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DTSTART;TZID=America/New_York:20231113T130000
DTEND;TZID=America/New_York:20231113T140000
DTSTAMP:20260404T015448
CREATED:20231016T001354Z
LAST-MODIFIED:20231016T001354Z
UID:10007730-1699880400-1699884000@seasevents.nmsdev7.com
SUMMARY:PRECISE Seminar: Wearable Acoustic and Vibration Sensing and Machine Learning for Human Health and Performance
DESCRIPTION:Abstract\n\nRecent advances in digital health technologies are enabling biomedical researchers to reframe health optimization and disease treatment in a patient-specific\, personalized manner. This talk will focus on my group’s research in two areas of relevance to digital health: (1) cardiogenic vibration sensing and analytics; and (2) musculoskeletal sensing with joint acoustic emissions and bioimpedance. Our group has extensively studied the timings and characteristics of cardiogenic vibration signals such as the ballistocardiogram and seismocardiogram\, and applied these signals for quantifying filling pressures and volume status in the context of heart failure (volume overload) and hemorrhage (volume depletion). We have also leveraged miniature contact microphones to measure the sounds emitted by joints\, such as the knees\, during movement\, and have examined how these acoustic characteristics are altered by musculoskeletal injuries and disorders (e.g.\, arthritis). We envision that these technologies can all contribute to improving patient care with lower cost and better outcomes.
URL:https://seasevents.nmsdev7.com/event/precise-seminar-wearable-acoustic-and-vibration-sensing-and-machine-learning-for-human-health-and-performance/
LOCATION:Levine 307\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
ORGANIZER;CN="PRECISE":MAILTO:wng@cis.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231114T100000
DTEND;TZID=America/New_York:20231114T113000
DTSTAMP:20260404T015448
CREATED:20231101T185501Z
LAST-MODIFIED:20231101T185501Z
UID:10007749-1699956000-1699961400@seasevents.nmsdev7.com
SUMMARY:MEAM Seminar: "Magnetic Fluid Hyperthermia with Magnetic Iron Oxide Nanoparticles: A Case Study in Multi-disciplinary Translational Biomedical Research"
DESCRIPTION:Magnetic nanoparticles that are responsive to clinically safe magnetic fields offer multi-modal nanomedicine capabilities. To succeed\, complexities of physics and engineering must be addressed to match physical and magnetic properties of magnetic nanoparticles with devices used to activate them. This requires thoughtful design and fabrication of both nanoparticles and devices\, with appropriate testing in relevant biological models that faithfully represent intended end use. Hyperthermia is a heat-based cancer therapy that improves treatment outcomes and patient survival when controlled energy delivery is combined with accurate thermometry. To date\, few technologies have achieved the needed evolution for the demands of the clinic. Magnetic fluid hyperthermia (MFH) offers this potential\, but to be successful it requires particle-imaging technology that provides real-time thermometry. Presently\, the only technology having the potential to meet these requirements is magnetic particle imaging (MPI)\, for which a proof-of-principle demonstration with MFH has been achieved. Successful clinical translation and adoption of integrated MPI/MFH technology demands successful integration of imaging data processing with robust computational heat-transfer modeling and adaptive temperature control algorithms into a theranostic device platform.
URL:https://seasevents.nmsdev7.com/event/meam-seminar-magnetic-fluid-hyperthermia-with-magnetic-iron-oxide-nanoparticles-a-case-study-in-multi-disciplinary-translational-biomedical-research/
LOCATION:Wu and Chen Auditorium (Room 101)\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231114T153000
DTEND;TZID=America/New_York:20231114T163000
DTSTAMP:20260404T015448
CREATED:20231109T164556Z
LAST-MODIFIED:20231109T164556Z
UID:10007757-1699975800-1699979400@seasevents.nmsdev7.com
SUMMARY:CIS Seminar: "Edge-Weighted Online Bipartite Matching"
DESCRIPTION:Online bipartite matching is one of the most fundamental problems in the online algorithms literature. Karp\, Vazirani\, and Vazirani (STOC 1990) gave an elegant algorithm for unweighted bipartite matching that achieves an optimal competitive ratio 1-1/e. Aggarwal et al. (SODA 2011) later generalized their algorithm and analysis to the vertex-weighted case. Little is known\, however\, about the most general edge-weighted problem aside from the trivial 1/2-competitive greedy algorithm. In this talk\, we present the first online algorithm that breaks the long-standing 1/2 barrier and achieves a competitive ratio of at least 0.5086. \nThe main ingredient in our online matching algorithm is a novel subroutine called online correlated selection (OCS)\, which takes a sequence of pairs of vertices as input and selects one vertex from each pair. Instead of using a fresh random bit to choose a vertex from each pair\, the OCS negatively correlates decisions across different pairs and provides a quantitative measure of the level of correlation. The OCS technique is of independent interest and has already found further applications in other online optimization problems.
