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DTSTART;TZID=America/New_York:20230815T100000
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DTSTAMP:20260404T070317
CREATED:20230807T202346Z
LAST-MODIFIED:20230807T202346Z
UID:10007629-1692093600-1692099000@seasevents.nmsdev7.com
SUMMARY:MEAM Seminar: "Hierarchical Methods for Geometric Control of Underactuated\, Free-Flying Robotic Systems"
DESCRIPTION:Free-flying robotic systems (such as multibody aerial and space vehicles) evolve on high-dimensional non-Euclidean manifolds subject to nonlinear\, underactuated dynamics. Because such systems can rely only on the severely limited computational resources available onboard\, the design of general-purpose controllers capable of dynamic and reliable real-time performance remains a formidable challenge. To mitigate these obstacles and achieve the stated goals across a broad class of systems\, we seek geometric insight into structural properties that transcend individual robot morphologies\, developing systematic methods of controller synthesis by leveraging these features. First\, we exploit the Noetherian symmetry and Riemannian structure inherent to their dynamics\, revealing a class of systems that admits a certain hierarchical decomposition. In such a representation\, the motion of the system’s internal degrees of freedom is completely determined by the bulk motion through its symmetry group (e.g. its position and orientation). Examples of such systems include aerial manipulators consisting of an underactuated vehicle equipped with a robotic arm. Second\, in order to design and certify hierarchical controllers that leverage this structure\, we prove new basic results on the stability of cascades whose subsystems are only almost globally asymptotically stable\, the best possible property for smooth vector fields on general manifolds. Lastly\, in our ongoing work we apply these theoretical insights to inform mechanical design and controller implementation in pursuit of a small and agile aerial manipulator capable of precise\, dynamic operation.
URL:https://seasevents.nmsdev7.com/event/meam-seminar-hierarchical-methods-for-geometric-control-of-underactuated-free-flying-robotic-systems/
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:20230816T140000
DTEND;TZID=America/New_York:20230816T150000
DTSTAMP:20260404T070317
CREATED:20230807T183827Z
LAST-MODIFIED:20230807T183827Z
UID:10007627-1692194400-1692198000@seasevents.nmsdev7.com
SUMMARY:MEAM Ph.D. Thesis Defense: "Exploiting Flows for Orienteering and Planning Problems"
DESCRIPTION:Task and path planning algorithms for robots in the presence of flows confront a fundamental dichotomy between the continuous and the discrete: task planning algorithms discretize the world and their goals\, whereas flows are continuous in nature. This contrast is exemplified in many robotic applications where environmental forces impact navigation and exploiting those flows is critical for the quality of results. In this work\, we address methods for connecting continuous models of the environment with planning methods for robot motion in high-level task planning with low-level path planning.\nFirst\, we examine a problem that focuses on the high level problem of task planning\, but abstracts away the environment and assumes that the low-level path planning is solved independently. This helps simplify the problem\, but neglects to include environmental information which is often fundamentally linked to the vehicle motion. Next\, we address this limitation by exploring path planning algorithms in environments that are represented by an external flow field\, such as static and time-varying ocean currents. While we cannot control the external currents\, our planning method considers the trade-offs between energy efficiency\, reward collection\, and time budget based on the interplay of the chosen routes\, paths\, and environment. Lastly\, we expand our analysis to the joint problem of both designing the environmental flows and path planning within the designed flow fields. We explore this problem in the context of controlling magnetically driven milli-robots. We show how we can circumvent the need to solve the inverse dynamics problem with complete knowledge of the global field by extracting key features from the generated fields. These features enable us to take a topological approach to discretize the search space and design advantageous paths.
