DSCL research focuses on problems in the navigation, dynamics, and control of linear and nonlinear dynamical systems, observers, nonlinear systems analysis, modeling, and sensing relevant to robots that interact dynamically with their environments. We principally focus on problems motivated by two application areas that share a common underlying mathematical framework: underwater robot vehicles and robot manipulators. Our methodology is to address fundamental theoretical issues with concise mathematical analysis, and to experimentally validate our research results in actual working systems.