2009 TePRA Technical Program
| Monday, November 9, 2009 | |
| 8:00 - 9:30 AM | Registration
and Exhibits Opening Plenary Session
Kevin Blankespoor, Boston Dynamics Student Competition: Information Session (Tutorial Starts at 7:00AM) |
| 9:30 - 10:00 AM | Monday Morning Coffee Break |
| 10:00 - 12:00 PM |
Registration & Exhibits Session
1A: Medical and Rehabilitation Robotics
Design of Robotic Devices to Assist Persons with Disabilities
Development
of an Intefrated Torque Sensor-Motor Module for Haptic Feedback in Teleoperated
Robot-Assisted Surgery
A
Scalable System for Real-Time Control of Dexterous Surgical Robots Robotic
Wheelchair to Guide Elderly and Visually Impaired People Session
1B: Computation
Hybrid
Genetic-Fuzzy Approach to Autonomous Mobile Robot
FPGA
Based Speeded Up Robust Features
Accelerating
Robotic Assembly Parameter Optimization Through the Generation of Internal
Models
Comparing
Swarm Algorithms for Large Scale Multi-source Localization
Inference
Model for Heterogeneous Robot Team Configuration based on Reinforcement
Learning
Towards
a Distributed Robotic Architecture for Autonomous Heterogeneous Platforms Student Competition: Robot
Development |
| 12:00 - 1:30 PM | Monday Lunch |
| 1:30 - 2:30 PM | Registration
& Exhibits Plenary Session on Rehabilitation Robots Charles Remsberg, Hocoma Student Competition: Robot
Development |
| 2:30 - 3:00 PM | Monday Afternoon Coffee Break |
| 3:00 - 5:00 PM | Registration
and Exhibits Session
2A: Military and Security Robotics
Adaptive
Task Allocation for Search Area Coverage
Development
of Pseudo-Layer
Design
and Construction of an Autonomous Underwater Vehicle for the Launch of a Small UAV
A
Novel Approach to Vibration Isolation in Small Unmanned Aerial Vehicles Session
2B: Power, Communication and Other Technologies
A
Generic Information-Centric Architecture for Robotic Systems Derived
from a New Theory for Adaptive Systems
A
Practical Interaction Between Robots and RFID-based Digital Product
Memories in a Logistic Scenario
Robot-assisted
Energy-Efficient Data Collection from High-Fidelity Sensor Networks
Zero-Scrub,
Large Contact Area, Three-Degree-of-Freedom Holonomic Ground Vehicles
for Mobile Robotics Applications
Evaluating
the Performance, Reliability and Safety of Lithium-Ion Cells Student Competition: Robot
Development |
| 5:00 - 8:00 PM | Monday
Evening Reception Student Competition: Judging and Awards Room 4 |
| Tuesday, November 10, 2009 | |
| 8:00 - 10:00 AM | Registration
& Exhibits
Plenary
Session on Advances in Military Robots Col. Barry L. Shoop, United States Military Academy |
| 10:00 - 10:30 AM | Tuesday Morning Coffee Break |
| 10:30 - 12:30 PM | Registration
& Exhibits Session
3A: Actuation and Manipulation
Real-Time
Collision Avoidance Algorithm for Robotic Manipulators
Development
of Tele-operation Control Station for Intelligent Excavator
Superquadric
Obstacle Modeling and a Danger Evaluation Method with Applications in
Safe Planning for Human-Safe Industrial Robots
An
Underactuated Gripper to Unlatch Door Knobs and Handles
Development
of a High Accuracy Automatic Measurement System Utilizing an Industrial
Robot and a Fringe Projection System Session
3B: Navigation
Analysis
of Cross Correlation between Prediction and Observation Errors of an
Inertial Navigation System
Wheel
Load Transfer in High-Speed Unmanned Vehicles
Lifelong
Localization of a Mobile Service-robot in Everyday Indoor Environment
Using Omnidirectional Vision
Hybrid
Localization Solutions for Robotic Logistic Applications
Remotely
Operated and Autonomous Mapping System (ROAMS) Robot
Demonstrations |
| 12:30 - 1:30 PM | Tuesday Lunch |
| 1:30 - 3:30 PM | Registration
& Exhibits Session
4A: Consumer Robotics
Pioneering
the Personal Robotics Industry
2,000
Robotic Applications Using the National Instruments CompactRIO Embedded
Control System
A
Vision for Spatial-Reasoning Commodity Robots Session
4B: Sensing
Sensing
Passive Thermal Objects in Outdoor Scenes for Autonomous Robots
When
Trees are Not Green: Recent Developments in an Off-the-Shelf System
for Robust color and Multispectral Based Recognition and Robot Control
ICU:
An Introduction to Object Identification and Mapping
Vision-Based
Obstacle Detection and Avoidance for the CWRU Cutter Autonomous Lawnmower
Self-localization
