two underactuated fingers and a fixed finger resulting in four total degrees of freedom (DOF). The gripper weighs 0.68 kg and is capable of producing up to 38 N and 62 N on its proximal and distal phalanges, respectively. The gripper was put through a series of tests to validate its performance pertaining to the specific list of tasks it was designed to complete. The results of these tests show the gripper is in fact capable of completing all the necessary actions but does so within some limitations. / Master of Science

The kinematic analysis of an articulated twin body, four-wheel, robotic vehicle is presented. Polaris, a research platform and contending robotic vehicle in the Intelligent Ground Vehicle Competition (IGVC) at Virginia Tech, was redesigned in 2006 to improve the mobility of the vehicle by incorporating an innovative four-bar linkage that connects the two bodies. The new linkage design minimizes vehicle off-tracking by allowing the rear wheels to closely track the path of the front wheels. This thesis will outline the theoretical kinematic model of the four-bar linkage as applied to a twin-bodied, differentially driven vehicle. The kinematic model is validated through computer simulation as well as experimentation on a fully operational robotic vehicle. The kinematic model presented here outlines the foundations for an autonomous, four-wheel drive, multi-body control system and opens avenues for dynamically controlling the tracking of the vehicle's rear body with an actuated linkage configuration. / Master of Science

It is my proposal that unused building shells of the past serve as cocoons for the future, providing the precedence from which grows "a building within a building". The tension created between old and new encourages a didactic relationship between building and city, cognizant of the past while looking towards the future. / Master of Architecture

Flertalet internationella undersökningar visar att svenska elever presterar sämre i matematik än tidigare. Matematik tycks vara ett svårt ämne för flertalet elever då en stor andel av eleverna i årskurs 6 inte når kunskapskraven i matematik. Det sägs att bråk är matematikundervisningens mest problematiska område och det uppstår många missuppfattningar när eleverna arbetar med bråk.   I denna interventionsstudie har två klasser i årskurs 4 deltagit i undervisning om bråk men med olika undervisningsmetoder. Den ena klassen har fått så kallad ”traditionell matematikundervisning” som följer matematikläromedel och den andra klassen har blivit undervisade i Blockmodellen. Detta för att undersöka om Blockmodellen kan bidra till en större förståelse för bråk hos eleverna samt förhindra missuppfattningar inom området.   Resultatet påvisade viss ökad förståelse för tal i bråkform hos elever i årskurs 4 som blivit undervisade om Blockmodellen. Enligt resultatet stärker modellen elever i mer utmanande textuppgifter samt förståelsen för tredjedelar. För fortsatt forskning rekommenderas en längre utsatt tid för studie samt ett bredare datainsamligsverktyg. / Several international studies indicate a decline in Swedish students’ math performance. Mathematics seems to be a difficult subject for many students, as a large proportion of students in grade 6 do not meet the knowledge requirements in mathematics. It is suggested that fractions are the most problematic area in mathematics education, and many misconceptions arise when students work with fractions.   In this intervention study, two 4th-grade classes participated in fraction instruction using different teaching methods. One class received traditional match instruction following mathematics teaching material, while the other class was taught using the Bar Modeling. This was to investigate if the Bar Modeling could contribute to greater understanding of fractions among student and prevent misunderstandings in the area.   The results indicated some increased understanding of fractions among 4th-grade students who had been taught using the Bar Modeling. According to the results, the model enhances students’ abilities in more challenging word problems as well as their understanding of thirds. For further research, a longer exposure time for the study and a broader data collection tool are recommended.

