Difference between revisions of "JoelBurdick"

Quick Facts about Me

• Main Faculty Appointments: Mechanical Engineering, Control & Dynamical Systems
• Faculty Affiliate: Computation & Neural Systems, Medical Engineering, BioEngineering|

• Address: Mail Code 104-44, Caltech, Pasadena, CA 91125
• Phone: +01 (626) 395-4139; FAX: +01 (626) 583-4963
• Email: jwb at robotics dot caltech dot edu
• Admin: Ms. Sonya Lincoln; (626) 395-3385, lincolns at caltech dot edu

Current Research Projects & Interests

My research is divided between traditional robotics research, and collaborations with neuroscientists to develop technology for paralyzed nervous systems. More information can be found at the Burdick Research Group Homepage

Robotics Research

• We competed in the DARPA Robotic Challenge as part of Team RoboSimian
• With JPL, we are part of The Robotics Collaborative Technology Alliance (RCTA).
  • Robust Caging Graphs
  • Mobile Manipulation
• Moball
• Axel; a minimalist rover for extreme planetary terrains (Axel Internal Wiki Page);
• We competed as part of the JPL team in the DARPA-ARMS program.

NeuroEngineering

• High density epidural spinal stimulation (joint work with V.R. Edgerton)

Quick Links

• My Google Calendar Page;
• Reading Groups: CDS 270: Verification of Hybrid Systems; Caging; Neuro;
• Caltech;ME; CMS; CDS; MedE; CNS; BE; IST; CNSE;
• CIT Research Admin;

Teaching

• ME 115(a,b): Intro to Kinematics and Robotics. (older):
• CDS 110(b): Intro to Control
• Old ME/CS 131,132;ME 132 (2011); Robotic Navigation
• CDS 270: Manipulation & Grasping;

On-Line Publications/Catalogs

• Caltech Library: CIT Library; WebCLAS; New Matrials; CIT Theses;
• On-Line: arXiv; CiteSeer; DOE EPrint; MathSciNet (math pub. data base); AMS Preprints; Robotics Publication Data Base;
• Library of Congress; Bibliofind (new/used/rare book search engine);

Handy References

• Table of Laplace Transforms; Comprehensive LaTeX Symbol List; Planet Math; Tortoise SVN Doc.s;

Conferences, Workshops, Proposals

• ICRA 2016
• Microsoft Conf. Management Software;

• Navigation: Google, Bing, AnyWho;
• News: CNN; NY Times; Yahoo News;
• Online TV: NHK; Al Jazeera;
• Financial News: CNBC; MarketWatch; Yahoo;
• Financial Data: FinViz; CFTC graphs;
• My Old Links Page; YT;

• Weather: CNN; Intellicast; Weather.com; Weather Underground; LAX Radar;
• Maps: Google; Bing Maps; Mapquest;
• Travel: Hotel.com; FlightAware; AirFareWatchDog;CheapTickets; Expedia; Travelocity; Kayak;
• MetaLevel: WhichBudget; FlyLowCostAirlines; SkyScanner; MoMondo; WeGo;
• Travel: GORP; RoughGuides; HistoryChannel; BeachHouse; HomeAway Rentals; VacationHomeRentals;
• Local: Pasadena Weekly;