URL:https://seasevents.nmsdev7.com/event/cis-seminar-edge-weighted-online-bipartite-matching/
LOCATION:Wu and Chen Auditorium (Room 101)\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
ORGANIZER;CN="Computer and Information Science":MAILTO:cherylh@cis.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231115T100000
DTEND;TZID=America/New_York:20231115T110000
DTSTAMP:20260404T015448
CREATED:20231113T161656Z
LAST-MODIFIED:20231113T161656Z
UID:10007760-1700042400-1700046000@seasevents.nmsdev7.com
SUMMARY:Fall 2023 GRASP Seminar: Vladimir Kucera\, Czech Technical University\, “Czech Technical University in Prague”
DESCRIPTION:*This seminar will be held in-person ONLY in Levine 307. The seminar will NOT be recorded. \nABSTRACT\nThe talk aims to present the Czech Technical University in Prague as a polytechnic school with a rich history and a lively present. The main milestones of its development\, current faculties and institutes\, human and financial resources\, study programs\, and research focus will be presented. The next part will be more personal: my role in the development of the university and a detailed presentation of its newest part\, the Czech Institute of Informatics\, Robotics\, and Cybernetics.
URL:https://seasevents.nmsdev7.com/event/fall-2023-grasp-seminar-vladimir-kucera-czech-technical-university-czech-technical-university-in-prague/
LOCATION:Levine 307\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="General Robotics%2C Automation%2C Sensing and Perception (GRASP) Lab":MAILTO:grasplab@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231115T120000
DTEND;TZID=America/New_York:20231115T131500
DTSTAMP:20260404T015448
CREATED:20230928T141840Z
LAST-MODIFIED:20230928T141840Z
UID:10007709-1700049600-1700054100@seasevents.nmsdev7.com
SUMMARY:ASSET Seminar: "What Constitutes a Good Explanation?" (Lyle Ungar\, Penn)
DESCRIPTION:ABSTRACT:  \nShapley values and similar methods are widely used to explain the importance of features in model predictions. Clarity in the semantics of these feature importances is subtle\, but crucial: What do these explanations actually mean? And how are they useful? We illustrate using explanations of predictions in three domains: (a) medical outcomes\, (b) image content\, and (c) first impressions of people—specifically their warmth and competence—derived from video recordings and transcripts. In each scenario\, the presence of intermediate-level features enhances the clarity and usefulness of\nexplanations.
URL:https://seasevents.nmsdev7.com/event/asset-seminar-lyle-ungar-penn/
LOCATION:Levine 307\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231115T150000
DTEND;TZID=America/New_York:20231115T160000
DTSTAMP:20260404T015448
CREATED:20231018T153316Z
LAST-MODIFIED:20231018T153316Z
UID:10007733-1700060400-1700064000@seasevents.nmsdev7.com
SUMMARY:Fall 2023 GRASP SFI: Samuel Sokota\, Carnegie Mellon University\, “Reinforcement Learning in Two-Player Zero-Sum Games”
DESCRIPTION:This is a hybrid event with in-person attendance in Levine 307 and virtual attendance on Zoom. \nABSTRACT\nI’ll discuss reinforcement learning in two-player zero-sum games. Historically\, this area has lacked algorithms that perform well in large settings with imperfect information. I’ll describe a resolution for making self-play RL performant.
