Image-guided therapy is a clinical procedure under 2-D or 3-D image guidance such as MRI and CT images to accurately deliver surgical devices to diseased or cancerous tissue. This emerging field is interdisciplinary, combining the technology of robotics, computer science, engineering and medicine. Image-guided therapy allows faster, safer and more accurate minimally invasive surgery and diagnosis. In this talk, Dr. Tse will present the technological challenges in the field, followed by his research in MRI-guided therapy for brachytherapy, ablation and stem cell treatment in the prostate, the heart and the spine. These procedures consist of the latest imaging and robotic technology in minimally invasive therapy.
Dr. Zion Tse is an Assistant Professor in the College of Engineering and the Principal Investigator of the Medical Robotics Lab at the University of Georgia. Formerly, he was a visiting scientist in the Center for Interventional Oncology at National Institutes of Health, and a research fellow in the Radiology Department at Harvard Medical School, Brigham and Women’s Hospital. He received his PhD in Medical Robotics from Imperial College London, UK. His academic and professional experience has related to mechatronics, medical devices and surgical robotics. Dr. Tse has designed and prototyped a broad range of novel clinical devices, most of which have been tested in animal and human trials.
Grid of the Future: Controlling the Edge
The evolution of the grid faces significant challenges if it is to integrate and accept more energy from renewable generation and other Distributed Energy Resources (DERs). To maintain grid’s reliability and turn intermittent power sources into major contributors to the U.S. energy mix, we have to think about the grid differently and design it to be smarter and more flexible.
ARPA-E is interested in disruptive technologies that enable increased integration of DERs by real-time adaptation while maintaining grid reliability and reducing cost for customers with smart technologies. The potential impact is significant, with projected annual energy savings of more than 3 quadrillion BTU and annual CO2 emissions reductions of more than 250 million metric tons.
This talk will identify opportunities in developing next generation control technologies and grid operation paradigms that address these challenges and enable secure, stable, and reliable transmission and distribution of electrical power. Innovative approaches to coordinated management of bulk generation, DERs, flexible loads, and storage assets with multiple roles, and revenue streams will be discussed. Summary of ARPA-E NODES (Network Optimized Distributed Energy Systems) Program funding development of these technologies will be presented.
Dr. Sonja Glavaski is a Program Director at the Advanced Research Projects Agency-Energy (ARPA-E) overseeing portfolio of projects developing innovative and disruptive technologies that would facilitate energy efficiency, more efficient renewable energy generation, and enable electricity grid to be more responsive and resilient. Her technical focus area is data analytics, and distributed control of complex, cyber-physical systems with emphasis on operations and security of energy systems. Dr. Sonja Glavaski spearheaded development and is currently helming ARPA-E NODES Program that aims to develop transformational grid management and control methods to create a virtual energy storage system based on use of flexible loads and distributed energy resources (DERs).
Prior to joining ARPA-E, Dr. Glavaski served as Control Systems Group Leader at United Technologies Research Center advancing knowledge and technology in the area of control & intelligent systems. Before being at UTRC, Dr. Glavaski led key programs at Eaton Innovation Center and Honeywell Labs. During her 20-plus-year career, Dr. Glavaski has contributed significantly to technical advancements in numerous product areas, including energy systems, hybrid vehicles, energy efficient building HVAC/R systems, and aircraft systems.
Dr. Glavaski received Ph.D. and MS in Electrical Engineering from California Institute of Technology, and Dipl. Ing and MS in Electrical Engineering from University of Belgrade.
Human-controlled robotic systems can greatly improve healthcare by synthesizing information, sharing knowledge with the human operator, and assisting with the delivery of care. This talk will highlight projects related to new technology for surgical simulation and training, as well as a more in depth discussion of a novel teleoperated robotic system that enables complex needle-based medical procedures, currently not possible. The central element to this work is understanding how to integrate the human with the physical system in an intuitive and natural way, and how to leverage the relative strengths between the human and mechatronic system to improve outcomes.
