Liebe Kolleginnen und Kollegen,
liebe Mitarbeiterinnen und Mitarbeiter,
liebe Studierende,
es ist mir eine große Freude, einen Vortragenden anzukündigen, der viel gefragt aber nur
selten zu hören ist: James McLurkin - er kommt extra aus den USA nach Braunschweig!
(Siehe http://www.leadingauthorities.com/speaker/james-mclurkin.aspx, Video unten auf der Seite
http://www.cs.rice.edu/~jm23/index.shtml
bzw. http://people.csail.mit.edu/jamesm/press.php
- das Bild entstand, als er bei Star Wars als Berater in Sachen Roboter mitmachte.)
Datum:
06.08.12, 17:00 im Informatik-Kolloquium
Ort;
IZ 161 (bei größerem Andrang kurzfristig in IZ 160)
Speaker: James McLurkin
Title:
Distributed Algorithms for Robot Recovery, Angular Coordinate Systems, and Low-Cost Robots:
An Overview of the Rice Multi-Robot Systems Lab.
In this talk we present results from three different projects: 1. A distributed recovery algorithm to extract a multi-robot system from complex environments. The goal is to maintain network connectivity while allowing efficient recovery. Our approach uses a maximal-leaf spanning tree as a communication and navigation backbone, and routes robots along this tree to the goal. Simulation and experimental results demonstrate the efficacy of this approach. 2. Angular coordinate systems can provide robots with useful network geometry from very low-cost hardware. We introduce "scale-free coordinates" as a coordinate system of intermediate power and design complexity. We show that it can estimate low-quality network geometry, but can still be used to build a useful motion controller with interesting limitations. 3. We introduce the "r-one" robot, a low-cost design suitable for research, education, and outreach. We provide tales of joy and disaster from using 90 of these platforms for our research, a freshman engineering systems course, and graduate robotics lab.
======== Bio ========
James McLurkin is an Assistant Professor at Rice University in the Department of Computer Science. Current interests include using distributed computational geometry for multi-robot configuration estimation and control, and defining complexity metrics that quantify the relationships between algorithm execution time, inter-robot communication bandwidth, and robot speed. Previous positions include lead research scientist at iRobot corporation, where McLurkin was the manager of the DARPA-funded Swarm project. Results included the design and construction of 112 robots and distributed configuration control algorithms, including robust software to search indoor environments. He holds a S.B. in Electrical Engineering with a Minor in Mechanical Engineering from M.I.T., a M.S. in Electrical Engineering from University of California, Berkeley, and a S.M. and Ph.D. in Computer Science from M.I.T.
Die urspruenglichen Ankuendigung enthielt eine falsche Uhrzeit. Der
Vortrag beginnt um 15.oo Uhr.
Die Dozenten der Informatik-Institute der Technischen Universität
Braunschweig laden im Rahmen des Informatik-Kolloquiums zu folgendem
Vortrag ein:
Noémi Friedman:
Analysis, experiments and application of an antiprismatic deployable
space truss system characterized by snap-back behaviour
Beginn: 02.07.2012, 15:00 Uhr
Ort: TU Braunschweig, Hans-Sommer-Str. 65, Raum HS 65.4
Webseite: http://www.ibr.cs.tu-bs.de/cal/kolloq/2012-07-02-friedman.html
Kontakt: Prof. Hermann G. Matthies, PhD
The specific cylindrical system, namely the deployable antiprismatic
lattice structure, derived from the yoshimura origami pattern and
proposed by Hegedűs, is characterized by its pop-up deployment due to
the energy accumulated from lengthening some bars during packing. Zero
deployment-load corresponds both to the fully deployed and the
compact configuration, the latter being an unstable equilibrium state
corresponding to the maximal internal energy. The packing behavior of the
antiprismatic deployable structure will be shown through a simplified 2D
structure possessing similar packing properties to that of the chosen
specific system. The equilibrium paths of packing and the concerning
difficulties (bifurcation of the path, snap-back phenomenon, singular
configurations etc.) as well as the packing sequences will be revealed
through analytical and numerical research.
A different system, slightly deviating from the original one will be
also presented. The original system is constructed from identical double
antiprisms with an elastic middle polygon and rigid polygons in the
boundaries. The modified model eliminates the rigid internal polygons;
the pop-up column is constructed from continuously rotating elastic
polygons with two rigid polygons on the top and on the bottom. When
the non-stiffened structure is only controlled by the displacement of
the top facet, the packing patterns show a quite interesting chaotic,
but not completely stochastic system. The simulation developed proved
that in the case of certain geometrical parameters, there are certain
number of possible patterns, among which the numerical errors (or in
reality the imperfections) choose.
An attempt is given to provide ideas for application of antiprismatic
structures by combining the ideas and characteristics of the available
systems and the topology of the antiprismatic structure. If the
restriction of symmetrical behavior is relieved the asymmetrical
structural forms can be used for adaptive architectural designs, for
structures that could change morphological properties due to different
external excitations. Some small physical models built for experimenting
will be presented, some sketches for possible applications and control
systems will be shown.
Die Dozenten der Informatik-Institute der Technischen Universität
Braunschweig laden im Rahmen des Informatik-Kolloquiums zu folgendem
Vortrag ein:
Noémi Friedman:
Analysis, experiments and application of an antiprismatic deployable
space truss system characterized by snap-back behaviour
Beginn: 02.07.2012, 15:30 Uhr
Ort: TU Braunschweig, Hans-Sommer-Str. 65, Raum HS 65.4
Webseite: http://www.ibr.cs.tu-bs.de/cal/kolloq/2012-07-02-friedman.html
Kontakt: Prof. Hermann G. Matthies, PhD
The specific cylindrical system, namely the deployable antiprismatic
lattice structure, derived from the yoshimura origami pattern and
proposed by Hegedűs, is characterized by its pop-up deployment due to
the energy accumulated from lengthening some bars during packing. Zero
deployment-load corresponds both to the fully deployed and the
compact configuration, the latter being an unstable equilibrium state
corresponding to the maximal internal energy. The packing behavior of the
antiprismatic deployable structure will be shown through a simplified 2D
structure possessing similar packing properties to that of the chosen
specific system. The equilibrium paths of packing and the concerning
difficulties (bifurcation of the path, snap-back phenomenon, singular
configurations etc.) as well as the packing sequences will be revealed
through analytical and numerical research.
A different system, slightly deviating from the original one will be
also presented. The original system is constructed from identical double
antiprisms with an elastic middle polygon and rigid polygons in the
boundaries. The modified model eliminates the rigid internal polygons;
the pop-up column is constructed from continuously rotating elastic
polygons with two rigid polygons on the top and on the bottom. When
the non-stiffened structure is only controlled by the displacement of
the top facet, the packing patterns show a quite interesting chaotic,
but not completely stochastic system. The simulation developed proved
that in the case of certain geometrical parameters, there are certain
number of possible patterns, among which the numerical errors (or in
reality the imperfections) choose.
An attempt is given to provide ideas for application of antiprismatic
structures by combining the ideas and characteristics of the available
systems and the topology of the antiprismatic structure. If the
restriction of symmetrical behavior is relieved the asymmetrical
structural forms can be used for adaptive architectural designs, for
structures that could change morphological properties due to different
external excitations. Some small physical models built for experimenting
will be presented, some sketches for possible applications and control
systems will be shown.