URL:https://seasevents.nmsdev7.com/event/meam-ph-d-thesis-defense-exploiting-flows-for-orienteering-and-planning-problems/
LOCATION:Towne 337
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:20230817T171500
DTEND;TZID=America/New_York:20230818T180000
DTSTAMP:20260404T070317
CREATED:20230811T172805Z
LAST-MODIFIED:20230811T172805Z
UID:10007633-1692292500-1692381600@seasevents.nmsdev7.com
SUMMARY:NCI Junior Investigator Meeting
DESCRIPTION:University of Pennsylvania will be hosting the NCI Junior Investigator Meeting this year. The meeting includes several talks throughout the day and poster sessions (5:15 pm Thursday  & 4:00pm Friday)\n\n\nNCI Junior Investigator Meeting\nAugust 17-18\, 2023\nWu & Chen Auditorium\, Levine Hall\n\nUniversity of Pennsylvania \nPhiladelphia\, PA\n\n\nPlease see the website for details: https://events.cancer.gov/dcb/ji-meeting
URL:https://seasevents.nmsdev7.com/event/9441/
LOCATION:Wu and Chen Auditorium (Room 101)\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Faculty,Student,Conference
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20230818T110000
DTEND;TZID=America/New_York:20230818T120000
DTSTAMP:20260404T070317
CREATED:20230816T135859Z
LAST-MODIFIED:20230816T135859Z
UID:10007636-1692356400-1692360000@seasevents.nmsdev7.com
SUMMARY:Nano Seminar: "Conductive Nitrides for Plasmonics in the Visible Region:  Properties and Applications"
DESCRIPTION:Plasmonic nanostructure based on silver and gold that produces LSPR to withstand ultrahigh temperatures without damage remains a great challenge for future ultra-compact integrated circuits\, and high-power enabled photonic devices. In principle\, the shapes of plasmonic nanostructures containing noble metals would change after the heat treatment that altered the plasmonic resonance. Thus\, discovering refractory plasmonic materials that can exhibit plasmonic resonance in the visible range is essential. A challenge in refractory plasmonic materials is the bulk plasmon frequency is usually in the near-infrared range\, making it difficult to generate plasmonic colors in the visible. We first reported a new refractory plasmonic material HfN\, one of the conductive nitrides\, that has a relatively high bulk plasmon frequency (λ = 400 nm) with a high melting point (T ∼ 3583 K) and a relatively large magnitude of the real part of the permittivity\, which enables intense local electromagnetic field confinement to form LSPR in the visible region. We use this unique property to develop full-color plasmonic pixels with sub-diffraction resolution through tailoring HfN plasmonic crystals and demonstrate that HfN refractory plasmonic crystals can withstand high-temperature annealing (900 °C) without damage. The novel HfN refractory plasmonic materials unlock new opportunities for ultra-compact integrated functional plasmonic devices. Especially the unique property of HfN\, implying a bright future for emerging plasmonic materials at visible wavelengths [1]. In addition\, I will present an overview of my research works over the past five years on the plasmon-enhanced light-matter interactions in the visible regions and their applications [1-6]\, including the plasmonic nanolasers [2-3]\, tunable plasmonic modulators [4]\, plasmonic phototransistors [5]\, plasmon-enhanced solar energy harvesting [6]\, and the refractory plasmonic colors for back-light free displays [1]. My group discovered several unique working mechanisms that utilize plasmonic nanocavities to improve optoelectronic device performance. More recently\, we demonstrated the scalable 2D FET device fabrication and characterization [7].  By engineering the local electromagnetic field confinement\, the light-matter interaction strength can be enhanced\, which results in efficient energy conversion in the designed nanosystem. Lastly\, I will discuss detailed mechanisms and possible applications. These results have broad implications for the use of alternative plasmonic nanocavities in high-performance optoelectronic devices.
URL:https://seasevents.nmsdev7.com/event/nano-seminar-conductive-nitrides-for-plasmonics-in-the-visible-region-properties-and-applications/
LOCATION:Room 35\, Singh Center for Nanotechnology\, 3205 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="Electrical and Systems Engineering":MAILTO:eseevents@seas.upenn.edu
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