URL:https://seasevents.nmsdev7.com/event/fall-2023-grasp-sfi-samuel-sokota/
LOCATION:Levine 307\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231115T153000
DTEND;TZID=America/New_York:20231115T163000
DTSTAMP:20260404T015448
CREATED:20230825T200921Z
LAST-MODIFIED:20230825T200921Z
UID:10007647-1700062200-1700065800@seasevents.nmsdev7.com
SUMMARY:CBE Seminar: Britton Chance Distinguished Lecture\, "A Language Whose Characters are Triangles" (Phillips\, California Institute of Technology)
DESCRIPTION:One of the most intriguing outcomes of casting our thinking about the world around us in mathematical terms is that phenomena that were thought to be quite distinct are instead revealed as being the “same.” Thinkers as long ago as Pliny the Elder made observations on active matter noting: “It is a peculiarity of the starling to fly in troops\, as it were\, and then to wheel round in a globular mass like a ball\, the central troop acting as a pivot for the rest.’’ In this talk I will introduce field theory and the emergence of the modern theory of active matter as formulated by Toner and Tu to describe the collective motions of animals such as the giant herds of wildebeest on the plains of the Serengeti. We will then use active matter theory at a billion fold smaller scale to describe the motion of “flocks’’ of actin that power the movement of the single-celled parasites that cause malaria and toxoplasmosis. Our theoretical analysis will be used as a tool to interpret single-cell/single-molecule experiments on the dynamics of these fascinating parasitic organisms. All of these topics will serve as an invitation to a broader discussion of how the study of the living world is enriched by adopting the mindset that led Galileo to his assertion that the language of the natural world is mathematical.
URL:https://seasevents.nmsdev7.com/event/cbe-seminar-britton-chance-distinguished-lecture-a-language-whose-characters-are-triangles-phillips-california-institute-of-technology/
LOCATION:Wu and Chen Auditorium (Room 101)\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="Chemical and Biomolecular Engineering":MAILTO:cbemail@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231115T160000
DTEND;TZID=America/New_York:20231115T170000
DTSTAMP:20260404T015448
CREATED:20231101T180451Z
LAST-MODIFIED:20231101T180451Z
UID:10007747-1700064000-1700067600@seasevents.nmsdev7.com
SUMMARY:MEAM Seminar: "Rheological Evaluation of Complex Fluids for Fluid Mechanics Studies"
DESCRIPTION:Recent development of computational fluid mechanics allows to simulate wide range of fluid mechanics problems\, but it requires appropriate constitutive equations and rheological properties to represent behavior of complex fluid flows. Standard torque-type rheometer\, which is conventional rheometer with assuming ideal constant shear profiles in a thin test fluid layer\, however\, essential problems on the methodology for the complex fluids. We recently established velocity-profiling-assisted rheometry\, which resolves the problem to determine local shear rate by velocity profiling\, and the rheometry also has advantages of instantaneous evaluations of the properties. In my talk\, I will explain idea of the rheometry\, and practical algorithms to realize the evaluation\, and introduce some applications of the rheological evaluations\, for example\, polymer solutions\, particle suspensions\, and fluid foods.
URL:https://seasevents.nmsdev7.com/event/meam-seminar-rheological-evaluation-of-complex-fluids-for-fluid-mechanics-studies/
LOCATION:Towne 315\, 220 S. 33rd Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231116T103000
DTEND;TZID=America/New_York:20231116T120000
DTSTAMP:20260404T015448
CREATED:20230908T144023Z
LAST-MODIFIED:20230908T144023Z
UID:10007676-1700130600-1700136000@seasevents.nmsdev7.com
SUMMARY:MSE Seminar: "Turbo-charging Silicon: Do we have the materials and devices?" (Deep Jariwala) University of Pennsylvania
DESCRIPTION:Silicon has been the dominant material for electronic computing for decades and very likely will stay dominant for the foreseeable future. However\, it is well-known that Moore’s law that propelled Silicon into this dominant position is long dead.  Therefore\, a fervent search for (i) new semiconductors that could directly replace silicon or (ii) new architectures with novel materials/devices added onto silicon or (iii) new physics/state-variables or a combination of above has been the subject of much of the electronic materials and devices research of the past 2 decades. The above problem is further complicated by the changing paradigm of computing from arithmetic centric to data centric in the age of billions of internet-connected devices and artificial intelligence. Therefore\, there is a pressing need for complementing and supplementing Silicon to operate with greater efficiency\, speed and handle greater amounts of data. This is further necessary since a completely novel and paradigm changing computing platform (e.g. all optical computing or quantum computing) remains out of reach for now.