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Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
Prof. Voyles Intro
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Prof. Voyles Intro

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Overview of research projects at the University of Denver

Overview of research projects at the University of Denver

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Transcript

  • 1. Mechatronic Systems that See and Feel Richard Voyles Collaborative Mechatronics Lab Electrical and Computer Engineering Joint Appt with Mechanical Engineering
  • 2. Research Interests Search-and-Rescue Robots
    • Programming by Human Demonstration
    • Task Expert vs. Programming Expert
    • Machine Learning
    • Self-Calibration
    • Microassembly at the Sub-Micron Scale
    • Precision Attachment (solder, UV epoxy)
    • Stacked MEMS Devices
    • Locomotion in Rough Terrain
    • Distributed Collaboration
    • Force-Based Manipulation
    • Visual Servoing
    Mobile Manipulation
    • Intelligent Kitchen
    • Assistance to Elderly and Handicapped
    • User Interfaces
  • 3. Complex Tactile Sensors
    • Intrinsic Tactile Sensing
    • Extrinsic Tactile Sensing
  • 4. Gel-Based Capacitive Force Sensor
    • Both a Sensor and an Actuator
    • Novel Gel is an Electrorheological Fluid
      • Viscosity changes with applied electric field
      • Gel adds additional dimension on rest state
    • Sensors of many sizes and shapes
      • Human wearable
      • Robot wearable
      • Embeddable (OEM applications)
  • 5. Simple and Cheap Vision - OEM
    • “ Smart Tupperware”
      • Automatic Kitchen Inventory
        • Self-Maintaining Shopping List
        • Tupperware that “knows”
      • Single-Pixel Color Camera
        • Photodetector + RGB LEDs (and IR)
        • Real-world noise
  • 6. Primarily, We Do Instrumentation Search-and-Rescue Robots
    • Programming by Human Demonstration
    • Task Expert vs. Programming Expert
    • Machine Learning
    • Self-Calibration
    • Microassembly at the Sub-Micron Scale
    • Precision Attachment (solder, UV epoxy)
    • Stacked MEMS Devices
    • Locomotion in Rough Terrain
    • Distributed Collaboration
    • Force-Based Manipulation
    • Visual Servoing
    Mobile Manipulation
    • Intelligent Kitchen
    • Assistance to Elderly and Handicapped
    • User Interfaces
  • 7. Water Hammer Colonoscope
    • Conceived for USAR Robots
      • Imagine self-propelled fire hoses!
    • Impulsive Actuation
  • 8. Water Hammer Colonoscope
    • Conceived for USAR Robots
      • Imagine self-propelled fire hoses!
    • Impulsive Actuation
    • Empirical Tests with Mobile Robot
    • Soft, fully-conformable colonoscopy
  • 9. Water Hammer Instrumentation
    • Acceleration – accelerometers, etc
    • Goniometrtic Studies – girth measurement
    Lim et al, “A Wearable, Self-Calibrating… ,”pp. 1017 – 1022, ICRA 2008
  • 10. Heterogeneous WSN
    • Dynamically Reconfigurable Hardware
    • “Morphing Bus” I/O: Sensing and Actuation
  • 11. Surface-Mount Magnetics
    • Based on “Surface-Mount Optics”
      • Developed sub-second, sub-micron microassembly for photonics industry
      • Spun-Off Avanti Optics in 2000
      • Crash of Photonics Industry killed it in 2002
    Silicon Base Substrate Planar Devices Mechanical, Electrical, Thermal Interconnect Assembled Silicon Layers Laser or other Photonic Device Multi-layer silicon assemblies 3-D circuits Dissimilar materials
  • 12. Surface-Mount Magnetics
    • Hard Disk Drive Industry
      • HAMR – Heat-Assisted Magnetic Recording
      • BPM - Bit-Patterned Media
  • 13. Optical and Force Sensing
    • Precision Optical Instrumentation
      • “Spot Tracking” a single-mode fiber
      • 2-D Sensing of single spot
      • Multiple spots
    • Precision Force Sensing
      • Micro/macro gripper (nm)
      • 4-axis force measurement
  • 14. Spin-Offs: Multi-Axis Motion Control
    • Conventional rack mount
      • Robotics
      • Machine Control
      • Coordinated Motion
      • Battery or Line Powered
    • Wireless Sensor/Actuator Networks
      • “ Morphing Bus” interface
      • Robots
      • Sensors
    Mark V Automation Corp.
  • 15. Spin-Offs: MEMS Force Sensors
    • Tiny, Multi-Axis Sensing
      • Minimally Invasive Surgery
      • Optoelectronic Microassembly
    Blue Sphynx Silicon Corp. Silicon Base Substrate Planar Devices Mechanical, Electrical, Thermal Interconnect Assembled Silicon Layers Laser or other Photonic Device
    • Stacked Silicon Structures
      • Olfactory sensing
      • Multi-sensor integration

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