CALTECH UNDERGRADUATE RESEARCH JOURNAL
EXECUTING STRATEGIES WITH ROBOT TEAMS
EXECUTING STRATEGIES WITH ROBOT TEAMS
by Lyle Chamberlain
A hybrid control architecture enables robots to work together in uncertain and adversarial environments.
4 SPACE AND EARTH EXPLORATION: 2020 VISION by Charles Elachi 6 THE PARADOX OFCHRONIC PAIN MANAGEMENT by Thomas Chelimsky
8 THE UNIVERSE THROUGH A LOOKING GLASS by Ben Granett
Light bending over an astronomical scale reveals dark matter and provides answers to cosmological questions.
16 MICROARRAYS: A MACRO SOLUTION by Fatih Ozsolak
A look at microarrays — the hottest new technology in biology.
30 A CLEANSINGCACOPHONY by Russeen Paul Wali
A cheap, quick way to force a common pollutant out of water.
36 SAVING FOR A RAINY DAY by Eric Chua
Economics experiments give insight into how social and individual learning improve consumers’ saving behavior.
42 MORNING GLORY WAVE by Victor Tsai
Mysterious atmospheric pressure waves sweep across the Los Angeles Basin.
48 CE N’EST PASUN MODÈLE by Thomas Lee Bakofsky
Cs Computer Science A Astronomy Be Bioengineering C Chemistry Ec Economics G Geology
E X E C U T I V E EDITORS
FROM THE EDITOR
Editor-in-Chief Philip Wong Executive Content Editors Shaun P. Lee Jordan Boyd-Graber
Six issues after the Caltech Undergraduate Research Journal was established with the goal of showcasing some of the best undergraduateresearch performed, CURJ has become one of the premier undergraduate research journals in production. Combining captivating research essays with stunning graphic design, each issue of the journal now reaches thousands of students worldwide at over three dozen universities and libraries across four continents. Our growing distribution network is the backbone of our outreach to collegiate programsinterested in the development of future researchers. We are now working toward strengthening our ties to undergraduate research programs in the United States and overseas in order to encourage collaboration in the growing undergraduate research community. It is our hope that in addition to publishing a journal that is both entertaining to read and composed of the highest quality undergraduateresearch, young scientists can also use CURJ to expand their research interests and to better perceive research opportunities at other universities. The publication of a journal dedicated to the arena of undergraduate research relies on motivated students interested in entering the vigorous publication process. We publish writing from undergraduates worldwide and encourage interested students to submittheir work for review. Please consider contributing to CURJ and let us know what you think of our journal.
Art Director/Designer Elizabeth Azen Executive Online Editor Joseph Johnson Operations Manager Tina Hsu
A S S O C I AT E EDITORS
Associate Content Editors Ewen Chao Mithun Diwakar Corinna Markenscoff-Zygourakis Kevin Peng Associate Online Editor Zhizhang Xia Associate OperationsManagers Grant Chang-Chien Timothy Tirrell Associate Print Editor Michelle Giron
S TA F F C O LLABORATORS
Graphics Advisor, Art Center College of Design
Carolyn Merkel Gillian Pierce
Director, Student Faculty Programs Science Writing Requirement Coordinator
C O V E R I M AGE
Bots Elizabeth Azen
C U R J D O N ORS
Caltech Administration Typecraft, Inc.
CALTECHUNDERGRADUATE RESEARCH JOURNAL . .
Philip Wong Editor-in-Chief
Original CURJ Design by Aniko Hullner Grau www.curj.caltech.edu
© 2003 CURJ All rights reserved.
FA L L 2 0 0 3
SPACE AND EARTH EXPLORATION: 2020 VISION
BY CHARLES ELACHI
Forty ﬁve years ago, mankind took a great leap forward (and upward) with the launches of Sputnik...
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