Determination of a Predictive Stiffness Model for a 1 DOF Human Inspired Robotic Joint

In order to facilitate more natural and intuitive interaction for human users, robots need to move in a more human-like manner as compared to current robots. This change would enable humans to better anticipate robot movements (which would allow humans to better avoid collisions if necessary) and also improve safety in the context of a collision between a robot and a human. The goal of this thesis was to analyze experimental data of human motion to gain an understanding of how human motion and robot motion differ. From this understanding, a neuro-motor model (NMM) of a human elbow (previously established by Beardsley et al.) was augmented by the addition of a variable stiffness quality. The work in this thesis developed and tested a predictive stiffness model that attempts to recreate the stiffness values used by humans in the context of a disturbance rejection task

Phaseless computational imaging with a radiating metasurface

Computational imaging modalities support a simplification of the active architectures required in an imaging system and these approaches have been validated across the electromagnetic spectrum. Recent implementations have utilized pseudo-orthogonal radiation patterns to illuminate an object of interest---notably, frequency-diverse metasurfaces have been exploited as fast and low-cost alternative to conventional coherent imaging systems. However, accurately measuring the complex-valued signals in the frequency domain can be burdensome, particularly for sub-centimeter wavelengths. Here, computational imaging is studied under the relaxed constraint of intensity-only measurements. A novel 3D imaging system is conceived based on 'phaseless' and compressed measurements, with benefits from recent advances in the field of phase retrieval. In this paper, the methodology associated with this novel principle is described, studied, and experimentally demonstrated in the microwave range. A comparison of the estimated images from both complex valued and phaseless measurements are presented, verifying the fidelity of phaseless computational imaging.Comment: 18 pages, 18 figures, articl

Big Bang Nucleosynthesis with Independent Neutrino Distribution Functions

We have performed new Big Bang Nucleosynthesis calculations which employ arbitrarily-specified, time-dependent neutrino and antineutrino distribution functions for each of up to four neutrino flavors. We self-consistently couple these distributions to the thermodynamics, the expansion rate and scale factor-time/temperature relationship, as well as to all relevant weak, electromagnetic, and strong nuclear reaction processes in the early universe. With this approach, we can treat any scenario in which neutrino or antineutrino spectral distortion might arise. These scenarios might include, for example, decaying particles, active-sterile neutrino oscillations, and active-active neutrino oscillations in the presence of significant lepton numbers. Our calculations allow lepton numbers and sterile neutrinos to be constrained with observationally-determined primordial helium and deuterium abundances. We have modified a standard BBN code to perform these calculations and have made it available to the community.Comment: 9 pages, 5 figure

Dark Matter Search Using Chandra Observations of Willman 1, and a Spectral Feature Consistent with a Decay Line of a 5 keV Sterile Neutrino

We report the results of a search for an emission line from radiatively decaying dark matter in the Chandra X-ray Observatory spectrum of the ultra-faint dwarf spheroidal galaxy Willman 1. 99% confidence line flux upper limits over the 0.4-7 keV Chandra bandpass are derived and mapped to an allowed region in the sterile neutrino mass-mixing angle plane that is consistent with recent constraints from Suzaku X-ray Observatory and Chandra observations of the Ursa Minor and Draco dwarf spheroidals. A significant excess to the continuum, detected by fitting the particle-background-subtracted source spectrum, indicates the presence of a narrow emission feature with energy 2.51 +/- 0.07 (0.11) keV and flux [3.53 +/- 1.95 (2.77)] X 10^(-6) photons/cm^2/s at 68% (90%) confidence. Interpreting this as an emission line from sterile neutrino radiative decay, we derive the corresponding allowed range of sterile neutrino mass and mixing angle using two approaches. The first assumes that dark matter is solely composed of sterile neutrinos, and the second relaxes that requirement. The feature is consistent with the sterile neutrino mass of 5.0 +/- 0.2 keV and a mixing angle in a narrow range for which neutrino oscillations can produce all of the dark matter and for which sterile neutrino emission from the cooling neutron stars can explain pulsar kicks, thus bolstering both the statistical and physical significance of our measurement.Comment: 34 pages, including 20 figures; accepted for publication in ApJ; substantially expanded discussion session, results unchange

