Tensegrities synergistically combine tensile (cable) and rigid (link) elements to achieve structural integrity, making them lightweight, packable, and impact resistant. Consequently, they have high potential for locomotion in unstructured environments. This research presents geometric modeling of a Tensegrity eXploratory Robot (TeXploR) comprised of two semi-circular, curved links held together by 12 prestressed cables and actuated with an internal mass shifting along each link. This design allows for efficient rolling with stability (e.g., tip-over on an incline). However, the unique design poses static and dynamic modeling challenges given the discontinuous nature of the semi-circular, curved links, two changing points of contact with the surface plane, and instantaneous movement of the masses along the links. The robot is modeled using a geometric approach where the holonomic constraints confirm the experimentally observed four-state hybrid system, proving TeXploR rolls along one link while pivoting about the end of the other. It also identifies the quasi-static state transition boundaries that enable a continuous change in the robot states via internal mass shifting. This is the first time in literature a non-spherical two-point contact system is kinematically and geometrically modeled. Furthermore, the static solutions are closed-form and do not require numerical exploration of the solution. The MATLAB simulations are experimentally validated on a tetherless prototype with mean absolute error of 4.36{\deg}.

The diversity of El Ni\~no events is commonly described by two distinct flavors, the Eastern Pacific (EP) and Central Pacific (CP) types. While the remote impacts, i.e. teleconnections, of EP and CP events have been studied for different regions individually, a global picture of their teleconnection patterns is still lacking. Here, we use Forman-Ricci curvature applied on climate networks constructed from 2-meter air temperature data to distinguish regional links from teleconnections. Our results confirm that teleconnection patterns are strongly influenced by the El Ni\~no type. EP events have primarily tropical teleconnections whereas CP events involve tropical-extratropical connections, particularly in the Pacific. Moreover, the central Pacific region does not have many teleconnections, even during CP events. It is mainly the eastern Pacific that mediates the remote influences for both El Ni\~no types.