Robotics Projects & Sites

• Public Data Sets: Raw Seeds; Willow Garage; 3D Laser Data sets; TUM Kitchen Data Set; Aass-Loop dataset; Freiburg Metallic Sphere RGBD data
• Online Conf. Materials: 4th SLAM Summer School; ICRA 2010 Wkshop on Safe Navigation in Dynamics Environments; Formal Methods for Robotics;
• Online Courses/Tutorials: Locomotion Seminar Course;
• Mechanisms: ParalleMIC; McCarthy\'s Software/Textbook; Zhong You\'s \'\'Motion Structures\'\'; Catalog of Symmetric Tensegrities; Hoberman Assoc.s; Cornell Reuleaux Collection;
• Manipulation: IEEE/RAS MobileManipulation; J. Hopkins (elastic mechanisms);
• Hyper-Redundant: Peristaltic Crawler;
• Aerial/MAV: IEEE MAV; Prioria Maverick; (Festo Smartbird: Festo; IEEE Spectrum; TED Talk); Japanese Flying Sphere (Another Sphere video); U. Maryland Cyclocopter;
• Quadrotors: MikroKopter Project; XUfo; XUfo shop; AR Drone (cheap hobby quad); DroneHacks (open source for AR drone); AR Drone Flyers;
• Underwater/marine: AUV links; Harbor Wing Technologies (robotic sailboat); AirHacks.Org;
• Bio: Argo Medical Technologies (Rehab. Exoskeleton), Berkeley Bionics (TedX presentation); SnakeRobots;
• Agricultural: Spider Robot Lawn Mower; Agricultrral Robotics Portal; Harvest Automation; Robotic Harvesting; Agrobot; Wikipedial AgRobot Page; FieldRobot.dk (Hortibot);Ag FieldRobot Contest; Hortibot;
• Personal Robotics: Intel HERB;
• Intelligent Transportation: Save U project (pedestrian safety);
• AndroidWorld\n* Dan Roe Sculptural Robotics

Opensource

• Yocto (open source embedded dev. environment);
• ROS; CMU Personal Robotics ROS; CHOMP Motion Planner;
• USNA MATLAB kit for iRobot Create;
• 6D Slam@sourceforge; Fast Appearance Based mapping; Robotics MATLAB Toolbox; Chai3D (haptics); KiteLab; Peter Corke\'s tool boxes; GATMO (moving object SLAM); 3D scale space;
• OpenRave (main); OpenRAVE; OpenGrasp;
• ASTER high-res digital earth maps;
• LaValle Book: Dubins Curves; Reeds-Shepp; Balkcom-Mason Curves;

Robotics Events, News, Community

• Arrick Robot News Page;
• IEEE-RAS; LabRobotics;
• Robotics On-line; Robotics Trends;
• ICORR Home
• RobotsEvents.com, TheRobotReport.com
• Robot-Dreams, GoRobotics.Net;
• Yahoo Robotics Page; RoboCentral;
• AndroidWorld;
• Intercontinental Driving Challenge;
• Autonomous Robots Blog;
• Let\'s Make Robots;

Robotics Competitions

• IGCV

Robots in Fiction & Cinema

• Cinematic Robots @DavidZondy;
• Robot Film Festival;

Robot Hardware/Mechanisms Links

• Robot Manufacturers: OC Robotics (video of their snake in action); Schunk;
• Research Bots: HiBot (Hirose lab spin-off); Adept Mobile Robots;
• RobotShop;
• Hobby/Education Robots: Robot Market Place; FingerTech (wheels); LynxMotion, VexRobotics; RoboWorld; SGBotic; ActiveRobots; LegoMindstorm;
  • VCS Hobbies, RoboBrothers, RoboPhilo; Innovative Experiments (Thai); Images Sci. Instrument (parts);
  • Robotics Connection,AcroName Robotics; RoboticsGroup; Trossen; WrightHobbies; Pololu; HVW Tech; RobotStoreHK; RoboKits.com.in; Innovati;
• RC Technology: Hitec RCD; EnduranceRC; Tamayi USA, Mecoa(lots of RC engines);Airborne Models; SpeedKom; HobbyPartz; RC Boyz;
• RobotWorx (used robots); SuperDroidRobots;
• Plastic Pals Robots;

Mechanisms

• Mechanizmalar (mechanism animations);

Servos/Controllers/Electronics

• Sparkfun (many cool items);
• GoogolTech; OceanControls (quite extensive); RobotPower (high power speed control);p QKits; RobotCraft; WatterOtt Elec. (Ger.); VanTec (Motor Controller), GoTronic; Lawicel (sweden); ThaiEasyElec;
• NuBotics(encoders/controllers); NanoCore 12 (microcontrollers); MaximumRobotics
• VFD: DealersElectric (var. freq. drives/motors);

Embedded Computing/Interface Hardware

• MicroControllerShop; CoolComponentsUK; SunSpot;\n* Parallax (Stamp/Propeller chips); BasicX
• Aduino; CharmedLabs (Qwerk mini-PC); FusionControl;
• Mbed Microcontroller (ARM processor); Pachube (networked sensors)

