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DTSTART;TZID=America/New_York:20230626T130000
DTEND;TZID=America/New_York:20230626T140000
DTSTAMP:20260404T100747
CREATED:20230616T131357Z
LAST-MODIFIED:20230616T131357Z
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SUMMARY:PSOC@Penn Seminar: Mai Wang
DESCRIPTION:
URL:https://seasevents.nmsdev7.com/event/psocpenn-seminar-mai-wang/
LOCATION:Towne 337
CATEGORIES:Seminar,Doctoral,Graduate,Student
ORGANIZER;CN="PSOC":MAILTO:manu@seas.upenn.edu
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BEGIN:VEVENT
DTSTART;TZID=America/New_York:20230626T140000
DTEND;TZID=America/New_York:20230626T160000
DTSTAMP:20260404T100747
CREATED:20230614T132304Z
LAST-MODIFIED:20230614T132304Z
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SUMMARY:BE Doctoral Dissertation Defense: “Decellularized Cartilage for Airway Repair” (Paul Gehret)
DESCRIPTION:The Department of Bioengineering at the University of Pennsylvania and Dr. Riccardo Gottardi are pleased to announce the Doctoral Dissertation Defense of Paul Gehret. \nTitle: “Decellularized Cartilage for Airway Repair”. \nDate: June 26\, 2023 \nTime: 2:00 PM \nLocation: Wu and Chen Auditorium in Levine Hall \nThe public is welcome to attend.\nJoin Zoom Meeting\nhttps://upenn.zoom.us/j/7937445851?pwd=RUJYZFNhOWVyRmM5QzZUb3FoaDRxZz09 \nMeeting ID: 793 744 5851\nPasscode: 062623
URL:https://seasevents.nmsdev7.com/event/be-doctoral-dissertation-defense-decellularized-cartilage-for-airway-repair-paul-gehret/
LOCATION:Wu and Chen Auditorium (Room 101)\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Doctoral,Graduate,Student,Dissertation or Thesis Defense
ORGANIZER;CN="Bioengineering":MAILTO:be@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20230627T100000
DTEND;TZID=America/New_York:20230627T113000
DTSTAMP:20260404T100747
CREATED:20230620T133652Z
LAST-MODIFIED:20230620T133652Z
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SUMMARY:MEAM Seminar: "Multi-robot Coordination Via Graph-based Computation"
DESCRIPTION:Multi-robot coordination and cooperation are critical behaviors that improve team performance and enable new tasks in application areas like autonomous construction\, agriculture\, and extended\noperation in large unknown regions. This talk explores the utility of graph-based modeling and computational frameworks to improve the coordination and cooperation of multi-robot teams in a variety of problems. I will introduce a graph-based modeling and solution approach to multi-robot task allocation in complex multi-task missions where coordination and cooperation are explicitly required. I will discuss preliminary results\, which show a vast improvement over the state of the art\, and limitations of these results and my plans to address these limitations. I will also briefly introduce graph-based computation via Graph Neural Networks applied to the distributed multi-agent coverage control problem. These modeling approaches and algorithms bring performance improvements that further the state of the art by leveraging the fundamental graph structure present in some multi-robot problems.
URL:https://seasevents.nmsdev7.com/event/meam-seminar-multi-robot-coordination-via-graph-based-computation/
LOCATION:Towne 337
CATEGORIES:Seminar
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20230628T123000
DTEND;TZID=America/New_York:20230628T133000
DTSTAMP:20260404T100747
CREATED:20230623T160915Z
LAST-MODIFIED:20230623T160915Z
UID:10007596-1687955400-1687959000@seasevents.nmsdev7.com
SUMMARY:MEAM Ph.D. Thesis Defense: "Design and Self-Reconfiguration Planning for Variable Topology Truss Robots"
DESCRIPTION:A modular self-reconfigurable robot (MSRR) is a set of robotic building blocks that can be connected together in different ways. By rearranging these connections\, the robot can adapt its shape to address a wider variety of tasks than a robot with a fixed morphology. However\, traditional modular architectures fail to scale up to address large-scale and high-force applications. To meet these challenges\, we introduce the first self-reconfigurable modular truss robot system. The Variable Topology Truss (VTT) is a synthesis of two robot paradigms: MSRRs and variable geometry truss robots (VGTs). The structural efficiency of the truss architecture alleviates scaling issues with modular robots\, while the task flexibility afforded by reconfiguration expands the possible applications of parallel robots. \nWe first demonstrate hardware prototypes of the components necessary to build a VTT\, which include a novel reconfigurable spherical joint and an improved version of a high extension ratio linear actuator. Then\, we characterize the reconfiguration capability afforded by the new mechanisms and apply graph-theoretic techniques to enumerate all possible reconfigurable truss topologies up to a certain size. With these techniques\, we can identify potential sequences of actions that reconfigure between desired start and goal topologies. However\, the entangled nature of the truss architecture presents new challenges for collision-free motion planning. The self-collision constraints divide up the configuration space into many disconnected regions. We develop a mathematical invariant inspired by knot theory—the link-augmented graph—which serves as a test to quickly prove when certain configurations lie in disconnected regions. This invariant can be combined with more traditional planning techniques to boost their performance on truss-like robots\, which we demonstrate with a new variant of RRT-Connect. Finally\, we combine the topological reconfiguration planning with the link-augmented graph and geometric planner to create a multi-modal planner for VTT. This planner is capable of finding a sequence of collision-free paths and reconfiguration actions that transform a VTT from a given start configuration to a goal configuration.
URL:https://seasevents.nmsdev7.com/event/meam-ph-d-thesis-defense-design-and-self-reconfiguration-planning-for-variable-topology-truss-robots/
LOCATION:Room 337\, Towne Building\, 220 South 33rd Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Doctoral,Dissertation or Thesis Defense
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20230629T100000
DTEND;TZID=America/New_York:20230629T120000
DTSTAMP:20260404T100747
CREATED:20230615T131434Z
LAST-MODIFIED:20230615T131434Z
UID:10007583-1688032800-1688040000@seasevents.nmsdev7.com
SUMMARY:BE Doctoral Dissertation Defense: "Novel Applications of In Vivo Assays\, Microdialysis and Photoacoustic Ultrasound\, Throughout Rat Achilles Tendon Injury and Healing" (Joseph Newton)
DESCRIPTION:The Department of Bioengineering at the University of Pennsylvania and Dr. Louis Soslowsky are pleased to announce the Doctoral Dissertation Defense of Joseph Newton.\n\n\nTitle: Novel Applications of In Vivo Assays\, Microdialysis and Photoacoustic Ultrasound\, Throughout Rat Achilles Tendon Injury and Healing\n\nDate and Time: June 29th\, 10:00am EST\nLocation: CRB Austrian Auditorium\nZoom: https://upenn.zoom.us/j/93571878070?pwd=c2NIN1A5Zmw2M0lZSnQ0d3hmMG52UT09\n\nThe public is welcome to attend.
URL:https://seasevents.nmsdev7.com/event/be-doctoral-dissertation-defense-novel-applications-of-in-vivo-assays-microdialysis-and-photoacoustic-ultrasound-throughout-rat-achilles-tendon-injury-and-healing-joseph-newton/
LOCATION:CRB Auditorium\, 415 Curie Boulevard\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Doctoral,Graduate,Student,Dissertation or Thesis Defense
ORGANIZER;CN="Bioengineering":MAILTO:be@seas.upenn.edu
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