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We use both combinatorial and site-directed mutagenesis to explore the consequences of surface hydrophobic substitutions for the folding of two small single domain proteins, the src SH3 domain, and the IgG binding domain of Peptostreptococcal protein L. We find that in almost every case, destabilizing surface hydrophobic substitutions have much larger(More)
— This paper addresses the self-assembly of a large team of autonomous boats into floating platforms. We describe the design of individual boats, the systems concept, the algorithms , the software architecture and experimental results with prototypes that are 1:12 scale realizations of modified ISO shipping containers, with the goal of demonstrating(More)
—Legged locomotion is an open problem in robotics, particularly for non-level surfaces. With decreasing robot size, different issues for climbing mechanisms and their attachment and detachment appear due to the physics of scaling. This paper describes micro-scale phenomena for different adhesion methods that can be employed in microrobots. These adhesion(More)
— Full autonomy remains a challenge for miniature robotic platforms due to mass and size requirements of on-board power and control electronics. This paper presents a solution to these challenges with a 2.3g autonomous legged robot. An off-the-shelf optical mouse sensor is adapted for use on the Harvard Ambulatory Microrobot (HAMR) by reducing the sensor(More)
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