\nThe above is however not possible without fundamental innovation in new electronic materials and devices. Therefore\, in this talk\, I will try to make the case of how novel layered two-dimensional (2D) chalcogenide materials and three-dimensional (3D) nitride materials might present interesting avenues to overcome some of the limitations being faced by Silicon hardware. I will start by presenting our ongoing and recent work on integration of 2D chalcogenide semiconductors with silicon 1\, 2 to realize low-power tunnelling field effect transistors. In particular I will focus on In-Se based 2D semiconductors 1 for this application and extend discussion on them to phase-pure\, epitaxial thin-film growth over wafer scales\, 3 at temperatures low-enough to be compatible with back end of line (BEOL) processing in Silicon fabs.\nI will then switch gears to discuss memory devices from 2D materials when integrated with emerging wurtzite structure ferroelectric nitride materials 4 namely aluminium scandium nitride (AlScN). First\, I will present on Ferroelectric Field Effect Transistors (FE-FETs) made from 2D materials when integrated with AlScN and make the case for 2D semiconductors in this application. 5\, 6 Next I will introduce our work on Ferroelectric Diode (FeD) devices also based on thin AlScN. 7 In addition\, I will also present how FeDs provide a unique advantage in compute-in-memory (CIM) architectures for efficient storage\, search as well as hardware implementation of neural networks. Finally\, I will present ongoing work and opportunities to extend the application of AlScN memory devices into extreme environments.\nI will end the talk with a broad perspective on the role of novel materials that could turbo- charge silicon and other pervasive semiconductor technologies for electronic computing. \nReferences:\n1. Miao\, J.; et al. Jariwala\, D.\, Nature Electronics 2022\, 5 (11)\, 744-751.\n2. Miao\, J.; et al. Jariwala\, D.\, Nano Letters 2020\, 20 (4)\, 2907-2915.\n3. Song\, S.; et al. Stach\, E. A.; Olsson\, R. H.; Jariwala\, D.\, Matter 2023\n(online).\n4. Kim\, K.-H.; Karpov\, I.; Olsson\, R. H.; Jariwala\, D.\, Nature Nanotechnology\n2023\, 18 (5)\, 422-441.\n5. Liu\, X.; et al. Stach\, E. A.; Olsson\, R. H.; Jariwala\, D.\, Nano Letters 2021\, 21\n(9)\, 3753-3761.\n6. Kim\, K.-H.; Stach\, E. A.; Olsson\, R. H.; Jariwala\, D.\, Nature Nanotechnology\n2023.\n7. Liu\, X.; et al. Stach\, E. A.; Olsson III\, R.; Jariwala\, D.\, Applied Physics Letters\n2021\, 118 (20)\, 202901. \n8. Liu\, X.; et al. Stach\, E. A.; Olsson\, R. H.; Jariwala\, D.\, Nano Letters 2022\, 22\n(18)\, 7690–7698.
URL:https://seasevents.nmsdev7.com/event/mse-seminar-turbo-charging-silicon-do-we-have-the-materials-and-devices-deep-jariwala-university-of-pennsylvania/
LOCATION:Wu and Chen Auditorium (Room 101)\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="Materials Science and Engineering":MAILTO:johnruss@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231116T130000
DTEND;TZID=America/New_York:20231116T140000
DTSTAMP:20260404T015448
CREATED:20231103T132032Z
LAST-MODIFIED:20231103T132032Z
UID:10007752-1700139600-1700143200@seasevents.nmsdev7.com
SUMMARY:MEAM Ph.D. Thesis Defense: "No Watts Wasted: Spines and Tails for Agile Legged Locomotion"
DESCRIPTION:Despite considerable advancements in recent years\, legged robots still fall short in terms of agility when compared to their animal counterparts. This thesis takes a two pronged approach to creating more agile behaviors by pursuing the intuition that agile legged machines should use much of their available power during agile behaviors. \nThe first approach leverages hybrid averaging analysis of SLIP like robots to devise a hip-energized control strategy. This controller takes a previously underutilized actuator and applies it to energize the robot. The resulting analysis provides new insight into the role of the hip actuator and symmetry in SLIP-like machines. The second approach seeks to design high power robots with few actuators\, which minimizes the framing cost while also making it easier to design behaviors which utilize the available power. \nThis thesis contributes support for the hypothesis that moving actuators from the legs to a tail or spine provides more opportunities to deploy them for spatial mobility. That support is manifest in the design and control of Jerboa 3.0\, a tailed biped featuring a high powered 2 degree of freedom tail whose lavish tail actuation budget comes at the expense of assigning only one motor to each of its springy legs. Jerboa 3.0 is capable of sustained spatial hopping\, starting and stopping on command\, and getting up again after falling. Lastly this thesis contains a speculative look as to what a simple model for the use of spines and tails for energization might look like. The resulting double-spring double-mass model enables both tail-energized hopping in a tailed robot and spine-energized bounding in a spined quadruped. More broadly the thesis serves as a case study in the creation of more agile legged machines that might one day rival animals.
