Autonomous robotic operation in an unstructured or partially known environment requires sensing and sensor-based control. To overcome the problems with current "eye-in-hand" systems, miniature amplitude-based, infra-red proximity sensors are being studied. Obtaining position and velocity estimates of a rigid body…

RHex is a cockroach-inspired hexapod robot capable of walking, running, and climbing. This thesis presents the development of a novel, three dimensional, bipedal running gait for RHex using only two actuated degrees of freedom (DOF), one per compliant leg. To…

Thin silver interconnectors are used in the space communication industry to ensure electrical conductivity between neighbouring electronic modules. In order to accommodate a large range of strains, these interconnectors are manufactured with a stress-relief loop shape. The main goal of…

Containment structures for aircraft engines must withstand impacts of failed engine components, which may be traveling at extremely high velocities. Therefore, the design of such structures requires a thorough knowledge of material behaviour at high rates of deformation. It is…

The ability to model and predict debris flows, mudflows and sediment transport is currently hindered by a poor understanding of the fundamental aspects of solid-liquid flows. The present work attempts to further our knowledge through experimental studies of flows of…

The service life of any concrete marine structure is influenced by the physical condition of both the above water and below water portions of structure. This requires implementing an adequate inspection, maintenance, and repair program for the entire structure. To…

Task uncertainty and noise---generically referred to as uncertainties in the thesis---in the design and operation of robotic mechanical systems pose a major challenge to the designer. The aim of this thesis is to contribute to the laying down of the…