There are a number of people who I would like to thank for their contributions to the completion of this thesis. First and foremost, I would like to thank my advisor, Vijay Kumar, for the nearly limitless opportunities while always being able to connect my ideas to the “big picture ” and for the countless discussions that transformed impenetrable concepts into well-ordered thoughts. I also wish to thank my committee for their time and advice which has collectively enhanced my knowledge and understanding. In particular, I would like to thank Alejandro Ribeiro for numerous discussions, insights, and advice. Many people were instrumental to the experimental work that became a significant focus of my thesis. I would like to specifically recognize Ben Charrow, Alex Kushleyev, Christian Moore, Pedro Shiroma, Mike Shomin, and Ethan Stump. Additionally, I would