Conferences, Lectures, & Seminars
Events for March
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AME Seminar
Mon, Mar 04, 2024 @ 01:30 PM - 02:30 PM
Aerospace and Mechanical Engineering
Conferences, Lectures, & Seminars
Speaker: Preston Culbertson, California Institute of Technology
Talk Title: To Err is Robotic: Enabling Robust Autonomy with Risk-Sensitivity
Abstract: Despite significant recent advances in robot learning and perception, achieving robust robot behavior for real-world, dynamic tasks like dexterous manipulation remains elusive. This challenge stems from the uncertainty inherent in robots' geometric models, perception systems, and controllers, particularly during dynamic interactions with the environment. This talk explores how risk-sensitivity can provide a principled, practical approach to addressing these robustness issues directly. First, I will discuss our work showing Neural Radiance Fields (NeRFs) — typically trained for novel view synthesis — can be used for both collision avoidance and localization, repurposing them as a versatile, probabilistic occupancy model for robotics. Next, we will turn to the problem of real-time, risk-sensitive planning more broadly. Specifically, I will present work combining stochastic control barrier functions (CBFs), which provide rigorous probabilistic safety/performance guarantees, with deep generative dynamics models to yield a lightweight, data-driven approach to risk-sensitive control. We have demonstrated that our method (running onboard a quadrotor at 100Hz) enables aggressive, yet safe flight with a completely unmodeled and uninstrumented slung load. The talk will conclude with a discussion of some lessons learned and future directions in risk-sensitive robotics.
Biography: Preston Culbertson is a postdoctoral scholar in the AMBER Lab at Caltech. His research interests lie at the intersection of robotics, machine learning, optimization, and computer vision. Specifically, his research explores how to enable robust robot behavior for dynamic, contact-rich tasks like manipulation, locomotion, and navigation, emphasizing new tools for understanding risk and uncertainty for autonomous systems. Preston earned his PhD from Stanford University, mentored by Prof. Mac Schwager, where his work on collaborative manipulation and robot assembly was awarded the NASA Space Technology Research Fellowship and the 'Best Manipulation Paper' award at ICRA 2018.
More Info: https://ame.usc.edu/seminars/
Webcast: https://usc.zoom.us/j/95892885119?pwd=QXZOZUhrcTJRYk5qZzZwVThrTytVZz09Location: Olin Hall of Engineering (OHE) - 406
WebCast Link: https://usc.zoom.us/j/95892885119?pwd=QXZOZUhrcTJRYk5qZzZwVThrTytVZz09
Audiences: Everyone Is Invited
Contact: Tessa Yao
Event Link: https://ame.usc.edu/seminars/
This event is open to all eligible individuals. USC Viterbi operates all of its activities consistent with the University's Notice of Non-Discrimination. Eligibility is not determined based on race, sex, ethnicity, sexual orientation, or any other prohibited factor. -
AME Seminar
Wed, Mar 06, 2024 @ 03:30 PM - 04:30 PM
Aerospace and Mechanical Engineering
Conferences, Lectures, & Seminars
Speaker: Hannah Lu, MIT
Talk Title: Physics-Aware Data-Driven Modeling and Uncertainty Quantification for Large-Scale Environmental Problems
Abstract: Data-driven modeling of complex systems is a rapidly evolving field facilitated by the concurrent rise of data science. To alleviate the prohibitively expensive computational costs of repeated full-model simulations in uncertainty quantification, data-driven modeling is often used to describe the behaviors of the complex system by predicting the quantities of interest directly. In this talk, I will present my contributions to this field with an emphasis on (1) improving model performance by using physics-aware machine learning techniques, (2) quantifying uncertainties in the system’s response, and (3) inferring the key parameters of the physics-based models from measured data. Examples of applications will be focused on large-scale geological carbon sequestration—an important strategy for reducing greenhouse gas emissions to the atmosphere and mitigating climate change. The objective is to develop a convenient computing toolbox to provide more accurate scientific information at cheaper computational costs for better environmental management and decision-making.
