How do we find important neurons and understand how their dynamics control behavior? Both of these are challenging and general problems in neuroscience. In this dissertation supervised by Sharad Ramanathan, I developed a ...

Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. However, these procedures require accurate modeling of not only the catheter and ...

Biological fliers are capable of extremely agile and efficient flight. Man-made flapping-wing micro air vehicles (FWMAVs) on the scale of insects and small birds have been used to understand and mimic the behaviors of their ...

Origami can turn a sheet of paper into complex three-dimensional shapes, and similar folding techniques can be used to build structures and mechanisms. However, folding by hand can be difficult and time consuming. This has ...

Nascent endoscopic therapeutic procedures, such as endoscopic submucosal dissection, enable unparalleled access to and removal of mid-size cancerous neoplasia from within the gastrointestinal tract. However, the remote ...

The RoboBee is an insect-scale flapping-wing robot that is useful for a wide range of tasks, in- cluding exploration, environmental monitoring, as well as search and rescue. Recent advances in mechanical design, fabrication, ...

While oceans cover the majority of our planet, these vast expanses remain relatively unexplored. Among the most interesting parts of the ocean are the shallow reef systems, which contain a huge amount of the planet’s ...