SUNMONTUEWEDTHUFRISAT
Events for the 3rd week of September
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Trajectory planning for manipulators performing complex tasks
Mon, Sep 16, 2019 @ 02:00 PM - 03:00 PM
Ming Hsieh Department of Electrical and Computer Engineering
Conferences, Lectures, & Seminars
Speaker: Ariyan Kabir, Postdoctoral Research Associate at the Viterbi School of Engineering
Talk Title: Trajectory planning for manipulators performing complex tasks
Abstract: Recent advances in hardware capabilities, computation power, and control algorithms have physically enabled manipulators to perform highly complex tasks. Representative examples can be laundry folding, composite sheet layup, liquid pouring, mobile manipulation, surgery, etc. Using manipulators for complex tasks can significantly improve human productivity and eliminate the need for human involvement in tasks that pose risks to human safety. However, it is not feasible to manually program manipulators for complex tasks in high-mix low-volume applications, as it will take a significant amount of time, effort, and cost. We could use manipulators in complex tasks in high-mix low-volume applications if manipulators could plan their own trajectories. Trajectory planning for manipulators performing complex tasks is a problem with several different challenges. It requires avoiding obstacles present in the robot's workspace, assigning appropriate tasks to the degrees of freedoms in robotic systems, respecting the kinematic and dynamic limitations of the manipulators, and identifying the appropriate trajectory and process parameters for achieving the desired task performance. This talk will present algorithmic foundations to address the problem of trajectory planning for robotic systems. First, I will present a context-dependent search strategy-switching algorithm to navigate the discrete state-space search towards promising directions for point-to-point trajectory planning. Second, I will present a successive refinement strategy for path-constrained trajectory generation using non-linear parametric optimization with conflicting constraints. Finally, I will present an approach to integrate trajectory planning with task-agent assignment for carrying out complex operations with multiple robots.
Biography: Ariyan Kabir is interested in building smart robotic assistants by contributing at the intersection of artificial intelligence and robotics. His research focus is on motion planning and self-directed learning for high degrees of freedom systems. He is developing algorithms to find near-optimal solutions to computationally hard planning problems. He is currently working as a Postdoctoral Research Associate at the Viterbi School of Engineering, University of Southern California (USC). He completed his Ph.D. in Mechanical Engineering from USC in July 2019. He completed his B.Sc. in Electrical and Electronic Engineering from Bangladesh University of Engineering and Technology (BUET), Dhaka. Ariyan has won one best paper award, and two best poster awards from his research contributions.
Host: Ashutosh Nayyar, ashutosn@usc.edu
More Info: http://csc.usc.edu/seminars/2019Fall/kabir.html
More Information: 190916_Ariyan Kabir_CSC Seminar.pdf
Location: Hughes Aircraft Electrical Engineering Center (EEB) - 132
Audiences: Everyone Is Invited
Contact: Brienne Moore
Event Link: http://csc.usc.edu/seminars/2019Fall/kabir.html
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Center for Cyber-Physical Systems and Internet of Things and Ming Hsieh Institute Seminar
Wed, Sep 18, 2019 @ 02:00 PM - 03:00 PM
Ming Hsieh Department of Electrical and Computer Engineering
Conferences, Lectures, & Seminars
Speaker: Georgios Bouloukakis, University of California, Irvine
Talk Title: Towards End-to-end Data Exchange in the IoT
Series: Center for Cyber-Physical Systems and Internet of Things
Abstract: To enable direct Internet connectivity of Things, complete protocol stacks need to be deployed on resource-constrained devices. Such protocol stacks typically build on lightweight IPv6 adaptations and may even include a middleware layer supporting high-level application development. However, the profusion of IoT middleware-layer interaction protocols has introduced technology diversity and high fragmentation in the IoT systems landscape with siloed vertical solutions. To enable the interconnection of heterogeneous Things across these barriers, advanced interoperability solutions are required.
In this talk, I will introduce a solution for the automated synthesis of protocol mediators that support the interconnection of heterogeneous Things. Our systematic approach relies on software architecture abstractions and model-driven development. I will also present our ongoing work for the automated placement and deployment of protocol mediators at the Edge of IoT spaces.
Biography: Georgios Bouloukakis is a postdoctoral researcher at the University of California, Irvine in the Distributed Systems Middleware group. His research mainly focuses on the design of extensible and efficient IoT systems by leveraging fundamental mathematical models and state-of-the-art technologies. Before joining UC Irvine, Georgios received a postdoctoral scholarship from the Inria@SiliconValley research program. He obtained his Ph.D. from the Pierre and Marie Curie University, conducting his thesis at the research center of Inria Paris in the MiMove team in France.
Location: Hughes Aircraft Electrical Engineering Center (EEB) - 132
Audiences: Everyone Is Invited
Contact: Talyia White