URL:https://seasevents.nmsdev7.com/event/meam-ph-d-thesis-defense-no-watts-wasted-spines-and-tails-for-agile-legged-locomotion/
LOCATION:Levine 307\, 3330 Walnut 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:20231116T153000
DTEND;TZID=America/New_York:20231116T163000
DTSTAMP:20260404T015448
CREATED:20231023T133806Z
LAST-MODIFIED:20231023T133806Z
UID:10007740-1700148600-1700152200@seasevents.nmsdev7.com
SUMMARY:BE Seminar: "Synthetic Genome Regulation for Cell and Tissue Engineering" (Timothy Downing\, UC Irvine)
DESCRIPTION:Molecular heterogeneity is emerging as a critical feature of multicellular life. While single-cell analyses have revealed the existence of cell-to-cell variation in the levels and activities of the molecules responsible for gene regulation\, the source of such variation is still poorly understood. The Downing Lab studies how genome replication contributes to epigenetic heterogeneity across stem cell populations. We recently developed a new sequencing method (Repli-Bisulfite Sequencing) that enables analysis of DNA methylation within newly replicated strands of DNA over time. Using this method\, we discovered that much of the methylation heterogeneity observed within human embryonic stem cells (hESCs) is temporal in nature and associated with DNA replication. Here\, we employ bioinformatic analyses to explore how properties of post-replication DNA methylation dynamics relate to well-established features of the genome and the broader chromatin landscape. Our findings reveal that unique patterns of methylome replication associate with distal regulatory regions throughout the genome\, enrich for cytosine residues dynamically methylated across cell types\, and coincide with the location of stem cell-specific transcription factor binding and chromatin architectures. We also find correlations between sub-cell cycle kinetics in DNA methylation and the divergence of bulk methylation patterns observed during multiple cell generations and natural aging. Taken together\, our studies suggest that (epi)genome replication may act as an important source of (temporal) regulatory variation in hESCs while\, simultaneously\, conferring susceptibility to epigenetic drift throughout the human lifespan. Our lab is also interested in understanding how the chemical and biophysical microenvironment influences adult cell behavior and phenotype through epigenetic gene regulatory mechanisms. We hope to use this information in the design of next-generation biomaterials. The second part of this presentation will describe how focal adhesions and cell-mediated forces contribute to fate transitions during the acquisition of stemness from somatic cell states.
URL:https://seasevents.nmsdev7.com/event/be-seminar-timothy-downing-uc-irvine/
LOCATION:216 Moore Building
CATEGORIES:Seminar
ORGANIZER;CN="Bioengineering":MAILTO:be@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231117T100000
DTEND;TZID=America/New_York:20231117T110000
DTSTAMP:20260404T015448
CREATED:20231012T002153Z
LAST-MODIFIED:20231012T002153Z
UID:10007727-1700215200-1700218800@seasevents.nmsdev7.com
SUMMARY:PRECISE Seminar: What can we learn about AI and data science from the vision field?
DESCRIPTION:Abstract\n\nRemarkable advances in imaging\, computation\, and technology are rapidly moving us into an era where biomedical knowledge discovery is increasingly limited only by creativity. This has resulted in unprecedented opportunities to improve the diagnosis and treatment of disease. The vision field has been at the forefront of these advances in AI for healthcare because of the easy accessibility of images and clinical data. \nThis talk will discuss challenges and opportunities involving artificial intelligence and data science in ophthalmology research and applications to clinical care. Specific examples will be given from the speaker’s perspective as an investigator in this field and as Director of the National Eye Institute (NEI)\, which directs and funds vision research in the United States. This will include discussion of challenges in the accuracy and process of ophthalmic diagnosis\, insights and gaps in knowledge regarding AI research in ophthalmology\, and ways in which these challenges and opportunities are generalizable to other medical fields. It will conclude with discussion of current NEI priorities including data sharing\, data harmonization\, data generation\, medical education in informatics and data science\, methodological innovation\, and population health.