Sensing

• Metria Innovations (3D optical tracking sensor)
• CH Robotics(mini IMU/orientation);
• Sensors Portal;
• Probyte.Fi sensors; IDM store (Taiwan); GigaPan Systems (pan/tilt for Digital cameras)
• SunRise Auto(Force/Torque sensors);
• Microstrain intertial sensors;

Motors/Actuators

• Castle (brushless & ESCs); Firgelli (linear servos);
• EOL Surplus motors; NewScale (squiggle motors); SurplusCenter; BaneBots;
• PlayRobot (Taiwan) Tank Treads;

Software Resources

• Karto Robotics (SRI motion planner/SLAM)
• Robot Basic, RobotC

GPU Computing

• Hardware: Nvidia TESLA; SuperMicro 4Tesla Case;
• Software: Nvidia GPU software dev.; Nvidia CUDA Zone;CUDA for GPU;
  • Jacket MATLAB Plug-In; CUDA MATLAB FFT plug-in
  • GPU Sig. Proc.;GPULib; GPU-MAT
  • OpenCL Tutorial Slides;
  • GPU Molecular Computation;
• GPU convolutional Network;

• Product Design Notebook;

• Linear Components: PBC Linear; 80/20; LM 76;

Low Cost/Used/Hobby Machine Tools

• Find-A-Machine]; TechSpex (compares machines); SouthernTool;
• Lathemaster (small mills/lathes) Hobby Shop Machinist; American Machine Tools; Roland Mills; MachineToolsWarehouse;
• IH CNC (nice small mill); TownLabs (table top 3,4 axis); CNC Masters; FlashCut CNC; TorMach; Sherline; Micro-Mark; KT Marketing; Hobby CNC; Torchmate; MaxNC; MikiMech; Enco(small machines);
• \'Routers: CNC Router Source (good CNC controller tutorials, links); CNC Router Store; SolSylva (router plans, guides); ProBotix; BuildYourCNC; Joe\'s CNC; IMWsrv (cheap CNC router); MarchantDice (Router parts); SaleCNC (cheap routers); NextWave; Cerebral Meltdown;
• MetalWorking: TinMan Technologies
• Wood: PennStateInd.; Rockler Woodworking
• Tools: DiscountTools; Tools-n-gizmos; CuttingToolSource; Glacern (mill tools); The Engineers Shop; Wholesale Tools For Less; AnyTime Tools;
• EMachineShop (online machining service);
• Electronics: HomeShopCNC Inc.; PMDX (CNC/Motion Control Boards); MotionTek (motors/servos); CampbellDesigns; MachMotion

CAD/CAM

• CAD: AutoDesk 123D apps; NetFab (mesh construction/repair);
• CAM: [Mach3; Online G,M code tutorial; DolphinSystems; DolphinCAD USA; ArtCam MillWizard; GSimple(CAM); MultiCam Mill; CNC Shop Software;SimpleNC; NC-Plot (simulates CNC build); Easy DNC; Multi-DNC;
• Google Sketchup: Sketchup-to-CNC;
• 3D Models/Input: TraceParts; 3D Model Club (3D decorative models); VectorArt3D; VizArtOnLine; VectorClip3d; Simple3D; Renderosity; The 3D Studio; TurboSquid;
• OnLine Tutorials: Virtual Machine Shop; OnLine GCode course;
• Forums: HomeGrown CNC; CNC Forum; HomeMachinest; Practical Machinest; CNC Info.; Yahoo CAD/CAM/EDM forum; CNC Cookbook (and their Resources Page); MachineToolHelp;
  • DIY CNC blog (good links); CNC-CI Links page (software links);\n** Comparison of Hobby CNC Mills; Hobbyist 3D Printing/Milling;
• Retrofits: SB Precision;
• Used Equip.: KD Capital (large selection);
• Ebay: Wheeler Machine Sales; PM Machine Sales; Rohner Machinery; American Machinery Liquidators; QualityMachineTools;

Auctions:

• AAG; GreatAmerican; RL Spear; VanHorn; Ashman; Tauber-Arons; Ostrin & Ostrin; Abamex; CMA Auctions; Premiere Auctions; Bendis Co.; UBid4It; Hoff Hilk; BidItUp; BidSpotter; Go-Dove; Asset Sales; Asset Reliance; Thomas Auction; AssetAuctions;SurplusRecord; Transzon; CorpAssets; ICollector; AuctionZip;

Other Numerical Machine Tools

• Water Jets: WaterJets.Org; Yahoo WaterJets Group;

Pneumatics/Hydraulics

• Festo;

Fixtures/Clamps/Vises

• DestaCo(clamps, grippers);
• SeaCatch (under load release);

Basic Mechanical Componenents

• Stock Drive Prodcts (great source for mechanical drive components);
• Small Parts; McMaster-Carr;\n* MicroFasteners,Boca Bearings,

Raw Material

• Industrial Metal Sales; Metal-By-The-Foot;

Engineering MarketPlaces

• Global Spec; Zycon;

On-Line Demonstrations

• Shortest Path in a Polygon

Resources

• Course/Resources for non-rigid shape matching;
• Hausdorff Distance Matching Code;

Origami

• Origami Heaven; Happy Folding.Com;
• Robert J. Lang; Erik Demaine;
• Curved Folding SIGGRAPH paper;
• Origami & Geometric Construction text by Lang;

MRI Imaging/Segmentation

• ITK-Snap: Home Page;

General

• Shloss Dagstuhul (Liebniz Center for INformatics--Seminar Program);

Vision/Graphics

• OpenCV: SourceForge; Docs Wiki; Yahoo Forum;
• Chan-Vese: MATLAB implementation; 2D/3D Image Segmentation;
• Onlne Courses: Univ. London 4054\n\n* VisionBib.com; Aravind\'s Links(graphics/image); Stylized Depiction in Computer Graphics; Laurence Maloney (visual perception);\n* Preprint of Szeliski Vision Text;
• Daniel Cremers;
• Gromov-Hausdorff Distances;
• Ortery 3-D model building; ReconstructMe; Autodesk 123D Catch;

Kinect 3D Sensor

• Kinect 3d Hacks: DashHacks; Info on MS SDK for Kinect; MS SDK; Kinect Calibration Wiki@Ros;YouTube Videos of Oliver Kreylos; O. KReylos Software Page; Quadrotor using Kinect; Kinect Driver & Nui Control; OpenKinect.Org; Story behind Kinect3D; Brekel Kinect;\n* KinectFusion;\n* Matherix (3D model reconstruction);

Spectral Graph Theory

• Saito\'s Laplacian Resource Page; Diestel Graph Theory Book; IPAM Laplacian Wkshp;
• Fan Chung Grahm; I.R. Kondor\'s papers;
• Maggioni Course; Spielman\'s course on Spectral Graph Theory;

Signal Processing

• Compressive Sensing: Compressive Sensing 2.0; Duke Comp. Sens. Wkshp;
• Signal Compression: Compression Pointers; Compression Links;
• Spectral Processing: Multi-Taper Tutorial;
• Clustering: Clustering & multivariate analysis software; Murtagh\'s Multivariate Analysis Software Page; Correspondence Analysis Software;
• Sampling: William Wu@Stanford
• People: Don Johnson; Collected Works, Claude Shannon; Robert Nowak;
• review of projection pursuit; speech analysis tutorial;
• Ensemble Kalman Filtering Course;
• Obstacles to High-Dimensional Particle Filtering;

Wavelets

• Resources: searchable wavelet bibliography; multi-wavelet paper links Wavelet NetCare; WaveThresh biblio;Xwavelet Package;
• Tutorials: Wavelet overview (based on Mallat book);
• People: Dave Donoho; Donald Percival; Brani Vidakovic;
• Shearlets: Shearlet.org;

Frames

• Frame Research Center; Peter Casazza Publications;

Diffusion Wavelets

• Maggioni\'s publication page; ">[more diffusion wavelets; Diffusion Wavelet @Yale; Sridhar Mahadevan\'s pub.s;

Info Theory

• People: John Daugman@Cambridge;