Capable Mobile Sensor Nodes
Robophthalmotrope:
Proposing a Biologically Inspired, Mechatronic Platform to Study Sensorimotor
Control Robot Demonstrations |
| 3:30 - 4:00 PM | Tuesday Afternoon Coffee Break |
| 4:00 - 5:00 PM | Registration Closed |
2009 TePRA Plenary Speakers
Kevin Blankespoor
Lead Robotics Engineer, Boston Dynamics
Abstract
The BigDog Robot is a fully autonomous quadruped in development by Boston Dynamics with funding from DARPA. BigDog is able to trot and walk over rough terrain and steep inclines. Its also able to carry several hundred pounds on flat terrain and over 100 pounds on challenging terrain. BigDog uses dozens of sensors to perceive its environment and adapt accordingly. It acts as both a vehicle for legged locomotion research and as a prototype for helping soldiers carry heavy loads in terrain inaccessible by existing tracked and wheeled vehicles.
Biography
Kevin Blankespoor is the Chief Engineer for the Bigdog Program. He's developed and implemented many of the controls algorithms currently used by the platform. He's also worked as a servo engineer in the hard disk drive industry and as a mechanical engineer in the automation industry. He holds a MEEE from the University of Colorado and a BSME from the University of Virginia.
Steve Roux
Senior Group Leader, Reticle Positioning, ASML
Abstract
Part of an ISO definition describes a robot as being "an automatically controlled, reprogrammable, multipurpose, manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications". With that in mind it is clear that ASML's lithogrpahy scanners are densely popluted with robots and robotic elements. This talk will start by looking back in time and contrasting the technology that was used in early lithography steppers to that found in current scanners. The number of servo loops has gone up exponentially and at the same time the required precision is rapidly tightening. In many parts of the machine robots are required to hand off material from one to another. Often this exchange occurs between elements that are servoed to different reference frames where the reference frames have substantial relative motion between them. Coordination of motion throughout the machine creates the need for complex software architectures with strict functional definitions and boundaries.
Biography
Steve Roux is currently managing a cross functional team of systems engineers, mechatronics/servo control experts, mechanical, materials science and electrical engineers as well as project managers responsible for Reticle Stage development at ASML. His enginering career started later in life after a twelve year career as a navigating officer on various ships, salvage tugs and large schooners. He completed his BSME degree while working as a technician and later as a junior engineer at IBM's T.J. Watson Research Center. He later added an MSME degree from Rensselaer Polytechnic Institute. In 1997 he moved to work for SVG Lithography. This meant going from using Lithography tools in his daily work to designing subsystems for these fascinating machines. In 2001 ASML and SVG merged and the company is currently in a dominant position in this vital photolithography market, supplying the tools needed to constantly shrink features on integrated circuits keeping Moore's Law alive. Steve Roux is named as inventor or co-inventor on 28 US patents and numerous foreign patents. He is married and lives in Connecticut. His primary hobby is participating in sports car racing as a fan as well as a driver/car owner.
Charles Remsberg
CEO, Hocoma
Abstract
Abstract
Successful rehabilitation of neurologically involved patients suffering from stroke, traumatic brain-injury, spinal cord-injury and other neurological disease requires intensive function specific activities. Robots have been used for gait rehabilitation of the lower extremity, as well as task specific training in the upper extremity with mixed success. Future developments will see improved degrees of freedom, improved patient-robot interaction and the implementation of augmented feedback (Virtual Reality). This presentation will report on recent technical challenges in robotics controls for medical devices in both upper and lower extremity robots and the incorporation of augmented feedback for improved patient engagement.
