Difference between revisions of "JoelBurdick"

Quick Facts about Me

• Main Faculty Appointments: Mechanical & Civil Eng., Control & Dynamical Systems
• Faculty Affiliate: Computation & Neural Systems, Medical Engineering, BioEngineering
• The People in my research group

• 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 compete in the DARPA SubTerranean Challenge as part of Team CoSTAR
• We competed in the DARPA Robotic Challenge as part of Team RoboSimian
• SQUID: Self-unfolding Quick Unfolding Investigative Drone
• Learning-to-Fly (with Raytheon Technologies)
• Surgical State Estimation (with Intuitive Surgical)

Quick Links

• My Google Calendar Page;
• Reading Groups: GP State-Space-Models;
• Caltech;ME; CMS; [httSp://www.cds.caltech.edu CDS]; MedE; CNS; BE; IST; CNSE;
• CIT Research Admin;

Teaching

• CS/EE/ME 75(a,b,c)--2019/2020
• CS/EE/ME 75(a,b,c)--2018/2019
• ME/CS 133(a,b) Intro to Robotics
• ME 115(a,b): Intro to Kinematics and Robotics. (older):
• CDS 110 (2016/17): Introduction to Control Systems.
• 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; Sci-Hub; CiteSeer; DOE EPrint; MathSciNet (math pub. data base); AMS Preprints; Robotics Publication Data Base;
• Library of Congress; Bibliofind (new/used/rare book search engine);
• Quanta Magazine

Handy References

• Table of Laplace Transforms; Comprehensive LaTeX Symbol List; Planet Math; Tortoise SVN Doc.s;
• AJP Guidelines for reporting Statistics

Conferences, Proposals, etc.

• IROS 2021 Benchmarking Grasping; IROS 2021 Tactile Sensing, Perception, etc.; IROS 2021 Dextrous Manipulation; IROS 2021 Workshop on safe autonomy

• NeurIPS Safe, robust, control workshop

• Microsoft Conf. Management Software;

• NSF Programs: Manufacturing Machines; Sensor Dynamics and Control; Dynamics, Control, Sys. Diag.; CPS; Disability and Rehab Engineering

• NSF:Information, Intelligent Systems; CISE Infrastructure Program; Algorithms in the Field;

• NSF: Smart, Connected Health; BME;

• NSF: PIRE; Advancing Health Through System Modeling

• CDMRP: SpinalCord Program

• Navigation: AnyWho;
• Financial Data: FinViz; CFTC graphs;
• YT; Sum Zero;

• Weather: Weather.com; Weather Underground; LA DWP Local Precipitation

• Travel: Booking.com; Hotel.com; AirFareWatchDog;CheapTickets; Expedia; Travelocity; Kayak;
• Travel: BeachHouse; HomeAway Rentals; VacationHomeRentals;
• Local: Pasadena Weekly Pasadena NOW;
• Caltech Bike Lab;

Robotics Projects & Sites

• Public Data Sets: 3D Laser Data sets; TUM Kitchen Data Set; Freiburg Metallic Sphere RGBD data
• 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; Cybernetics Zoo

• Tensegrity: Tensegrity Wiki Blogspot; Tensegrity Wiki; Pinterest Structures Page; Geodesic Dome Structure; Nexorade; Rotegrity Sphere;

• Manipulation: IEEE/RAS MobileManipulation; J. Hopkins (elastic mechanisms);

• Hyper-Redundant: Peristaltic Crawler;

• Aerial/MAV: Aerial Bridge Inspection; IEEE MAV;
• Festo Smartbird: Festo; IEEE Spectrum; TED Talk); *

• Flying Spheres: 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; OpenROV;
• 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;
• Mobile Robotics: Swerve Steering Control Code

Opensource

• ROS: ROS; ROS CHOMP Motion Planner;
• 6D Slam@sourceforge; Fast Appearance Based mapping; Chai3D (haptics); KiteLab; Peter Corke\'s tool boxes; GATMO (moving object SLAM); 3D scale space;
• OpenRave (main); OpenRAVE; OpenGrasp;
• Tutorial on RRT, RRT*;
• ASTER high-res digital earth maps;
• LaValle Book: Dubins Curves; Reeds-Shepp; Balkcom-Mason Curves;

Robotics Events, News, Community

• IEEE-RAS;
• Robotics On-line; Robotics Trends;
• ICORR Home
• TheRobotReport.com

Robotics Competitions

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);

• Hobby/Education Robots: RobotShop; Robot Market Place; FingerTech (wheels); LynxMotion, VexRobotics; RoboWorld; SGBotic; ActiveRobots; SuperDroidRobots; LegoMindstorm;
  • VCS Hobbies, RoboBrothers; Innovative Experiments (Thai); Images Sci. Instrument (parts);
  • Trossen; Pololu; HVW Tech; RobotStoreHK; Innovati;

• RC Technology: Hitec RCD; EnduranceRC; Mecoa(lots of RC engines); HobbyPartz; RC Boyz;
• Used Robots: RobotWorx

Mechanisms

• Mechanizmalar (mechanism animations); Cybernetics Zoo Walking Machine Page

• Low Cost Manipulator Arm Designs: EezyBot arm; EEZYbotARM

• • Zortrax 3D printed Arm
  • Moveo 6DOF; Mecademic Arm; Printed Kuka arm knock-off; 3D Printed Arm with Steppers; 3D Printed Arm-more; 3D Printed Arduino/ROS arm; Thor Open Source Arm; XBox controlled printed arm;
  • 3D Printed 3DOF arm
  • Kawasaki Stainless Steel Arm; ReThink Sawyer;