Ann Majewicz completed B.S. degrees in Mechanical Engineering and Electrical Engineering at the University of St. Thomas, the M.S.E. degree in Mechanical Engineering at Johns Hopkins University, and the Ph.D. degree in Mechanical Engineering at Stanford University. Dr. Majewicz joined the Department of Mechanical Engineering as an Assistant Professor in August 2014, where she directs the Human-Enabled Robotic Technology Laboratory. She holds at courtesy appointment in the Department of Surgery at UT Southwestern Medical Center. Her research interests focus on the interface between humans and robotic systems, with an emphasis on improving the delivery of surgical and interventional care, both for the patient and the provider.
Carl Kaiser, PhD
AUV Program Manager
National Deep Submergence Facility
Woods Hole Oceanographic Institution
Over the last 15 years Autonomous Underwater Vehicles (AUVs) have migrated finicky experiments to a mature capability providing routine operational support to deep sea scientists. Moreover, the boundaries of science that can be conducted with AUVs are advancing rapidly and in unexpected directions. The AUV Sentry entered the National Deep Submergence Facility (NDSF) in 2010 and has completed more than 420 dives in support of Ocean Science. Sentry operates up to 190 days per year and is a “fly-away” system that can be shipped to a vessel of opportunity anywhere in the world by land, sea, or air freight. Sentry has a unique design emphasizing maneuverability, steep terrain and extreme mission flexibility. It carries a wide range of standard sensors including a Multibeam Echo Sounder, a Sidescan Sonar, a Sub Bottom Profiler, a high resolution color camera and a variety of water chemistry sensors. A substantial number of custom sensors have been added and recently even sampling has been performed. Payload re-configuration between cruises and even between dives is routine and tens of new capabilities are added every year.
Increasingly acoustic communications are being used to interact with AUVs mid-mission for monitoring or mission intervention. However, these capabilities are still new and we have only scratched the surface of what is possible.
This talk will begin with a presentation of the AUV Sentry and typical science missions. It will then discuss the present state of the art in acoustic interaction and will conclude with a look at possible future directions for these technologies.
Dr. Carl Kaiser has a Bachelors, Masters, and PhD in Mechanical Engineering and Robotics from Colorado State University. Following graduate school, he made a brief foray into the corporate world of Southeast Asian manufacturing and supply chains before returning to academia. He has been at Woods Hole Oceanographic Institution since 2010 and is the Autonomous Underwater Vehicle Program Manger for the National Deep Submergence Facility as well as a Woods Hole Oceanographic Institution principle investigator focusing on novel applications of and technologies for Autonomous Underwater Vehicles in the deep ocean. He has spent more than a year at sea with various deep Submergence vehicles and several additional months in the field with them in various ports or shallow water test facilities.
Avik De is a PhD candidate at the GRASP laboratory in the University of Pennsylvania advised by Dr Daniel Koditschek. He graduated with a BS/MS in Mechanical Engineering from Johns Hopkins University in 2010, during which he performed an empirical study on how/when human beings inject feedback to stabilize a 1-dimensional paddle juggling task. Bio-inspiration remains a key research interest, and during his PhD, he switched his efforts into modular/compositional control of dynamic locomotion, as well as the design of dynamic locomotor systems. He co-founded “Ghost Robotics” in 2016, commercializing research that led to the creation of a family of power-dense direct-drive legged robots with high actuation bandwidth and proprioceptive sensing capabilities. He has in part created curriculum for two online courses: “Robotics: Mobility”, and “Robotics: Capstone” on coursera.
This is the Fall 2017 Kick-Off Seminar, presenting an overview of LCSR, useful information, and an introduction to the faculty and labs.
Robots hold promise in assisting people in a variety of domains including healthcare services, household chores, collaborative manufacturing, and educational learning. In supporting these activities, robots need to engage with humans in cooperative interactions in which they work together toward a common goal in a socially intuitive manner. Such interactions require robots to coordinate actions, predict task intent, direct attention, and convey relevant information to human partners. In this talk, I will present how techniques in human-computer interaction, artificial intelligence, and robotics can be applied in a principled manner to create and study intuitive interactions between humans and robots. I will demonstrate social, cognitive, and task benefits of effective human-robot teams in various application contexts. I will discuss broader impacts of my research, as well as future directions of my research focusing on intuitive computing.
