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DTSTART;TZID=America/New_York:20190827T143000
DTEND;TZID=America/New_York:20190827T153000
DTSTAMP:20260408T151815
CREATED:20190820T190813Z
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SUMMARY:MEAM Seminar: "Small\, Autonomous\, Flying Robots that can Feel and Map their Environment"
DESCRIPTION:Autonomous flight through unknown environments in the presence of obstacles is a challenging problem for micro aerial vehicles (MAVs). A majority of the current state-of-art research focuses on modeling obstacles as opaque objects that can be easily sensed by optical sensors such as cameras or LiDARs. Since obstacles may not always be opaque\, particularly in indoor environments with glass walls and windows\, robots (like birds) have a difficult time navigating to the unknown environments. \nIn this thesis\, we describe the design\, modeling\, control and sensing for a new class of micro aerial vehicles that can navigate unknown environments and are robust to collisions. In particular\, we present the design of the Tiercel MAV: a small\, agile\, light weight\, collision-resistant robot powered by a cellphone grade CPU. The Tiercel is able to localize using a visual-inertial odometry (VIO) algorithm running on board the robot with a single downward facing wide angle camera. Next\, we characterize the effects of impacts and collisions on the visual-inertial odometry running on board the robot. We further develop the system architecture and components to enable the Tiercel to fly autonomously in an unknown space\, detect collisions using its on board IMU\, and leverage that information to build a 2D map of the environment. Finally\, we demonstrate the capability of a swarm of three Tiercel robots to navigate autonomously through an unknown\, obstacle ridden space while sustaining collisions with the environment. Finally\, our approach exploits contact to infer the presence of transparent or reflective obstacles like glass walls\, allowing us to naturally integrate touch with visual perception for SLAM.
URL:https://seasevents.nmsdev7.com/event/meam-summer-seminar-small-autonomous-flying-robots-that-can-feel-and-map-their-environment/
LOCATION:Room 307\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
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DTSTART;TZID=America/New_York:20190830T140000
DTEND;TZID=America/New_York:20190830T160000
DTSTAMP:20260408T151815
CREATED:20190823T181025Z
LAST-MODIFIED:20190823T181025Z
UID:10006270-1567173600-1567180800@seasevents.nmsdev7.com
SUMMARY:CBE Doctoral Dissertation Defense: "Anisotropy and Aggregation in Self-Assembled Polymer Nanocomposites"
DESCRIPTION:Committee: Robert Riggleman\, PhD (co-advisor); Russell Composto\, PhD (co-advisor); Ravi Radhakrishan\, PhD; and Jeff Meth\, PhD
URL:https://seasevents.nmsdev7.com/event/cbe-doctoral-dissertation-defense-anisotropy-and-aggregation-in-self-assembled-polymer-nanocomposites/
LOCATION:Room 337\, Towne Building\, 220 South 33rd Street\, Philadelphia\, PA\, 19104\, United States
ORGANIZER;CN="Chemical and Biomolecular Engineering":MAILTO:cbemail@seas.upenn.edu
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DTSTART;TZID=America/New_York:20190830T153000
DTEND;TZID=America/New_York:20190830T163000
DTSTAMP:20260408T151815
CREATED:20190814T140342Z
LAST-MODIFIED:20190814T140342Z
UID:10006264-1567179000-1567182600@seasevents.nmsdev7.com
SUMMARY:MEAM/LRSM Seminar: "Enabling Soft\, Flexible 2D Materials and Sensors"
DESCRIPTION:Low temperature synthesis of high quality 2D materials directly on flexible substrates remains a fundamental limitation towards realization of robust\, strainable electronics possessing the unique physical properties of atomically thin structures. Here\, we describe room temperature synthesis of uniform\, stoichiometric amorphous MoS2\, WSe2\, and other transition metal dichalcogenides and subsequent large area (>5 cm2) photonic crystallization to enable direct fabrication of devices based on two-dimensional materials on large area flexible or rigid substrates. Fundamentals of crystallization kinetics for different monolithic and heterostructured TMDs are examined to apply this new synthesis approach for affordable\, wearable devices. Example devices include photodetectors with photocurrent output and response times comparable to those fabricated via CVD and exfoliated materials on rigid substrates and the performance is unaffected by strains exceeding 5%. Flexible molecular sensors fabricated in this way detect diverse vapor phase substances with sub-ppm sensitivity. Functionalization of laser-written 2D TMD sensor transducers is also demonstrated for healthcare applications. Devices and circuits directly written from photonically annealed monolithic TMDs thin films deposited on large area flexible substrates\, with no photolithography or patterning\, are also presented. Additionally\, other advanced processing strategies that enable flexible 2D materials will be discussed\, including h-BN van der Waals liftoff of GaN HEMT devices for future strainable RF devices.
URL:https://seasevents.nmsdev7.com/event/meam-lrsm-seminar-enabling-soft-flexible-2d-materials-and-sensors/
LOCATION:Reading Room\, LRSM\, 3231 Walnut Street\, Philadelphia\, PA\, 19104\, United States
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
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