This work investigates the interactions between impact devices and material response in the realm of solid mechanics, utilizing explicit finite element analysis and experimental methods based on the split-hopkinson pressure bar. It focuses on understanding how tools like jackhammers use hammer strikes to generate pressure waves, then the wave is transferred through a chisel to materials such as rocks to cause fracture. The interaction between the wave and the rock is complex. Under dynamic loading the mechanical response of materials changes and significant losses occur due to reflections and inefficient pressure states. This research explores how chisel geometry can be optimized to control critical parameters influencing rock fracture, including stress state, pulse length, and peak pressure. The use of notches to influence the stress state, periodic boundaries to influence the pulse length and pressure amplification in tapers the increase the pressure showed an improvement in efficiency in jackhammers. Additionally, this work extends insights of the concept of pressure amplification in solids, to liquids inside tapered pipes, enhancing the understanding of phenomena like pulse pressure amplification in arteries and water hammer effects in piping systems. Two innovative contributions emerge from this work: a novel amplifier design for water cannons, improving these machines efficiency and showing promise for applications in water jet cutting and drilling, and a novel process for extruding nanocrystalline magnesium. This process leverages pressure amplification and impact-induced plastic shear deformations to refine crystal size, offering a new avenue for producing various nanocrystalline materials.

Regulation of the actin cytoskeleton is key to cellular function and underlies processes including cell migration, mitosis and endocytosis. Motile cells send out dynamic actin protrusions that enable them to sense and interact with their environment, as well as generating physical forces. Linking of the actin cytoskeleton to the cell membrane is essential for the formation of these protrusions. The proteins that are thought to fulfil such a role have a membrane interacting domain (such as the PH domain in lamellipodin, or I-BAR protein in IRSp53) and a domain which interacts with actin regulatory proteins (such as the SH3 domain of IRSp53, which binds Ena and VASP). I investigated the contribution of the F-BAR protein Toca-1 in linking actin polymerisation to membranes, by characterising a new protein-protein interaction and the interaction of Toca-1 with giant unilamellar vesicles. FBP17, a homologue of Toca-1, can oligomerise to form 2D flat lattices and 3D tubules on membranes. Proteins of the Toca-1 family have previously been implicated in actin polymerisation in cell-free systems and during endocytosis. However, there is emerging evidence that Toca-1 family proteins could also be involved in the formation of outward facing protrusions, lamellipodia and filopodia. In an in vitro system that recapitulates the formation of filopodia-like structures (FLS) on supported lipid bilayers, Toca-1 is recruited early, suggesting a Toca-1 scaffolding mechanism could precede the recruitment of other actin regulators. One prediction of this model is that Toca-1 would bind proteins previously implicated in filopodia formation, such as formins. I found that extracts depleted of Toca-1 binding partners no longer forms filopodia-like structures and subsequently optimised pull-down assays to identify Toca-1 binding partners by mass-spectrometry. I identified four formins, Diaph1, Diaph3, FHOD1 and INF2, and as well as the actin elongation factors and filopodia proteins, Ena and VASP. I further characterised these interactions and found that Toca-1 binds Ena and VASP via its SH3 domain. The interaction is direct and is strongly reduced if the proline-rich region in Ena is deleted. VASP was still able to bind without its proline rich region, suggesting there could be additional binding sites. I discovered that the binding of Ena and VASP was dependent on the clustering state of Toca-1, whilst the binding of the previously identified Toca-1 binding partner N-WASP was not. This further supports the importance of Toca-1 oligomerisation in actin polymerisation. I tested these interactions in the FLS system and found that increasing Toca-1 concentration leads to increased recruitment of N-WASP, as well as the novel binding partner Ena to the structures, whereas an increase in VASP was not observed. SH3-domain mediated interactions are required for Toca-1 recruitment to FLS, suggesting that its membrane and protein binding activities act cooperatively. I showed that unlike N-WASP, which promotes the formation of branched actin, Ena and VASP are not required for actin polymerisation on supported lipid bilayers, suggesting that they are redundant with other factors in the elongation step of FLS formation. Ena and VASP are known to be important for the formation of neuronal filopodia and so I began to further test the role of these interactions in a cellular context using a neuronal cell culture system. As well as recruiting protein binding partners, F-BAR family proteins are implicated in stabilising lipid microdomains and can induce the clustering of phosphoinositides. I investigated the role of Toca-1 in actin polymerisation on PI(4,5)P2-rich giant unilamellar vesicles (GUVs). Actin-rich tails formed on the GUVs only when excess Toca-1 was supplemented into the extracts, and I propose that this is due to lipid organisation by Toca-1. In summary, my work suggests a model in which Toca-1 clusters, stabilises the membrane lipids and recruits regulators of actin polymerisation, such as Ena. This mechanism could be used to link actin polymerisation to the membrane in cellular protrusions, such as filopodia.

