“Human-in-the-loop” sensing or citizen sensing as a method for collecting, analysing, and mining information about events is becoming more mainstream. In this work, we aim to utilise the concept of citizen sensors but also introduce the theory of citizen actuation. Citizen sensors observe, report, and collect data – we propose by supporting these citizen sensors with methods to affect their sur...

We describe a system to synthesize facial expressions by editing captured performances. For this purpose, we use the actuation of expression muscles to control facial expressions. We note that there have been numerous algorithms already developed for editing gross body motion. While the joint angle has direct effect on the configuration of the gross body, the muscle actuation has to go through ...

Effects of uncertainties in gas damping models, geometry and mechanical properties on the dynamics of micro-electro-mechanical systems (MEMS) capacitive switch are studied. A sample of typical capacitive switches has been fabricated and characterized at Purdue University. High-fidelity simulations of gas damping on planar microbeams are developed and verified under relevant conditions. This and...

Highlights Recent research and development efforts center around developing smaller, portable robotic weeding systems. Deep learning methods have resulted in accurate, fast, robust weed detection identification. Additional key technologies under include precision actuation multi-vehicle planning. Keywords: Artificial intelligence, Automated systems, weeding, Weed control.

Actuation is essential for artificial machines to interact with their surrounding environment and to accomplish the functions for which they are designed. Over the past few decades, there has been considerable progress in developing new actuation technologies. However, controlled motion still represents a considerable bottleneck for many applications and hampers the development of advanced robo...

Self-reconfigurable robots are versatile systems consisting of large numbers of independent modules. Effective use of these systems requires parallel actuation and planning, both for efficiency and independence from a central controller. This paper presents the PacMan algorithm, a technique for distributed actuation and planning. This algorithm works on systems with twoor three-dimensional unit...

We demonstrate mass-producible, tetherless microgrippers that can be remotely triggered by temperature and chemicals under biologically relevant conditions. The microgrippers use a self-contained actuation response, obviating the need for external tethers in operation. The grippers can be actuated en masse, even while spatially separated. We used the microgrippers to perform diverse functions, ...

The University of Minnesota’s Scout robot is a small cylindrical robot capable of rolling and jumping. In this paper, models describing the robot’s motion under its modi of actuation are developed. These models can be employed for Scout motion prediction and simulation. The models suggest that the determining factor of the Scout’s behavior is the length of the winch cable. The validity of the m...

In this paper we propose Variable Stiffness actuation [1] as a viable mechanical/control co–design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial mo...