Our findings show that mechanical properties vary throughout different regions in the AF, a component which is not accounted for in current finite element models. With these data, we aim to determine which simulation model best represents the AF in motion segment algorithmic simulation. This study gains insight on the mechanical behavior of the AF in human samples through regional biaxial and uniaxial loading, and confined compression tests. However, computer models allow us to simulate its behavior in addition to minimizing cost and time of running experiments of scenarios that may be too complicated or dangerous to do in vivo. These complexities make it difficult to accurately simulate the mechanical functions of the annulus fibrosus (AF), the fibrous ring of the intervertebral disc. A complex network of tissues gives the disk anisotropic and inhomogeneous mechanical properties allowing motion, load transfer and energy absorption. View SlidesĬharacterizing the Mechanical Response of the Extra Fibrillar Matrix of the AnnulusĪbstract: A major cause of back pain and spinal cord deformation is intervertebral disk degeneration. We believe the eventual implementation of this framework on a robot will enable highly dynamic behaviors by offering more finely-tuned thermal protection than is presently available and will reduce system complexity and fragility by supplanting the presence of an IMU where it is used for only pitch measurements. The viability of these methods is demonstrated by presenting preliminary data comparing these estimated quantities with known ground truths. Leg angle estimates are made by constructing an observer for each motor-leg combination without gravity compensation and using discrepancies between the observer and actual leg to discern the direction of gravity’s pull. Motor core temperature measurements are made by finding the resistance of each motor and using a simple model which calculates temperature using this resistance and known constants. Aaron Johnson and Daniel KoditschekĪbstract: We present work towards a two-part, per-leg state estimation framework on a hexapedal robot which separately measures motor core temperatures and estimates each leg’s angular offset from its gravity vector. Novel Proprioceptive Sensors for a Legged RobotĪdvisors: Drs. Once their positions and distances from one another are known it is easier to find the position of the robot relative to the positions of the smart camera modules. The smart camera modules have the ability to localize itself and send back their positions relative to one another. The iRobot Create’s odometry will be used to measure precise positions of the robot in relation to the positions of the smart camera network. This project is built off of past work that used optical signaling techniques to localize a set of smart camera modules. The idea is to create a system that would be used to automatically localize both the cameras and the robot relative to any characterized reference points. IRobot Create Navigation with Mapping Interpretation Explored Through Smart Camera NetworksĪbstract: This paper describes our approach of tackling the most common problem when dealing with robotics, localization, the ability for a robot to know its current position relative to its environment and any of its previous positions. Shown to be an acceptable replacement to the Vicon system, the AHRS, in conjunction with actuators and tactile sensors, is being considered for controlling the PR2’s grippers and contributing to a more complete tele-immersion experience.
#Upenn seas gaussian software driver
The CHR-6dm is the size of a quarter, can be easily attached to the user’s HMO, and its driver and programs can be added to the existing robots operating system.
The CHR-6dm Attitude and Heading Reference System (AHRS), from CH Robotics, meets our goal. Our current goal is to find a smaller, mobile alternative that is at least as accurate as the Vicon system in order to manipulate the PR2 robot, from Willow Garage.
#Upenn seas gaussian software software
However, the Vicon system requires special cameras, rigging, and an extra software suite to perform this task. PR2 Head and Hand Manipulation through Teleoperation: Using an Attitude and Heading Reference SystemĪbstract: Previous research using Vicon, a motion capture system, has been used to tale operate the PR2 robot’s head using tracking markers attached to the user’s head mounted display (HMO).