• Fractal Vise: 3D printed vise; ThingiVerse model; Hackaday version; GrabCad files; Bench Dog VErsion; More GrabCad; 3D Mixers Version; Prototype Version

Parallel Mechanisms

• Delta-type Devices: 2DOF Planar Parallel MechanismFast! Mini-delta; RoStock Delta example; Stiff Rostock-style CNC machine; Festo Delta; Tripteron Style Rostock;Multi-Delta Robot; 5-axis Parallel Mechanism (4-axis parallel + separate rotation); Hexa 6 mechanism; Delta Kinematics Tutorial;
• 5-axis parallel; Modular Printing Mechanisms; 3R3T Parallel mechanism; Parallel Mechanism Walking Wheelchair;
• TriCept Mechanism;
• Stewart Platform-like devices: Stiff Stewart Platform Micro-Positioner; Prismatic Drive Stewart Platform;
• Spherical Mechanism for Wrist Rehab;
• pteron devices: Hexapteron; Hexapteron Simulation; Sextupteron; Quadrupteron;
• Parallel RCM
• 3DOF gear-driven leg

Servos/Controllers/Electronics

• Electronics Tutorials .Net;
• H-Bridge Secrets; Half-Bridge Driver Circuit; H-Bridge Circuit Tutorial; MOSFET driver tutorial
• Sparkfun; Symmetry Electronics;
• 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);
• Hydraulics: Moog Robotics

Embedded Computing/Interface Hardware

• MicroControllerShop; CoolComponentsUK; SunSpot;
• CharmedLabs;

Force Sensors

• Shenzen Ligent Sensors; Shenzen Ligent Force Sensor Page; Interface Force Sensor Page;

• Alibaba page on 3-axis sensors; Tecghian 3-axis force sensors; Interface 3-axis; Elane 3-axis 10 kg load cell;

• Astek 6-axis; 6-axis capacitive sensor; OptForce 6-axis;

• Sparkfun 200 kg Load Cell; HTC Load Cells;

Sensing

• Velodyn Puck
• 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;

Vision

• VLFeat Library
• CIT Camera Calibration Toolbox; ROS Camera Calibration
• Triangulation with OpenCV
• VINS: Perceptin

Motors/Actuators/Gears

• Programmable Air
• Review of Linear Motors
• Robot Marketplace Page on Amp-flow Motors
• Castle (brushless & ESCs); Firgelli (linear servos);
• EOL Surplus motors; NewScale (squiggle motors); SurplusCenter; BaneBots;
• PlayRobot (Taiwan) Tank Treads;
• Abacus Gear Box; Abacus 3D Print

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;

Motor-related Sites

• E Meter.org;

Tutorial

• Hybrid Car drive types; printedcircuit motors; MIT 6.65, Electric Machines

Servo Drive Electronics

Tensor methods

• Block Coordinate Update Code

Tutorial Stuff

• GitHub repository on ML examples

Deep Learning

• Neural Networks & Deep Learning; DeepLearnet.net;
• Deep Learning Blog; Understanding Convolution in Deep Learning;
• Deep Learning Tutorial;
• Convolution: Understanding Convolution In Deep Learning; Going Deeper with Convolutions/GoogLeNet; Deep Learning and Convolutional Nets; How Do Convolutional Nets Work?; Intuitive Explanation of Convolutional Neural Networks;
• Google Vertex AI;
• Resources for Graph neural Networks

Reinforcement Learning

• Scholarpedia page on Reinforcement Learning

Semantic Segmentation

• 2021 Guide to Semantic Segmentation; Overview Semantic Segmentation; Beginner's Guide Deep Learning for Semantic Segmentation;

Depth Estimation

• TRI Depth Estimation Story/Code

Explainable AI

• Explainable Machine Learning (on-line book)
• On-line Lecture Fair AI

Optimization/Active Learning

• Ax Adaptive Experimentation Code

Bandits

• Cesa-Bianchi Bandit Lecture; Cesa-Bianchi Recent Results Lecture; Lugosi Lecture on Adversarial Bandits

Tensor methods

• Block Coordinate Update Code

Public Domain Codes

• Torque.JS
• Seq2SeqSharp (Seq2Seq implementation)

Computational/Algorithmic Game Theory

• Algorithmic Game Theory; Columbia Algorithmic Game Theory; TAU Computational Game Theory; Edinburgh CGT;

FreeWare AI-based graphics/movie tools

• branding: Brandmark.io (automated logo generation); NameLix (auto-generate business names);
• images: HotPot.AI (process pictures); Deep-image.ai (image enlargement); bigjpg.com (image enhancer);
• video: Lumen 5 (video content); Deep Nostalgia

Vibration Isolation

• Vibration Isolation Using Quasi-Zero Stiffness;Tuned stiffness Origami
• Negative Stiffness Isolators Gain Popularity;
• How Negative Stiffness Isolators Work; Springs For Vibration Isolation (video)
• Pneumatic Vibration Isolation' Kuashiki vibration isolation
• Products: IsoAcoustics GAIA III; IsoAcoustics Orea; Triton Audio Levitation Damper; IsoAcoustics Isolation Stand
• (cheap) Anti-Vibration Pad; 4Point Vibration Mount; Camera Anti-Vibration Mount;

• 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;

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;

Computational Geometry

Systems Engineering/Signal Processing

BioEngineering/NeuroEngineering Links

Teaching Aids/Tutorials

Temporary Links

These are links that have not yet been organized, or that are needed only on a temporary basis.

DARPA SubT Links

Parkinsons research

Wiki, Wiki, Wiki

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