Motion algorithms are foundational for effective autonomous robot movement. For surface robotics, one particularly useful algorithm is known as pure pursuit, where a robot follows a point along a path that is a constant distance away from the robot. This work hopes to improve the pure pursuit motion algorithm to account for differences in the robot's features by implementing closed loop full state feedback (FSF) control. In addition, this project aims to provide more abilities to the pure pursuit algorithm, such as specification of angle at each point, allow for moving points, and ensure fast and efficient movements. The algorithm additions are made by modifying the calculations or control loop, and using simulations to verify effectiveness. So far, this work has shown promise by enabling intricate movements while being effective. As a whole, the role of this research is to make pure pursuit more useful and effective for any robot operating on a surface.

Chokepoints are strategic, narrow passages that connect two large areas to one another. When it comes to maritime trade, these are typically straits or canals that see high volumes of traffic because of their optimal location. In March 2021, due to a strong wind, a large container ship called the Ever Given blocked the Suez Canal, a narrow trading waterway (a maritime chokepoint) that essentially connects Europe and Asia, while also handling approximately 12% of global trade. The blockage resulted in 9.6 billion dollars of goods and services to be delayed. Furthermore, it worsened the existing supply chain constraints that were caused by the COVID-19 pandemic. Nonetheless, this event displayed how reliant or dependent international trade is on a chokepoint and showed how easily the whole process can be disrupted because of an incident that could be considered by many as insignificant. This paper is an event study of the Ever Given blockage, which aims to see how it has impacted volume of trade between countries that are situated on either side of the Suez Canal. Using a gravity model of trade, I examine and compare the effect that the event had on the volume of trade of various countries bordering the Mediterranean Sea, with Saudi Arabia on the Asian side of the canal. The broader ambition of this paper is to stress the economic reliance of international trade, in terms of volume of trade, on major chokepoints in order to motivate us to find, create and develop alternative trading waterways that could be used at the event of future disruptions at strategic chokepoints.

Towards Universal Newborn and Early Childhood Hearing Screening in Kenya (TUNE) is a project designed to introduce low-cost phone applications, akin to a standard tool, to screen for middle ear fluid in children. The device, which can be used by non-specialists, has the potential to provide low- and middle-income countries the opportunity to address problems in ear and hearing health that could otherwise impair childhood development. Kenya does not have a universal newborn and early childhood audiology screening program due to a lack of trained screeners and the high cost of assessment tools. The TUNE team met twice weekly via Zoom since colleagues lived in both Seattle and Nairobi, Kenya. My early responsibilities included documentation of stakeholder input. In September 2021, we sponsored a healthcare worker training program in Nairobi. In support of this work, I generated the training videos, created a website, and developed slide decks. These tools were used to provided healthcare workers with a background on hearing health and the importance of early identification of hearing loss, general information about the phone application, and trained them to use the device with a detailed instructional video. Healthcare workers were then given time to practice using the application. Finally, they were asked to complete a survey about the application. Most respondents reacted positively to the tool, with 100% of participants reporting they “would be comfortable using the device ‘as is’ in their work.” Most indicated that they would recommend using the application but noted that there were updates that could make the application more user friendly. We used the resulting qualitative data to inform future iterations of the application, a stakeholder workshop and policy recommendations. Ultimately this technology may help ensure that children’s growth, development, and educational needs are met in low- and middle-income countries.