The interstate highway system is vitally dependent upon current and future bridges. These bridges must be designed economically to continue the serviceability with limited maintenance. For precast bridge construction a portion of the design must consider the bridge connections. Some current connections have proved insufficient in serviceability as there is uncontrolled cracking. In other connections there are uncertainties in the calculations (or lack of calculations) which require design guidelines. This thesis presents design recommendations for precast decking u-bar reinforcement in tension which results from negative moment over a pier. Testing results from the University of Tennessee were analyzed to determine the design recommendations. The calculated capacity of the specimens was determined first by strut and tie modeling by AASHTO and ACI, but was shown to be insufficient. Proposed changes to the current calculation of the strut width as specified in AASHTO and ACI STM methods were discussed in order to match the test results. However, strut and tie modeling demonstrated that the design for the lacer bar was inadequate. Since the strut and tie modeling method resulted in an inaccurate lacer bar size, another method was developed. A triangular shape develops from the flow of forces in the connection joint zone; as a result, a free body diagram (FBD) was developed from the concrete triangular shape. This diagram showed how the forces flow in the in-situ joint as well as how they are resisted. A formula was developed from the FBD to determine the capacity of the joint which accurately reflected the capacities from tests. A FBD was also made of the lacer bar utilizing the forces and geometry calculated from the capacity calculations. A computer analysis program was used to determine the forces in the lacer bar. The lacer bar could then be designed since the required forces to resist (moment and shear) were known. A comparison of the strut and tie model to the triangular method led to the conclusion that both can determine the longitudinal reinforcement spacing, joint overlap length, and concrete strength, but only the triangular method can determine a more sufficient lacer bar size.

La petite protéine G Arf6 et son facteur d'échange EFA6 sont impliquées dans de nombreux processus cellulaires tels que le remodelage du cytosquelette d’actine, le transport vésiculaire et mise en place de la polarité épithéliale. Elles jouent également un rôle dans la voie d'endocytose dépendante de la clathrine. Ce travail de thèse nous a permis d’identifier différents mécanismes régulant l’interaction d’EFA6 avec ses différents partenaires. Nous avons pu mettre en évidence une interaction directe entre le domaine N-BAR de l’endophiline et le domaine Sec7 d’EFA6. Nous avons démontré que la courbure membranaire était un facteur régulant cette interaction. EFA6 est capable d’interagir et de recruter l’endophiline sur une membrane lipidique plane alors qu’en présence de vésicules courbées le complexe protéique ne se forme pas. Nous observons également que l’endophiline stimule l’activité d’échange nucléotidique d’EFA6 sur Arf6. Dans un second temps nous avons démontré, dans une étude menée par le Dr Cherfils, que l’activité catalytique d’EFA6 était régulée par une boucle de rétrocontrôle négatif exercée spécifiquement par la protéine Arf6-GTP. Celle-ci induit une diminution de l’activité d’échange d’EFA6 probablement grâce à sa capacité à interagir avec le domaine PH-C-terminal d’EFA6. Enfin, nous avons mis en évidence un repli intramoléculaire entre le domaine C-terminal et le domaine PH d’EFA6 qui semble contrôler l’interaction de cette extrémité C-terminale avec différents partenaires dont la β-arrestine et de façon surprenante la protéine Arf6 dans sa forme inactive. / The small G protein Arf6 and its exchange factor EFA6 control numerous cellular processes such as actin cytoskeleton remodeling, vesicular transport and apico-basal cell polarity. They are also involved in clathrin-dependent endocytosis. In this work we identify different mechanisms by which EFA6 interaction with its various partners is regulated. We have highlighted a direct interaction between the N-BAR domain of endophilin and the Sec7 domain of EFA6. We demonstrated that this interaction is regulated by the membrane curvature. EFA6 interacts and recruits endophilin on a flat lipid membrane whereas the protein complex does not occur in the presence of curved vesicules. We showed that endophilin stimulates the nucleotidic exchange activity of EFA6 on Arf6. Next we demonstrated that the catalytic activity of EFA6 is regulated by a negative feedback loop specifically mediated by the Arf6-GTP. We observed in the presence of Arf6-GTP a decrease of EFA6 catalytic activity and we showed that this effect was due to an interaction between Arf6-GTP and PH-C-terminal domain of EFA6. Finally we demonstrated an intramolecular folding between the C-terminal domain and the PH domain of EFA6 that controls the interaction of the C-terminus domain with various partners including β-arrestin and surprisingly the inactive GDP form of Arf6.

