GRASP Laboratory

Philadelphia, PA, United States

GRASP Laboratory

Philadelphia, PA, United States
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Tosun T.,GRASP Laboratory | Yim M.,GRASP Laboratory
Proceedings - IEEE International Conference on Robotics and Automation | Year: 2015

We address the problem of detecting embeddability of modular robots: namely, to decide automatically whether a given modular robot design can simulate the functionality of a seemingly different design. To that end, we introduce a novel graph representation for modular robots and formalize the notion of embedding through topological and kinematic conditions. Based on that, we develop an algorithm that decides embeddability when the two involved designs have tree topologies. Our algorithm performs two passes and involves dynamic programming and maximum cardinality matching. We demonstrate our approach on real modular robots and show that we can detect embeddability of complex designs efficiently. © 2015 IEEE.

News Article | December 16, 2016

GEORGE TOWN, Grand Cayman, Dec. 16, 2016 (GLOBE NEWSWIRE) -- O Micro® International Limited (NASDAQ:OIIM), a global leader in the design, development and marketing of high-performance integrated circuits and solutions, today announced that the Board of Directors have elected Dr. Vijay Kumar to serve on the Company's Board. Dr. Kumar brings to O2Micro’s Board of Directors his extensive experience in Embedded Internetworking of Cyber-Physical Systems, Internet of Things, Mechanical, Electrical and Systems Engineering, along with industry leading Autonomous Robotics and Computer Learning technologies. He will replace Mr. Zhuoping Yu as a Class III Director, who is resigning from the Board.  Dr. Kumar will also be a member of the Company’s nominating committee.  “We are extremely pleased to welcome Dr. Kumar as a member of O2Micro’s Board of Directors,” said Sterling Du, chairman and CEO of O2Micro. “His broad, industry experience will provide valuable insight to O2Micro as we continue to expand the scope and impact of power and battery management products and technology designed to improve and enhance people’s lives around the world.” Dr. Kumar received his Bachelor of Technology degree from the Indian Institute of Technology, Kanpur and his Ph.D. from The Ohio State University in 1987. He is the Nemirovsky Family Dean of Penn Engineering and been a faculty member at the University of Pennsylvania since 1987. Dr. Kumar has held many administrative positions in the School of Engineering and Applied Science, including director of the GRASP Laboratory, chair of Mechanical Engineering and Applied Mechanics, and the position of Deputy Dean. He also served as the assistant director of robotics and cyber physical systems at the White House Office of Science and Technology Policy. Founded in April 1995, O Micro develops and markets innovative power management components for the Computer, Consumer, Industrial, Automotive and Communications markets. Products include LED General Lighting, Backlighting, Battery Management, and Power Management. O Micro International maintains an extensive portfolio of intellectual property with 1,693 patent claims granted, and over 33,000 more pending. The company maintains offices worldwide. Additional company and product information can be found on the company website at O Micro, the O Micro logo, and combinations thereof are registered trademarks of O Micro. All other trademarks or registered trademarks are the property of their respective owners. Statements made in this release that are not historical, including statements regarding O Micro's or management's intentions, hopes, beliefs, expectations, representations, projections, plans or predictions of the future, are forward-looking statements within the meaning of the Private Securities Litigation Reform Act of 1995. Such statements involve risks and uncertainties that may cause actual results to differ materially from those set forth in these statements. Factors that could cause actual results to differ materially include risks and uncertainties such as reduced demand for products of electronic equipment manufacturers which include O Micro's products due to adverse economic conditions in general or specifically affecting O Micro's markets, technical difficulties and delays in the developments process, and errors in the products. You are also referred to the Form F-1 in connection with the company's initial public offering in August 2000, Form F-3 in connection with the company's public offering in November 2001, and the annual reports on Form 20-F, which identify important risk factors that could cause actual results to differ from those contained in the forward-looking statements. The company assumes no obligation to update or revise any forward-looking information, whether as a result of new information, future events or otherwise.

Steager E.B.,Drexel University | Steager E.B.,GRASP Laboratory | Sakar M.S.,GRASP Laboratory | Kim D.H.,Drexel University | And 3 more authors.
Journal of Micromechanics and Microengineering | Year: 2011

One of the great challenges in microscale science and engineering is the independent manipulation of cells and man-made objects on the micron scale. For such work, motile microorganisms are integrated with engineered systems to construct microbiorobots (MBRs). MBRs are negative photosensitive epoxy (SU-8) microfabricated structures with typical feature sizes ranging from 1 to 100 νm coated with a monolayer of swarmer cells of the bacterium Serratia marcescens. The adherent cells naturally coordinate to propel the microstructures in fluidic environments. In this study, ultraviolet light is used to control rotational motion and direct current electric fields are used to control the two-dimensional movement of MBRs. They are steered in a fully automated fashion using computer-controlled visual servoing, used to transport and manipulate micron-sized objects, and employed as cell-based biosensors. This work is a step toward in vitro mechanical or chemical manipulation of cells as well as controlled assembly of microcomponents. © 2011 IOP Publishing Ltd.

Ayanian N.,GRASP Laboratory | Kumar V.,GRASP Laboratory | Koditschek D.,GRASP Laboratory
Springer Tracts in Advanced Robotics | Year: 2011

We address the synthesis of controllers for groups of multi-robot systems that enable them to create desired labelled formations andmaintain those formations while travelling through an environmentwith obstacles, with constraints on communication. We assume that individuals in a group are capable of close coordination via high bandwidth communication, but coordination across groups must be limited because communication links are either sporadic or more expensive.We describe a method for developing feedback controllers that is entirely automatic, and provably correct by construction.We provide a framework with which navigation of multiple groups in environments with obstacles is possible. Our framework enables scaling to many groups of robots.While our paper mainly addresses groups of planar robots in ℝ2, the basic ideas are extensible to ℝ3. © 2011 Springer-Verlag.

Hebert M.,Carnegie Mellon University | Bagnell J.A.,Carnegie Mellon University | Bajracharya M.,Jet Propulsion Laboratory | Daniilidis K.,GRASP Laboratory | And 5 more authors.
Proceedings of SPIE - The International Society for Optical Engineering | Year: 2012

Semantic perception involves naming objects and features in the scene, understanding the relations between them, and understanding the behaviors of agents, e.g., people, and their intent from sensor data. Semantic perception is a central component of future UGVs to provide representations which 1) can be used for higher-level reasoning and tactical behaviors, beyond the immediate needs of autonomous mobility, and 2) provide an intuitive description of the robot's environment in terms of semantic elements that can shared effectively with a human operator. In this paper, we summarize the main approaches that we are investigating in the RCTA as initial steps toward the development of perception systems for UGVs. © 2012 Copyright Society of Photo-Optical Instrumentation Engineers (SPIE).

Kushleyev A.,GRASP Laboratory | Mellinger D.,GRASP Laboratory | Powers C.,GRASP Laboratory | Kumar V.,GRASP Laboratory
Autonomous Robots | Year: 2013

We describe a prototype 75 g micro quadrotor with onboard attitude estimation and control that operates autonomously with an external localization system. The motivation for designing quadrotors at this scale comes from two observations. First, the agility of the robot increases with a reduction in size, a fact that is supported by experimental results in this paper. Second, smaller robots are able to operate in tight formations in constrained, indoor environments. We describe the hardware and software used to operate the vehicle as well our dynamic model. We also discuss the aerodynamics of vertical flight and the contribution of ground effect to the vehicle performance. Finally, we discuss architecture and algorithms to coordinate a team of these quadrotors, and provide experimental results for a team of 20 micro quadrotors. © 2013 Springer Science+Business Media New York.

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