Variable Recruitment in Bundles of Miniature Pneumatic Artificial Muscles and Space Qualified Pneumatic Artificial Muscles

The natural compliance and force generation properties of pneumatic artificial muscles (PAMs) allow them to operate like human muscles in anthropomorphic robotic manipulators. Traditionally, manipulators use a single PAM or multiple PAMs actuated in unison in place of a human muscle. However, these manipulators experience efficiency losses when operated outside their target performance ranges. The unidirectional actuation behavior of a miniature PAM bundle and bidirectional actuation behavior of an antagonistic pair of miniature PAM bundles are characterized and modeled. The results are used to motivate the application of a variable recruitment control strategy to a parallel bundle of miniature PAMs as an attempt to mimic the selective recruitment of motor units in a human muscle to improve the operating efficiency of the actuator. Additionally, the fabrication and quasi-static testing results for PAMs assembled from candidate space qualified bladder and braided sleeve materials for use in space robotics are assessed.

The Demobilized Body: Transgressions of Personal Space and Political Participation

Grounded in the intersection between gender politics and electoral studies, this dissertation examines the demobilizing effects of violations of personal space (in the form of domestic violence, control over mobility, emotional abuse, and sexual harassment) on the propensity to vote. Using quantitative methods across four survey datasets concerning Lebanon, the United States, Morocco, and Yemen, this research concludes that cross-regionally, familial control over mobility reduces the propensity to vote among women. Conversely, mechanisms of empowerment such as education and employment increase the propensity to vote.