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Jeremy C. Ma Graduate Student, Mechanical Engineering California Institute of Technology Thomas Laboratory, Office 320B Mail Code 104-44 Ph: (626) 395-3954 jerma@caltech.edu |
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ResearchCurrent ResearchMy research is in the area of multi-agent sensor-based control and my advisor is Joel Burdick. I also work alongside two other graduate students, Timothy Chung and Noel duToit and our current research has been in developing a new test-bed for a fleet of ER1 robots.An integral part of our testbed is the simulation program interface for robot control known as Player/Stage. Player/Stage allows us to simulate real sensor data in any world environment we design. Ideally, it should be a plug-and-play deal when a real experiment is ready to be executed. The sensory equipment these robots will be equipped with include a lasar range finder, wheel odometry, and local GPS. (Our actual Project Page is under construction, but as soon as it's up and running, I'll add a link to it here) Past ResearchI also did some research during my undergrad years at the UCLA Combustion Laboratory, advised by Prof. Ann Karagozian and Prof. Robert M'Closkey. The purpose of my research then was to study the effects of acoustically excited, burning fuel droplets in microgravity with application to spacecraft cabin fires. I wrote and altered new and existing MATLAB codes to average images of flames perturbed at particular frequencies and sound level intensities.MoviesHere are some movies from our new multi-agent testbed:Target Simulation - This simulation uses the Stage platform to simulate an ER1 robot chasing a moving, circular target using a laser scanner. Testbed Movie - This is a recording of the code used to simulate the above movie on our testbed. |
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