JoelBurdick

Welcome to my personal research wiki page. I use this wiki to link to sites of research/technical/academic/administrative interest, and to keep files relevant to my research collaborations. This wiki is permanently under construction, as it evolves with my research activiites. Hopefully you can find something of use here.

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

Quick Personal Links

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 Links

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

Robotics Competitions

IGCV

Robots in Fiction & Cinema

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);

Nuts&Bolts Mechanical Engineering/Design Resources

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;

Computational Geometry

On-Line Demonstrations

Shortest Path in a Polygon

Resources

Origami

MRI Imaging/Segmentation

ITK-Snap: Home Page;

Systems Engineering/Signal Processing

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

Graph Theory

Mason Porter@Oxford

Basic Applied Math

Infinite Series Tutorial; Planet Math;

UWB Radar Links

Urban RF Sensing

2010 conf. on Indoor Positioning & Navigation;

BioEngineering/NeuroEngineering Links

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);

Teaching Aids/Tutorials

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

Temporary Links

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

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

Misc. Personal

WroughtIronConcepts\n* 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;\n* 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;

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