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Cable-Driven Robotic Platforms and Algorithms for Environmental Sensing Applications

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What
  • PhD Defenses
When Jun 02, 2009
from 10:00 AM to 12:00 PM
Where Engr IV Room 57-124
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Per Henrik Borgstrom

Tuesday, June 2, 2009 at 10:00am-12:00pm
Engr IV Room 57-124

Abstract:
Vigilant monitoring of natural resources and biological phenomena is becoming increasingly important as population growth, security threats, and climate change focus attention on the integrity of our water and air. In measuring these variables of interest, deployments of static sensors may be enhanced, or even replaced, by mobile sensors capable of high-fidelity sensing of dynamic fields.

We describe two novel cable-driven parallel mechanisms designed specifically for such applications. NIMS3D is a rapidly deployable cable-array crane equipped with efficient in-field calibration techniques. NIMS for Planar Actuation (NIMS-PL) is a four-cable robot designed for planar translation of a buoyant end-effector on a water surface.

We present several algorithms to enable rapid deployability, in-field calibration, and energy-efficient autonomous operation of these systems. Furthermore, we describe novel methods that efficiently compute optimal force distributions in redundantly-actuated systems. In addition, a number of example actuated sensing applications are presented, which demonstrate the applicability of our cable-driven platforms to a wide range of targeted environmental sensing tasks.

Biography:
Per Henrik Borgstrom is a Ph.D. candidate in Electrical Engineering at the University of California, Los Angeles. He received a BS in Electrical Engineering in 2005 from UCLA, where he was a Regents Scholar. He was awarded the prestigious Chancellor's Prize for his graduate studies at UCLA and received his MS in Electrical Engineering with a focus on robotic systems in 2007. His research interests include cable-driven robotic systems, actuated sensing, control, and optimization. Current research objectives include application of novel optimization algorithms for cable-driven robots to a broad range of robotic systems, including grasping and walking robots.

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