Biography: Hannah Lu is a postdoc associate at MIT, affiliated with the Department of Aeronautics and Astronautics, Department of Civil Environmental Engineering, Earth Resources Laboratory and Laboratory for Information and Decision Systems. She obtained her Ph.D. from Energy Science and Engineering at Stanford Doerr School of Sustainability. Her research interests lie in the field of scientific computing, reduced order modeling, uncertainty quantification and machine learning in applications of environmental fluid mechanics. She received EDGE Doctoral Fellowship, Frank G. Miller Fellowship Award and Henry J. Ramey, Jr. Fellowship Award from Stanford University; Student Travel Award from SIAM Conference on UQ; NSF Fellowship from MMLDT-CSET Conference; Travel Grant from NSF-funded HydroML Symposium; and a first-place USNCCM17 Best Presentation Award in postdoc category.
Host: AME Department
More Info: https://ame.usc.edu/seminars/
Webcast: https://usc.zoom.us/j/95892885119?pwd=QXZOZUhrcTJRYk5qZzZwVThrTytVZz09Location: James H. Zumberge Hall Of Science (ZHS) - 252
WebCast Link: https://usc.zoom.us/j/95892885119?pwd=QXZOZUhrcTJRYk5qZzZwVThrTytVZz09
Audiences: Everyone Is Invited
Contact: Tessa Yao
Event Link: https://ame.usc.edu/seminars/
This event is open to all eligible individuals. USC Viterbi operates all of its activities consistent with the University's Notice of Non-Discrimination. Eligibility is not determined based on race, sex, ethnicity, sexual orientation, or any other prohibited factor. -
AME Seminar
Mon, Mar 18, 2024 @ 01:30 PM - 02:30 PM
Aerospace and Mechanical Engineering
Conferences, Lectures, & Seminars
Speaker: Rachel Holladay, MIT
Talk Title: Dexterous Decision-Making for Real-World Robotic Manipulation
Abstract: For a robot to prepare a meal or clean a room, it must make a large array of decisions, such as what objects to clean first, where to grasp each ingredient and tool, how to open a heavy, overstuffed cabinet, and so on. To enable robots to tackle these tasks, I decompose the problem into two interdependent layers: generating a series of subgoals (i.e., a strategy) and solving for the robot behavior that achieves each of these subgoals. Critically, to accomplish a rich set of manipulation tasks, these subgoal solvers must account for force, motion, deformation, contact, uncertainty and partial observability.My research contributes models and algorithms that enable robots to reason over both the geometry and physics of the world in order to solve long-horizon manipulation tasks. In this talk, I will first discuss how this approach has enabled robots to perform tasks that require reasoning over and exerting force, like opening a childproof medicine bottle with a single arm. Next, I will present an abstraction for the complex physics of frictional pushing and demonstrate its application within the context of in-hand manipulation. Finally, I will illustrate how robots can make robust choices in the face of uncertainty. For example, this empowers robots to reliably chop up fruit of unknown ripeness!
Biography: Rachel Holladay is a Ph.D. student in the Electrical Engineering and Computer Science Department at the Massachusetts Institute of Technology. Her research focuses on developing algorithms and models that enable robots to robustly perform long-horizon, contact-rich manipulation tasks in everyday environments. She received her B.S. in Computer Science and Robotics from Carnegie Mellon University.
Host: AME Department
More Info: https://ame.usc.edu/seminars/
Webcast: https://usc.zoom.us/j/95892885119?pwd=QXZOZUhrcTJRYk5qZzZwVThrTytVZz09Location: Olin Hall of Engineering (OHE) - 406
WebCast Link: https://usc.zoom.us/j/95892885119?pwd=QXZOZUhrcTJRYk5qZzZwVThrTytVZz09
Audiences: Everyone Is Invited
Contact: Tessa Yao
Event Link: https://ame.usc.edu/seminars/
This event is open to all eligible individuals. USC Viterbi operates all of its activities consistent with the University's Notice of Non-Discrimination. Eligibility is not determined based on race, sex, ethnicity, sexual orientation, or any other prohibited factor. -
AME Seminar
Wed, Mar 20, 2024 @ 03:30 PM - 04:30 PM
Aerospace and Mechanical Engineering
Conferences, Lectures, & Seminars
Speaker: Pedro Saenz, University of North Carolina at Chapel Hill
Host: AME Department
More Info: https://ame.usc.edu/seminars/
Webcast: https://usc.zoom.us/j/95892885119?pwd=QXZOZUhrcTJRYk5qZzZwVThrTytVZz09Location: James H. Zumberge Hall Of Science (ZHS) - 252
WebCast Link: https://usc.zoom.us/j/95892885119?pwd=QXZOZUhrcTJRYk5qZzZwVThrTytVZz09
Audiences: Everyone Is Invited
Contact: Tessa Yao