2008 TePRA Slideshow
 |
2008 TePRA Technical Program
| Monday, November 10, 2008 | |
| 7:30 AM | Registration |
| 8:45 - 9:45 AM | Welcome and
Opening Plenary Session Robotics in Military and Educational Applications Barry L. Shoop, Ph.D., Colonel, U.S. Army Professor and Deputy Head, Department of Electrical Engineering and Computer Science, West Point |
| 9:45 - 10:15 AM | Monday Morning Break |
| 9:45 - 10:45 AM | Workshop/Student Robot Competition - Create Workshop |
| 10:45 - 11:15 AM | Workshop/Student Robot Competition - Information Session |
| 10:15 - 12:15 PM | Paper Session One (Two Parallel Sessions) |
| Systems and Applications in Coliseum
"A" Sliding
and Tracking Hybrid Locomotion to Robot for Uneven Terrain in Hazardous
Condition Robotic Fueling System
Seismic TETwalker
Mobile Robot Design and Modeling 3D Ultrasound-Guided
Motion Compensation System for Surgery Doing Good by the
"Bad Boy": Performing George Anthei's Ballet mécanique
With Robots Enhancing Building
Security Systems with Autonomous Robots |
|
| 10:15 - 12:15 PM | Paper Session One (Two
Parallel Sessions) Vision Systems in Coliseum "B" Large-Scale
Localization Using Only a Camera Simplified Stereo-Vision
for Automated Control A Neural System for
Efficient Visual Search in Autonomous Robotics Off-the-Shelf System
for Color and Multispectral Based Recognition and Control
Range Images for
Autonomous Vehicles from a Single Passive Camera |
| 12:15 - 1:15 PM | Lunch |
| 1:15 - 3:15 PM | Paper Session Two (Two
Parallel Sessions) Industrial Applications & Manipulators A in Coliseum "A" Flexible
Assembly Automation Using Industrialized Robots A Portable Robotic
Workcell: Building Robotics Technology Partnerships New Approaches of
Incremental Sheet Forming with an Industrial Robot Calibration of Parallel
Machine Tools Using Fuzzy Interpolation Method Throwing or Shooting
- A new Technology for Logistic Chains within Production Systems
|
| 1:15 - 3:15 PM | Paper Session Two (Two Parallel Sessions) Multirobots Coordination in Coliseum "B" Implementation
of RF Communication with TDMA Algorithm Low Cost Multi-Robot
Exploration and Mapping Future Challenges
of Coordinating Hundreds of Autonomous Vehicles in Distribution Facilities
Centralized Processing
and Distributed I/O for Robot Control An Architecture for
Safe and Efficient Multi-threaded Robot Software |
| 3:15-3:45 PM | Monday Afternoon Break |
| 3:45 - 6:00 PM | Monday Afternoon Plenary Session |
| Helen Greiner, Co-founder, iRobot William Townsend, President & CEO, Barrett Technology Andrew
Goldenberg, Professor, University of Toronto |
|
| 6:00 - 8:00 PM | Monday Evening Reception Robot Competition Judging & Awards |
| Tuesday, November 11, 2008 | |
| 8:00 - 10:00 AM | Paper Session Three (Two Parallel Sessions) Sensor Applications in Coliseum "A" Development of a
3D Mapping System using 2D/3D Embedded Sensor Scout
Flooring System by Interface Flor A Testbed For Voice-Based
Robot Control |
| 8:00 - 10:00 AM | Paper Session Three (Two Parallel Sessions) Robot Control Educational Robotics in Coliseum "B" Human – Robot
Coordination For Multi – Sized Quadrupled Robot Using Wireless
Communication A Networked Control
System for Heterogeneous Improving Teleoperation
Performance in the Presence of Non-ideal Robot Dynamics Characterization and
Control Dynamics of an Unmanned Flexed Winged Micro Air Vehicle
Future of Robotics
Education: The Design and Creation of Interactive Notebooks for Teaching
Robotics Concepts Safe Parallelism for
Behavioral Control |
| 10:00 - 10:30 AM | Tuesday Morning Break |
| 10:30 - 12:00 PM | Tuesday
Morning Plenary Session Moderator: Peter J. Meyer Panelists include: Prof. Michael A. Gennert Dr. William T. Townsend Dr. Robert Solomon Joseph Jones
|
| 12:00 to 1:00 PM | Tuesday Lunch |
| 1:00 - 3:00 PM | Paper Session Three Industrial Applications & Manipulators B in Coliseum "A" Force Control Technologies
for New Robotic Applications Closed Chain 5 Axis
Robot Combining Learning
and Evolution to Develop High-DOF Robot Control Simple, Reliable Robotic
Grasping for Human Environments |
| 3:00 - 3:30 PM | Tuesday Afternoon Break |
| 3:30 - 5:00 PM | Robot Demonstrations |