Above true strain rates of $10^4$ s$^{-1}$ FCC metals exhibit a rapid increase in strength. Understanding of the physical mechanisms behind this strength transition is hindered by the number and interdependence of candidate mechanisms. Broadly, contributions to strength can be split into `instantaneous' effects and the more permanent `structural' ones. In this thesis a series of experiments are presented which are designed to separate the two types of contribution. Chapter 2 outlines the basics of dislocation plasticity, based on the seminal works of Taylor and Orowan. It then progresses on to discuss recent experimental and theoretical work on the understanding of slip as avalanche behaviour. Chapter 3 summarises traditional modelling approaches for instantaneous strength contributions which are routinely applied below $10^4$ s$^{-1}$. It then continues on to outline a number of different approaches which have been adopted to attempt to explain and model the strength transition. Chapter 4 outlines the methods used in the earliest stages of the study: Instron and split Hopkinson pressure bar methods. Both methods are well established, and cover the majority of the range of rates under study. Emphasis is made on minimising experimental sources of error, and subsequently accounting for those which are unavoidable. Finally, the specimen material is introduced and is shown to be fit for purpose. Chapter 5 presents a set of mechanical tests of specimens at strain rates between $10^4-10^5$~s$^{-1}$. The softening of the specimens with increased temperature is observed to increase with strain rate, both in absolute terms and when normalised to the 300 K measurement for each strain rate. The observations are most easily explained if the strength transition is due to an increase in early stage work hardening, however, some anomalous behaviours remain. Chapter 6 introduces a new experimental technique; direct impact Hopkinson pressure bars, required to perform experiments shown to be necessary by the results of Chapter 5. Photon Doppler velocimetry is applied to the projectiles used in experiments, removing one of the most significant flaws of the technique, and creating a more confident basis with which to perform further experimental work. Chapter 7 presents a series of `jump tests' at ambient temperatures. Specimens are deformed at strain rates ranging from $10^{-2}$ to $10^5$~s$^{-1}$ to a fixed strain of 0.1, then reloaded to yield at a strain rate of $10^{-1}$. The yield point at reload is shown to have the same rapid upturn as seen when the specimens were deforming at high rates, providing strong evidence that the increase in strength is due to changes in the underlying dislocation structure, rather than a dynamic effect, as it remains even when the high strain rate is removed. Chapter 8 continues on from the conclusions of Chapter 7. Jump tests are expanded to a variety of temperatures and strains, to provide a more complete characterisation of metal behaviour. No dramatic change in the saturation of work hardening is observed to coincide with the increase in early stage work hardening. Chapter 9 discusses discrepancies between contemporary high rate models and recent developments in the understanding of plasticity being an avalanche process. Potential consequences of incorporating avalanche plasticity into high rate models are explored. Particular attention is paid to Brown's observation that based on quasi static observations of avalanche behaviour, the formation of dislocation avalanches will begin to fail at strain rates of approximately $10^4$ s$^{-1}$. Consequences of the progressive breakdown of avalanche behaviour are discussed with respect to the experimental observations presented in earlier chapters. In Chapter 10, we will discuss the key conclusions of the work. Finally, a number of avenues are proposed for building upon the current work both theoretically and experimentally.