Event Link: https://ame.usc.edu/seminars/
This event is open to all eligible individuals. USC Viterbi operates all of its activities consistent with the University's Notice of Non-Discrimination. Eligibility is not determined based on race, sex, ethnicity, sexual orientation, or any other prohibited factor. -
AME Seminar
Wed, Mar 27, 2024 @ 03:30 PM - 04:30 PM
Aerospace and Mechanical Engineering
Conferences, Lectures, & Seminars
Speaker: Shima Shahab, Virginia Tech
Talk Title: Ultrasound-Responsive Intelligent Material Systems
Abstract: Intelligent material systems, often known as smart materials, may adapt their behavior in response to changes in external stimuli. The use of smart materials in numerous sensitive applications has increased the demand for a remote, wireless, efficient, and physiologically safe stimulus. These needs will be addressed in this presentation by using Focused Ultrasound (FUS) as an external trigger. To achieve the desired response of an ultrasound-responsive smart structure, FUS has the unique property of maintaining both spatial and temporal control and propagating over large distances with low losses. Shape Memory Polymers (SMPs) and piezoelectric (PZT) materials will be discussed as ultrasound-responsive smart materials. First, we will look into the acoustic-thermoelastic dynamics of ultrasound-stimulated SMPs in order to develop next-generation delivery, sensing, and morphing devices. When activated by FUS, SMPs can be manipulated into any temporary shape and then recover to their stress-free permanent shape. FUS is a promising stimulus with the unique and superior capacity to cause localized heating, activate various intermediate shapes, and enable noninvasive shape recovery in polymers. Second, we'll go through the fundamentals of PZT-based Ultrasonic Power Transfer (UPT) systems. UPT along with acoustic holograms is a new technique that relies on piezoelectric receivers to receive FU in selective patterns. UPT is used to wirelessly charge modest to high-power electronics in biomedical implants and enclosed electronic devices working in unmanned aerial and undersea vehicles. Finally, holographic lenses, also referred to as acoustic holograms, will be discussed. These lenses are utilized to generate complicated FUS fields. They save the desired wavefront's phase profile, which is utilized to reconstruct the acoustic pressure field when illuminated by a single acoustic source. Because of its robustness, simplicity, and low cost, the use of holographic lenses for sound modification in medical applications has attracted interest in recent years. Ultrasound-guided thermal therapy is one such application that use the absorbed acoustic field to generate a therapeutic effect within the human body.
Biography: Shima Shahab is Mary V. Jones Faculty Fellow and an Associate Professor in the Department of Mechanical Engineering at Virginia Tech. She completed her Ph.D. and M.S. in Mechanical Engineering at Georgia Institute of Technology. Dr. Shahab is the Director of Multiphysics Intelligent and Dynamical Systems (MInDS) laboratory and an Associate Editor of Journal of Intelligent Material Systems and Structures (JIMSS). Her theoretical and experimental research program focuses on the intersection of smart materials and dynamical systems for various interdisciplinary applications such as contactless ultrasound power transfer, ultrasound responsive polymer-based systems, ultrasound atomization, and acoustic holograms. Dr. Shahab has served as principal investigator on research grants from the National Science Foundation, Alpha Foundation, Oakridge National Laboratory, and Ford Motor Company. In addition to a recent NSF CAREER award, Dr. Shahab is the recipient of ASME Gary Anderson Early Achievement Award. The award recognizes a young researcher on the rise who has already made significant contributions to the field of Adaptive Structures and Material Systems. More at https://me.vt.edu/people/faculty/shahab-shima.html
Host: AME Department
More Info: https://ame.usc.edu/seminars/
Webcast: https://usc.zoom.us/j/95892885119?pwd=QXZOZUhrcTJRYk5qZzZwVThrTytVZz09Location: James H. Zumberge Hall Of Science (ZHS) - 252
WebCast Link: https://usc.zoom.us/j/95892885119?pwd=QXZOZUhrcTJRYk5qZzZwVThrTytVZz09
Audiences: Everyone Is Invited
Contact: Tessa Yao
Event Link: https://ame.usc.edu/seminars/
This event is open to all eligible individuals. USC Viterbi operates all of its activities consistent with the University's Notice of Non-Discrimination. Eligibility is not determined based on race, sex, ethnicity, sexual orientation, or any other prohibited factor.