Machine Learning

• Blogs: Machine Learning (hunch.net); Machined Learning; Deep Learning;
• GPO: GaussianProcess.Org;
• ARD: Expectation Propagation for Graphical Models (on-line slides);
• Code: HMM Matlab Toolbox; Kevin Murphey\'s HMM Toolbox; Code by M.J. Beal (Variational Bayes);
• Tutorials: ICML 2008: Sparse Linear Models: Bayesian Learning & Experimental Design; Stochastic Optimal Control; Submodularity in Machine Learning; Machine Learning Workshop 2009; Andrew Moore\'s Data Mining Tutorials;
• On-Line Course Material: Caltech CS 101.2 (Active Learning); Maggioni MDP Page; Duke Data Mining Course; Course on Automated Planning & Reasoning; MIT Neural Networks;\n* Pybrain; AutonLab@CMU;\n* GoogleTalk Bayesian Nonparametrics;
• Notes on Regret;
• People: Mikhail Belkin; Glenn Shafer; Marcus Hutter@ANU

Probability/Statistics

• Probability Page;
• Tutorials: Virtual Lab in Prob./Stats.; Monte Carlo Methods; HMM tutorial; Probability.net Tutorials
• Probability Theory: The Logic of Science (on-line book);
• Resources: Gauss resources(on-line statistical software);
• AlmostSure (Blog on Stochastic Processes); Basic Probability/Poisson MATLAB Code;
• Poisson: Poisson Processes; Raikov\'s Theorem; Palm-Kintchine Theorem; Levy Processes;
• Uncertainty Quantification: DongbinXiu@Purdue

Control

• On-line LMI course; Delft LMI course; Multiple Hypothesis Testing Code;
• MIT on-line Optimal Control Course; Scholarpedia Optimal Control;
• Technion Course on Estimation
• Stochastic Programming Community; Optimization Online;
• Continous KF notes; Technion Estimation Class
• Laplace Transform Theory
• Parallel&Distributed Systems Course;
• Zohar Manna;

Graph Theory

• Mason Porter@Oxford

Basic Applied Math

• Infinite Series Tutorial; Planet Math;

• Urban RF Sensing

• 2010 conf. on Indoor Positioning & Navigation;

Spinal Cord & Rehab

• human motion/amputees; > Sretavan lab (UCSF )(neural injury repair); ETH Sensory-Motor Systems Lab (Lokomat, etc.);
• Francisco Valero-Cuevas @ USC;

Epidural Stimulation/Simulation

• MATLAB/COMSOL Mesh Tool;
• Tyler Lab (Ultrasound neural stimulation);

Neural Coding/Processing

• Salk Abstractrs on Neural Coding; Tony Zador Publications on Neural Coding;
• simulation: PyNN; SNNAP (action potentials)

NeuroScience

• Brain Facts.Org; IonChannels.Org;
• ShenLab@Stanford;
• Neuron Generator Potential; Receptor Potentials; Touch-Evoked Generator Potential; Nerve Impulses; Sensory Receptor vs. Motor Neuron potentials;
• Dendritic Spikes@Wikipedia;
• YouTube Neuroanatomy Videos: CorticoSpinal Tract; Dorsal Column, Lemniscus; Dr. Najeeb--Ascending Tracts;\n* On-Line Atlases, Tutorials: On-line Medical Notes on NeuroAnatomy; Motor System Neurophysiology; Umass Spinal Atlas; Spinal Cord Anatomy;

BioMechanics/BioBehavior

• Locomotion Anatomy; Encyclopedia Brittanica Locomotion Page;
• Boids (links to Boids-like flocking);

• Matias Kawski\'s Math Matlab Functions
• Boyd Linear Systems Course;
• Gilbert Strang@MIT: Numerical methods course;

• LTI Systems @Connexions; Linear Time-Invariant Systems & Convolution;
• Practice Jordan Form problems;
• Make Educational Initiative;

Wrought Iron Parts

• King Architectural Metals; Decorative Iron;Maidens of Iron; Architectural Iron Designs; Custom Iron Works; Metal Amore; McFrugal Ornamental Iron Parts; Delphi Glass Table Legs; TableLegs.com;

