Theses and Dissertations from UMD

Permanent URI for this communityhttp://hdl.handle.net/1903/2

New submissions to the thesis/dissertation collections are added automatically as they are received from the Graduate School. Currently, the Graduate School deposits all theses and dissertations from a given semester after the official graduation date. This means that there may be up to a 4 month delay in the appearance of a give thesis/dissertation in DRUM

More information is available at Theses and Dissertations at University of Maryland Libraries.

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2011 - 20163

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    Leader Based Cyclic Pursuit
    (2016) Miltenberger, Kenneth L.; Krishnaprasad, P S; Galloway, Kevin S; Electrical Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    In this work a system of autonomous agents engaged in cyclic pursuit (under constant bearing (CB) strategy) is considered, for which one informed agent (the leader) also senses and responds to a stationary beacon. Building on the framework proposed in a previous work on beacon-referenced cyclic pursuit, necessary and suffi- cient conditions for the existence of circling equilibria in a system with one informed agent are derived, with discussion of stability and performance. In a physical testbed, the leader (robot) is equipped with a sound sensing apparatus composed of a real time embedded system, estimating direction of arrival of sound by an Interaural Level and Phase Difference Algorithm, using empirically determined phase and level signatures, and breaking front-back ambiguity with appropriate sensor placement. Furthermore a simple framework for implementing and evaluating the performance of control laws with the Robot Operating System (ROS) is proposed, demonstrated, and discussed.
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    SOCIAL AND ECOLOGICAL FACTORS INFLUENCING COLLECTIVE BEHAVIOR IN GIANT DANIO
    (2016) Chicoli, Amanda; Paley, Derek A; Neuroscience and Cognitive Science; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    A fundamental problem in biology is understanding how and why things group together. Collective behavior is observed on all organismic levels - from cells and slime molds, to swarms of insects, flocks of birds, and schooling fish, and in mammals, including humans. The long-term goal of this research is to understand the functions and mechanisms underlying collective behavior in groups. This dissertation focuses on shoaling (aggregating) fish. Shoaling behaviors in fish confer foraging and anti-predator benefits through social cues from other individuals in the group. However, it is not fully understood what information individuals receive from one another or how this information is propagated throughout a group. It is also not fully understood how the environmental conditions and perturbations affect group behaviors. The specific research objective of this dissertation is to gain a better understanding of how certain social and environmental factors affect group behaviors in fish. I focus on two ecologically relevant decision-making behaviors: (i) rheotaxis, or orientation with respect to a flow, and (ii) startle response, a rapid response to a perceived threat. By integrating behavioral and engineering paradigms, I detail specifics of behavior in giant danio Devario aequipinnatus (McClelland 1893), and numerically analyze mathematical models that may be extended to group behavior for fish in general, and potentially other groups of animals as well. These models that predict behavior data, as well as generate additional, testable hypotheses. One of the primary goals of neuroethology is to study an organism's behavior in the context of evolution and ecology. Here, I focus on studying ecologically relevant behaviors in giant danio in order to better understand collective behavior in fish. The experiments in this dissertation provide contributions to fish ecology, collective behavior, and biologically-inspired robotics.
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    Individual and collective dynamics of chemotaxing cells
    (2011) McCann, Colin Patrick; Losert, Wolfgang; Parent, Carole A; Physics; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    The study of the dynamics of interacting self-propelled entities is a growing area of physics research. This dissertation investigates individual and collective motion of the eukaryote Dictyostelium discoideum, a system amenable to signal manipulation, mathematical modeling, and quantitative analysis. In the wild, Dictyostelium survive adverse conditions through collective behaviors caused by secreting and responding to chemical signals. We explore this collective behavior on size scales ranging from subcellular biochemistry up to dynamics of thousands of communicating cells. To study how individual cells respond to multiple signals, we perform stability analysis on a previously-developed computational model of signal sensing. Polarized cells are linearly stable to perturbations, with a least stable region at about 60 degrees off the polarization axis. This finding is confirmed through simulations of the model response to additional chemical signals. The off-axis sensitivity suggests a mechanism for previously observed zig-zag motion of real cells randomly migrating or chemotaxing in a linear gradient. Moving up in scale, we experimentally investigate the rules of cell motion and interaction in the context of thousands of cells. Migrating Dictyostelium discoideum cells communicate by sensing and secreting directional signals, and we find that this process leads to an initial signal having an increased spatial range of an order of magnitude. While this process steers cells, measurements indicate that intrinsic cell motility remains unaffected. Additionally, migration of individual cells is unaffected by changing cell-surface adhesion energy by nine orders of magnitude, showing that individual motility is a robust process. In contrast, we find that collective dynamics depend on cell-surface adhesion, with greater adhesion causing cells to form smaller collective structures. Overall, this work suggests that the underlying migration ability of individual Dictyostelium cells operates largely independent of environmental conditions. Our gradient-sensing model shows that polarized cells are stable to small perturbations, and our experiments demonstrate that the motility apparatus is robust to considerable changes in cell-surface adhesion or complex signaling fields. However, we find that environmental factors can dramatically affect the collective behavior of cells, emphasizing that the laws governing cell-cell interaction can change migration patterns without altering intrinsic cell motility.