Chien-Ming Huang is an Assistant Professor of Computer Science in the Whiting School of Engineering at The Johns Hopkins University. His research seeks to enable intuitive interactions between humans and machines to augment human capabilities. Dr. Huang received his Ph.D. in Computer Science at the University of Wisconsin–Madison in 2015, his M.S. in Computer Science at the Georgia Institute of Technology in 2010, and his B.S. in Computer Science at National Chiao Tung University in Taiwan in 2006. His research has been awarded a Best Paper Runner-Up at Robotics: Science and Systems (RSS) 2013 and has received media coverage from MIT Technology Review, Tech Insider, and Science Nation.
The ability to manufacture micro-scale sensors and actuators has inspired the robotics community for over 30 years. There have been huge success stories; MEMS inertial sensors have enabled an entire market of low-cost, small UAVs. However, the promise of ant-scale robots has largely failed. Ants can move high speeds on surfaces from picnic tables to front lawns, but the few legged microrobots that have walked have done so at slow speeds (< 1 body length/sec) on smooth silicon wafers. In addition, the vision of large numbers of microfabricated sensors interacting directly with the environment has suffered in part due to the brittle materials used in microfabrication. This talk will present our progress in the design of sensors, mechanisms, and actuators that utilize new microfabrication processes to incorporate materials with widely varying moduli and functionality to achieve more robustness, dynamic range, and complexity in smaller packages. Results include skins of soft tactile or strain sensors with high dynamic range, new models of bio-inspired jumping mechanisms, and magnetically actuated legged microrobots from 1 gram down to 1 milligram that provide insights into simple design and control for high speed locomotion in small-scale mobile robots.
Sarah Bergbreiter joined the University of Maryland, College Park in 2008 and is currently an Associate Professor of Mechanical Engineering, with a joint appointment in the Institute for Systems Research. She received her B.S.E. degree in Electrical Engineering from Princeton University in 1999, and the M.S. and Ph.D. degrees from the University of California, Berkeley in 2004 and 2007 with a focus on microrobotics. Her research uses inspiration from microsystems and biology to improve robotics performance at all scales. She has been awarded several honors including the DARPA Young Faculty Award in 2008, the NSF CAREER Award in 2011, and the Presidential Early Career Award for Scientists and Engineers (PECASE) in 2013 for her research on engineering robotic systems down to sub-millimeter size scales. She also received the Best Conference Paper Award at IEEE ICRA 2010 on her work incorporating new materials into microrobotics and the NTF Award at IEEE IROS 2011 for early demonstrations of jumping microrobots. She currently serves on DARPA’s Microsystems Exploratory Council and as an associate editor for IEEE Transactions on Robotics and ASME Journal on Mechanisms and Robotics.
Incredible biological mechanisms have emerged through evolution, and can provide a wellspring of inspiration for engineers. One promising area of biological inspiration is the design of devices and robots made of compliant materials, as part of a larger field of research in soft robotics. In this talk, the research topics of soft robotics currently underway in the mLab at Oregon State University will be presented. Soft active materials designed and researched in the mLab include liquid metal, biodegradable elastomers, and electroactive materials. Bioinspired mechanisms include octopus-inspired soft muscles, gecko-inspired adhesives, and soft wearable sensors. However, the biological mechanisms that serve as a source of inspirations are made of materials that are vastly more compliant than the metal and plastic that engineers and roboticists normally use. To imitate and improve on nature’s design, we must create mechanisms with materials like fabric and rubber which is difficult to integrate into traditional fabrication techniques. To address these limitation, the mLab is also innovating in multi-material 3D printing to rapidly and directly fabricate soft robots. Though significant challenges remain to be solved, the development of such soft materials and devices promises to bring robots more and more into our daily lives.
Dr. Yiğit Mengüç works at the interface of mechanical science and robotics, creating soft devices inspired by nature and applied to robotics. He received his B.S., 2006, at Rice University his M.S., 2008, and Ph.D., 2011, in Mechanical Engineering at Carnegie Mellon University. He completed his postdoctoral work at Harvard University’s Wyss Institute for Biologically Inspired Engineering in 2014 and is now an assistant professor of Robotics and Mechanical Engineering at Oregon State University where he founded and leads the mLab. He received an Office of Naval Research Young Investigator Program (ONR YIP) Award in 2016 to develop cephalopod-inspired robots.