Projects Applications Auto-Body Painting Speeding up of the paint spray-gun path programming by automation, achieving uniform coverage. Autonomous Extra-vehicular Robotic Camera AERCam (Autonomous Extra-vehicular Robotic Camera) is designed to provide astronauts and ground control camera views of the space shuttle and station. Battlefield Medicine The LSTAT (Life Support for Trauma and Transport) system incorporates many of the functions of an ICU, but is contained entirely within a stretcher. It houses a defibrillator, an oxygen supply, a ventilator, and various forms of physiological monitoring. It was built and developed by Integrated Medical Systems, Inc., and is currently in use in both Iraq and Afghanistan. Bridge Inspection with Serpentine Robots We are developing motion planning strategies to use serpentine robots to perform bridge inspection. Demining Robotic demining is an application of our coverage and sensing research with a significant potential for the saving of lives and money, in addition to being a vehicle for testing theories of mobile robot development and control in the field. Minimally Invasive Surgical Robotics Various robots capable of assisting with medical procedures. Search & Rescue Giving Urban Search and Rescue workers more technological tools to help find and save victims of natural disasters. Vacuum Cleaning Robots We are developing an inexpensive vacuum cleaner robot. Education Lab Projects for General Robotics Self-paced robotics education labs Motion Planning Constrained Controlled Coverage Coverage of two dimensional surfaces embedded in three dimensions with emphasis on uniform coverage. Exact Cellular Decomposition Incremental construction of exact cellular decompositions that are formulated in terms of critical points of Morse functions. Motion Planning for the Snake Robot Creating algorithims for computer control of hyper-redundant manipulators existing in high dimension configuration spaces. Probabilistic Coverage Recognition of mine patterns using statistical methods. Retract-like structures for Euclidian Spaces Sensor based motion planning using hierarchical Voronoi graphs. Retract-like structures for SE(2) and SE(3) Motion planning algorithm for thr rod-shaped robots, based on distance measurements Sensor Based Coverage of Unknown Planar Environments Sensor based coverage of unknown environments using exact cellular decompositions. Simultaneous Localization and Mapping We are developing a geometric mapping strategy that directs a mobile robot to explore an unknown environment while taking into consideration sensor and encoder uncertainty. Ultrasonic Sensor Resolution Improvement Improved the azimuth resolution of conventional polaroid ultrasonic sensors by intersection arcs, filtering the intersections, and then taking the median. The result in our experiments is a 10-fold improvement in azimuth resolution. Robots Demining Robotic demining is an application of our coverage and sensing research with a significant potential for the saving of lives and money, in addition to being a vehicle for testing theories of mobile robot development and control in the field. LSTAT Robot The LSTAT (Life Support for Trauma and Transport) system incorporates many of the functions of an ICU, but is contained entirely within a stretcher. It houses a defibrillator, an oxygen supply, a ventilator, and various forms of physiological monitoring. It was built and developed by Integrated Medical Systems, Inc., and is currently in use in both Iraq and Afghanistan. Mini Bone-Attached Robotic System This research seeks to develop a novel computer assisted and robotic tool that will enable less and minimally invasive surgical techniques for orthopaedic surgery while at the same time provide more precise bone shaping. Mobile Platform Design Mechanical design of a differential drive mechanism for outdoor coverage. Modular Distributed Manipulator System An array of cells, each of which can induce a vectored force to an object resting on the cell. The cells collectively transport and manipulate objects resting on the array. Modular Snake Robots Three dimensional locomotion and applications of modular designs for snake robots. Snake Robot Design Analyzing the factors that are of importance in designing a snake robot, and implementing new designs.

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