URL:https://seasevents.nmsdev7.com/event/precise-seminar-what-can-we-learn-about-ai-and-data-science-from-the-vision-field/
LOCATION:Levine 307\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
ORGANIZER;CN="PRECISE":MAILTO:wng@cis.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231117T103000
DTEND;TZID=America/New_York:20231117T114500
DTSTAMP:20260404T015448
CREATED:20231025T145813Z
LAST-MODIFIED:20231025T145813Z
UID:10007744-1700217000-1700221500@seasevents.nmsdev7.com
SUMMARY:Fall 2023 GRASP on Robotics: Seth Hutchinson\, Georgia Institute of Technology\, “Model-Based Methods in Today’s Data-Driven Robotics Landscape”
DESCRIPTION:This is a hybrid event with in-person attendance in Wu and Chen and virtual attendance on Zoom. \nABSTRACT\nData-driven machine learning methods are making advances in many long-standing problems in robotics\, including grasping\, legged locomotion\, perception\, and more. There are\, however\, robotics applications for which data-driven methods are less effective\, and sometime inappropriate. Data acquisition can be expensive\, time consuming\, or dangerous — to the surrounding workspace\, humans in the workspace\, or the robot itself. In such cases\, generating data via simulation might seem a natural recourse\, but simulation methods come with their own limitations\, particularly when nondeterministic effects are significant\, or when complex dynamics are at play\, requiring heavy computation and exposing the so-called sim2real gap. Another alternative is to rely on a set of demonstrations\, limiting the amount of required data by careful curation of the training examples; however\, these methods fail when confronted with problems that were not represented in the training examples (so-called out-of-distribution problems)\, and this precludes the possibility of providing provable performance guarantees. \nIn this talk\, I will describe recent work on robotics problems that do not readily admit data-driven solutions\, including flapping flight by a bat-like robot\, vision-based control of soft continuum robots\, acrobatic maneuvering by quadruped robots\, a cable-driven graffiti-painting robot\, bipedal locomotion over granular media\, and ensuring safe operation of mobile manipulators in HRI scenarios. I will describe some specific difficulties that confront data-driven methods for these problems\, and describe how model-based approaches can provide workable solutions. Along the way\, I will also discuss how judicious incorporation of data-driven machine learning tools can enhance performance of these methods.
URL:https://seasevents.nmsdev7.com/event/fall-2023-grasp-on-robotics-seth-hutchinson-georgia-institute-of-technology-model-based-methods-in-todays-data-driven-robotics-landscape/
LOCATION:Wu and Chen Auditorium (Room 101)\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="General Robotics%2C Automation%2C Sensing and Perception (GRASP) Lab":MAILTO:grasplab@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20231117T110000
DTEND;TZID=America/New_York:20231117T120000
DTSTAMP:20260404T015448
CREATED:20230829T201813Z
LAST-MODIFIED:20230829T201813Z
UID:10007658-1700218800-1700222400@seasevents.nmsdev7.com
SUMMARY:ESE Fall Seminar - "Stochastic Geometry for Networks"
DESCRIPTION:Stochastic geometry is a branch of probability theory that deals with the study of random spatial patterns. Random point patterns\, termed point processes\, are the most basic such objects that appear in numerous applications. After presenting a brief introduction to point processes\, we will present our work on the stochastic modeling and analysis of wireless cellular networks\, which departs from the conventional approaches based on deterministic models. In addition to results related to key wireless metrics\, such as coverage and rate\, we will also discuss new results related to Poisson point processes that were inspired by this work. Building on this discussion\, we will introduce line processes\, which along with point processes\, allow us to model networks on the lines (such as transportation networks). After providing a brief historical perspective and the construction of line processes\, we will define a doubly stochastic point process by placing an independent Poisson point process on each line of the Poisson line process\, which we term the Poisson Line Cox Process. We will discuss key properties and applications of this point process to vehicular and transportation networks. We will also briefly discuss new contributions related to path distance distributions that were inspired by this work. In the last segment\, we will discuss our ongoing work on developing a new mathematical framework to study landmark-based geolocation by modeling generic landmarks (such as trees and lampposts) as point processes. In addition to presenting our early results\, we will also discuss possible connections of this approach to information and coding theory. \nIf you are interested in more details\, please refer to the following monographs. They are accessible free of cost from most university campuses. Monograph [M1] summarizes our work on cellular networks and is written to be the first introduction to this area. Monograph [M2] summarizes our work on line processes and their applications to vehicular networks. \n[M1] An Introduction to Cellular Network Analysis Using Stochastic Geometry: https://link.springer.com/book/10.1007/978-3-031-29743-4 \n[M2] Poisson Line Cox Process: Foundations and Applications to Vehicular Networks: https://link.springer.com/book/10.1007/978-3-031-02379-8
URL:https://seasevents.nmsdev7.com/event/ese-fall-seminar-title-tbd-9/
LOCATION:Berger Auditorium (Room 13)\, Skirkanich Hall\, 210 South 33rd Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Colloquium
ORGANIZER;CN="Electrical and Systems Engineering":MAILTO:eseevents@seas.upenn.edu
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