Computational design of skinned Quad-Robots

We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins. Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody dynamics of the mechanical skeleton and the elastic behavior of the soft skin. The developed motion control strategy uses an alternating optimization scheme to avoid expensive full space time-optimization, interleaving space-time optimization for the skeleton, and frame-by-frame optimization for the full dynamics. The output are motor torques to drive the robot to achieve a user prescribed motion trajectory. We also provide a collection of convenient engineering tools and empirical manufacturing guidance to support the fabrication of the designed quad-robot. We validate the feasibility of designs generated with our system through physics simulations and with a physically-fabricated prototype

Ear Contour Detection and Modeling Using Statistical Shape Models

Ear detection is an actively growing area of research because of its applications in human head tracking and biometric recognition. In head tracking, it is used to augment face detectors and to perform pose estimation. In biometric systems, it is used both as an independent modality and in multi-modal biometric recognition. The ear shape is the preferred feature used to perform detection because of its unique structure in both 2D color images and 3D range images. Ear shape models have also been used in literature to perform ear detection, but at a cost of a loss in information about the exact ear structure. In this thesis, we seek to address these issues in existing methods by a combination of techniques including Viola Jones Haar Cascades, Active Shape Models (ASM) and Dijkstra\u27s shortest path algorithm to devise a shape model of the ear using geometric parameters and mark an accurate contour around the ear using only 2D color images. The Viola Jones Haar Cascades classifier is used to mark a rectangular region around the ear in a left side profile image. Then a set of key landmark points around the ear including the ear outer helix, the ear anti-helix and the ear center is extracted using the ASM. This set of landmarks is then fed into Dijkstra\u27s shortest path algorithm which traces out the strongest edge between adjacent landmarks, to extract the entire ear outer contour, while maintaining a high computational efficiency

Fabricate

Bringing together pioneers in design and making within architecture, construction, engineering, manufacturing, materials technology and computation, Fabricate is a triennial international conference, now in its third year (ICD, University of Stuttgart, April 2017). Each year it produces a supporting publication, to date the only one of its kind specialising in Digital Fabrication. The 2017 edition features 32 illustrated articles on built projects and works in progress from academia and practice, including contributions from leading practices such as Foster + Partners, Zaha Hadid Architects, Arup, and Ron Arad, and from world-renowned institutions including ICD Stuttgart, Harvard, Yale, MIT, Princeton University, The Bartlett School of Architecture (UCL) and the Architectural Association

An Asynchronous Simulation Framework for Multi-User Interactive Collaboration: Application to Robot-Assisted Surgery

The field of surgery is continually evolving as there is always room for improvement in the post-operative health of the patient as well as the comfort of the Operating Room (OR) team. While the success of surgery is contingent upon the skills of the surgeon and the OR team, the use of specialized robots has shown to improve surgery-related outcomes in some cases. These outcomes are currently measured using a wide variety of metrics that include patient pain and recovery, surgeon’s comfort, duration of the operation and the cost of the procedure. There is a need for additional research to better understand the optimal criteria for benchmarking surgical performance. Presently, surgeons are trained to perform robot-assisted surgeries using interactive simulators. However, in the absence of well-defined performance standards, these simulators focus primarily on the simulation of the operative scene and not the complexities associated with multiple inputs to a real-world surgical procedure. Because interactive simulators are typically designed for specific robots that perform a small number of tasks controlled by a single user, they are inflexible in terms of their portability to different robots and the inclusion of multiple operators (e.g., nurses, medical assistants). Additionally, while most simulators provide high-quality visuals, simplification techniques are often employed to avoid stability issues for physics computation, contact dynamics and multi-manual interaction. This study addresses the limitations of existing simulators by outlining various specifications required to develop techniques that mimic real-world interactions and collaboration. Moreover, this study focuses on the inclusion of distributed control, shared task allocation and assistive feedback -- through machine learning, secondary and tertiary operators -- alongside the primary human operator

Optimal Control of the Cheetah During Rapid Manoeuvres

Cheetahs are incredibly fast, manoeuvrable and highly dynamic, but relatively little is understood about how this is achieved. Thus, understanding their abilities is a subject of research for roboticists and biologists. Trajectory optimisation is a tool often used to increase our understanding of cheetahs, but current approaches which handle the full complexity of poorly understood manoeuvres are slow. The lack of data means that there are no simulated models of cheetahs known to be representative of dynamic movements such as acceleration and turning. In this project, a modelling change is investigated that decreases the time to find trajectories for models involving long serial chains of rigid bodies. Leveraging this development, a software library is created which facilitates the process of finding trajectories of models of legged robots and animals. Using this library, a complex model of a cheetah is developed, based on real data and some experimentation. Finally, the model is used to generate high speed dynamic manoeuvres which present progress towards understanding the incredible abilities of cheetahs

Future Work

The Industrial Revolution. The Digital Age. These revolutions radically altered the workplace and society. We may be on the cusp of a new era—one that will rival or even surpass these historic disruptions. Technology such as artificial intelligence, robotics, virtual reality, and cutting-edge monitoring devices are developing at a rapid pace. These technologies have already begun to infiltrate the workplace and will continue to do so at ever increasing speed and breadth.This Article addresses the impact of these emerging technologies on the workplace of the present and the future. Drawing upon interviews with leading technologists, the Article explains the basics of these technologies, describes their current applications in the workplace, and predicts how they are likely to develop in the future. It then examines the legal and policy issues implicated by the adoption of technology in the workplace—most notably job losses, employee classification, privacy intrusions, discrimination, safety and health, and impacts on disabled workers. These changes will surely strain a workplace regulatory system that is ill-equipped to handle them. What is unclear is whether the strain will be so great that the system breaks, resulting in a new paradigm of work.Whether or not we are on the brink of a workplace revolution or a more modest evolution, emerging technology will exacerbate the inadequacies of our current workplace laws. This Article discusses possible legislative and judicial reforms designed to ameliorate these problems and stave off the possibility of a collapse that would leave a critical mass of workers without any meaningful protection, power, or voice. The most far-reaching of these options is a proposed “Law of Work” that would address the wide-ranging and interrelated issues posed by these new technologies via a centralized regulatory scheme. This proposal, as well as other more narrowly focused reforms, highlight the major impacts of technology on our workplace laws, underscore both the current and future shortcomings of those laws, and serve as a foundation for further research and discussion on the future of work