Wood Items

• Van Dykes; Inviting Home; Knob & Pulls; Zakros Designs;
• French Polishing; Guide to French Polishing; Art of French Polish; [\n* Teak Supplier;

Misc. Personal

• WroughtIronConcepts
• The Label Man;

Mortgage Rates

• Smart Hippo;

Home Solar

• HeliosRay (solar water heaters);
• Calif. Solar Heater Rebate;
• Anelemmatic sundials; Anelemmatic sundial PDF generator\n* HelioWatcher (@Thingverse);

Flora

• Cactus: YuccoDo; Cacti.Com; OldManCactus; Fishbone Cactus;
• Garden: night bloomers; CalWildflowerHotSheet; TheoPayne Foundation;
• Seed: Tomato Fest;
• Orchids;

Local Attractions/Info

• Local News: Pasadena Star News; Pasadena Weekly; San Gabriel Valley News; LA Daily News; PCC Courier; Altadena Patch;
• \"The List\" (Pas. Weekly events)
• List of California Museums;
• Art Galleries: ArtSlant L.A.; Galerie Gabrie; Fremont Gallery; American Legacy Galleries; Segal Fine Art (Monrovia); Tirage Art; OffRamp Gallery; San Marino Old Mill; Williamson Gallery @Art Center; California Art Club/Blinn House; Altadena Arts Council;
• Venues: Sierra Madre Playhouse; WorldCity@MusicCenter;
• The 1947 Project;

Lathes/Rebuild

• Hardinge HLV: @lathes.co.uk; Yahoo Hardinge Group; On-Line HLV-H Manual; OnLine HLVH Schematics; UK Rebuild Story; Rebuild Story; Spindle Replacement;
• Hardinge HLV Parts: Centroid CNC Retrofit; Babin HLV Rebuild;
• Useful Thread on PracticalMachinist; Lathe Paint Threads;
• Electrolytic Rust Removal; Rust Removal Videos; Electrolysis Rust Removal;

Misc.

• Stand Frame: Cargo Control; Ratchet Cap; Amazon Tie Down Ratchet; Northern Tool winches; Hand Strap Winch; \"The Find\" winches; Dutton-Lainson Brake Winches; Dutton-Lainson Brake Winch Manual;\n* Klee Klamp; Davis Bacon (Klee dist.); Southco Latches; Moore Indust. Latches; Southco Latches @ABE;
• Ratchets: Palm Ratchet (disassemble?); Finger Ratchet; Palm Ratchet; Palm Ratchet; Ratchet Handles; Ratchet Screwdriver; Screw Handle;
• Retractable Tie Downs: Retractable Transom Tie Down; 10 ft retractable; 24ft retractable; 10ft retractable; 12 ft/500 lb retractable; 2inx6ft/4000 lb retractable; 15ft/3500lb; 2in x 10ft retractable; 2in x 6ft retractable; 10ft/900 lb retractable; 14ft/1000 lb retractable; 2in x 6ft\n* Cam Handle; Cam Strap @CarrLane; Cam Handle Bar Tube Mount\n* Wheel Chair Tie Downs;

• Homepage of Gabor Orosz (delay/control of gene circuits, neural circuits, traffic)
• DELTA forward/inverse kinematics;
• Clever minimilast \"penguin\" robot YouTube video; The Penguin Robot Kit;\n* Books to buy?: Machine Shop Trade Secrets;
• Assembly Thesis;
• EcoMotors;
• SCELETIUM TORTUOSA;
• Star-News: Events Calendar
• Dianchu Blog;
• MF Global: Creditor Guide; SEC supervisor info; JPM Priority; MF GLobal Trustee; RJ Obrien; Commodity Customer Coalition (CCC); Update from CCC;
• Fusor.net
• Skateboard: DIY skate; Xtreme Skater;

Getting Started with Wikis

• How to Navigate a Wiki? Basic Intro to Wiki Editing
• MediaWiki Help (General Topics for Wiki Use)
• WikiMedia Manual: Contents, FAQ
• The MediaWiki User Hub (A place to get help with MediaWiki)

More Wiki Topics

• Install a Media Wiki, Configuration settings list
• WikiSkins
• MediaWiki FAQ Page
• Help for Wiki-Related Sysadmin