Real-time optical micro-manipulation using optimized holograms generated on the GPU

Holographic optical tweezers allow the three dimensional, dynamic, multipoint manipulation of micron sized dielectric objects. Exploiting the massive parallel architecture of modern GPUs we can generate highly optimized holograms at video frame rate allowing the interactive micro-manipulation of 3D structures.Comment: 13 pages, 8 figure

Optimal Control of Molecular Motion Expressed Through Quantum Fluid Dynamics

A quantum fluid dynamic control formulation is presented for optimally manipulating atomic and molecular systems. In quantum fluid dynamic the control quantum system is expressed in terms of the probability density and the quantum current. This choice of variables is motivated by the generally expected slowly varying spatial-temporal dependence of the fluid dynamical variables. The quantum fluid dynamic approach is illustrated for manipulation of the ground electronic state dynamics of HCl induced by an external electric field.Comment: 18 pages, latex, 3 figure

Dynamic Manipulation of Spatial Weights Using Web Services

Spatial analytical tools are mostly provided in a desktop environment, which tends to restrict user access to the tools. This project intends to exploit up-to-date web technologies to extend user accessibility to spatial analytic tools. The first step is to develop web services for widely used spatial analysis such as spatial weights manipulation and provide easy-to-use web-based user interface to the services. Users can create, transform, and convert spatial weights for their data sets on web browsers without installing any specialized software.

Multiform Adaptive Robot Skill Learning from Humans

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile, technologies such as robot learning from demonstration have enabled humans to intuitively train robots. This paper discusses a new level of robotic learning-based manipulation. In contrast to the single form of learning from demonstration, we propose a multiform learning approach that integrates additional forms of skill acquisition, including adaptive learning from definition and evaluation. Moreover, going beyond state-of-the-art technologies of handling purely rigid or soft objects in a pseudo-static manner, our work allows robots to learn to handle partly rigid partly soft objects with time-critical skills and sophisticated contact control. Such capability of robotic manipulation offers a variety of new possibilities in human-robot interaction.Comment: Accepted to 2017 Dynamic Systems and Control Conference (DSCC), Tysons Corner, VA, October 11-1

A superelement component dynamic synthesis method

A method is presented for coupling a broad class of component dynamic models in the manner of direct stiffness assembly. The method is implemented in a general matrix manipulation program

Learning causal models that make correct manipulation predictions with time series data

One of the fundamental purposes of causal models is using them to predict the effects of manipulating various components of a system. It has been argued by Dash (2005, 2003) that the Do operator will fail when applied to an equilibrium model, unless the underlying dynamic system obeys what he calls Equilibration-Manipulation Commutability. Unfortunately, this fact renders most existing causal discovery algorithms unreliable for reasoning about manipulations. Motivated by this caveat, in this paper we present a novel approach to causal discovery of dynamic models from time series. The approach uses a representation of dynamic causal models motivated by Iwasaki and Simon (1994), which asserts that all “causation across time" occurs because a variable’s derivative has been affected instantaneously. We present an algorithm that exploits this representation within a constraint-based learning framework by numerically calculating derivatives and learning instantaneous relationships. We argue that due to numerical errors in higher order derivatives, care must be taken when learning causal structure, but we show that the Iwasaki-Simon representation reduces the search space considerably, allowing us to forego calculating many high-order derivatives. In order for our algorithm to discover the dynamic model, it is necessary that the time-scale of the data is much finer than any temporal process of the system. Finally, we show that our approach can correctly recover the structure of a fairly complex dynamic system, and can predict the effect of manipulations accurately when a manipulation does not cause an instability. To our knowledge, this is the first causal discovery algorithm that has demonstrated that it can correctly predict the effects of manipulations for a system that does not obey the EMC condition

Nonprehensile Dynamic Manipulation: A Survey

Nonprehensile dynamic manipulation can be reason- ably considered as the most complex manipulation task. It might be argued that such a task is still rather far from being fully solved and applied in robotics. This survey tries to collect the results reached so far by the research community about planning and control in the nonprehensile dynamic manipulation domain. A discussion about current open issues is addressed as well