Computational polarimetric microwave imaging

We propose a polarimetric microwave imaging technique that exploits recent advances in computational imaging. We utilize a frequency-diverse cavity-backed metasurface, allowing us to demonstrate high-resolution polarimetric imaging using a single transceiver and frequency sweep over the operational microwave bandwidth. The frequency-diverse metasurface imager greatly simplifies the system architecture compared with active arrays and other conventional microwave imaging approaches. We further develop the theoretical framework for computational polarimetric imaging and validate the approach experimentally using a multi-modal leaky cavity. The scalar approximation for the interaction between the radiated waves and the target---often applied in microwave computational imaging schemes---is thus extended to retrieve the susceptibility tensors, and hence providing additional information about the targets. Computational polarimetry has relevance for existing systems in the field that extract polarimetric imagery, and particular for ground observation. A growing number of short-range microwave imaging applications can also notably benefit from computational polarimetry, particularly for imaging objects that are difficult to reconstruct when assuming scalar estimations.Comment: 17 pages, 15 figure

Experimental Synthetic Aperture Radar with Dynamic Metasurfaces

We investigate the use of a dynamic metasurface as the transmitting antenna for a synthetic aperture radar (SAR) imaging system. The dynamic metasurface consists of a one-dimensional microstrip waveguide with complementary electric resonator (cELC) elements patterned into the upper conductor. Integrated into each of the cELCs are two diodes that can be used to shift each cELC resonance out of band with an applied voltage. The aperture is designed to operate at K band frequencies (17.5 to 20.3 GHz), with a bandwidth of 2.8 GHz. We experimentally demonstrate imaging with a fabricated metasurface aperture using existing SAR modalities, showing image quality comparable to traditional antennas. The agility of this aperture allows it to operate in spotlight and stripmap SAR modes, as well as in a third modality inspired by computational imaging strategies. We describe its operation in detail, demonstrate high-quality imaging in both 2D and 3D, and examine various trade-offs governing the integration of dynamic metasurfaces in future SAR imaging platforms

New Limits on Sterile Neutrinos from Suzaku Observations of the Ursa Minor Dwarf Spheroidal Galaxy

We present results of our search for X-ray line emission associated with the radiative decay of the sterile neutrino, a well-motivated dark matter candidate, in Suzaku Observatory spectra of the Ursa Minor dwarf spheroidal galaxy. These data represent the first deep observation of one of these extreme mass-to-light systems and the first dedicated dark matter search using an X-ray telescope. No such emission line is positively detected, and we place new constraints on the combination of the sterile neutrino mass and the active-sterile neutrino oscillation mixing angle. Line flux upper limits are derived using a maximum-likelihood-based approach that, along with the lack of intrinsic X-ray emission, enables us to minimize systematics and account for those that remain. The limits we derive match or approach the best previous results over the entire 1--20 keV mass range from a single Suzaku observation. These are used to place constraints on the existence of sterile neutrinos with given parameters in the general case and in the case where they are assumed to constitute all of the dark matter. The range allowed implies that sterile neutrinos remain a viable candidate to make up some -- or all -- of the dark matter and also explain pulsar kicks and various other astrophysical phenomena.Comment: revised to closely match version to be published in ApJ v. 69

Higgsinoless Supersymmetry and Hidden Gravity

We present a simple formulation of non-linear supersymmetry where superfields and partnerless fields can coexist. Using this formalism, we propose a supersymmetric Standard Model without the Higgsino as an effective model for the TeV-scale supersymmetry breaking scenario. We also consider an application of the Hidden Local Symmetry in non-linear supersymmetry, where we can naturally incorporate a spin-two resonance into the theory in a manifestly supersymmetric way. Possible signatures at the LHC experiments are discussed.Comment: 30 pages, 3 figures, references added, version to appear in JHE