Toxoplasma gondii, comme Plasmodium falciparum appartiennent au phylum des Apicomplexes. Ce groupe de parasites ont comme dénominateurs communs, trois organites apicaux : rhoptries, micronèmes et granules denses contenant des facteurs indispensables pour la reconnaissance, l’entrée et la survie du parasite au sein de la cellule hôte. Le récepteur transmembranaire de type 1 appelé TgSORTLR ("Toxoplasma gondii Sortilin-Like Receptor") est nécessaire à la biogenèse des organelles de sécrétion rhoptrie et micronème (Sloves et al., 2012). Le domaine C-terminale de la TgSORTLR, lie TgVps26 et TgVps35 deux protéines appartement au complexe Rétromère essentiel au recyclage protéique chez les mammifères et S. cerevisiae. Nous avons construit le premier interactome du CRC de T. gondii et des autres Apicomplexes. Contrairement aux mammifères, le Rétromère de T. gondii est composé du CRC (Complexe de Reconnaissance du Cargo) TgVps35-TgVps26-TgVsp29 et l’absence du dimère de Sorting Nexin (SNX). Nous avons identifié plusieurs protéines connues de l’ELC (Endosomal-like compartment) ainsi que des protéines parasitaires spécifiques. La déplétion conditionnelle de TgVps35 démontre que le complexe Rétromère n’est pas seulement crucial pour la biogenèse des rhoptries, micronèmes et granules denses, mais aussi pour l’architecture et l’intégrité du parasite. Nous avons montré que le recyclage de la TgSORTLR entre l’ELC et le TGN (Tans-Golgi-Network) est essentiel au trafic des protéines de sécrétion rhoptries et micronèmes. Par ailleurs nous avons décrit deux nouvelles protéines hypothétiques TgHP12 et TgHP03 pouvant être impliquées respectivement dans le trafic vers l’ELC et vers la membrane plasmique. Afin nous avons identifié et caractérisé une protéine chimérique TgHP25 avec les domaines BAR et SBF2, pouvant être impliquée dans la biogenèse de l’organite rhoptrie. En somme notre travail souligne l’importance du recyclage protéique et l’implication de protéines spécifiques dans la maturation des organites et l’intégrité du parasite. / Toxoplasma gondii, like Plasmodium falciparum are belong to the Apicomplexan phylum. This group of parasites have as a common denominator, three apical organelles: rhoptries, micronemes and dense granules containing the essential factors for recognition, entry and survival into the host cell. The Toxoplasma gondii Sortilin-Like Receptor (TgSORTLR), is essential for the biogenesis of apical secretory organelles rhoptries and micronemes (Sloves et al., 2012). The C-terminal tail of TgSORTLR specifically binds to TgVps26 and TgVps35 proteins, two components of a pentameric complex called retromer (RC), and known to play an essential role in retrograde transport in yeast and mammals. We now report the first retromer-trafficking interactome in T. gondii and other apicomplexan parasites. In contrast to yeast and mammals, T. gondii RC harbors a singular architecture typified by a Vps35-Vps26-Vps29 trimer complex and the absence of the dimer of sorting nexins. Rather, we identified several known endosomal-like compartment (ELC) proteins and unrelated parasite-specific proteins. The conditional ablation of TgVps35 demonstrates that the Retromer complex is not only crucial for the biogenesis of rhoptries, micronemes and dense granules but also for maintaining a proper parasite architecture and integrity. We showed that the recycling of TgSORTLR between ELC and Trans-Golgi Network (TGN), is essential for proper protein trafficking to secretory organelles rhoptries and micronemes. Furthermore, we will describe two novel parasite-specific proteins TgHP12 and TgHP03, whose functions are likely related to ELC and plasma membrane. So we identified and characterized a chimeric protein TgHP25 with the BAR and SBF2 domains, may be involved in the biogenesis of the organelle rhoptrie. In short our work emphasizes the importance of protein recycling and involvement of specific proteins in the maturation of organelles and integrity of the parasite.