Prof. Voyles Intro

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Overview of research projects at the University of Denver

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Prof. Voyles Intro

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

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